Merge remote-tracking branch 'upstream/master' into mueller/feature/TmTcUnixBridge

This commit is contained in:
Robin Müller 2020-08-28 17:08:54 +02:00
commit 6c0defed5e
42 changed files with 1581 additions and 175 deletions

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@ -10,7 +10,7 @@ class ActionMessage {
private: private:
ActionMessage(); ActionMessage();
public: public:
static const uint8_t MESSAGE_ID = MESSAGE_TYPE::ACTION; static const uint8_t MESSAGE_ID = messagetypes::ACTION;
static const Command_t EXECUTE_ACTION = MAKE_COMMAND_ID(1); static const Command_t EXECUTE_ACTION = MAKE_COMMAND_ID(1);
static const Command_t STEP_SUCCESS = MAKE_COMMAND_ID(2); static const Command_t STEP_SUCCESS = MAKE_COMMAND_ID(2);
static const Command_t STEP_FAILED = MAKE_COMMAND_ID(3); static const Command_t STEP_FAILED = MAKE_COMMAND_ID(3);

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@ -25,7 +25,7 @@ public:
/** /**
* These are the commands that can be sent to a DeviceHandlerBase * These are the commands that can be sent to a DeviceHandlerBase
*/ */
static const uint8_t MESSAGE_ID = MESSAGE_TYPE::DEVICE_HANDLER_COMMAND; static const uint8_t MESSAGE_ID = messagetypes::DEVICE_HANDLER_COMMAND;
static const Command_t CMD_RAW = MAKE_COMMAND_ID( 1 ); //!< Sends a raw command, setParameter is a ::store_id_t containing the raw packet to send static const Command_t CMD_RAW = MAKE_COMMAND_ID( 1 ); //!< Sends a raw command, setParameter is a ::store_id_t containing the raw packet to send
// static const Command_t CMD_DIRECT = MAKE_COMMAND_ID( 2 ); //!< Sends a direct command, setParameter is a ::DeviceCommandId_t, setParameter2 is a ::store_id_t containing the data needed for the command // static const Command_t CMD_DIRECT = MAKE_COMMAND_ID( 2 ); //!< Sends a direct command, setParameter is a ::DeviceCommandId_t, setParameter2 is a ::store_id_t containing the data needed for the command
static const Command_t CMD_SWITCH_IOBOARD = MAKE_COMMAND_ID( 3 ); //!< Requests a IO-Board switch, setParameter() is the IO-Board identifier static const Command_t CMD_SWITCH_IOBOARD = MAKE_COMMAND_ID( 3 ); //!< Requests a IO-Board switch, setParameter() is the IO-Board identifier

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@ -6,7 +6,7 @@
class HealthMessage { class HealthMessage {
public: public:
static const uint8_t MESSAGE_ID = MESSAGE_TYPE::HEALTH_COMMAND; static const uint8_t MESSAGE_ID = messagetypes::HEALTH_COMMAND;
static const Command_t HEALTH_SET = MAKE_COMMAND_ID(1);//REPLY_COMMAND_OK/REPLY_REJECTED static const Command_t HEALTH_SET = MAKE_COMMAND_ID(1);//REPLY_COMMAND_OK/REPLY_REJECTED
static const Command_t HEALTH_ANNOUNCE = MAKE_COMMAND_ID(3); //NO REPLY! static const Command_t HEALTH_ANNOUNCE = MAKE_COMMAND_ID(3); //NO REPLY!
static const Command_t HEALTH_INFO = MAKE_COMMAND_ID(5); static const Command_t HEALTH_INFO = MAKE_COMMAND_ID(5);

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@ -15,7 +15,7 @@
#include "../tmstorage/TmStoreMessage.h" #include "../tmstorage/TmStoreMessage.h"
#include "../parameters/ParameterMessage.h" #include "../parameters/ParameterMessage.h"
namespace MESSAGE_TYPE { namespace messagetypes {
void clearMissionMessage(CommandMessage* message); void clearMissionMessage(CommandMessage* message);
} }
@ -67,35 +67,35 @@ void CommandMessage::setParameter2(uint32_t parameter2) {
void CommandMessage::clearCommandMessage() { void CommandMessage::clearCommandMessage() {
switch((getCommand()>>8) & 0xff){ switch((getCommand()>>8) & 0xff){
case MESSAGE_TYPE::MODE_COMMAND: case messagetypes::MODE_COMMAND:
ModeMessage::clear(this); ModeMessage::clear(this);
break; break;
case MESSAGE_TYPE::HEALTH_COMMAND: case messagetypes::HEALTH_COMMAND:
HealthMessage::clear(this); HealthMessage::clear(this);
break; break;
case MESSAGE_TYPE::MODE_SEQUENCE: case messagetypes::MODE_SEQUENCE:
ModeSequenceMessage::clear(this); ModeSequenceMessage::clear(this);
break; break;
case MESSAGE_TYPE::ACTION: case messagetypes::ACTION:
ActionMessage::clear(this); ActionMessage::clear(this);
break; break;
case MESSAGE_TYPE::DEVICE_HANDLER_COMMAND: case messagetypes::DEVICE_HANDLER_COMMAND:
DeviceHandlerMessage::clear(this); DeviceHandlerMessage::clear(this);
break; break;
case MESSAGE_TYPE::MEMORY: case messagetypes::MEMORY:
MemoryMessage::clear(this); MemoryMessage::clear(this);
break; break;
case MESSAGE_TYPE::MONITORING: case messagetypes::MONITORING:
MonitoringMessage::clear(this); MonitoringMessage::clear(this);
break; break;
case MESSAGE_TYPE::TM_STORE: case messagetypes::TM_STORE:
TmStoreMessage::clear(this); TmStoreMessage::clear(this);
break; break;
case MESSAGE_TYPE::PARAMETER: case messagetypes::PARAMETER:
ParameterMessage::clear(this); ParameterMessage::clear(this);
break; break;
default: default:
MESSAGE_TYPE::clearMissionMessage(this); messagetypes::clearMissionMessage(this);
break; break;
} }
} }

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@ -23,7 +23,7 @@ public:
static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01); static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
static const uint8_t MESSAGE_ID = MESSAGE_TYPE::COMMAND; static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );//!< Used internally, will be ignored static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );//!< Used internally, will be ignored
static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 3 ); static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 3 );
static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 0xD1 );//!< Reply indicating that the current command was rejected, par1 should contain the error code static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 0xD1 );//!< Reply indicating that the current command was rejected, par1 should contain the error code

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@ -1,7 +1,7 @@
#ifndef FRAMEWORK_IPC_FWMESSAGETYPES_H_ #ifndef FRAMEWORK_IPC_FWMESSAGETYPES_H_
#define FRAMEWORK_IPC_FWMESSAGETYPES_H_ #define FRAMEWORK_IPC_FWMESSAGETYPES_H_
namespace MESSAGE_TYPE { namespace messagetypes {
//Remember to add new Message Types to the clearCommandMessage function! //Remember to add new Message Types to the clearCommandMessage function!
enum FW_MESSAGE_TYPE { enum FW_MESSAGE_TYPE {
COMMAND = 0, COMMAND = 0,

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@ -9,7 +9,7 @@ class MemoryMessage {
private: private:
MemoryMessage(); //A private ctor inhibits instantiation MemoryMessage(); //A private ctor inhibits instantiation
public: public:
static const uint8_t MESSAGE_ID = MESSAGE_TYPE::MEMORY; static const uint8_t MESSAGE_ID = messagetypes::MEMORY;
static const Command_t CMD_MEMORY_LOAD = MAKE_COMMAND_ID( 0x01 ); static const Command_t CMD_MEMORY_LOAD = MAKE_COMMAND_ID( 0x01 );
static const Command_t CMD_MEMORY_DUMP = MAKE_COMMAND_ID( 0x02 ); static const Command_t CMD_MEMORY_DUMP = MAKE_COMMAND_ID( 0x02 );
static const Command_t CMD_MEMORY_CHECK = MAKE_COMMAND_ID( 0x03 ); static const Command_t CMD_MEMORY_CHECK = MAKE_COMMAND_ID( 0x03 );

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@ -17,7 +17,7 @@ class ModeMessage {
private: private:
ModeMessage(); ModeMessage();
public: public:
static const uint8_t MESSAGE_ID = MESSAGE_TYPE::MODE_COMMAND; static const uint8_t MESSAGE_ID = messagetypes::MODE_COMMAND;
static const Command_t CMD_MODE_COMMAND = MAKE_COMMAND_ID(0x01);//!> Command to set the specified Mode, replies are: REPLY_MODE_REPLY, REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any replies, as this will break the subsystem mode machine!! static const Command_t CMD_MODE_COMMAND = MAKE_COMMAND_ID(0x01);//!> Command to set the specified Mode, replies are: REPLY_MODE_REPLY, REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any replies, as this will break the subsystem mode machine!!
static const Command_t CMD_MODE_COMMAND_FORCED = MAKE_COMMAND_ID(0xF1);//!> Command to set the specified Mode, regardless of external control flag, replies are: REPLY_MODE_REPLY, REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any replies, as this will break the subsystem mode machine!! static const Command_t CMD_MODE_COMMAND_FORCED = MAKE_COMMAND_ID(0xF1);//!> Command to set the specified Mode, regardless of external control flag, replies are: REPLY_MODE_REPLY, REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any replies, as this will break the subsystem mode machine!!
static const Command_t REPLY_MODE_REPLY = MAKE_COMMAND_ID(0x02);//!> Reply to a CMD_MODE_COMMAND or CMD_MODE_READ static const Command_t REPLY_MODE_REPLY = MAKE_COMMAND_ID(0x02);//!> Reply to a CMD_MODE_COMMAND or CMD_MODE_READ

