testArduino/fsfw/osal/linux/PosixThread.cpp

#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "PosixThread.h"
#include <cstring>
#include <errno.h>

PosixThread::PosixThread(const char* name_, int priority_, size_t stackSize_):
		thread(0),priority(priority_),stackSize(stackSize_) {
    name[0] = '\0';
    std::strncat(name, name_, PTHREAD_MAX_NAMELEN - 1);
}

PosixThread::~PosixThread() {
	//No deletion and no free of Stack Pointer
}

ReturnValue_t PosixThread::sleep(uint64_t ns) {
	//TODO sleep might be better with timer instead of sleep()
	timespec time;
	time.tv_sec = ns/1000000000;
	time.tv_nsec = ns - time.tv_sec*1e9;

	//Remaining Time is not set here
	int status = nanosleep(&time,NULL);
	if(status != 0){
		switch(errno){
		case EINTR:
			//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.
			return HasReturnvaluesIF::RETURN_FAILED;
		default:
			return HasReturnvaluesIF::RETURN_FAILED;
		}

	}
	return HasReturnvaluesIF::RETURN_OK;
}

void PosixThread::suspend() {
	//Wait for SIGUSR1
	int caughtSig = 0;
	sigset_t waitSignal;
	sigemptyset(&waitSignal);
	sigaddset(&waitSignal, SIGUSR1);
	sigwait(&waitSignal, &caughtSig);
	if (caughtSig != SIGUSR1) {
		sif::error << "FixedTimeslotTask: Unknown Signal received: " <<
				caughtSig << std::endl;
	}
}

void PosixThread::resume(){
	/* Signal the thread to start. Makes sense to call kill to start or? ;)
	 *
	*	According to Posix raise(signal) will call pthread_kill(pthread_self(), sig),
	*	but as the call must be done from the thread itsself this is not possible here
	*/
	pthread_kill(thread,SIGUSR1);
}

bool PosixThread::delayUntil(uint64_t* const prevoiusWakeTime_ms,
		const uint64_t delayTime_ms) {
	uint64_t nextTimeToWake_ms;
	bool shouldDelay = false;
	//Get current Time
	const uint64_t currentTime_ms = getCurrentMonotonicTimeMs();
	/* Generate the tick time at which the task wants to wake. */
	nextTimeToWake_ms = (*prevoiusWakeTime_ms) + delayTime_ms;

	if (currentTime_ms < *prevoiusWakeTime_ms) {
		/* The tick count has overflowed since this function was
		 lasted called.  In this case the only time we should ever
		 actually delay is if the wake time has also	overflowed,
		 and the wake time is greater than the tick time.  When this
		 is the case it is as if neither time had overflowed. */
		if ((nextTimeToWake_ms < *prevoiusWakeTime_ms)
				&& (nextTimeToWake_ms > currentTime_ms)) {
			shouldDelay = true;
		}
	} else {
		/* The tick time has not overflowed.  In this case we will
		 delay if either the wake time has overflowed, and/or the
		 tick time is less than the wake time. */
		if ((nextTimeToWake_ms < *prevoiusWakeTime_ms)
				|| (nextTimeToWake_ms > currentTime_ms)) {
			shouldDelay = true;
		}
	}

	/* Update the wake time ready for the next call. */

	(*prevoiusWakeTime_ms) =  nextTimeToWake_ms;

	if (shouldDelay) {
		uint64_t sleepTime = nextTimeToWake_ms - currentTime_ms;
		PosixThread::sleep(sleepTime * 1000000ull);
		return true;
	}
	//We are shifting the time in case the deadline was missed like rtems
	(*prevoiusWakeTime_ms) = currentTime_ms;
	return false;

}


uint64_t PosixThread::getCurrentMonotonicTimeMs(){
	timespec timeNow;
	clock_gettime(CLOCK_MONOTONIC_RAW, &timeNow);
	uint64_t currentTime_ms = (uint64_t) timeNow.tv_sec * 1000
				+ timeNow.tv_nsec / 1000000;

	return currentTime_ms;
}


void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
	//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
       thread; this structure is initialized using pthread_attr_init(3) and
       related functions.  If attr is NULL, then the thread is created with
       default attributes.
	 */
	pthread_attr_t attributes;
	int status = pthread_attr_init(&attributes);
	if(status != 0){
		sif::error << "Posix Thread attribute init failed with: " <<
				strerror(status) << std::endl;
	}
	void* stackPointer;
	status = posix_memalign(&stackPointer, sysconf(_SC_PAGESIZE), stackSize);
	if(status != 0){
		sif::error << "PosixThread::createTask: Stack init failed with: " <<
				strerror(status) << std::endl;
		if(errno == ENOMEM) {
			uint64_t stackMb = stackSize/10e6;
			sif::error << "PosixThread::createTask: Insufficient memory for"
					" the requested " << stackMb << " MB" << std::endl;
		}
		else if(errno == EINVAL) {
			sif::error << "PosixThread::createTask: Wrong alignment argument!"
					<< std::endl;
		}
		return;
	}

	status = pthread_attr_setstack(&attributes, stackPointer, stackSize);
	if(status != 0){
		sif::error << "Posix Thread attribute setStack failed with: " <<
				strerror(status) << std::endl;
	}

	status = pthread_attr_setinheritsched(&attributes, PTHREAD_EXPLICIT_SCHED);
	if(status != 0){
			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){
		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){
		sif::error << "Posix Thread attribute schedule params failed with: " <<
				strerror(status) << std::endl;
	}

	//Set Signal Mask for suspend until startTask is called
	sigset_t waitSignal;
	sigemptyset(&waitSignal);
	sigaddset(&waitSignal, SIGUSR1);
	status = pthread_sigmask(SIG_BLOCK, &waitSignal, NULL);
	if(status != 0){
		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){
		sif::error << "Posix Thread create failed with: " <<
				strerror(status) << std::endl;
	}

	status = pthread_setname_np(thread,name);
	if(status != 0){
		sif::error << "PosixThread::createTask: setname failed with: " <<
				strerror(status) << std::endl;
		if(status == ERANGE) {
			sif::error << "PosixThread::createTask: Task name length longer"
					" than 16 chars. Truncating.." << std::endl;
			name[15] = '\0';
			status = pthread_setname_np(thread,name);
			if(status != 0){
				sif::error << "PosixThread::createTask: Setting name"
						" did not work.." << std::endl;
			}
		}
	}

	status = pthread_attr_destroy(&attributes);
	if(status!=0){
		sif::error << "Posix Thread attribute destroy failed with: " <<
				strerror(status) << std::endl;
	}
}