diff --git a/src/fsfw/osal/freertos/PeriodicTask.cpp b/src/fsfw/osal/freertos/PeriodicTask.cpp index 37d8fc72c..665be06c7 100644 --- a/src/fsfw/osal/freertos/PeriodicTask.cpp +++ b/src/fsfw/osal/freertos/PeriodicTask.cpp @@ -11,9 +11,11 @@ PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStack BaseType_t status = xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle); if (status != pdPASS) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::debug << "PeriodicTask::PeriodicTask Insufficient heap memory remaining. Status: " << status << std::endl; + sif::debug << "PeriodicTask::PeriodicTask Insufficient heap memory remaining. Status: " + << status << std::endl; #else - sif::printDebug("PeriodicTask::PeriodicTask: Insufficient heap memory remaining. Status: %d\n", status); + sif::printDebug("PeriodicTask::PeriodicTask: Insufficient heap memory remaining. Status: %d\n", + status); #endif } } diff --git a/src/fsfw/osal/rtems/FixedTimeslotTask.cpp b/src/fsfw/osal/rtems/FixedTimeslotTask.cpp index 3347739af..522b77730 100644 --- a/src/fsfw/osal/rtems/FixedTimeslotTask.cpp +++ b/src/fsfw/osal/rtems/FixedTimeslotTask.cpp @@ -1,19 +1,13 @@ #include "fsfw/osal/rtems/FixedTimeslotTask.h" -#include #include -#include #include #include #include -#include -#include "fsfw/objectmanager/ObjectManager.h" -#include "fsfw/objectmanager/SystemObjectIF.h" #include "fsfw/osal/rtems/RtemsBasic.h" #include "fsfw/returnvalues/HasReturnvaluesIF.h" #include "fsfw/serviceinterface/ServiceInterface.h" -#include "fsfw/tasks/FixedSequenceSlot.h" #if FSFW_CPP_OSTREAM_ENABLED == 1 #include @@ -25,18 +19,17 @@ uint32_t FixedTimeslotTask::deadlineMissedCount = 0; FixedTimeslotTask::FixedTimeslotTask(const char *name, rtems_task_priority setPriority, - size_t setStack, uint32_t setOverallPeriod, - void (*setDeadlineMissedFunc)(void)) - : RTEMSTaskBase(setPriority, setStack, name), periodId(0), pst(setOverallPeriod) { - // All additional attributes are applied to the object. - this->deadlineMissedFunc = setDeadlineMissedFunc; -} + size_t setStack, TaskPeriod setOverallPeriod, + TaskDeadlineMissedFunction dlmFunc_) + : FixedTimeslotTaskBase(setOverallPeriod, dlmFunc_), + RTEMSTaskBase(setPriority, setStack, name), + periodId(0) {} -FixedTimeslotTask::~FixedTimeslotTask() {} +FixedTimeslotTask::~FixedTimeslotTask() = default; rtems_task FixedTimeslotTask::taskEntryPoint(rtems_task_argument argument) { /* The argument is re-interpreted as a FixedTimeslotTask */ - FixedTimeslotTask *originalTask(reinterpret_cast(argument)); + auto *originalTask(reinterpret_cast(argument)); /* The task's functionality is called. */ return originalTask->taskFunctionality(); /* Should never be reached */ @@ -79,54 +72,35 @@ ReturnValue_t FixedTimeslotTask::startTask() { } } -ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs, - int8_t executionStep) { - ExecutableObjectIF *object = ObjectManager::instance()->get(componentId); - if (object != nullptr) { - pst.addSlot(componentId, slotTimeMs, executionStep, object, this); - return HasReturnvaluesIF::RETURN_OK; - } - -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "Component " << std::hex << componentId << " not found, not adding it to pst" - << std::endl; -#endif - return HasReturnvaluesIF::RETURN_FAILED; -} - -uint32_t FixedTimeslotTask::getPeriodMs() const { return pst.getLengthMs(); } - -ReturnValue_t FixedTimeslotTask::checkSequence() const { return pst.checkSequence(); } - -void FixedTimeslotTask::taskFunctionality() { +[[noreturn]] void FixedTimeslotTask::taskFunctionality() { /* A local iterator for the Polling Sequence Table is created to find the start time for the first entry. */ - FixedSlotSequence::SlotListIter it = pst.current; + auto it = pollingSeqTable.current; /* Initialize the PST with the correct calling task */ - pst.intializeSequenceAfterTaskCreation(); + pollingSeqTable.intializeSequenceAfterTaskCreation(); /* The start time for the first entry is read. */ rtems_interval interval = RtemsBasic::convertMsToTicks(it->pollingTimeMs); RTEMSTaskBase::setAndStartPeriod(interval, &periodId); // The task's "infinite" inner loop is entered. - while (1) { - if (pst.slotFollowsImmediately()) { + while (true) { + if (pollingSeqTable.slotFollowsImmediately()) { /* Do nothing */ } else { /* The interval for the next polling slot is selected. */ - interval = RtemsBasic::convertMsToTicks(this->pst.getIntervalToNextSlotMs()); + interval = RtemsBasic::convertMsToTicks(pollingSeqTable.getIntervalToNextSlotMs()); /* The period is checked and restarted with the new interval. If the deadline was missed, the deadlineMissedFunc is called. */ rtems_status_code status = RTEMSTaskBase::restartPeriod(interval, periodId); if (status == RTEMS_TIMEOUT) { - if (this->deadlineMissedFunc != nullptr) { - this->deadlineMissedFunc(); + if (dlmFunc != nullptr) { + dlmFunc(); } } } /* The device handler for this slot is executed and the next one is chosen. */ - this->pst.executeAndAdvance(); + this->pollingSeqTable.executeAndAdvance(); } } diff --git a/src/fsfw/osal/rtems/FixedTimeslotTask.h b/src/fsfw/osal/rtems/FixedTimeslotTask.h index 6dedfa441..4b3177aac 100644 --- a/src/fsfw/osal/rtems/FixedTimeslotTask.h +++ b/src/fsfw/osal/rtems/FixedTimeslotTask.h @@ -1,11 +1,11 @@ #ifndef FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_ #define FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_ -#include "../../tasks/FixedSlotSequence.h" -#include "../../tasks/FixedTimeslotTaskIF.h" #include "RTEMSTaskBase.h" +#include "fsfw/tasks/FixedSlotSequence.h" +#include "fsfw/tasks/FixedTimeslotTaskBase.h" -class FixedTimeslotTask : public RTEMSTaskBase, public FixedTimeslotTaskIF { +class FixedTimeslotTask : public FixedTimeslotTaskBase, public RTEMSTaskBase { public: /** * @brief The standard constructor of the class. @@ -17,7 +17,7 @@ class FixedTimeslotTask : public RTEMSTaskBase, public FixedTimeslotTaskIF { * @param getPst The object id of the completely initialized polling sequence. */ FixedTimeslotTask(const char *name, rtems_task_priority setPriority, size_t setStackSize, - uint32_t overallPeriod, void (*setDeadlineMissedFunc)()); + TaskPeriod overallPeriod, TaskDeadlineMissedFunction dlmFunc); /** * @brief The destructor of the class. @@ -25,9 +25,9 @@ class FixedTimeslotTask : public RTEMSTaskBase, public FixedTimeslotTaskIF { * The destructor frees all heap memory that was allocated on thread initialization * for the PST andthe device handlers. This is done by calling the PST's destructor. */ - virtual ~FixedTimeslotTask(void); + ~FixedTimeslotTask() override; - ReturnValue_t startTask(void); + ReturnValue_t startTask() override; /** * This static function can be used as #deadlineMissedFunc. * It counts missedDeadlines and prints the number of missed deadlines every 10th time. @@ -38,31 +38,13 @@ class FixedTimeslotTask : public RTEMSTaskBase, public FixedTimeslotTaskIF { */ static uint32_t deadlineMissedCount; - ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep); - - uint32_t getPeriodMs() const; - - ReturnValue_t checkSequence() const; - - ReturnValue_t sleepFor(uint32_t ms); + ReturnValue_t sleepFor(uint32_t ms) override; protected: /** * @brief id of the associated OS period */ rtems_id periodId; - - FixedSlotSequence pst; - - /** - * @brief This attribute holds a function pointer that is executed when a deadline was missed. - * - * @details - * Another function may be announced to determine the actions to