rtems multi object is now periodicTask

osal/rtems/CMakeLists.txt

@@ -5,13 +5,13 @@ target_sources(${LIB_FSFW_NAME}
 		InitTask.cpp
 		InternalErrorCodes.cpp
 		MessageQueue.cpp
-		MultiObjectTask.cpp
+		PeriodicTask.cpp
 		Mutex.cpp
 		MutexFactory.cpp
 		PollingTask.cpp
 		QueueFactory.cpp
 		RtemsBasic.cpp
-		TaskBase.cpp
+		RTEMSTaskBase.cpp
 		TaskFactory.cpp
 )
 

osal/rtems/MultiObjectTask.cpp

@@ -1,86 +0,0 @@
-/**
- * @file	MultiObjectTask.cpp
- * @brief	This file defines the MultiObjectTask class.
- * @date	30.01.2014
- * @author	baetz
- */
-
-#include "../../serviceinterface/ServiceInterfaceStream.h"
-#include "../../tasks/ExecutableObjectIF.h"
-#include "MultiObjectTask.h"
-
-MultiObjectTask::MultiObjectTask(const char *name, rtems_task_priority setPriority,
-		size_t setStack, rtems_interval setPeriod, void (*setDeadlineMissedFunc)()) :
-		TaskBase(setPriority, setStack, name), periodTicks(
-				RtemsBasic::convertMsToTicks(setPeriod)), periodId(0), deadlineMissedFunc(
-				setDeadlineMissedFunc) {
-}
-
-MultiObjectTask::~MultiObjectTask(void) {
-	//Do not delete objects, we were responsible for ptrs only.
-	rtems_rate_monotonic_delete(periodId);
-}
-rtems_task MultiObjectTask::taskEntryPoint(rtems_task_argument argument) {
-	//The argument is re-interpreted as MultiObjectTask. The Task object is global, so it is found from any place.
-	MultiObjectTask *originalTask(reinterpret_cast<MultiObjectTask*>(argument));
-	originalTask->taskFunctionality();
-}
-
-ReturnValue_t MultiObjectTask::startTask() {
-	rtems_status_code status = rtems_task_start(id, MultiObjectTask::taskEntryPoint,
-			rtems_task_argument((void *) this));
-	if (status != RTEMS_SUCCESSFUL) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "ObjectTask::startTask for " << std::hex << this->getId()
-				<< std::dec << " failed." << std::endl;
-#endif
-	}
-	switch(status){
-	case RTEMS_SUCCESSFUL:
-		//ask started successfully
-		return HasReturnvaluesIF::RETURN_OK;
-	default:
-/*		RTEMS_INVALID_ADDRESS - invalid task entry point
-		RTEMS_INVALID_ID - invalid task id
-		RTEMS_INCORRECT_STATE - task not in the dormant state
-		RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-ReturnValue_t MultiObjectTask::sleepFor(uint32_t ms) {
-	return TaskBase::sleepFor(ms);
-}
-
-void MultiObjectTask::taskFunctionality() {
-	TaskBase::setAndStartPeriod(periodTicks,&periodId);
-	//The task's "infinite" inner loop is entered.
-	while (1) {
-		for (ObjectList::iterator it = objectList.begin();
-				it != objectList.end(); ++it) {
-			(*it)->performOperation();
-		}
-		rtems_status_code status = TaskBase::restartPeriod(periodTicks,periodId);
-		if (status == RTEMS_TIMEOUT) {
-			if (this->deadlineMissedFunc != nullptr) {
-				this->deadlineMissedFunc();
-			}
-		}
-	}
-}
-
-ReturnValue_t MultiObjectTask::addComponent(object_id_t object) {
-	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
-			object);
-	if (newObject == nullptr) {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	objectList.push_back(newObject);
-	newObject->setTaskIF(this);
-
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-uint32_t MultiObjectTask::getPeriodMs() const {
-	return RtemsBasic::convertTicksToMs(periodTicks);
-}