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@ -6,7 +6,7 @@
class MonitoringMessage: public CommandMessage { class MonitoringMessage: public CommandMessage {
public: public:
static const uint8_t MESSAGE_ID = MESSAGE_TYPE::MONITORING; static const uint8_t MESSAGE_ID = messagetypes::MONITORING;
//Object id could be useful, but we better manage that on service level (register potential reporters). //Object id could be useful, but we better manage that on service level (register potential reporters).
static const Command_t LIMIT_VIOLATION_REPORT = MAKE_COMMAND_ID(10); static const Command_t LIMIT_VIOLATION_REPORT = MAKE_COMMAND_ID(10);
virtual ~MonitoringMessage(); virtual ~MonitoringMessage();

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@ -100,7 +100,6 @@ void ObjectManager::initialize() {
} }
void ObjectManager::printList() { void ObjectManager::printList() {
std::map<object_id_t, SystemObjectIF*>::iterator it;
sif::debug << "ObjectManager: Object List contains:" << std::endl; sif::debug << "ObjectManager: Object List contains:" << std::endl;
for (auto const& it : objectList) { for (auto const& it : objectList) {
sif::debug << std::hex << it.first << " | " << it.second << std::endl; sif::debug << std::hex << it.first << " | " << it.second << std::endl;

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@ -0,0 +1,95 @@
#include "../../osal/FreeRTOS/BinSemaphUsingTask.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
handle = TaskManagement::getCurrentTaskHandle();
if(handle == nullptr) {
sif::error << "Could not retrieve task handle. Please ensure the"
"constructor was called inside a task." << std::endl;
}
xTaskNotifyGive(handle);
}
BinarySemaphoreUsingTask::~BinarySemaphoreUsingTask() {
// Clear notification value on destruction.
xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
}
ReturnValue_t BinarySemaphoreUsingTask::acquire(TimeoutType timeoutType,
uint32_t timeoutMs) {
TickType_t timeout = 0;
if(timeoutType == TimeoutType::POLLING) {
timeout = 0;
}
else if(timeoutType == TimeoutType::WAITING){
timeout = pdMS_TO_TICKS(timeoutMs);
}
else {
timeout = portMAX_DELAY;
}
return acquireWithTickTimeout(timeoutType, timeout);
}
ReturnValue_t BinarySemaphoreUsingTask::acquireWithTickTimeout(
TimeoutType timeoutType, TickType_t timeoutTicks) {
BaseType_t returncode = ulTaskNotifyTake(pdTRUE, timeoutTicks);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
return SemaphoreIF::SEMAPHORE_TIMEOUT;
}
}
ReturnValue_t BinarySemaphoreUsingTask::release() {
return release(this->handle);
}
ReturnValue_t BinarySemaphoreUsingTask::release(
TaskHandle_t taskHandle) {
if(getSemaphoreCounter(taskHandle) == 1) {
return SemaphoreIF::SEMAPHORE_NOT_OWNED;
}
BaseType_t returncode = xTaskNotifyGive(taskHandle);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
// This should never happen.
return HasReturnvaluesIF::RETURN_FAILED;
}
}
TaskHandle_t BinarySemaphoreUsingTask::getTaskHandle() {
return handle;
}
uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter() const {
return getSemaphoreCounter(this->handle);
}
uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter(
TaskHandle_t taskHandle) {
uint32_t notificationValue;
xTaskNotifyAndQuery(taskHandle, 0, eNoAction, &notificationValue);
return notificationValue;
}
// Be careful with the stack size here. This is called from an ISR!
ReturnValue_t BinarySemaphoreUsingTask::releaseFromISR(
TaskHandle_t taskHandle, BaseType_t * higherPriorityTaskWoken) {
if(getSemaphoreCounterFromISR(taskHandle, higherPriorityTaskWoken) == 1) {
return SemaphoreIF::SEMAPHORE_NOT_OWNED;
}
vTaskNotifyGiveFromISR(taskHandle, higherPriorityTaskWoken);
return HasReturnvaluesIF::RETURN_OK;
}
uint8_t BinarySemaphoreUsingTask::getSemaphoreCounterFromISR(
TaskHandle_t taskHandle, BaseType_t* higherPriorityTaskWoken) {
uint32_t notificationValue = 0;
xTaskNotifyAndQueryFromISR(taskHandle, 0, eNoAction, &notificationValue,
higherPriorityTaskWoken);
return notificationValue;
}

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@ -0,0 +1,76 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
#include "../../returnvalues/HasReturnvaluesIF.h"
#include "../../tasks/SemaphoreIF.h"
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
/**
* @brief Binary Semaphore implementation using the task notification value.
* The notification value should therefore not be used
* for other purposes.
* @details
* Additional information: https://www.freertos.org/RTOS-task-notifications.html
* and general semaphore documentation.
*/
class BinarySemaphoreUsingTask: public SemaphoreIF,
public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
//! @brief Default ctor
BinarySemaphoreUsingTask();
//! @brief Default dtor
virtual~ BinarySemaphoreUsingTask();
ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
uint32_t timeoutMs = portMAX_DELAY) override;
ReturnValue_t release() override;
uint8_t getSemaphoreCounter() const override;
static uint8_t getSemaphoreCounter(TaskHandle_t taskHandle);
static uint8_t getSemaphoreCounterFromISR(TaskHandle_t taskHandle,
BaseType_t* higherPriorityTaskWoken);
/**
* Same as acquire() with timeout in FreeRTOS ticks.
* @param timeoutTicks
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED on failure
*/
ReturnValue_t acquireWithTickTimeout(
TimeoutType timeoutType = TimeoutType::BLOCKING,
TickType_t timeoutTicks = portMAX_DELAY);
/**
* Get handle to the task related to the semaphore.
* @return
*/
TaskHandle_t getTaskHandle();
/**
* Wrapper function to give back semaphore from handle
* @param semaphore
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED on failure
*/
static ReturnValue_t release(TaskHandle_t taskToNotify);
/**
* Wrapper function to give back semaphore from handle when called from an ISR
* @param semaphore
* @param higherPriorityTaskWoken This will be set to pdPASS if a task with
* a higher priority was unblocked. A context switch should be requested
* from an ISR if this is the case (see TaskManagement functions)
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED on failure
*/
static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
BaseType_t * higherPriorityTaskWoken);
protected:
TaskHandle_t handle;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */

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@ -0,0 +1,108 @@
#include "../../osal/FreeRTOS/BinarySemaphore.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
BinarySemaphore::BinarySemaphore() {
handle = xSemaphoreCreateBinary();
if(handle == nullptr) {
sif::error << "Semaphore: Binary semaph creation failure" << std::endl;
}
// Initiated semaphore must be given before it can be taken.
xSemaphoreGive(handle);
}
BinarySemaphore::~BinarySemaphore() {
vSemaphoreDelete(handle);
}
BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) {
handle = xSemaphoreCreateBinary();
if(handle == nullptr) {
sif::error << "Binary semaphore creation failure" << std::endl;
}
xSemaphoreGive(handle);
}
BinarySemaphore& BinarySemaphore::operator =(
BinarySemaphore&& s) {
if(&s != this) {
handle = xSemaphoreCreateBinary();
if(handle == nullptr) {
sif::error << "Binary semaphore creation failure" << std::endl;
}
xSemaphoreGive(handle);
}
return *this;
}
ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType,
uint32_t timeoutMs) {
TickType_t timeout = 0;
if(timeoutType == TimeoutType::POLLING) {
timeout = 0;
}
else if(timeoutType == TimeoutType::WAITING){
timeout = pdMS_TO_TICKS(timeoutMs);
}
else {
timeout = portMAX_DELAY;
}
return acquireWithTickTimeout(timeoutType, timeout);
}
ReturnValue_t BinarySemaphore::acquireWithTickTimeout(TimeoutType timeoutType,
TickType_t timeoutTicks) {
if(handle == nullptr) {
return SemaphoreIF::SEMAPHORE_INVALID;
}
BaseType_t returncode = xSemaphoreTake(handle, timeoutTicks);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
return SemaphoreIF::SEMAPHORE_TIMEOUT;
}
}
ReturnValue_t BinarySemaphore::release() {
return release(handle);
}
ReturnValue_t BinarySemaphore::release(SemaphoreHandle_t semaphore) {
if (semaphore == nullptr) {
return SemaphoreIF::SEMAPHORE_INVALID;
}
BaseType_t returncode = xSemaphoreGive(semaphore);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
return SemaphoreIF::SEMAPHORE_NOT_OWNED;
}
}
uint8_t BinarySemaphore::getSemaphoreCounter() const {
return uxSemaphoreGetCount(handle);
}
SemaphoreHandle_t BinarySemaphore::getSemaphore() {
return handle;
}
// Be careful with the stack size here. This is called from an ISR!
ReturnValue_t BinarySemaphore::releaseFromISR(
SemaphoreHandle_t semaphore, BaseType_t * higherPriorityTaskWoken) {
if (semaphore == nullptr) {
return SemaphoreIF::SEMAPHORE_INVALID;
}
BaseType_t returncode = xSemaphoreGiveFromISR(semaphore,
higherPriorityTaskWoken);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
return SemaphoreIF::SEMAPHORE_NOT_OWNED;
}
}

