refactor freeRTOS task components

src/fsfw/osal/freertos/FixedTimeslotTask.cpp

@@ -1,27 +1,25 @@
 #include "fsfw/osal/freertos/FixedTimeslotTask.h"
 
-#include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/serviceinterface.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+
+uint32_t FixedTimeslotTask::MISSED_DEADLINE_COUNT = 0;
 
-uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
 
 FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority,
-                                     TaskStackSize setStack, TaskPeriod overallPeriod,
+                                     TaskStackSize setStack, TaskPeriod period,
-                                     void (*setDeadlineMissedFunc)())
+                                     TaskDeadlineMissedFunction dlmFunc_)
-    : started(false), handle(nullptr), pst(overallPeriod * 1000) {
+    : FixedTimeslotTaskBase(period, dlmFunc_), started(false), handle(nullptr) {
   configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
   xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
-  // All additional attributes are applied to the object.
-  this->deadlineMissedFunc = setDeadlineMissedFunc;
 }
 
-FixedTimeslotTask::~FixedTimeslotTask() {}
+FixedTimeslotTask::~FixedTimeslotTask() = default;
 
 void FixedTimeslotTask::taskEntryPoint(void* argument) {
   // The argument is re-interpreted as FixedTimeslotTask. The Task object is
   // global, so it is found from any place.
-  FixedTimeslotTask* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
+  auto* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
   /* Task should not start until explicitly requested,
    * but in FreeRTOS, tasks start as soon as they are created if the scheduler
    * is running but not if the scheduler is not running.
@@ -32,21 +30,23 @@ void FixedTimeslotTask::taskEntryPoint(void* argument) {
    * can continue */
 
   if (not originalTask->started) {
-    vTaskSuspend(NULL);
+    vTaskSuspend(nullptr);
   }
 
   originalTask->taskFunctionality();
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   sif::debug << "Polling task " << originalTask->handle << " returned from taskFunctionality."
              << std::endl;
+#else
+  sif::printDebug("Polling task returned from taskFunctionality\n");
 #endif
 }
 
 void FixedTimeslotTask::missedDeadlineCounter() {
-  FixedTimeslotTask::deadlineMissedCount++;
+  FixedTimeslotTask::MISSED_DEADLINE_COUNT++;
-  if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
+  if (FixedTimeslotTask::MISSED_DEADLINE_COUNT % 10 == 0) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines."
+    sif::error << "PST missed " << FixedTimeslotTask::MISSED_DEADLINE_COUNT << " deadlines"
                << std::endl;
 #endif
   }
@@ -63,31 +63,12 @@ ReturnValue_t FixedTimeslotTask::startTask() {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
+[[noreturn]] void FixedTimeslotTask::taskFunctionality() {
-                                         int8_t executionStep) {
-  ExecutableObjectIF* handler = ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
-  if (handler != nullptr) {
-    pst.addSlot(componentId, slotTimeMs, executionStep, handler, this);
-    return HasReturnvaluesIF::RETURN_OK;
-  }
-
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::error << "Component " << std::hex << componentId << " not found, not adding it to pst"
-             << std::endl;
-#endif
-  return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-uint32_t FixedTimeslotTask::getPeriodMs() const { return pst.getLengthMs(); }
-
-ReturnValue_t FixedTimeslotTask::checkSequence() const { return pst.checkSequence(); }
-
-void FixedTimeslotTask::taskFunctionality() {
   // A local iterator for the Polling Sequence Table is created to find the
   // start time for the first entry.
-  auto slotListIter = pst.current;
+  auto slotListIter = pollingSeqTable.current;
 
-  pst.intializeSequenceAfterTaskCreation();
+  pollingSeqTable.intializeSequenceAfterTaskCreation();
 
   // The start time for the first entry is read.
   uint32_t intervalMs = slotListIter->pollingTimeMs;
@@ -108,10 +89,10 @@ void FixedTimeslotTask::taskFunctionality() {
   /* Enter the loop that defines the task behavior. */
   for (;;) {
     // The component for this slot is executed and the next one is chosen.
-    this->pst.executeAndAdvance();
+    this->pollingSeqTable.executeAndAdvance();
-    if (not pst.slotFollowsImmediately()) {
+    if (not pollingSeqTable.slotFollowsImmediately()) {
       // Get the interval till execution of the next slot.
-      intervalMs = this->pst.getIntervalToPreviousSlotMs();
+      intervalMs = this->pollingSeqTable.getIntervalToPreviousSlotMs();
       interval = pdMS_TO_TICKS(intervalMs);
 
