Merge pull request 'added host osal' (#165) from KSat/fsfw:mueller/hostosal into master
Reviewed-on: #165
This commit is contained in:
commit
21094c4926
227
osal/host/Clock.cpp
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227
osal/host/Clock.cpp
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@ -0,0 +1,227 @@
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#include "../../serviceinterface/ServiceInterfaceStream.h"
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#include "../../timemanager/Clock.h"
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#include <chrono>
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#if defined(WIN32)
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#include <windows.h>
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#elif defined(LINUX)
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#include <fstream>
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#endif
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uint16_t Clock::leapSeconds = 0;
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MutexIF* Clock::timeMutex = NULL;
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using SystemClock = std::chrono::system_clock;
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uint32_t Clock::getTicksPerSecond(void){
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sif::warning << "Clock::getTicksPerSecond: not implemented yet" << std::endl;
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return 0;
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//return CLOCKS_PER_SEC;
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//uint32_t ticks = sysconf(_SC_CLK_TCK);
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//return ticks;
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}
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ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
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// do some magic with chrono
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sif::warning << "Clock::setClock: not implemented yet" << std::endl;
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t Clock::setClock(const timeval* time) {
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// do some magic with chrono
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#if defined(WIN32)
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return HasReturnvaluesIF::RETURN_OK;
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#elif defined(LINUX)
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return HasReturnvaluesIF::RETURN_OK;
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#else
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#endif
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sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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ReturnValue_t Clock::getClock_timeval(timeval* time) {
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#if defined(WIN32)
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auto now = std::chrono::system_clock::now();
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auto secondsChrono = std::chrono::time_point_cast<std::chrono::seconds>(now);
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auto epoch = now.time_since_epoch();
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time->tv_sec = std::chrono::duration_cast<std::chrono::seconds>(epoch).count();
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auto fraction = now - secondsChrono;
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time->tv_usec = std::chrono::duration_cast<std::chrono::microseconds>(
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fraction).count();
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return HasReturnvaluesIF::RETURN_OK;
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#elif defined(LINUX)
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timespec timeUnix;
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int status = clock_gettime(CLOCK_REALTIME,&timeUnix);
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if(status!=0){
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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time->tv_sec = timeUnix.tv_sec;
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time->tv_usec = timeUnix.tv_nsec / 1000.0;
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return HasReturnvaluesIF::RETURN_OK;
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#else
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sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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#endif
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}
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ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
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// do some magic with chrono
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sif::warning << "Clock::gerClock_usecs: not implemented yet" << std::endl;
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return HasReturnvaluesIF::RETURN_OK;
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}
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timeval Clock::getUptime() {
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timeval timeval;
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#if defined(WIN32)
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auto uptime = std::chrono::milliseconds(GetTickCount64());
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auto secondsChrono = std::chrono::duration_cast<std::chrono::seconds>(uptime);
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timeval.tv_sec = secondsChrono.count();
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auto fraction = uptime - secondsChrono;
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timeval.tv_usec = std::chrono::duration_cast<std::chrono::microseconds>(
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fraction).count();
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#elif defined(LINUX)
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double uptimeSeconds;
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if (std::ifstream("/proc/uptime", std::ios::in) >> uptimeSeconds)
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{
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// value is rounded down automatically
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timeval.tv_sec = uptimeSeconds;
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timeval.tv_usec = uptimeSeconds *(double) 1e6 - (timeval.tv_sec *1e6);
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}
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#else
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sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
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#endif
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return timeval;
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}
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ReturnValue_t Clock::getUptime(timeval* uptime) {
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*uptime = getUptime();
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
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timeval uptime = getUptime();
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*uptimeMs = uptime.tv_sec * 1000 + uptime.tv_usec / 1000;
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
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// do some magic with chrono (C++20!)
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// Right now, the library doesn't have the new features yet.
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// so we work around that for now.
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auto now = SystemClock::now();
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auto seconds = std::chrono::time_point_cast<std::chrono::seconds>(now);
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auto fraction = now - seconds;
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time_t tt = SystemClock::to_time_t(now);
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struct tm* timeInfo;
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timeInfo = gmtime(&tt);
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time->year = timeInfo->tm_year + 1900;
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time->month = timeInfo->tm_mon+1;
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time->day = timeInfo->tm_mday;
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time->hour = timeInfo->tm_hour;
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time->minute = timeInfo->tm_min;
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time->second = timeInfo->tm_sec;
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auto usecond = std::chrono::duration_cast<std::chrono::microseconds>(fraction);
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time->usecond = usecond.count();
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//sif::warning << "Clock::getDateAndTime: not implemented yet" << std::endl;
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from,
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timeval* to) {
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struct tm time_tm;
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time_tm.tm_year = from->year - 1900;
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time_tm.tm_mon = from->month - 1;
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time_tm.tm_mday = from->day;
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time_tm.tm_hour = from->hour;
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time_tm.tm_min = from->minute;
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time_tm.tm_sec = from->second;
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time_t seconds = mktime(&time_tm);
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to->tv_sec = seconds;
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to->tv_usec = from->usecond;
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//Fails in 2038..
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return HasReturnvaluesIF::RETURN_OK;
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sif::warning << "Clock::convertTimeBla: not implemented yet" << std::endl;
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
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*JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24.
