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refactor freeRTOS task components

This commit is contained in:
Robin Müller 2022-05-27 00:31:20 +02:00 committed by Gitea
parent 347714d53a
commit 7292b02907
5 changed files with 47 additions and 136 deletions
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63
src/fsfw/osal/freertos/FixedTimeslotTask.cpp
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@ -1,27 +1,25 @@
#include "fsfw/osal/freertos/FixedTimeslotTask.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/serviceinterface.h"
uint32_t FixedTimeslotTask::MISSED_DEADLINE_COUNT = 0;
uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority,
TaskStackSize setStack, TaskPeriod overallPeriod,
void (*setDeadlineMissedFunc)())
: started(false), handle(nullptr), pst(overallPeriod * 1000) {
TaskStackSize setStack, TaskPeriod period,
TaskDeadlineMissedFunction dlmFunc_)
: FixedTimeslotTaskBase(period, dlmFunc_), started(false), handle(nullptr) {
configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
// All additional attributes are applied to the object.
this->deadlineMissedFunc = setDeadlineMissedFunc;
}
FixedTimeslotTask::~FixedTimeslotTask() {}
FixedTimeslotTask::~FixedTimeslotTask() = default;
void FixedTimeslotTask::taskEntryPoint(void* argument) {
// The argument is re-interpreted as FixedTimeslotTask. The Task object is
// global, so it is found from any place.
FixedTimeslotTask* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
auto* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
/* Task should not start until explicitly requested,
* but in FreeRTOS, tasks start as soon as they are created if the scheduler
* is running but not if the scheduler is not running.
@ -32,21 +30,23 @@ void FixedTimeslotTask::taskEntryPoint(void* argument) {
* can continue */
if (not originalTask->started) {
vTaskSuspend(NULL);
vTaskSuspend(nullptr);
}
originalTask->taskFunctionality();
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Polling task " << originalTask->handle << " returned from taskFunctionality."
<< std::endl;
#else
sif::printDebug("Polling task returned from taskFunctionality\n");
#endif
}
void FixedTimeslotTask::missedDeadlineCounter() {
FixedTimeslotTask::deadlineMissedCount++;
if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
FixedTimeslotTask::MISSED_DEADLINE_COUNT++;
if (FixedTimeslotTask::MISSED_DEADLINE_COUNT % 10 == 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines."
sif::error << "PST missed " << FixedTimeslotTask::MISSED_DEADLINE_COUNT << " deadlines"
<< std::endl;
#endif
}
@ -63,31 +63,12 @@ ReturnValue_t FixedTimeslotTask::startTask() {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
int8_t executionStep) {
ExecutableObjectIF* handler = ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
if (handler != nullptr) {
pst.addSlot(componentId, slotTimeMs, executionStep, handler, this);
return HasReturnvaluesIF::RETURN_OK;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Component " << std::hex << componentId << " not found, not adding it to pst"
<< std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
uint32_t FixedTimeslotTask::getPeriodMs() const { return pst.getLengthMs(); }
ReturnValue_t FixedTimeslotTask::checkSequence() const { return pst.checkSequence(); }
void FixedTimeslotTask::taskFunctionality() {
[[noreturn]] void FixedTimeslotTask::taskFunctionality() {
// A local iterator for the Polling Sequence Table is created to find the
// start time for the first entry.
auto slotListIter = pst.current;
auto slotListIter = pollingSeqTable.current;
pst.intializeSequenceAfterTaskCreation();
pollingSeqTable.intializeSequenceAfterTaskCreation();
// The start time for the first entry is read.
uint32_t intervalMs = slotListIter->pollingTimeMs;
@ -108,10 +89,10 @@ void FixedTimeslotTask::taskFunctionality() {
/* Enter the loop that defines the task behavior. */
for (;;) {
// The component for this slot is executed and the next one is chosen.
this->pst.executeAndAdvance();
if (not pst.slotFollowsImmediately()) {
this->pollingSeqTable.executeAndAdvance();
if (not pollingSeqTable.slotFollowsImmediately()) {
// Get the interval till execution of the next slot.
intervalMs = this->pst.getIntervalToPreviousSlotMs();
intervalMs = this->pollingSeqTable.getIntervalToPreviousSlotMs();
interval = pdMS_TO_TICKS(intervalMs);
#if (tskKERNEL_VERSION_MAJOR == 10 && tskKERNEL_VERSION_MINOR >= 4) || tskKERNEL_VERSION_MAJOR > 10
@ -132,8 +113,8 @@ void FixedTimeslotTask::taskFunctionality() {
}
void FixedTimeslotTask::handleMissedDeadline() {
if (deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
if (dlmFunc != nullptr) {
dlmFunc();
}
}

