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Merge pull request 'TaskIF refactoring and SPI refactoring' (#86) from mueller/task-if-refactor-spi-refactor into develop 

Reviewed-on: #86
This commit is contained in:
Jakob Meier 2022-05-17 20:25:54 +02:00
parent e8023886f6 f9c42d3583
commit e758f0be2e
14 changed files with 196 additions and 74 deletions
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4
hal/src/fsfw_hal/linux/CommandExecutor.cpp
View File

@ -208,6 +208,4 @@ ReturnValue_t CommandExecutor::executeBlocking() {
return HasReturnvaluesIF::RETURN_OK;
}
const std::vector<char>& CommandExecutor::getReadVector() const {
return readVec;
}
const std::vector<char>& CommandExecutor::getReadVector() const { return readVec; }

43
hal/src/fsfw_hal/linux/spi/ManualCsLockGuard.h Normal file
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@ -0,0 +1,43 @@
#pragma once
#include "fsfw/ipc/MutexIF.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw_hal/common/gpio/GpioIF.h"
class ManualCsLockWrapper : public HasReturnvaluesIF {
public:
ManualCsLockWrapper(MutexIF* lock, GpioIF* gpioIF, SpiCookie* cookie,
MutexIF::TimeoutType type = MutexIF::TimeoutType::BLOCKING,
uint32_t timeoutMs = 0)
: lock(lock), gpioIF(gpioIF), cookie(cookie), type(type), timeoutMs(timeoutMs) {
if (cookie == nullptr) {
// TODO: Error? Or maybe throw exception..
return;
}
cookie->setCsLockManual(true);
lockResult = lock->lockMutex(type, timeoutMs);
if (lockResult != RETURN_OK) {
return;
}
gpioResult = gpioIF->pullLow(cookie->getChipSelectPin());
}
~ManualCsLockWrapper() {
if (gpioResult == RETURN_OK) {
gpioIF->pullHigh(cookie->getChipSelectPin());
}
cookie->setCsLockManual(false);
if (lockResult == RETURN_OK) {
lock->unlockMutex();
}
}
ReturnValue_t lockResult;
ReturnValue_t gpioResult;
private:
MutexIF* lock;
GpioIF* gpioIF;
SpiCookie* cookie;
MutexIF::TimeoutType type;
uint32_t timeoutMs = 0;
};

50
hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
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@ -194,16 +194,22 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
bool fullDuplex = spiCookie->isFullDuplex();
gpioId_t gpioId = spiCookie->getChipSelectPin();
bool csLockManual = spiCookie->getCsLockManual();
/* Pull SPI CS low. For now, no support for active high given */
if (gpioId != gpio::NO_GPIO) {
result = csMutex->lockMutex(timeoutType, timeoutMs);
MutexIF::TimeoutType csType;
dur_millis_t csTimeout = 0;
// Pull SPI CS low. For now, no support for active high given
if (gpioId != gpio::NO_GPIO and not csLockManual) {
spiCookie->getMutexParams(csType, csTimeout);
result = csMutex->lockMutex(csType, csTimeout);
if (result != RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
sif::error << "SpiComIF::sendMessage: Failed to lock mutex with code "
<< "0x" << std::hex << std::setfill('0') << std::setw(4) << result << std::dec
<< std::endl;
#else
sif::printError("SpiComIF::sendMessage: Failed to lock mutex\n");
sif::printError("SpiComIF::sendMessage: Failed to lock mutex with code %d\n", result);
#endif
#endif
return result;
@ -249,7 +255,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
}
}
if (gpioId != gpio::NO_GPIO) {
if (gpioId != gpio::NO_GPIO and not csLockManual) {
gpioComIF->pullHigh(gpioId);
result = csMutex->unlockMutex();
if (result != RETURN_OK) {
@ -292,12 +298,22 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
return result;
}
bool csLockManual = spiCookie->getCsLockManual();
gpioId_t gpioId = spiCookie->getChipSelectPin();
if (gpioId != gpio::NO_GPIO) {
result = csMutex->lockMutex(timeoutType, timeoutMs);
MutexIF::TimeoutType csType;
dur_millis_t csTimeout = 0;
if (gpioId != gpio::NO_GPIO and not csLockManual) {
spiCookie->getMutexParams(csType, csTimeout);
result = csMutex->lockMutex(csType, csTimeout);
if (result != RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::getSendSuccess: Failed to lock mutex" << std::endl;
sif::error << "SpiComIF::sendMessage: Failed to lock mutex with code "
<< "0x" << std::hex << std::setfill('0') << std::setw(4) << result << std::dec
<< std::endl;
#else
sif::printError("SpiComIF::sendMessage: Failed to lock mutex with code %d\n", result);
#endif
#endif
return result;
}
@ -315,7 +331,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
result = HALF_DUPLEX_TRANSFER_FAILED;
}
if (gpioId != gpio::NO_GPIO) {
if (gpioId != gpio::NO_GPIO and not csLockManual) {
gpioComIF->pullHigh(gpioId);
result = csMutex->unlockMutex();
if (result != RETURN_OK) {
@ -346,15 +362,7 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
return HasReturnvaluesIF::RETURN_OK;
}
MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeoutMs) {
if (timeoutType != nullptr) {
*timeoutType = this->timeoutType;
}
if (timeoutMs != nullptr) {
*timeoutMs = this->timeoutMs;
}
return csMutex;
}
MutexIF* SpiComIF::getCsMutex() { return csMutex; }
void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
if (spiCookie == nullptr) {
@ -417,9 +425,7 @@ void SpiComIF::getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& spee
}
}
const std::string& SpiComIF::getSpiDev() const {
return dev;
}
const std::string& SpiComIF::getSpiDev() const { return dev; }
void SpiComIF::updateLinePolarity(int spiFd) {
clockUpdateTransfer.len = 0;