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@ -0,0 +1,107 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
#define FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
#include "../../returnvalues/HasReturnvaluesIF.h"
#include "../../tasks/SemaphoreIF.h"
#include <freertos/FreeRTOS.h>
#include <freertos/semphr.h>
/**
* @brief OS Tool to achieve synchronization of between tasks or between
* task and ISR. The default semaphore implementation creates a
* binary semaphore, which can only be taken once.
* @details
* Documentation: https://www.freertos.org/Embedded-RTOS-Binary-Semaphores.html
*
* Please note that if the semaphore implementation is only related to
* the synchronization of one task, the new task notifications can be used,
* also see the BinSemaphUsingTask and CountingSemaphUsingTask classes.
* These use the task notification value instead of a queue and are
* faster and more efficient.
*
* @author R. Mueller
* @ingroup osal
*/
class BinarySemaphore: public SemaphoreIF,
public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
//! @brief Default ctor
BinarySemaphore();
//! @brief Copy ctor, deleted explicitely.
BinarySemaphore(const BinarySemaphore&) = delete;
//! @brief Copy assignment, deleted explicitely.
BinarySemaphore& operator=(const BinarySemaphore&) = delete;
//! @brief Move ctor
BinarySemaphore (BinarySemaphore &&);
//! @brief Move assignment
BinarySemaphore & operator=(BinarySemaphore &&);
//! @brief Destructor
virtual ~BinarySemaphore();
uint8_t getSemaphoreCounter() const override;
/**
* Take the binary semaphore.
* If the semaphore has already been taken, the task will be blocked
* for a maximum of #timeoutMs or until the semaphore is given back,
* for example by an ISR or another task.
* @param timeoutMs
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
*/
ReturnValue_t acquire(TimeoutType timeoutType =
TimeoutType::BLOCKING, uint32_t timeoutMs = portMAX_DELAY) override;
/**
* Same as lockBinarySemaphore() with timeout in FreeRTOS ticks.
* @param timeoutTicks
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
*/
ReturnValue_t acquireWithTickTimeout(TimeoutType timeoutType =
TimeoutType::BLOCKING, TickType_t timeoutTicks = portMAX_DELAY);
/**
* Release the binary semaphore.
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
* already available.
*/
ReturnValue_t release() override;
/**
* Get Handle to the semaphore.
* @return
*/
SemaphoreHandle_t getSemaphore();
/**
* Wrapper function to give back semaphore from handle
* @param semaphore
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
* already available.
*/
static ReturnValue_t release(SemaphoreHandle_t semaphore);
/**
* Wrapper function to give back semaphore from handle when called from an ISR
* @param semaphore
* @param higherPriorityTaskWoken This will be set to pdPASS if a task with
* a higher priority was unblocked. A context switch from an ISR should
* then be requested (see TaskManagement functions)
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
* already available.
*/
static ReturnValue_t releaseFromISR(SemaphoreHandle_t semaphore,
BaseType_t * higherPriorityTaskWoken);
protected:
SemaphoreHandle_t handle;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */

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@ -0,0 +1,114 @@
#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(const uint8_t maxCount,
uint8_t initCount): maxCount(maxCount) {
if(initCount > maxCount) {
sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
"intial cout. Setting initial count to max count." << std::endl;
initCount = maxCount;
}
handle = TaskManagement::getCurrentTaskHandle();
if(handle == nullptr) {
sif::error << "CountingSemaphoreUsingTask: Could not retrieve task "
"handle. Please ensure the constructor was called inside a "
"task." << std::endl;
}
uint32_t oldNotificationValue;
xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite,
&oldNotificationValue);
if(oldNotificationValue != 0) {
sif::warning << "CountinSemaphoreUsingTask: Semaphore initiated but "
"current notification value is not 0. Please ensure the "
"notification value is not used for other purposes!" << std::endl;
}
for(int i = 0; i < initCount; i++) {
xTaskNotifyGive(handle);
}
}
CountingSemaphoreUsingTask::~CountingSemaphoreUsingTask() {
// Clear notification value on destruction.
// If this is not desired, don't call the destructor
// (or implement a boolean which disables the reset)
xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
}
ReturnValue_t CountingSemaphoreUsingTask::acquire(TimeoutType timeoutType,
uint32_t timeoutMs) {
TickType_t timeout = 0;
if(timeoutType == TimeoutType::POLLING) {
timeout = 0;
}
else if(timeoutType == TimeoutType::WAITING){
timeout = pdMS_TO_TICKS(timeoutMs);
}
else {
timeout = portMAX_DELAY;
}
return acquireWithTickTimeout(timeoutType, timeout);
}
ReturnValue_t CountingSemaphoreUsingTask::acquireWithTickTimeout(
TimeoutType timeoutType, TickType_t timeoutTicks) {
// Decrement notfication value without resetting it.
BaseType_t oldCount = ulTaskNotifyTake(pdFALSE, timeoutTicks);
if (getSemaphoreCounter() == oldCount - 1) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
return SemaphoreIF::SEMAPHORE_TIMEOUT;
}
}
ReturnValue_t CountingSemaphoreUsingTask::release() {
if(getSemaphoreCounter() == maxCount) {
return SemaphoreIF::SEMAPHORE_NOT_OWNED;
}
return release(handle);
}
ReturnValue_t CountingSemaphoreUsingTask::release(
TaskHandle_t taskToNotify) {
BaseType_t returncode = xTaskNotifyGive(taskToNotify);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
// This should never happen.
return HasReturnvaluesIF::RETURN_FAILED;
}
}
uint8_t CountingSemaphoreUsingTask::getSemaphoreCounter() const {
uint32_t notificationValue = 0;
xTaskNotifyAndQuery(handle, 0, eNoAction, &notificationValue);
return notificationValue;
}
TaskHandle_t CountingSemaphoreUsingTask::getTaskHandle() {
return handle;
}
ReturnValue_t CountingSemaphoreUsingTask::releaseFromISR(
TaskHandle_t taskToNotify, BaseType_t* higherPriorityTaskWoken) {
vTaskNotifyGiveFromISR(taskToNotify, higherPriorityTaskWoken);
return HasReturnvaluesIF::RETURN_OK;
}
uint8_t CountingSemaphoreUsingTask::getSemaphoreCounterFromISR(
TaskHandle_t task, BaseType_t* higherPriorityTaskWoken) {
uint32_t notificationValue;
xTaskNotifyAndQueryFromISR(task, 0, eNoAction, &notificationValue,
higherPriorityTaskWoken);
return notificationValue;
}
uint8_t CountingSemaphoreUsingTask::getMaxCount() const {
return maxCount;
}

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@ -0,0 +1,102 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
#include "../../tasks/SemaphoreIF.h"
extern "C" {
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
}
/**
* @brief Couting Semaphore implementation which uses the notification value
* of the task. The notification value should therefore not be used
* for other purposes.
* @details
* Additional information: https://www.freertos.org/RTOS-task-notifications.html
* and general semaphore documentation.
*/
class CountingSemaphoreUsingTask: public SemaphoreIF {
public:
CountingSemaphoreUsingTask(const uint8_t maxCount, uint8_t initCount);
virtual ~CountingSemaphoreUsingTask();
/**
* Acquire the counting semaphore.
* If no semaphores are available, the task will be blocked
* for a maximum of #timeoutMs or until one is given back,
* for example by an ISR or another task.
* @param timeoutMs
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
*/
ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
uint32_t timeoutMs = portMAX_DELAY) override;
/**
* Release a semaphore, increasing the number of available counting
* semaphores up to the #maxCount value.
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
* already available.
*/
ReturnValue_t release() override;
uint8_t getSemaphoreCounter() const override;
/**
* Get the semaphore counter from an ISR.
* @param task
* @param higherPriorityTaskWoken This will be set to pdPASS if a task with
* a higher priority was unblocked. A context switch should be requested
* from an ISR if this is the case (see TaskManagement functions)
* @return
*/
static uint8_t getSemaphoreCounterFromISR(TaskHandle_t task,
BaseType_t* higherPriorityTaskWoken);
/**
* Acquire with a timeout value in ticks
* @param timeoutTicks
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
*/
ReturnValue_t acquireWithTickTimeout(
TimeoutType timeoutType = TimeoutType::BLOCKING,
TickType_t timeoutTicks = portMAX_DELAY);
/**
* Get handle to the task related to the semaphore.
* @return
*/
TaskHandle_t getTaskHandle();
/**
* Release semaphore of task by supplying task handle
* @param taskToNotify
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
* already available.
*/
static ReturnValue_t release(TaskHandle_t taskToNotify);
/**
* Release seamphore of a task from an ISR.
* @param taskToNotify
* @param higherPriorityTaskWoken This will be set to pdPASS if a task with
* a higher priority was unblocked. A context switch should be requested
* from an ISR if this is the case (see TaskManagement functions)
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
* already available.
*/
static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
BaseType_t* higherPriorityTaskWoken);
uint8_t getMaxCount() const;
private:
TaskHandle_t handle;
const uint8_t maxCount;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */

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@ -0,0 +1,43 @@
#include "../../osal/FreeRTOS/CountingSemaphore.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include <freertos/semphr.h>
// Make sure #define configUSE_COUNTING_SEMAPHORES 1 is set in
// free FreeRTOSConfig.h file.
CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount):
maxCount(maxCount), initCount(initCount) {
if(initCount > maxCount) {
sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
"intial cout. Setting initial count to max count." << std::endl;
initCount = maxCount;
}
handle = xSemaphoreCreateCounting(maxCount, initCount);
if(handle == nullptr) {
sif::error << "CountingSemaphore: Creation failure" << std::endl;
}
}
CountingSemaphore::CountingSemaphore(CountingSemaphore&& other):
maxCount(other.maxCount), initCount(other.initCount) {
handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
if(handle == nullptr) {
sif::error << "CountingSemaphore: Creation failure" << std::endl;
}
}
CountingSemaphore& CountingSemaphore::operator =(
CountingSemaphore&& other) {
handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
if(handle == nullptr) {
sif::error << "CountingSemaphore: Creation failure" << std::endl;
}
return * this;
}
uint8_t CountingSemaphore::getMaxCount() const {
return maxCount;
}

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@ -0,0 +1,34 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
#include "../../osal/FreeRTOS/BinarySemaphore.h"
/**
* @brief Counting semaphores, which can be acquire more than once.
* @details
* See: https://www.freertos.org/CreateCounting.html
* API of counting semaphores is almost identical to binary semaphores,
* so we just inherit from binary semaphore and provide the respective
* constructors.
*/
class CountingSemaphore: public BinarySemaphore {
public:
CountingSemaphore(const uint8_t maxCount, uint8_t initCount);
//! @brief Copy ctor, disabled
CountingSemaphore(const CountingSemaphore&) = delete;
//! @brief Copy assignment, disabled
CountingSemaphore& operator=(const CountingSemaphore&) = delete;
//! @brief Move ctor
CountingSemaphore (CountingSemaphore &&);
//! @brief Move assignment
CountingSemaphore & operator=(CountingSemaphore &&);
/* Same API as binary semaphore otherwise. acquire() can be called
* until there are not semaphores left and release() can be called
* until maxCount is reached. */
uint8_t getMaxCount() const;
private:
const uint8_t maxCount;
uint8_t initCount = 0;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_ */

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@ -5,11 +5,12 @@
uint32_t FixedTimeslotTask::deadlineMissedCount = 0; uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE; const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
FixedTimeslotTask::FixedTimeslotTask(const char *name, TaskPriority setPriority, FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority,
TaskStackSize setStack, TaskPeriod overallPeriod, TaskStackSize setStack, TaskPeriod overallPeriod,
void (*setDeadlineMissedFunc)()) : void (*setDeadlineMissedFunc)()) :
started(false), handle(NULL), pst(overallPeriod * 1000) { started(false), handle(NULL), pst(overallPeriod * 1000) {
xTaskCreate(taskEntryPoint, name, setStack, this, setPriority, &handle); configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
// All additional attributes are applied to the object. // All additional attributes are applied to the object.
this->deadlineMissedFunc = setDeadlineMissedFunc; this->deadlineMissedFunc = setDeadlineMissedFunc;
} }
@ -82,7 +83,7 @@ ReturnValue_t FixedTimeslotTask::checkSequence() const {
void FixedTimeslotTask::taskFunctionality() { void FixedTimeslotTask::taskFunctionality() {
// A local iterator for the Polling Sequence Table is created to find the // A local iterator for the Polling Sequence Table is created to find the
// start time for the first entry. // start time for the first entry.
FixedSlotSequence::SlotListIter slotListIter = pst.current; auto slotListIter = pst.current;
//The start time for the first entry is read. //The start time for the first entry is read.
uint32_t intervalMs = slotListIter->pollingTimeMs; uint32_t intervalMs = slotListIter->pollingTimeMs;
@ -155,3 +156,7 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
vTaskDelay(pdMS_TO_TICKS(ms)); vTaskDelay(pdMS_TO_TICKS(ms));
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
TaskHandle_t FixedTimeslotTask::getTaskHandle() {
return handle;
}

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@ -1,14 +1,16 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ #ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ #define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
#include "FreeRTOSTaskIF.h"
#include "../../devicehandlers/FixedSlotSequence.h" #include "../../devicehandlers/FixedSlotSequence.h"
#include "../../tasks/FixedTimeslotTaskIF.h" #include "../../tasks/FixedTimeslotTaskIF.h"
#include "../../tasks/Typedef.h" #include "../../tasks/Typedef.h"
#include <freertos/FreeRTOS.h> #include <freertos/FreeRTOS.h>
#include <freertos/task.h> #include <freertos/task.h>
class FixedTimeslotTask: public FixedTimeslotTaskIF { class FixedTimeslotTask: public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
public: public:
/** /**
@ -23,7 +25,7 @@ public:
* @param setDeadlineMissedFunc Callback if a deadline was missed. * @param setDeadlineMissedFunc Callback if a deadline was missed.
* @return Pointer to the newly created task. * @return Pointer to the newly created task.
*/ */
FixedTimeslotTask(const char *name, TaskPriority setPriority, FixedTimeslotTask(TaskName name, TaskPriority setPriority,
TaskStackSize setStack, TaskPeriod overallPeriod, TaskStackSize setStack, TaskPeriod overallPeriod,
void (*setDeadlineMissedFunc)()); void (*setDeadlineMissedFunc)());
@ -57,6 +59,8 @@ public:
ReturnValue_t sleepFor(uint32_t ms) override; ReturnValue_t sleepFor(uint32_t ms) override;
TaskHandle_t getTaskHandle() override;
protected: protected:
bool started; bool started;
TaskHandle_t handle; TaskHandle_t handle;

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@ -0,0 +1,13 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_
#define FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
class FreeRTOSTaskIF {
public:
virtual~ FreeRTOSTaskIF() {}
virtual TaskHandle_t getTaskHandle() = 0;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_ */

View File

@ -1,4 +1,4 @@
#include <framework/osal/FreeRTOS/Mutex.h> #include "Mutex.h"
#include "../../serviceinterface/ServiceInterfaceStream.h" #include "../../serviceinterface/ServiceInterfaceStream.h"

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@ -5,12 +5,13 @@
PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority, PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
TaskStackSize setStack, TaskPeriod setPeriod, TaskStackSize setStack, TaskPeriod setPeriod,
void (*setDeadlineMissedFunc)()) : TaskDeadlineMissedFunction deadlineMissedFunc) :
started(false), handle(NULL), period(setPeriod), deadlineMissedFunc( started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(
setDeadlineMissedFunc) deadlineMissedFunc)
{ {
configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
BaseType_t status = xTaskCreate(taskEntryPoint, name, BaseType_t status = xTaskCreate(taskEntryPoint, name,
setStack, this, setPriority, &handle); stackSize, this, setPriority, &handle);
if(status != pdPASS){ if(status != pdPASS){
sif::debug << "PeriodicTask Insufficient heap memory remaining. " sif::debug << "PeriodicTask Insufficient heap memory remaining. "
"Status: " << status << std::endl; "Status: " << status << std::endl;
@ -86,12 +87,12 @@ ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
object); object);
if (newObject == nullptr) { if (newObject == nullptr) {
sif::error << "PeriodicTask::addComponent: Invalid object. Make sure" sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
"it implements ExecutableObjectIF!" << std::endl; "it implement ExecutableObjectIF" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
objectList.push_back(newObject); objectList.push_back(newObject);
newObject->setTaskIF(this); newObject->setTaskIF(this);
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
@ -122,6 +123,10 @@ void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
} }
} }
TaskHandle_t PeriodicTask::getTaskHandle() {
return handle;
}
void PeriodicTask::handleMissedDeadline() { void PeriodicTask::handleMissedDeadline() {
#ifdef DEBUG #ifdef DEBUG
sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) << sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<