34
src/fsfw/osal/freertos/FixedTimeslotTask.h
View File

@ -4,11 +4,11 @@
#include "FreeRTOS.h"
#include "FreeRTOSTaskIF.h"
#include "fsfw/tasks/FixedSlotSequence.h"
#include "fsfw/tasks/FixedTimeslotTaskIF.h"
#include "fsfw/tasks/Typedef.h"
#include "fsfw/tasks/FixedTimeslotTaskBase.h"
#include "fsfw/tasks/definitions.h"
#include "task.h"
class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
class FixedTimeslotTask : public FixedTimeslotTaskBase, public FreeRTOSTaskIF {
public:
/**
* Keep in mind that you need to call before vTaskStartScheduler()!
@ -23,7 +23,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
* @return Pointer to the newly created task.
*/
FixedTimeslotTask(TaskName name, TaskPriority setPriority, TaskStackSize setStack,
TaskPeriod overallPeriod, void (*setDeadlineMissedFunc)());
TaskPeriod overallPeriod, TaskDeadlineMissedFunction dlmFunc);
/**
* @brief The destructor of the class.
@ -32,9 +32,9 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
* initialization for the PST and the device handlers. This is done by
* calling the PST's destructor.
*/
virtual ~FixedTimeslotTask(void);
~FixedTimeslotTask() override;
ReturnValue_t startTask(void);
ReturnValue_t startTask() override;
/**
* This static function can be used as #deadlineMissedFunc.
* It counts missedDeadlines and prints the number of missed deadlines
@ -44,14 +44,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
/**
* A helper variable to count missed deadlines.
*/
static uint32_t deadlineMissedCount;
ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
int8_t executionStep) override;
uint32_t getPeriodMs() const override;
ReturnValue_t checkSequence() const override;
static uint32_t MISSED_DEADLINE_COUNT;
ReturnValue_t sleepFor(uint32_t ms) override;
@ -61,17 +54,6 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
bool started;
TaskHandle_t handle;
FixedSlotSequence pst;
/**
* @brief This attribute holds a function pointer that is executed when
* a deadline was missed.
* @details
* Another function may be announced to determine the actions to perform
* when a deadline was missed. Currently, only one function for missing
* any deadline is allowed. If not used, it shall be declared NULL.
*/
void (*deadlineMissedFunc)(void);
/**
* @brief This is the entry point for a new task.
* @details
@ -88,7 +70,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
* It links the functionalities provided by FixedSlotSequence with the
* OS's System Calls to keep the timing of the periods.
*/
void taskFunctionality(void);
[[noreturn]] void taskFunctionality();
void handleMissedDeadline();
};

4
src/fsfw/osal/freertos/FreeRTOSTaskIF.h
View File

@ -6,11 +6,11 @@
class FreeRTOSTaskIF {
public:
virtual ~FreeRTOSTaskIF() {}
virtual ~FreeRTOSTaskIF() = default;
virtual TaskHandle_t getTaskHandle() = 0;
protected:
bool checkMissedDeadline(const TickType_t xLastWakeTime, const TickType_t interval) {
static bool checkMissedDeadline(const TickType_t xLastWakeTime, const TickType_t interval) {
/* Check whether deadline was missed while also taking overflows
* into account. Drawing this on paper with a timeline helps to understand
* it. */

