some tweaks

This commit is contained in:
Robin Müller 2020-12-14 11:17:22 +01:00
parent 3c316218f7
commit 94fa917202
18 changed files with 88 additions and 50 deletions

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@ -1,5 +1,5 @@
#include "../../osal/FreeRTOS/BinSemaphUsingTask.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include "BinSemaphUsingTask.h"
#include "TaskManagement.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
@ -16,6 +16,10 @@ BinarySemaphoreUsingTask::~BinarySemaphoreUsingTask() {
xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
}
void BinarySemaphoreUsingTask::refreshTaskHandle() {
handle = TaskManagement::getCurrentTaskHandle();
}
ReturnValue_t BinarySemaphoreUsingTask::acquire(TimeoutType timeoutType,
uint32_t timeoutMs) {
TickType_t timeout = 0;

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@ -1,5 +1,5 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
#ifndef FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
#define FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
#include "../../returnvalues/HasReturnvaluesIF.h"
#include "../../tasks/SemaphoreIF.h"
@ -7,13 +7,20 @@
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
// todo: does not work for older FreeRTOS version, so we should
// actually check whether tskKERNEL_VERSION_MAJOR is larger than.. 7 or 8 ?
/**
* @brief Binary Semaphore implementation using the task notification value.
* The notification value should therefore not be used
* for other purposes.
* for other purposes!
* @details
* Additional information: https://www.freertos.org/RTOS-task-notifications.html
* and general semaphore documentation.
* This semaphore is bound to the task it is created in!
* Take care of building this class with the correct executing task,
* (for example in the initializeAfterTaskCreation() function) or
* by calling refreshTaskHandle() with the correct executing task.
*/
class BinarySemaphoreUsingTask: public SemaphoreIF,
public HasReturnvaluesIF {
@ -25,6 +32,16 @@ public:
//! @brief Default dtor
virtual~ BinarySemaphoreUsingTask();
/**
* This function can be used to get the correct task handle from the
* currently executing task.
*
* This is required because the task notification value will be used
* as a binary semaphore, and the semaphore might be created by another
* task.
*/
void refreshTaskHandle();
ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
uint32_t timeoutMs = portMAX_DELAY) override;
ReturnValue_t release() override;
@ -67,10 +84,10 @@ public:
* - @c RETURN_FAILED on failure
*/
static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
BaseType_t * higherPriorityTaskWoken);
BaseType_t* higherPriorityTaskWoken);
protected:
TaskHandle_t handle;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */
#endif /* FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */

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@ -1,5 +1,5 @@
#include "../../osal/FreeRTOS/BinarySemaphore.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include "BinarySemaphore.h"
#include "TaskManagement.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
BinarySemaphore::BinarySemaphore() {

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@ -1,5 +1,5 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
#define FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
#ifndef FSFW_OSAL_FREERTOS_BINARYSEMPAHORE_H_
#define FSFW_OSAL_FREERTOS_BINARYSEMPAHORE_H_
#include "../../returnvalues/HasReturnvaluesIF.h"
#include "../../tasks/SemaphoreIF.h"
@ -104,4 +104,4 @@ protected:
SemaphoreHandle_t handle;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */
#endif /* FSFW_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */

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@ -1,6 +1,7 @@
#include "Timekeeper.h"
#include "../../timemanager/Clock.h"
#include "../../globalfunctions/timevalOperations.h"
#include "Timekeeper.h"
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
@ -67,6 +68,13 @@ ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
return HasReturnvaluesIF::RETURN_OK;
}
//uint32_t Clock::getUptimeSeconds() {
// timeval uptime = getUptime();
// return uptime.tv_sec;
//}
ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
timeval time_timeval;
ReturnValue_t result = getClock_timeval(&time_timeval);

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@ -1,5 +1,6 @@
#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include "CountingSemaphUsingTask.h"
#include "TaskManagement.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(const uint8_t maxCount,

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@ -1,13 +1,11 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
#ifndef FSFW_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
#define FSFW_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
#include "CountingSemaphUsingTask.h"
#include "../../tasks/SemaphoreIF.h"
extern "C" {
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
}
/**
* @brief Couting Semaphore implementation which uses the notification value
@ -16,6 +14,9 @@ extern "C" {
* @details
* Additional information: https://www.freertos.org/RTOS-task-notifications.html
* and general semaphore documentation.
* This semaphore is bound to the task it is created in!
* Take care of calling this function with the correct executing task,
* (for example in the initializeAfterTaskCreation() function).
*/
class CountingSemaphoreUsingTask: public SemaphoreIF {
public:
@ -99,4 +100,4 @@ private:
const uint8_t maxCount;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */
#endif /* FSFW_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */

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@ -1,6 +1,7 @@
#include "../../osal/FreeRTOS/CountingSemaphore.h"
#include "CountingSemaphore.h"
#include "TaskManagement.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include <freertos/semphr.h>

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@ -1,6 +1,7 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
#include "../../osal/FreeRTOS/BinarySemaphore.h"
#include "BinarySemaphore.h"
/**
* @brief Counting semaphores, which can be acquire more than once.