perform when a deadline - * was missed. Currently, only one function for missing any deadline is allowed. - * If not used, it shall be declared NULL. - */ - void (*deadlineMissedFunc)(void) = nullptr; /** * @brief This is the entry point in a new polling thread. * @details This method is the entry point in the new thread @@ -76,7 +58,7 @@ class FixedTimeslotTask : public RTEMSTaskBase, public FixedTimeslotTaskIF { * It links the functionalities provided by FixedSlotSequence with the OS's system calls to * keep the timing of the periods. */ - void taskFunctionality(void); + [[noreturn]] void taskFunctionality(); }; #endif /* FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_ */ diff --git a/src/fsfw/osal/rtems/MessageQueue.h b/src/fsfw/osal/rtems/MessageQueue.h index f64a3d831..2649b8809 100644 --- a/src/fsfw/osal/rtems/MessageQueue.h +++ b/src/fsfw/osal/rtems/MessageQueue.h @@ -37,8 +37,8 @@ class MessageQueue : public MessageQueueBase { * This should be left default. */ explicit MessageQueue(size_t message_depth = 3, - size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE, - MqArgs* args = nullptr); + size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE, + MqArgs* args = nullptr); /** Copying message queues forbidden */ MessageQueue(const MessageQueue&) = delete; @@ -55,8 +55,7 @@ class MessageQueue : public MessageQueueBase { ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override; ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message, - MessageQueueId_t sentFrom, - bool ignoreFault) override; + MessageQueueId_t sentFrom, bool ignoreFault) override; private: /** diff --git a/src/fsfw/osal/rtems/PeriodicTask.cpp b/src/fsfw/osal/rtems/PeriodicTask.cpp index ae2ec4265..cccf937f5 100644 --- a/src/fsfw/osal/rtems/PeriodicTask.cpp +++ b/src/fsfw/osal/rtems/PeriodicTask.cpp @@ -5,12 +5,12 @@ #include "fsfw/tasks/ExecutableObjectIF.h" PeriodicTask::PeriodicTask(const char* name, rtems_task_priority setPriority, size_t setStack, - rtems_interval setPeriod, void (*setDeadlineMissedFunc)()) - : RTEMSTaskBase(setPriority, setStack, name), - periodTicks(RtemsBasic::convertMsToTicks(setPeriod)), - deadlineMissedFunc(setDeadlineMissedFunc) {} + TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc_) + : PeriodicTaskBase(setPeriod, dlmFunc_), + RTEMSTaskBase(setPriority, setStack, name), + periodTicks(RtemsBasic::convertMsToTicks(static_cast(setPeriod * 1000.0))) {} -PeriodicTask::~PeriodicTask(void) { +PeriodicTask::~PeriodicTask() { /* Do not delete objects, we were responsible for pointers only. */ rtems_rate_monotonic_delete(periodId); } @@ -18,7 +18,7 @@ PeriodicTask::~PeriodicTask(void) { rtems_task PeriodicTask::taskEntryPoint(rtems_task_argument argument) { /* The argument is re-interpreted as MultiObjectTask. The Task object is global, so it is found from any place. */ - PeriodicTask* originalTask(reinterpret_cast(argument)); + auto* originalTask(reinterpret_cast(argument)); return originalTask->taskFunctionality(); ; } @@ -28,8 +28,10 @@ ReturnValue_t PeriodicTask::startTask() { rtems_task_start(id, PeriodicTask::taskEntryPoint, rtems_task_argument((void*)this)); if (status != RTEMS_SUCCESSFUL) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "ObjectTask::startTask for " << std::hex << this->getId() << std::dec - << " failed." << std::endl; + sif::error << "PeriodicTask::startTask for " << std::hex << this->getId() << std::dec + << " failed" << std::endl; +#else + sif::printError("PeriodicTask::startTask for 0x%08x failed\n", getId()); #endif } switch (status) { @@ -47,38 +49,20 @@ ReturnValue_t PeriodicTask::startTask() { ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) { return RTEMSTaskBase::sleepFor(ms); } -void