View File

@ -4,6 +4,8 @@
#include "../../objectmanager/ObjectManagerIF.h" #include "../../objectmanager/ObjectManagerIF.h"
#include "../../tasks/PeriodicTaskIF.h" #include "../../tasks/PeriodicTaskIF.h"
#include "../../tasks/Typedef.h" #include "../../tasks/Typedef.h"
#include "FreeRTOSTaskIF.h"
#include <freertos/FreeRTOS.h> #include <freertos/FreeRTOS.h>
#include <freertos/task.h> #include <freertos/task.h>
@ -17,7 +19,7 @@ class ExecutableObjectIF;
* periodic activities of multiple objects. * periodic activities of multiple objects.
* @ingroup task_handling * @ingroup task_handling
*/ */
class PeriodicTask: public PeriodicTaskIF { class PeriodicTask: public PeriodicTaskIF, public FreeRTOSTaskIF {
public: public:
/** /**
* Keep in Mind that you need to call before this vTaskStartScheduler()! * Keep in Mind that you need to call before this vTaskStartScheduler()!
@ -38,9 +40,9 @@ public:
* The function pointer to the deadline missed function that shall * The function pointer to the deadline missed function that shall
* be assigned. * be assigned.
*/ */
PeriodicTask(const char *name, TaskPriority setPriority, PeriodicTask(TaskName name, TaskPriority setPriority,
TaskStackSize setStack, TaskPeriod setPeriod, TaskStackSize setStack, TaskPeriod setPeriod,
void (*setDeadlineMissedFunc)()); TaskDeadlineMissedFunction deadlineMissedFunc);
/** /**
* @brief Currently, the executed object's lifetime is not coupled with * @brief Currently, the executed object's lifetime is not coupled with
* the task object's lifetime, so the destructor is empty. * the task object's lifetime, so the destructor is empty.
@ -68,6 +70,8 @@ public:
uint32_t getPeriodMs() const override; uint32_t getPeriodMs() const override;
ReturnValue_t sleepFor(uint32_t ms) override; ReturnValue_t sleepFor(uint32_t ms) override;
TaskHandle_t getTaskHandle() override;
protected: protected:
bool started; bool started;
TaskHandle_t handle; TaskHandle_t handle;

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@ -0,0 +1,59 @@
#include "../../osal/FreeRTOS/BinarySemaphore.h"
#include "../../osal/FreeRTOS/BinSemaphUsingTask.h"
#include "../../osal/FreeRTOS/CountingSemaphore.h"
#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
#include "../../tasks/SemaphoreFactory.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
static const uint32_t USE_REGULAR_SEMAPHORES = 0;
static const uint32_t USE_TASK_NOTIFICATIONS = 1;
SemaphoreFactory::SemaphoreFactory() {
}
SemaphoreFactory::~SemaphoreFactory() {
delete factoryInstance;
}
SemaphoreFactory* SemaphoreFactory::instance() {
if (factoryInstance == nullptr){
factoryInstance = new SemaphoreFactory();
}
return SemaphoreFactory::factoryInstance;
}
SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t argument) {
if(argument == USE_REGULAR_SEMAPHORES) {
return new BinarySemaphore();
}
else if(argument == USE_TASK_NOTIFICATIONS) {
return new BinarySemaphoreUsingTask();
}
else {
sif::warning << "SemaphoreFactory: Invalid argument, return regular"
"binary semaphore" << std::endl;
return new BinarySemaphore();
}
}
SemaphoreIF* SemaphoreFactory::createCountingSemaphore(uint8_t maxCount,
uint8_t initCount, uint32_t argument) {
if(argument == USE_REGULAR_SEMAPHORES) {
return new CountingSemaphore(maxCount, initCount);
}
else if(argument == USE_TASK_NOTIFICATIONS) {
return new CountingSemaphoreUsingTask(maxCount, initCount);
}
else {
sif::warning << "SemaphoreFactory: Invalid argument, return regular"
"binary semaphore" << std::endl;
return new CountingSemaphore(maxCount, initCount);
}
}
void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
delete semaphore;
}

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@ -0,0 +1,24 @@
#include "../../osal/FreeRTOS/TaskManagement.h"
void TaskManagement::vRequestContextSwitchFromTask() {
vTaskDelay(0);
}
void TaskManagement::requestContextSwitch(
CallContext callContext = CallContext::TASK) {
if(callContext == CallContext::ISR) {
// This function depends on the partmacro.h definition for the specific device
vRequestContextSwitchFromISR();
} else {
vRequestContextSwitchFromTask();
}
}
TaskHandle_t TaskManagement::getCurrentTaskHandle() {
return xTaskGetCurrentTaskHandle();
}
size_t TaskManagement::getTaskStackHighWatermark(
TaskHandle_t task) {
return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
}

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@ -0,0 +1,64 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
#define FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
#include "../../returnvalues/HasReturnvaluesIF.h"
extern "C" {
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
}
#include <cstdint>
/**
* Architecture dependant portmacro.h function call.
* Should be implemented in bsp.
*/
extern void vRequestContextSwitchFromISR();
/*!
* Used by functions to tell if they are being called from
* within an ISR or from a regular task. This is required because FreeRTOS
* has different functions for handling semaphores and messages from within
* an ISR and task.
*/
enum class CallContext {
TASK = 0x00,//!< task_context
ISR = 0xFF //!< isr_context
};
class TaskManagement {
public:
/**
* @brief In this function, a function dependant on the portmacro.h header
* function calls to request a context switch can be specified.
* This can be used if sending to the queue from an ISR caused a task
* to unblock and a context switch is required.
*/
static void requestContextSwitch(CallContext callContext);
/**
* If task preemption in FreeRTOS is disabled, a context switch
* can be requested manually by calling this function.
*/
static void vRequestContextSwitchFromTask(void);
/**
* @return The current task handle
*/
static TaskHandle_t getCurrentTaskHandle();
/**
* Get returns the minimum amount of remaining stack space in words
* that was a available to the task since the task started executing.
* Please note that the actual value in bytes depends
* on the stack depth type.
* E.g. on a 32 bit machine, a value of 200 means 800 bytes.
* @return Smallest value of stack remaining since the task was started in
* words.
*/
static size_t getTaskStackHighWatermark(
TaskHandle_t task = nullptr);
};
#endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */

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@ -0,0 +1,149 @@
#include "../../osal/linux/BinarySemaphore.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
extern "C" {
#include <errno.h>
#include <string.h>
}
BinarySemaphore::BinarySemaphore() {
// Using unnamed semaphores for now
initSemaphore();
}
BinarySemaphore::~BinarySemaphore() {
sem_destroy(&handle);
}
BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) {
initSemaphore();
}
BinarySemaphore& BinarySemaphore::operator =(
BinarySemaphore&& s) {
initSemaphore();
return * this;
}
ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType,
uint32_t timeoutMs) {
int result = 0;
if(timeoutType == TimeoutType::POLLING) {
result = sem_trywait(&handle);
}
else if(timeoutType == TimeoutType::BLOCKING) {
result = sem_wait(&handle);
}
else if(timeoutType == TimeoutType::WAITING){
timespec timeOut;
clock_gettime(CLOCK_REALTIME, &timeOut);
uint64_t nseconds = timeOut.tv_sec * 1000000000 + timeOut.tv_nsec;
nseconds += timeoutMs * 1000000;
timeOut.tv_sec = nseconds / 1000000000;
timeOut.tv_nsec = nseconds - timeOut.tv_sec * 1000000000;
result = sem_timedwait(&handle, &timeOut);
if(result != 0 and errno == EINVAL) {
sif::debug << "BinarySemaphore::acquire: Invalid time value possible"
<< std::endl;
}
}
if(result == 0) {
return HasReturnvaluesIF::RETURN_OK;
}
switch(errno) {
case(EAGAIN):
// Operation could not be performed without blocking (for sem_trywait)
case(ETIMEDOUT):
// Semaphore is 0
return SemaphoreIF::SEMAPHORE_TIMEOUT;
case(EINVAL):
// Semaphore invalid
return SemaphoreIF::SEMAPHORE_INVALID;
case(EINTR):
// Call was interrupted by signal handler
sif::debug << "BinarySemaphore::acquire: Signal handler interrupted."
"Code " << strerror(errno) << std::endl;
/* No break */
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
}
ReturnValue_t BinarySemaphore::release() {
return BinarySemaphore::release(&this->handle);
}
ReturnValue_t BinarySemaphore::release(sem_t *handle) {
ReturnValue_t countResult = checkCount(handle, 1);
if(countResult != HasReturnvaluesIF::RETURN_OK) {
return countResult;
}
int result = sem_post(handle);
if(result == 0) {
return HasReturnvaluesIF::RETURN_OK;
}
switch(errno) {
case(EINVAL):
// Semaphore invalid
return SemaphoreIF::SEMAPHORE_INVALID;
case(EOVERFLOW):
// SEM_MAX_VALUE overflow. This should never happen
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
}
uint8_t BinarySemaphore::getSemaphoreCounter() const {
// And another ugly cast :-D
return getSemaphoreCounter(const_cast<sem_t*>(&this->handle));
}
uint8_t BinarySemaphore::getSemaphoreCounter(sem_t *handle) {
int value = 0;
int result = sem_getvalue(handle, &value);
if (result == 0) {
return value;
}
else if(result != 0 and errno == EINVAL) {
// Could be called from interrupt, use lightweight printf
printf("BinarySemaphore::getSemaphoreCounter: Invalid semaphore\n");
return 0;
}
else {
// This should never happen.
return 0;
}
}
void BinarySemaphore::initSemaphore(uint8_t initCount) {
auto result = sem_init(&handle, true, initCount);
if(result == -1) {
switch(errno) {
case(EINVAL):
// Value exceeds SEM_VALUE_MAX
case(ENOSYS):
// System does not support process-shared semaphores
sif::error << "BinarySemaphore: Init failed with" << strerror(errno)
<< std::endl;
}
}
}
ReturnValue_t BinarySemaphore::checkCount(sem_t* handle, uint8_t maxCount) {
int value = getSemaphoreCounter(handle);
if(value >= maxCount) {
if(maxCount == 1 and value > 1) {
// Binary Semaphore special case.
// This is a config error use lightweight printf is this is called
// from an interrupt
printf("BinarySemaphore::release: Value of binary semaphore greater"
" than 1!\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
return SemaphoreIF::SEMAPHORE_NOT_OWNED;
}
return HasReturnvaluesIF::RETURN_OK;
}

