Merge pull request 'TaskIF refactor SPI refactor' (#89) from mueller/task-if-refactor-spi-refactor into develop
Reviewed-on: #89
This commit is contained in:
commit
4b128d2435
@ -8,12 +8,10 @@
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#include "fsfw/tasks/ExecutableObjectIF.h"
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PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_,
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uint32_t period_, void(deadlineMissedFunc_)())
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uint32_t period_, TaskDeadlineMissedFunction dlMissedFunc_)
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: PosixThread(name_, priority_, stackSize_),
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objectList(),
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started(false),
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periodMs(period_),
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deadlineMissedFunc(deadlineMissedFunc_) {}
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PeriodicTaskBase(period_, dlMissedFunc_),
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started(false) {}
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PeriodicPosixTask::~PeriodicPosixTask() {
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// Not Implemented
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@ -27,31 +25,8 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) {
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return nullptr;
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}
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ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object, uint8_t opCode) {
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ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
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return addComponent(newObject, opCode);
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}
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ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object, uint8_t opCode) {
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if (object == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
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<< " it implements ExecutableObjectIF!" << std::endl;
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#else
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sif::printError(
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"PeriodicTask::addComponent: Invalid object. Make sure it "
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"implements ExecutableObjectIF!\n");
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#endif
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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objectList.push_back({object, opCode});
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object->setTaskIF(this);
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
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return PosixThread::sleep((uint64_t)ms * 1000000);
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return PosixThread::sleep(static_cast<uint64_t>(ms * 1000000));
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}
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ReturnValue_t PeriodicPosixTask::startTask(void) {
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@ -84,27 +59,3 @@ void PeriodicPosixTask::taskFunctionality(void) {
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}
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}
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}
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uint32_t PeriodicPosixTask::getPeriodMs() const { return periodMs; }
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bool PeriodicPosixTask::isEmpty() const { return objectList.empty(); }
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ReturnValue_t PeriodicPosixTask::initObjsAfterTaskCreation() {
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std::multiset<ExecutableObjectIF*> uniqueObjects;
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ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
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uint32_t count = 0;
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for (const auto& obj : objectList) {
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// Ensure that each unique object is initialized once.
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if (uniqueObjects.find(obj.first) == uniqueObjects.end()) {
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ReturnValue_t result = obj.first->initializeAfterTaskCreation();
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if (result != HasReturnvaluesIF::RETURN_OK) {
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count++;
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status = result;
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}
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uniqueObjects.emplace(obj.first);
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}
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}
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if (count > 0) {
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}
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return status;
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}
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@ -1,14 +1,17 @@
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#ifndef FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_
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#define FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_
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#include <vector>
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#include "../../objectmanager/ObjectManagerIF.h"
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#include "../../tasks/ExecutableObjectIF.h"
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#include "../../tasks/PeriodicTaskIF.h"
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#include "PosixThread.h"
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class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
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#include <vector>
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#include "fsfw/objectmanager/ObjectManagerIF.h"
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#include "fsfw/tasks/ExecutableObjectIF.h"
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#include "fsfw/tasks/PeriodicTaskIF.h"
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#include "fsfw/tasks/PeriodicTaskBase.h"
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class PeriodicPosixTask : public PosixThread, public PeriodicTaskBase {
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public:
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/**
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* Create a generic periodic task.
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@ -34,48 +37,16 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
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* to the system call.
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*/
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ReturnValue_t startTask() override;
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/**
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* Adds an object to the list of objects to be executed.
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* The objects are executed in the order added.
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* @param object Id of the object to add.
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* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
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*/
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ReturnValue_t addComponent(object_id_t object, uint8_t opCode) override;
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/**
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* Adds an object to the list of objects to be executed.
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* The objects are executed in the order added.
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* @param object pointer to the object to add.
