Merge pull request 'TaskIF refactor SPI refactor' (#89) from mueller/task-if-refactor-spi-refactor into develop

Reviewed-on: #89

src/fsfw/osal/linux/PeriodicPosixTask.cpp

@@ -8,12 +8,10 @@
 #include "fsfw/tasks/ExecutableObjectIF.h"
 
 PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_,
-                                     uint32_t period_, void(deadlineMissedFunc_)())
+                                     uint32_t period_, TaskDeadlineMissedFunction dlMissedFunc_)
     : PosixThread(name_, priority_, stackSize_),
-      objectList(),
+      PeriodicTaskBase(period_, dlMissedFunc_),
-      started(false),
+      started(false) {}
-      periodMs(period_),
-      deadlineMissedFunc(deadlineMissedFunc_) {}
 
 PeriodicPosixTask::~PeriodicPosixTask() {
   // Not Implemented
@@ -27,31 +25,8 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) {
   return nullptr;
 }
 
-ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object, uint8_t opCode) {
-  ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
-  return addComponent(newObject, opCode);
-}
-
-ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object, uint8_t opCode) {
-  if (object == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
-               << " it implements ExecutableObjectIF!" << std::endl;
-#else
-    sif::printError(
-        "PeriodicTask::addComponent: Invalid object. Make sure it "
-        "implements ExecutableObjectIF!\n");
-#endif
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-  objectList.push_back({object, opCode});
-  object->setTaskIF(this);
-
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
 ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
-  return PosixThread::sleep((uint64_t)ms * 1000000);
+  return PosixThread::sleep(static_cast<uint64_t>(ms * 1000000));
 }
 
 ReturnValue_t PeriodicPosixTask::startTask(void) {
@@ -84,27 +59,3 @@ void PeriodicPosixTask::taskFunctionality(void) {
     }
   }
 }
-
-uint32_t PeriodicPosixTask::getPeriodMs() const { return periodMs; }
-
-bool PeriodicPosixTask::isEmpty() const { return objectList.empty(); }
-
-ReturnValue_t PeriodicPosixTask::initObjsAfterTaskCreation() {
-  std::multiset<ExecutableObjectIF*> uniqueObjects;
-  ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
-  uint32_t count = 0;
-  for (const auto& obj : objectList) {
-    // Ensure that each unique object is initialized once.
-    if (uniqueObjects.find(obj.first) == uniqueObjects.end()) {
-      ReturnValue_t result = obj.first->initializeAfterTaskCreation();
-      if (result != HasReturnvaluesIF::RETURN_OK) {
-        count++;
-        status = result;
-      }
-      uniqueObjects.emplace(obj.first);
-    }
-  }
-  if (count > 0) {
-  }
-  return status;
-}

src/fsfw/osal/linux/PeriodicPosixTask.h

@@ -1,14 +1,17 @@
 #ifndef FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_
 #define FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_
 
-#include <vector>
-
-#include "../../objectmanager/ObjectManagerIF.h"
-#include "../../tasks/ExecutableObjectIF.h"
-#include "../../tasks/PeriodicTaskIF.h"
 #include "PosixThread.h"
 
-class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
+#include <vector>
+
+#include "fsfw/objectmanager/ObjectManagerIF.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
+#include "fsfw/tasks/PeriodicTaskIF.h"
+#include "fsfw/tasks/PeriodicTaskBase.h"
+
+
+class PeriodicPosixTask : public PosixThread, public PeriodicTaskBase {
  public:
   /**
    * Create a generic periodic task.
@@ -34,48 +37,16 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
    * 			to the system call.
    */
   ReturnValue_t startTask() override;
-  /**
-   * Adds an object to the list of objects to be executed.
-   * The objects are executed in the order added.
-   * @param object Id of the object to add.
-   * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
-   */
-  ReturnValue_t addComponent(object_id_t object, uint8_t opCode) override;
-
-  /**
-   * Adds an object to the list of objects to be executed.
-   * The objects are executed in the order added.
-   * @param object pointer to the object to add.
-   * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
-   */
-  ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) override;
-
-  uint32_t getPeriodMs() const override;
 
   ReturnValue_t sleepFor(uint32_t ms) override;
 
