Merge pull request 'all fixed slot sequence improvenements' (#24) from KSat/fsfw:mueller_FixedSequenceImprovements into master
This commit is contained in:
commit
58c5b179c6
@ -16,6 +16,5 @@ FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
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handler->setTaskIF(executingTask);
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}
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FixedSequenceSlot::~FixedSequenceSlot() {
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}
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FixedSequenceSlot::~FixedSequenceSlot() {}
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@ -13,35 +13,47 @@
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class PeriodicTaskIF;
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/**
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* \brief This class is the representation of a single polling sequence table entry.
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* @brief This class is the representation of a single polling sequence table entry.
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*
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* \details The PollingSlot class is the representation of a single polling sequence table entry.
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* @details The PollingSlot class is the representation of a single polling
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* sequence table entry.
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*/
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class FixedSequenceSlot {
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public:
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FixedSequenceSlot( object_id_t handlerId, uint32_t setTimeMs, int8_t setSequenceId, PeriodicTaskIF* executingTask );
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FixedSequenceSlot( object_id_t handlerId, uint32_t setTimeMs,
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int8_t setSequenceId, PeriodicTaskIF* executingTask );
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virtual ~FixedSequenceSlot();
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/**
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* \brief \c handler identifies which device handler object is executed in this slot.
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* @brief Handler identifies which device handler object is executed in this slot.
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*/
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ExecutableObjectIF* handler;
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/**
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* \brief This attribute defines when a device handler object is executed.
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* @brief This attribute defines when a device handler object is executed.
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*
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* \details The pollingTime attribute identifies the time the handler is executed in ms. It must be
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* smaller than the period length of the polling sequence, what is ensured by automated calculation
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* from a database.
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* @details The pollingTime attribute identifies the time the handler is executed in ms.
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* It must be smaller than the period length of the polling sequence.
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*/
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uint32_t pollingTimeMs;
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/**
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* \brief This value defines the type of device communication.
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* @brief This value defines the type of device communication.
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*
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* \details The state of this value decides what communication routine is called in the PST executable or the device handler object.
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* @details The state of this value decides what communication routine is
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* called in the PST executable or the device handler object.
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*/
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uint8_t opcode;
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/**
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* @brief Operator overload for the comparison operator to
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* allow sorting by polling time.
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* @param fixedSequenceSlot
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* @return
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*/
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bool operator <(const FixedSequenceSlot & fixedSequenceSlot) const {
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return pollingTimeMs < fixedSequenceSlot.pollingTimeMs;
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}
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};
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@ -7,17 +7,12 @@ FixedSlotSequence::FixedSlotSequence(uint32_t setLengthMs) :
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}
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FixedSlotSequence::~FixedSlotSequence() {
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std::list<FixedSequenceSlot*>::iterator slotIt;
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//Iterate through slotList and delete all entries.
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slotIt = this->slotList.begin();
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while (slotIt != this->slotList.end()) {
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delete (*slotIt);
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slotIt++;
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}
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// Call the destructor on each list entry.
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slotList.clear();
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}
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void FixedSlotSequence::executeAndAdvance() {
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(*this->current)->handler->performOperation((*this->current)->opcode);
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current->handler->performOperation(current->opcode);
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// if (returnValue != RETURN_OK) {
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// this->sendErrorMessage( returnValue );
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// }
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@ -31,53 +26,50 @@ void FixedSlotSequence::executeAndAdvance() {
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uint32_t FixedSlotSequence::getIntervalToNextSlotMs() {
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uint32_t oldTime;
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std::list<FixedSequenceSlot*>::iterator it;
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it = current;
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SlotListIter slotListIter = current;
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// Get the pollingTimeMs of the current slot object.
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oldTime = (*it)->pollingTimeMs;
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oldTime = slotListIter->pollingTimeMs;
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// Advance to the next object.
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it++;
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slotListIter++;
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// Find the next interval which is not 0.
