diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h index 05be2d45..3bfb07ae 100644 --- a/devicehandlers/DeviceHandlerBase.h +++ b/devicehandlers/DeviceHandlerBase.h @@ -69,6 +69,12 @@ class StorageManagerIF; * * Other important virtual methods with a default implementation * are the getTransitionDelayMs() function and the getSwitches() function. + * Please ensure that getSwitches() returns DeviceHandlerIF::NO_SWITCHES if + * power switches are not implemented yet. Otherwise, the device handler will + * not transition to MODE_ON, even if setMode(MODE_ON) is called. + * If a transition to MODE_ON is desired without commanding, override the + * intialize() function and call setMode(_MODE_START_UP) before calling + * DeviceHandlerBase::initialize(). * * @ingroup devices */ @@ -349,7 +355,7 @@ protected: * @param[out] numberOfSwitches length of returned array * @return * - @c RETURN_OK if the parameters were set - * - @c RETURN_FAILED if no switches exist + * - @c NO_SWITCH or any other returnvalue if no switches exist */ virtual ReturnValue_t getSwitches(const uint8_t **switches, uint8_t *numberOfSwitches); diff --git a/devicehandlers/DeviceHandlerIF.h b/devicehandlers/DeviceHandlerIF.h index c453e7e8..f0f7adfd 100644 --- a/devicehandlers/DeviceHandlerIF.h +++ b/devicehandlers/DeviceHandlerIF.h @@ -7,33 +7,11 @@ #include #include -#if __cplusplus >= 201703L -#include -#include -#endif - /** * Physical address type */ typedef uint32_t address_t; -///** -// * This type safe union cold be used if C++17 or newer is used to transfer -// * comIF settings to the communication interface object. -// */ -// -//#if __cplusplus >= 201703L -//using comParameterArray_t = std::array; -//using comParameters_t = std::variant; -//#else -//using comParameters_t = union comParameters { -// comParameters() = default; -// comParameters(uint32_t initValue): storeIdRaw(initValue) {} -// uint32_t storeIdRaw; -// uint8_t comParameter[4]; -// }; -//#endif - /** * This is the Interface used to communicate with a device handler. * diff --git a/devicehandlers/FixedSequenceSlot.h b/devicehandlers/FixedSequenceSlot.h index 0ed285b3..b3bac08f 100644 --- a/devicehandlers/FixedSequenceSlot.h +++ b/devicehandlers/FixedSequenceSlot.h @@ -19,29 +19,34 @@ class PeriodicTaskIF; */ class FixedSequenceSlot { public: - FixedSequenceSlot( object_id_t handlerId, uint32_t setTimeMs, int8_t setSequenceId, PeriodicTaskIF* executingTask ); + FixedSequenceSlot( object_id_t handlerId, uint32_t setTimeMs, + int8_t setSequenceId, PeriodicTaskIF* executingTask ); virtual ~FixedSequenceSlot(); /** - * \brief \c handler identifies which device handler object is executed in this slot. + * @brief Handler identifies which device handler object is executed in this slot. */ ExecutableObjectIF* handler; /** - * \brief This attribute defines when a device handler object is executed. + * @brief This attribute defines when a device handler object is executed. * - * \details The pollingTime attribute identifies the time the handler is executed in ms. It must be - * smaller than the period length of the polling sequence, which is ensured by automated calculation - * from a database. + * @details The pollingTime attribute identifies the time the handler is executed in ms. + * It must be smaller than the period length of the polling sequence. */ uint32_t pollingTimeMs; /** * \brief This value defines the type of device communication. * - * \details The state of this value decides what communication routine is called in the PST executable or the device handler object. + * \details The state of this value decides what communication routine is + * called in the PST executable or the device handler object. */ uint8_t opcode; + + bool operator <(const FixedSequenceSlot & fixedSequenceSlot) const { + return pollingTimeMs < fixedSequenceSlot.pollingTimeMs; + } }; diff --git a/devicehandlers/FixedSlotSequence.cpp b/devicehandlers/FixedSlotSequence.cpp index a65dd929..f01b1399 100644 --- a/devicehandlers/FixedSlotSequence.cpp +++ b/devicehandlers/FixedSlotSequence.cpp @@ -2,22 +2,23 @@ #include FixedSlotSequence::FixedSlotSequence(uint32_t setLengthMs) : - lengthMs(setLengthMs) { + slotLengthMs(setLengthMs) { current = slotList.begin(); } FixedSlotSequence::~FixedSlotSequence() { - std::list::iterator slotIt; - //Iterate through slotList and delete all entries. - slotIt = this->slotList.begin(); - while (slotIt != this->slotList.end()) { - delete (*slotIt); - slotIt++; - } + // This should call the destructor on each list entry. + slotList.clear(); +// SlotListIter slotListIter = this->slotList.begin(); +// //Iterate through slotList and delete all entries. +// while (slotListIter != this->slotList.end()) { +// delete (*slotIt); +// slotIt++; +// } } void FixedSlotSequence::executeAndAdvance() { - (*this->current)->handler->performOperation((*this->current)->opcode); + current->handler->performOperation(current->opcode); // if (returnValue != RETURN_OK) { // this->sendErrorMessage( returnValue ); // } @@ -31,53 +32,50 @@ void FixedSlotSequence::executeAndAdvance() { uint32_t FixedSlotSequence::getIntervalToNextSlotMs() { uint32_t oldTime; - std::list::iterator it; - it = current; + SlotListIter slotListIter = current; // Get the pollingTimeMs of the current slot object. - oldTime = (*it)->pollingTimeMs; + oldTime = slotListIter->pollingTimeMs; // Advance to the next object. - it++; + slotListIter++; // Find the next interval which is not 0. - while (it != slotList.end()) { - if (oldTime != (*it)->pollingTimeMs) { - return (*it)->pollingTimeMs - oldTime; + while (slotListIter != slotList.end()) { + if (oldTime != slotListIter->pollingTimeMs) { + return slotListIter->pollingTimeMs - oldTime; } else { - it++; + slotListIter++; } } // If the list end is reached (this is definitely an interval != 0), // the interval is calculated by subtracting the remaining time of the PST // and adding the start time of the first handler in the list. - it = slotList.begin(); - return lengthMs - oldTime + (*it)->pollingTimeMs; + slotListIter = slotList.begin(); + return slotLengthMs - oldTime + slotListIter->pollingTimeMs; } uint32_t FixedSlotSequence::getIntervalToPreviousSlotMs() { uint32_t currentTime; - std::list::iterator it; - it = current; + SlotListIter slotListIter = current; // Get the pollingTimeMs of the current slot object. - currentTime = (*it)->pollingTimeMs; + currentTime = slotListIter->pollingTimeMs; //if it is the first slot, calculate difference to last slot - if (it == slotList.begin()){ - return lengthMs - (*(--slotList.end()))->pollingTimeMs + currentTime; + if (slotListIter == slotList.begin()){ + return slotLengthMs - (--slotList.end())->pollingTimeMs + currentTime; } // get previous slot - it--; + slotListIter--; - return currentTime - (*it)->pollingTimeMs; + return currentTime - slotListIter->pollingTimeMs; } bool FixedSlotSequence::slotFollowsImmediately() { - uint32_t currentTime = (*current)->pollingTimeMs; - std::list::iterator it; - it = this->current; + uint32_t currentTime = current->pollingTimeMs; + SlotListIter fixedSequenceIter = this->current; // Get the pollingTimeMs of the current slot object. - if (it == slotList.begin()) + if (fixedSequenceIter == slotList.begin()) return false; - it--; - if ((*it)->pollingTimeMs == currentTime) { + fixedSequenceIter--; + if (fixedSequenceIter->pollingTimeMs == currentTime) { return true; } else { return false; @@ -85,29 +83,30 @@ bool FixedSlotSequence::slotFollowsImmediately() { } uint32_t FixedSlotSequence::getLengthMs() const { - return this->lengthMs; + return this->slotLengthMs; } ReturnValue_t FixedSlotSequence::checkSequence() const { - //Iterate through slotList and check successful creation. Checks if timing is ok (must be ascending) and if all handlers were found. + // Iterate through slotList and check successful creation. + // Checks if timing is ok (must be ascending) and if all handlers were found. auto slotIt = slotList.begin(); uint32_t count = 0; uint32_t time = 0; while (slotIt != slotList.end()) { - if ((*slotIt)->handler == NULL) { + if (slotIt->handler == NULL) { error << "FixedSlotSequene::initialize: ObjectId does not exist!" << std::endl; count++; - } else if ((*slotIt)->pollingTimeMs < time) { + } else if (slotIt->pollingTimeMs < time) { error << "FixedSlotSequence::initialize: Time: " - << (*slotIt)->pollingTimeMs + << slotIt->pollingTimeMs << " is smaller than previous with " << time << std::endl; count++; } else { - //All ok, print slot. -// (*slotIt)->print(); + // All ok, print slot. + // (*slotIt)->print(); } - time = (*slotIt)->pollingTimeMs; + time = slotIt->pollingTimeMs; slotIt++; } if (count > 0) { @@ -118,8 +117,7 @@ ReturnValue_t FixedSlotSequence::checkSequence() const { void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep, PeriodicTaskIF* executingTask) { - this->slotList.push_back( - new FixedSequenceSlot(componentId, slotTimeMs, executionStep, - executingTask)); + this->slotList.insert(FixedSequenceSlot(componentId, slotTimeMs, executionStep, + executingTask)); this->current = slotList.begin(); } diff --git a/devicehandlers/FixedSlotSequence.h b/devicehandlers/FixedSlotSequence.h index d72de913..974dbb2b 100644 --- a/devicehandlers/FixedSlotSequence.h +++ b/devicehandlers/FixedSlotSequence.h @@ -4,11 +4,15 @@ #include #include #include +#include + +using SlotList = std::set; +using SlotListIter = std::set::iterator; /** - * \brief This class is the representation of a Polling Sequence Table in software. + * @brief This class is the representation of a Polling Sequence Table in software. * - * \details The FixedSlotSequence object maintains the dynamic execution of device handler objects. + * @details The FixedSlotSequence object maintains the dynamic execution of device handler objects. * The main idea is to create a list of device handlers, to announce all handlers to the * polling sequence and to maintain a list of polling slot objects. This slot list represents the * Polling Sequence Table in