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@ -11,7 +11,12 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
maxMessageSize(maxMessageSize) {
handle = xQueueCreate(messageDepth, maxMessageSize);
if (handle == nullptr) {
sif::error << "MessageQueue::MessageQueue Creation failed" << std::endl;
sif::error << "MessageQueue::MessageQueue:"
<< " Creation failed." << std::endl;
sif::error << "Specified Message Depth: " << messageDepth
<< std::endl;
sif::error << "Specified Maximum Message Size: "
<< maxMessageSize << std::endl;
}
}

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@ -1,10 +1,11 @@
#ifndef FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
#define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
#include "TaskManagement.h"
#include "../../internalError/InternalErrorReporterIF.h"
#include "../../ipc/MessageQueueIF.h"
#include "../../ipc/MessageQueueMessageIF.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include <freertos/FreeRTOS.h>
#include <freertos/queue.h>

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@ -1,10 +1,12 @@
#include "Mutex.h"
#include "../../ipc/MutexFactory.h"
#include "../FreeRTOS/Mutex.h"
//TODO: Different variant than the lazy loading in QueueFactory. What's better and why? -> one is on heap the other on bss/data
//TODO: Different variant than the lazy loading in QueueFactory.
//What's better and why? -> one is on heap the other on bss/data
//MutexFactory* MutexFactory::factoryInstance = new MutexFactory();
MutexFactory* MutexFactory::factoryInstance = NULL;
MutexFactory* MutexFactory::factoryInstance = nullptr;
MutexFactory::MutexFactory() {
}
@ -13,7 +15,7 @@ MutexFactory::~MutexFactory() {
}
MutexFactory* MutexFactory::instance() {
if (factoryInstance == NULL){
if (factoryInstance == nullptr){
factoryInstance = new MutexFactory();
}
return MutexFactory::factoryInstance;

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@ -1,8 +1,8 @@
#include "MessageQueue.h"
#include "../../ipc/MessageQueueSenderIF.h"
#include "../../ipc/QueueFactory.h"
#include "../../osal/FreeRTOS/MessageQueue.h"
QueueFactory* QueueFactory::factoryInstance = nullptr;

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@ -13,32 +13,30 @@ TaskFactory::~TaskFactory() {
TaskFactory* TaskFactory::instance() {
return TaskFactory::factoryInstance;
}
/***
* Keep in Mind that you need to call before this vTaskStartScheduler()!
* High taskPriority_ number means high priority.
*/
PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,
TaskPriority taskPriority_, TaskStackSize stackSize_,
TaskPeriod period_,
TaskDeadlineMissedFunction deadLineMissedFunction_) {
return (PeriodicTaskIF*) (new PeriodicTask(name_, taskPriority_, stackSize_,
period_, deadLineMissedFunction_));
return dynamic_cast<PeriodicTaskIF*>(new PeriodicTask(name_, taskPriority_,
stackSize_, period_, deadLineMissedFunction_));
}
/***
/**
* Keep in Mind that you need to call before this vTaskStartScheduler()!
*/
FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,
TaskPriority taskPriority_, TaskStackSize stackSize_,
TaskPeriod period_,
TaskDeadlineMissedFunction deadLineMissedFunction_) {
return (FixedTimeslotTaskIF*) (new FixedTimeslotTask(name_, taskPriority_,
stackSize_, period_, deadLineMissedFunction_));
return dynamic_cast<FixedTimeslotTaskIF*>(new FixedTimeslotTask(name_,
taskPriority_,stackSize_, period_, deadLineMissedFunction_));
}
ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
if (task == NULL) {
if (task == nullptr) {
//delete self
vTaskDelete(NULL);
vTaskDelete(nullptr);
return HasReturnvaluesIF::RETURN_OK;
} else {
//TODO not implemented

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@ -1,4 +1,4 @@
#include "../../osal/FreeRTOS/TaskManagement.h"
#include "TaskManagement.h"
void TaskManagement::vRequestContextSwitchFromTask() {
vTaskDelay(0);

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@ -3,10 +3,9 @@
#include "../../returnvalues/HasReturnvaluesIF.h"
extern "C" {
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
}
#include <cstdint>
/**

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@ -1,6 +1,6 @@
#include "Timekeeper.h"
#include "FreeRTOSConfig.h"
#include <FreeRTOSConfig.h>
Timekeeper * Timekeeper::myinstance = nullptr;

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@ -1,5 +1,5 @@
#ifndef FRAMEWORK_TIMEMANAGER_CLOCK_H_
#define FRAMEWORK_TIMEMANAGER_CLOCK_H_
#ifndef FSFW_TIMEMANAGER_CLOCK_H_
#define FSFW_TIMEMANAGER_CLOCK_H_
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../ipc/MutexHelper.h"
@ -151,4 +151,4 @@ private:
};
#endif /* FRAMEWORK_TIMEMANAGER_CLOCK_H_ */
#endif /* FSFW_TIMEMANAGER_CLOCK_H_ */