Merge pull request 'init after task creation moved to task functionality' (#178) from KSat/fsfw:mueller/TaskUpdates into master

Reviewed-on: fsfw/fsfw#178

osal/FreeRTOS/PeriodicTask.cpp

@@ -64,6 +64,11 @@ ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
 void PeriodicTask::taskFunctionality() {
 	TickType_t xLastWakeTime;
 	const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
+	
+	for (auto const &object: objectList) {
+		object->initializeAfterTaskCreation();
+	}
+
 	/* The xLastWakeTime variable needs to be initialized with the current tick
 	 count. Note that this is the only time the variable is written to
 	 explicitly. After this assignment, xLastWakeTime is updated automatically

osal/FreeRTOS/PeriodicTask.h

@@ -1,11 +1,10 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
+#ifndef FSFW_OSAL_FREERTOS_PERIODICTASK_H_
-#define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
+#define FSFW_OSAL_FREERTOS_PERIODICTASK_H_
 
+#include "FreeRTOSTaskIF.h"
 #include "../../objectmanager/ObjectManagerIF.h"
 #include "../../tasks/PeriodicTaskIF.h"
 #include "../../tasks/Typedef.h"
-#include "FreeRTOSTaskIF.h"
-
 
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
@@ -24,7 +23,6 @@ public:
 	/**
 	 * Keep in Mind that you need to call before this vTaskStartScheduler()!
 	 * A lot of task parameters are set in "FreeRTOSConfig.h".
-	 * TODO: why does this need to be called before vTaskStartScheduler?
 	 * @details
 	 * The class is initialized without allocated objects.
 	 * These need to be added with #addComponent.
@@ -125,4 +123,4 @@ protected:
 	void handleMissedDeadline();
 };
 
-#endif /* PERIODICTASK_H_ */
+#endif /* FSFW_OSAL_FREERTOS_PERIODICTASK_H_ */

osal/linux/PeriodicPosixTask.cpp

@@ -5,8 +5,8 @@
 
 PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_,
 		size_t stackSize_, uint32_t period_, void(deadlineMissedFunc_)()):
-		PosixThread(name_,priority_,stackSize_),objectList(),started(false),
+		PosixThread(name_, priority_, stackSize_), objectList(), started(false),
-		periodMs(period_),deadlineMissedFunc(deadlineMissedFunc_) {
+		periodMs(period_), deadlineMissedFunc(deadlineMissedFunc_) {
 }
 
 PeriodicPosixTask::~PeriodicPosixTask() {
@@ -25,6 +25,8 @@ ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
 	if (newObject == nullptr) {
+		sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
+				<< " it implements ExecutableObjectIF!" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);
@@ -38,35 +40,41 @@ ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
 }
 
 
-ReturnValue_t PeriodicPosixTask::startTask(void){
+ReturnValue_t PeriodicPosixTask::startTask(void) {
 	started = true;
 	//sif::info << stackSize << std::endl;
 	PosixThread::createTask(&taskEntryPoint,this);
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-void PeriodicPosixTask::taskFunctionality(void){
+void PeriodicPosixTask::taskFunctionality(void) {
-	if(!started){
+	if(not started) {
 		suspend();
 	}
+
+	for (auto const &object: objectList) {
+		object->initializeAfterTaskCreation();
+	}
+
 	uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
 	//The task's "infinite" inner loop is entered.
 	while (1) {
-		for (ObjectList::iterator it = objectList.begin();
+		for (auto const &object: objectList) {
-				it != objectList.end(); ++it) {
+			object->performOperation();
-			(*it)->performOperation();
 		}
-		if(!PosixThread::delayUntil(&lastWakeTime,periodMs)){
+
+		if(not PosixThread::delayUntil(&lastWakeTime, periodMs)){
 			char name[20] = {0};
-			int status = pthread_getname_np(pthread_self(),name,sizeof(name));
+			int status = pthread_getname_np(pthread_self(), name, sizeof(name));
-			if(status==0){
+			if(status == 0) {
 				sif::error << "PeriodicPosixTask " << name << ": Deadline "
 						"missed." << std::endl;
-			}else{
+			}
+			else {
 				sif::error << "PeriodicPosixTask X: Deadline missed. " <<
 						status << std::endl;
 			}
-			if (this->deadlineMissedFunc != NULL) {
+			if (this->deadlineMissedFunc != nullptr) {
 				this->deadlineMissedFunc();
 			}
 		}

osal/linux/PeriodicPosixTask.h

@@ -32,7 +32,7 @@ public:
 	 * 			The address of the task object is passed as an argument
 	 * 			to the system call.
 	 */
-	ReturnValue_t startTask(void);
+	ReturnValue_t startTask() override;
 	/**
 	 * Adds an object to the list of objects to be executed.
 	 * The objects are executed in the order added.