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/ 3600.;
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
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//SHOULDDO: works not for dates in the past (might have less leap seconds)
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if (timeMutex == NULL) {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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uint16_t leapSeconds;
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ReturnValue_t result = getLeapSeconds(&leapSeconds);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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timeval leapSeconds_timeval = { 0, 0 };
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leapSeconds_timeval.tv_sec = leapSeconds;
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//initial offset between UTC and TAI
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timeval UTCtoTAI1972 = { 10, 0 };
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timeval TAItoTT = { 32, 184000 };
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*tt = utc + leapSeconds_timeval + UTCtoTAI1972 + TAItoTT;
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
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if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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leapSeconds = leapSeconds_;
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result = timeMutex->unlockMutex();
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return result;
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}
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ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
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if(timeMutex == nullptr){
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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*leapSeconds_ = leapSeconds;
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result = timeMutex->unlockMutex();
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return result;
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}
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ReturnValue_t Clock::checkOrCreateClockMutex(){
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if(timeMutex == nullptr){
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MutexFactory* mutexFactory = MutexFactory::instance();
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if (mutexFactory == nullptr) {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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timeMutex = mutexFactory->createMutex();
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if (timeMutex == nullptr) {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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197
osal/host/FixedTimeslotTask.cpp
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197
osal/host/FixedTimeslotTask.cpp
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#include "../../osal/host/FixedTimeslotTask.h"
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#include "../../ipc/MutexFactory.h"
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#include "../../osal/host/Mutex.h"
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#include "../../osal/host/FixedTimeslotTask.h"
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#include "../../serviceinterface/ServiceInterfaceStream.h"
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#include "../../tasks/ExecutableObjectIF.h"
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#include <thread>
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#include <chrono>
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#if defined(WIN32)
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#include <windows.h>
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#elif defined(LINUX)
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#include <pthread.h>
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#endif
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FixedTimeslotTask::FixedTimeslotTask(const char *name, TaskPriority setPriority,
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TaskStackSize setStack, TaskPeriod setPeriod,
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void (*setDeadlineMissedFunc)()) :
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started(false), pollingSeqTable(setPeriod*1000), taskName(name),
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period(setPeriod), deadlineMissedFunc(setDeadlineMissedFunc) {
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// It is propably 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(&FixedTimeslotTask::taskEntryPoint, this, this);
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#if defined(WIN32)
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/* List of possible priority classes:
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* https://docs.microsoft.com/en-us/windows/win32/api/processthreadsapi/
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* nf-processthreadsapi-setpriorityclass
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* And respective thread priority numbers:
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* https://docs.microsoft.com/en-us/windows/
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* win32/procthread/scheduling-priorities */
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int result = SetPriorityClass(
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reinterpret_cast<HANDLE>(mainThread.native_handle()),
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ABOVE_NORMAL_PRIORITY_CLASS);
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if(result != 0) {
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sif::error << "FixedTimeslotTask: Windows SetPriorityClass failed with code "
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<< GetLastError() << std::endl;
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}
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result = SetThreadPriority(
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reinterpret_cast<HANDLE>(mainThread.native_handle()),
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THREAD_PRIORITY_NORMAL);
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if(result != 0) {
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sif::error << "FixedTimeslotTask: Windows SetPriorityClass failed with code "
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<< GetLastError() << std::endl;
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}
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#elif defined(LINUX)
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// we can just copy and paste the code from linux here.
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#endif
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}
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FixedTimeslotTask::~FixedTimeslotTask(void) {
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//Do not delete objects, we were responsible for ptrs only.
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terminateThread = true;
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if(mainThread.joinable()) {
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mainThread.join();
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}
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delete this;
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}
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void FixedTimeslotTask::taskEntryPoint(void* argument) {
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FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
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if (not originalTask->started) {
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// we have to suspend/block here until the task is started.
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// if semaphores are implemented, use them here.
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std::unique_lock<std::mutex> lock(initMutex);
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initCondition.wait(lock);
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}
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this->taskFunctionality();
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sif::debug << "FixedTimeslotTask::taskEntryPoint: "
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"Returned from taskFunctionality." << std::endl;
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}
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ReturnValue_t FixedTimeslotTask::startTask() {
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started = true;
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// Notify task to start.
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std::lock_guard<std::mutex> lock(initMutex);
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initCondition.notify_one();
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
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std::this_thread::sleep_for(std::chrono::milliseconds(ms));
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return HasReturnvaluesIF::RETURN_OK;
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}
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void FixedTimeslotTask::taskFunctionality() {
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pollingSeqTable.intializeSequenceAfterTaskCreation();
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// A local iterator for the Polling Sequence Table is created to
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// find the start time for the first entry.
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auto slotListIter = pollingSeqTable.current;
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// Get start time for first entry.
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chron_ms interval(slotListIter->pollingTimeMs);
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auto currentStartTime {
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std::chrono::duration_cast<chron_ms>(
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std::chrono::system_clock::now().time_since_epoch())
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};
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if(interval.count() > 0) {
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delayForInterval(¤tStartTime, interval);
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}
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/* Enter the loop that defines the task behavior. */
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for (;;) {
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if(terminateThread.load()) {
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break;
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}
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//The component for this slot is executed and the next one is chosen.
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this->pollingSeqTable.executeAndAdvance();
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if (not pollingSeqTable.slotFollowsImmediately()) {
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// we need to wait before executing the current slot
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//this gives us the time to wait:
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interval = chron_ms(this->pollingSeqTable.getIntervalToPreviousSlotMs());
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delayForInterval(¤tStartTime, interval);
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//TODO deadline missed check
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}
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}
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}
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ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
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uint32_t slotTimeMs, int8_t executionStep) {
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ExecutableObjectIF* executableObject = objectManager->
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get<ExecutableObjectIF>(componentId);
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if (executableObject != nullptr) {
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pollingSeqTable.addSlot(componentId, slotTimeMs, executionStep,
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executableObject, this);
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return HasReturnvaluesIF::RETURN_OK;
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}
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sif::error << "Component " << std::hex << componentId <<
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" not found, not adding it to pst" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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ReturnValue_t FixedTimeslotTask::checkSequence() const {
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return pollingSeqTable.checkSequence();
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}
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uint32_t FixedTimeslotTask::getPeriodMs() const {
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return period * 1000;
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}
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bool FixedTimeslotTask::delayForInterval(chron_ms * previousWakeTimeMs,
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const chron_ms interval) {
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bool shouldDelay = false;
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//Get current wakeup time
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||||
auto currentStartTime =
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||||
std::chrono::duration_cast<chron_ms>(
|
||||
std::chrono::system_clock::now().time_since_epoch());
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||||
/* Generate the tick time at which the task wants to wake. */
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||||
auto nextTimeToWake_ms = (*previousWakeTimeMs) + interval;
|
||||
|
||||
if (currentStartTime < *previousWakeTimeMs) {
|
||||
/* 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 < *previousWakeTimeMs)
|
||||
&& (nextTimeToWake_ms > currentStartTime)) {
|
||||
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 < *previousWakeTimeMs)
|
||||
|| (nextTimeToWake_ms > currentStartTime)) {
|
||||
shouldDelay = true;
|
||||
}
|
||||
}
|
||||
|
||||
/* Update the wake time ready for the next call. */
|
||||
|
||||
(*previousWakeTimeMs) = nextTimeToWake_ms;
|
||||
|
||||
if (shouldDelay) {
|
||||
auto sleepTime = std::chrono::duration_cast<chron_ms>(
|
||||
nextTimeToWake_ms - currentStartTime);
|
||||
std::this_thread::sleep_for(sleepTime);
|
||||
return true;
|
||||
}
|
||||
//We are shifting the time in case the deadline was missed like rtems
|
||||
(*previousWakeTimeMs) = currentStartTime;
|
||||
return false;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
130
osal/host/FixedTimeslotTask.h
Normal file
130
osal/host/FixedTimeslotTask.h
Normal file
@ -0,0 +1,130 @@
|
||||
#ifndef FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_
|
||||
#define FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_
|
||||
|
||||
#include "../../objectmanager/ObjectManagerIF.h"
|
||||
#include "../../tasks/FixedSlotSequence.h"
|
||||
#include "../../tasks/FixedTimeslotTaskIF.h"
|
||||
#include "../../tasks/Typedef.h"
|
||||
|
||||
#include <vector>
|
||||
#include <thread>
|
||||
#include <condition_variable>
|
||||
#include <atomic>
|
||||
|
||||
class ExecutableObjectIF;
|
||||
|
||||
/**
|
||||
* @brief This class represents a task for periodic activities with multiple
|
||||
* steps and strict timeslot requirements for these steps.
