From 504c8177e8b428818108b57e091b77ee1e0155a8 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Fri, 24 Apr 2020 17:05:34 +0200 Subject: [PATCH 01/13] uninitialized variable --- parameters/ParameterWrapper.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/parameters/ParameterWrapper.cpp b/parameters/ParameterWrapper.cpp index 8f661bb3..1dac7075 100644 --- a/parameters/ParameterWrapper.cpp +++ b/parameters/ParameterWrapper.cpp @@ -91,7 +91,7 @@ template ReturnValue_t ParameterWrapper::serializeData(uint8_t** buffer, uint32_t* size, const uint32_t max_size, bool bigEndian) const { const T *element = (const T*) readonlyData; - ReturnValue_t result; + ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; uint16_t dataSize = columns * rows; while (dataSize != 0) { result = SerializeAdapter::serialize(element, buffer, size, max_size, From e39d669ed863a4ba7fc754c738ffb479ea7d9d00 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 30 Apr 2020 22:03:16 +0200 Subject: [PATCH 02/13] put linux prinouts in namespace --- osal/linux/FixedTimeslotTask.cpp | 14 +++++++--- osal/linux/MessageQueue.cpp | 44 ++++++++++++++++++++------------ osal/linux/Mutex.cpp | 8 +++--- osal/linux/PeriodicPosixTask.cpp | 4 +-- osal/linux/PeriodicPosixTask.h | 3 ++- osal/linux/PosixThread.cpp | 42 +++++++++++++++++++----------- osal/linux/Timer.cpp | 3 ++- 7 files changed, 76 insertions(+), 42 deletions(-) diff --git a/osal/linux/FixedTimeslotTask.cpp b/osal/linux/FixedTimeslotTask.cpp index 99cbf818..04ceb4e6 100644 --- a/osal/linux/FixedTimeslotTask.cpp +++ b/osal/linux/FixedTimeslotTask.cpp @@ -9,7 +9,9 @@ uint32_t FixedTimeslotTask::deadlineMissedCount = 0; const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = PTHREAD_STACK_MIN; -FixedTimeslotTask::FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, uint32_t periodMs_):PosixThread(name_,priority_,stackSize_),pst(periodMs_),started(false) { +FixedTimeslotTask::FixedTimeslotTask(const char* name_, int priority_, + size_t stackSize_, uint32_t periodMs_): + PosixThread(name_,priority_,stackSize_),pst(periodMs_),started(false) { } FixedTimeslotTask::~FixedTimeslotTask() { @@ -40,6 +42,12 @@ uint32_t FixedTimeslotTask::getPeriodMs() const { ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep) { + if (!objectManager->get(componentId)) { + sif::error << "Component " << std::hex << componentId + << " not found, not adding it to pst" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + pst.addSlot(componentId, slotTimeMs, executionStep, this); return HasReturnvaluesIF::RETURN_OK; } @@ -80,7 +88,7 @@ void FixedTimeslotTask::taskFunctionality() { void FixedTimeslotTask::missedDeadlineCounter() { FixedTimeslotTask::deadlineMissedCount++; if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) { - error << "PST missed " << FixedTimeslotTask::deadlineMissedCount - << " deadlines." << std::endl; + sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount + << " deadlines." << std::endl; } } diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp index a2e87875..edabe946 100644 --- a/osal/linux/MessageQueue.cpp +++ b/osal/linux/MessageQueue.cpp @@ -17,11 +17,11 @@ MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) : attributes.mq_maxmsg = message_depth; attributes.mq_msgsize = max_message_size; attributes.mq_flags = 0; //Flags are ignored on Linux during mq_open - //Set the name of the queue sprintf(name, "/Q%u\n", queueCounter++); - //Create a nonblocking queue if the name is available (the queue is Read and writable for the owner as well as the group) + //Create a nonblocking queue if the name is available (the queue is Read and + // writable for the owner as well as the group) mqd_t tempId = mq_open(name, O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL, S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP | S_IROTH | S_IWOTH, &attributes); if (tempId == -1) { @@ -32,8 +32,8 @@ MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) : //We unlink the other queue int status = mq_unlink(name); if (status != 0) { - error << "mq_unlink Failed with status: " << strerror(errno) - << std::endl; + sif::error << "mq_unlink Failed with status: " << strerror(errno) + << std::endl; } else { //Successful unlinking, try to open again mqd_t tempId = mq_open(name, @@ -47,7 +47,7 @@ MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) : } } //Failed either the first time or the second time - error << "MessageQueue::MessageQueue: Creating Queue " << std::hex + sif::error << "MessageQueue::MessageQueue: Creating Queue " << std::hex << name << std::dec << " failed with status: " << strerror(errno) << std::endl; } else { @@ -59,11 +59,13 @@ MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) : MessageQueue::~MessageQueue() { int status = mq_close(this->id); if(status != 0){ - error << "MessageQueue::Destructor: mq_close Failed with status: " << strerror(errno) <(message->getBuffer()),message->MAX_MESSAGE_SIZE,&messagePriority); + int status = mq_receive(id,reinterpret_cast(message->getBuffer()), + message->MAX_MESSAGE_SIZE,&messagePriority); if (status > 0) { this->lastPartner = message->getSender(); //Check size of incoming message. @@ -114,7 +117,8 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) { return MessageQueueIF::EMPTY; case EBADF: //mqdes doesn't represent a valid queue open for reading. - error << "MessageQueue::receive: configuration error " << strerror(errno) << std::endl; + sif::error << "MessageQueue::receive: configuration error " + << strerror(errno) << std::endl; /*NO BREAK*/ case EINVAL: /* @@ -123,7 +127,8 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) { * * The number of bytes requested, msg_len is less than zero. * * msg_len is anything other than the mq_msgsize of the specified queue, and the QNX extended option MQ_READBUF_DYNAMIC hasn't been set in the queue's mq_flags. */ - error << "MessageQueue::receive: configuration error " << strerror(errno) << std::endl; + sif::error << "MessageQueue::receive: configuration error " + << strerror(errno) << std::endl; /*NO BREAK*/ case EMSGSIZE: /* @@ -131,7 +136,8 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) { * * the QNX extended option MQ_READBUF_DYNAMIC hasn't been set, and the given msg_len is shorter than the mq_msgsize for the given queue. * * the extended option MQ_READBUF_DYNAMIC has been set, but the given msg_len is too short for the message that would have been received. */ - error << "MessageQueue::receive: configuration error " << strerror(errno) << std::endl; + sif::error << "MessageQueue::receive: configuration error " + << strerror(errno) << std::endl; /*NO BREAK*/ case EINTR: //The operation was interrupted by a signal. @@ -154,7 +160,8 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) { switch(errno){ case EBADF: //mqdes doesn't represent a valid message queue. - error << "MessageQueue::flush configuration error, called flush with an invalid queue ID" << std::endl; + sif::error << "MessageQueue::flush configuration error, " + "called flush with an invalid queue ID" << std::endl; /*NO BREAK*/ case EINVAL: //mq_attr is NULL @@ -169,7 +176,8 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) { switch(errno){ case EBADF: //mqdes doesn't represent a valid message queue. - error << "MessageQueue::flush configuration error, called flush with an invalid queue ID" << std::endl; + sif::error << "MessageQueue::flush configuration error, " + "called flush with an invalid queue ID" << std::endl; /*NO BREAK*/ case EINVAL: /* @@ -237,7 +245,9 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo, return MessageQueueIF::FULL; case EBADF: //mq_des doesn't represent a valid message queue descriptor, or mq_des wasn't opened for writing. - error << "MessageQueue::sendMessage: Configuration error " << strerror(errno) << " in mq_send mqSendTo: " << sendTo << " sent from " << sentFrom << std::endl; + sif::error << "MessageQueue::sendMessage: Configuration error " + << strerror(errno) << " in mq_send mqSendTo: " << sendTo + << " sent from " << sentFrom << std::endl; /*NO BREAK*/ case EINTR: //The call was interrupted by a signal. @@ -248,9 +258,11 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo, * * msg_len is negative. * * msg_prio is greater than MQ_PRIO_MAX. * * msg_prio is less than 0. - * * MQ_PRIO_RESTRICT is set in the mq_attr