refactoring host osal
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@ -20,8 +20,8 @@
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#endif
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PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStackSize setStack,
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TaskPeriod setPeriod, void (*setDeadlineMissedFunc)())
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: started(false), taskName(name), period(setPeriod), deadlineMissedFunc(setDeadlineMissedFunc) {
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TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc_)
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: PeriodicTaskBase(setPeriod, dlmFunc_), started(false), taskName(name) {
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// It is probably possible to set task priorities by using the native
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// task handles for Windows / Linux
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mainThread = std::thread(&PeriodicTask::taskEntryPoint, this, this);
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@ -75,9 +75,7 @@ ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
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}
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void PeriodicTask::taskFunctionality() {
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for (const auto& object : objectList) {
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object->initializeAfterTaskCreation();
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}
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initObjsAfterTaskCreation();
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std::chrono::milliseconds periodChrono(static_cast<uint32_t>(period * 1000));
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auto currentStartTime{std::chrono::duration_cast<std::chrono::milliseconds>(
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@ -89,33 +87,17 @@ void PeriodicTask::taskFunctionality() {
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if (terminateThread.load()) {
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break;
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}
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for (const auto& object : objectList) {
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object->performOperation();
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for (const auto& objectPair : objectList) {
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objectPair.first->performOperation(objectPair.second);
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}
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if (not delayForInterval(¤tStartTime, periodChrono)) {
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if (deadlineMissedFunc != nullptr) {
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this->deadlineMissedFunc();
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if (dlmFunc != nullptr) {
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this->dlmFunc();
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}
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}
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}
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}
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ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
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ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
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return addComponent(newObject);
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}
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ReturnValue_t PeriodicTask::addComponent(ExecutableObjectIF* object) {
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if (object == nullptr) {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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object->setTaskIF(this);
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objectList.push_back(object);
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return HasReturnvaluesIF::RETURN_OK;
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}
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uint32_t PeriodicTask::getPeriodMs() const { return period * 1000; }
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bool PeriodicTask::delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval) {
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bool shouldDelay = false;
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// Get current wakeup time
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@ -6,9 +6,9 @@
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#include <thread>
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#include <vector>
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#include "../../objectmanager/ObjectManagerIF.h"
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#include "../../tasks/PeriodicTaskIF.h"
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#include "../../tasks/Typedef.h"
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#include "fsfw/objectmanager/ObjectManagerIF.h"
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#include "fsfw/tasks/PeriodicTaskBase.h"
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#include "fsfw/tasks/definitions.h"
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class ExecutableObjectIF;
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@ -19,7 +19,7 @@ class ExecutableObjectIF;
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*
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* @ingroup task_handling
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*/
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class PeriodicTask : public PeriodicTaskIF {
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class PeriodicTask : public PeriodicTaskBase {
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public:
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/**
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* @brief Standard constructor of the class.
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@ -34,7 +34,7 @@ class PeriodicTask : public PeriodicTaskIF {
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* assigned.
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*/
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PeriodicTask(const char* name, TaskPriority setPriority, TaskStackSize setStack,
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TaskPeriod setPeriod, void (*setDeadlineMissedFunc)());
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TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc);
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/**
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* @brief Currently, the executed object's lifetime is not coupled with
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* the task object's lifetime, so the destructor is empty.
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@ -49,62 +49,19 @@ class PeriodicTask : public PeriodicTaskIF {
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* to the system call.
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*/
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ReturnValue_t startTask(void);
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/**
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* Adds an object to the list of objects to be executed.
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* The objects are executed in the order added.
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* @param object Id of the object to add.
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* @return
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* -@c RETURN_OK on success
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* -@c RETURN_FAILED if the object could not be added.
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*/
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ReturnValue_t addComponent(object_id_t object);
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/**
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* Adds an object to the list of objects to be executed.
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* The objects are executed in the order added.
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* @param object pointer to the object to add.
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* @return
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* -@c RETURN_OK on success
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* -@c RETURN_FAILED if the object could not be added.
