refactoring host osal

src/fsfw/osal/host/PeriodicTask.cpp

@@ -20,8 +20,8 @@
 #endif
 
 PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStackSize setStack,
-                           TaskPeriod setPeriod, void (*setDeadlineMissedFunc)())
-    : started(false), taskName(name), period(setPeriod), deadlineMissedFunc(setDeadlineMissedFunc) {
+                           TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc_)
+    : PeriodicTaskBase(setPeriod, dlmFunc_), started(false), taskName(name) {
   // It is probably possible to set task priorities by using the native
   // task handles for Windows / Linux
   mainThread = std::thread(&PeriodicTask::taskEntryPoint, this, this);
@@ -75,9 +75,7 @@ ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
 }
 
 void PeriodicTask::taskFunctionality() {
-  for (const auto& object : objectList) {
-    object->initializeAfterTaskCreation();
-  }
+  initObjsAfterTaskCreation();
 
   std::chrono::milliseconds periodChrono(static_cast<uint32_t>(period * 1000));
   auto currentStartTime{std::chrono::duration_cast<std::chrono::milliseconds>(
@@ -89,33 +87,17 @@ void PeriodicTask::taskFunctionality() {
     if (terminateThread.load()) {
       break;
     }
-    for (const auto& object : objectList) {
-      object->performOperation();
+    for (const auto& objectPair : objectList) {
+      objectPair.first->performOperation(objectPair.second);
     }
     if (not delayForInterval(&currentStartTime, periodChrono)) {
-      if (deadlineMissedFunc != nullptr) {
-        this->deadlineMissedFunc();
+      if (dlmFunc != nullptr) {
+        this->dlmFunc();
       }
     }
   }
 }
 
-ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
-  ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
-  return addComponent(newObject);
-}
-
-ReturnValue_t PeriodicTask::addComponent(ExecutableObjectIF* object) {
-  if (object == nullptr) {
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-  object->setTaskIF(this);
-  objectList.push_back(object);
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-uint32_t PeriodicTask::getPeriodMs() const { return period * 1000; }
-
 bool PeriodicTask::delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval) {
   bool shouldDelay = false;
   // Get current wakeup time

src/fsfw/osal/host/PeriodicTask.h

@@ -6,9 +6,9 @@
 #include <thread>
 #include <vector>
 
-#include "../../objectmanager/ObjectManagerIF.h"
-#include "../../tasks/PeriodicTaskIF.h"
-#include "../../tasks/Typedef.h"
+#include "fsfw/objectmanager/ObjectManagerIF.h"
+#include "fsfw/tasks/PeriodicTaskBase.h"
+#include "fsfw/tasks/definitions.h"
 
 class ExecutableObjectIF;
 
@@ -19,7 +19,7 @@ class ExecutableObjectIF;
  *
  * @ingroup task_handling
  */
-class PeriodicTask : public PeriodicTaskIF {
+class PeriodicTask : public PeriodicTaskBase {
  public:
   /**
    * @brief	Standard constructor of the class.
@@ -34,7 +34,7 @@ class PeriodicTask : public PeriodicTaskIF {
    * assigned.
    */
   PeriodicTask(const char* name, TaskPriority setPriority, TaskStackSize setStack,
-               TaskPeriod setPeriod, void (*setDeadlineMissedFunc)());
+               TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc);
   /**
    * @brief	Currently, the executed object's lifetime is not coupled with
    * 			the task object's lifetime, so the destructor is empty.
@@ -49,62 +49,19 @@ class PeriodicTask : public PeriodicTaskIF {
    * 			to the system call.
    */
   ReturnValue_t startTask(void);
-  /**
-   * 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(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);
 
  protected:
   using chron_ms = std::chrono::milliseconds;
   bool started;
-  //!< Typedef for the List of objects.
-  typedef std::vector<ExecutableObjectIF*> ObjectList;
   std::thread mainThread;
   std::atomic<bool> terminateThread{false};
 