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* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
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*/
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ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) override;
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uint32_t getPeriodMs() const override;
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ReturnValue_t sleepFor(uint32_t ms) override;
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ReturnValue_t initObjsAfterTaskCreation();
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bool isEmpty() const override;
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private:
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//! Typedef for the List of objects. Will contain the objects to execute and their respective
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//! op codes
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using ObjectList = std::vector<std::pair<ExecutableObjectIF*, uint8_t>>;
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/**
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* @brief This attribute holds a list of objects to be executed.
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*/
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ObjectList objectList;
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/**
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* @brief Flag to indicate that the task was started and is allowed to run
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*/
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bool started;
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/**
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* @brief Period of the task in milliseconds
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*/
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uint32_t periodMs;
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/**
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* @brief The function containing the actual functionality of the task.
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* @details The method sets and starts
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@ -92,14 +63,6 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
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* of the child class. Needs a valid pointer to the derived class.
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*/
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static void* taskEntryPoint(void* arg);
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/**
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* @brief The pointer to the deadline-missed function.
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* @details This pointer stores the function that is executed if the task's deadline is missed.
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* So, each may react individually on a timing failure. The pointer may be
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* NULL, then nothing happens on missing the deadline. The deadline is equal to the next execution
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* of the periodic task.
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*/
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void (*deadlineMissedFunc)();
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};
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#endif /* FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_ */
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@ -1,2 +1,3 @@
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target_sources(${LIB_FSFW_NAME} PRIVATE FixedSequenceSlot.cpp
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FixedSlotSequence.cpp)
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FixedSlotSequence.cpp
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PeriodicTaskBase.cpp)
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57
src/fsfw/tasks/PeriodicTaskBase.cpp
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57
src/fsfw/tasks/PeriodicTaskBase.cpp
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@ -0,0 +1,57 @@
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#include <fsfw/objectmanager/ObjectManager.h>
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#include "PeriodicTaskBase.h"
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#include <set>
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PeriodicTaskBase::PeriodicTaskBase(uint32_t periodMs_,
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TaskDeadlineMissedFunction deadlineMissedFunc_)
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: periodMs(periodMs_), deadlineMissedFunc(deadlineMissedFunc_) {}
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uint32_t PeriodicTaskBase::getPeriodMs() const { return periodMs; }
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bool PeriodicTaskBase::isEmpty() const {
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return objectList.empty();
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}
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ReturnValue_t PeriodicTaskBase::initObjsAfterTaskCreation() {
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std::multiset<ExecutableObjectIF*> uniqueObjects;
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ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
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uint32_t count = 0;
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for (const auto& obj : objectList) {
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// Ensure that each unique object is initialized once.
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if (uniqueObjects.find(obj.first) == uniqueObjects.end()) {
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ReturnValue_t result = obj.first->initializeAfterTaskCreation();
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if (result != HasReturnvaluesIF::RETURN_OK) {
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count++;
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status = result;
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}
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uniqueObjects.emplace(obj.first);
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}
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}
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if (count > 0) {
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}
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return status;
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}
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ReturnValue_t PeriodicTaskBase::addComponent(object_id_t object, uint8_t opCode) {
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ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
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return addComponent(newObject, opCode);
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}
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ReturnValue_t PeriodicTaskBase::addComponent(ExecutableObjectIF* object, uint8_t opCode) {
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if (object == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
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<< " it implements ExecutableObjectIF!" << std::endl;
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#else
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sif::printError(
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"PeriodicTask::addComponent: Invalid object. Make sure it "
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"implements ExecutableObjectIF!\n");
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#endif
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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objectList.push_back({object, opCode});
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object->setTaskIF(this);
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return HasReturnvaluesIF::RETURN_OK;
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}
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51
src/fsfw/tasks/PeriodicTaskBase.h
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51
src/fsfw/tasks/PeriodicTaskBase.h
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@ -0,0 +1,51 @@
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#ifndef FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_
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#define FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_
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#include "fsfw/tasks/PeriodicTaskIF.h"
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#include "fsfw/tasks/definitions.h"
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#include <vector>
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#include <cstdint>
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class ExecutableObjectIF;
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class PeriodicTaskBase: public PeriodicTaskIF {
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public:
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PeriodicTaskBase(uint32_t periodMs, TaskDeadlineMissedFunction deadlineMissedFunc = nullptr);
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ReturnValue_t addComponent(object_id_t object, uint8_t opCode) override;
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ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) override;
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uint32_t getPeriodMs() const override;
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bool isEmpty() const override;
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ReturnValue_t initObjsAfterTaskCreation();
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protected:
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//! Typedef for the List of objects. Will contain the objects to execute and their respective
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//! operation codes
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using ObjectList = std::vector<std::pair<ExecutableObjectIF*, uint8_t>>;
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/**
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* @brief This attribute holds a list of objects to be executed.