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*/
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ReturnValue_t addComponent(ExecutableObjectIF* object);
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uint32_t getPeriodMs() const;
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ReturnValue_t sleepFor(uint32_t ms);
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protected:
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using chron_ms = std::chrono::milliseconds;
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bool started;
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//!< Typedef for the List of objects.
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typedef std::vector<ExecutableObjectIF*> ObjectList;
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std::thread mainThread;
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std::atomic<bool> terminateThread{false};
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/**
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* @brief This attribute holds a list of objects to be executed.
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*/
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ObjectList objectList;
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std::condition_variable initCondition;
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std::mutex initMutex;
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std::string taskName;
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/**
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* @brief The period of the task.
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* @details
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* The period determines the frequency of the task's execution.
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* It is expressed in clock ticks.
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*/
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TaskPeriod period;
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/**
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* @brief The pointer to the deadline-missed function.
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* @details
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* This pointer stores the function that is executed if the task's deadline
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* is missed. So, each may react individually on a timing failure.
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* The pointer may be NULL, then nothing happens on missing the deadline.
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* The deadline is equal to the next execution of the periodic task.
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*/
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void (*deadlineMissedFunc)(void);
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/**
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* @brief This is the function executed in the new task's context.
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* @details
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@ -9,8 +9,10 @@ uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
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const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = PTHREAD_STACK_MIN;
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FixedTimeslotTask::FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_,
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uint32_t periodMs_)
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: PosixThread(name_, priority_, stackSize_), pst(periodMs_), started(false) {}
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TaskPeriod periodSeconds_)
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: posixThread(name_, priority_, stackSize_),
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pst(static_cast<uint32_t>(periodSeconds_ * 1000)),
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started(false) {}
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FixedTimeslotTask::~FixedTimeslotTask() {}
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@ -26,7 +28,7 @@ void* FixedTimeslotTask::taskEntryPoint(void* arg) {
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ReturnValue_t FixedTimeslotTask::startTask() {
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started = true;
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createTask(&taskEntryPoint, this);
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posixThread.createTask(&taskEntryPoint, this);
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return HasReturnvaluesIF::RETURN_OK;
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}
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@ -57,13 +59,13 @@ ReturnValue_t FixedTimeslotTask::checkSequence() { return pst.checkSequence(); }
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void FixedTimeslotTask::taskFunctionality() {
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// Like FreeRTOS pthreads are running as soon as they are created
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if (!started) {
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suspend();
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posixThread.suspend();
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}
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pst.intializeSequenceAfterTaskCreation();
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// The start time for the first entry is read.
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uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
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uint64_t lastWakeTime = posixThread.getCurrentMonotonicTimeMs();
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uint64_t interval = pst.getIntervalToNextSlotMs();
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// The task's "infinite" inner loop is entered.
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@ -3,11 +3,12 @@
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#include <pthread.h>
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#include "../../tasks/FixedSlotSequence.h"
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#include "../../tasks/FixedTimeslotTaskIF.h"
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#include "PosixThread.h"
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#include "fsfw/tasks/FixedSlotSequence.h"
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#include "fsfw/tasks/FixedTimeslotTaskIF.h"
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#include "fsfw/tasks/definitions.h"
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class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
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class FixedTimeslotTask : public FixedTimeslotTaskIF {
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public:
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/**
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* Create a generic periodic task.
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@ -21,7 +22,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
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* @param period_
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* @param deadlineMissedFunc_
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*/
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FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, uint32_t periodMs_);
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FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, TaskPeriod periodSeconds_);
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virtual ~FixedTimeslotTask();
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ReturnValue_t startTask() override;
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@ -59,6 +60,8 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
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virtual void taskFunctionality();
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private:
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PosixThread posixThread;
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/**
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* @brief This is the entry point in a new thread.
