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Merge pull request 'FreeRTOS update' (#305) from KSat/fsfw:mueller/FreeRTOS into development

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Reviewed-on: fsfw/fsfw#305
This commit is contained in:
Steffen Gaisser 2020-12-15 14:44:08 +01:00
commit d85686fd8d
23 changed files with 196 additions and 141 deletions
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1
ipc/QueueFactory.h
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@ -3,6 +3,7 @@
#include "MessageQueueIF.h"
#include "MessageQueueMessage.h"
#include <cstdint>
/**

14
osal/FreeRTOS/BinSemaphUsingTask.cpp
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@ -1,7 +1,10 @@
#include "../../osal/FreeRTOS/BinSemaphUsingTask.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include "BinSemaphUsingTask.h"
#include "TaskManagement.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#if (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
tskKERNEL_VERSION_MAJOR > 8
BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
handle = TaskManagement::getCurrentTaskHandle();
if(handle == nullptr) {
@ -16,6 +19,10 @@ BinarySemaphoreUsingTask::~BinarySemaphoreUsingTask() {
xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
}
void BinarySemaphoreUsingTask::refreshTaskHandle() {
handle = TaskManagement::getCurrentTaskHandle();
}
ReturnValue_t BinarySemaphoreUsingTask::acquire(TimeoutType timeoutType,
uint32_t timeoutMs) {
TickType_t timeout = 0;
@ -93,3 +100,6 @@ uint8_t BinarySemaphoreUsingTask::getSemaphoreCounterFromISR(
higherPriorityTaskWoken);
return notificationValue;
}
#endif /* (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
tskKERNEL_VERSION_MAJOR > 8 */

28
osal/FreeRTOS/BinSemaphUsingTask.h
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@ -1,5 +1,5 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
#ifndef FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
#define FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
#include "../../returnvalues/HasReturnvaluesIF.h"
#include "../../tasks/SemaphoreIF.h"
@ -7,13 +7,20 @@
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
#if (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
tskKERNEL_VERSION_MAJOR > 8
/**
* @brief Binary Semaphore implementation using the task notification value.
* The notification value should therefore not be used
* for other purposes.
* for other purposes!
* @details
* Additional information: https://www.freertos.org/RTOS-task-notifications.html
* and general semaphore documentation.
* This semaphore is bound to the task it is created in!
* Take care of building this class with the correct executing task,
* (for example in the initializeAfterTaskCreation() function) or
* by calling refreshTaskHandle() with the correct executing task.
*/
class BinarySemaphoreUsingTask: public SemaphoreIF,
public HasReturnvaluesIF {
@ -25,6 +32,16 @@ public:
//! @brief Default dtor
virtual~ BinarySemaphoreUsingTask();
/**
* This function can be used to get the correct task handle from the
* currently executing task.
*
* This is required because the task notification value will be used
* as a binary semaphore, and the semaphore might be created by another
* task.
*/
void refreshTaskHandle();
ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
uint32_t timeoutMs = portMAX_DELAY) override;
ReturnValue_t release() override;
@ -73,4 +90,7 @@ protected:
TaskHandle_t handle;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */
#endif /* (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
tskKERNEL_VERSION_MAJOR > 8 */
#endif /* FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */

4
osal/FreeRTOS/BinarySemaphore.cpp
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@ -1,5 +1,5 @@
#include "../../osal/FreeRTOS/BinarySemaphore.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include "BinarySemaphore.h"
#include "TaskManagement.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
BinarySemaphore::BinarySemaphore() {

6
osal/FreeRTOS/BinarySemaphore.h
View File

@ -1,5 +1,5 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
#define FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
#ifndef FSFW_OSAL_FREERTOS_BINARYSEMPAHORE_H_
#define FSFW_OSAL_FREERTOS_BINARYSEMPAHORE_H_
#include "../../returnvalues/HasReturnvaluesIF.h"
#include "../../tasks/SemaphoreIF.h"
@ -104,4 +104,4 @@ protected:
SemaphoreHandle_t handle;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */
#endif /* FSFW_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */

10
osal/FreeRTOS/Clock.cpp
View File

@ -1,6 +1,7 @@
#include "Timekeeper.h"
#include "../../timemanager/Clock.h"
#include "../../globalfunctions/timevalOperations.h"
#include "Timekeeper.h"
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
@ -67,6 +68,13 @@ ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
return HasReturnvaluesIF::RETURN_OK;
}
//uint32_t Clock::getUptimeSeconds() {
// timeval uptime = getUptime();
// return uptime.tv_sec;
//}
ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
timeval time_timeval;
ReturnValue_t result = getClock_timeval(&time_timeval);