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@ -0,0 +1,81 @@
#ifndef FRAMEWORK_OSAL_LINUX_BINARYSEMPAHORE_H_
#define FRAMEWORK_OSAL_LINUX_BINARYSEMPAHORE_H_
#include "../../returnvalues/HasReturnvaluesIF.h"
#include "../../tasks/SemaphoreIF.h"
extern "C" {
#include <semaphore.h>
}
/**
* @brief OS Tool to achieve synchronization of between tasks or between
* task and ISR. The default semaphore implementation creates a
* binary semaphore, which can only be taken once.
* @details
* See: http://www.man7.org/linux/man-pages/man7/sem_overview.7.html
* @author R. Mueller
* @ingroup osal
*/
class BinarySemaphore: public SemaphoreIF,
public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
//! @brief Default ctor
BinarySemaphore();
//! @brief Copy ctor, deleted explicitely.
BinarySemaphore(const BinarySemaphore&) = delete;
//! @brief Copy assignment, deleted explicitely.
BinarySemaphore& operator=(const BinarySemaphore&) = delete;
//! @brief Move ctor
BinarySemaphore (BinarySemaphore &&);
//! @brief Move assignment
BinarySemaphore & operator=(BinarySemaphore &&);
//! @brief Destructor
virtual ~BinarySemaphore();
void initSemaphore(uint8_t initCount = 1);
uint8_t getSemaphoreCounter() const override;
static uint8_t getSemaphoreCounter(sem_t* handle);
/**
* Take the binary semaphore.
* If the semaphore has already been taken, the task will be blocked
* for a maximum of #timeoutMs or until the semaphore is given back,
* for example by an ISR or another task.
* @param timeoutMs
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
*/
ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
uint32_t timeoutMs = 0) override;
/**
* Release the binary semaphore.
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
* already available.
*/
virtual ReturnValue_t release() override;
/**
* This static function can be used to release a semaphore by providing
* its handle.
* @param handle
* @return
*/
static ReturnValue_t release(sem_t* handle);
/** Checks the validity of the semaphore count against a specified
* known maxCount
* @param handle
* @param maxCount
* @return
*/
static ReturnValue_t checkCount(sem_t* handle, uint8_t maxCount);
protected:
sem_t handle;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */

View File

@ -0,0 +1,54 @@
#include "../../osal/linux/CountingSemaphore.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount):
maxCount(maxCount), initCount(initCount) {
if(initCount > maxCount) {
sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
"intial cout. Setting initial count to max count." << std::endl;
initCount = maxCount;
}
initSemaphore(initCount);
}
CountingSemaphore::CountingSemaphore(CountingSemaphore&& other):
maxCount(other.maxCount), initCount(other.initCount) {
initSemaphore(initCount);
}
CountingSemaphore& CountingSemaphore::operator =(
CountingSemaphore&& other) {
initSemaphore(other.initCount);
return * this;
}
ReturnValue_t CountingSemaphore::release() {
ReturnValue_t result = checkCount(&handle, maxCount);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return CountingSemaphore::release(&this->handle);
}
ReturnValue_t CountingSemaphore::release(sem_t* handle) {
int result = sem_post(handle);
if(result == 0) {
return HasReturnvaluesIF::RETURN_OK;
}
switch(errno) {
case(EINVAL):
// Semaphore invalid
return SemaphoreIF::SEMAPHORE_INVALID;
case(EOVERFLOW):
// SEM_MAX_VALUE overflow. This should never happen
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
}
uint8_t CountingSemaphore::getMaxCount() const {
return maxCount;
}

View File

@ -0,0 +1,37 @@
#ifndef FRAMEWORK_OSAL_LINUX_COUNTINGSEMAPHORE_H_
#define FRAMEWORK_OSAL_LINUX_COUNTINGSEMAPHORE_H_
#include "../../osal/linux/BinarySemaphore.h"
/**
* @brief Counting semaphores, which can be acquired more than once.
* @details
* See: https://www.freertos.org/CreateCounting.html
* API of counting semaphores is almost identical to binary semaphores,
* so we just inherit from binary semaphore and provide the respective
* constructors.
*/
class CountingSemaphore: public BinarySemaphore {
public:
CountingSemaphore(const uint8_t maxCount, uint8_t initCount);
//! @brief Copy ctor, disabled
CountingSemaphore(const CountingSemaphore&) = delete;
//! @brief Copy assignment, disabled
CountingSemaphore& operator=(const CountingSemaphore&) = delete;
//! @brief Move ctor
CountingSemaphore (CountingSemaphore &&);
//! @brief Move assignment
CountingSemaphore & operator=(CountingSemaphore &&);
ReturnValue_t release() override;
static ReturnValue_t release(sem_t* sem);
/* Same API as binary semaphore otherwise. acquire() can be called
* until there are not semaphores left and release() can be called
* until maxCount is reached. */
uint8_t getMaxCount() const;
private:
const uint8_t maxCount;
uint8_t initCount = 0;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_ */

View File

@ -0,0 +1,33 @@
#include "../../tasks/SemaphoreFactory.h"
#include "BinarySemaphore.h"
#include "CountingSemaphore.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
SemaphoreFactory::SemaphoreFactory() {
}
SemaphoreFactory::~SemaphoreFactory() {
delete factoryInstance;
}
SemaphoreFactory* SemaphoreFactory::instance() {
if (factoryInstance == nullptr){
factoryInstance = new SemaphoreFactory();
}
return SemaphoreFactory::factoryInstance;
}
SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t arguments) {
return new BinarySemaphore();
}
SemaphoreIF* SemaphoreFactory::createCountingSemaphore(const uint8_t maxCount,
uint8_t initCount, uint32_t arguments) {
return new CountingSemaphore(maxCount, initCount);
}
void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
delete semaphore;
}

View File

@ -9,7 +9,7 @@ class ParameterMessage {
private: private:
ParameterMessage(); ParameterMessage();
public: public:
static const uint8_t MESSAGE_ID = MESSAGE_TYPE::PARAMETER; static const uint8_t MESSAGE_ID = messagetypes::PARAMETER;
static const Command_t CMD_PARAMETER_LOAD = MAKE_COMMAND_ID( 0x01 ); static const Command_t CMD_PARAMETER_LOAD = MAKE_COMMAND_ID( 0x01 );
static const Command_t CMD_PARAMETER_DUMP = MAKE_COMMAND_ID( 0x02 ); static const Command_t CMD_PARAMETER_DUMP = MAKE_COMMAND_ID( 0x02 );
static const Command_t REPLY_PARAMETER_DUMP = MAKE_COMMAND_ID( 0x03 ); static const Command_t REPLY_PARAMETER_DUMP = MAKE_COMMAND_ID( 0x03 );