 #if (tskKERNEL_VERSION_MAJOR == 10 && tskKERNEL_VERSION_MINOR >= 4) || tskKERNEL_VERSION_MAJOR > 10
@@ -132,8 +113,8 @@ void FixedTimeslotTask::taskFunctionality() {
 }
 
 void FixedTimeslotTask::handleMissedDeadline() {
-  if (deadlineMissedFunc != nullptr) {
+  if (dlmFunc != nullptr) {
-    this->deadlineMissedFunc();
+    dlmFunc();
   }
 }
 

src/fsfw/osal/freertos/FixedTimeslotTask.h

@@ -4,11 +4,11 @@
 #include "FreeRTOS.h"
 #include "FreeRTOSTaskIF.h"
 #include "fsfw/tasks/FixedSlotSequence.h"
-#include "fsfw/tasks/FixedTimeslotTaskIF.h"
+#include "fsfw/tasks/FixedTimeslotTaskBase.h"
-#include "fsfw/tasks/Typedef.h"
+#include "fsfw/tasks/definitions.h"
 #include "task.h"
 
-class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
+class FixedTimeslotTask : public FixedTimeslotTaskBase, public FreeRTOSTaskIF {
  public:
   /**
    * Keep in mind that you need to call before vTaskStartScheduler()!
@@ -23,7 +23,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
    * @return Pointer to the newly created task.
    */
   FixedTimeslotTask(TaskName name, TaskPriority setPriority, TaskStackSize setStack,
-                    TaskPeriod overallPeriod, void (*setDeadlineMissedFunc)());
+                    TaskPeriod overallPeriod, TaskDeadlineMissedFunction dlmFunc);
 
   /**
    * @brief	The destructor of the class.
@@ -32,9 +32,9 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
    * initialization for the PST and the device handlers. This is done by
    * calling the PST's destructor.
    */
-  virtual ~FixedTimeslotTask(void);
+  ~FixedTimeslotTask() override;
 
-  ReturnValue_t startTask(void);
+  ReturnValue_t startTask() override;
   /**
    * This static function can be used as #deadlineMissedFunc.
    * It counts missedDeadlines and prints the number of missed deadlines
@@ -44,14 +44,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
   /**
    * A helper variable to count missed deadlines.
    */
-  static uint32_t deadlineMissedCount;
+  static uint32_t MISSED_DEADLINE_COUNT;
-
-  ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
-                        int8_t executionStep) override;
-
-  uint32_t getPeriodMs() const override;
-
-  ReturnValue_t checkSequence() const override;
 
   ReturnValue_t sleepFor(uint32_t ms) override;
 
@@ -61,17 +54,6 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
   bool started;
   TaskHandle_t handle;
 
-  FixedSlotSequence pst;
-
-  /**
-   * @brief	This attribute holds a function pointer that is executed when
-   *          a deadline was missed.
-   * @details
-   * Another function may be announced to determine the actions to perform
-   * when a deadline was missed. Currently, only one function for missing
-   * any deadline is allowed. If not used, it shall be declared NULL.
-   */
-  void (*deadlineMissedFunc)(void);
   /**
    * @brief	This is the entry point for a new task.
    * @details
@@ -88,7 +70,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
    * It links the functionalities provided by FixedSlotSequence with the
    * OS's System Calls to keep the timing of the periods.
    */
-  void taskFunctionality(void);
+  [[noreturn]] void taskFunctionality();
 
   void handleMissedDeadline();
 };

src/fsfw/osal/freertos/FreeRTOSTaskIF.h

@@ -6,11 +6,11 @@
 
 class FreeRTOSTaskIF {
  public:
-  virtual ~FreeRTOSTaskIF() {}
+  virtual ~FreeRTOSTaskIF() = default;
   virtual TaskHandle_t getTaskHandle() = 0;
 
  protected:
-  bool checkMissedDeadline(const TickType_t xLastWakeTime, const TickType_t interval) {
+  static bool checkMissedDeadline(const TickType_t xLastWakeTime, const TickType_t interval) {
     /* Check whether deadline was missed while also taking overflows
      * into account. Drawing this on paper with a timeline helps to understand
      * it. */

src/fsfw/osal/freertos/PeriodicTask.cpp

@@ -5,8 +5,8 @@
 #include "fsfw/tasks/ExecutableObjectIF.h"
 
 PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStackSize setStack,
-                           TaskPeriod setPeriod, TaskDeadlineMissedFunction deadlineMissedFunc)
+                           TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc_)
-    : started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(deadlineMissedFunc) {
+    : PeriodicTaskBase(setStack, dlmFunc_), started(false), handle(nullptr), period(setPeriod) {
   configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
   BaseType_t status = xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
   if (status != pdPASS) {
@@ -18,14 +18,13 @@ PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStack
   }
 }
 