10
osal/FreeRTOS/CountingSemaphUsingTask.cpp
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@ -1,7 +1,11 @@
#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include "CountingSemaphUsingTask.h"
#include "TaskManagement.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#if (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
tskKERNEL_VERSION_MAJOR > 8
CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(const uint8_t maxCount,
uint8_t initCount): maxCount(maxCount) {
if(initCount > maxCount) {
@ -112,3 +116,5 @@ uint8_t CountingSemaphoreUsingTask::getSemaphoreCounterFromISR(
uint8_t CountingSemaphoreUsingTask::getMaxCount() const {
return maxCount;
}
#endif

19
osal/FreeRTOS/CountingSemaphUsingTask.h
View File

@ -1,13 +1,14 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
#ifndef FSFW_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
#define FSFW_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
#include "CountingSemaphUsingTask.h"
#include "../../tasks/SemaphoreIF.h"
extern "C" {
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
}
#if (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
tskKERNEL_VERSION_MAJOR > 8
/**
* @brief Couting Semaphore implementation which uses the notification value
@ -16,6 +17,9 @@ extern "C" {
* @details
* Additional information: https://www.freertos.org/RTOS-task-notifications.html
* and general semaphore documentation.
* This semaphore is bound to the task it is created in!
* Take care of calling this function with the correct executing task,
* (for example in the initializeAfterTaskCreation() function).
*/
class CountingSemaphoreUsingTask: public SemaphoreIF {
public:
@ -99,4 +103,7 @@ private:
const uint8_t maxCount;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */
#endif /* (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
tskKERNEL_VERSION_MAJOR > 8 */
#endif /* FSFW_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */

5
osal/FreeRTOS/CountingSemaphore.cpp
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@ -1,6 +1,7 @@
#include "../../osal/FreeRTOS/CountingSemaphore.h"
#include "CountingSemaphore.h"
#include "TaskManagement.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include <freertos/semphr.h>

3
osal/FreeRTOS/CountingSemaphore.h
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@ -1,6 +1,7 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
#include "../../osal/FreeRTOS/BinarySemaphore.h"
#include "BinarySemaphore.h"
/**
* @brief Counting semaphores, which can be acquire more than once.

36
osal/FreeRTOS/FixedTimeslotTask.cpp
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@ -114,38 +114,24 @@ void FixedTimeslotTask::taskFunctionality() {
intervalMs = this->pst.getIntervalToPreviousSlotMs();
interval = pdMS_TO_TICKS(intervalMs);
checkMissedDeadline(xLastWakeTime, interval);
#if (tskKERNEL_VERSION_MAJOR == 10 && tskKERNEL_VERSION_MINOR >= 4) || \
tskKERNEL_VERSION_MAJOR > 10
BaseType_t wasDelayed = xTaskDelayUntil(&xLastWakeTime, interval);
if(wasDelayed == pdFALSE) {
handleMissedDeadline();
}
#else
if(checkMissedDeadline(xLastWakeTime, interval)) {
handleMissedDeadline();
}
// Wait for the interval. This exits immediately if a deadline was
// missed while also updating the last wake time.
vTaskDelayUntil(&xLastWakeTime, interval);
#endif
}
}
}
void FixedTimeslotTask::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. */
TickType_t currentTickCount = xTaskGetTickCount();
TickType_t timeToWake = xLastWakeTime + interval;
// Time to wake has not overflown.
if(timeToWake > xLastWakeTime) {
/* If the current time has overflown exclusively or the current
* tick count is simply larger than the time to wake, a deadline was
* missed */
if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
handleMissedDeadline();
}
}
/* Time to wake has overflown. A deadline was missed if the current time
* is larger than the time to wake */
else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
handleMissedDeadline();
}
}
void FixedTimeslotTask::handleMissedDeadline() {
if(deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();

2
osal/FreeRTOS/FixedTimeslotTask.h
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@ -93,8 +93,6 @@ protected:
*/
void taskFunctionality(void);
void checkMissedDeadline(const TickType_t xLastWakeTime,
const TickType_t interval);
void handleMissedDeadline();
};

