some tweaks
This commit is contained in:
parent
3c316218f7
commit
94fa917202
@ -1,5 +1,5 @@
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#include "../../osal/FreeRTOS/BinSemaphUsingTask.h"
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#include "BinSemaphUsingTask.h"
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#include "../../osal/FreeRTOS/TaskManagement.h"
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#include "TaskManagement.h"
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#include "../../serviceinterface/ServiceInterfaceStream.h"
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#include "../../serviceinterface/ServiceInterfaceStream.h"
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BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
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BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
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@ -16,6 +16,10 @@ BinarySemaphoreUsingTask::~BinarySemaphoreUsingTask() {
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xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
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xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
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}
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}
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void BinarySemaphoreUsingTask::refreshTaskHandle() {
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handle = TaskManagement::getCurrentTaskHandle();
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}
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ReturnValue_t BinarySemaphoreUsingTask::acquire(TimeoutType timeoutType,
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ReturnValue_t BinarySemaphoreUsingTask::acquire(TimeoutType timeoutType,
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uint32_t timeoutMs) {
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uint32_t timeoutMs) {
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TickType_t timeout = 0;
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TickType_t timeout = 0;
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@ -1,5 +1,5 @@
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#ifndef FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
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#ifndef FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
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#define FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
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#define FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
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#include "../../returnvalues/HasReturnvaluesIF.h"
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#include "../../returnvalues/HasReturnvaluesIF.h"
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#include "../../tasks/SemaphoreIF.h"
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#include "../../tasks/SemaphoreIF.h"
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@ -7,13 +7,20 @@
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#include <freertos/FreeRTOS.h>
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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#include <freertos/task.h>
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// todo: does not work for older FreeRTOS version, so we should
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// actually check whether tskKERNEL_VERSION_MAJOR is larger than.. 7 or 8 ?
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/**
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/**
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* @brief Binary Semaphore implementation using the task notification value.
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* @brief Binary Semaphore implementation using the task notification value.
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* The notification value should therefore not be used
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* The notification value should therefore not be used
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* for other purposes.
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* for other purposes!
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* @details
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* @details
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* Additional information: https://www.freertos.org/RTOS-task-notifications.html
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* Additional information: https://www.freertos.org/RTOS-task-notifications.html
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* and general semaphore documentation.
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* and general semaphore documentation.
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* This semaphore is bound to the task it is created in!
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* Take care of building this class with the correct executing task,
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* (for example in the initializeAfterTaskCreation() function) or
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* by calling refreshTaskHandle() with the correct executing task.
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*/
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*/
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class BinarySemaphoreUsingTask: public SemaphoreIF,
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class BinarySemaphoreUsingTask: public SemaphoreIF,
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public HasReturnvaluesIF {
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public HasReturnvaluesIF {
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@ -25,6 +32,16 @@ public:
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//! @brief Default dtor
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//! @brief Default dtor
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virtual~ BinarySemaphoreUsingTask();
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virtual~ BinarySemaphoreUsingTask();
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/**
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* This function can be used to get the correct task handle from the
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* currently executing task.
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*
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* This is required because the task notification value will be used
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* as a binary semaphore, and the semaphore might be created by another
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* task.
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*/
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void refreshTaskHandle();
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ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
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ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
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uint32_t timeoutMs = portMAX_DELAY) override;
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uint32_t timeoutMs = portMAX_DELAY) override;
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ReturnValue_t release() override;
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ReturnValue_t release() override;
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@ -73,4 +90,4 @@ protected:
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TaskHandle_t handle;
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TaskHandle_t handle;
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};
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};
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#endif /* FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */
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#endif /* FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */
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@ -1,5 +1,5 @@
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#include "../../osal/FreeRTOS/BinarySemaphore.h"
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#include "BinarySemaphore.h"
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#include "../../osal/FreeRTOS/TaskManagement.h"
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#include "TaskManagement.h"
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#include "../../serviceinterface/ServiceInterfaceStream.h"
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#include "../../serviceinterface/ServiceInterfaceStream.h"
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BinarySemaphore::BinarySemaphore() {
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BinarySemaphore::BinarySemaphore() {
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@ -1,5 +1,5 @@
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#ifndef FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
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#ifndef FSFW_OSAL_FREERTOS_BINARYSEMPAHORE_H_
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#define FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
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#define FSFW_OSAL_FREERTOS_BINARYSEMPAHORE_H_
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#include "../../returnvalues/HasReturnvaluesIF.h"
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#include "../../returnvalues/HasReturnvaluesIF.h"
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#include "../../tasks/SemaphoreIF.h"
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#include "../../tasks/SemaphoreIF.h"
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@ -104,4 +104,4 @@ protected:
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SemaphoreHandle_t handle;
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SemaphoreHandle_t handle;
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};
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};
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#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */
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#endif /* FSFW_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */
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@ -1,6 +1,7 @@
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#include "Timekeeper.h"
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#include "../../timemanager/Clock.h"
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#include "../../timemanager/Clock.h"
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#include "../../globalfunctions/timevalOperations.h"
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#include "../../globalfunctions/timevalOperations.h"
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#include "Timekeeper.h"
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#include <freertos/FreeRTOS.h>
