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renaming and cleaning up stuff

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This commit is contained in:
Robin Müller 2021-01-27 18:12:12 +01:00
parent 942ecc89bd
commit 8a0431c578
6 changed files with 120 additions and 115 deletions
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41
osal/rtems/PollingTask.cpp → osal/rtems/FixedTimeslotTask.cpp
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@ -1,4 +1,4 @@
#include "PollingTask.h"
#include <fsfw/osal/rtems/FixedTimeslotTask.h>
#include "RtemsBasic.h"
#include "../../tasks/FixedSequenceSlot.h"
@ -21,9 +21,9 @@
#include <cstddef>
#include <list>
uint32_t PollingTask::deadlineMissedCount = 0;
uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
PollingTask::PollingTask(const char *name, rtems_task_priority setPriority,
FixedTimeslotTask::FixedTimeslotTask(const char *name, rtems_task_priority setPriority,
size_t setStack, uint32_t setOverallPeriod,
void (*setDeadlineMissedFunc)()) :
RTEMSTaskBase(setPriority, setStack, name), periodId(0), pst(
@ -32,33 +32,34 @@ PollingTask::PollingTask(const char *name, rtems_task_priority setPriority,
this->deadlineMissedFunc = setDeadlineMissedFunc;
}
PollingTask::~PollingTask() {
FixedTimeslotTask::~FixedTimeslotTask() {
}
rtems_task PollingTask::taskEntryPoint(rtems_task_argument argument) {
rtems_task FixedTimeslotTask::taskEntryPoint(rtems_task_argument argument) {
//The argument is re-interpreted as PollingTask.
PollingTask *originalTask(reinterpret_cast<PollingTask*>(argument));
FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
//The task's functionality is called.
originalTask->taskFunctionality();
return originalTask->taskFunctionality();
/* Should never be reached */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Polling task " << originalTask->getId()
<< " returned from taskFunctionality." << std::endl;
sif::error << "Polling task " << originalTask->getId() << " returned from taskFunctionality." <<
std::endl;
#endif
}
void PollingTask::missedDeadlineCounter() {
PollingTask::deadlineMissedCount++;
if (PollingTask::deadlineMissedCount % 10 == 0) {
void FixedTimeslotTask::missedDeadlineCounter() {
FixedTimeslotTask::deadlineMissedCount++;
if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PST missed " << PollingTask::deadlineMissedCount
sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
<< " deadlines." << std::endl;
#endif
}
}
ReturnValue_t PollingTask::startTask() {
rtems_status_code status = rtems_task_start(id, PollingTask::taskEntryPoint,
ReturnValue_t FixedTimeslotTask::startTask() {
rtems_status_code status = rtems_task_start(id, FixedTimeslotTask::taskEntryPoint,
rtems_task_argument((void *) this));
if (status != RTEMS_SUCCESSFUL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -79,7 +80,7 @@ ReturnValue_t PollingTask::startTask() {
}
}
ReturnValue_t PollingTask::addSlot(object_id_t componentId,
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
uint32_t slotTimeMs, int8_t executionStep) {
ExecutableObjectIF* object = objectManager->get<ExecutableObjectIF>(componentId);
if (object != nullptr) {
@ -94,17 +95,17 @@ ReturnValue_t PollingTask::addSlot(object_id_t componentId,
return HasReturnvaluesIF::RETURN_FAILED;
}
uint32_t PollingTask::getPeriodMs() const {
uint32_t FixedTimeslotTask::getPeriodMs() const {
return pst.getLengthMs();
}
ReturnValue_t PollingTask::checkSequence() const {
ReturnValue_t FixedTimeslotTask::checkSequence() const {
return pst.checkSequence();
}
#include <rtems/io.h>
void PollingTask::taskFunctionality() {
void FixedTimeslotTask::taskFunctionality() {
// A local iterator for the Polling Sequence Table is created to find the start time for the first entry.
FixedSlotSequence::SlotListIter it = pst.current;
@ -132,6 +133,6 @@ void PollingTask::taskFunctionality() {
}
}
ReturnValue_t PollingTask::sleepFor(uint32_t ms){
ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms){
return RTEMSTaskBase::sleepFor(ms);
};

81
osal/rtems/FixedTimeslotTask.h Normal file
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@ -0,0 +1,81 @@
#ifndef FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_
#define FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_
#include "RTEMSTaskBase.h"
#include "../../tasks/FixedSlotSequence.h"
#include "../../tasks/FixedTimeslotTaskIF.h"
class FixedTimeslotTask: public RTEMSTaskBase, public FixedTimeslotTaskIF {
public:
/**
* @brief The standard constructor of the class.
* @details
* This is the general constructor of the class. In addition to the TaskBase parameters,
* the following variables are passed:
* @param setDeadlineMissedFunc The function pointer to the deadline missed function
* that shall be assigned.
* @param getPst The object id of the completely initialized polling sequence.
*/
FixedTimeslotTask( const char *name, rtems_task_priority setPriority, size_t setStackSize,
uint32_t overallPeriod, void (*setDeadlineMissedFunc)());
/**
* @brief The destructor of the class.
* @details
* The destructor frees all heap memory that was allocated on thread initialization
* for the PST andthe device handlers. This is done by calling the PST's destructor.
*/
virtual ~FixedTimeslotTask( void );
ReturnValue_t startTask( void );
/**
* This static function can be used as #deadlineMissedFunc.
* It counts missedDeadlines and prints the number of missed deadlines every 10th time.
*/
static void missedDeadlineCounter();
/**
* A helper variable to count missed deadlines.
*/
static uint32_t deadlineMissedCount;
ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
uint32_t getPeriodMs() const;
ReturnValue_t checkSequence() const;
ReturnValue_t sleepFor(uint32_t ms);
protected:
/**
* @brief id of the associated OS period
*/
rtems_id periodId;
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 ) = nullptr;
/**
* @brief This is the entry point in a new polling thread.
* @details This method is the entry point in the new thread
*/
static rtems_task taskEntryPoint( rtems_task_argument argument );
/**
* @brief This function holds the main functionality of the thread.
* @details
* Holding the main functionality of the task, this method is most important.
* It links the functionalities provided by FixedSlotSequence with the OS's system calls to
* keep the timing of the periods.
*/
void taskFunctionality( void );
};
#endif /* FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_ */