-PeriodicTask::~PeriodicTask(void) {
+// Do not delete objects, we were responsible for ptrs only.
-  // Do not delete objects, we were responsible for ptrs only.
+PeriodicTask::~PeriodicTask() = default;
-}
 
 void PeriodicTask::taskEntryPoint(void* argument) {
   // The argument is re-interpreted as PeriodicTask. The Task object is
   // global, so it is found from any place.
-  PeriodicTask* originalTask(reinterpret_cast<PeriodicTask*>(argument));
+  auto* originalTask(reinterpret_cast<PeriodicTask*>(argument));
   /* Task should not start until explicitly requested,
    * but in FreeRTOS, tasks start as soon as they are created if the scheduler
    * is running but not if the scheduler is not running.
@@ -36,7 +35,7 @@ void PeriodicTask::taskEntryPoint(void* argument) {
    * can continue */
 
   if (not originalTask->started) {
-    vTaskSuspend(NULL);
+    vTaskSuspend(nullptr);
   }
 
   originalTask->taskFunctionality();
@@ -62,7 +61,7 @@ ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-void PeriodicTask::taskFunctionality() {
+[[noreturn]] void PeriodicTask::taskFunctionality() {
   TickType_t xLastWakeTime;
   const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
 
@@ -95,32 +94,10 @@ void PeriodicTask::taskFunctionality() {
   }
 }
 
-ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
-  ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
-  return addComponent(newObject);
-}
-
-ReturnValue_t PeriodicTask::addComponent(ExecutableObjectIF* object) {
-  if (object == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
-                  "it implement ExecutableObjectIF"
-               << std::endl;
-#endif
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-  objectList.push_back(object);
-  object->setTaskIF(this);
-
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-uint32_t PeriodicTask::getPeriodMs() const { return period * 1000; }
-
 TaskHandle_t PeriodicTask::getTaskHandle() { return handle; }
 
 void PeriodicTask::handleMissedDeadline() {
-  if (deadlineMissedFunc != nullptr) {
+  if (dlmFunc != nullptr) {
-    this->deadlineMissedFunc();
+    dlmFunc();
   }
 }

src/fsfw/osal/freertos/PeriodicTask.h

@@ -6,8 +6,8 @@
 #include "FreeRTOS.h"
 #include "FreeRTOSTaskIF.h"
 #include "fsfw/objectmanager/ObjectManagerIF.h"
-#include "fsfw/tasks/PeriodicTaskIF.h"
+#include "fsfw/tasks/PeriodicTaskBase.h"
-#include "fsfw/tasks/Typedef.h"
+#include "fsfw/tasks/definitions.h"
 #include "task.h"
 
 class ExecutableObjectIF;
@@ -17,7 +17,7 @@ class ExecutableObjectIF;
  * 			periodic activities of multiple objects.
  * @ingroup task_handling
  */
-class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
+class PeriodicTask : public PeriodicTaskBase, public FreeRTOSTaskIF {
  public:
   /**
    * Keep in Mind that you need to call before this vTaskStartScheduler()!
@@ -43,7 +43,7 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
    * @brief	Currently, the executed object's lifetime is not coupled with
    * 			the task object's lifetime, so the destructor is empty.
    */
-  virtual ~PeriodicTask(void);
+  ~PeriodicTask() override;
 
   /**
    * @brief	The method to start the task.
@@ -53,27 +53,6 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
    * 			to the system call.
    */
   ReturnValue_t startTask() override;
-  /**
-   * Adds an object to the list of objects to be executed.
-   * The objects are executed in the order added.
-   * @param object Id of the object to add.
-   * @return
-   * -@c RETURN_OK on success
-   * -@c RETURN_FAILED if the object could not be added.
-   */
-  ReturnValue_t addComponent(object_id_t object) override;
-
-  /**
-   * Adds an object to the list of objects to be executed.
-   * The objects are executed in the order added.
-   * @param object Id of the object to add.
-   * @return
-   * -@c RETURN_OK on success
-   * -@c RETURN_FAILED if the object could not be added.
-   */
-  ReturnValue_t addComponent(ExecutableObjectIF* object) override;
-
-  uint32_t getPeriodMs() const override;
 
   ReturnValue_t sleepFor(uint32_t ms) override;
 
@@ -96,15 +75,7 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
    * It is expressed in clock ticks.
    */
   TaskPeriod period;
-  /**
+
-   * @brief	The pointer to the deadline-missed function.
-   * @details
-   * This pointer stores the function that is executed if the task's deadline
-   * is missed so each may react individually on a timing failure.
-   * The pointer may be NULL, then nothing happens on missing the deadline.
-   * The deadline is equal to the next execution of the periodic task.
-   */
-  void (*deadlineMissedFunc)(void);
   /**
    * @brief	This is the function executed in the new task's context.
    * @details
@@ -125,7 +96,7 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
    * the next period.
    * On missing the deadline, the deadlineMissedFunction is executed.
    */
-  void taskFunctionality(void);
+  [[noreturn]] void taskFunctionality();
 
   void handleMissedDeadline();
 };