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*/
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ObjectList objectList;
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/**
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* @brief Period of the task in milliseconds
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*/
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uint32_t periodMs;
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/**
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* @brief The pointer to the deadline-missed function.
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* @details This pointer stores the function that is executed if the task's deadline is missed.
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* So, each may react individually on a timing failure. The pointer may be
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* NULL, then nothing happens on missing the deadline. The deadline is equal to the next execution
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* of the periodic task.
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*/
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TaskDeadlineMissedFunction deadlineMissedFunc = nullptr;
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};
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#endif /* FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_ */
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@ -1,11 +1,10 @@
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#ifndef FRAMEWORK_TASK_PERIODICTASKIF_H_
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#define FRAMEWORK_TASK_PERIODICTASKIF_H_
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#include <cstddef>
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#include "fsfw/objectmanager/SystemObjectIF.h"
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#include "fsfw/tasks/ExecutableObjectIF.h"
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#include "../objectmanager/SystemObjectIF.h"
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#include "../timemanager/Clock.h"
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class ExecutableObjectIF;
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#include <cstddef>
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/**
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* New version of TaskIF
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@ -26,20 +25,21 @@ class PeriodicTaskIF {
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virtual ReturnValue_t startTask() = 0;
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/**
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* Add a component (object) to a periodic task.
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* @param object
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* Add an object to the task. The object needs to implement ExecutableObjectIF
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* @return
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* Adds an object to the list of objects to be executed.
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* The objects are executed in the order added. The object needs to implement
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* ExecutableObjectIF
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* @param object Id of the object to add.
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* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
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*/
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virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode = 0) {
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return HasReturnvaluesIF::RETURN_FAILED;
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};
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/**
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* Add an object to a periodic task.
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* @param object
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* Add an object to the task.
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* @return
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* Adds an object to the list of objects to be executed.
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* The objects are executed in the order added.
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* @param object pointer to the object to add.
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* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
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*/
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virtual ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode = 0) {
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return HasReturnvaluesIF::RETURN_FAILED;
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@ -4,7 +4,7 @@
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#include <cstdlib>
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#include "FixedTimeslotTaskIF.h"
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#include "Typedef.h"
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#include "definitions.h"
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/**
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* Singleton Class that produces Tasks.
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@ -1,13 +0,0 @@
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#ifndef FSFW_TASKS_TYPEDEF_H_
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#define FSFW_TASKS_TYPEDEF_H_
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#include <cstddef>
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#include <cstdint>
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typedef const char* TaskName;
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typedef uint32_t TaskPriority;
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typedef size_t TaskStackSize;
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typedef double TaskPeriod;
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typedef void (*TaskDeadlineMissedFunction)();
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#endif /* FSFW_TASKS_TYPEDEF_H_ */
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src/fsfw/tasks/definitions.h
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13
src/fsfw/tasks/definitions.h
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@ -0,0 +1,13 @@
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#ifndef FSFW_TASKS_TYPEDEF_H_
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#define FSFW_TASKS_TYPEDEF_H_
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#include <cstddef>
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#include <cstdint>
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using TaskName = const char*;
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using TaskPriority = uint32_t;
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using TaskStackSize = size_t;
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using TaskPeriod = double;
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using TaskDeadlineMissedFunction = void (*)();
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#endif /* FSFW_TASKS_TYPEDEF_H_ */
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