of mq_des, and msg_prio is greater than the priority of the calling process. + * * MQ_PRIO_RESTRICT is set in the mq_attr of mq_des, + * and msg_prio is greater than the priority of the calling process. * */ - error << "MessageQueue::sendMessage: Configuration error " << strerror(errno) << " in mq_send" << std::endl; + sif::error << "MessageQueue::sendMessage: Configuration error " + << strerror(errno) << " in mq_send" << std::endl; /*NO BREAK*/ case EMSGSIZE: //The msg_len is greater than the msgsize associated with the specified queue. diff --git a/osal/linux/Mutex.cpp b/osal/linux/Mutex.cpp index 055270b3..36bb3ce4 100644 --- a/osal/linux/Mutex.cpp +++ b/osal/linux/Mutex.cpp @@ -13,22 +13,22 @@ Mutex::Mutex() { pthread_mutexattr_t mutexAttr; int status = pthread_mutexattr_init(&mutexAttr); if (status != 0) { - error << "Mutex: Attribute init failed with: " << strerror(status) << std::endl; + sif::error << "Mutex: Attribute init failed with: " << strerror(status) << std::endl; } status = pthread_mutexattr_setprotocol(&mutexAttr, PTHREAD_PRIO_INHERIT); if (status != 0) { - error << "Mutex: Attribute set PRIO_INHERIT failed with: " << strerror(status) + sif::error << "Mutex: Attribute set PRIO_INHERIT failed with: " << strerror(status) << std::endl; } status = pthread_mutex_init(&mutex, &mutexAttr); if (status != 0) { - error << "Mutex: creation with name, id " << mutex.__data.__count + sif::error << "Mutex: creation with name, id " << mutex.__data.__count << ", " << " failed with " << strerror(status) << std::endl; } //After a mutex attributes object has been used to initialize one or more mutexes, any function affecting the attributes object (including destruction) shall not affect any previously initialized mutexes. status = pthread_mutexattr_destroy(&mutexAttr); if (status != 0) { - error << "Mutex: Attribute destroy failed with " << strerror(status) << std::endl; + sif::error << "Mutex: Attribute destroy failed with " << strerror(status) << std::endl; } } diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp index ee3c5c4a..b754c3f4 100644 --- a/osal/linux/PeriodicPosixTask.cpp +++ b/osal/linux/PeriodicPosixTask.cpp @@ -56,9 +56,9 @@ void PeriodicPosixTask::taskFunctionality(void){ char name[20] = {0}; int status = pthread_getname_np(pthread_self(),name,sizeof(name)); if(status==0){ - error << "ObjectTask: " << name << " Deadline missed." << std::endl; + sif::error << "ObjectTask: " << name << " Deadline missed." << std::endl; }else{ - error << "ObjectTask: X Deadline missed. " << status << std::endl; + sif::error << "ObjectTask: X Deadline missed. " << status << std::endl; } if (this->deadlineMissedFunc != NULL) { this->deadlineMissedFunc(); diff --git a/osal/linux/PeriodicPosixTask.h b/osal/linux/PeriodicPosixTask.h index e3fa5722..43647eda 100644 --- a/osal/linux/PeriodicPosixTask.h +++ b/osal/linux/PeriodicPosixTask.h @@ -9,7 +9,8 @@ class PeriodicPosixTask: public PosixThread, public PeriodicTaskIF { public: - PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, uint32_t period_, void(*deadlineMissedFunc_)()); + PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, + uint32_t period_, void(*deadlineMissedFunc_)()); virtual ~PeriodicPosixTask(); /** * @brief The method to start the task. diff --git a/osal/linux/PosixThread.cpp b/osal/linux/PosixThread.cpp index 2f0176c9..899700f0 100644 --- a/osal/linux/PosixThread.cpp +++ b/osal/linux/PosixThread.cpp @@ -22,7 +22,8 @@ ReturnValue_t PosixThread::sleep(uint64_t ns) { //The nanosleep() function was interrupted by a signal. return HasReturnvaluesIF::RETURN_FAILED; case EINVAL: - //The rqtp argument specified a nanosecond value less than zero or greater than or equal to 1000 million. + //The rqtp argument specified a nanosecond value less than zero or + // greater than or equal to 1000 million. return HasReturnvaluesIF::RETURN_FAILED; default: return HasReturnvaluesIF::RETURN_FAILED; @@ -40,8 +41,8 @@ void PosixThread::suspend() { sigaddset(&waitSignal, SIGUSR1); sigwait(&waitSignal, &caughtSig); if (caughtSig != SIGUSR1) { - error << "FixedTimeslotTask: Unknown Signal received: " << caughtSig - << std::endl; + sif::error << "FixedTimeslotTask: Unknown Signal received: " << + caughtSig << std::endl; } } @@ -112,14 +113,15 @@ uint64_t PosixThread::getCurrentMonotonicTimeMs(){ return currentTime_ms; } -PosixThread::PosixThread(const char* name_, int priority_, size_t stackSize_):thread(0),priority(priority_),stackSize(stackSize_) { +PosixThread::PosixThread(const char* name_, int priority_, size_t stackSize_): + thread(0),priority(priority_),stackSize(stackSize_) { strcpy(name,name_); } void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) { - debug << "PosixThread::createTask" << std::endl; + //sif::debug << "PosixThread::createTask" << std::endl; /* * The attr argument points to a pthread_attr_t structure whose contents are used at thread creation time to determine attributes for the new @@ -130,35 +132,41 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) { pthread_attr_t attributes; int status = pthread_attr_init(&attributes); if(status != 0){ - error << "Posix Thread attribute init failed with: " << strerror(status) << std::endl; + sif::error << "Posix Thread attribute init failed with: " << + strerror(status) << std::endl; } void* sp; status = posix_memalign(&sp, sysconf(_SC_PAGESIZE), stackSize); if(status != 0){ - error << "Posix Thread stack init failed with: " << strerror(status) << std::endl; + sif::error << "Posix Thread stack init failed with: " << + strerror(status) << std::endl; } status = pthread_attr_setstack(&attributes, sp, stackSize); if(status != 0){ - error << "Posix Thread attribute setStack failed with: " << strerror(status) << std::endl; + sif::error << "Posix Thread attribute setStack failed with: " << + strerror(status) << std::endl; } status = pthread_attr_setinheritsched(&attributes, PTHREAD_EXPLICIT_SCHED); if(status != 0){ - error << "Posix Thread attribute setinheritsched failed with: " << strerror(status) << std::endl; + sif::error << "Posix Thread attribute setinheritsched failed with: " << + strerror(status) << std::endl; } //TODO FIFO -> This needs root privileges for the process status = pthread_attr_setschedpolicy(&attributes,SCHED_FIFO); if(status != 0){ - error << "Posix Thread attribute schedule policy failed with: " << strerror(status) << std::endl; + sif::error << "Posix Thread attribute schedule policy failed with: " << + strerror(status) << std::endl; } sched_param scheduleParams; scheduleParams.__sched_priority = priority; status = pthread_attr_setschedparam(&attributes, &scheduleParams); if(status != 0){ - error << "Posix Thread attribute schedule params failed with: " << strerror(status) << std::endl; + sif::error << "Posix Thread attribute schedule params failed with: " << + strerror(status) << std::endl; } //Set Signal Mask for suspend until startTask is called @@ -167,22 +175,26 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) { sigaddset(&waitSignal, SIGUSR1); status = pthread_sigmask(SIG_BLOCK, &waitSignal, NULL); if(status != 0){ - error << "Posix Thread sigmask failed failed with: " << strerror(status) << " errno: " << strerror(errno) << std::endl; + sif::error << "Posix Thread sigmask failed failed with: " << + strerror(status) << " errno: " << strerror(errno) << std::endl; } status = pthread_create(&thread,&attributes,fnc_,arg_); if(status != 0){ - error << "Posix Thread create failed with: " << strerror(status) << std::endl; + sif::error << "Posix Thread create failed with: " << + strerror(status) << std::endl; } status = pthread_setname_np(thread,name); if(status != 0){ - error << "Posix Thread setname failed with: " << strerror(status) << std::endl; + sif::error << "Posix Thread setname failed with: " << + strerror(status) << std::endl; } status = pthread_attr_destroy(&attributes); if(status!=0){ - error << "Posix Thread attribute destroy failed with: " << strerror(status) << std::endl; + sif::error << "Posix Thread attribute destroy failed with: " << + strerror(status) << std::endl; } } diff --git a/osal/linux/Timer.cpp b/osal/linux/Timer.cpp index 2347e39d..5e27c328 100644 --- a/osal/linux/Timer.cpp +++ b/osal/linux/Timer.cpp @@ -9,7 +9,8 @@ Timer::Timer() { sigEvent.sigev_value.sival_ptr = &timerId; int status = timer_create(CLOCK_MONOTONIC, &sigEvent, &timerId); if(status!