osal/rtems/PeriodicTask.cpp

@@ -0,0 +1,80 @@
+#include "PeriodicTask.h"
+
+#include "../../serviceinterface/ServiceInterface.h"
+#include "../../tasks/ExecutableObjectIF.h"
+
+PeriodicTask::PeriodicTask(const char *name, rtems_task_priority setPriority,
+        size_t setStack, rtems_interval setPeriod, void (*setDeadlineMissedFunc)()) :
+        RTEMSTaskBase(setPriority, setStack, name),
+        periodTicks(RtemsBasic::convertMsToTicks(setPeriod)),
+        deadlineMissedFunc(setDeadlineMissedFunc) {
+}
+
+PeriodicTask::~PeriodicTask(void) {
+    /* Do not delete objects, we were responsible for pointers only. */
+    rtems_rate_monotonic_delete(periodId);
+}
+
+rtems_task PeriodicTask::taskEntryPoint(rtems_task_argument argument) {
+    /* The argument is re-interpreted as MultiObjectTask. The Task object is global,
+    so it is found from any place. */
+    PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
+    return originalTask->taskFunctionality();;
+}
+
+ReturnValue_t PeriodicTask::startTask() {
+    rtems_status_code status = rtems_task_start(id, PeriodicTask::taskEntryPoint,
+            rtems_task_argument((void *) this));
+    if (status != RTEMS_SUCCESSFUL) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "ObjectTask::startTask for " << std::hex << this->getId()
+				        << std::dec << " failed." << std::endl;
+#endif
+    }
+    switch(status){
+    case RTEMS_SUCCESSFUL:
+        /* Task started successfully */
+        return HasReturnvaluesIF::RETURN_OK;
+    default:
+        /* RTEMS_INVALID_ADDRESS - invalid task entry point
+		RTEMS_INVALID_ID - invalid task id
+		RTEMS_INCORRECT_STATE - task not in the dormant state
+		RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+}
+
+ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
+    return RTEMSTaskBase::sleepFor(ms);
+}
+
+void PeriodicTask::taskFunctionality() {
+    RTEMSTaskBase::setAndStartPeriod(periodTicks,&periodId);
+    /* The task's "infinite" inner loop is entered. */
+    while (1) {
+        for (const auto& object: objectList) {
+            object->performOperation();
+        }
+        rtems_status_code status = RTEMSTaskBase::restartPeriod(periodTicks,periodId);
+        if (status == RTEMS_TIMEOUT) {
+            if (this->deadlineMissedFunc != nullptr) {
+                this->deadlineMissedFunc();
+            }
+        }
+    }
+}
+
+ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
+    ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(object);
+    if (newObject == nullptr) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    objectList.push_back(newObject);
+    newObject->setTaskIF(this);
+
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint32_t PeriodicTask::getPeriodMs() const {
+    return RtemsBasic::convertTicksToMs(periodTicks);
+}

osal/rtems/PeriodicTask.h

@@ -1,10 +1,10 @@
-#ifndef FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_
-#define FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_
+#ifndef FSFW_OSAL_RTEMS_PERIODICTASK_H_
+#define FSFW_OSAL_RTEMS_PERIODICTASK_H_
 
+#include "RTEMSTaskBase.h"
 #include "../../objectmanager/ObjectManagerIF.h"
 #include "../../tasks/PeriodicTaskIF.h"
 
-#include "TaskBase.h"
 #include <vector>
 
 class ExecutableObjectIF;
@@ -18,7 +18,7 @@ class ExecutableObjectIF;
  * @author  baetz
  * @ingroup task_handling
  */
-class MultiObjectTask: public TaskBase, public PeriodicTaskIF {
+class PeriodicTask: public RTEMSTaskBase, public PeriodicTaskIF {
 public:
 	/**
 	 * @brief	Standard constructor of the class.
@@ -35,13 +35,13 @@ public:
 	 * @param setDeadlineMissedFunc	The function pointer to the deadline missed function
 	 * 								that shall be assigned.
 	 */
-	MultiObjectTask(const char *name, rtems_task_priority setPriority, size_t setStack, rtems_interval setPeriod,
-			void (*setDeadlineMissedFunc)());
+	PeriodicTask(const char *name, rtems_task_priority setPriority, size_t setStack,
+	        rtems_interval setPeriod, void (*setDeadlineMissedFunc)());
 	/**
 	 * @brief	Currently, the executed object's lifetime is not coupled with the task object's
 	 * 			lifetime, so the destructor is empty.
 	 */
-	virtual ~MultiObjectTask(void);
+	virtual ~PeriodicTask(void);
 
 	/**
 	 * @brief	The method to start the task.
@@ -76,7 +76,7 @@ protected:
 	/**
 	 * @brief id of the associated OS period
 	 */
-	rtems_id periodId;
+	rtems_id periodId = 0;
 	/**
 	 * @brief	The pointer to the deadline-missed function.
 	 * @details	This pointer stores the function that is executed if the task's deadline is missed.
@@ -104,4 +104,4 @@ protected:
 	void taskFunctionality(void);
 };
 
