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Merge branch 'development' into mueller/power-switcher-component-upstream

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This commit is contained in:
Robin Müller 2022-04-11 16:08:27 +02:00
commit dd1b0a9380
19 changed files with 231 additions and 89 deletions
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2
CHANGELOG.md
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@ -22,6 +22,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
- HAL Devicehandlers: Periodic printout is run-time configurable now
- `oneShotAction` flag in the `TestTask` class is not static anymore
- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
## Removed

3
CMakeLists.txt
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@ -48,9 +48,10 @@ add_library(${LIB_FSFW_NAME})
if(FSFW_BUILD_UNITTESTS)
message(STATUS "Building the FSFW unittests in addition to the static library")
# Check whether the user has already installed Catch2 first
find_package(Catch2 3)
find_package(Catch2 3 QUIET)
# Not installed, so use FetchContent to download and provide Catch2
if(NOT Catch2_FOUND)
message(STATUS "Catch2 installation not found. Downloading Catch2 library with FetchContent")
include(FetchContent)
FetchContent_Declare(

3
hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
View File

@ -1,9 +1,6 @@
#include "MgmLIS3MDLHandler.h"
#include "fsfw/datapool/PoolReadGuard.h"
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#endif
#include <cmath>

90
hal/src/fsfw_hal/linux/uart/UartComIF.cpp
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@ -148,16 +148,16 @@ void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCook
/* Clear size bits */
options->c_cflag &= ~CSIZE;
switch (uartCookie->getBitsPerWord()) {
case 5:
case BitsPerWord::BITS_5:
options->c_cflag |= CS5;
break;
case 6:
case BitsPerWord::BITS_6:
options->c_cflag |= CS6;
break;
case 7:
case BitsPerWord::BITS_7:
options->c_cflag |= CS7;
break;
case 8:
case BitsPerWord::BITS_8:
options->c_cflag |= CS8;
break;
default:
@ -193,82 +193,126 @@ void UartComIF::setFixedOptions(struct termios* options) {
void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCookie) {
switch (uartCookie->getBaudrate()) {
case 50:
case UartBaudRate::RATE_50:
cfsetispeed(options, B50);
cfsetospeed(options, B50);
break;
case 75:
case UartBaudRate::RATE_75:
cfsetispeed(options, B75);
cfsetospeed(options, B75);
break;
case 110:
case UartBaudRate::RATE_110:
cfsetispeed(options, B110);
cfsetospeed(options, B110);
break;
case 134:
case UartBaudRate::RATE_134:
cfsetispeed(options, B134);
cfsetospeed(options, B134);
break;
case 150:
case UartBaudRate::RATE_150:
cfsetispeed(options, B150);
cfsetospeed(options, B150);
break;
case 200:
case UartBaudRate::RATE_200:
cfsetispeed(options, B200);
cfsetospeed(options, B200);
break;
case 300:
case UartBaudRate::RATE_300:
cfsetispeed(options, B300);
cfsetospeed(options, B300);
break;
case 600:
case UartBaudRate::RATE_600:
cfsetispeed(options, B600);
cfsetospeed(options, B600);
break;
case 1200:
case UartBaudRate::RATE_1200:
cfsetispeed(options, B1200);
cfsetospeed(options, B1200);
break;
case 1800:
case UartBaudRate::RATE_1800:
cfsetispeed(options, B1800);
cfsetospeed(options, B1800);
break;
case 2400:
case UartBaudRate::RATE_2400:
cfsetispeed(options, B2400);
cfsetospeed(options, B2400);
break;
case 4800:
case UartBaudRate::RATE_4800:
cfsetispeed(options, B4800);
cfsetospeed(options, B4800);
break;
case 9600:
case UartBaudRate::RATE_9600:
cfsetispeed(options, B9600);
cfsetospeed(options, B9600);
break;
case 19200:
case UartBaudRate::RATE_19200:
cfsetispeed(options, B19200);
cfsetospeed(options, B19200);
break;
case 38400:
case UartBaudRate::RATE_38400:
cfsetispeed(options, B38400);
cfsetospeed(options, B38400);
break;
case 57600:
case UartBaudRate::RATE_57600:
cfsetispeed(options, B57600);
cfsetospeed(options, B57600);
break;
case 115200:
case UartBaudRate::RATE_115200:
cfsetispeed(options, B115200);
cfsetospeed(options, B115200);
break;
case 230400:
case UartBaudRate::RATE_230400:
cfsetispeed(options, B230400);
cfsetospeed(options, B230400);
break;
case 460800:
case UartBaudRate::RATE_460800:
cfsetispeed(options, B460800);
cfsetospeed(options, B460800);
break;
case UartBaudRate::RATE_500000:
cfsetispeed(options, B500000);
cfsetospeed(options, B500000);
break;
case UartBaudRate::RATE_576000:
cfsetispeed(options, B576000);
cfsetospeed(options, B576000);
break;
case UartBaudRate::RATE_921600:
cfsetispeed(options, B921600);
cfsetospeed(options, B921600);
break;
case UartBaudRate::RATE_1000000:
cfsetispeed(options, B1000000);
cfsetospeed(options, B1000000);
break;
case UartBaudRate::RATE_1152000:
cfsetispeed(options, B1152000);
cfsetospeed(options, B1152000);
break;
case UartBaudRate::RATE_1500000:
cfsetispeed(options, B1500000);
cfsetospeed(options, B1500000);
break;
case UartBaudRate::RATE_2000000:
cfsetispeed(options, B2000000);
cfsetospeed(options, B2000000);
break;
case UartBaudRate::RATE_2500000:
cfsetispeed(options, B2500000);
cfsetospeed(options, B2500000);
break;
case UartBaudRate::RATE_3000000:
cfsetispeed(options, B3000000);
cfsetospeed(options, B3000000);
break;
case UartBaudRate::RATE_3500000:
cfsetispeed(options, B3500000);
cfsetospeed(options, B3500000);
break;
case UartBaudRate::RATE_4000000:
cfsetispeed(options, B4000000);
cfsetospeed(options, B4000000);
break;
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;

22
hal/src/fsfw_hal/linux/uart/UartCookie.cpp
View File

@ -1,9 +1,9 @@
#include "fsfw_hal/linux/uart/UartCookie.h"
#include "UartCookie.h"
#include <fsfw/serviceinterface.h>
UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
uint32_t baudrate, size_t maxReplyLen)
UartBaudRate baudrate, size_t maxReplyLen)
: handlerId(handlerId),
deviceFile(deviceFile),
uartMode(uartMode),
@ -12,7 +12,7 @@ UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes
UartCookie::~UartCookie() {}
uint32_t UartCookie::getBaudrate() const { return baudrate; }
UartBaudRate UartCookie::getBaudrate() const { return baudrate; }
size_t UartCookie::getMaxReplyLen() const { return maxReplyLen; }
@ -24,23 +24,11 @@ void UartCookie::setParityEven() { parity = Parity::EVEN; }
Parity UartCookie::getParity() const { return parity; }
void UartCookie::setBitsPerWord(uint8_t bitsPerWord_) {
switch (bitsPerWord_) {
case 5:
case 6:
case 7:
case 8:
break;
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "UartCookie::setBitsPerWord: Invalid bits per word specified" << std::endl;
#endif
return;
}
void UartCookie::setBitsPerWord(BitsPerWord bitsPerWord_) {
bitsPerWord = bitsPerWord_;
}
uint8_t UartCookie::getBitsPerWord() const { return bitsPerWord; }
BitsPerWord UartCookie::getBitsPerWord() const { return bitsPerWord; }
StopBits UartCookie::getStopBits() const { return stopBits; }

53
hal/src/fsfw_hal/linux/uart/UartCookie.h
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@ -12,6 +12,41 @@ enum class StopBits { ONE_STOP_BIT, TWO_STOP_BITS };
enum class UartModes { CANONICAL, NON_CANONICAL };
enum class BitsPerWord { BITS_5, BITS_6, BITS_7, BITS_8 };
enum class UartBaudRate {
RATE_50,
RATE_75,
RATE_110,
RATE_134,
RATE_150,
RATE_200,
RATE_300,
RATE_600,
RATE_1200,
RATE_1800,
RATE_2400,
RATE_4800,
RATE_9600,
RATE_19200,
RATE_38400,
RATE_57600,
RATE_115200,
RATE_230400,
RATE_460800,
RATE_500000,
RATE_576000,
RATE_921600,
RATE_1000000,
RATE_1152000,
RATE_1500000,
RATE_2000000,
RATE_2500000,
RATE_3000000,
RATE_3500000,
RATE_4000000
};
/**
* @brief Cookie for the UartComIF. There are many options available to configure the UART driver.
* The constructor only requests for common options like the baudrate. Other options can
@ -27,25 +62,23 @@ class UartCookie : public CookieIF {
* @param uartMode Specify the UART mode. The canonical mode should be used if the
* messages are separated by a delimited character like '\n'. See the
* termios documentation for more information
* @param baudrate The baudrate to use for input and output. Possible Baudrates are: 50,
* 75, 110, 134, 150, 200, 300, 600, 1200, 1800, 2400, 4800, 9600, B19200,
* 38400, 57600, 115200, 230400, 460800
* @param baudrate The baudrate to use for input and output.
* @param maxReplyLen The maximum size an object using this cookie expects
* @details
* Default configuration: No parity
* 8 databits (number of bits transfered with one uart frame)
* One stop bit
*/
UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode, uint32_t baudrate,
size_t maxReplyLen);
UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
UartBaudRate baudrate, size_t maxReplyLen);
virtual ~UartCookie();
uint32_t getBaudrate() const;
UartBaudRate getBaudrate() const;
size_t getMaxReplyLen() const;
std::string getDeviceFile() const;
Parity getParity() const;
uint8_t getBitsPerWord() const;
BitsPerWord getBitsPerWord() const;
StopBits getStopBits() const;
UartModes getUartMode() const;
object_id_t getHandlerId() const;
@ -76,7 +109,7 @@ class UartCookie : public CookieIF {
/**
* Function two set number of bits per UART frame.
*/
void setBitsPerWord(uint8_t bitsPerWord_);
void setBitsPerWord(BitsPerWord bitsPerWord_);
/**
* Function to specify the number of stopbits.
@ -97,10 +130,10 @@ class UartCookie : public CookieIF {
std::string deviceFile;
const UartModes uartMode;
bool flushInput = false;
uint32_t baudrate;
UartBaudRate baudrate;
size_t maxReplyLen = 0;
Parity parity = Parity::NONE;
uint8_t bitsPerWord = 8;
BitsPerWord bitsPerWord = BitsPerWord::BITS_8;
uint8_t readCycles = 1;
StopBits stopBits = StopBits::ONE_STOP_BIT;
bool replySizeFixed = true;

11
src/fsfw/datapoollocal/LocalPoolObjectBase.cpp
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@ -47,13 +47,14 @@ LocalPoolObjectBase::LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
HasLocalDataPoolIF* hkOwner = ObjectManager::instance()->get<HasLocalDataPoolIF>(poolOwner);
if (hkOwner == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "LocalPoolVariable: The supplied pool owner did not implement the correct "
"interface HasLocalDataPoolIF!"
<< std::endl;
sif::error << "LocalPoolVariable: The supplied pool owner 0x" << std::hex << poolOwner
<< std::dec << " did not implement the correct interface "
<< "HasLocalDataPoolIF" << std::endl;
#else
sif::printError(
"LocalPoolVariable: The supplied pool owner did not implement the correct "
"interface HasLocalDataPoolIF!\n");
"LocalPoolVariable: The supplied pool owner 0x%08x did not implement the correct "
"interface HasLocalDataPoolIF\n",
poolOwner);
#endif
return;
}

2
src/fsfw/datapoollocal/StaticLocalDataSet.h
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@ -46,7 +46,7 @@ class StaticLocalDataSet : public LocalPoolDataSetBase {
}
private:
std::array<PoolVariableIF*, NUM_VARIABLES> poolVarList;
std::array<PoolVariableIF*, NUM_VARIABLES> poolVarList = {};
};
#endif /* FSFW_DATAPOOLLOCAL_STATICLOCALDATASET_H_ */

31
src/fsfw/devicehandlers/DeviceHandlerBase.cpp
View File

@ -410,7 +410,7 @@ ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles, LocalPoolDataSetBase* replyDataSet,
size_t replyLen, bool periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId) {
// No need to check, as we may try to insert multiple times.
insertInCommandMap(deviceCommand);
insertInCommandMap(deviceCommand, hasDifferentReplyId, replyId);
if (hasDifferentReplyId) {
return insertInReplyMap(replyId, maxDelayCycles, replyDataSet, replyLen, periodic);
} else {
@ -437,11 +437,15 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
}
}
ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceCommand) {
ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceCommand,
bool useAlternativeReply,
DeviceCommandId_t alternativeReplyId) {
DeviceCommandInfo info;
info.expectedReplies = 0;
info.isExecuting = false;
info.sendReplyTo = NO_COMMANDER;
info.useAlternativeReplyId = alternativeReplyId;
info.alternativeReplyId = alternativeReplyId;
auto resultPair = deviceCommandMap.emplace(deviceCommand, info);
if (resultPair.second) {
return RETURN_OK;
@ -451,12 +455,21 @@ ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceComm
}
size_t DeviceHandlerBase::getNextReplyLength(DeviceCommandId_t commandId) {
DeviceReplyIter iter = deviceReplyMap.find(commandId);
if (iter != deviceReplyMap.end()) {
return iter->second.replyLen;
} else {
return 0;
DeviceCommandId_t replyId = NO_COMMAND_ID;
DeviceCommandMap::iterator command = cookieInfo.pendingCommand;
if (command->second.useAlternativeReplyId) {
replyId = command->second.alternativeReplyId;
}
else {
replyId = commandId;
}
DeviceReplyIter iter = deviceReplyMap.find(replyId);
if (iter != deviceReplyMap.end()) {
if (iter->second.delayCycles != 0) {
return iter->second.replyLen;
}
}
return 0;
}
ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply,
@ -651,7 +664,9 @@ void DeviceHandlerBase::doGetWrite() {
// We need to distinguish here, because a raw command never expects a reply.
//(Could be done in eRIRM, but then child implementations need to be careful.
result = enableReplyInReplyMap(cookieInfo.pendingCommand);
DeviceCommandMap::iterator command = cookieInfo.pendingCommand;
result = enableReplyInReplyMap(command, 1, command->second.useAlternativeReplyId,
command->second.alternativeReplyId);
} else {
// always generate a failure event, so that FDIR knows what's up
triggerEvent(DEVICE_SENDING_COMMAND_FAILED, result, cookieInfo.pendingCommand->first);

6
src/fsfw/devicehandlers/DeviceHandlerBase.h
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@ -478,7 +478,9 @@ class DeviceHandlerBase : public DeviceHandlerIF,
* @return - @c RETURN_OK when the command was successfully inserted,
* - @c RETURN_FAILED else.
*/
ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand);
ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand,
bool useAlternativeReply = false,
DeviceCommandId_t alternativeReplyId = 0);
/**
* Enables a periodic reply for a given command. It sets to delay cycles to the specified
@ -751,6 +753,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
//! if this is != NO_COMMANDER, DHB was commanded externally and shall
//! report everything to commander.
MessageQueueId_t sendReplyTo;
bool useAlternativeReplyId;
DeviceCommandId_t alternativeReplyId;
};
using DeviceCommandMap = std::map<DeviceCommandId_t, DeviceCommandInfo>;
/**

10
src/fsfw/osal/freertos/PeriodicTask.cpp
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@ -97,7 +97,11 @@ void PeriodicTask::taskFunctionality() {
ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
if (newObject == nullptr) {
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"
@ -105,8 +109,8 @@ ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
objectList.push_back(newObject);
newObject->setTaskIF(this);
objectList.push_back(object);
object->setTaskIF(this);
return HasReturnvaluesIF::RETURN_OK;
}

10
src/fsfw/osal/freertos/PeriodicTask.h
View File

@ -63,6 +63,16 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
*/
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;

10
src/fsfw/osal/host/PeriodicTask.cpp
View File

@ -102,11 +102,15 @@ void PeriodicTask::taskFunctionality() {
ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
if (newObject == nullptr) {
return addComponent(newObject);
}
ReturnValue_t PeriodicTask::addComponent(ExecutableObjectIF* object) {
if (object == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
newObject->setTaskIF(this);
objectList.push_back(newObject);
object->setTaskIF(this);
objectList.push_back(object);
return HasReturnvaluesIF::RETURN_OK;
}

10
src/fsfw/osal/host/PeriodicTask.h
View File

@ -59,6 +59,16 @@ class PeriodicTask : public PeriodicTaskIF {
*/
ReturnValue_t addComponent(object_id_t object);
/**
* Adds an object to the list of objects to be executed.
* The objects are executed in the order added.
* @param object pointer to 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);
uint32_t getPeriodMs() const;
ReturnValue_t sleepFor(uint32_t ms);

10
src/fsfw/osal/linux/PeriodicPosixTask.cpp
View File

@ -28,7 +28,11 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) {
ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
if (newObject == nullptr) {
return addComponent(newObject);
}
ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object) {
if (object == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
<< " it implements ExecutableObjectIF!" << std::endl;
@ -39,8 +43,8 @@ ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
objectList.push_back(newObject);
newObject->setTaskIF(this);
objectList.push_back(object);
object->setTaskIF(this);
return HasReturnvaluesIF::RETURN_OK;
}

8
src/fsfw/osal/linux/PeriodicPosixTask.h
View File

@ -42,6 +42,14 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
*/
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 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;
uint32_t getPeriodMs() const override;
ReturnValue_t sleepFor(uint32_t ms) override;

10
src/fsfw/osal/rtems/PeriodicTask.cpp
View File

@ -68,11 +68,15 @@ void PeriodicTask::taskFunctionality() {
ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
if (newObject == nullptr) {
return addComponent(newObject);
}
ReturnValue_t PeriodicTask::addComponent(ExecutableObjectIF* object) {
if (object == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
objectList.push_back(newObject);
newObject->setTaskIF(this);
objectList.push_back(object);
object->setTaskIF(this);
return HasReturnvaluesIF::RETURN_OK;
}

9
src/fsfw/osal/rtems/PeriodicTask.h
View File

@ -59,6 +59,15 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
*/
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 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;
uint32_t getPeriodMs() const override;
ReturnValue_t sleepFor(uint32_t ms) override;

20
src/fsfw/tasks/PeriodicTaskIF.h
View File

@ -26,21 +26,25 @@ class PeriodicTaskIF {
virtual ReturnValue_t startTask() = 0;
/**
* Add a component (object) to a periodic task. The pointer to the
* task can be set optionally
* Add a component (object) to a periodic task.
* @param object
* Add an object to the task. The most important case is to add an
* executable object with a function which will be called regularly
* (see ExecutableObjectIF)
* @param setTaskIF
* Can be used to specify whether the task object pointer is passed
* to the component.
* Add an object to the task. The object needs to implement ExecutableObjectIF
* @return
*/
virtual ReturnValue_t addComponent(object_id_t object) {
return HasReturnvaluesIF::RETURN_FAILED;
};
/**
* Add an object to a periodic task.
* @param object
* Add an object to the task.
* @return
*/
virtual ReturnValue_t addComponent(ExecutableObjectIF* object) {
return HasReturnvaluesIF::RETURN_FAILED;
};
virtual ReturnValue_t sleepFor(uint32_t ms) = 0;
virtual uint32_t getPeriodMs() const = 0;