|
||||
* @details
|
||||
* @ingroup task_handling
|
||||
*/
|
||||
class FixedTimeslotTask: public FixedTimeslotTaskIF {
|
||||
public:
|
||||
/**
|
||||
* @brief Standard constructor of the class.
|
||||
* @details
|
||||
* The class is initialized without allocated objects. These need to be
|
||||
* added with #addComponent.
|
||||
* @param priority
|
||||
* @param stack_size
|
||||
* @param setPeriod
|
||||
* @param setDeadlineMissedFunc
|
||||
* The function pointer to the deadline missed function that shall be
|
||||
* assigned.
|
||||
*/
|
||||
FixedTimeslotTask(const char *name, TaskPriority setPriority,
|
||||
TaskStackSize setStack, TaskPeriod setPeriod,
|
||||
void (*setDeadlineMissedFunc)());
|
||||
/**
|
||||
* @brief Currently, the executed object's lifetime is not coupled with
|
||||
* the task object's lifetime, so the destructor is empty.
|
||||
*/
|
||||
virtual ~FixedTimeslotTask(void);
|
||||
|
||||
/**
|
||||
* @brief The method to start the task.
|
||||
* @details The method starts the task with the respective system call.
|
||||
* Entry point is the taskEntryPoint method described below.
|
||||
* The address of the task object is passed as an argument
|
||||
* to the system call.
|
||||
*/
|
||||
ReturnValue_t startTask(void);
|
||||
|
||||
/**
|
||||
* Add timeslot to the polling sequence table.
|
||||
* @param componentId
|
||||
* @param slotTimeMs
|
||||
* @param executionStep
|
||||
* @return
|
||||
*/
|
||||
ReturnValue_t addSlot(object_id_t componentId,
|
||||
uint32_t slotTimeMs, int8_t executionStep);
|
||||
|
||||
ReturnValue_t checkSequence() const override;
|
||||
|
||||
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;
|
||||
|
||||
//! Polling sequence table which contains the object to execute
|
||||
//! and information like the timeslots and the passed execution step.
|
||||
FixedSlotSequence pollingSeqTable;
|
||||
|
||||
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
|
||||
* It converts the argument back to the thread object type and copies the
|
||||
* class instance to the task context.
|
||||
* The taskFunctionality method is called afterwards.
|
||||
* @param A pointer to the task object itself is passed as argument.
|
||||
*/
|
||||
|
||||
void taskEntryPoint(void* argument);
|
||||
/**
|
||||
* @brief The function containing the actual functionality of the task.
|
||||
* @details
|
||||
* The method sets and starts the task's period, then enters a loop that is
|
||||
* repeated as long as the isRunning attribute is true. Within the loop,
|
||||
* all performOperation methods of the added objects are called. Afterwards
|
||||
* the checkAndRestartPeriod system call blocks the task until the next
|
||||
* period. On missing the deadline, the deadlineMissedFunction is executed.
|
||||
*/
|
||||
void taskFunctionality(void);
|
||||
|
||||
bool delayForInterval(chron_ms * previousWakeTimeMs,
|
||||
const chron_ms interval);
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif /* FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_ */
|
159
osal/host/MessageQueue.cpp
Normal file
159
osal/host/MessageQueue.cpp
Normal file
@ -0,0 +1,159 @@
|
||||
#include "MessageQueue.h"
|
||||
#include "QueueMapManager.h"
|
||||
|
||||
#include "../../serviceinterface/ServiceInterfaceStream.h"
|
||||
#include "../../ipc/MutexFactory.h"
|
||||
#include "../../ipc/MutexHelper.h"
|
||||
|
||||
MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
|
||||
messageSize(maxMessageSize), messageDepth(messageDepth) {
|
||||
queueLock = MutexFactory::instance()->createMutex();
|
||||
auto result = QueueMapManager::instance()->addMessageQueue(this, &mqId);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "MessageQueue::MessageQueue:"
|
||||
<< " Could not be created" << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
MessageQueue::~MessageQueue() {
|
||||
MutexFactory::instance()->deleteMutex(queueLock);
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
|
||||
MessageQueueMessageIF* message, bool ignoreFault) {
|
||||
return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
|
||||
return sendToDefaultFrom(message, this->getId());
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
|
||||
MessageQueueId_t sentFrom, bool ignoreFault) {
|
||||
return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
|
||||
if (this->lastPartner != 0) {
|
||||
return sendMessageFrom(this->lastPartner, message, this->getId());
|
||||
} else {
|
||||
return MessageQueueIF::NO_REPLY_PARTNER;
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
|
||||
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
|
||||
bool ignoreFault) {
|
||||
return sendMessageFromMessageQueue(sendTo, message, sentFrom,
|
||||
ignoreFault);
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
|
||||
MessageQueueId_t* receivedFrom) {
|
||||
ReturnValue_t status = this->receiveMessage(message);
|
||||
if(status == HasReturnvaluesIF::RETURN_OK) {
|
||||
*receivedFrom = this->lastPartner;
|
||||
}
|
||||
return status;
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
|
||||
if(messageQueue.empty()) {
|
||||
return MessageQueueIF::EMPTY;
|
||||
}
|
||||
// not sure this will work..