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*
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@ -1,16 +1,16 @@
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#include "fsfw/osal/linux/PeriodicPosixTask.h"
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#include <set>
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#include <cerrno>
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#include <set>
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#include "fsfw/objectmanager/ObjectManager.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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#include "fsfw/tasks/ExecutableObjectIF.h"
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PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_,
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uint32_t period_, TaskDeadlineMissedFunction dlMissedFunc_)
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: PosixThread(name_, priority_, stackSize_),
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PeriodicTaskBase(period_, dlMissedFunc_),
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TaskPeriod period_, TaskDeadlineMissedFunction dlMissedFunc_)
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: PeriodicTaskBase(period_, dlMissedFunc_),
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posixThread(name_, priority_, stackSize_),
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started(false) {}
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PeriodicPosixTask::~PeriodicPosixTask() {
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@ -34,18 +34,19 @@ ReturnValue_t PeriodicPosixTask::startTask(void) {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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started = true;
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PosixThread::createTask(&taskEntryPoint, this);
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posixThread.createTask(&taskEntryPoint, this);
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return HasReturnvaluesIF::RETURN_OK;
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}
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void PeriodicPosixTask::taskFunctionality(void) {
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if (not started) {
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suspend();
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posixThread.suspend();
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}
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initObjsAfterTaskCreation();
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uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
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uint64_t lastWakeTime = posixThread.getCurrentMonotonicTimeMs();
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uint64_t periodMs = getPeriodMs();
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// The task's "infinite" inner loop is entered.
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while (1) {
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for (auto const& objOpCodePair : objectList) {
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@ -1,17 +1,15 @@
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#ifndef FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_
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#define FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_
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#include "PosixThread.h"
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#include <vector>
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#include "PosixThread.h"
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#include "fsfw/objectmanager/ObjectManagerIF.h"
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#include "fsfw/tasks/ExecutableObjectIF.h"
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#include "fsfw/tasks/PeriodicTaskIF.h"
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#include "fsfw/tasks/PeriodicTaskBase.h"
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#include "fsfw/tasks/PeriodicTaskIF.h"
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class PeriodicPosixTask : public PosixThread, public PeriodicTaskBase {
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class PeriodicPosixTask : public PeriodicTaskBase {
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public:
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/**
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* Create a generic periodic task.
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@ -25,7 +23,7 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskBase {
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* @param period_
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* @param deadlineMissedFunc_
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*/
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PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, uint32_t period_,
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PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, TaskPeriod period_,
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void (*deadlineMissedFunc_)());
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virtual ~PeriodicPosixTask();
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@ -41,6 +39,7 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskBase {
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ReturnValue_t sleepFor(uint32_t ms) override;
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private:
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PosixThread posixThread;
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/**
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* @brief Flag to indicate that the task was started and is allowed to run
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@ -35,6 +35,21 @@ class PosixThread {
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*/
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void resume();
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/**
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* @brief Function that has to be called by derived class because the
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* derived class pointer has to be valid as argument.
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* @details
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* This function creates a pthread with the given parameters. As the
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* function requires a pointer to the derived object it has to be called
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* after the this pointer of the derived object is valid.
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* Sets the taskEntryPoint as function to be called by new a thread.
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* @param fnc_ Function which will be executed by the thread.
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* @param arg_
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* argument of the taskEntryPoint function, needs to be this pointer
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* of derived class
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*/
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void createTask(void* (*fnc_)(void*), void* arg_);
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/**
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* Delay function similar to FreeRtos delayUntil function
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*
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@ -55,21 +70,6 @@ class PosixThread {
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protected:
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pthread_t thread;
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/**
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* @brief Function that has to be called by derived class because the
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* derived class pointer has to be valid as argument.
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* @details
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* This function creates a pthread with the given parameters. As the
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* function requires a pointer to the derived object it has to be called
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* after the this pointer of the derived object is valid.
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* Sets the taskEntryPoint as function to be called by new a thread.
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* @param fnc_ Function which will be executed by the thread.