-  ReturnValue_t initObjsAfterTaskCreation();
-
-  bool isEmpty() const override;
-
  private:
-  //! Typedef for the List of objects. Will contain the objects to execute and their respective
-  //! op codes
-  using ObjectList = std::vector<std::pair<ExecutableObjectIF*, uint8_t>>;
-  /**
-   * @brief	This attribute holds a list of objects to be executed.
-   */
-  ObjectList objectList;
 
   /**
    * @brief Flag to indicate that the task was started and is allowed to run
    */
   bool started;
 
-  /**
-   * @brief Period of the task in milliseconds
-   */
-  uint32_t periodMs;
   /**
    * @brief	The function containing the actual functionality of the task.
    * @details	The method sets and starts
@@ -92,14 +63,6 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
    * of the child class. Needs a valid pointer to the derived class.
    */
   static void* taskEntryPoint(void* arg);
-  /**
-   * @brief	The pointer to the deadline-missed function.
-   * @details	This pointer stores the function that is executed if the task's deadline is missed.
-   * 			So, each may react individually on a timing failure. The pointer may be
-   * NULL, then nothing happens on missing the deadline. The deadline is equal to the next execution
-   * 			of the periodic task.
-   */
-  void (*deadlineMissedFunc)();
 };
 
 #endif /* FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_ */

src/fsfw/tasks/CMakeLists.txt

@@ -1,2 +1,3 @@
 target_sources(${LIB_FSFW_NAME} PRIVATE FixedSequenceSlot.cpp
-                                        FixedSlotSequence.cpp)
+                                        FixedSlotSequence.cpp
+                                        PeriodicTaskBase.cpp)

src/fsfw/tasks/PeriodicTaskBase.cpp

@@ -0,0 +1,57 @@
+#include <fsfw/objectmanager/ObjectManager.h>
+#include "PeriodicTaskBase.h"
+
+#include <set>
+
+PeriodicTaskBase::PeriodicTaskBase(uint32_t periodMs_,
+    TaskDeadlineMissedFunction deadlineMissedFunc_)
+  : periodMs(periodMs_), deadlineMissedFunc(deadlineMissedFunc_) {}
+
+uint32_t PeriodicTaskBase::getPeriodMs() const { return periodMs; }
+
+bool PeriodicTaskBase::isEmpty() const {
+  return objectList.empty();
+}
+
+ReturnValue_t PeriodicTaskBase::initObjsAfterTaskCreation() {
+  std::multiset<ExecutableObjectIF*> uniqueObjects;
+  ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
+  uint32_t count = 0;
+  for (const auto& obj : objectList) {
+    // Ensure that each unique object is initialized once.
+    if (uniqueObjects.find(obj.first) == uniqueObjects.end()) {
+      ReturnValue_t result = obj.first->initializeAfterTaskCreation();
+      if (result != HasReturnvaluesIF::RETURN_OK) {
+        count++;
+        status = result;
+      }
+      uniqueObjects.emplace(obj.first);
+    }
+  }
+  if (count > 0) {
+  }
+  return status;
+}
+
+ReturnValue_t PeriodicTaskBase::addComponent(object_id_t object, uint8_t opCode) {
+  ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
+  return addComponent(newObject, opCode);
+}
+
+ReturnValue_t PeriodicTaskBase::addComponent(ExecutableObjectIF* object, uint8_t opCode) {
+  if (object == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
+               << " it implements ExecutableObjectIF!" << std::endl;
+#else
+    sif::printError(
+        "PeriodicTask::addComponent: Invalid object. Make sure it "
+        "implements ExecutableObjectIF!\n");
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  objectList.push_back({object, opCode});
+  object->setTaskIF(this);
+
+  return HasReturnvaluesIF::RETURN_OK;
+}

