some tweaks

osal/FreeRTOS/BinSemaphUsingTask.cpp

@@ -1,5 +1,5 @@
-#include "../../osal/FreeRTOS/BinSemaphUsingTask.h"
+#include "BinSemaphUsingTask.h"
-#include "../../osal/FreeRTOS/TaskManagement.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;

osal/FreeRTOS/BinSemaphUsingTask.h

@@ -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 "../../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_ */

osal/FreeRTOS/BinarySemaphore.cpp

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

osal/FreeRTOS/BinarySemaphore.h

@@ -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 "../../tasks/SemaphoreIF.h"
@@ -104,4 +104,4 @@ protected:
 	SemaphoreHandle_t handle;
 };
 
-#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */
+#endif /* FSFW_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */

osal/FreeRTOS/Clock.cpp

@@ -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);

osal/FreeRTOS/CountingSemaphUsingTask.cpp

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

osal/FreeRTOS/CountingSemaphUsingTask.h

@@ -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"
 
-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_ */

osal/FreeRTOS/CountingSemaphore.cpp

@@ -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>
 

osal/FreeRTOS/CountingSemaphore.h

@@ -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.

osal/FreeRTOS/MessageQueue.cpp

@@ -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;
 	}
 }
 

osal/FreeRTOS/MessageQueue.h

@@ -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>

osal/FreeRTOS/MutexFactory.cpp

@@ -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;

osal/FreeRTOS/QueueFactory.cpp

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

osal/FreeRTOS/TaskFactory.cpp

@@ -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_,
+	return dynamic_cast<PeriodicTaskIF*>(new PeriodicTask(name_, taskPriority_,
-			period_, deadLineMissedFunction_));
+			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_,
+	return dynamic_cast<FixedTimeslotTaskIF*>(new FixedTimeslotTask(name_,
-			stackSize_, period_, deadLineMissedFunction_));
+			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

osal/FreeRTOS/TaskManagement.cpp

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

osal/FreeRTOS/TaskManagement.h

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

osal/FreeRTOS/Timekeeper.cpp

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

timemanager/Clock.h

@@ -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 "../ipc/MutexHelper.h"
@@ -151,4 +151,4 @@ private:
 };
 
 
-#endif /* FRAMEWORK_TIMEMANAGER_CLOCK_H_ */
+#endif /* FSFW_TIMEMANAGER_CLOCK_H_ */