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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#include <freertos/task.h>
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@ -67,6 +68,13 @@ ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
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return HasReturnvaluesIF::RETURN_OK;
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return HasReturnvaluesIF::RETURN_OK;
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}
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}
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//uint32_t Clock::getUptimeSeconds() {
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// timeval uptime = getUptime();
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// return uptime.tv_sec;
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//}
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ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
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ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
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timeval time_timeval;
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timeval time_timeval;
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ReturnValue_t result = getClock_timeval(&time_timeval);
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ReturnValue_t result = getClock_timeval(&time_timeval);
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@ -1,5 +1,6 @@
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#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
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#include "CountingSemaphUsingTask.h"
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#include "../../osal/FreeRTOS/TaskManagement.h"
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#include "TaskManagement.h"
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#include "../../serviceinterface/ServiceInterfaceStream.h"
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#include "../../serviceinterface/ServiceInterfaceStream.h"
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CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(const uint8_t maxCount,
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CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(const uint8_t maxCount,
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#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
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#ifndef FSFW_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
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#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
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#define FSFW_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
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#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
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#include "CountingSemaphUsingTask.h"
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#include "../../tasks/SemaphoreIF.h"
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#include "../../tasks/SemaphoreIF.h"
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extern "C" {
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#include <freertos/FreeRTOS.h>
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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#include <freertos/task.h>
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}
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/**
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/**
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* @brief Couting Semaphore implementation which uses the notification value
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* @brief Couting Semaphore implementation which uses the notification value
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@ -16,6 +14,9 @@ extern "C" {
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* @details
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* @details
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* Additional information: https://www.freertos.org/RTOS-task-notifications.html
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* Additional information: https://www.freertos.org/RTOS-task-notifications.html
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* and general semaphore documentation.
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* and general semaphore documentation.
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* This semaphore is bound to the task it is created in!
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* Take care of calling this function with the correct executing task,
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* (for example in the initializeAfterTaskCreation() function).
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*/
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*/
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class CountingSemaphoreUsingTask: public SemaphoreIF {
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class CountingSemaphoreUsingTask: public SemaphoreIF {
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public:
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public:
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const uint8_t maxCount;
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const uint8_t maxCount;
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};
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};
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#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */
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#endif /* FSFW_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */
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#include "../../osal/FreeRTOS/CountingSemaphore.h"
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#include "CountingSemaphore.h"
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#include "TaskManagement.h"
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#include "../../serviceinterface/ServiceInterfaceStream.h"
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#include "../../serviceinterface/ServiceInterfaceStream.h"
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#include "../../osal/FreeRTOS/TaskManagement.h"
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#include <freertos/semphr.h>
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#include <freertos/semphr.h>
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#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
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#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
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#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
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#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
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#include "../../osal/FreeRTOS/BinarySemaphore.h"
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#include "BinarySemaphore.h"
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/**
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/**
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* @brief Counting semaphores, which can be acquire more than once.
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* @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):
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maxMessageSize(maxMessageSize) {
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maxMessageSize(maxMessageSize) {
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handle = xQueueCreate(messageDepth, maxMessageSize);
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handle = xQueueCreate(messageDepth, maxMessageSize);
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if (handle == nullptr) {
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if (handle == nullptr) {
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sif::error << "MessageQueue::MessageQueue Creation failed" << std::endl;
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sif::error << "MessageQueue::MessageQueue:"
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<< " Creation failed." << std::endl;
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sif::error << "Specified Message Depth: " << messageDepth
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<< std::endl;
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sif::error << "Specified Maximum Message Size: "
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<< maxMessageSize << std::endl;
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}
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}
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}
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}
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#ifndef FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
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#ifndef FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
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#define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
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#define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
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#include "TaskManagement.h"
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#include "../../internalError/InternalErrorReporterIF.h"
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#include "../../internalError/InternalErrorReporterIF.h"
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#include "../../ipc/MessageQueueIF.h"
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#include "../../ipc/MessageQueueIF.h"
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#include "../../ipc/MessageQueueMessageIF.h"
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#include "../../ipc/MessageQueueMessageIF.h"
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#include "../../osal/FreeRTOS/TaskManagement.h"
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#include <freertos/FreeRTOS.h>
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#include <freertos/FreeRTOS.h>
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#include <freertos/queue.h>
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#include <freertos/queue.h>
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@ -1,10 +1,12 @@
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#include "Mutex.h"
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#include "../../ipc/MutexFactory.h"
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#include "../../ipc/MutexFactory.h"
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#include "../FreeRTOS/Mutex.h"
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//TODO: Different variant than the lazy loading in QueueFactory. What's better and why? -> one is on heap the other on bss/data
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//TODO: Different variant than the lazy loading in QueueFactory.
