diff --git a/src/fsfw/osal/freertos/FixedTimeslotTask.cpp b/src/fsfw/osal/freertos/FixedTimeslotTask.cpp index e0e3779e..d3da4934 100644 --- a/src/fsfw/osal/freertos/FixedTimeslotTask.cpp +++ b/src/fsfw/osal/freertos/FixedTimeslotTask.cpp @@ -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(argument)); + auto* originalTask(reinterpret_cast(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(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(); } } diff --git a/src/fsfw/osal/freertos/FixedTimeslotTask.h b/src/fsfw/osal/freertos/FixedTimeslotTask.h index 77999d71..7d1a86a7 100644 --- a/src/fsfw/osal/freertos/FixedTimeslotTask.h +++ b/src/fsfw/osal/freertos/FixedTimeslotTask.h @@ -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(); }; diff --git a/src/fsfw/osal/freertos/FreeRTOSTaskIF.h b/src/fsfw/osal/freertos/FreeRTOSTaskIF.h index ad5c9f7f..dbefc6c1 100644 --- a/src/fsfw/osal/freertos/FreeRTOSTaskIF.h +++ b/src/fsfw/osal/freertos/FreeRTOSTaskIF.h @@ -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. */ diff --git a/src/fsfw/osal/freertos/PeriodicTask.cpp b/src/fsfw/osal/freertos/PeriodicTask.cpp index d2c46ea8..89c98a89 100644 --- a/src/fsfw/osal/freertos/PeriodicTask.cpp +++ b/src/fsfw/osal/freertos/PeriodicTask.cpp @@ -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(argument)); + auto* originalTask(reinterpret_cast(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(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(); } } diff --git a/src/fsfw/osal/freertos/PeriodicTask.h b/src/fsfw/osal/freertos/PeriodicTask.h index fc8e9092..30a79b88 100644 --- a/src/fsfw/osal/freertos/PeriodicTask.h +++ b/src/fsfw/osal/freertos/PeriodicTask.h @@ -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(); };