=0){ - error << "Timer creation failed with: " << status << " errno: " << errno << std::endl; + sif::error << "Timer creation failed with: " << status << + " errno: " << errno << std::endl; } } From 5b933dfe3d922e7f60ee0c3109b602a2b8331188 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 5 May 2020 18:28:50 +0200 Subject: [PATCH 03/13] also added additonal time check for freeRTOS --- osal/FreeRTOS/FixedTimeslotTask.cpp | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp index 413d7596..e621d312 100644 --- a/osal/FreeRTOS/FixedTimeslotTask.cpp +++ b/osal/FreeRTOS/FixedTimeslotTask.cpp @@ -57,12 +57,18 @@ ReturnValue_t FixedTimeslotTask::startTask() { ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep) { - if (objectManager->get(componentId) != NULL) { + if (objectManager->get(componentId) != nullptr) { + if(slotTimeMs == 0) { + // TODO: FreeRTOS throws errors for zero values. + // maybe there is a better solution than this. + slotTimeMs = 1; + } pst.addSlot(componentId, slotTimeMs, executionStep, this); return HasReturnvaluesIF::RETURN_OK; } - error << "Component " << std::hex << componentId << " not found, not adding it to pst" << std::endl; + error << "Component " << std::hex << componentId << + " not found, not adding it to pst" << std::endl; return HasReturnvaluesIF::RETURN_FAILED; } From 736a69795dd3aec0cc9441209c04a2acda770f2d Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 5 May 2020 18:32:50 +0200 Subject: [PATCH 04/13] change ported to linux and rtems --- osal/linux/FixedTimeslotTask.cpp | 10 ++++++++-- osal/rtems/PollingTask.cpp | 15 ++++++++++----- 2 files changed, 18 insertions(+), 7 deletions(-) diff --git a/osal/linux/FixedTimeslotTask.cpp b/osal/linux/FixedTimeslotTask.cpp index 99cbf818..29eb37e7 100644 --- a/osal/linux/FixedTimeslotTask.cpp +++ b/osal/linux/FixedTimeslotTask.cpp @@ -40,8 +40,14 @@ uint32_t FixedTimeslotTask::getPeriodMs() const { ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep) { - pst.addSlot(componentId, slotTimeMs, executionStep, this); - return HasReturnvaluesIF::RETURN_OK; + if (objectManager->get(componentId) != nullptr) { + pst.addSlot(componentId, slotTimeMs, executionStep, this); + return HasReturnvaluesIF::RETURN_OK; + } + + error << "Component " << std::hex << componentId << + " not found, not adding it to pst" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; } ReturnValue_t FixedTimeslotTask::checkSequence() const { diff --git a/osal/rtems/PollingTask.cpp b/osal/rtems/PollingTask.cpp index c2dc629b..7409a6b8 100644 --- a/osal/rtems/PollingTask.cpp +++ b/osal/rtems/PollingTask.cpp @@ -66,12 +66,17 @@ ReturnValue_t PollingTask::startTask() { } } -ReturnValue_t PollingTask::addSlot(object_id_t componentId, uint32_t slotTimeMs, - int8_t executionStep) { - pst.addSlot(componentId, slotTimeMs, executionStep, this); - return HasReturnvaluesIF::RETURN_OK; -} +ReturnValue_t Polling::addSlot(object_id_t componentId, + uint32_t slotTimeMs, int8_t executionStep) { + if (objectManager->get(componentId) != nullptr) { + pst.addSlot(componentId, slotTimeMs, executionStep, this); + return HasReturnvaluesIF::RETURN_OK; + } + error << "Component " << std::hex << componentId << + " not found, not adding it to pst" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; +} uint32_t PollingTask::getPeriodMs() const { return pst.getLengthMs(); } From f3dca8044e8c4ee7bdd08a3bcd5034beb4e2d2a5 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 5 May 2020 18:34:04 +0200 Subject: [PATCH 05/13] typo --- osal/rtems/PollingTask.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/osal/rtems/PollingTask.cpp b/osal/rtems/PollingTask.cpp index 7409a6b8..4a70a1ed 100644 --- a/osal/rtems/PollingTask.cpp +++ b/osal/rtems/PollingTask.cpp @@ -66,7 +66,7 @@ ReturnValue_t PollingTask::startTask() { } } -ReturnValue_t Polling::addSlot(object_id_t componentId, +ReturnValue_t PollingTask::addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep) { if (objectManager->get(componentId) != nullptr) { pst.addSlot(componentId, slotTimeMs, executionStep, this); From f1a0bb9dc3ece68f16a42eca68218c807efa1bd7 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 5 May 2020 18:36:18 +0200 Subject: [PATCH 06/13] whitespace --- osal/rtems/PollingTask.