PeriodicTask::taskFunctionality() { +[[noreturn]] void PeriodicTask::taskFunctionality() { RTEMSTaskBase::setAndStartPeriod(periodTicks, &periodId); - for (const auto& object : objectList) { - object->initializeAfterTaskCreation(); - } + initObjsAfterTaskCreation(); + /* The task's "infinite" inner loop is entered. */ - while (1) { - for (const auto& object : objectList) { - object->performOperation(); + while (true) { + for (const auto& objectPair : objectList) { + objectPair.first->performOperation(objectPair.second); } rtems_status_code status = RTEMSTaskBase::restartPeriod(periodTicks, periodId); if (status == RTEMS_TIMEOUT) { - if (this->deadlineMissedFunc != nullptr) { - this->deadlineMissedFunc(); + if (dlmFunc != nullptr) { + dlmFunc(); } } } } - -ReturnValue_t PeriodicTask::addComponent(object_id_t object) { - ExecutableObjectIF* newObject = ObjectManager::instance()->get(object); - return addComponent(newObject); -} - -ReturnValue_t PeriodicTask::addComponent(ExecutableObjectIF* object) { - if (object == nullptr) { - return HasReturnvaluesIF::RETURN_FAILED; - } - objectList.push_back(object); - object->setTaskIF(this); - - return HasReturnvaluesIF::RETURN_OK; -} - -uint32_t PeriodicTask::getPeriodMs() const { return RtemsBasic::convertTicksToMs(periodTicks); } diff --git a/src/fsfw/osal/rtems/PeriodicTask.h b/src/fsfw/osal/rtems/PeriodicTask.h index 9f47dfc61..d987a82e0 100644 --- a/src/fsfw/osal/rtems/PeriodicTask.h +++ b/src/fsfw/osal/rtems/PeriodicTask.h @@ -3,9 +3,10 @@ #include -#include "../../objectmanager/ObjectManagerIF.h" -#include "../../tasks/PeriodicTaskIF.h" #include "RTEMSTaskBase.h" +#include "fsfw/objectmanager/ObjectManagerIF.h" +#include "fsfw/tasks/PeriodicTaskBase.h" +#include "fsfw/tasks/PeriodicTaskIF.h" class ExecutableObjectIF; @@ -18,7 +19,7 @@ class ExecutableObjectIF; * @author baetz * @ingroup task_handling */ -class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF { +class PeriodicTask : public PeriodicTaskBase, public RTEMSTaskBase { public: /** * @brief Standard constructor of the class. @@ -36,12 +37,12 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF { * that shall be assigned. */ PeriodicTask(const char *name, rtems_task_priority setPriority, size_t setStack, - rtems_interval setPeriod, void (*setDeadlineMissedFunc)()); + TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc); /** * @brief Currently, the executed object's lifetime is not coupled with the task object's * lifetime, so the destructor is empty. */ - virtual ~PeriodicTask(void); + ~PeriodicTask() override; /** * @brief The method to start the task. @@ -50,33 +51,11 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF { * 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 RETURN_OK on success, RETURN_FAILED if the object could not be added. - */ - ReturnValue_t addComponent(object_id_t object) override; - - /** - * Adds an object to the list of objects to be executed. - * The objects are executed in the order added. - * @param object pointer to the object to add. - * @return RETURN_OK on success, RETURN_FAILED if the object could not be added. - */ - ReturnValue_t addComponent(ExecutableObjectIF *object) override; - - uint32_t getPeriodMs() const override; + ReturnValue_t startTask() override; ReturnValue_t sleepFor(uint32_t ms) override; protected: - typedef std::vector ObjectList; //!