17
hal/src/fsfw_hal/linux/spi/SpiComIF.h
View File

@ -22,15 +22,15 @@ class SpiCookie;
*/
class SpiComIF : public DeviceCommunicationIF, public SystemObject {
public:
static constexpr uint8_t spiRetvalId = CLASS_ID::HAL_SPI;
static constexpr uint8_t CLASS_ID = CLASS_ID::HAL_SPI;
static constexpr ReturnValue_t OPENING_FILE_FAILED =
HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0);
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
/* Full duplex (ioctl) transfer failure */
static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED =
HasReturnvaluesIF::makeReturnCode(spiRetvalId, 1);
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
/* Half duplex (read/write) transfer failure */
static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2);
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
SpiComIF(object_id_t objectId, std::string devname, GpioIF* gpioComIF);
@ -44,7 +44,8 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
* @brief This function returns the mutex which can be used to protect the spi bus when
* the chip select must be driven from outside of the com if.
*/
MutexIF* getMutex(MutexIF::TimeoutType* timeoutType = nullptr, uint32_t* timeoutMs = nullptr);
MutexIF* getCsMutex();
void setMutexParams(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs);
/**
* Perform a regular send operation using Linux iotcl. This is public so it can be used
@ -59,6 +60,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
GpioIF* getGpioInterface();
void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
void getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const;
/**
* This updates the SPI clock default polarity. Only setting the mode does not update
@ -70,7 +72,6 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
* @param spiFd
*/
void updateLinePolarity(int spiFd);
void getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const;
const std::string& getSpiDev() const;
void performSpiWiretapping(SpiCookie* spiCookie);
@ -90,8 +91,8 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
* pulled high
*/
MutexIF* csMutex = nullptr;
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 20;
// MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
// uint32_t timeoutMs = DEFAULT_MUTEX_TIMEOUT;
spi_ioc_transfer clockUpdateTransfer = {};
using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;

14
hal/src/fsfw_hal/linux/spi/SpiCookie.cpp
View File

@ -104,3 +104,17 @@ void SpiCookie::getCallback(spi::send_callback_function_t* callback, void** args
*callback = this->sendCallback;
*args = this->callbackArgs;
}
void SpiCookie::setCsLockManual(bool enable) { manualCsLock = enable; }
bool SpiCookie::getCsLockManual() const { return manualCsLock; }
void SpiCookie::getMutexParams(MutexIF::TimeoutType& csTimeoutType, dur_millis_t& csTimeout) const {
csTimeoutType = this->csTimeoutType;
csTimeout = this->csTimeout;
}
void SpiCookie::setMutexParams(MutexIF::TimeoutType csTimeoutType, dur_millis_t csTimeout) {
this->csTimeoutType = csTimeoutType;
this->csTimeout = csTimeout;
}

