Merge pull request 'Allow creating regular threads' (#140) from allow_creating_regular_threads into develop

Reviewed-on: #140

src/fsfw/osal/host/TaskFactory.cpp

@@ -20,16 +20,18 @@ TaskFactory::~TaskFactory() = default;
 
 TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
 
-PeriodicTaskIF* TaskFactory::createPeriodicTask(
+PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_, TaskPriority taskPriority_,
-    TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
+                                                TaskStackSize stackSize_,
-    TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
+                                                TaskPeriod periodInSeconds_,
+                                                TaskDeadlineMissedFunction deadLineMissedFunction_,
+                                                void* args) {
   return new PeriodicTask(name_, taskPriority_, stackSize_, periodInSeconds_,
                           deadLineMissedFunction_);
 }
 
 FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(
     TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
-    TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
+    TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_, void* args) {
   return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_,
                                deadLineMissedFunction_);
 }

src/fsfw/osal/linux/FixedTimeslotTask.cpp

@@ -7,10 +7,15 @@
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = PTHREAD_STACK_MIN;
 
 FixedTimeslotTask::FixedTimeslotTask(const char* name_, TaskPriority priority_, size_t stackSize_,
-                                     TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_)
+                                     TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_,
+                                     PosixThreadArgs* args)
     : FixedTimeslotTaskBase(periodSeconds_, dlmFunc_),
-      posixThread(name_, priority_, stackSize_),
+      posixThread(name_, SchedulingPolicy::REGULAR, priority_, stackSize_),
-      started(false) {}
+      started(false) {
+  if (args != nullptr) {
+    posixThread.setSchedPolicy(args->policy);
+  }
+}
 
 void* FixedTimeslotTask::taskEntryPoint(void* arg) {
   // The argument is re-interpreted as PollingTask.

src/fsfw/osal/linux/FixedTimeslotTask.h

@@ -23,7 +23,8 @@ class FixedTimeslotTask : public FixedTimeslotTaskBase {
    * @param deadlineMissedFunc_
    */
   FixedTimeslotTask(const char* name_, TaskPriority priority_, size_t stackSize_,
-                    TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_);
+                    TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_,
+                    PosixThreadArgs* args);
   ~FixedTimeslotTask() override = default;
 
   ReturnValue_t startTask() override;

src/fsfw/osal/linux/PeriodicPosixTask.cpp

@@ -4,10 +4,15 @@
 #include "fsfw/tasks/ExecutableObjectIF.h"
 
 PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_,
-                                     TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_)
+                                     TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_,
+                                     PosixThreadArgs* args)
     : PeriodicTaskBase(period_, dlmFunc_),
-      posixThread(name_, priority_, stackSize_),
+      posixThread(name_, SchedulingPolicy::REGULAR, priority_, stackSize_),
-      started(false) {}
+      started(false) {
+  if (args != nullptr) {
+    posixThread.setSchedPolicy(args->policy);
+  }
+}
 
 void* PeriodicPosixTask::taskEntryPoint(void* arg) {
   // The argument is re-interpreted as PollingTask.

src/fsfw/osal/linux/PeriodicPosixTask.h

@@ -24,7 +24,7 @@ class PeriodicPosixTask : public PeriodicTaskBase {
    * @param deadlineMissedFunc_
    */
   PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, TaskPeriod period_,
-                    TaskDeadlineMissedFunction dlmFunc_);
+                    TaskDeadlineMissedFunction dlmFunc_, PosixThreadArgs* args);
   ~PeriodicPosixTask() override = default;
 
   /**

src/fsfw/osal/linux/PosixThread.cpp

@@ -7,8 +7,9 @@
 #include "fsfw/osal/linux/unixUtility.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-PosixThread::PosixThread(const char* name_, int priority_, size_t stackSize_)
+PosixThread::PosixThread(const char* name_, SchedulingPolicy schedPolciy, int priority_,
-    : thread(0), priority(priority_), stackSize(stackSize_) {
+                         size_t stackSize_)
+    : thread(0), schedPolicy(schedPolciy), priority(priority_), stackSize(stackSize_) {
   name[0] = '\0';
   std::strncat(name, name_, PTHREAD_MAX_NAMELEN - 1);
 }
@@ -178,20 +179,30 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 #ifndef FSFW_USE_REALTIME_FOR_LINUX
 #error "Please define FSFW_USE_REALTIME_FOR_LINUX with either 0 or 1"
 #endif
-#if FSFW_USE_REALTIME_FOR_LINUX == 1
+  if (schedPolicy == SchedulingPolicy::RR) {
     // RR -> This needs root privileges for the process
+#if FSFW_USE_REALTIME_FOR_LINUX == 1
     status = pthread_attr_setschedpolicy(&attributes, SCHED_RR);
     if (status != 0) {
       utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setschedpolicy");
     }
-
     sched_param scheduleParams;
-  scheduleParams.__sched_priority = priority;
+    scheduleParams.sched_priority = priority;
     status = pthread_attr_setschedparam(&attributes, &scheduleParams);
     if (status != 0) {
-    utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setschedparam");
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-  }
+      sif::warning << "PosixThread: Setting priority failed" << std::endl;
 #endif
+    }
+#else
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning
+        << "Real time priorities are only allowed if FSFW_USE_REALTIME_FOR_LINUX is set to 1"
+        << std::endl;
+#endif
+#endif
+  }
+
   // Set Signal Mask for suspend until startTask is called
   sigset_t waitSignal;
   sigemptyset(&waitSignal);
@@ -243,3 +254,5 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
     utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_destroy");
   }
 }
+
+void PosixThread::setSchedPolicy(SchedulingPolicy policy) { this->schedPolicy = policy; }

src/fsfw/osal/linux/PosixThread.h

@@ -9,10 +9,15 @@
 
 #include "../../returnvalues/returnvalue.h"
 
+enum SchedulingPolicy { REGULAR, RR };
+struct PosixThreadArgs {
+  SchedulingPolicy policy = SchedulingPolicy::REGULAR;
+};
+
 class PosixThread {
  public:
   static constexpr uint8_t PTHREAD_MAX_NAMELEN = 16;
-  PosixThread(const char* name_, int priority_, size_t stackSize_);
+  PosixThread(const char* name_, SchedulingPolicy schedPolicy, int priority_, size_t stackSize_);
   virtual ~PosixThread();
   /**
    * Set the Thread to sleep state
@@ -20,6 +25,9 @@ class PosixThread {
    * @return Returns Failed if sleep fails
    */
   static ReturnValue_t sleep(uint64_t ns);
+
+  void setSchedPolicy(SchedulingPolicy policy);
+
   /**
    * @brief Function to suspend the task until SIGUSR1 was received
    *
@@ -72,6 +80,7 @@ class PosixThread {
 
  private:
   char name[PTHREAD_MAX_NAMELEN];
+  SchedulingPolicy schedPolicy;
   int priority;
   size_t stackSize = 0;
 

src/fsfw/osal/linux/TaskFactory.cpp

@@ -12,18 +12,20 @@ TaskFactory::~TaskFactory() = default;
 
 TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
 
-PeriodicTaskIF* TaskFactory::createPeriodicTask(
+PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_, TaskPriority taskPriority_,
-    TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
+                                                TaskStackSize stackSize_,
-    TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
+                                                TaskPeriod periodInSeconds_,
+                                                TaskDeadlineMissedFunction deadLineMissedFunction_,
+                                                void* args) {
   return new PeriodicPosixTask(name_, taskPriority_, stackSize_, periodInSeconds_,
-                               deadLineMissedFunction_);
+                               deadLineMissedFunction_, reinterpret_cast<PosixThreadArgs*>(args));
 }
 
 FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(
     TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
-    TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
+    TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_, void* args) {
   return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_,
-                               deadLineMissedFunction_);
+                               deadLineMissedFunction_, reinterpret_cast<PosixThreadArgs*>(args));
 }
 
 ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {

src/fsfw/tasks/TaskFactory.h

@@ -47,7 +47,8 @@ class TaskFactory {
    */
   PeriodicTaskIF* createPeriodicTask(TaskName name_, TaskPriority taskPriority_,
                                      TaskStackSize stackSize_, TaskPeriod periodInSeconds_,
-                                     TaskDeadlineMissedFunction deadLineMissedFunction_);
+                                     TaskDeadlineMissedFunction deadLineMissedFunction_,
+                                     void* args = nullptr);
 
   /**
    * The meaning for the variables for fixed timeslot tasks is the same as for periodic tasks.
@@ -62,7 +63,8 @@ class TaskFactory {
   FixedTimeslotTaskIF* createFixedTimeslotTask(TaskName name_, TaskPriority taskPriority_,
                                                TaskStackSize stackSize_,
                                                TaskPeriod periodInSeconds_,
-                                               TaskDeadlineMissedFunction deadLineMissedFunction_);
+                                               TaskDeadlineMissedFunction deadLineMissedFunction_,
+                                               void* args = nullptr);
 
   /**
    * Function to be called to delete a task

src/fsfw_hal/linux/serial/helper.h

@@ -69,6 +69,6 @@ void flushTxRxBuf(int fd);
 
 int readCountersAndErrors(int serialPort, serial_icounter_struct& icounter);
 
-}  // namespace uart
+}  // namespace serial
 
 #endif /* FSFW_HAL_LINUX_UART_HELPER_H_ */