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/osal/rtems/PollingTask.cpp b/osal/rtems/PollingTask.cpp index 4a70a1ed..03ba0951 100644 --- a/osal/rtems/PollingTask.cpp +++ b/osal/rtems/PollingTask.cpp @@ -77,6 +77,7 @@ ReturnValue_t PollingTask::addSlot(object_id_t componentId, " not found, not adding it to pst" << std::endl; return HasReturnvaluesIF::RETURN_FAILED; } + uint32_t PollingTask::getPeriodMs() const { return pst.getLengthMs(); } From 75da7a4c500e343b559406ecb1877d7ec750fd29 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 5 May 2020 18:55:05 +0200 Subject: [PATCH 07/13] comment moved to header --- devicehandlers/FixedSlotSequence.cpp | 1 - devicehandlers/FixedSlotSequence.h | 5 +++++ 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/devicehandlers/FixedSlotSequence.cpp b/devicehandlers/FixedSlotSequence.cpp index a65dd929..9ff5a140 100644 --- a/devicehandlers/FixedSlotSequence.cpp +++ b/devicehandlers/FixedSlotSequence.cpp @@ -89,7 +89,6 @@ uint32_t FixedSlotSequence::getLengthMs() const { } ReturnValue_t FixedSlotSequence::checkSequence() const { - //Iterate through slotList and check successful creation. Checks if timing is ok (must be ascending) and if all handlers were found. auto slotIt = slotList.begin(); uint32_t count = 0; uint32_t time = 0; diff --git a/devicehandlers/FixedSlotSequence.h b/devicehandlers/FixedSlotSequence.h index f8fd9a36..1da9d350 100644 --- a/devicehandlers/FixedSlotSequence.h +++ b/devicehandlers/FixedSlotSequence.h @@ -97,6 +97,11 @@ public: */ std::list::iterator current; + /** + * Iterate through slotList and check successful creation. + * Checks if timing is ok (must be ascending) and if all handlers were found. + * @return + */ ReturnValue_t checkSequence() const; protected: From a6b3cee898a8be16658cda04153e11829a5db372 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 5 May 2020 18:56:45 +0200 Subject: [PATCH 08/13] class comment formatting --- devicehandlers/FixedSlotSequence.h | 22 ++++++++++++++-------- 1 file changed, 14 insertions(+), 8 deletions(-) diff --git a/devicehandlers/FixedSlotSequence.h b/devicehandlers/FixedSlotSequence.h index 1da9d350..64c68aea 100644 --- a/devicehandlers/FixedSlotSequence.h +++ b/devicehandlers/FixedSlotSequence.h @@ -6,15 +6,21 @@ #include /** - * \brief This class is the representation of a Polling Sequence Table in software. + * @brief This class is the representation of a Polling Sequence Table in software. * - * \details The FixedSlotSequence object maintains the dynamic execution of device handler objects. - * The main idea is to create a list of device handlers, to announce all handlers to the - * polling sequence and to maintain a list of polling slot objects. This slot list represents the - * Polling Sequence Table in software. Each polling slot contains information to indicate when and - * which device handler shall be executed within a given polling period. - * The sequence is then executed by iterating through this slot list. - * Handlers are invoking by calling a certain function stored in the handler list. + * @details + * The FixedSlotSequence object maintains the dynamic execution of + * device handler objects. + * + * The main idea is to create a list of device handlers, to announce all + * handlers to thepolling sequence and to maintain a list of + * polling slot objects. This slot list represents the Polling Sequence Table + * in software. + * + * Each polling slot contains information to indicate when and + * which device handler shall be executed within a given polling period. + * The sequence is then executed by iterating through this slot list. + * Handlers are invoking by calling a certain function stored in the handler list. */ class FixedSlotSequence { public: From 432dbbd26eca201025d5d064425881f8b3f40222 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 5 May 2020 18:57:30 +0200 Subject: [PATCH 09/13] removed sif --- devicehandlers/FixedSlotSequence.