-#endif /* FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_ */
+#endif /* FSFW_OSAL_RTEMS_PERIODICTASK_H_ */

osal/rtems/PollingTask.cpp

@@ -20,7 +20,7 @@ uint32_t PollingTask::deadlineMissedCount = 0;
 PollingTask::PollingTask(const char *name, rtems_task_priority setPriority,
 		size_t setStack, uint32_t setOverallPeriod,
 		void (*setDeadlineMissedFunc)()) :
-		TaskBase(setPriority, setStack, name), periodId(0), pst(
+		RTEMSTaskBase(setPriority, setStack, name), periodId(0), pst(
 				setOverallPeriod) {
 	// All additional attributes are applied to the object.
 	this->deadlineMissedFunc = setDeadlineMissedFunc;
@@ -104,7 +104,7 @@ void PollingTask::taskFunctionality() {
 
 	//The start time for the first entry is read.
 	rtems_interval interval = RtemsBasic::convertMsToTicks(it->pollingTimeMs);
-	TaskBase::setAndStartPeriod(interval,&periodId);
+	RTEMSTaskBase::setAndStartPeriod(interval,&periodId);
 	//The task's "infinite" inner loop is entered.
 	while (1) {
 		if (pst.slotFollowsImmediately()) {
@@ -114,7 +114,7 @@ void PollingTask::taskFunctionality() {
 			interval = RtemsBasic::convertMsToTicks(this->pst.getIntervalToNextSlotMs());
 			//The period is checked and restarted with the new interval.
 			//If the deadline was missed, the deadlineMissedFunc is called.
-			rtems_status_code status = TaskBase::restartPeriod(interval,periodId);
+			rtems_status_code status = RTEMSTaskBase::restartPeriod(interval,periodId);
 			if (status == RTEMS_TIMEOUT) {
 				if (this->deadlineMissedFunc != nullptr) {
 					this->deadlineMissedFunc();
@@ -127,5 +127,5 @@ void PollingTask::taskFunctionality() {
 }
 
 ReturnValue_t PollingTask::sleepFor(uint32_t ms){
-	return TaskBase::sleepFor(ms);
+	return RTEMSTaskBase::sleepFor(ms);
 };

osal/rtems/PollingTask.h

@@ -1,11 +1,11 @@
 #ifndef FSFW_OSAL_RTEMS_POLLINGTASK_H_
 #define FSFW_OSAL_RTEMS_POLLINGTASK_H_
 
+#include <fsfw/osal/rtems/RTEMSTaskBase.h>
 #include "../../tasks/FixedSlotSequence.h"
 #include "../../tasks/FixedTimeslotTaskIF.h"
-#include "TaskBase.h"
 
-class PollingTask: public TaskBase, public FixedTimeslotTaskIF {
+class PollingTask: public RTEMSTaskBase, public FixedTimeslotTaskIF {
 	public:
 	/**
 	 * @brief	The standard constructor of the class.

osal/rtems/RTEMSTaskBase.cpp

@@ -1,9 +1,9 @@
-#include "../../serviceinterface/ServiceInterfaceStream.h"
-#include "TaskBase.h"
+#include <fsfw/osal/rtems/RTEMSTaskBase.h>
+#include "../../serviceinterface/ServiceInterface.h"
 
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = RTEMS_MINIMUM_STACK_SIZE;
 
-TaskBase::TaskBase(rtems_task_priority set_priority, size_t stack_size,
+RTEMSTaskBase::RTEMSTaskBase(rtems_task_priority set_priority, size_t stack_size,
 		const char *name) {
 	rtems_name osalName = 0;
 	for (uint8_t i = 0; i < 4; i++) {
@@ -31,21 +31,21 @@ TaskBase::TaskBase(rtems_task_priority set_priority, size_t stack_size,
 	}
 }
 
-TaskBase::~TaskBase() {
+RTEMSTaskBase::~RTEMSTaskBase() {
 	rtems_task_delete(id);
 }
 
-rtems_id TaskBase::getId() {
+rtems_id RTEMSTaskBase::getId() {
 	return this->id;
 }
 
-ReturnValue_t TaskBase::sleepFor(uint32_t ms) {
+ReturnValue_t RTEMSTaskBase::sleepFor(uint32_t ms) {
 	rtems_status_code status = rtems_task_wake_after(RtemsBasic::convertMsToTicks(ms));
 	return convertReturnCode(status);
 }
 
 
-ReturnValue_t TaskBase::convertReturnCode(rtems_status_code inValue) {
+ReturnValue_t RTEMSTaskBase::convertReturnCode(rtems_status_code inValue) {
 	switch (inValue) {
 	case RTEMS_SUCCESSFUL:
 		return HasReturnvaluesIF::RETURN_OK;
@@ -68,7 +68,7 @@ ReturnValue_t TaskBase::convertReturnCode(rtems_status_code inValue) {
 }
 
 
-ReturnValue_t TaskBase::setAndStartPeriod(rtems_interval period, rtems_id *periodId) {
+ReturnValue_t RTEMSTaskBase::setAndStartPeriod(rtems_interval period, rtems_id *periodId) {
 	rtems_name periodName = (('P' << 24) + ('e' << 16) + ('r' << 8) + 'd');
 	rtems_status_code status = rtems_rate_monotonic_create(periodName, periodId);
 	if (status == RTEMS_SUCCESSFUL) {
@@ -77,7 +77,7 @@ ReturnValue_t TaskBase::setAndStartPeriod(rtems_interval period, rtems_id *perio
 	return convertReturnCode(status);
 }
 
-rtems_status_code TaskBase::restartPeriod(rtems_interval period, rtems_id periodId){
+rtems_status_code RTEMSTaskBase::restartPeriod(rtems_interval period, rtems_id periodId){
 	//This is necessary to avoid a call with period = 0, which does not start the period.
 	rtems_status_code status = rtems_rate_monotonic_period(periodId, period + 1);
 	return status;

osal/rtems/RTEMSTaskBase.h

@@ -1,5 +1,5 @@
-#ifndef FSFW_OSAL_RTEMS_TASKBASE_H_
-#define FSFW_OSAL_RTEMS_TASKBASE_H_
+#ifndef FSFW_OSAL_RTEMS_RTEMSTASKBASE_H_
+#define FSFW_OSAL_RTEMS_RTEMSTASKBASE_H_
 
 #include "RtemsBasic.h"
 #include "../../tasks/PeriodicTaskIF.h"
@@ -9,7 +9,7 @@
  *
  * @details Task creation base class for rtems.
  */
-class TaskBase {
+class RTEMSTaskBase {
 protected:
 	/**
 	 * @brief	The class stores the task id it got assigned from the operating system in this attribute.
@@ -26,11 +26,11 @@ public:
 	 * @param stack_size	The stack size reserved by the operating system for the task.
 	 * @param nam			The name of the Task, as a null-terminated String. Currently max 4 chars supported (excluding Null-terminator), rest will be truncated
 	 */
-	TaskBase( rtems_task_priority priority, size_t stack_size, const char  *name);
+	RTEMSTaskBase( rtems_task_priority priority, size_t stack_size, const char  *name);
 	/**
 	 * @brief	In the destructor, the created task is deleted.
 	 */
-	virtual ~TaskBase();
+	virtual ~RTEMSTaskBase();
 	/**
 	 * @brief	This method returns the task id of this class.
 	 */
@@ -44,4 +44,4 @@ private:
 };
 
 
-#endif /* FSFW_OSAL_RTEMS_TASKBASE_H_ */
+#endif /* FSFW_OSAL_RTEMS_RTEMSTASKBASE_H_ */

osal/rtems/RtemsBasic.cpp

@@ -1,5 +1,6 @@
 #include "RtemsBasic.h"
 
+// TODO: Can this be removed?
 
 //ReturnValue_t RtemsBasic::convertReturnCode(rtems_status_code inValue) {
 //	if (inValue == RTEMS_SUCCESSFUL) {

osal/rtems/RtemsBasic.h

@@ -2,12 +2,13 @@
 #define FSFW_OSAL_RTEMS_RTEMSBASIC_H_
 
 #include "../../returnvalues/HasReturnvaluesIF.h"
+
 #include <rtems.h>
 #include <rtems/libio.h>
 #include <rtems/error.h>
 #include <rtems/stackchk.h>
-#include <stddef.h>
 
+#include <cstddef>
 
 class RtemsBasic {
 public:

osal/rtems/TaskFactory.cpp

@@ -1,5 +1,5 @@
+#include <fsfw/osal/rtems/PeriodicTask.h>
 #include "../../tasks/TaskFactory.h"
-#include "MultiObjectTask.h"
 #include "PollingTask.h"
 #include "InitTask.h"
 #include "RtemsBasic.h"
@@ -18,7 +18,7 @@ TaskFactory* TaskFactory::instance() {
 PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,TaskPriority taskPriority_,TaskStackSize stackSize_,TaskPeriod periodInSeconds_,TaskDeadlineMissedFunction deadLineMissedFunction_) {
 	rtems_interval taskPeriod = periodInSeconds_ * Clock::getTicksPerSecond();
 
-	return static_cast<PeriodicTaskIF*>(new MultiObjectTask(name_,taskPriority_,stackSize_,taskPeriod,deadLineMissedFunction_));
+	return static_cast<PeriodicTaskIF*>(new PeriodicTask(name_,taskPriority_,stackSize_,taskPeriod,deadLineMissedFunction_));
 }
 
 FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,TaskPriority taskPriority_,TaskStackSize stackSize_,TaskPeriod periodInSeconds_,TaskDeadlineMissedFunction deadLineMissedFunction_) {