|
||||
//*message = std::move(messageQueue.front());
|
||||
MutexHelper mutexLock(queueLock, MutexIF::TimeoutType::WAITING, 20);
|
||||
MessageQueueMessage* currentMessage = &messageQueue.front();
|
||||
std::copy(currentMessage->getBuffer(),
|
||||
currentMessage->getBuffer() + messageSize, message->getBuffer());
|
||||
messageQueue.pop();
|
||||
// The last partner is the first uint32_t field in the message
|
||||
this->lastPartner = message->getSender();
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
MessageQueueId_t MessageQueue::getLastPartner() const {
|
||||
return lastPartner;
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::flush(uint32_t* count) {
|
||||
*count = messageQueue.size();
|
||||
// Clears the queue.
|
||||
messageQueue = std::queue<MessageQueueMessage>();
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
MessageQueueId_t MessageQueue::getId() const {
|
||||
return mqId;
|
||||
}
|
||||
|
||||
void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
|
||||
defaultDestinationSet = true;
|
||||
this->defaultDestination = defaultDestination;
|
||||
}
|
||||
|
||||
MessageQueueId_t MessageQueue::getDefaultDestination() const {
|
||||
return defaultDestination;
|
||||
}
|
||||
|
||||
bool MessageQueue::isDefaultDestinationSet() const {
|
||||
return defaultDestinationSet;
|
||||
}
|
||||
|
||||
|
||||
// static core function to send messages.
|
||||
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
|
||||
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
|
||||
bool ignoreFault) {
|
||||
if(message->getMessageSize() > message->getMaximumMessageSize()) {
|
||||
// Actually, this should never happen or an error will be emitted
|
||||
// in MessageQueueMessage.
|
||||
// But I will still return a failure here.
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
MessageQueue* targetQueue = dynamic_cast<MessageQueue*>(
|
||||
QueueMapManager::instance()->getMessageQueue(sendTo));
|
||||
if(targetQueue == nullptr) {
|
||||
if(not ignoreFault) {
|
||||
InternalErrorReporterIF* internalErrorReporter =
|
||||
objectManager->get<InternalErrorReporterIF>(
|
||||
objects::INTERNAL_ERROR_REPORTER);
|
||||
if (internalErrorReporter != nullptr) {
|
||||
internalErrorReporter->queueMessageNotSent();
|
||||
}
|
||||
}
|
||||
// TODO: Better returnvalue
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
if(targetQueue->messageQueue.size() < targetQueue->messageDepth) {
|
||||
MutexHelper mutexLock(targetQueue->queueLock,
|
||||
MutexIF::TimeoutType::WAITING, 20);
|
||||
// not ideal, works for now though.
|
||||
MessageQueueMessage* mqmMessage =
|
||||
dynamic_cast<MessageQueueMessage*>(message);
|
||||
if(message != nullptr) {
|
||||
targetQueue->messageQueue.push(*mqmMessage);
|
||||
}
|
||||
else {
|
||||
sif::error << "MessageQueue::sendMessageFromMessageQueue: Message"
|
||||
"is not MessageQueueMessage!" << std::endl;
|
||||
}
|
||||
|
||||
}
|
||||
else {
|
||||
return MessageQueueIF::FULL;
|
||||
}
|
||||
message->setSender(sentFrom);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::lockQueue(MutexIF::TimeoutType timeoutType,
|
||||
dur_millis_t lockTimeout) {
|
||||
return queueLock->lockMutex(timeoutType, lockTimeout);
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::unlockQueue() {
|
||||
return queueLock->unlockMutex();
|
||||
}
|
231
osal/host/MessageQueue.h
Normal file
231
osal/host/MessageQueue.h
Normal file
@ -0,0 +1,231 @@
|
||||
#ifndef FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
|
||||
#define FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
|
||||
|
||||
#include "../../internalError/InternalErrorReporterIF.h"
|
||||
#include "../../ipc/MessageQueueIF.h"
|
||||
#include "../../ipc/MessageQueueMessage.h"
|
||||
#include "../../ipc/MutexIF.h"
|
||||
#include "../../timemanager/Clock.h"
|
||||
|
||||
#include <queue>
|
||||
#include <memory>
|
||||
|
||||
/**
|
||||
* @brief This class manages sending and receiving of
|
||||
* message queue messages.
|
||||
* @details
|
||||
* Message queues are used to pass asynchronous messages between processes.
|
||||
* They work like post boxes, where all incoming messages are stored in FIFO
|
||||
* order. This class creates a new receiving queue and provides methods to fetch
|
||||
* received messages. Being a child of MessageQueueSender, this class also
|
||||
* provides methods to send a message to a user-defined or a default destination.
|
||||
* In addition it also provides a reply method to answer to the queue it
|
||||
* received its last message from.
|
||||
*
|
||||
* The MessageQueue should be used as "post box" for a single owning object.
|
||||
* So all message queue communication is "n-to-one".
|
||||
* For creating the queue, as well as sending and receiving messages, the class
|
||||
* makes use of the operating system calls provided.
|
||||
*
|
||||
* Please keep in mind that FreeRTOS offers different calls for message queue
|
||||
* operations if called from an ISR.
|
||||
* For now, the system context needs to be switched manually.
|
||||
* @ingroup osal
|
||||
* @ingroup message_queue
|
||||
*/
|
||||
class MessageQueue : public MessageQueueIF {
|
||||
friend class MessageQueueSenderIF;
|
||||
public:
|
||||
/**
|
||||
* @brief The constructor initializes and configures the message queue.
|
||||
* @details
|
||||
* By making use of the according operating system call, a message queue is
|
||||
* created and initialized. The message depth - the maximum number of
|
||||
* messages to be buffered - may be set with the help of a parameter,
|
||||
* whereas the message size is automatically set to the maximum message
|
||||
* queue message size. The operating system sets the message queue id, or
|
||||
* in case of failure, it is set to zero.
|
||||
* @param message_depth
|
||||
* The number of messages to be buffered before passing an error to the
|
||||
* sender. Default is three.
|
||||
* @param max_message_size
|
||||
* With this parameter, the maximum message size can be adjusted.
|
||||
* This should be left default.
|
||||
*/
|
||||
MessageQueue(size_t messageDepth = 3,
|
||||
size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
|
||||
|
||||
/** Copying message queues forbidden */
|
||||
MessageQueue(const MessageQueue&) = delete;
|
||||
MessageQueue& operator=(const MessageQueue&) = delete;
|
||||
|
||||
/**
|
||||
* @brief The destructor deletes the formerly created message queue.
