implemented deadlien missed print for host

osal/host/PeriodicTask.cpp

@@ -10,6 +10,7 @@
 
 #if defined(WIN32)
 #include <processthreadsapi.h>
+#include <fsfw/osal/windows/winTaskHelpers.h>
 #elif defined(LINUX)
 #include <pthread.h>
 #endif
@@ -22,33 +23,11 @@ PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
     // It is propably possible to set task priorities by using the native
     // task handles for Windows / Linux
 	mainThread = std::thread(&PeriodicTask::taskEntryPoint, this, this);
-#if defined(WIN32)
+#if defined(_WIN32)
-    /* List of possible priority classes:
+	tasks::setTaskPriority(reinterpret_cast<HANDLE>(mainThread.native_handle()), setPriority);
-     * https://docs.microsoft.com/en-us/windows/win32/api/processthreadsapi/
+	tasks::insertTaskName(mainThread.get_id(), taskName);
-     * nf-processthreadsapi-setpriorityclass
+#elif defined(__unix__)
-     * And respective thread priority numbers:
+    // TODO: We could reuse existing code here.
-     * https://docs.microsoft.com/en-us/windows/
-     * win32/procthread/scheduling-priorities */
-    int result = SetPriorityClass(
-            reinterpret_cast<HANDLE>(mainThread.native_handle()),
-            ABOVE_NORMAL_PRIORITY_CLASS);
-    if(result != 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
-                << GetLastError() << std::endl;
-#endif
-    }
-    result = SetThreadPriority(
-            reinterpret_cast<HANDLE>(mainThread.native_handle()),
-            THREAD_PRIORITY_NORMAL);
-    if(result != 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
-                << GetLastError() << std::endl;
-#endif
-    }
-#elif defined(LINUX)
-    // we can just copy and paste the code from linux here.
 #endif
 }
 

osal/host/TaskFactory.cpp

@@ -1,14 +1,20 @@
+#include "../../tasks/TaskFactory.h"
 #include "../../osal/host/FixedTimeslotTask.h"
 #include "../../osal/host/PeriodicTask.h"
-#include "../../tasks/TaskFactory.h"
 #include "../../returnvalues/HasReturnvaluesIF.h"
 #include "../../tasks/PeriodicTaskIF.h"
 
+#ifdef _WIN32
+
+#include "../windows/winTaskHelpers.h"
+
+#endif
+
 #include <chrono>
 
 TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
 
-// Will propably not be used for hosted implementation
+// Not used for the host implementation for now because C++ thread abstraction is used
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = 0;
 
 TaskFactory::TaskFactory() {
@@ -49,8 +55,33 @@ ReturnValue_t TaskFactory::delayTask(uint32_t delayMs){
 }
 
 void TaskFactory::printMissedDeadline() {
-    /* TODO: Implement */
+#ifdef __unix__
-    return;
+    char name[20] = {0};
+    int status = pthread_getname_np(pthread_self(), name, sizeof(name));
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    if(status == 0) {
+        sif::warning << "TaskFactory::printMissedDeadline: " << name << "" << std::endl;
+    }
+    else {
+        sif::warning << "TaskFactory::printMissedDeadline: Unknown task name" << status <<
+                std::endl;
+    }
+#else
+    if(status == 0) {
+        sif::printWarning("TaskFactory::printMissedDeadline: %s\n", name);
+    }
+    else {
+        sif::printWarning("TaskFactory::printMissedDeadline: Unknown task name\n", name);
+    }
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#elif defined(_WIN32)
+    std::string name = tasks::getTaskName(std::this_thread::get_id());
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "TaskFactory::printMissedDeadline: " << name << std::endl;
+#else
+    sif::printWarning("TaskFactory::printMissedDeadline: %s\n", name);
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* defined(_WIN32) */
 }
 
 

osal/linux/PosixThread.cpp

@@ -6,7 +6,7 @@
 #include <errno.h>
 
 PosixThread::PosixThread(const char* name_, int priority_, size_t stackSize_):
-		thread(0),priority(priority_),stackSize(stackSize_) {
+		thread(0), priority(priority_), stackSize(stackSize_) {
     name[0] = '\0';
     std::strncat(name, name_, PTHREAD_MAX_NAMELEN - 1);
 }
@@ -75,18 +75,18 @@ bool PosixThread::delayUntil(uint64_t* const prevoiusWakeTime_ms,
 