34
osal/FreeRTOS/FreeRTOSTaskIF.h
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@ -1,5 +1,5 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_
#define FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_
#ifndef FSFW_OSAL_FREERTOS_FREERTOSTASKIF_H_
#define FSFW_OSAL_FREERTOS_FREERTOSTASKIF_H_
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
@ -8,6 +8,34 @@ class FreeRTOSTaskIF {
public:
virtual~ FreeRTOSTaskIF() {}
virtual TaskHandle_t getTaskHandle() = 0;
protected:
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. */
TickType_t currentTickCount = xTaskGetTickCount();
TickType_t timeToWake = xLastWakeTime + interval;
// Time to wake has not overflown.
if(timeToWake > xLastWakeTime) {
/* If the current time has overflown exclusively or the current
* tick count is simply larger than the time to wake, a deadline was
* missed */
if((currentTickCount < xLastWakeTime) or
(currentTickCount > timeToWake)) {
return true;
}
}
/* Time to wake has overflown. A deadline was missed if the current time
* is larger than the time to wake */
else if((timeToWake < xLastWakeTime) and
(currentTickCount > timeToWake)) {
return true;
}
return false;
}
};
#endif /* FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_ */
#endif /* FSFW_OSAL_FREERTOS_FREERTOSTASKIF_H_ */

7
osal/FreeRTOS/MessageQueue.cpp
View File

@ -11,7 +11,12 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
maxMessageSize(maxMessageSize) {
handle = xQueueCreate(messageDepth, maxMessageSize);
if (handle == nullptr) {
sif::error << "MessageQueue::MessageQueue Creation failed" << std::endl;
sif::error << "MessageQueue::MessageQueue:"
<< " Creation failed." << std::endl;
sif::error << "Specified Message Depth: " << messageDepth
<< std::endl;
sif::error << "Specified Maximum Message Size: "
<< maxMessageSize << std::endl;
}
}

3
osal/FreeRTOS/MessageQueue.h
View File

@ -1,10 +1,11 @@
#ifndef FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
#define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
#include "TaskManagement.h"
#include "../../internalError/InternalErrorReporterIF.h"
#include "../../ipc/MessageQueueIF.h"
#include "../../ipc/MessageQueueMessageIF.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include <freertos/FreeRTOS.h>
#include <freertos/queue.h>

10
osal/FreeRTOS/MutexFactory.cpp
View File

@ -1,10 +1,12 @@
#include "Mutex.h"
#include "../../ipc/MutexFactory.h"
#include "../FreeRTOS/Mutex.h"
//TODO: Different variant than the lazy loading in QueueFactory. What's better and why? -> one is on heap the other on bss/data
//TODO: Different variant than the lazy loading in QueueFactory.
//What's better and why? -> one is on heap the other on bss/data
//MutexFactory* MutexFactory::factoryInstance = new MutexFactory();
MutexFactory* MutexFactory::factoryInstance = NULL;
MutexFactory* MutexFactory::factoryInstance = nullptr;
MutexFactory::MutexFactory() {
}
@ -13,7 +15,7 @@ MutexFactory::~MutexFactory() {
}
MutexFactory* MutexFactory::instance() {
if (factoryInstance == NULL){
if (factoryInstance == nullptr){
factoryInstance = new MutexFactory();
}
return MutexFactory::factoryInstance;

37
osal/FreeRTOS/PeriodicTask.cpp
View File

@ -80,10 +80,18 @@ void PeriodicTask::taskFunctionality() {
object->performOperation();
}
checkMissedDeadline(xLastWakeTime, xPeriod);
#if (tskKERNEL_VERSION_MAJOR == 10 && tskKERNEL_VERSION_MINOR >= 4) || \
tskKERNEL_VERSION_MAJOR > 10
BaseType_t wasDelayed = xTaskDelayUntil(&xLastWakeTime, xPeriod);
if(wasDelayed == pdFALSE) {
handleMissedDeadline();
}
#else
if(checkMissedDeadline(xLastWakeTime, xPeriod)) {
handleMissedDeadline();
}
vTaskDelayUntil(&xLastWakeTime, xPeriod);
#endif
}
}
@ -105,29 +113,6 @@ uint32_t PeriodicTask::getPeriodMs() const {
return period * 1000;
}
void PeriodicTask::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. */
TickType_t currentTickCount = xTaskGetTickCount();
TickType_t timeToWake = xLastWakeTime + interval;
// Time to wake has not overflown.
if(timeToWake > xLastWakeTime) {
/* If the current time has overflown exclusively or the current
* tick count is simply larger than the time to wake, a deadline was
* missed */
if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
handleMissedDeadline();
}
}
/* Time to wake has overflown. A deadline was missed if the current time
* is larger than the time to wake */
else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
handleMissedDeadline();
}
}
TaskHandle_t PeriodicTask::getTaskHandle() {
return handle;
}

3
osal/FreeRTOS/PeriodicTask.h
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@ -71,6 +71,7 @@ public:
TaskHandle_t getTaskHandle() override;
protected:
bool started;
TaskHandle_t handle;
@ -118,8 +119,6 @@ protected:
*/
void taskFunctionality(void);
void checkMissedDeadline(const TickType_t xLastWakeTime,
const TickType_t interval);
void handleMissedDeadline();
};