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while (it != slotList.end()) {
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if (oldTime != (*it)->pollingTimeMs) {
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return (*it)->pollingTimeMs - oldTime;
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while (slotListIter != slotList.end()) {
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if (oldTime != slotListIter->pollingTimeMs) {
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return slotListIter->pollingTimeMs - oldTime;
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} else {
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it++;
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slotListIter++;
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}
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}
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// If the list end is reached (this is definitely an interval != 0),
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// the interval is calculated by subtracting the remaining time of the PST
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// and adding the start time of the first handler in the list.
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it = slotList.begin();
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return lengthMs - oldTime + (*it)->pollingTimeMs;
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slotListIter = slotList.begin();
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return lengthMs - oldTime + slotListIter->pollingTimeMs;
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}
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uint32_t FixedSlotSequence::getIntervalToPreviousSlotMs() {
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uint32_t currentTime;
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std::list<FixedSequenceSlot*>::iterator it;
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it = current;
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SlotListIter slotListIter = current;
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// Get the pollingTimeMs of the current slot object.
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currentTime = (*it)->pollingTimeMs;
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currentTime = slotListIter->pollingTimeMs;
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//if it is the first slot, calculate difference to last slot
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if (it == slotList.begin()){
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return lengthMs - (*(--slotList.end()))->pollingTimeMs + currentTime;
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if (slotListIter == slotList.begin()){
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return lengthMs - (--slotList.end())->pollingTimeMs + currentTime;
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}
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// get previous slot
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it--;
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slotListIter--;
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return currentTime - (*it)->pollingTimeMs;
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return currentTime - slotListIter->pollingTimeMs;
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}
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bool FixedSlotSequence::slotFollowsImmediately() {
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uint32_t currentTime = (*current)->pollingTimeMs;
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std::list<FixedSequenceSlot*>::iterator it;
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it = this->current;
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uint32_t currentTime = current->pollingTimeMs;
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SlotListIter fixedSequenceIter = this->current;
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// Get the pollingTimeMs of the current slot object.
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if (it == slotList.begin())
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if (fixedSequenceIter == slotList.begin())
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return false;
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it--;
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if ((*it)->pollingTimeMs == currentTime) {
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fixedSequenceIter--;
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if (fixedSequenceIter->pollingTimeMs == currentTime) {
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return true;
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} else {
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return false;
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@ -93,26 +85,30 @@ ReturnValue_t FixedSlotSequence::checkSequence() const {
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sif::error << "Fixed Slot Sequence: Slot list is empty!" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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auto slotIt = slotList.begin();
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uint32_t count = 0;
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uint32_t time = 0;
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while (slotIt != slotList.end()) {
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if ((*slotIt)->handler == NULL) {
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if (slotIt->handler == nullptr) {
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sif::error << "FixedSlotSequene::initialize: ObjectId does not exist!"
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<< std::endl;
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count++;
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} else if ((*slotIt)->pollingTimeMs < time) {
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} else if (slotIt->pollingTimeMs < time) {
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sif::error << "FixedSlotSequence::initialize: Time: "
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<< (*slotIt)->pollingTimeMs
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<< slotIt->pollingTimeMs
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<< " is smaller than previous with " << time << std::endl;
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count++;
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} else {
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// All ok, print slot.