55
hal/src/fsfw_hal/linux/spi/SpiCookie.h
View File

@ -2,6 +2,8 @@
#define LINUX_SPI_SPICOOKIE_H_
#include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/ipc/MutexIF.h>
#include <fsfw/timemanager/clockDefinitions.h>
#include <linux/spi/spidev.h>
#include "../../common/gpio/gpioDefinitions.h"
@ -20,6 +22,8 @@
*/
class SpiCookie : public CookieIF {
public:
static constexpr dur_millis_t DEFAULT_MUTEX_TIMEOUT = 20;
/**
* Each SPI device will have a corresponding cookie. The cookie is used by the communication
* interface and contains device specific information like the largest expected size to be
@ -137,9 +141,42 @@ class SpiCookie : public CookieIF {
*/
void activateCsDeselect(bool deselectCs, uint16_t delayUsecs);
void getMutexParams(MutexIF::TimeoutType& csTimeoutType, dur_millis_t& csTimeout) const;
void setMutexParams(MutexIF::TimeoutType csTimeoutType, dur_millis_t csTimeout);
void setCsLockManual(bool enable);
bool getCsLockManual() const;
spi_ioc_transfer* getTransferStructHandle();
private:
address_t spiAddress;
gpioId_t chipSelectPin;
spi::SpiComIfModes comIfMode;
// Required for regular mode
const size_t maxSize;
spi::SpiModes spiMode;
/**
* If this is set to true, the SPI ComIF will not perform any mutex locking for the
* CS mechanism. The user is responsible to locking and unlocking the mutex for the
* whole duration of the transfers.
*/
bool manualCsLock = false;
uint32_t spiSpeed;
bool halfDuplex = false;
MutexIF::TimeoutType csTimeoutType = MutexIF::TimeoutType::WAITING;
dur_millis_t csTimeout = DEFAULT_MUTEX_TIMEOUT;
// Required for callback mode
spi::send_callback_function_t sendCallback = nullptr;
void* callbackArgs = nullptr;
struct spi_ioc_transfer spiTransferStruct = {};
UncommonParameters uncommonParameters;
/**
* Internal constructor which initializes every field
* @param spiAddress
@ -154,24 +191,6 @@ class SpiCookie : public CookieIF {
SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
spi::send_callback_function_t callback, void* args);
address_t spiAddress;
gpioId_t chipSelectPin;
spi::SpiComIfModes comIfMode;
// Required for regular mode
const size_t maxSize;
spi::SpiModes spiMode;
uint32_t spiSpeed;
bool halfDuplex = false;
// Required for callback mode
spi::send_callback_function_t sendCallback = nullptr;
void* callbackArgs = nullptr;
struct spi_ioc_transfer spiTransferStruct = {};
UncommonParameters uncommonParameters;
};
#endif /* LINUX_SPI_SPICOOKIE_H_ */

4
src/fsfw/osal/linux/FixedTimeslotTask.cpp
View File

@ -14,6 +14,8 @@ FixedTimeslotTask::FixedTimeslotTask(const char* name_, int priority_, size_t st
FixedTimeslotTask::~FixedTimeslotTask() {}
bool FixedTimeslotTask::isEmpty() const { return pst.isEmpty(); }
void* FixedTimeslotTask::taskEntryPoint(void* arg) {
// The argument is re-interpreted as PollingTask.
FixedTimeslotTask* originalTask(reinterpret_cast<FixedTimeslotTask*>(arg));
@ -50,7 +52,7 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotT
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t FixedTimeslotTask::checkSequence() const { return pst.checkSequence(); }
ReturnValue_t FixedTimeslotTask::checkSequence() { return pst.checkSequence(); }
void FixedTimeslotTask::taskFunctionality() {
// Like FreeRTOS pthreads are running as soon as they are created

13
src/fsfw/osal/linux/FixedTimeslotTask.h
View File

@ -24,15 +24,18 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, uint32_t periodMs_);
virtual ~FixedTimeslotTask();
virtual ReturnValue_t startTask();
ReturnValue_t startTask() override;
virtual ReturnValue_t sleepFor(uint32_t ms);
ReturnValue_t sleepFor(uint32_t ms) override;
virtual uint32_t getPeriodMs() const;
uint32_t getPeriodMs() const override;
virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
int8_t executionStep) override;
virtual ReturnValue_t checkSequence() const;
ReturnValue_t checkSequence() override;
bool isEmpty() const override;
/**
* This static function can be used as #deadlineMissedFunc.