|
||||
* @details This is accomplished by using the delete call provided
|
||||
* by the operating system.
|
||||
*/
|
||||
virtual ~MessageQueue();
|
||||
|
||||
/**
|
||||
* @brief This operation sends a message to the given destination.
|
||||
* @details It directly uses the sendMessage call of the MessageQueueSender
|
||||
* parent, but passes its queue id as "sentFrom" parameter.
|
||||
* @param sendTo This parameter specifies the message queue id of the
|
||||
* destination message queue.
|
||||
* @param message A pointer to a previously created message, which is sent.
|
||||
* @param ignoreFault If set to true, the internal software fault counter
|
||||
* is not incremented if queue is full.
|
||||
*/
|
||||
ReturnValue_t sendMessage(MessageQueueId_t sendTo,
|
||||
MessageQueueMessageIF* message, bool ignoreFault = false) override;
|
||||
/**
|
||||
* @brief This operation sends a message to the default destination.
|
||||
* @details As in the sendMessage method, this function uses the
|
||||
* sendToDefault call of the MessageQueueSender parent class and adds its
|
||||
* queue id as "sentFrom" information.
|
||||
* @param message A pointer to a previously created message, which is sent.
|
||||
*/
|
||||
ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
|
||||
/**
|
||||
* @brief This operation sends a message to the last communication partner.
|
||||
* @details This operation simplifies answering an incoming message by using
|
||||
* the stored lastPartner information as destination. If there was no
|
||||
* message received yet (i.e. lastPartner is zero), an error code is returned.
|
||||
* @param message A pointer to a previously created message, which is sent.
|
||||
*/
|
||||
ReturnValue_t reply(MessageQueueMessageIF* message) override;
|
||||
|
||||
/**
|
||||
* @brief With the sendMessage call, a queue message is sent to a
|
||||
* receiving queue.
|
||||
* @details
|
||||
* This method takes the message provided, adds the sentFrom information and
|
||||
* passes it on to the destination provided with an operating system call.
|
||||
* The OS's return value is returned.
|
||||
* @param sendTo This parameter specifies the message queue id to send
|
||||
* the message to.
|
||||
* @param message This is a pointer to a previously created message,
|
||||
* which is sent.
|
||||
* @param sentFrom The sentFrom information can be set to inject the
|
||||
* sender's queue id into the message. This variable is set to zero by
|
||||
* default.
|
||||
* @param ignoreFault If set to true, the internal software fault counter
|
||||
* is not incremented if queue is full.
|
||||
*/
|
||||
virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
|
||||
MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
|
||||
bool ignoreFault = false) override;
|
||||
|
||||
/**
|
||||
* @brief The sendToDefault method sends a queue message to the default
|
||||
* destination.
|
||||
* @details
|
||||
* In all other aspects, it works identical to the sendMessage method.
|
||||
* @param message This is a pointer to a previously created message,
|
||||
* which is sent.
|
||||
* @param sentFrom The sentFrom information can be set to inject the
|
||||
* sender's queue id into the message. This variable is set to zero by
|
||||
* default.
|
||||
*/
|
||||
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
|
||||
MessageQueueId_t sentFrom = NO_QUEUE,
|
||||
bool ignoreFault = false) override;
|
||||
|
||||
/**
|
||||
* @brief This function reads available messages from the message queue
|
||||
* and returns the sender.
|
||||
* @details
|
||||
* It works identically to the other receiveMessage call, but in addition
|
||||
* returns the sender's queue id.
|
||||
* @param message A pointer to a message in which the received data is stored.
|
||||
* @param receivedFrom A pointer to a queue id in which the sender's id is stored.
|
||||
*/
|
||||
ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
|
||||
MessageQueueId_t *receivedFrom) override;
|
||||
|
||||
/**
|
||||
* @brief This function reads available messages from the message queue.
|
||||
* @details
|
||||
* If data is available it is stored in the passed message pointer.
|
||||
* The message's original content is overwritten and the sendFrom
|
||||
* information is stored in the lastPartner attribute. Else, the lastPartner
|
||||
* information remains untouched, the message's content is cleared and the
|
||||
* function returns immediately.
|
||||
* @param message A pointer to a message in which the received data is stored.
|
||||
*/
|
||||
ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
|
||||
/**
|
||||
* Deletes all pending messages in the queue.
|
||||
* @param count The number of flushed messages.
|
||||
* @return RETURN_OK on success.
|
||||
*/
|
||||
ReturnValue_t flush(uint32_t* count) override;
|
||||
/**
|
||||
* @brief This method returns the message queue id of the last
|
||||
* communication partner.
|
||||
*/
|
||||
MessageQueueId_t getLastPartner() const override;
|
||||
/**
|
||||
* @brief This method returns the message queue id of this class's
|
||||
* message queue.
|
||||
*/
|
||||
MessageQueueId_t getId() const override;
|
||||
|
||||
/**
|
||||
* @brief This method is a simple setter for the default destination.
|
||||
*/
|
||||
void setDefaultDestination(MessageQueueId_t defaultDestination) override;
|
||||
/**
|
||||
* @brief This method is a simple getter for the default destination.
|
||||
*/
|
||||
MessageQueueId_t getDefaultDestination() const override;
|
||||
|
||||
bool isDefaultDestinationSet() const override;
|
||||
|
||||
ReturnValue_t lockQueue(MutexIF::TimeoutType timeoutType,
|
||||
dur_millis_t lockTimeout);
|
||||
ReturnValue_t unlockQueue();
|
||||
protected:
|
||||
/**
|
||||
* @brief Implementation to be called from any send Call within
|
||||
* MessageQueue and MessageQueueSenderIF.
|
||||
* @details
|
||||
* This method takes the message provided, adds the sentFrom information and
|
||||
* passes it on to the destination provided with an operating system call.
|
||||
* The OS's return value is returned.
|
||||
* @param sendTo
|
||||
* This parameter specifies the message queue id to send the message to.
|
||||
* @param message
|
||||
* This is a pointer to a previously created message, which is sent.
|
||||
* @param sentFrom
|
||||
* The sentFrom information can be set to inject the sender's queue id into
|
||||
* the message. This variable is set to zero by default.
|
||||
* @param ignoreFault
|
||||
* If set to true, the internal software fault counter is not incremented
|
||||
* if queue is full.
|
||||
* @param context Specify whether call is made from task or from an ISR.
|
||||
*/
|
||||
static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
|
||||
MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
|
||||
bool ignoreFault=false);
|
||||
|
||||
//static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
|
||||
|
||||
private:
|
||||
std::queue<MessageQueueMessage> messageQueue;
|
||||
/**
|
||||
* @brief The class stores the queue id it got assigned.
|
||||
* If initialization fails, the queue id is set to zero.
|
||||
*/
|
||||
MessageQueueId_t mqId = 0;
|
||||
size_t messageSize = 0;
|
||||
size_t messageDepth = 0;
|
||||
|
||||
MutexIF* queueLock;
|
||||
|
||||
bool defaultDestinationSet = false;
|
||||
MessageQueueId_t defaultDestination = 0;
|
||||
MessageQueueId_t lastPartner = 0;
|
||||
};
|
||||
|
||||
#endif /* FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_ */
|
39
osal/host/Mutex.cpp
Normal file
39
osal/host/Mutex.cpp
Normal file
@ -0,0 +1,39 @@
|
||||
#include "Mutex.h"
|
||||
#include "../../serviceinterface/ServiceInterfaceStream.h"
|
||||
|
||||
Mutex::Mutex() {}
|
||||
|
||||
ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType, uint32_t timeoutMs) {
|
||||
if(timeoutMs == MutexIF::BLOCKING) {
|
||||
mutex.lock();
|
||||
locked = true;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
else if(timeoutMs == MutexIF::POLLING) {
|
||||
if(mutex.try_lock()) {
|
||||
locked = true;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
}
|
||||
else if(timeoutMs > MutexIF::POLLING){
|
||||
auto chronoMs = std::chrono::milliseconds(timeoutMs);
|
||||
if(mutex.try_lock_for(chronoMs)) {
|
||||
locked = true;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
}
|
||||
return MutexIF::MUTEX_TIMEOUT;
|
||||
}
|
||||
|
||||
ReturnValue_t Mutex::unlockMutex() {
|
||||
if(not locked) {
|
||||
return MutexIF::CURR_THREAD_DOES_NOT_OWN_MUTEX;
|
||||
}
|
||||
mutex.unlock();
|
||||
locked = false;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
std::timed_mutex* Mutex::getMutexHandle() {
|
||||
return &mutex;
|
||||
}
|
29
osal/host/Mutex.h
Normal file
29
osal/host/Mutex.h
Normal file
@ -0,0 +1,29 @@
|
||||
#ifndef FSFW_OSAL_HOSTED_MUTEX_H_
|
||||
#define FSFW_OSAL_HOSTED_MUTEX_H_
|
||||
|
||||
#include "../../ipc/MutexIF.h"
|
||||
|
||||
#include <mutex>
|
||||
|
||||
/**
|
||||
* @brief OS component to implement MUTual EXclusion
|
||||
*
|
||||
* @details
|
||||
* Mutexes are binary semaphores which include a priority inheritance mechanism.
|
||||
* Documentation: https://www.freertos.org/Real-time-embedded-RTOS-mutexes.html
|
||||
* @ingroup osal
|
||||
*/
|
||||
class Mutex : public MutexIF {
|
||||
public:
|
||||
Mutex();
|
||||
ReturnValue_t lockMutex(TimeoutType timeoutType =
|
||||
TimeoutType::BLOCKING, uint32_t timeoutMs = 0) override;
|
||||
ReturnValue_t unlockMutex() override;
|
||||
|
||||
std::timed_mutex* getMutexHandle();
|
||||
private:
|
||||
bool locked = false;
|
||||
std::timed_mutex mutex;
|
||||
};
|
||||
|
||||
#endif /* FSFW_OSAL_HOSTED_MUTEX_H_ */
|
28
osal/host/MutexFactory.cpp
Normal file
28
osal/host/MutexFactory.cpp
Normal file
@ -0,0 +1,28 @@
|
||||
#include "../../ipc/MutexFactory.h"
|
||||
#include "../../osal/host/Mutex.h"
|
||||
|
||||
//TODO: Different variant than the lazy loading in QueueFactory.
|
||||
//What's better and why? -> one is on heap the other on bss/data
|
||||
//MutexFactory* MutexFactory::factoryInstance = new MutexFactory();
|
||||
MutexFactory* MutexFactory::factoryInstance = nullptr;
|
||||
|
||||
MutexFactory::MutexFactory() {
|
||||
}
|
||||
|
||||
MutexFactory::~MutexFactory() {
|
||||
}
|
||||
|
||||
MutexFactory* MutexFactory::instance() {
|
||||
if (factoryInstance == nullptr){
|
||||
factoryInstance = new MutexFactory();
|
||||
}
|
||||
return MutexFactory::factoryInstance;
|
||||
}
|
||||
|
||||
MutexIF* MutexFactory::createMutex() {
|
||||
return new Mutex();
|
||||
}
|
||||
|
||||
void MutexFactory::deleteMutex(MutexIF* mutex) {
|
||||
delete mutex;
|
||||
}
|
176
osal/host/PeriodicTask.cpp
Normal file
176
osal/host/PeriodicTask.cpp
Normal file
@ -0,0 +1,176 @@
|
||||
#include "Mutex.h"
|
||||
#include "PeriodicTask.h"
|
||||
|
||||
#include "../../ipc/MutexFactory.h"
|
||||
#include "../../serviceinterface/ServiceInterfaceStream.h"
|
||||
#include "../../tasks/ExecutableObjectIF.h"
|
||||
|
||||
#include <thread>
|
||||
#include <chrono>
|
||||
|
||||
#if defined(WIN32)
|
||||
#include <windows.h>
|
||||
#elif defined(LINUX)
|
||||
#include <pthread.h>
|
||||
#endif
|
||||
|
||||
PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
|
||||
TaskStackSize setStack, TaskPeriod setPeriod,
|
||||
void (*setDeadlineMissedFunc)()) :
|
||||
started(false), taskName(name), period(setPeriod),
|
||||
deadlineMissedFunc(setDeadlineMissedFunc) {
|
||||
// It is propably possible to set task priorities by using the native
|
||||
// task handles for Windows / Linux
|
||||
mainThread = std::thread(&PeriodicTask::taskEntryPoint, this, this);
|
||||
#if defined(WIN32)
|
||||
/* List of possible priority classes:
|
||||
* https://docs.microsoft.com/en-us/windows/win32/api/processthreadsapi/
|
||||
* nf-processthreadsapi-setpriorityclass
|
||||
* And respective thread priority numbers:
|
||||
* https://docs.microsoft.com/en-us/windows/
|
||||
* win32/procthread/scheduling-priorities */
|
||||
int result = SetPriorityClass(
|
||||
reinterpret_cast<HANDLE>(mainThread.native_handle()),
|
||||
ABOVE_NORMAL_PRIORITY_CLASS);
|
||||
if(result != 0) {
|
||||
sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
|
||||
<< GetLastError() << std::endl;
|
||||
}
|
||||
result = SetThreadPriority(
|
||||
reinterpret_cast<HANDLE>(mainThread.native_handle()),
|
||||
THREAD_PRIORITY_NORMAL);
|
||||
if(result != 0) {
|
||||
sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
|
||||
<< GetLastError() << std::endl;
|
||||
}
|
||||
#elif defined(LINUX)
|
||||
// we can just copy and paste the code from linux here.
