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

Reviewed-on: #140
This commit is contained in:
Robin Müller 2023-03-24 14:15:53 +01:00
parent 3b86545725 6328b70d7b
commit b814e7198f
10 changed files with 74 additions and 35 deletions
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10
src/fsfw/osal/host/TaskFactory.cpp
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@ -20,16 +20,18 @@ TaskFactory::~TaskFactory() = default;
TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
PeriodicTaskIF* TaskFactory::createPeriodicTask(
TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_, TaskPriority taskPriority_,
TaskStackSize stackSize_,
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_);
}

11
src/fsfw/osal/linux/FixedTimeslotTask.cpp
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@ -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_),
started(false) {}
posixThread(name_, SchedulingPolicy::REGULAR, priority_, stackSize_),
started(false) {
if (args != nullptr) {
posixThread.setSchedPolicy(args->policy);
}
}
void* FixedTimeslotTask::taskEntryPoint(void* arg) {
// The argument is re-interpreted as PollingTask.

3
src/fsfw/osal/linux/FixedTimeslotTask.h
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@ -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;

11
src/fsfw/osal/linux/PeriodicPosixTask.cpp
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@ -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_),
started(false) {}
posixThread(name_, SchedulingPolicy::REGULAR, priority_, stackSize_),
started(false) {
if (args != nullptr) {
posixThread.setSchedPolicy(args->policy);
}
}
void* PeriodicPosixTask::taskEntryPoint(void* arg) {
// The argument is re-interpreted as PollingTask.

2
src/fsfw/osal/linux/PeriodicPosixTask.h
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@ -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;
/**

39
src/fsfw/osal/linux/PosixThread.cpp
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@ -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_)
: thread(0), priority(priority_), stackSize(stackSize_) {
PosixThread::PosixThread(const char* name_, SchedulingPolicy schedPolciy, int priority_,
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 (schedPolicy == SchedulingPolicy::RR) {
// RR -> This needs root privileges for the process
#if FSFW_USE_REALTIME_FOR_LINUX == 1
// RR -> This needs root privileges for the process
status = pthread_attr_setschedpolicy(&attributes, SCHED_RR);
if (status != 0) {
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setschedpolicy");
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;
status = pthread_attr_setschedparam(&attributes, &scheduleParams);
if (status != 0) {
#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
}
sched_param scheduleParams;
scheduleParams.__sched_priority = priority;
status = pthread_attr_setschedparam(&attributes, &scheduleParams);
if (status != 0) {
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setschedparam");
}
#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; }

11
src/fsfw/osal/linux/PosixThread.h
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@ -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;

14
src/fsfw/osal/linux/TaskFactory.cpp
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@ -12,18 +12,20 @@ TaskFactory::~TaskFactory() = default;
TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
PeriodicTaskIF* TaskFactory::createPeriodicTask(
TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_, TaskPriority taskPriority_,
TaskStackSize stackSize_,
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) {

6
src/fsfw/tasks/TaskFactory.h
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@ -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

2
src/fsfw_hal/linux/serial/helper.h
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@ -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_ */