46
src/fsfw/osal/linux/PeriodicPosixTask.cpp
View File

@ -1,6 +1,7 @@
#include "fsfw/osal/linux/PeriodicPosixTask.h"
#include <errno.h>
#include <set>
#include <cerrno>
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
@ -23,15 +24,15 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) {
PeriodicPosixTask* originalTask(reinterpret_cast<PeriodicPosixTask*>(arg));
// The task's functionality is called.
originalTask->taskFunctionality();
return NULL;
return nullptr;
}
ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object, uint8_t opCode) {
ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
return addComponent(newObject);
return addComponent(newObject, opCode);
}
ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object) {
ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object, uint8_t opCode) {
if (object == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
@ -43,7 +44,7 @@ ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object) {
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
objectList.push_back(object);
objectList.push_back({object, opCode});
object->setTaskIF(this);
return HasReturnvaluesIF::RETURN_OK;
@ -54,6 +55,9 @@ ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
}
ReturnValue_t PeriodicPosixTask::startTask(void) {
if (isEmpty()) {
return HasReturnvaluesIF::RETURN_FAILED;
}
started = true;
PosixThread::createTask(&taskEntryPoint, this);
return HasReturnvaluesIF::RETURN_OK;
@ -64,15 +68,13 @@ void PeriodicPosixTask::taskFunctionality(void) {
suspend();
}
for (auto const& object : objectList) {
object->initializeAfterTaskCreation();
}
initObjsAfterTaskCreation();
uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
// The task's "infinite" inner loop is entered.
while (1) {
for (auto const& object : objectList) {
object->performOperation();
for (auto const& objOpCodePair : objectList) {
objOpCodePair.first->performOperation(objOpCodePair.second);
}
if (not PosixThread::delayUntil(&lastWakeTime, periodMs)) {
@ -84,3 +86,25 @@ void PeriodicPosixTask::taskFunctionality(void) {
}
uint32_t PeriodicPosixTask::getPeriodMs() const { return periodMs; }
bool PeriodicPosixTask::isEmpty() const { return objectList.empty(); }
ReturnValue_t PeriodicPosixTask::initObjsAfterTaskCreation() {
std::multiset<ExecutableObjectIF*> uniqueObjects;
ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
uint32_t count = 0;
for (const auto& obj : objectList) {
// Ensure that each unique object is initialized once.
if (uniqueObjects.find(obj.first) == uniqueObjects.end()) {
ReturnValue_t result = obj.first->initializeAfterTaskCreation();
if (result != HasReturnvaluesIF::RETURN_OK) {
count++;
status = result;
}
uniqueObjects.emplace(obj.first);
}
}
if (count > 0) {
}
return status;
}

12
src/fsfw/osal/linux/PeriodicPosixTask.h
View File

@ -40,7 +40,7 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
* @param object Id of the object to add.
* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
*/
ReturnValue_t addComponent(object_id_t object) override;
ReturnValue_t addComponent(object_id_t object, uint8_t opCode) override;
/**
* Adds an object to the list of objects to be executed.
@ -48,14 +48,20 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
* @param object pointer to the object to add.
* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
*/
ReturnValue_t addComponent(ExecutableObjectIF* object) override;
ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) override;
uint32_t getPeriodMs() const override;
ReturnValue_t sleepFor(uint32_t ms) override;
ReturnValue_t initObjsAfterTaskCreation();
bool isEmpty() const override;
private:
typedef std::vector<ExecutableObjectIF*> ObjectList; //!< Typedef for the List of objects.
//! Typedef for the List of objects. Will contain the objects to execute and their respective
//! op codes
using ObjectList = std::vector<std::pair<ExecutableObjectIF*, uint8_t>>;
/**
* @brief This attribute holds a list of objects to be executed.
*/

2
src/fsfw/tasks/FixedSlotSequence.cpp
View File

@ -164,3 +164,5 @@ ReturnValue_t FixedSlotSequence::intializeSequenceAfterTaskCreation() const {
void FixedSlotSequence::addCustomCheck(ReturnValue_t (*customCheckFunction)(const SlotList&)) {
this->customCheckFunction = customCheckFunction;
}
bool FixedSlotSequence::isEmpty() const { return slotList.empty(); }

2
src/fsfw/tasks/FixedSlotSequence.h
View File

@ -159,6 +159,8 @@ class FixedSlotSequence {
*/
ReturnValue_t intializeSequenceAfterTaskCreation() const;
bool isEmpty() const;
protected:
/**
* @brief This list contains all PollingSlot objects, defining order and

2
src/fsfw/tasks/FixedTimeslotTaskIF.h
View File

@ -30,7 +30,7 @@ class FixedTimeslotTaskIF : public PeriodicTaskIF {
* Check whether the sequence is valid and perform all other required
* initialization steps which are needed after task creation
*/
virtual ReturnValue_t checkSequence() const = 0;
virtual ReturnValue_t checkSequence() = 0;
};
#endif /* FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_ */

6
src/fsfw/tasks/PeriodicTaskIF.h
View File

@ -31,7 +31,7 @@ class PeriodicTaskIF {
* Add an object to the task. The object needs to implement ExecutableObjectIF
* @return
*/
virtual ReturnValue_t addComponent(object_id_t object) {
virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode = 0) {
return HasReturnvaluesIF::RETURN_FAILED;
};
@ -41,13 +41,15 @@ class PeriodicTaskIF {
* Add an object to the task.
* @return
*/
virtual ReturnValue_t addComponent(ExecutableObjectIF* object) {
virtual ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode = 0) {
return HasReturnvaluesIF::RETURN_FAILED;
};
virtual ReturnValue_t sleepFor(uint32_t ms) = 0;
virtual uint32_t getPeriodMs() const = 0;
virtual bool isEmpty() const = 0;
};
#endif /* PERIODICTASKIF_H_ */