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// (*slotIt)->print();
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//info << "Current slot polling time: " << std::endl;
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//info << std::dec << slotIt->pollingTimeMs << std::endl;
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}
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time = (*slotIt)->pollingTimeMs;
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time = slotIt->pollingTimeMs;
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slotIt++;
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}
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//info << "Number of elements in slot list: "
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// << slotList.size() << std::endl;
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if (count > 0) {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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@ -121,8 +117,7 @@ ReturnValue_t FixedSlotSequence::checkSequence() const {
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void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs,
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int8_t executionStep, PeriodicTaskIF* executingTask) {
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this->slotList.push_back(
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new FixedSequenceSlot(componentId, slotTimeMs, executionStep,
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this->slotList.insert(FixedSequenceSlot(componentId, slotTimeMs, executionStep,
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executingTask));
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this->current = slotList.begin();
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}
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@ -1,9 +1,9 @@
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#ifndef FIXEDSLOTSEQUENCE_H_
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#define FIXEDSLOTSEQUENCE_H_
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#ifndef FRAMEWORK_DEVICEHANDLERS_FIXEDSLOTSEQUENCE_H_
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#define FRAMEWORK_DEVICEHANDLERS_FIXEDSLOTSEQUENCE_H_
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#include <framework/devicehandlers/FixedSequenceSlot.h>
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#include <framework/objectmanager/SystemObject.h>
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#include <list>
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#include <set>
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/**
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* @brief This class is the representation of a Polling Sequence Table in software.
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@ -24,30 +24,39 @@
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*/
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class FixedSlotSequence {
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public:
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using SlotList = std::multiset<FixedSequenceSlot>;
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using SlotListIter = std::multiset<FixedSequenceSlot>::iterator;
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/**
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* \brief The constructor of the FixedSlotSequence object.
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* @brief The constructor of the FixedSlotSequence object.
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*
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* \details The constructor takes two arguments, the period length and the init function.
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* @details The constructor takes two arguments, the period length and the init function.
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*
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* \param setLength The period length, expressed in ms.
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* @param setLength The period length, expressed in ms.
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*/
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FixedSlotSequence(uint32_t setLengthMs);
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/**
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* \brief The destructor of the FixedSlotSequence object.
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* @brief The destructor of the FixedSlotSequence object.
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*
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* \details The destructor frees all allocated memory by iterating through the slotList
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* @details The destructor frees all allocated memory by iterating through the slotList
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* and deleting all allocated resources.
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*/
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virtual ~FixedSlotSequence();
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/**
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* \brief This is a method to add an PollingSlot object to slotList.
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* @brief This is a method to add an PollingSlot object to slotList.
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*
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* \details Here, a polling slot object is added to the slot list. It is appended
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* @details Here, a polling slot object is added to the slot list. It is appended
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* to the end of the list. The list is currently NOT reordered.
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* Afterwards, the iterator current is set to the beginning of the list.
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* @param Object ID of the object to add
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* @param setTime Value between (0 to 1) * slotLengthMs, when a FixedTimeslotTask
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* will be called inside the slot period.
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* @param setSequenceId ID which can be used to distinguish
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* different task operations
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* @param
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* @param
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*/
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void addSlot(object_id_t handlerId, uint32_t setTime, int8_t setSequenceId,
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PeriodicTaskIF* executingTask);
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@ -61,47 +70,59 @@ public:
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bool slotFollowsImmediately();
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/**
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* \brief This method returns the time until the next software component is invoked.
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* @brief This method returns the time until the next software
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* component is invoked.
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*
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* \details This method is vitally important for the operation of the PST. By fetching the polling time
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* of the current slot and that of the next one (or the first one, if the list end is reached)
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* it calculates and returns the interval in milliseconds within which the handler execution
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* shall take place. If the next slot has the same time as the current one, it is ignored until
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* a slot with different time or the end of the PST is found.
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* @details
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* This method is vitally important for the operation of the PST.
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* By fetching the polling time of the current slot and that of the
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* next one (or the first one, if the list end is reached)
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* it calculates and returns the interval in milliseconds within
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* which the handler execution shall take place.
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* If the next slot has the same time as the current one, it is ignored
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* until a slot with different time or the end of the PST is found.
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*/
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uint32_t getIntervalToNextSlotMs();
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/**
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* \brief This method returns the time difference between the current slot and the previous slot
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* @brief This method returns the time difference between the current
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* slot and the previous slot
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*
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* \details This method is vitally important for the operation of the PST. By fetching the polling time
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* of the current slot and that of the prevous one (or the last one, if the slot is the first one)
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* it calculates and returns the interval in milliseconds that the handler execution shall be delayed.