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//What's better and why? -> one is on heap the other on bss/data
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//MutexFactory* MutexFactory::factoryInstance = new MutexFactory();
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//MutexFactory* MutexFactory::factoryInstance = new MutexFactory();
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MutexFactory* MutexFactory::factoryInstance = NULL;
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MutexFactory* MutexFactory::factoryInstance = nullptr;
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MutexFactory::MutexFactory() {
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MutexFactory::MutexFactory() {
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}
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}
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@ -13,7 +15,7 @@ MutexFactory::~MutexFactory() {
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}
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}
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MutexFactory* MutexFactory::instance() {
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MutexFactory* MutexFactory::instance() {
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if (factoryInstance == NULL){
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if (factoryInstance == nullptr){
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factoryInstance = new MutexFactory();
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factoryInstance = new MutexFactory();
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}
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}
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return MutexFactory::factoryInstance;
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return MutexFactory::factoryInstance;
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#include "MessageQueue.h"
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#include "../../ipc/MessageQueueSenderIF.h"
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#include "../../ipc/MessageQueueSenderIF.h"
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#include "../../ipc/QueueFactory.h"
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#include "../../ipc/QueueFactory.h"
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#include "../../osal/FreeRTOS/MessageQueue.h"
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QueueFactory* QueueFactory::factoryInstance = nullptr;
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QueueFactory* QueueFactory::factoryInstance = nullptr;
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TaskFactory* TaskFactory::instance() {
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TaskFactory* TaskFactory::instance() {
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return TaskFactory::factoryInstance;
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return TaskFactory::factoryInstance;
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}
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}
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/***
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* Keep in Mind that you need to call before this vTaskStartScheduler()!
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* High taskPriority_ number means high priority.
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*/
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PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,
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PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,
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TaskPriority taskPriority_, TaskStackSize stackSize_,
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TaskPriority taskPriority_, TaskStackSize stackSize_,
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TaskPeriod period_,
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TaskPeriod period_,
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TaskDeadlineMissedFunction deadLineMissedFunction_) {
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TaskDeadlineMissedFunction deadLineMissedFunction_) {
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return (PeriodicTaskIF*) (new PeriodicTask(name_, taskPriority_, stackSize_,
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return dynamic_cast<PeriodicTaskIF*>(new PeriodicTask(name_, taskPriority_,
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period_, deadLineMissedFunction_));
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stackSize_, period_, deadLineMissedFunction_));
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}
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}
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/***
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/**
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* Keep in Mind that you need to call before this vTaskStartScheduler()!
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* Keep in Mind that you need to call before this vTaskStartScheduler()!
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*/
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*/
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FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,
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FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,
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TaskPriority taskPriority_, TaskStackSize stackSize_,
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TaskPriority taskPriority_, TaskStackSize stackSize_,
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TaskPeriod period_,
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TaskPeriod period_,
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TaskDeadlineMissedFunction deadLineMissedFunction_) {
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TaskDeadlineMissedFunction deadLineMissedFunction_) {
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return (FixedTimeslotTaskIF*) (new FixedTimeslotTask(name_, taskPriority_,
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return dynamic_cast<FixedTimeslotTaskIF*>(new FixedTimeslotTask(name_,
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stackSize_, period_, deadLineMissedFunction_));
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taskPriority_,stackSize_, period_, deadLineMissedFunction_));
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}
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}
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ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
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ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
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if (task == NULL) {
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if (task == nullptr) {
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//delete self
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//delete self
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vTaskDelete(NULL);
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vTaskDelete(nullptr);
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return HasReturnvaluesIF::RETURN_OK;
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return HasReturnvaluesIF::RETURN_OK;
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} else {
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} else {
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//TODO not implemented
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//TODO not implemented
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#include "../../osal/FreeRTOS/TaskManagement.h"
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#include "TaskManagement.h"
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void TaskManagement::vRequestContextSwitchFromTask() {
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void TaskManagement::vRequestContextSwitchFromTask() {
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vTaskDelay(0);
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vTaskDelay(0);
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#include "../../returnvalues/HasReturnvaluesIF.h"
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#include "../../returnvalues/HasReturnvaluesIF.h"
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extern "C" {
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#include <freertos/FreeRTOS.h>
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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#include <freertos/task.h>
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}
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#include <cstdint>
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#include <cstdint>
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/**
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/**
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#include "Timekeeper.h"
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#include "Timekeeper.h"
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#include "FreeRTOSConfig.h"
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#include <FreeRTOSConfig.h>
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Timekeeper * Timekeeper::myinstance = nullptr;
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Timekeeper * Timekeeper::myinstance = nullptr;
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#ifndef FRAMEWORK_TIMEMANAGER_CLOCK_H_
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#ifndef FSFW_TIMEMANAGER_CLOCK_H_
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#define FRAMEWORK_TIMEMANAGER_CLOCK_H_
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#define FSFW_TIMEMANAGER_CLOCK_H_
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#include "../returnvalues/HasReturnvaluesIF.h"
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#include "../returnvalues/HasReturnvaluesIF.h"
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#include "../ipc/MutexHelper.h"
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#include "../ipc/MutexHelper.h"
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@ -151,4 +151,4 @@ private:
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|||||||
};
|
};
|
||||||
|
|
||||||
|
|
||||||
#endif /* FRAMEWORK_TIMEMANAGER_CLOCK_H_ */
|
#endif /* FSFW_TIMEMANAGER_CLOCK_H_ */
|
||||||
|
Loading…
Reference in New Issue
Block a user