-  /**
-   * @brief	This attribute holds a list of objects to be executed.
-   */
-  ObjectList objectList;
-
   std::condition_variable initCondition;
   std::mutex initMutex;
   std::string taskName;
-  /**
-   * @brief	The period of the task.
-   * @details
-   * The period determines the frequency of the task's execution.
-   * It is expressed in clock ticks.
-   */
-  TaskPeriod period;
-  /**
-   * @brief	The pointer to the deadline-missed function.
-   * @details
-   * This pointer stores the function that is executed if the task's deadline
-   * is missed. So, each may react individually on a timing failure.
-   * The pointer may be NULL, then nothing happens on missing the deadline.
-   * The deadline is equal to the next execution of the periodic task.
-   */
-  void (*deadlineMissedFunc)(void);
+
   /**
    * @brief	This is the function executed in the new task's context.
    * @details

src/fsfw/osal/linux/FixedTimeslotTask.cpp

@@ -9,8 +9,10 @@ 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) {}
+                                     TaskPeriod periodSeconds_)
+    : posixThread(name_, priority_, stackSize_),
+      pst(static_cast<uint32_t>(periodSeconds_ * 1000)),
+      started(false) {}
 
 FixedTimeslotTask::~FixedTimeslotTask() {}
 
@@ -26,7 +28,7 @@ void* FixedTimeslotTask::taskEntryPoint(void* arg) {
 
 ReturnValue_t FixedTimeslotTask::startTask() {
   started = true;
-  createTask(&taskEntryPoint, this);
+  posixThread.createTask(&taskEntryPoint, this);
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -57,13 +59,13 @@ ReturnValue_t FixedTimeslotTask::checkSequence() { return pst.checkSequence(); }
 void FixedTimeslotTask::taskFunctionality() {
   // Like FreeRTOS pthreads are running as soon as they are created
   if (!started) {
-    suspend();
+    posixThread.suspend();
   }
 
   pst.intializeSequenceAfterTaskCreation();
 
   // The start time for the first entry is read.
-  uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
+  uint64_t lastWakeTime = posixThread.getCurrentMonotonicTimeMs();
   uint64_t interval = pst.getIntervalToNextSlotMs();
 
   // The task's "infinite" inner loop is entered.

src/fsfw/osal/linux/FixedTimeslotTask.h

@@ -3,11 +3,12 @@
 
 #include <pthread.h>
 
-#include "../../tasks/FixedSlotSequence.h"
-#include "../../tasks/FixedTimeslotTaskIF.h"
 #include "PosixThread.h"
+#include "fsfw/tasks/FixedSlotSequence.h"
+#include "fsfw/tasks/FixedTimeslotTaskIF.h"
+#include "fsfw/tasks/definitions.h"
 
-class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
+class FixedTimeslotTask : public FixedTimeslotTaskIF {
  public:
   /**
    * Create a generic periodic task.
@@ -21,7 +22,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
    * @param period_
    * @param deadlineMissedFunc_
    */
-  FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, uint32_t periodMs_);
+  FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, TaskPeriod periodSeconds_);
   virtual ~FixedTimeslotTask();
 
   ReturnValue_t startTask() override;
@@ -59,6 +60,8 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
   virtual void taskFunctionality();
 
  private:
+  PosixThread posixThread;
+
   /**
    * @brief	This is the entry point in a new thread.
    *

src/fsfw/osal/linux/PeriodicPosixTask.cpp

@@ -1,16 +1,16 @@
 #include "fsfw/osal/linux/PeriodicPosixTask.h"
 
-#include <set>
 #include <cerrno>
+#include <set>
 
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
 
 PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_,
-                                     uint32_t period_, TaskDeadlineMissedFunction dlMissedFunc_)
-    : PosixThread(name_, priority_, stackSize_),
-      PeriodicTaskBase(period_, dlMissedFunc_),
+                                     TaskPeriod period_, TaskDeadlineMissedFunction dlMissedFunc_)
+    : PeriodicTaskBase(period_, dlMissedFunc_),
+      posixThread(name_, priority_, stackSize_),
       started(false) {}
 
 PeriodicPosixTask::~PeriodicPosixTask() {
@@ -34,18 +34,19 @@ ReturnValue_t PeriodicPosixTask::startTask(void) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   started = true;
-  PosixThread::createTask(&taskEntryPoint, this);
+  posixThread.createTask(&taskEntryPoint, this);
   return HasReturnvaluesIF::RETURN_OK;
 }
 
 void PeriodicPosixTask::taskFunctionality(void) {
   if (not started) {
-    suspend();
+    posixThread.suspend();
   }
 
   initObjsAfterTaskCreation();
 