20
osal/FreeRTOS/TaskFactory.cpp
View File

@ -13,32 +13,30 @@ TaskFactory::~TaskFactory() {
TaskFactory* TaskFactory::instance() {
return TaskFactory::factoryInstance;
}
/***
* Keep in Mind that you need to call before this vTaskStartScheduler()!
* High taskPriority_ number means high priority.
*/
PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,
TaskPriority taskPriority_, TaskStackSize stackSize_,
TaskPeriod period_,
TaskDeadlineMissedFunction deadLineMissedFunction_) {
return (PeriodicTaskIF*) (new PeriodicTask(name_, taskPriority_, stackSize_,
period_, deadLineMissedFunction_));
return dynamic_cast<PeriodicTaskIF*>(new PeriodicTask(name_, taskPriority_,
stackSize_, period_, deadLineMissedFunction_));
}
/***
/**
* Keep in Mind that you need to call before this vTaskStartScheduler()!
*/
FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,
TaskPriority taskPriority_, TaskStackSize stackSize_,
TaskPeriod period_,
TaskDeadlineMissedFunction deadLineMissedFunction_) {
return (FixedTimeslotTaskIF*) (new FixedTimeslotTask(name_, taskPriority_,
stackSize_, period_, deadLineMissedFunction_));
return dynamic_cast<FixedTimeslotTaskIF*>(new FixedTimeslotTask(name_,
taskPriority_,stackSize_, period_, deadLineMissedFunction_));
}
ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
if (task == NULL) {
if (task == nullptr) {
//delete self
vTaskDelete(NULL);
vTaskDelete(nullptr);
return HasReturnvaluesIF::RETURN_OK;
} else {
//TODO not implemented

3
osal/FreeRTOS/TaskManagement.cpp
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@ -1,4 +1,4 @@
#include "../../osal/FreeRTOS/TaskManagement.h"
#include "TaskManagement.h"
void TaskManagement::vRequestContextSwitchFromTask() {
vTaskDelay(0);
@ -22,3 +22,4 @@ size_t TaskManagement::getTaskStackHighWatermark(
TaskHandle_t task) {
return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
}

16
osal/FreeRTOS/TaskManagement.h
View File

@ -3,10 +3,9 @@
#include "../../returnvalues/HasReturnvaluesIF.h"
extern "C" {
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
}
#include <cstdint>
/**
@ -27,26 +26,25 @@ enum class CallContext {
};
class TaskManagement {
public:
namespace TaskManagement {
/**
* @brief In this function, a function dependant on the portmacro.h header
* function calls to request a context switch can be specified.
* This can be used if sending to the queue from an ISR caused a task
* to unblock and a context switch is required.
*/
static void requestContextSwitch(CallContext callContext);
void requestContextSwitch(CallContext callContext);
/**
* If task preemption in FreeRTOS is disabled, a context switch
* can be requested manually by calling this function.
*/
static void vRequestContextSwitchFromTask(void);
void vRequestContextSwitchFromTask(void);
/**
* @return The current task handle
*/
static TaskHandle_t getCurrentTaskHandle();
TaskHandle_t getCurrentTaskHandle();
/**
* Get returns the minimum amount of remaining stack space in words
@ -57,8 +55,8 @@ public:
* @return Smallest value of stack remaining since the task was started in
* words.
*/
static size_t getTaskStackHighWatermark(
TaskHandle_t task = nullptr);
size_t getTaskStackHighWatermark(TaskHandle_t task = nullptr);
};
#endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */

2
osal/FreeRTOS/Timekeeper.cpp
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@ -1,6 +1,6 @@
#include "Timekeeper.h"
#include "FreeRTOSConfig.h"
#include <FreeRTOSConfig.h>
Timekeeper * Timekeeper::myinstance = nullptr;

6
timemanager/Clock.h
View File

@ -1,5 +1,5 @@
#ifndef FRAMEWORK_TIMEMANAGER_CLOCK_H_
#define FRAMEWORK_TIMEMANAGER_CLOCK_H_
#ifndef FSFW_TIMEMANAGER_CLOCK_H_
#define FSFW_TIMEMANAGER_CLOCK_H_
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../ipc/MutexHelper.h"
@ -151,4 +151,4 @@ private:
};
#endif /* FRAMEWORK_TIMEMANAGER_CLOCK_H_ */
#endif /* FSFW_TIMEMANAGER_CLOCK_H_ */