41
src/fsfw/osal/freertos/PeriodicTask.cpp
View File

@ -5,8 +5,8 @@
#include "fsfw/tasks/ExecutableObjectIF.h"
PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStackSize setStack,
TaskPeriod setPeriod, TaskDeadlineMissedFunction deadlineMissedFunc)
: started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(deadlineMissedFunc) {
TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc_)
: PeriodicTaskBase(setStack, dlmFunc_), started(false), handle(nullptr), period(setPeriod) {
configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
BaseType_t status = xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
if (status != pdPASS) {
@ -18,14 +18,13 @@ PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStack
}
}
PeriodicTask::~PeriodicTask(void) {
// Do not delete objects, we were responsible for ptrs only.
}
// Do not delete objects, we were responsible for ptrs only.
PeriodicTask::~PeriodicTask() = default;
void PeriodicTask::taskEntryPoint(void* argument) {
// The argument is re-interpreted as PeriodicTask. The Task object is
// global, so it is found from any place.
PeriodicTask* originalTask(reinterpret_cast<PeriodicTask*>(argument));
auto* originalTask(reinterpret_cast<PeriodicTask*>(argument));
/* Task should not start until explicitly requested,
* but in FreeRTOS, tasks start as soon as they are created if the scheduler
* is running but not if the scheduler is not running.
@ -36,7 +35,7 @@ void PeriodicTask::taskEntryPoint(void* argument) {
* can continue */
if (not originalTask->started) {
vTaskSuspend(NULL);
vTaskSuspend(nullptr);
}
originalTask->taskFunctionality();
@ -62,7 +61,7 @@ ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
return HasReturnvaluesIF::RETURN_OK;
}
void PeriodicTask::taskFunctionality() {
[[noreturn]] void PeriodicTask::taskFunctionality() {
TickType_t xLastWakeTime;
const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
@ -95,32 +94,10 @@ void PeriodicTask::taskFunctionality() {
}
}
ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
return addComponent(newObject);
}
ReturnValue_t PeriodicTask::addComponent(ExecutableObjectIF* object) {
if (object == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
"it implement ExecutableObjectIF"
<< std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
objectList.push_back(object);
object->setTaskIF(this);
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t PeriodicTask::getPeriodMs() const { return period * 1000; }
TaskHandle_t PeriodicTask::getTaskHandle() { return handle; }
void PeriodicTask::handleMissedDeadline() {
if (deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
if (dlmFunc != nullptr) {
dlmFunc();
}
}

41
src/fsfw/osal/freertos/PeriodicTask.h
View File

@ -6,8 +6,8 @@
#include "FreeRTOS.h"
#include "FreeRTOSTaskIF.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/tasks/PeriodicTaskIF.h"
#include "fsfw/tasks/Typedef.h"
#include "fsfw/tasks/PeriodicTaskBase.h"
#include "fsfw/tasks/definitions.h"
#include "task.h"
class ExecutableObjectIF;
@ -17,7 +17,7 @@ class ExecutableObjectIF;
* periodic activities of multiple objects.
* @ingroup task_handling
*/
class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
class PeriodicTask : public PeriodicTaskBase, public FreeRTOSTaskIF {
public:
/**
* Keep in Mind that you need to call before this vTaskStartScheduler()!
@ -43,7 +43,7 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
* @brief Currently, the executed object's lifetime is not coupled with
* the task object's lifetime, so the destructor is empty.
*/
virtual ~PeriodicTask(void);
~PeriodicTask() override;
/**
* @brief The method to start the task.
@ -53,27 +53,6 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
* 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
* -@c RETURN_OK on success
* -@c RETURN_FAILED if the object could not be added.
*/
ReturnValue_t addComponent(object_id_t object) 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
* -@c RETURN_OK on success
* -@c RETURN_FAILED if the object could not be added.
*/
ReturnValue_t addComponent(ExecutableObjectIF* object) override;
uint32_t getPeriodMs() const override;
ReturnValue_t sleepFor(uint32_t ms) override;
@ -96,15 +75,7 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
* It is expressed in clock ticks.
*/
TaskPeriod period;
/**
* @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)(void);
/**
* @brief This is the function executed in the new task's context.
* @details
@ -125,7 +96,7 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
* the next period.
* On missing the deadline, the deadlineMissedFunction is executed.
*/
void taskFunctionality(void);
[[noreturn]] void taskFunctionality();
void handleMissedDeadline();
};