View File

@ -1,94 +1,129 @@
#include "SerialBufferAdapter.h" #include "../serialize/SerialBufferAdapter.h"
#include <cstring> #include "../serviceinterface/ServiceInterfaceStream.h"
#include <cstring>
template<typename count_t>
template<typename T> SerialBufferAdapter<count_t>::SerialBufferAdapter(const uint8_t* buffer,
SerialBufferAdapter<T>::SerialBufferAdapter(const uint8_t* buffer, count_t bufferLength, bool serializeLength) :
T bufferLength, bool serializeLenght) : serializeLength(serializeLength),
serializeLength(serializeLenght), constBuffer(buffer), buffer(NULL), bufferLength( constBuffer(buffer), buffer(nullptr),
bufferLength) { bufferLength(bufferLength) {}
}
template<typename count_t>
template<typename T> SerialBufferAdapter<count_t>::SerialBufferAdapter(uint8_t* buffer,
SerialBufferAdapter<T>::SerialBufferAdapter(uint8_t* buffer, T bufferLength, count_t bufferLength, bool serializeLength) :
bool serializeLenght) : serializeLength(serializeLength), constBuffer(buffer), buffer(buffer),
serializeLength(serializeLenght), constBuffer(NULL), buffer(buffer), bufferLength( bufferLength(bufferLength) {}
bufferLength) {
}
template<typename count_t>
template<typename T> SerialBufferAdapter<count_t>::~SerialBufferAdapter() {
SerialBufferAdapter<T>::~SerialBufferAdapter() { }
}
template<typename count_t>
template<typename T> ReturnValue_t SerialBufferAdapter<count_t>::serialize(uint8_t** buffer,
ReturnValue_t SerialBufferAdapter<T>::serialize(uint8_t** buffer, size_t* size, size_t* size, size_t maxSize, Endianness streamEndianness) const {
size_t maxSize, Endianness streamEndianness) const { if (serializeLength) {
uint32_t serializedLength = bufferLength; ReturnValue_t result = SerializeAdapter::serialize(&bufferLength,
if (serializeLength) { buffer, size, maxSize, streamEndianness);
serializedLength += SerializeAdapter::getSerializedSize( if(result != HasReturnvaluesIF::RETURN_OK) {
&bufferLength); return result;
} }
if (*size + serializedLength > maxSize) { }
return BUFFER_TOO_SHORT;
} else { if (*size + bufferLength > maxSize) {
if (serializeLength) { return BUFFER_TOO_SHORT;
SerializeAdapter::serialize(&bufferLength, buffer, size, }
maxSize, streamEndianness);
} if (this->constBuffer != nullptr) {
if (this->constBuffer != NULL) { std::memcpy(*buffer, this->constBuffer, bufferLength);
memcpy(*buffer, this->constBuffer, bufferLength); }
} else if (this->buffer != NULL) { else if (this->buffer != nullptr) {
memcpy(*buffer, this->buffer, bufferLength); // This will propably be never reached, constBuffer should always be
} else { // set if non-const buffer is set.
return HasReturnvaluesIF::RETURN_FAILED; std::memcpy(*buffer, this->buffer, bufferLength);
} }
*size += bufferLength; else {
(*buffer) += bufferLength; return HasReturnvaluesIF::RETURN_FAILED;
return HasReturnvaluesIF::RETURN_OK; }
} *size += bufferLength;
} (*buffer) += bufferLength;
return HasReturnvaluesIF::RETURN_OK;
template<typename T>
size_t SerialBufferAdapter<T>::getSerializedSize() const { }
if (serializeLength) {
return bufferLength + SerializeAdapter::getSerializedSize(&bufferLength); template<typename count_t>
} else { size_t SerialBufferAdapter<count_t>::getSerializedSize() const {
return bufferLength; if (serializeLength) {
} return bufferLength + SerializeAdapter::getSerializedSize(&bufferLength);
} } else {
template<typename T> return bufferLength;
ReturnValue_t SerialBufferAdapter<T>::deSerialize(const uint8_t** buffer, }
size_t* size, Endianness streamEndianness) { }
//TODO Ignores Endian flag!
if (buffer != NULL) { template<typename count_t>
if(serializeLength){ ReturnValue_t SerialBufferAdapter<count_t>::deSerialize(const uint8_t** buffer,
T serializedSize = SerializeAdapter::getSerializedSize( size_t* size, Endianness streamEndianness) {
&bufferLength); if (this->buffer == nullptr) {
if((*size - bufferLength - serializedSize) >= 0){ return HasReturnvaluesIF::RETURN_FAILED;
*buffer += serializedSize; }
*size -= serializedSize;
}else{ if(serializeLength){
return STREAM_TOO_SHORT; count_t lengthField = 0;
} ReturnValue_t result = SerializeAdapter::deSerialize(&lengthField,
} buffer, size, streamEndianness);
//No Else If, go on with buffer if(result != HasReturnvaluesIF::RETURN_OK) {
if (*size - bufferLength >= 0) { return result;
*size -= bufferLength; }
memcpy(this->buffer, *buffer, bufferLength); if(lengthField > bufferLength) {
(*buffer) += bufferLength; return TOO_MANY_ELEMENTS;
return HasReturnvaluesIF::RETURN_OK; }
} else { bufferLength = lengthField;
return STREAM_TOO_SHORT; }
}
} else { if (bufferLength <= *size) {
return HasReturnvaluesIF::RETURN_FAILED; *size -= bufferLength;
} std::memcpy(this->buffer, *buffer, bufferLength);
} (*buffer) += bufferLength;
return HasReturnvaluesIF::RETURN_OK;
}
//forward Template declaration for linker else {
template class SerialBufferAdapter<uint8_t>; return STREAM_TOO_SHORT;
template class SerialBufferAdapter<uint16_t>; }
template class SerialBufferAdapter<uint32_t>; }
template<typename count_t>
uint8_t * SerialBufferAdapter<count_t>::getBuffer() {
if(buffer == nullptr) {
sif::error << "Wrong access function for stored type !"
" Use getConstBuffer()." << std::endl;
return nullptr;
}
return buffer;
}
template<typename count_t>
const uint8_t * SerialBufferAdapter<count_t>::getConstBuffer() {
if(constBuffer == nullptr) {
sif::error << "SerialBufferAdapter::getConstBuffer:"
" Buffers are unitialized!" << std::endl;
return nullptr;
}
return constBuffer;
}
template<typename count_t>
void SerialBufferAdapter<count_t>::setBuffer(uint8_t* buffer,
count_t bufferLength) {
this->buffer = buffer;
this->constBuffer = buffer;
this->bufferLength = bufferLength;
}
//forward Template declaration for linker
template class SerialBufferAdapter<uint8_t>;
template class SerialBufferAdapter<uint16_t>;
template class SerialBufferAdapter<uint32_t>;
template class SerialBufferAdapter<uint64_t>;

View File

@ -1,35 +1,78 @@
#ifndef SERIALBUFFERADAPTER_H_ #ifndef SERIALBUFFERADAPTER_H_
#define SERIALBUFFERADAPTER_H_ #define SERIALBUFFERADAPTER_H_
#include "SerializeIF.h" #include "../serialize/SerializeIF.h"
#include "SerializeAdapter.h" #include "../serialize/SerializeAdapter.h"
/** /**
* \ingroup serialize * This adapter provides an interface for SerializeIF to serialize or deserialize
*/ * buffers with no length header but a known size.
template<typename T> *
class SerialBufferAdapter: public SerializeIF { * Additionally, the buffer length can be serialized too and will be put in
public: * front of the serialized buffer.
SerialBufferAdapter(const uint8_t * buffer, T bufferLength, bool serializeLenght = false); *
SerialBufferAdapter(uint8_t* buffer, T bufferLength, * Can be used with SerialLinkedListAdapter by declaring a SerializeElement with
bool serializeLenght = false); * SerialElement<SerialBufferAdapter<bufferLengthType(will be uint8_t mostly)>>.
* Right now, the SerialBufferAdapter must always
virtual ~SerialBufferAdapter(); * be initialized with the buffer and size !
*
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, * \ingroup serialize
size_t maxSize, Endianness streamEndianness) const override; */
template<typename count_t>
virtual size_t getSerializedSize() const override; class SerialBufferAdapter: public SerializeIF {
public:
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) override; /**
private: * Constructor for constant uint8_t buffer. Length field can be serialized optionally.
bool serializeLength; * Type of length can be supplied as template type.
const uint8_t *constBuffer; * @param buffer
uint8_t *buffer; * @param bufferLength
T bufferLength; * @param serializeLength
}; */
SerialBufferAdapter(const uint8_t* buffer, count_t bufferLength,
bool serializeLength = false);
#endif /* SERIALBUFFERADAPTER_H_ */ /**
* Constructor for non-constant uint8_t buffer.
* Length field can be serialized optionally.
* Type of length can be supplied as template type.
* @param buffer
* @param bufferLength
* @param serializeLength Length field will be serialized with size count_t
*/
SerialBufferAdapter(uint8_t* buffer, count_t bufferLength,
bool serializeLength = false);
virtual ~SerialBufferAdapter();
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
size_t maxSize, Endianness streamEndianness) const override;
virtual size_t getSerializedSize() const override;
/**
* @brief This function deserializes a buffer into the member buffer.
* @details
* If a length field is present, it is ignored, as the size should have
* been set in the constructor. If the size is not known beforehand,
* consider using SerialFixedArrayListAdapter instead.
* @param buffer [out] Resulting buffer
* @param size remaining size to deserialize, should be larger than buffer
* + size field size
* @param bigEndian
* @return
*/
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) override;
uint8_t * getBuffer();
const uint8_t * getConstBuffer();
void setBuffer(uint8_t* buffer, count_t bufferLength);
private:
bool serializeLength = false;
const uint8_t *constBuffer = nullptr;
uint8_t *buffer = nullptr;
count_t bufferLength = 0;
};
#endif /* SERIALBUFFERADAPTER_H_ */

View File

@ -151,7 +151,6 @@ HybridIterator<ModeListEntry> Subsystem::getTable(Mode_t id) {
} }
ReturnValue_t Subsystem::handleCommandMessage(CommandMessage *message) { ReturnValue_t Subsystem::handleCommandMessage(CommandMessage *message) {
ReturnValue_t result;
switch (message->getCommand()) { switch (message->getCommand()) {
case HealthMessage::HEALTH_INFO: { case HealthMessage::HEALTH_INFO: {
HealthState health = HealthMessage::getHealth(message); HealthState health = HealthMessage::getHealth(message);
@ -166,7 +165,7 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage *message) {
FixedArrayList<ModeListEntry, MAX_LENGTH_OF_TABLE_OR_SEQUENCE> sequence; FixedArrayList<ModeListEntry, MAX_LENGTH_OF_TABLE_OR_SEQUENCE> sequence;
const uint8_t *pointer; const uint8_t *pointer;
size_t sizeRead; size_t sizeRead;
result = IPCStore->getData( ReturnValue_t result = IPCStore->getData(
ModeSequenceMessage::getStoreAddress(message), &pointer, ModeSequenceMessage::getStoreAddress(message), &pointer,
&sizeRead); &sizeRead);
if (result == RETURN_OK) { if (result == RETURN_OK) {
@ -193,7 +192,7 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage *message) {
FixedArrayList<ModeListEntry, MAX_LENGTH_OF_TABLE_OR_SEQUENCE> table; FixedArrayList<ModeListEntry, MAX_LENGTH_OF_TABLE_OR_SEQUENCE> table;
const uint8_t *pointer; const uint8_t *pointer;
size_t sizeRead; size_t sizeRead;
result = IPCStore->getData( ReturnValue_t result = IPCStore->getData(
ModeSequenceMessage::getStoreAddress(message), &pointer, ModeSequenceMessage::getStoreAddress(message), &pointer,
&sizeRead); &sizeRead);
if (result == RETURN_OK) { if (result == RETURN_OK) {
@ -210,21 +209,23 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage *message) {
} }
break; break;
case ModeSequenceMessage::DELETE_SEQUENCE: case ModeSequenceMessage::DELETE_SEQUENCE:{
if (isInTransition) { if (isInTransition) {
replyToCommand(IN_TRANSITION, 0); replyToCommand(IN_TRANSITION, 0);
break; break;
} }
result = deleteSequence(ModeSequenceMessage::getSequenceId(message)); ReturnValue_t result = deleteSequence(ModeSequenceMessage::getSequenceId(message));
replyToCommand(result, 0); replyToCommand(result, 0);
}
break; break;
case ModeSequenceMessage::DELETE_TABLE: case ModeSequenceMessage::DELETE_TABLE:{
if (isInTransition) { if (isInTransition) {
replyToCommand(IN_TRANSITION, 0); replyToCommand(IN_TRANSITION, 0);
break; break;
} }
result = deleteTable(ModeSequenceMessage::getTableId(message)); ReturnValue_t result = deleteTable(ModeSequenceMessage::getTableId(message));
replyToCommand(result, 0); replyToCommand(result, 0);
}
break; break;
case ModeSequenceMessage::LIST_SEQUENCES: { case ModeSequenceMessage::LIST_SEQUENCES: {
SerialFixedArrayListAdapter<Mode_t, MAX_NUMBER_OF_TABLES_OR_SEQUENCES> sequences; SerialFixedArrayListAdapter<Mode_t, MAX_NUMBER_OF_TABLES_OR_SEQUENCES> sequences;

View File

@ -7,7 +7,7 @@
class ModeSequenceMessage { class ModeSequenceMessage {
public: public:
static const uint8_t MESSAGE_ID = MESSAGE_TYPE::MODE_SEQUENCE; static const uint8_t MESSAGE_ID = messagetypes::MODE_SEQUENCE;
static const Command_t ADD_SEQUENCE = MAKE_COMMAND_ID(0x01); static const Command_t ADD_SEQUENCE = MAKE_COMMAND_ID(0x01);
static const Command_t ADD_TABLE = MAKE_COMMAND_ID(0x02); static const Command_t ADD_TABLE = MAKE_COMMAND_ID(0x02);

50
tasks/SemaphoreFactory.h Normal file
View File

@ -0,0 +1,50 @@
#ifndef FSFW_TASKS_SEMAPHOREFACTORY_H_
#define FSFW_TASKS_SEMAPHOREFACTORY_H_
#include "../tasks/SemaphoreIF.h"
/**
* Creates Semaphore.
* This class is a "singleton" interface, i.e. it provides an
* interface, but also is the base class for a singleton.
*/
class SemaphoreFactory {
public:
virtual ~SemaphoreFactory();
/**
* Returns the single instance of SemaphoreFactory.
* The implementation of #instance is found in its subclasses.
* Thus, we choose link-time variability of the instance.
*/
static SemaphoreFactory* instance();
/**
* Create a binary semaphore.
* Creator function for a binary semaphore which may only be acquired once
* @param argument Can be used to pass implementation specific information.
* @return Pointer to newly created semaphore class instance.
*/
SemaphoreIF* createBinarySemaphore(uint32_t arguments = 0);
/**
* Create a counting semaphore.
* Creator functons for a counting semaphore which may be acquired multiple
* times.
* @param count Semaphore can be taken count times.
* @param initCount Initial count value.
* @param argument Can be used to pass implementation specific information.
* @return
*/
SemaphoreIF* createCountingSemaphore(const uint8_t maxCount,
uint8_t initCount, uint32_t arguments = 0);
void deleteSemaphore(SemaphoreIF* semaphore);
private:
/**
* External instantiation is not allowed.
*/
SemaphoreFactory();
static SemaphoreFactory* factoryInstance;
};
#endif /* FSFW_TASKS_SEMAPHOREFACTORY_H_ */

68
tasks/SemaphoreIF.h Normal file
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@ -0,0 +1,68 @@
#ifndef FRAMEWORK_TASKS_SEMAPHOREIF_H_
#define FRAMEWORK_TASKS_SEMAPHOREIF_H_
#include "../returnvalues/FwClassIds.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include <cstdint>
/**
* @brief Generic interface for semaphores, which can be used to achieve
* task synchronization. This is a generic interface which can be
* used for both binary semaphores and counting semaphores.
* @details
* A semaphore is a synchronization primitive.
* See: https://en.wikipedia.org/wiki/Semaphore_(programming)
* A semaphore can be used to achieve task synchonization and track the
* availability of resources by using either the binary or the counting
* semaphore types.
*
* If mutual exlcusion of a resource is desired, a mutex should be used,
* which is a special form of a semaphore and has an own interface.
*/
class SemaphoreIF {
public:
/**
* Different types of timeout for the mutex lock.
*/
enum TimeoutType {
POLLING, //!< If mutex is not available, return immediately
WAITING, //!< Wait a specified time for the mutex to become available
BLOCKING //!< Block indefinitely until the mutex becomes available.
};
virtual~ SemaphoreIF() {};
static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
//! Semaphore timeout
static constexpr ReturnValue_t SEMAPHORE_TIMEOUT = MAKE_RETURN_CODE(1);
//! The current semaphore can not be given, because it is not owned
static constexpr ReturnValue_t SEMAPHORE_NOT_OWNED = MAKE_RETURN_CODE(2);
static constexpr ReturnValue_t SEMAPHORE_INVALID = MAKE_RETURN_CODE(3);
/**
* Generic call to acquire a semaphore.
* If there are no more semaphores to be taken (for a counting semaphore,
* a semaphore may be taken more than once), the taks will block
* for a maximum of timeoutMs while trying to acquire the semaphore.
* This can be used to achieve task synchrnization.
* @param timeoutMs
* @return - c RETURN_OK for successfull acquisition
*/
virtual ReturnValue_t acquire(TimeoutType timeoutType =
TimeoutType::BLOCKING, uint32_t timeoutMs = 0) = 0;
/**
* Corrensponding call to release a semaphore.
* @return -@c RETURN_OK for successfull release
*/
virtual ReturnValue_t release() = 0;
/**
* If the semaphore is a counting semaphore then the semaphores current
* count value is returned. If the semaphore is a binary semaphore then 1
* is returned if the semaphore is available, and 0 is returned if the
* semaphore is not available.
*/
virtual uint8_t getSemaphoreCounter() const = 0;
};
#endif /* FRAMEWORK_TASKS_SEMAPHOREIF_H_ */

View File

@ -1,7 +1,6 @@
#ifndef FRAMEWORK_TASKS_TYPEDEF_H_ #ifndef FRAMEWORK_TASKS_TYPEDEF_H_
#define FRAMEWORK_TASKS_TYPEDEF_H_ #define FRAMEWORK_TASKS_TYPEDEF_H_
//TODO more generic?
typedef const char* TaskName; typedef const char* TaskName;
typedef uint8_t TaskPriority; typedef uint8_t TaskPriority;
typedef size_t TaskStackSize; typedef size_t TaskStackSize;

View File

@ -119,7 +119,7 @@ ReturnValue_t CCSDSTime::convertFromCCS(Clock::TimeOfDay_t* to, const uint8_t* f
if (temp->pField & (1 << 3)) { //day of year variation if (temp->pField & (1 << 3)) { //day of year variation
uint16_t tempDay = (temp->month << 8) + temp->day; uint16_t tempDay = (temp->month << 8) + temp->day;
ReturnValue_t result = convertDaysOfYear(tempDay, to->year, result = convertDaysOfYear(tempDay, to->year,
&(temp->month), &(temp->day)); &(temp->month), &(temp->day));
if (result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;

View File

@ -41,7 +41,7 @@ public:
static store_address_t getStoreId(const CommandMessage* cmd); static store_address_t getStoreId(const CommandMessage* cmd);
virtual ~TmStoreMessage(); virtual ~TmStoreMessage();
static const uint8_t MESSAGE_ID = MESSAGE_TYPE::TM_STORE; static const uint8_t MESSAGE_ID = messagetypes::TM_STORE;
static const Command_t ENABLE_STORING = MAKE_COMMAND_ID(1); static const Command_t ENABLE_STORING = MAKE_COMMAND_ID(1);
static const Command_t DELETE_STORE_CONTENT = MAKE_COMMAND_ID(2); static const Command_t DELETE_STORE_CONTENT = MAKE_COMMAND_ID(2);
static const Command_t DOWNLINK_STORE_CONTENT = MAKE_COMMAND_ID(3); static const Command_t DOWNLINK_STORE_CONTENT = MAKE_COMMAND_ID(3);