|
||||
#endif
|
||||
}
|
||||
|
||||
PeriodicTask::~PeriodicTask(void) {
|
||||
//Do not delete objects, we were responsible for ptrs only.
|
||||
terminateThread = true;
|
||||
if(mainThread.joinable()) {
|
||||
mainThread.join();
|
||||
}
|
||||
delete this;
|
||||
}
|
||||
|
||||
void PeriodicTask::taskEntryPoint(void* argument) {
|
||||
PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
|
||||
|
||||
|
||||
if (not originalTask->started) {
|
||||
// we have to suspend/block here until the task is started.
|
||||
// if semaphores are implemented, use them here.
|
||||
std::unique_lock<std::mutex> lock(initMutex);
|
||||
initCondition.wait(lock);
|
||||
}
|
||||
|
||||
this->taskFunctionality();
|
||||
sif::debug << "PeriodicTask::taskEntryPoint: "
|
||||
"Returned from taskFunctionality." << std::endl;
|
||||
}
|
||||
|
||||
ReturnValue_t PeriodicTask::startTask() {
|
||||
started = true;
|
||||
|
||||
// Notify task to start.
|
||||
std::lock_guard<std::mutex> lock(initMutex);
|
||||
initCondition.notify_one();
|
||||
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(ms));
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
void PeriodicTask::taskFunctionality() {
|
||||
std::chrono::milliseconds periodChrono(static_cast<uint32_t>(period*1000));
|
||||
auto currentStartTime {
|
||||
std::chrono::duration_cast<std::chrono::milliseconds>(
|
||||
std::chrono::system_clock::now().time_since_epoch())
|
||||
};
|
||||
auto nextStartTime{ currentStartTime };
|
||||
|
||||
/* Enter the loop that defines the task behavior. */
|
||||
for (;;) {
|
||||
if(terminateThread.load()) {
|
||||
break;
|
||||
}
|
||||
for (ObjectList::iterator it = objectList.begin();
|
||||
it != objectList.end(); ++it) {
|
||||
(*it)->performOperation();
|
||||
}
|
||||
if(not delayForInterval(¤tStartTime, periodChrono)) {
|
||||
sif::warning << "PeriodicTask: " << taskName <<
|
||||
" missed deadline!\n" << std::flush;
|
||||
if(deadlineMissedFunc != nullptr) {
|
||||
this->deadlineMissedFunc();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
|
||||
ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
|
||||
object);
|
||||
if (newObject == nullptr) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
objectList.push_back(newObject);
|
||||
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
|
||||
auto currentStartTime =
|
||||
std::chrono::duration_cast<std::chrono::milliseconds>(
|
||||
std::chrono::system_clock::now().time_since_epoch());
|
||||
/* Generate the tick time at which the task wants to wake. */
|
||||
auto nextTimeToWake_ms = (*previousWakeTimeMs) + interval;
|
||||
|
||||
if (currentStartTime < *previousWakeTimeMs) {
|
||||
/* 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 < *previousWakeTimeMs)
|
||||
&& (nextTimeToWake_ms > currentStartTime)) {
|
||||
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 < *previousWakeTimeMs)
|
||||
|| (nextTimeToWake_ms > currentStartTime)) {
|
||||
shouldDelay = true;
|
||||
}
|
||||
}
|
||||
|
||||
/* Update the wake time ready for the next call. */
|
||||
|
||||
(*previousWakeTimeMs) = nextTimeToWake_ms;
|
||||
|
||||
if (shouldDelay) {
|
||||
auto sleepTime = std::chrono::duration_cast<std::chrono::milliseconds>(
|
||||
nextTimeToWake_ms - currentStartTime);
|
||||
std::this_thread::sleep_for(sleepTime);
|
||||
return true;
|
||||
}
|
||||
//We are shifting the time in case the deadline was missed like rtems
|
||||
(*previousWakeTimeMs) = currentStartTime;
|
||||
return false;
|
||||
|
||||
}
|
123
osal/host/PeriodicTask.h
Normal file
123
osal/host/PeriodicTask.h
Normal file
@ -0,0 +1,123 @@
|
||||
#ifndef FRAMEWORK_OSAL_HOST_PERIODICTASK_H_
|
||||
#define FRAMEWORK_OSAL_HOST_PERIODICTASK_H_
|
||||
|
||||
#include "../../objectmanager/ObjectManagerIF.h"
|
||||
#include "../../tasks/PeriodicTaskIF.h"
|
||||
#include "../../tasks/Typedef.h"
|
||||
|
||||
#include <vector>
|
||||
#include <thread>
|
||||
#include <condition_variable>
|
||||
#include <atomic>
|
||||
|
||||
class ExecutableObjectIF;
|
||||
|
||||
/**
|
||||
* @brief This class represents a specialized task for
|
||||
* periodic activities of multiple objects.
|
||||
* @details
|
||||
*
|
||||
* @ingroup task_handling
|
||||
*/
|
||||
class PeriodicTask: public PeriodicTaskIF {
|
||||
public:
|
||||
/**
|
||||
* @brief Standard constructor of the class.
|
||||
* @details
|
||||
* The class is initialized without allocated objects. These need to be
|
||||
* added with #addComponent.
|
||||
* @param priority
|
||||
* @param stack_size
|
||||
* @param setPeriod
|
||||
* @param setDeadlineMissedFunc
|
||||
* The function pointer to the deadline missed function that shall be
|
||||
* assigned.
|
||||
*/
|
||||
PeriodicTask(const char *name, TaskPriority setPriority, TaskStackSize setStack,
|
||||
TaskPeriod setPeriod,void (*setDeadlineMissedFunc)());
|
||||
/**
|
||||
* @brief Currently, the executed object's lifetime is not coupled with
|
||||
* the task object's lifetime, so the destructor is empty.