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/devicehandlers/FixedSlotSequence.cpp b/devicehandlers/FixedSlotSequence.cpp index 9ff5a140..bf9ff4fd 100644 --- a/devicehandlers/FixedSlotSequence.cpp +++ b/devicehandlers/FixedSlotSequence.cpp @@ -89,6 +89,10 @@ uint32_t FixedSlotSequence::getLengthMs() const { } ReturnValue_t FixedSlotSequence::checkSequence() const { + if(slotList.empty()) { + error << "Fixed Slot Sequence: Slot list is empty!" << std::endl; + std::exit(0); + } auto slotIt = slotList.begin(); uint32_t count = 0; uint32_t time = 0; From 98e505c9ab3fc42513390e859bc98df201fe3cc0 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 5 May 2020 19:03:00 +0200 Subject: [PATCH 10/13] todo removed --- osal/FreeRTOS/FixedTimeslotTask.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp index e621d312..74ce9b78 100644 --- a/osal/FreeRTOS/FixedTimeslotTask.cpp +++ b/osal/FreeRTOS/FixedTimeslotTask.cpp @@ -59,8 +59,8 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep) { if (objectManager->get(componentId) != nullptr) { if(slotTimeMs == 0) { - // TODO: FreeRTOS throws errors for zero values. - // maybe there is a better solution than this. + // FreeRTOS throws a sanity error for zero values, so we set + // the time to one millisecond. slotTimeMs = 1; } pst.addSlot(componentId, slotTimeMs, executionStep, this); From c4486e79eca8fa258b744bf27cf364b5258fc2ba Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 5 May 2020 19:30:26 +0200 Subject: [PATCH 11/13] removed exit for empty pst --- devicehandlers/FixedSlotSequence.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/devicehandlers/FixedSlotSequence.cpp b/devicehandlers/FixedSlotSequence.cpp index bf9ff4fd..61959ac0 100644 --- a/devicehandlers/FixedSlotSequence.cpp +++ b/devicehandlers/FixedSlotSequence.cpp @@ -91,7 +91,6 @@ uint32_t FixedSlotSequence::getLengthMs() const { ReturnValue_t FixedSlotSequence::checkSequence() const { if(slotList.empty()) { error << "Fixed Slot Sequence: Slot list is empty!" << std::endl; - std::exit(0); } auto slotIt = slotList.begin(); uint32_t count = 0; From 119455f3fd7f65ebd4559c14e8e5a763a2870936 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 5 May 2020 19:33:06 +0200 Subject: [PATCH 12/13] replaced exit by returning failed --- devicehandlers/FixedSlotSequence.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/devicehandlers/FixedSlotSequence.cpp b/devicehandlers/FixedSlotSequence.cpp index 61959ac0..dae62bdd 100644 --- a/devicehandlers/FixedSlotSequence.cpp +++ b/devicehandlers/FixedSlotSequence.cpp @@ -91,6 +91,7 @@ uint32_t FixedSlotSequence::getLengthMs() const { ReturnValue_t FixedSlotSequence::checkSequence() const { if(slotList.empty()) { error << "Fixed Slot Sequence: Slot list is empty!" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; } auto slotIt = slotList.begin(); uint32_t count = 0; From 3b63dd72e3a6fc2dd0bebabe89073de9d49d8789 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 7 May 2020 19:41:42 +0200 Subject: [PATCH 13/13] added missing sif prefixes --- devicehandlers/FixedSlotSequence.cpp | 2 +- osal/FreeRTOS/FixedTimeslotTask.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/devicehandlers/FixedSlotSequence.cpp b/devicehandlers/FixedSlotSequence.cpp index 74a242cd..2fa13fae 100644 --- a/devicehandlers/FixedSlotSequence.cpp +++ b/devicehandlers/FixedSlotSequence.cpp @@ -90,7 +90,7 @@ uint32_t FixedSlotSequence::getLengthMs() const { ReturnValue_t FixedSlotSequence::checkSequence() const { if(slotList.empty()) { - error << "Fixed Slot Sequence: Slot list is empty!" << std::endl; + sif::error << "Fixed Slot Sequence: Slot list is empty!" << std::endl; return HasReturnvaluesIF::RETURN_FAILED; } auto slotIt = slotList.begin(); diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp index 64152ab7..fb3c3b03 100644 --- a/osal/FreeRTOS/FixedTimeslotTask.cpp +++ b/osal/FreeRTOS/FixedTimeslotTask.cpp @@ -67,7 +67,7 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, return HasReturnvaluesIF::RETURN_OK; } - error << "Component " << std::hex << componentId << + sif::error << "Component " << std::hex << componentId << " not found, not adding it to pst" << std::endl; return HasReturnvaluesIF::RETURN_FAILED; }