 	if (currentTime_ms < *prevoiusWakeTime_ms) {
 		/* The tick count has overflowed since this function was
-		 lasted called.  In this case the only time we should ever
+		lasted called.  In this case the only time we should ever
-		 actually delay is if the wake time has also	overflowed,
+		actually delay is if the wake time has also overflowed,
-		 and the wake time is greater than the tick time.  When this
+		and the wake time is greater than the tick time. When this
-		 is the case it is as if neither time had overflowed. */
+		is the case it is as if neither time had overflowed. */
 		if ((nextTimeToWake_ms < *prevoiusWakeTime_ms)
 				&& (nextTimeToWake_ms > currentTime_ms)) {
 			shouldDelay = true;
 		}
 	} else {
-		/* The tick time has not overflowed.  In this case we will
+		/* The tick time has not overflowed. In this case we will
-		 delay if either the wake time has overflowed, and/or the
+		delay if either the wake time has overflowed, and/or the
-		 tick time is less than the wake time. */
+		tick time is less than the wake time. */
 		if ((nextTimeToWake_ms < *prevoiusWakeTime_ms)
 				|| (nextTimeToWake_ms > currentTime_ms)) {
 			shouldDelay = true;

osal/windows/CMakeLists.txt

@@ -1,3 +1,4 @@
 target_sources(${LIB_FSFW_NAME} PRIVATE 
     tcpipHelpers.cpp
+    winTaskHelpers.cpp
 )

osal/windows/winTaskHelpers.cpp

@@ -0,0 +1,130 @@
+#include <fsfw/osal/windows/winTaskHelpers.h>
+#include <mutex>
+
+std::mutex nameMapLock;
+std::map<std::thread::id, std::string> taskNameMap;
+
+TaskPriority tasks::makeWinPriority(PriorityClass prioClass, PriorityNumber prioNumber) {
+    return (static_cast<uint16_t>(prioClass) << 16) | static_cast<uint16_t> (prioNumber);
+}
+
+void tasks::getWinPriorityParameters(TaskPriority priority,
+        DWORD& priorityClass, int& priorityNumber) {
+    PriorityClass classInternal = static_cast<PriorityClass>(priority >> 16 & 0xff);
+    PriorityNumber numberInternal = static_cast<PriorityNumber>(priority & 0xff);
+    switch(classInternal) {
+    case(CLASS_IDLE): {
+        priorityClass = IDLE_PRIORITY_CLASS;
+        break;
+    }
+    case(CLASS_BELOW_NORMAL): {
+        priorityClass = BELOW_NORMAL_PRIORITY_CLASS;
+        break;
+    }
+    case(CLASS_NORMAL): {
+        priorityClass = NORMAL_PRIORITY_CLASS;
+        break;
+    }
+    case(CLASS_ABOVE_NORMAL): {
+        priorityClass = ABOVE_NORMAL_PRIORITY_CLASS;
+        break;
+    }
+    case(CLASS_HIGH): {
+        priorityClass = HIGH_PRIORITY_CLASS;
+        break;
+    }
+    case(CLASS_REALTIME): {
+        priorityClass = REALTIME_PRIORITY_CLASS;
+        break;
+    }
+    default: {
+        priorityClass = NORMAL_PRIORITY_CLASS;
+    }
+    }
+
+    switch(numberInternal) {
+    case(IDLE): {
+        priorityNumber = THREAD_PRIORITY_IDLE;
+        break;
+    }
+    case(LOWEST): {
+        priorityNumber = THREAD_PRIORITY_LOWEST;
+        break;
+    }
+    case(BELOW_NORMAL): {
+        priorityNumber = THREAD_PRIORITY_BELOW_NORMAL;
+        break;
+    }
+    case(NORMAL): {
+        priorityNumber = THREAD_PRIORITY_NORMAL;
+        break;
+    }
+    case(ABOVE_NORMAL): {
+        priorityNumber = THREAD_PRIORITY_ABOVE_NORMAL;
+        break;
+    }
+    case(HIGHEST): {
+        priorityNumber = THREAD_PRIORITY_HIGHEST;
+        break;
+    }
+    case(CRITICAL): {
+        priorityNumber = THREAD_PRIORITY_TIME_CRITICAL;
+        break;
+    }
+    default: {
+        priorityNumber = THREAD_PRIORITY_NORMAL;
+    }
+    }
+}
+
+ReturnValue_t tasks::setTaskPriority(HANDLE nativeHandle, TaskPriority priority) {
+    /* List of possible priority classes:
+    https://docs.microsoft.com/en-us/windows/win32/api/processthreadsapi/nf-processthreadsapi-setpriorityclass
+    And respective thread priority numbers:
+    https://docs.microsoft.com/en-us/windows/win32/procthread/scheduling-priorities
+    */
+    DWORD dwPriorityClass = 0;
+    int nPriorityNumber = 0;
+    tasks::getWinPriorityParameters(priority, dwPriorityClass, nPriorityNumber);
+    int result = SetPriorityClass(
+            reinterpret_cast<HANDLE>(nativeHandle),
+            dwPriorityClass);
+    if(result != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
+                << GetLastError() << std::endl;
+        return HasReturnvaluesIF::RETURN_FAILED;
+#endif
+    }
+    result = SetThreadPriority(
+            reinterpret_cast<HANDLE>(nativeHandle),
+            nPriorityNumber);
+    if(result != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
+                << GetLastError() << std::endl;
+        return HasReturnvaluesIF::RETURN_FAILED;
+#endif
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t tasks::insertTaskName(std::thread::id threadId, std::string taskName) {
+    std::lock_guard<std::mutex> lg(nameMapLock);
+    auto returnPair = taskNameMap.emplace(threadId, taskName);
+    if(not returnPair.second) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+std::string tasks::getTaskName(std::thread::id threadId) {
+    std::lock_guard<std::mutex> lg(nameMapLock);
+    auto resultIter = taskNameMap.find(threadId);
+    if(resultIter != taskNameMap.end()) {
+        return resultIter->second;
+    }
+    else {
+        return "Unknown task";
+    }
+}

osal/windows/winTaskHelpers.h

@@ -0,0 +1,40 @@
+#include "../../tasks/TaskFactory.h"
+
+#include <thread>
+#include <map>
+
+#ifdef _WIN32
+
+namespace tasks {
+
+enum PriorityClass: uint16_t {
+    CLASS_IDLE,
+    CLASS_BELOW_NORMAL,
+    CLASS_NORMAL,
+    CLASS_ABOVE_NORMAL,
+    CLASS_HIGH,
+    CLASS_REALTIME
+};
+enum PriorityNumber: uint16_t {
+    IDLE,
+    LOWEST,
+    BELOW_NORMAL,
+    NORMAL,
+    ABOVE_NORMAL,
+    HIGHEST,
+    CRITICAL
+};
+TaskPriority makeWinPriority(PriorityClass prioClass = PriorityClass::CLASS_NORMAL,
+        PriorityNumber prioNumber = PriorityNumber::NORMAL);
+void getWinPriorityParameters(TaskPriority priority, DWORD& priorityClass,
+        int& priorityNumber);
+
+ReturnValue_t setTaskPriority(HANDLE nativeHandle, TaskPriority priority);
+
+ReturnValue_t insertTaskName(std::thread::id threadId, std::string taskName);
+std::string getTaskName(std::thread::id threadId);
+
+}
+
+#endif
+

tasks/TaskFactory.h

@@ -22,9 +22,23 @@ public:
 	/**
 	 * Creates a new periodic task and returns the interface pointer.
 	 * @param name_ Name of the task
-	 * @param taskPriority_ Priority of the task
+	 * @param taskPriority_
+	 * Priority of the task. This value might have different ranges for the various OSALs.
+	 * Linux: Value ranging from 0 to 99 with 99 being the highest value.
+	 * Host: Value can be retrieved by using the #tasks::makeWinPriority function.
+	 * FreeRTOS: Value depends on the FreeRTOS configuration, higher number means higher priority
+	 * RTEMS: Values ranging from 0 to 99 with 99 being the highest value.
+	 *
 	 * @param stackSize_ Stack Size of the task
+	 * This value might have different recommended ranges for the various OSALs.
+	 * Linux: Lowest limit is the PeriodicTaskIF::MINIMUM_STACK_SIZE value
+	 * Host: Value is ignored for now because the C++ threading abstraction layer is used.
+	 * FreeRTOS: Stack size in bytes. It is recommended to specify at least 1kB of stack for
+	 * FSFW tasks, but the lowest possible size is specified in the FreeRTOSConfig.h file.
+	 * RTEMS: Lowest limit is the PeriodicTaskIF::MINIMUM_STACK_SIZE value.
+	 *
 	 * @param period_ Period of the task
+	 *
 	 * @param deadLineMissedFunction_ Function to be called if a deadline was missed
 	 * @return PeriodicTaskIF* Pointer to the newly created Task
 	 */

tasks/Typedef.h

@@ -2,7 +2,7 @@
 #define FRAMEWORK_TASKS_TYPEDEF_H_
 
 typedef const char* TaskName;
-typedef uint8_t TaskPriority;
+typedef uint32_t TaskPriority;
 typedef size_t TaskStackSize;
 typedef double TaskPeriod;
 typedef void (*TaskDeadlineMissedFunction)();