Merge remote-tracking branch 'origin/development' into mueller/master

defaultcfg/fsfwconfig/FSFWConfig.h

@@ -52,11 +52,18 @@ static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
 
 //! Defines the FIFO depth of each commanding service base which
 //! also determines how many commands a CSB service can handle in one cycle
-//! simulataneously. This will increase the required RAM for
+//! simultaneously. This will increase the required RAM for
 //! each CSB service !
 static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
 
 static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124;
+
+//! Defines if the real time scheduler for linux should be used.
+//! If set to 0, this will also disable priority settings for linux
+//! as most systems will not allow to set nice values without privileges
+//! For embedded linux system set this to 1.
+//! If set to 1 the binary needs "cap_sys_nice=eip" privileges to run
+#define FSFW_USE_REALTIME_FOR_LINUX 1
 }
 
 #endif /* CONFIG_FSFWCONFIG_H_ */

health/HealthTable.cpp

@@ -81,11 +81,17 @@ void HealthTable::printAll(uint8_t* pointer, size_t maxSize) {
 	    return;
 	}
 	for (const auto& health: healthMap) {
-		SerializeAdapter::serialize(&health.first,
+		result = SerializeAdapter::serialize(&health.first,
 				&pointer, &size, maxSize, SerializeIF::Endianness::BIG);
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+		    return;
+		}
 		uint8_t healthValue = health.second;
-		SerializeAdapter::serialize(&healthValue, &pointer, &size,
+		result = SerializeAdapter::serialize(&healthValue, &pointer, &size,
 				maxSize, SerializeIF::Endianness::BIG);
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            return;
+        }
 	}
 }
 
@@ -96,7 +102,7 @@ ReturnValue_t HealthTable::iterate(HealthEntry *value, bool reset) {
 		mapIterator = healthMap.begin();
 	}
 	if (mapIterator == healthMap.end()) {
-		result = HasReturnvaluesIF::RETURN_FAILED;
+		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	*value = *mapIterator;
 	mapIterator++;

osal/host/FixedTimeslotTask.cpp

@@ -3,7 +3,7 @@
 #include "../../ipc/MutexFactory.h"
 #include "../../osal/host/Mutex.h"
 #include "../../osal/host/FixedTimeslotTask.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../serviceinterface/ServiceInterface.h"
 #include "../../tasks/ExecutableObjectIF.h"
 
 #include <thread>

osal/host/PeriodicTask.cpp

@@ -21,7 +21,7 @@ PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
 		void (*setDeadlineMissedFunc)()) :
 		started(false), taskName(name), period(setPeriod),
 		deadlineMissedFunc(setDeadlineMissedFunc) {
-    // It is propably possible to set task priorities by using the native
+    // It is probably possible to set task priorities by using the native
     // task handles for Windows / Linux
 	mainThread = std::thread(&PeriodicTask::taskEntryPoint, this, this);
 #if defined(_WIN32)

osal/linux/PosixThread.cpp

@@ -184,8 +184,11 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 					strerror(status) << std::endl;
 #endif
 	}
-
-	// TODO FIFO -> This needs root privileges for the process
+#ifndef FSFW_USE_REALTIME_FOR_LINUX
+#error "Please define FSFW_USE_REALTIME_FOR_LINUX with either 0 or 1"
+#endif
+#if FSFW_USE_REALTIME_FOR_LINUX == 1
+	// FIFO -> This needs root privileges for the process
 	status = pthread_attr_setschedpolicy(&attributes,SCHED_FIFO);
 	if(status != 0){
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -203,7 +206,7 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 				strerror(status) << std::endl;
 #endif
 	}
-
+#endif
 	//Set Signal Mask for suspend until startTask is called
 	sigset_t waitSignal;
 	sigemptyset(&waitSignal);