From 66cf2d3559b93ff78ebb043dafc4ea2abb4d6efa Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 27 Aug 2020 16:05:31 +0200 Subject: [PATCH 01/10] timeslot update for FreeRTOS --- devicehandlers/FixedSequenceSlot.cpp | 20 -- osal/FreeRTOS/FixedTimeslotTask.cpp | 328 +++++++++--------- osal/FreeRTOS/FixedTimeslotTask.h | 203 ++++++----- tasks/FixedSequenceSlot.cpp | 17 + {devicehandlers => tasks}/FixedSequenceSlot.h | 117 +++---- .../FixedSlotSequence.cpp | 270 +++++++------- {devicehandlers => tasks}/FixedSlotSequence.h | 311 +++++++++-------- 7 files changed, 647 insertions(+), 619 deletions(-) delete mode 100644 devicehandlers/FixedSequenceSlot.cpp create mode 100644 tasks/FixedSequenceSlot.cpp rename {devicehandlers => tasks}/FixedSequenceSlot.h (56%) rename {devicehandlers => tasks}/FixedSlotSequence.cpp (61%) rename {devicehandlers => tasks}/FixedSlotSequence.h (90%) diff --git a/devicehandlers/FixedSequenceSlot.cpp b/devicehandlers/FixedSequenceSlot.cpp deleted file mode 100644 index 667aba1d2..000000000 --- a/devicehandlers/FixedSequenceSlot.cpp +++ /dev/null @@ -1,20 +0,0 @@ -/** - * @file PollingSlot.cpp - * @brief This file defines the PollingSlot class. - * @date 19.12.2012 - * @author baetz - */ - -#include "FixedSequenceSlot.h" -#include "../objectmanager/SystemObjectIF.h" -#include - -FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime, - int8_t setSequenceId, PeriodicTaskIF* executingTask) : - handler(NULL), pollingTimeMs(setTime), opcode(setSequenceId) { - handler = objectManager->get(handlerId); - handler->setTaskIF(executingTask); -} - -FixedSequenceSlot::~FixedSequenceSlot() {} - diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp index 4873dde41..772c4bca6 100644 --- a/osal/FreeRTOS/FixedTimeslotTask.cpp +++ b/osal/FreeRTOS/FixedTimeslotTask.cpp @@ -1,162 +1,166 @@ -#include "FixedTimeslotTask.h" - -#include "../../serviceinterface/ServiceInterfaceStream.h" - -uint32_t FixedTimeslotTask::deadlineMissedCount = 0; -const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE; - -FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority, - TaskStackSize setStack, TaskPeriod overallPeriod, - void (*setDeadlineMissedFunc)()) : - started(false), handle(NULL), pst(overallPeriod * 1000) { - configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE); - xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle); - // All additional attributes are applied to the object. - this->deadlineMissedFunc = setDeadlineMissedFunc; -} - -FixedTimeslotTask::~FixedTimeslotTask() { -} - -void FixedTimeslotTask::taskEntryPoint(void* argument) { - - // The argument is re-interpreted as FixedTimeslotTask. The Task object is - // global, so it is found from any place. - FixedTimeslotTask *originalTask(reinterpret_cast(argument)); - /* Task should not start until explicitly requested, - * but in FreeRTOS, tasks start as soon as they are created if the scheduler - * is running but not if the scheduler is not running. - * To be able to accommodate both cases we check a member which is set in - * #startTask(). If it is not set and we get here, the scheduler was started - * before #startTask() was called and we need to suspend if it is set, - * the scheduler was not running before #startTask() was called and we - * can continue */ - - if (not originalTask->started) { - vTaskSuspend(NULL); - } - - originalTask->taskFunctionality(); - sif::debug << "Polling task " << originalTask->handle - << " returned from taskFunctionality." << std::endl; -} - -void FixedTimeslotTask::missedDeadlineCounter() { - FixedTimeslotTask::deadlineMissedCount++; - if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) { - sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount - << " deadlines." << std::endl; - } -} - -ReturnValue_t FixedTimeslotTask::startTask() { - started = true; - - // We must not call resume if scheduler is not