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* @details
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* This method is vitally important for the operation of the PST.
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* By fetching the polling time of the current slot and that of the previous
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* one (or the last one, if the slot is the first one) it calculates and
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* returns the interval in milliseconds that the handler execution shall
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* be delayed.
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*/
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uint32_t getIntervalToPreviousSlotMs();
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/**
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* \brief This method returns the length of this FixedSlotSequence instance.
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* @brief This method returns the length of this FixedSlotSequence instance.
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*/
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uint32_t getLengthMs() const;
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/**
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* \brief The method to execute the device handler entered in the current OPUSPollingSlot object.
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* @brief The method to execute the device handler entered in the current
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* PollingSlot object.
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*
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* \details Within this method the device handler object to be executed is chosen by looking up the
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* handler address of the current slot in the handlerMap. Either the device handler's
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* talkToInterface or its listenToInterface method is invoked, depending on the isTalking flag
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* of the polling slot. After execution the iterator current is increased or, by reaching the
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* @details
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* Within this method the device handler object to be executed is chosen by
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* looking up the handler address of the current slot in the handlerMap.
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* Either the device handler's talkToInterface or its listenToInterface
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* method is invoked, depending on the isTalking flag of the polling slot.
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* After execution the iterator current is increased or, by reaching the
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* end of slotList, reset to the beginning.
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*/
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void executeAndAdvance();
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/**
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* \brief An iterator that indicates the current polling slot to execute.
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* @brief An iterator that indicates the current polling slot to execute.
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*
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* \details This is an iterator for slotList and always points to the polling slot which is executed next.
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* @details This is an iterator for slotList and always points to the
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* polling slot which is executed next.
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*/
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std::list<FixedSequenceSlot*>::iterator current;
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SlotListIter current;
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/**
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* Iterate through slotList and check successful creation.
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@ -109,18 +130,21 @@ public:
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* @return
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*/
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ReturnValue_t checkSequence() const;
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protected:
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/**
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* \brief This list contains all OPUSPollingSlot objects, defining order and execution time of the
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* device handler objects.
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* @brief This list contains all PollingSlot objects, defining order and
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* execution time of the device handler objects.
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*
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* \details The slot list is a std:list object that contains all created OPUSPollingSlot instances.
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* They are NOT ordered automatically, so by adding entries, the correct order needs to be ensured.
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* By iterating through this list the polling sequence is executed. Two entries with identical
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* polling times are executed immediately one after another.
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* @details
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* The slot list is a std:list object that contains all created
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* PollingSlot instances. They are NOT ordered automatically, so by
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* adding entries, the correct order needs to be ensured. By iterating
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* through this list the polling sequence is executed. Two entries with
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* identical polling times are executed immediately one after another.
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*/
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std::list<FixedSequenceSlot*> slotList;
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SlotList slotList;
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uint32_t lengthMs;
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};
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@ -82,10 +82,10 @@ ReturnValue_t FixedTimeslotTask::checkSequence() const {
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void FixedTimeslotTask::taskFunctionality() {
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// A local iterator for the Polling Sequence Table is created to find the start time for the first entry.
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std::list<FixedSequenceSlot*>::iterator it = pst.current;
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auto slotListIter = pst.current;
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//The start time for the first entry is read.
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uint32_t intervalMs = (*it)->pollingTimeMs;
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uint32_t intervalMs = slotListIter->pollingTimeMs;
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TickType_t interval = pdMS_TO_TICKS(intervalMs);
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TickType_t xLastWakeTime;
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@ -120,4 +120,3 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
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vTaskDelay(pdMS_TO_TICKS(ms));
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return HasReturnvaluesIF::RETURN_OK;
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}
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