5
osal/rtems/MutexFactory.cpp
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@ -1,6 +1,7 @@
#include "../../ipc/MutexFactory.h"
#include "Mutex.h"
#include "RtemsBasic.h"
#include "../../ipc/MutexFactory.h"
MutexFactory* MutexFactory::factoryInstance = new MutexFactory();

85
osal/rtems/PollingTask.h
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@ -1,85 +0,0 @@
#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"
class PollingTask: public RTEMSTaskBase, public FixedTimeslotTaskIF {
public:
/**
* @brief The standard constructor of the class.
*
* @details This is the general constructor of the class. In addition to the TaskBase parameters,
* the following variables are passed:
*
* @param (*setDeadlineMissedFunc)() The function pointer to the deadline missed function that shall be assigned.
*
* @param getPst The object id of the completely initialized polling sequence.
*/
PollingTask( const char *name, rtems_task_priority setPriority, size_t setStackSize, uint32_t overallPeriod, void (*setDeadlineMissedFunc)());
/**
* @brief The destructor of the class.
*
* @details The destructor frees all heap memory that was allocated on thread initialization for the PST and
* the device handlers. This is done by calling the PST's destructor.
*/
virtual ~PollingTask( void );
ReturnValue_t startTask( void );
/**
* This static function can be used as #deadlineMissedFunc.
* It counts missedDeadlines and prints the number of missed deadlines every 10th time.
*/
static void missedDeadlineCounter();
/**
* A helper variable to count missed deadlines.
*/
static uint32_t deadlineMissedCount;
ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
uint32_t getPeriodMs() const;
ReturnValue_t checkSequence() const;
ReturnValue_t sleepFor(uint32_t ms);
protected:
/**
* @brief id of the associated OS period
*/
rtems_id periodId;
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 in a new polling thread.
*
* @details This method, that is the generalOSAL::checkAndRestartPeriod( this->periodId, interval ); entry point in the new thread, is here set to generate
* and link the Polling Sequence Table to the thread object and start taskFunctionality()
* on success. If operation of the task is ended for some reason,
* the destructor is called to free allocated memory.
*/
static rtems_task taskEntryPoint( rtems_task_argument argument );
/**
* @brief This function holds the main functionality of the thread.
*
*
* @details Holding the main functionality of the task, this method is most important.
* It links the functionalities provided by FixedSlotSequence with the OS's System Calls
* to keep the timing of the periods.
*/
void taskFunctionality( void );
};
#endif /* FSFW_OSAL_RTEMS_POLLINGTASK_H_ */

2
osal/rtems/RTEMSTaskBase.cpp
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@ -1,4 +1,4 @@
#include <fsfw/osal/rtems/RTEMSTaskBase.h>
#include "RTEMSTaskBase.h"
#include "../../serviceinterface/ServiceInterface.h"
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = RTEMS_MINIMUM_STACK_SIZE;

21
osal/rtems/TaskFactory.cpp
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@ -1,8 +1,9 @@
#include <fsfw/osal/rtems/PeriodicTask.h>
#include "../../tasks/TaskFactory.h"
#include "PollingTask.h"
#include "FixedTimeslotTask.h"
#include "PeriodicTask.h"
#include "InitTask.h"
#include "RtemsBasic.h"
#include "../../tasks/TaskFactory.h"
#include "../../returnvalues/HasReturnvaluesIF.h"
//TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
@ -15,15 +16,21 @@ 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_) {
rtems_interval taskPeriod = periodInSeconds_ * Clock::getTicksPerSecond();
return static_cast<PeriodicTaskIF*>(new PeriodicTask(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_) {
FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,
TaskPriority taskPriority_,TaskStackSize stackSize_,TaskPeriod periodInSeconds_,
TaskDeadlineMissedFunction deadLineMissedFunction_) {
rtems_interval taskPeriod = periodInSeconds_ * Clock::getTicksPerSecond();
return static_cast<FixedTimeslotTaskIF*>(new PollingTask(name_,taskPriority_,stackSize_,taskPeriod,deadLineMissedFunction_));
return static_cast<FixedTimeslotTaskIF*>(new FixedTimeslotTask(name_, taskPriority_,
stackSize_, taskPeriod, deadLineMissedFunction_));
}
ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {