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rtems multi object is now periodicTask

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This commit is contained in:
Robin Müller 2021-01-27 00:59:34 +01:00
parent 47698418fc
commit de45e9b8a9
11 changed files with 118 additions and 122 deletions
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4
osal/rtems/CMakeLists.txt
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@ -5,13 +5,13 @@ target_sources(${LIB_FSFW_NAME}
InitTask.cpp
InternalErrorCodes.cpp
MessageQueue.cpp
MultiObjectTask.cpp
PeriodicTask.cpp
Mutex.cpp
MutexFactory.cpp
PollingTask.cpp
QueueFactory.cpp
RtemsBasic.cpp
TaskBase.cpp
RTEMSTaskBase.cpp
TaskFactory.cpp
)

86
osal/rtems/MultiObjectTask.cpp
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@ -1,86 +0,0 @@
/**
* @file MultiObjectTask.cpp
* @brief This file defines the MultiObjectTask class.
* @date 30.01.2014
* @author baetz
*/
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "../../tasks/ExecutableObjectIF.h"
#include "MultiObjectTask.h"
MultiObjectTask::MultiObjectTask(const char *name, rtems_task_priority setPriority,
size_t setStack, rtems_interval setPeriod, void (*setDeadlineMissedFunc)()) :
TaskBase(setPriority, setStack, name), periodTicks(
RtemsBasic::convertMsToTicks(setPeriod)), periodId(0), deadlineMissedFunc(
setDeadlineMissedFunc) {
}
MultiObjectTask::~MultiObjectTask(void) {
//Do not delete objects, we were responsible for ptrs only.
rtems_rate_monotonic_delete(periodId);
}
rtems_task MultiObjectTask::taskEntryPoint(rtems_task_argument argument) {
//The argument is re-interpreted as MultiObjectTask. The Task object is global, so it is found from any place.
MultiObjectTask *originalTask(reinterpret_cast<MultiObjectTask*>(argument));
originalTask->taskFunctionality();
}
ReturnValue_t MultiObjectTask::startTask() {
rtems_status_code status = rtems_task_start(id, MultiObjectTask::taskEntryPoint,
rtems_task_argument((void *) this));
if (status != RTEMS_SUCCESSFUL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ObjectTask::startTask for " << std::hex << this->getId()
<< std::dec << " failed." << std::endl;
#endif
}
switch(status){
case RTEMS_SUCCESSFUL:
//ask started successfully
return HasReturnvaluesIF::RETURN_OK;
default:
/* RTEMS_INVALID_ADDRESS - invalid task entry point
RTEMS_INVALID_ID - invalid task id
RTEMS_INCORRECT_STATE - task not in the dormant state
RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */
return HasReturnvaluesIF::RETURN_FAILED;
}
}
ReturnValue_t MultiObjectTask::sleepFor(uint32_t ms) {
return TaskBase::sleepFor(ms);
}
void MultiObjectTask::taskFunctionality() {
TaskBase::setAndStartPeriod(periodTicks,&periodId);
//The task's "infinite" inner loop is entered.
while (1) {
for (ObjectList::iterator it = objectList.begin();
it != objectList.end(); ++it) {
(*it)->performOperation();
}
rtems_status_code status = TaskBase::restartPeriod(periodTicks,periodId);
if (status == RTEMS_TIMEOUT) {
if (this->deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
}
}
}
}
ReturnValue_t MultiObjectTask::addComponent(object_id_t object) {
ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
object);
if (newObject == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
objectList.push_back(newObject);
newObject->setTaskIF(this);
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t MultiObjectTask::getPeriodMs() const {
return RtemsBasic::convertTicksToMs(periodTicks);
}

80
osal/rtems/PeriodicTask.cpp Normal file
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@ -0,0 +1,80 @@
#include "PeriodicTask.h"
#include "../../serviceinterface/ServiceInterface.h"
#include "../../tasks/ExecutableObjectIF.h"
PeriodicTask::PeriodicTask(const char *name, rtems_task_priority setPriority,
size_t setStack, rtems_interval setPeriod, void (*setDeadlineMissedFunc)()) :
RTEMSTaskBase(setPriority, setStack, name),
periodTicks(RtemsBasic::convertMsToTicks(setPeriod)),
deadlineMissedFunc(setDeadlineMissedFunc) {
}
PeriodicTask::~PeriodicTask(void) {
/* Do not delete objects, we were responsible for pointers only. */
rtems_rate_monotonic_delete(periodId);
}
rtems_task PeriodicTask::taskEntryPoint(rtems_task_argument argument) {
/* The argument is re-interpreted as MultiObjectTask. The Task object is global,
so it is found from any place. */
PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
return originalTask->taskFunctionality();;
}
ReturnValue_t PeriodicTask::startTask() {
rtems_status_code status = rtems_task_start(id, PeriodicTask::taskEntryPoint,
rtems_task_argument((void *) this));
if (status != RTEMS_SUCCESSFUL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ObjectTask::startTask for " << std::hex << this->getId()
<< std::dec << " failed." << std::endl;
#endif
}
switch(status){
case RTEMS_SUCCESSFUL:
/* Task started successfully */
return HasReturnvaluesIF::RETURN_OK;
default:
/* RTEMS_INVALID_ADDRESS - invalid task entry point
RTEMS_INVALID_ID - invalid task id
RTEMS_INCORRECT_STATE - task not in the dormant state
RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */
return HasReturnvaluesIF::RETURN_FAILED;
}
}
ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
return RTEMSTaskBase::sleepFor(ms);
}
void PeriodicTask::taskFunctionality() {
RTEMSTaskBase::setAndStartPeriod(periodTicks,&periodId);
/* The task's "infinite" inner loop is entered. */
while (1) {
for (const auto& object: objectList) {
object->performOperation();
}
rtems_status_code status = RTEMSTaskBase::restartPeriod(periodTicks,periodId);
if (status == RTEMS_TIMEOUT) {
if (this->deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
}
}
}
}
ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(object);
if (newObject == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
objectList.push_back(newObject);
newObject->setTaskIF(this);
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t PeriodicTask::getPeriodMs() const {
return RtemsBasic::convertTicksToMs(periodTicks);
}

18
osal/rtems/MultiObjectTask.h → osal/rtems/PeriodicTask.h
View File

@ -1,10 +1,10 @@
#ifndef FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_
#define FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_
#ifndef FSFW_OSAL_RTEMS_PERIODICTASK_H_
#define FSFW_OSAL_RTEMS_PERIODICTASK_H_
#include "RTEMSTaskBase.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../tasks/PeriodicTaskIF.h"
#include "TaskBase.h"
#include <vector>
class ExecutableObjectIF;
@ -18,7 +18,7 @@ class ExecutableObjectIF;
* @author baetz
* @ingroup task_handling
*/
class MultiObjectTask: public TaskBase, public PeriodicTaskIF {
class PeriodicTask: public RTEMSTaskBase, public PeriodicTaskIF {
public:
/**
* @brief Standard constructor of the class.
@ -35,13 +35,13 @@ public:
* @param setDeadlineMissedFunc The function pointer to the deadline missed function
* that shall be assigned.
*/
MultiObjectTask(const char *name, rtems_task_priority setPriority, size_t setStack, rtems_interval setPeriod,
void (*setDeadlineMissedFunc)());
PeriodicTask(const char *name, rtems_task_priority setPriority, size_t setStack,
rtems_interval setPeriod, void (*setDeadlineMissedFunc)());
/**
* @brief Currently, the executed object's lifetime is not coupled with the task object's
* lifetime, so the destructor is empty.
*/
virtual ~MultiObjectTask(void);
virtual ~PeriodicTask(void);
/**
* @brief The method to start the task.
@ -76,7 +76,7 @@ protected:
/**
* @brief id of the associated OS period
*/
rtems_id periodId;
rtems_id periodId = 0;
/**
* @brief The pointer to the deadline-missed function.
* @details This pointer stores the function that is executed if the task's deadline is missed.
@ -104,4 +104,4 @@ protected:
void taskFunctionality(void);
};
#endif /* FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_ */
#endif /* FSFW_OSAL_RTEMS_PERIODICTASK_H_ */

8
osal/rtems/PollingTask.cpp
View File

@ -20,7 +20,7 @@ uint32_t PollingTask::deadlineMissedCount = 0;
PollingTask::PollingTask(const char *name, rtems_task_priority setPriority,
size_t setStack, uint32_t setOverallPeriod,
void (*setDeadlineMissedFunc)()) :
TaskBase(setPriority, setStack, name), periodId(0), pst(
RTEMSTaskBase(setPriority, setStack, name), periodId(0), pst(
setOverallPeriod) {
// All additional attributes are applied to the object.
this->deadlineMissedFunc = setDeadlineMissedFunc;
@ -104,7 +104,7 @@ void PollingTask::taskFunctionality() {
//The start time for the first entry is read.
rtems_interval interval = RtemsBasic::convertMsToTicks(it->pollingTimeMs);
TaskBase::setAndStartPeriod(interval,&periodId);
RTEMSTaskBase::setAndStartPeriod(interval,&periodId);
//The task's "infinite" inner loop is entered.
while (1) {
if (pst.slotFollowsImmediately()) {
@ -114,7 +114,7 @@ void PollingTask::taskFunctionality() {
interval = RtemsBasic::convertMsToTicks(this->pst.getIntervalToNextSlotMs());
//The period is checked and restarted with the new interval.
//If the deadline was missed, the deadlineMissedFunc is called.
rtems_status_code status = TaskBase::restartPeriod(interval,periodId);
rtems_status_code status = RTEMSTaskBase::restartPeriod(interval,periodId);
if (status == RTEMS_TIMEOUT) {
if (this->deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
@ -127,5 +127,5 @@ void PollingTask::taskFunctionality() {
}
ReturnValue_t PollingTask::sleepFor(uint32_t ms){
return TaskBase::sleepFor(ms);
return RTEMSTaskBase::sleepFor(ms);
};

4
osal/rtems/PollingTask.h
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@ -1,11 +1,11 @@
#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"
#include "TaskBase.h"
class PollingTask: public TaskBase, public FixedTimeslotTaskIF {
class PollingTask: public RTEMSTaskBase, public FixedTimeslotTaskIF {
public:
/**
* @brief The standard constructor of the class.

20
osal/rtems/TaskBase.cpp → osal/rtems/RTEMSTaskBase.cpp
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@ -1,9 +1,9 @@
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "TaskBase.h"
#include <fsfw/osal/rtems/RTEMSTaskBase.h>
#include "../../serviceinterface/ServiceInterface.h"
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE=RTEMS_MINIMUM_STACK_SIZE;
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = RTEMS_MINIMUM_STACK_SIZE;
TaskBase::TaskBase(rtems_task_priority set_priority, size_t stack_size,
RTEMSTaskBase::RTEMSTaskBase(rtems_task_priority set_priority, size_t stack_size,
const char *name) {
rtems_name osalName = 0;
for (uint8_t i = 0; i < 4; i++) {
@ -31,21 +31,21 @@ TaskBase::TaskBase(rtems_task_priority set_priority, size_t stack_size,
}
}
TaskBase::~TaskBase() {
RTEMSTaskBase::~RTEMSTaskBase() {
rtems_task_delete(id);
}
rtems_id TaskBase::getId() {
rtems_id RTEMSTaskBase::getId() {
return this->id;
}
ReturnValue_t TaskBase::sleepFor(uint32_t ms) {
ReturnValue_t RTEMSTaskBase::sleepFor(uint32_t ms) {
rtems_status_code status = rtems_task_wake_after(RtemsBasic::convertMsToTicks(ms));
return convertReturnCode(status);
}
ReturnValue_t TaskBase::convertReturnCode(rtems_status_code inValue) {
ReturnValue_t RTEMSTaskBase::convertReturnCode(rtems_status_code inValue) {
switch (inValue) {
case RTEMS_SUCCESSFUL:
return HasReturnvaluesIF::RETURN_OK;
@ -68,7 +68,7 @@ ReturnValue_t TaskBase::convertReturnCode(rtems_status_code inValue) {
}
ReturnValue_t TaskBase::setAndStartPeriod(rtems_interval period, rtems_id *periodId) {
ReturnValue_t RTEMSTaskBase::setAndStartPeriod(rtems_interval period, rtems_id *periodId) {
rtems_name periodName = (('P' << 24) + ('e' << 16) + ('r' << 8) + 'd');
rtems_status_code status = rtems_rate_monotonic_create(periodName, periodId);
if (status == RTEMS_SUCCESSFUL) {
@ -77,7 +77,7 @@ ReturnValue_t TaskBase::setAndStartPeriod(rtems_interval period, rtems_id *perio
return convertReturnCode(status);
}
rtems_status_code TaskBase::restartPeriod(rtems_interval period, rtems_id periodId){
rtems_status_code RTEMSTaskBase::restartPeriod(rtems_interval period, rtems_id periodId){
//This is necessary to avoid a call with period = 0, which does not start the period.
rtems_status_code status = rtems_rate_monotonic_period(periodId, period + 1);
return status;

12
osal/rtems/TaskBase.h → osal/rtems/RTEMSTaskBase.h
View File

@ -1,5 +1,5 @@
#ifndef FSFW_OSAL_RTEMS_TASKBASE_H_
#define FSFW_OSAL_RTEMS_TASKBASE_H_
#ifndef FSFW_OSAL_RTEMS_RTEMSTASKBASE_H_
#define FSFW_OSAL_RTEMS_RTEMSTASKBASE_H_
#include "RtemsBasic.h"
#include "../../tasks/PeriodicTaskIF.h"
@ -9,7 +9,7 @@
*
* @details Task creation base class for rtems.
*/
class TaskBase {
class RTEMSTaskBase {
protected:
/**
* @brief The class stores the task id it got assigned from the operating system in this attribute.
@ -26,11 +26,11 @@ public:
* @param stack_size The stack size reserved by the operating system for the task.
* @param nam The name of the Task, as a null-terminated String. Currently max 4 chars supported (excluding Null-terminator), rest will be truncated
*/
TaskBase( rtems_task_priority priority, size_t stack_size, const char *name);
RTEMSTaskBase( rtems_task_priority priority, size_t stack_size, const char *name);
/**
* @brief In the destructor, the created task is deleted.
*/
virtual ~TaskBase();
virtual ~RTEMSTaskBase();
/**
* @brief This method returns the task id of this class.
*/
@ -44,4 +44,4 @@ private:
};
#endif /* FSFW_OSAL_RTEMS_TASKBASE_H_ */
#endif /* FSFW_OSAL_RTEMS_RTEMSTASKBASE_H_ */

1
osal/rtems/RtemsBasic.cpp
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@ -1,5 +1,6 @@
#include "RtemsBasic.h"
// TODO: Can this be removed?
//ReturnValue_t RtemsBasic::convertReturnCode(rtems_status_code inValue) {
// if (inValue == RTEMS_SUCCESSFUL) {

3
osal/rtems/RtemsBasic.h
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@ -2,12 +2,13 @@
#define FSFW_OSAL_RTEMS_RTEMSBASIC_H_
#include "../../returnvalues/HasReturnvaluesIF.h"
#include <rtems.h>
#include <rtems/libio.h>
#include <rtems/error.h>
#include <rtems/stackchk.h>
#include <stddef.h>
#include <cstddef>
class RtemsBasic {
public:

4
osal/rtems/TaskFactory.cpp
View File

@ -1,5 +1,5 @@
#include <fsfw/osal/rtems/PeriodicTask.h>
#include "../../tasks/TaskFactory.h"
#include "MultiObjectTask.h"
#include "PollingTask.h"
#include "InitTask.h"
#include "RtemsBasic.h"
@ -18,7 +18,7 @@ TaskFactory* TaskFactory::instance() {
PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,TaskPriority taskPriority_,TaskStackSize stackSize_,TaskPeriod periodInSeconds_,TaskDeadlineMissedFunction deadLineMissedFunction_) {
rtems_interval taskPeriod = periodInSeconds_ * Clock::getTicksPerSecond();
return static_cast<PeriodicTaskIF*>(new MultiObjectTask(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_) {