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* @param arg_
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* argument of the taskEntryPoint function, needs to be this pointer
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* of derived class
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*/
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void createTask(void* (*fnc_)(void*), void* arg_);
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private:
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char name[PTHREAD_MAX_NAMELEN];
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int priority;
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@ -15,14 +15,14 @@ TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
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PeriodicTaskIF* TaskFactory::createPeriodicTask(
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TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
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TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
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return new PeriodicPosixTask(name_, taskPriority_, stackSize_, periodInSeconds_ * 1000,
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return new PeriodicPosixTask(name_, taskPriority_, stackSize_, periodInSeconds_,
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deadLineMissedFunction_);
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}
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FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(
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TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
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TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
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return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_ * 1000);
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return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_);
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}
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ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
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@ -1,3 +1,3 @@
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target_sources(${LIB_FSFW_NAME} PRIVATE FixedSequenceSlot.cpp
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FixedSlotSequence.cpp
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PeriodicTaskBase.cpp)
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target_sources(
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${LIB_FSFW_NAME} PRIVATE FixedSequenceSlot.cpp FixedSlotSequence.cpp
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PeriodicTaskBase.cpp)
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@ -1,17 +1,15 @@
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#include <fsfw/objectmanager/ObjectManager.h>
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#include "PeriodicTaskBase.h"
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#include <fsfw/objectmanager/ObjectManager.h>
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#include <set>
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PeriodicTaskBase::PeriodicTaskBase(uint32_t periodMs_,
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TaskDeadlineMissedFunction deadlineMissedFunc_)
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: periodMs(periodMs_), deadlineMissedFunc(deadlineMissedFunc_) {}
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PeriodicTaskBase::PeriodicTaskBase(TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_)
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: period(period), dlmFunc(dlmFunc_) {}
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uint32_t PeriodicTaskBase::getPeriodMs() const { return periodMs; }
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uint32_t PeriodicTaskBase::getPeriodMs() const { return static_cast<uint32_t>(period * 1000); }
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bool PeriodicTaskBase::isEmpty() const {
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return objectList.empty();
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}
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bool PeriodicTaskBase::isEmpty() const { return objectList.empty(); }
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ReturnValue_t PeriodicTaskBase::initObjsAfterTaskCreation() {
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std::multiset<ExecutableObjectIF*> uniqueObjects;
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@ -1,16 +1,17 @@
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#ifndef FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_
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#define FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_
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#include <cstdint>
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#include <vector>
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#include "fsfw/tasks/PeriodicTaskIF.h"
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#include "fsfw/tasks/definitions.h"
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#include <vector>
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#include <cstdint>
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class ExecutableObjectIF;
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class PeriodicTaskBase: public PeriodicTaskIF {
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public:
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PeriodicTaskBase(uint32_t periodMs, TaskDeadlineMissedFunction deadlineMissedFunc = nullptr);
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class PeriodicTaskBase : public PeriodicTaskIF {
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public:
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PeriodicTaskBase(TaskPeriod period, TaskDeadlineMissedFunction deadlineMissedFunc = nullptr);
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ReturnValue_t addComponent(object_id_t object, uint8_t opCode) override;
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ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) override;
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@ -21,8 +22,7 @@ public:
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ReturnValue_t initObjsAfterTaskCreation();
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protected:
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protected:
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//! Typedef for the List of objects. Will contain the objects to execute and their respective
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//! operation codes
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using ObjectList = std::vector<std::pair<ExecutableObjectIF*, uint8_t>>;
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@ -32,20 +32,19 @@ protected:
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ObjectList objectList;
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/**
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* @brief Period of the task in milliseconds
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* @brief Period of task in floating point seconds
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*/
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uint32_t periodMs;
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TaskPeriod period;
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/**
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* @brief The pointer to the deadline-missed function.
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* @details This pointer stores the function that is executed if the task's deadline is missed.
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* So, each may react individually on a timing failure. The pointer may be
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* NULL, then nothing happens on missing the deadline. The deadline is equal to the next execution
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* of the periodic task.
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* @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_ */
|
||||
|
@ -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.
|
||||
|
Loading…
Reference in New Issue
Block a user