|
||||
*/
|
||||
virtual ~PeriodicTask(void);
|
||||
|
||||
/**
|
||||
* @brief The method to start the task.
|
||||
* @details The method starts the task with the respective system call.
|
||||
* Entry point is the taskEntryPoint method described below.
|
||||
* The address of the task object is passed as an argument
|
||||
* 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);
|
||||
|
||||
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
|
||||
* It converts the argument back to the thread object type and copies the
|
||||
* class instance to the task context.
|
||||
* The taskFunctionality method is called afterwards.
|
||||
* @param A pointer to the task object itself is passed as argument.
|
||||
*/
|
||||
|
||||
void taskEntryPoint(void* argument);
|
||||
/**
|
||||
* @brief The function containing the actual functionality of the task.
|
||||
* @details
|
||||
* The method sets and starts the task's period, then enters a loop that is
|
||||
* repeated as long as the isRunning attribute is true. Within the loop,
|
||||
* all performOperation methods of the added objects are called. Afterwards
|
||||
* the checkAndRestartPeriod system call blocks the task until the next
|
||||
* period. On missing the deadline, the deadlineMissedFunction is executed.
|
||||
*/
|
||||
void taskFunctionality(void);
|
||||
|
||||
bool delayForInterval(chron_ms * previousWakeTimeMs,
|
||||
const chron_ms interval);
|
||||
};
|
||||
|
||||
#endif /* PERIODICTASK_H_ */
|
41
osal/host/QueueFactory.cpp
Normal file
41
osal/host/QueueFactory.cpp
Normal file
@ -0,0 +1,41 @@
|
||||
#include "../../ipc/QueueFactory.h"
|
||||
#include "../../osal/host/MessageQueue.h"
|
||||
#include "../../serviceinterface/ServiceInterfaceStream.h"
|
||||
#include <cstring>
|
||||
|
||||
QueueFactory* QueueFactory::factoryInstance = nullptr;
|
||||
|
||||
|
||||
ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
|
||||
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
|
||||
bool ignoreFault) {
|
||||
return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
|
||||
sentFrom,ignoreFault);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
QueueFactory* QueueFactory::instance() {
|
||||
if (factoryInstance == nullptr) {
|
||||
factoryInstance = new QueueFactory;
|
||||
}
|
||||
return factoryInstance;
|
||||
}
|
||||
|
||||
QueueFactory::QueueFactory() {
|
||||
}
|
||||
|
||||
QueueFactory::~QueueFactory() {
|
||||
}
|
||||
|
||||
MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth,
|
||||
size_t maxMessageSize) {
|
||||
// A thread-safe queue can be implemented by using a combination
|
||||
// of std::queue and std::mutex. This uses dynamic memory allocation
|
||||
// which could be alleviated by using a custom allocator, external library
|
||||
// (etl::queue) or simply using std::queue, we're on a host machine anyway.
|
||||
return new MessageQueue(messageDepth, maxMessageSize);
|
||||
}
|
||||
|
||||
void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {
|
||||
delete queue;
|
||||
}
|
52
osal/host/QueueMapManager.cpp
Normal file
52
osal/host/QueueMapManager.cpp
Normal file
@ -0,0 +1,52 @@
|
||||
#include "QueueMapManager.h"
|
||||
|
||||
#include "../../ipc/MutexFactory.h"
|
||||
#include "../../ipc/MutexHelper.h"
|
||||
|
||||
QueueMapManager* QueueMapManager::mqManagerInstance = nullptr;
|
||||
|
||||
QueueMapManager::QueueMapManager() {
|
||||
mapLock = MutexFactory::instance()->createMutex();
|
||||
}
|
||||
|
||||
QueueMapManager* QueueMapManager::instance() {
|
||||
if (mqManagerInstance == nullptr){
|
||||
mqManagerInstance = new QueueMapManager();
|
||||
}
|
||||
return QueueMapManager::mqManagerInstance;
|
||||
}
|
||||
|
||||
ReturnValue_t QueueMapManager::addMessageQueue(
|
||||
MessageQueueIF* queueToInsert, MessageQueueId_t* id) {
|
||||
// Not thread-safe, but it is assumed all message queues are created
|
||||
// at software initialization now. If this is to be made thread-safe in
|
||||
// the future, it propably would be sufficient to lock the increment
|
||||
// operation here
|
||||
uint32_t currentId = queueCounter++;
|
||||
auto returnPair = queueMap.emplace(currentId, queueToInsert);
|
||||
if(not returnPair.second) {
|
||||
// this should never happen for the atomic variable.
|
||||
sif::error << "QueueMapManager: This ID is already inside the map!"
|
||||
<< std::endl;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
if (id != nullptr) {
|
||||
*id = currentId;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
MessageQueueIF* QueueMapManager::getMessageQueue(
|
||||
MessageQueueId_t messageQueueId) const {
|
||||
MutexHelper(mapLock, MutexIF::TimeoutType::WAITING, 50);
|
||||
auto queueIter = queueMap.find(messageQueueId);
|
||||
if(queueIter != queueMap.end()) {
|
||||
return queueIter->second;
|
||||
}
|
||||
else {
|
||||
sif::warning << "QueueMapManager::getQueueHandle: The ID" <<
|
||||
messageQueueId << " does not exists in the map" << std::endl;
|
||||
return nullptr;
|
||||
}
|
||||
}
|
||||
|
47
osal/host/QueueMapManager.h
Normal file
47
osal/host/QueueMapManager.h
Normal file
@ -0,0 +1,47 @@
|
||||
#ifndef FSFW_OSAL_HOST_QUEUEMAPMANAGER_H_
|
||||
#define FSFW_OSAL_HOST_QUEUEMAPMANAGER_H_
|
||||
|
||||
#include "../../ipc/MessageQueueSenderIF.h"
|
||||
#include "../../osal/host/MessageQueue.h"
|
||||
#include <unordered_map>
|
||||
#include <atomic>
|
||||
|
||||
using QueueMap = std::unordered_map<MessageQueueId_t, MessageQueueIF*>;
|
||||
|
||||
|
||||
/**
|
||||
* An internal map to map message queue IDs to message queues.
|
||||
* This propably should be a singleton..
|
||||
*/
|
||||
class QueueMapManager {
|
||||
public:
|
||||