-  uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
+  uint64_t lastWakeTime = posixThread.getCurrentMonotonicTimeMs();
+  uint64_t periodMs = getPeriodMs();
   // The task's "infinite" inner loop is entered.
   while (1) {
     for (auto const& objOpCodePair : objectList) {

src/fsfw/osal/linux/PeriodicPosixTask.h

@@ -1,17 +1,15 @@
 #ifndef FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_
 #define FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_
 
-#include "PosixThread.h"
-
 #include <vector>
 
+#include "PosixThread.h"
 #include "fsfw/objectmanager/ObjectManagerIF.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
-#include "fsfw/tasks/PeriodicTaskIF.h"
 #include "fsfw/tasks/PeriodicTaskBase.h"
+#include "fsfw/tasks/PeriodicTaskIF.h"
 
-
-class PeriodicPosixTask : public PosixThread, public PeriodicTaskBase {
+class PeriodicPosixTask : public PeriodicTaskBase {
  public:
   /**
    * Create a generic periodic task.
@@ -25,7 +23,7 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskBase {
    * @param period_
    * @param deadlineMissedFunc_
    */
-  PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, uint32_t period_,
+  PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, TaskPeriod period_,
                     void (*deadlineMissedFunc_)());
   virtual ~PeriodicPosixTask();
 
@@ -41,6 +39,7 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskBase {
   ReturnValue_t sleepFor(uint32_t ms) override;
 
  private:
+  PosixThread posixThread;
 
   /**
    * @brief Flag to indicate that the task was started and is allowed to run

src/fsfw/osal/linux/PosixThread.h

@@ -35,6 +35,21 @@ class PosixThread {
    */
   void resume();
 
+  /**
+   * @brief     Function that has to be called by derived class because the
+   *        derived class pointer has to be valid as argument.
+   * @details
+   * This function creates a pthread with the given parameters. As the
+   * function requires a pointer to the derived object it has to be called
+   * after the this pointer of the derived object is valid.
+   * Sets the taskEntryPoint as function to be called by new a thread.
+   * @param fnc_ Function which will be executed by the thread.
+   * @param arg_
+   * argument of the taskEntryPoint function, needs to be this pointer
+   * of derived class
+   */
+  void createTask(void* (*fnc_)(void*), void* arg_);
+
   /**
    * Delay function similar to FreeRtos delayUntil function
    *
@@ -55,21 +70,6 @@ class PosixThread {
  protected:
   pthread_t thread;
 
-  /**
-   * @brief 	Function that has to be called by derived class because the
-   *  		derived class pointer has to be valid as argument.
-   * @details
-   * This function creates a pthread with the given parameters. As the
-   * function requires a pointer to the derived object it has to be called
-   * after the this pointer of the derived object is valid.
-   * Sets the taskEntryPoint as function to be called by new a thread.
-   * @param fnc_ Function which will be executed by the thread.
-   * @param arg_
-   * argument of the taskEntryPoint function, needs to be this pointer
-   * of derived class
-   */
-  void createTask(void* (*fnc_)(void*), void* arg_);
-
  private:
   char name[PTHREAD_MAX_NAMELEN];
   int priority;

src/fsfw/osal/linux/TaskFactory.cpp

@@ -15,14 +15,14 @@ TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
 PeriodicTaskIF* TaskFactory::createPeriodicTask(
     TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
     TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
-  return new PeriodicPosixTask(name_, taskPriority_, stackSize_, periodInSeconds_ * 1000,
+  return new PeriodicPosixTask(name_, taskPriority_, stackSize_, periodInSeconds_,
                                deadLineMissedFunction_);
 }
 
 FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(
     TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
     TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
-  return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_ * 1000);
+  return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_);
 }
 
 ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {

src/fsfw/tasks/CMakeLists.txt

@@ -1,3 +1,3 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE FixedSequenceSlot.cpp
-                                        FixedSlotSequence.cpp
-                                        PeriodicTaskBase.cpp)
+target_sources(
+  ${LIB_FSFW_NAME} PRIVATE FixedSequenceSlot.cpp FixedSlotSequence.cpp
+                           PeriodicTaskBase.cpp)

src/fsfw/tasks/PeriodicTaskBase.cpp

@@ -1,17 +1,15 @@
-#include <fsfw/objectmanager/ObjectManager.h>
 #include "PeriodicTaskBase.h"
 
+#include <fsfw/objectmanager/ObjectManager.h>
+
 #include <set>
 
-PeriodicTaskBase::PeriodicTaskBase(uint32_t periodMs_,
-    TaskDeadlineMissedFunction deadlineMissedFunc_)
-  : periodMs(periodMs_), deadlineMissedFunc(deadlineMissedFunc_) {}
+PeriodicTaskBase::PeriodicTaskBase(TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_)
+    : period(period), dlmFunc(dlmFunc_) {}
 
-uint32_t PeriodicTaskBase::getPeriodMs() const { return periodMs; }
+uint32_t PeriodicTaskBase::getPeriodMs() const { return static_cast<uint32_t>(period * 1000); }
 
-bool PeriodicTaskBase::isEmpty() const {
-  return objectList.empty();
-}
+bool PeriodicTaskBase::isEmpty() const { return objectList.empty(); }
 
 ReturnValue_t PeriodicTaskBase::initObjsAfterTaskCreation() {
   std::multiset<ExecutableObjectIF*> uniqueObjects;

src/fsfw/tasks/PeriodicTaskBase.h

@@ -1,16 +1,17 @@
 #ifndef FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_
 #define FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_
 
+#include <cstdint>
+#include <vector>
+
 #include "fsfw/tasks/PeriodicTaskIF.h"
 #include "fsfw/tasks/definitions.h"
-#include <vector>
-#include <cstdint>
 
 class ExecutableObjectIF;
 
-class PeriodicTaskBase: public PeriodicTaskIF {
-public:
-  PeriodicTaskBase(uint32_t periodMs, TaskDeadlineMissedFunction deadlineMissedFunc = nullptr);
+class PeriodicTaskBase : public PeriodicTaskIF {
+ public:
+  PeriodicTaskBase(TaskPeriod period, TaskDeadlineMissedFunction deadlineMissedFunc = nullptr);
 
   ReturnValue_t addComponent(object_id_t object, uint8_t opCode) override;
   ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) override;
@@ -21,8 +22,7 @@ public:
 
   ReturnValue_t initObjsAfterTaskCreation();
 
-protected:
-
+ protected:
   //! Typedef for the List of objects. Will contain the objects to execute and their respective
   //! operation codes
   using ObjectList = std::vector<std::pair<ExecutableObjectIF*, uint8_t>>;
@@ -32,20 +32,19 @@ protected:
   ObjectList objectList;
 
   /**
-   * @brief Period of the task in milliseconds
+   * @brief Period of task in floating point seconds
    */
-  uint32_t periodMs;
+  TaskPeriod period;
 
   /**
    * @brief The pointer to the deadline-missed function.
-   * @details   This pointer stores the function that is executed if the task's deadline is missed.
-   *            So, each may react individually on a timing failure. The pointer may be
-   * NULL, then nothing happens on missing the deadline. The deadline is equal to the next execution
-   *            of the periodic task.
+   * @details
+   * This pointer stores the function that is executed if the task's deadline
+   * is missed. So, each may react individually on a timing failure.
+   * The pointer may be NULL, then nothing happens on missing the deadline.
+   * The deadline is equal to the next execution of the periodic task.
    */
-  TaskDeadlineMissedFunction deadlineMissedFunc = nullptr;
+  TaskDeadlineMissedFunction dlmFunc = nullptr;
 };
 
-
-
 #endif /* FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_ */

src/fsfw/tasks/PeriodicTaskIF.h

@@ -1,11 +1,11 @@
 #ifndef FRAMEWORK_TASK_PERIODICTASKIF_H_
 #define FRAMEWORK_TASK_PERIODICTASKIF_H_
 
+#include <cstddef>
+
 #include "fsfw/objectmanager/SystemObjectIF.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
 
-#include <cstddef>
-
 /**
  * New version of TaskIF
  * Follows RAII principles, i.e. there's no create or delete method.