refactoring host osal
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Robin Müller 2022-05-18 15:42:18 +02:00
parent b47eb0a7ff
commit 1886da0d3f
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12 changed files with 83 additions and 142 deletions

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@ -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

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@ -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

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@ -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.

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@ -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.
*

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@ -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) {

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@ -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

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@ -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;

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@ -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) {

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@ -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)

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@ -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;

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@ -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_ */

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@ -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.