software. Each polling slot contains information to indicate when and @@ -19,29 +23,37 @@ class FixedSlotSequence { public: + /** - * \brief The constructor of the FixedSlotSequence object. + * @brief The constructor of the FixedSlotSequence object. * - * \details The constructor takes two arguments, the period length and the init function. + * @details The constructor takes two arguments, the period length and the init function. * - * \param setLength The period length, expressed in ms. + * @param setLength The period length, expressed in ms. */ FixedSlotSequence(uint32_t setLengthMs); /** - * \brief The destructor of the FixedSlotSequence object. + * @brief The destructor of the FixedSlotSequence object. * - * \details The destructor frees all allocated memory by iterating through the slotList + * @details The destructor frees all allocated memory by iterating through the slotList * and deleting all allocated resources. */ virtual ~FixedSlotSequence(); /** - * \brief This is a method to add an PollingSlot object to slotList. + * @brief This is a method to add an PollingSlot object to slotList. * - * \details Here, a polling slot object is added to the slot list. It is appended + * @details Here, a polling slot object is added to the slot list. It is appended * to the end of the list. The list is currently NOT reordered. * Afterwards, the iterator current is set to the beginning of the list. + * @param Object ID of the object to add + * @param setTime Value between (0 to 1) * slotLengthMs, when a FixedTimeslotTask + * will be called inside the slot period. + * @param setSequenceId ID which can be used to distinguish + * different task operations + * @param + * @param */ void addSlot(object_id_t handlerId, uint32_t setTime, int8_t setSequenceId, PeriodicTaskIF* executingTask); @@ -75,12 +87,12 @@ public: uint32_t getIntervalToPreviousSlotMs(); /** - * \brief This method returns the length of this FixedSlotSequence instance. + * @brief This method returns the length of this FixedSlotSequence instance. */ uint32_t getLengthMs() const; /** - * \brief The method to execute the device handler entered in the current OPUSPollingSlot object. + * \brief The method to execute the device handler entered in the current PollingSlot object. * * \details Within this method the device handler object to be executed is chosen by looking up the * handler address of the current slot in the handlerMap. Either the device handler's @@ -91,17 +103,17 @@ public: void executeAndAdvance(); /** - * \brief An iterator that indicates the current polling slot to execute. + * @brief An iterator that indicates the current polling slot to execute. * - * \details This is an iterator for slotList and always points to the polling slot which is executed next. + * @details This is an iterator for slotList and always points to the polling slot which is executed next. */ - std::list::iterator current; + SlotListIter current; - ReturnValue_t checkSequence() const; + virtual ReturnValue_t checkSequence() const; protected: /** - * \brief This list contains all OPUSPollingSlot objects, defining order and execution time of the + * @brief This list contains all PollingSlot objects, defining order and execution time of the * device handler objects. * * @details The slot list is a std:list object that contains all created PollingSlot instances. @@ -109,9 +121,9 @@ protected: * By iterating through this list the polling sequence is executed. Two entries with identical * polling times are executed immediately one after another. */ - std::list slotList; + SlotList slotList; - uint32_t lengthMs; + uint32_t slotLengthMs; }; #endif /* FIXEDSLOTSEQUENCE_H_ */ diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp index 604a10b8..71e166a5 100644 --- a/osal/FreeRTOS/FixedTimeslotTask.cpp +++ b/osal/FreeRTOS/FixedTimeslotTask.cpp @@ -80,10 +80,10 @@ ReturnValue_t FixedTimeslotTask::checkSequence() const { void FixedTimeslotTask::taskFunctionality() { // A local iterator for the Polling Sequence Table is created to find the start time for the first entry. - std::list::iterator it = pst.current; + SlotListIter slotListIter = pst.current; //The start time for the first entry is read. - uint32_t intervalMs = (*it)->pollingTimeMs; + uint32_t intervalMs = slotListIter->pollingTimeMs; TickType_t interval = pdMS_TO_TICKS(intervalMs); TickType_t xLastWakeTime; diff --git a/tasks/FixedTimeslotTaskIF.h b/tasks/FixedTimeslotTaskIF.h index 3a3582fb..d2980184 100644 --- a/tasks/FixedTimeslotTaskIF.h +++ b/tasks/FixedTimeslotTaskIF.h @@ -5,11 +5,13 @@ #include /** - * Following the same principle as the base class IF. This is the interface for a Fixed timeslot task + * @brief Following the same principle as the base class IF. + * This is the interface for a Fixed timeslot task */ class FixedTimeslotTaskIF : public PeriodicTaskIF { public: virtual ~FixedTimeslotTaskIF() {} + virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep) = 0; virtual ReturnValue_t checkSequence() const = 0; };