Merge remote-tracking branch 'upstream/master' into mueller_sifRenaming_soooMany

This commit is contained in:
Robin Müller 2020-05-07 19:28:06 +02:00
commit 10628ddbb6
6 changed files with 54 additions and 24 deletions

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@ -89,7 +89,10 @@ uint32_t FixedSlotSequence::getLengthMs() const {
} }
ReturnValue_t FixedSlotSequence::checkSequence() const { ReturnValue_t FixedSlotSequence::checkSequence() const {
//Iterate through slotList and check successful creation. Checks if timing is ok (must be ascending) and if all handlers were found. if(slotList.empty()) {
error << "Fixed Slot Sequence: Slot list is empty!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
auto slotIt = slotList.begin(); auto slotIt = slotList.begin();
uint32_t count = 0; uint32_t count = 0;
uint32_t time = 0; uint32_t time = 0;

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@ -6,15 +6,21 @@
#include <list> #include <list>
/** /**
* \brief This class is the representation of a Polling Sequence Table in software. * @brief This class is the representation of a Polling Sequence Table in software.
* *
* \details The FixedSlotSequence object maintains the dynamic execution of device handler objects. * @details
* The main idea is to create a list of device handlers, to announce all handlers to the * The FixedSlotSequence object maintains the dynamic execution of
* polling sequence and to maintain a list of polling slot objects. This slot list represents the * device handler objects.
* Polling Sequence Table in software. Each polling slot contains information to indicate when and *
* which device handler shall be executed within a given polling period. * The main idea is to create a list of device handlers, to announce all
* The sequence is then executed by iterating through this slot list. * handlers to thepolling sequence and to maintain a list of
* Handlers are invoking by calling a certain function stored in the handler list. * polling slot objects. This slot list represents the Polling Sequence Table
* in software.
*
* Each polling slot contains information to indicate when and
* which device handler shall be executed within a given polling period.
* The sequence is then executed by iterating through this slot list.
* Handlers are invoking by calling a certain function stored in the handler list.
*/ */
class FixedSlotSequence { class FixedSlotSequence {
public: public:
@ -97,6 +103,11 @@ public:
*/ */
std::list<FixedSequenceSlot*>::iterator current; std::list<FixedSequenceSlot*>::iterator current;
/**
* Iterate through slotList and check successful creation.
* Checks if timing is ok (must be ascending) and if all handlers were found.
* @return
*/
ReturnValue_t checkSequence() const; ReturnValue_t checkSequence() const;
protected: protected:

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@ -19,8 +19,7 @@ FixedTimeslotTask::~FixedTimeslotTask() {
void FixedTimeslotTask::taskEntryPoint(void* argument) { void FixedTimeslotTask::taskEntryPoint(void* argument) {
//The argument is re-interpreted as FixedTimeslotTask. The Task object is global, so it is found from any place. //The argument is re-interpreted as FixedTimeslotTask. The Task object is global, so it is found from any place.
FixedTimeslotTask *originalTask( FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
reinterpret_cast<FixedTimeslotTask*>(argument));
// Task should not start until explicitly requested // Task should not start until explicitly requested
// in FreeRTOS, tasks start as soon as they are created if the scheduler is running // in FreeRTOS, tasks start as soon as they are created if the scheduler is running
// but not if the scheduler is not running. // but not if the scheduler is not running.
@ -58,8 +57,19 @@ ReturnValue_t FixedTimeslotTask::startTask() {
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
uint32_t slotTimeMs, int8_t executionStep) { uint32_t slotTimeMs, int8_t executionStep) {
pst.addSlot(componentId, slotTimeMs, executionStep, this); if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
return HasReturnvaluesIF::RETURN_OK; if(slotTimeMs == 0) {
// FreeRTOS throws a sanity error for zero values, so we set
// the time to one millisecond.
slotTimeMs = 1;
}
pst.addSlot(componentId, slotTimeMs, executionStep, this);
return HasReturnvaluesIF::RETURN_OK;
}
error << "Component " << std::hex << componentId <<
" not found, not adding it to pst" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
} }
uint32_t FixedTimeslotTask::getPeriodMs() const { uint32_t FixedTimeslotTask::getPeriodMs() const {

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@ -42,14 +42,14 @@ uint32_t FixedTimeslotTask::getPeriodMs() const {
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
uint32_t slotTimeMs, int8_t executionStep) { uint32_t slotTimeMs, int8_t executionStep) {
if (!objectManager->get<ExecutableObjectIF>(componentId)) { if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
sif::error << "Component " << std::hex << componentId pst.addSlot(componentId, slotTimeMs, executionStep, this);
<< " not found, not adding it to pst" << std::endl; return HasReturnvaluesIF::RETURN_OK;
return HasReturnvaluesIF::RETURN_FAILED;
} }
pst.addSlot(componentId, slotTimeMs, executionStep, this); sif::error << "Component " << std::hex << componentId <<
return HasReturnvaluesIF::RETURN_OK; " not found, not adding it to pst" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
} }
ReturnValue_t FixedTimeslotTask::checkSequence() const { ReturnValue_t FixedTimeslotTask::checkSequence() const {

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@ -66,10 +66,16 @@ ReturnValue_t PollingTask::startTask() {
} }
} }
ReturnValue_t PollingTask::addSlot(object_id_t componentId, uint32_t slotTimeMs, ReturnValue_t PollingTask::addSlot(object_id_t componentId,
int8_t executionStep) { uint32_t slotTimeMs, int8_t executionStep) {
pst.addSlot(componentId, slotTimeMs, executionStep, this); if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
return HasReturnvaluesIF::RETURN_OK; pst.addSlot(componentId, slotTimeMs, executionStep, this);
return HasReturnvaluesIF::RETURN_OK;
}
error << "Component " << std::hex << componentId <<
" not found, not adding it to pst" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
} }
uint32_t PollingTask::getPeriodMs() const { uint32_t PollingTask::getPeriodMs() const {

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@ -91,7 +91,7 @@ template<typename T>
ReturnValue_t ParameterWrapper::serializeData(uint8_t** buffer, uint32_t* size, ReturnValue_t ParameterWrapper::serializeData(uint8_t** buffer, uint32_t* size,
const uint32_t max_size, bool bigEndian) const { const uint32_t max_size, bool bigEndian) const {
const T *element = (const T*) readonlyData; const T *element = (const T*) readonlyData;
ReturnValue_t result; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
uint16_t dataSize = columns * rows; uint16_t dataSize = columns * rows;
while (dataSize != 0) { while (dataSize != 0) {
result = SerializeAdapter<T>::serialize(element, buffer, size, max_size, result = SerializeAdapter<T>::serialize(element, buffer, size, max_size,