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

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@ -1,5 +1,5 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ #ifndef FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ #define FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
#include "../../returnvalues/HasReturnvaluesIF.h" #include "../../returnvalues/HasReturnvaluesIF.h"
#include "../../tasks/SemaphoreIF.h" #include "../../tasks/SemaphoreIF.h"
@ -7,13 +7,20 @@
#include <freertos/FreeRTOS.h> #include <freertos/FreeRTOS.h>
#include <freertos/task.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. * @brief Binary Semaphore implementation using the task notification value.
* The notification value should therefore not be used * The notification value should therefore not be used
* for other purposes. * for other purposes!
* @details * @details
* Additional information: https://www.freertos.org/RTOS-task-notifications.html * Additional information: https://www.freertos.org/RTOS-task-notifications.html
* and general semaphore documentation. * 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, class BinarySemaphoreUsingTask: public SemaphoreIF,
public HasReturnvaluesIF { public HasReturnvaluesIF {
@ -25,6 +32,16 @@ public:
//! @brief Default dtor //! @brief Default dtor
virtual~ BinarySemaphoreUsingTask(); 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, ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
uint32_t timeoutMs = portMAX_DELAY) override; uint32_t timeoutMs = portMAX_DELAY) override;
ReturnValue_t release() override; ReturnValue_t release() override;
@ -73,4 +90,4 @@ protected:
TaskHandle_t handle; 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 "BinarySemaphore.h"
#include "../../osal/FreeRTOS/TaskManagement.h" #include "TaskManagement.h"
#include "../../serviceinterface/ServiceInterfaceStream.h" #include "../../serviceinterface/ServiceInterfaceStream.h"
BinarySemaphore::BinarySemaphore() { BinarySemaphore::BinarySemaphore() {

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@ -1,5 +1,5 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ #ifndef FSFW_OSAL_FREERTOS_BINARYSEMPAHORE_H_
#define FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ #define FSFW_OSAL_FREERTOS_BINARYSEMPAHORE_H_
#include "../../returnvalues/HasReturnvaluesIF.h" #include "../../returnvalues/HasReturnvaluesIF.h"
#include "../../tasks/SemaphoreIF.h" #include "../../tasks/SemaphoreIF.h"
@ -104,4 +104,4 @@ protected:
SemaphoreHandle_t handle; 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 "../../timemanager/Clock.h"
#include "../../globalfunctions/timevalOperations.h" #include "../../globalfunctions/timevalOperations.h"
#include "Timekeeper.h"
#include <freertos/FreeRTOS.h> #include <freertos/FreeRTOS.h>
#include <freertos/task.h> #include <freertos/task.h>
@ -67,6 +68,13 @@ ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
//uint32_t Clock::getUptimeSeconds() {
// timeval uptime = getUptime();
// return uptime.tv_sec;
//}
ReturnValue_t Clock::getClock_usecs(uint64_t* time) { ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
timeval time_timeval; timeval time_timeval;
ReturnValue_t result = getClock_timeval(&time_timeval); ReturnValue_t result = getClock_timeval(&time_timeval);

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

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@ -1,13 +1,11 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ #ifndef FSFW_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ #define FSFW_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h" #include "CountingSemaphUsingTask.h"
#include "../../tasks/SemaphoreIF.h" #include "../../tasks/SemaphoreIF.h"
extern "C" {
#include <freertos/FreeRTOS.h> #include <freertos/FreeRTOS.h>
#include <freertos/task.h> #include <freertos/task.h>
}
/** /**
* @brief Couting Semaphore implementation which uses the notification value * @brief Couting Semaphore implementation which uses the notification value
@ -16,6 +14,9 @@ extern "C" {
* @details * @details
* Additional information: https://www.freertos.org/RTOS-task-notifications.html * Additional information: https://www.freertos.org/RTOS-task-notifications.html
* and general semaphore documentation. * 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 { class CountingSemaphoreUsingTask: public SemaphoreIF {
public: public:
@ -99,4 +100,4 @@ private:
const uint8_t maxCount; 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 "../../serviceinterface/ServiceInterfaceStream.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include <freertos/semphr.h> #include <freertos/semphr.h>

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@ -1,6 +1,7 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_ #ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
#define 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. * @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) { maxMessageSize(maxMessageSize) {
handle = xQueueCreate(messageDepth, maxMessageSize); handle = xQueueCreate(messageDepth, maxMessageSize);
if (handle == nullptr) { 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_ #ifndef FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
#define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_ #define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
#include "TaskManagement.h"
#include "../../internalError/InternalErrorReporterIF.h" #include "../../internalError/InternalErrorReporterIF.h"
#include "../../ipc/MessageQueueIF.h" #include "../../ipc/MessageQueueIF.h"
#include "../../ipc/MessageQueueMessageIF.h" #include "../../ipc/MessageQueueMessageIF.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include <freertos/FreeRTOS.h> #include <freertos/FreeRTOS.h>
#include <freertos/queue.h> #include <freertos/queue.h>

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@ -1,10 +1,12 @@
#include "Mutex.h"
#include "../../ipc/MutexFactory.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 = new MutexFactory();
MutexFactory* MutexFactory::factoryInstance = NULL; MutexFactory* MutexFactory::factoryInstance = nullptr;
MutexFactory::MutexFactory() { MutexFactory::MutexFactory() {
} }
@ -13,7 +15,7 @@ MutexFactory::~MutexFactory() {
} }
MutexFactory* MutexFactory::instance() { MutexFactory* MutexFactory::instance() {
if (factoryInstance == NULL){ if (factoryInstance == nullptr){
factoryInstance = new MutexFactory(); factoryInstance = new MutexFactory();
} }
return MutexFactory::factoryInstance; return MutexFactory::factoryInstance;

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

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

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

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

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

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