src/fsfw/tasks/PeriodicTaskBase.h

@@ -0,0 +1,51 @@
+#ifndef FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_
+#define FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_
+
+#include "fsfw/tasks/PeriodicTaskIF.h"
+#include "fsfw/tasks/definitions.h"
+#include <vector>
+#include <cstdint>
+
+class ExecutableObjectIF;
+
+class PeriodicTaskBase: public PeriodicTaskIF {
+public:
+  PeriodicTaskBase(uint32_t periodMs, TaskDeadlineMissedFunction deadlineMissedFunc = nullptr);
+
+  ReturnValue_t addComponent(object_id_t object, uint8_t opCode) override;
+  ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) override;
+
+  uint32_t getPeriodMs() const override;
+
+  bool isEmpty() const override;
+
+  ReturnValue_t initObjsAfterTaskCreation();
+
+protected:
+
+  //! Typedef for the List of objects. Will contain the objects to execute and their respective
+  //! operation codes
+  using ObjectList = std::vector<std::pair<ExecutableObjectIF*, uint8_t>>;
+  /**
+   * @brief This attribute holds a list of objects to be executed.
+   */
+  ObjectList objectList;
+
+  /**
+   * @brief Period of the task in milliseconds
+   */
+  uint32_t periodMs;
+
+  /**
+   * @brief The pointer to the deadline-missed function.
+   * @details   This pointer stores the function that is executed if the task's deadline is missed.
+   *            So, each may react individually on a timing failure. The pointer may be
+   * NULL, then nothing happens on missing the deadline. The deadline is equal to the next execution
+   *            of the periodic task.
+   */
+  TaskDeadlineMissedFunction deadlineMissedFunc = nullptr;
+};
+
+
+
+#endif /* FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_ */

src/fsfw/tasks/PeriodicTaskIF.h

@@ -1,11 +1,10 @@
 #ifndef FRAMEWORK_TASK_PERIODICTASKIF_H_
 #define FRAMEWORK_TASK_PERIODICTASKIF_H_
 
-#include <cstddef>
+#include "fsfw/objectmanager/SystemObjectIF.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
 
-#include "../objectmanager/SystemObjectIF.h"
+#include <cstddef>
-#include "../timemanager/Clock.h"
-class ExecutableObjectIF;
 
 /**
  * New version of TaskIF
@@ -26,20 +25,21 @@ class PeriodicTaskIF {
   virtual ReturnValue_t startTask() = 0;
 
   /**
-   * Add a component (object) to a periodic task.
+   * Adds an object to the list of objects to be executed.
-   * @param object
+   * The objects are executed in the order added. The object needs to implement
-   * Add an object to the task. The object needs to implement ExecutableObjectIF
+   * ExecutableObjectIF
-   * @return
+   * @param object Id of the object to add.
+   * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
    */
   virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode = 0) {
     return HasReturnvaluesIF::RETURN_FAILED;
   };
 
   /**
-   * Add an object to a periodic task.
+   * Adds an object to the list of objects to be executed.
-   * @param object
+   * The objects are executed in the order added.
-   * Add an object to the task.
+   * @param object pointer to the object to add.
-   * @return
+   * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
    */
   virtual ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode = 0) {
     return HasReturnvaluesIF::RETURN_FAILED;

src/fsfw/tasks/TaskFactory.h

@@ -4,7 +4,7 @@
 #include <cstdlib>
 
 #include "FixedTimeslotTaskIF.h"
-#include "Typedef.h"
+#include "definitions.h"
 
 /**
  * Singleton Class that produces Tasks.

src/fsfw/tasks/Typedef.h

@@ -1,13 +0,0 @@
-#ifndef FSFW_TASKS_TYPEDEF_H_
-#define FSFW_TASKS_TYPEDEF_H_
-
-#include <cstddef>
-#include <cstdint>
-
-typedef const char* TaskName;
-typedef uint32_t TaskPriority;
-typedef size_t TaskStackSize;
-typedef double TaskPeriod;
-typedef void (*TaskDeadlineMissedFunction)();
-
-#endif /* FSFW_TASKS_TYPEDEF_H_ */

src/fsfw/tasks/definitions.h

@@ -0,0 +1,13 @@
+#ifndef FSFW_TASKS_TYPEDEF_H_
+#define FSFW_TASKS_TYPEDEF_H_
+
+#include <cstddef>
+#include <cstdint>
+
+using TaskName = const char*;
+using TaskPriority = uint32_t;
+using TaskStackSize = size_t;
+using TaskPeriod = double;
+using TaskDeadlineMissedFunction = void (*)();
+
+#endif /* FSFW_TASKS_TYPEDEF_H_ */