< Typedef for the List of objects. - /** - * @brief This attribute holds a list of objects to be executed. - */ - ObjectList objectList; /** * @brief The period of the task. * @details The period determines the frequency of the task's execution. It is expressed in @@ -87,14 +66,7 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF { * @brief id of the associated OS period */ rtems_id periodId = 0; - /** - * @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 - * nullptr, 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 @@ -110,7 +82,7 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF { * 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); + [[noreturn]] void taskFunctionality(); }; #endif /* FSFW_OSAL_RTEMS_PERIODICTASK_H_ */ diff --git a/src/fsfw/osal/rtems/RTEMSTaskBase.cpp b/src/fsfw/osal/rtems/RTEMSTaskBase.cpp index a01b78029..a306b9e21 100644 --- a/src/fsfw/osal/rtems/RTEMSTaskBase.cpp +++ b/src/fsfw/osal/rtems/RTEMSTaskBase.cpp @@ -32,7 +32,7 @@ RTEMSTaskBase::RTEMSTaskBase(rtems_task_priority set_priority, size_t stack_size RTEMSTaskBase::~RTEMSTaskBase() { rtems_task_delete(id); } -rtems_id RTEMSTaskBase::getId() { return this->id; } +rtems_id RTEMSTaskBase::getId() const { return this->id; } ReturnValue_t RTEMSTaskBase::sleepFor(uint32_t ms) { rtems_status_code status = rtems_task_wake_after(RtemsBasic::convertMsToTicks(ms)); diff --git a/src/fsfw/osal/rtems/RTEMSTaskBase.h b/src/fsfw/osal/rtems/RTEMSTaskBase.h index 9ae9e7552..ed9972d3b 100644 --- a/src/fsfw/osal/rtems/RTEMSTaskBase.h +++ b/src/fsfw/osal/rtems/RTEMSTaskBase.h @@ -36,9 +36,9 @@ class RTEMSTaskBase { /** * @brief This method returns the task id of this class. */ - rtems_id getId(); + rtems_id getId() const; - ReturnValue_t sleepFor(uint32_t ms); + static ReturnValue_t sleepFor(uint32_t ms); static ReturnValue_t setAndStartPeriod(rtems_interval period, rtems_id *periodId); static rtems_status_code restartPeriod(rtems_interval period, rtems_id periodId); diff --git a/src/fsfw/osal/rtems/TaskFactory.cpp b/src/fsfw/osal/rtems/TaskFactory.cpp index 8bfd53edc..fb52eb0ee 100644 --- a/src/fsfw/osal/rtems/TaskFactory.cpp +++ b/src/fsfw/osal/rtems/TaskFactory.cpp @@ -1,7 +1,6 @@ #include "fsfw/tasks/TaskFactory.h" #include "fsfw/osal/rtems/FixedTimeslotTask.h" -#include "fsfw/osal/rtems/InitTask.h" #include "fsfw/osal/rtems/PeriodicTask.h" #include "fsfw/osal/rtems/RtemsBasic.h" #include "fsfw/returnvalues/HasReturnvaluesIF.h" @@ -9,29 +8,29 @@ // TODO: Different variant than the lazy loading in QueueFactory. What's better and why? TaskFactory* TaskFactory::factoryInstance = new TaskFactory(); -TaskFactory::~TaskFactory() {} +TaskFactory::TaskFactory() = default; + +TaskFactory::~TaskFactory() = default; TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; } PeriodicTaskIF* TaskFactory::createPeriodicTask( TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_, TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) { - rtems_interval taskPeriod = periodInSeconds_ * Clock::getTicksPerSecond(); - - return static_cast( - new PeriodicTask(name_, taskPriority_, stackSize_, taskPeriod, deadLineMissedFunction_)); + return static_cast(new PeriodicTask(name_, taskPriority_, stackSize_, + periodInSeconds_, deadLineMissedFunction_)); } FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask( TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_, TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) { - rtems_interval taskPeriod = periodInSeconds_ * Clock::getTicksPerSecond(); - return static_cast( - new FixedTimeslotTask(name_, taskPriority_, stackSize_, taskPeriod, deadLineMissedFunction_)); + return static_cast(new FixedTimeslotTask( + name_, taskPriority_, stackSize_, periodInSeconds_, deadLineMissedFunction_)); } ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) { - // TODO not implemented + // This should call the OS specific destructor + delete (dynamic_cast(task)); return HasReturnvaluesIF::RETURN_FAILED; } @@ -45,5 +44,3 @@ void TaskFactory::printMissedDeadline() { /* TODO: Implement */ return; } - -TaskFactory::TaskFactory() {}