Merge branch 'development' into mueller/followup-pullrequest

ipc/MutexHelper.h

@@ -2,33 +2,53 @@
 #define FRAMEWORK_IPC_MUTEXHELPER_H_
 
 #include "MutexFactory.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../serviceinterface/ServiceInterface.h"
 
 class MutexHelper {
 public:
     MutexHelper(MutexIF* mutex, MutexIF::TimeoutType timeoutType =
             MutexIF::TimeoutType::BLOCKING, uint32_t timeoutMs = 0):
             internalMutex(mutex) {
+        if(mutex == nullptr) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::error << "MutexHelper: Passed mutex is invalid!" << std::endl;
+#else
+            sif::printError("MutexHelper: Passed mutex is invalid!\n");
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+            return;
+        }
         ReturnValue_t status = mutex->lockMutex(timeoutType,
                 timeoutMs);
+#if FSFW_VERBOSE_LEVEL >= 1
         if(status == MutexIF::MUTEX_TIMEOUT) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
             sif::error << "MutexHelper: Lock of mutex failed with timeout of "
                     << timeoutMs << " milliseconds!" << std::endl;
-#endif
+#else
+            sif::printError("MutexHelper: Lock of mutex failed with timeout of %lu milliseconds\n",
+                    timeoutMs);
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+
         }
         else if(status != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-			sif::error << "MutexHelper: Lock of Mutex failed with code "
+            sif::error << "MutexHelper: Lock of Mutex failed with code " << status << std::endl;
-			        << status << std::endl;
+#else
-#endif
+            sif::printError("MutexHelper: Lock of Mutex failed with code %d\n", status);
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
         }
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
     }
 
     ~MutexHelper() {
+        if(internalMutex != nullptr) {
             internalMutex->unlockMutex();
         }
+    }
 private:
     MutexIF* internalMutex;
 };
+
 #endif /* FRAMEWORK_IPC_MUTEXHELPER_H_ */

osal/FreeRTOS/TaskFactory.cpp

@@ -49,5 +49,11 @@ ReturnValue_t TaskFactory::delayTask(uint32_t delayMs) {
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
+void TaskFactory::printMissedDeadline() {
+    /* TODO: Implement */
+    return;
+}
+
+
 TaskFactory::TaskFactory() {
 }

osal/host/TaskFactory.cpp

@@ -48,4 +48,9 @@ ReturnValue_t TaskFactory::delayTask(uint32_t delayMs){
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
+void TaskFactory::printMissedDeadline() {
+    /* TODO: Implement */
+    return;
+}
+
 

osal/linux/PeriodicPosixTask.cpp

@@ -68,20 +68,6 @@ void PeriodicPosixTask::taskFunctionality(void) {
 		}
 
 		if(not PosixThread::delayUntil(&lastWakeTime, periodMs)){
-			char name[20] = {0};
-			int status = pthread_getname_np(pthread_self(), name, sizeof(name));
-			if(status == 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-				sif::error << "PeriodicPosixTask " << name << ": Deadline "
-						"missed." << std::endl;
-#endif
-			}
-			else {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-				sif::error << "PeriodicPosixTask X: Deadline missed. " <<
-						status << std::endl;
-#endif
-			}
 			if (this->deadlineMissedFunc != nullptr) {
 				this->deadlineMissedFunc();
 			}

osal/linux/TaskFactory.cpp

@@ -39,5 +39,26 @@ ReturnValue_t TaskFactory::delayTask(uint32_t delayMs){
 	return PosixThread::sleep(delayMs*1000000ull);
 }
 
+void TaskFactory::printMissedDeadline() {
+    char name[20] = {0};
+    int status = pthread_getname_np(pthread_self(), name, sizeof(name));
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    if(status == 0) {
+        sif::warning << "task::printMissedDeadline: " << name << "" << std::endl;
+    }
+    else {
+        sif::warning << "task::printMissedDeadline: Unknown task name" << status <<
+                std::endl;
+    }
+#else
+    if(status == 0) {
+        sif::printWarning("task::printMissedDeadline: %s\n", name);
+    }
+    else {
+        sif::printWarning("task::printMissedDeadline: Unknown task name\n", name);
+    }
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+}
+
 TaskFactory::TaskFactory() {
 }

osal/rtems/TaskFactory.cpp

@@ -44,5 +44,10 @@ ReturnValue_t TaskFactory::delayTask(uint32_t delayMs){
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
+void TaskFactory::printMissedDeadline() {
+    /* TODO: Implement */
+    return;
+}
+
 TaskFactory::TaskFactory() {
 }

tasks/TaskFactory.h

@@ -62,6 +62,12 @@ public:
 	 */
 	static ReturnValue_t delayTask(uint32_t delayMs);
 
+	/**
+	 * OS specific implementation to print deadline. In most cases, there is a OS specific
+	 * way to retrieve the task name and print it out as well.
+	 */
+	static void printMissedDeadline();
+
 private:
 	/**
 	 * External instantiation is not allowed.