started yet - if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) { - vTaskResume(handle); - } - - return HasReturnvaluesIF::RETURN_OK; -} - -ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, - uint32_t slotTimeMs, int8_t executionStep) { - if (objectManager->get(componentId) != nullptr) { - pst.addSlot(componentId, slotTimeMs, executionStep, this); - return HasReturnvaluesIF::RETURN_OK; - } - - sif::error << "Component " << std::hex << componentId << - " not found, not adding it to pst" << std::endl; - return HasReturnvaluesIF::RETURN_FAILED; -} - -uint32_t FixedTimeslotTask::getPeriodMs() const { - return pst.getLengthMs(); -} - -ReturnValue_t FixedTimeslotTask::checkSequence() const { - return pst.checkSequence(); -} - -void FixedTimeslotTask::taskFunctionality() { - // A local iterator for the Polling Sequence Table is created to find the - // start time for the first entry. - auto slotListIter = pst.current; - - //The start time for the first entry is read. - uint32_t intervalMs = slotListIter->pollingTimeMs; - TickType_t interval = pdMS_TO_TICKS(intervalMs); - - TickType_t xLastWakeTime; - /* The xLastWakeTime variable needs to be initialized with the current tick - count. Note that this is the only time the variable is written to - explicitly. After this assignment, xLastWakeTime is updated automatically - internally within vTaskDelayUntil(). */ - xLastWakeTime = xTaskGetTickCount(); - - // wait for first entry's start time - if(interval > 0) { - vTaskDelayUntil(&xLastWakeTime, interval); - } - - /* Enter the loop that defines the task behavior. */ - for (;;) { - //The component for this slot is executed and the next one is chosen. - this->pst.executeAndAdvance(); - if (not pst.slotFollowsImmediately()) { - // Get the interval till execution of the next slot. - intervalMs = this->pst.getIntervalToPreviousSlotMs(); - interval = pdMS_TO_TICKS(intervalMs); - - checkMissedDeadline(xLastWakeTime, interval); - - // Wait for the interval. This exits immediately if a deadline was - // missed while also updating the last wake time. - vTaskDelayUntil(&xLastWakeTime, interval); - } - } -} - -void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime, - const TickType_t interval) { - /* Check whether deadline was missed while also taking overflows - * into account. Drawing this on paper with a timeline helps to understand - * it. */ - TickType_t currentTickCount = xTaskGetTickCount(); - TickType_t timeToWake = xLastWakeTime + interval; - // Time to wake has not overflown. - if(timeToWake > xLastWakeTime) { - /* If the current time has overflown exclusively or the current - * tick count is simply larger than the time to wake, a deadline was - * missed */ - if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) { - handleMissedDeadline(); - } - } - /* Time to wake has overflown. A deadline was missed if the current time - * is larger than the time to wake */ - else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) { - handleMissedDeadline(); - } -} - -void FixedTimeslotTask::handleMissedDeadline() { -#ifdef DEBUG - sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) << - " missed deadline!\n" << std::flush; -#endif - if(deadlineMissedFunc != nullptr) { - this->deadlineMissedFunc(); - } -} - -ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) { - vTaskDelay(pdMS_TO_TICKS(ms)); - return HasReturnvaluesIF::RETURN_OK; -} - -TaskHandle_t FixedTimeslotTask::getTaskHandle() { - return handle; -} +#include "FixedTimeslotTask.h" + +#include "../../serviceinterface/ServiceInterfaceStream.h" + +uint32_t FixedTimeslotTask::deadlineMissedCount = 0; +const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE; + +FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority, + TaskStackSize setStack, TaskPeriod overallPeriod, + void (*setDeadlineMissedFunc)()) : + started(false), handle(nullptr), pst(overallPeriod * 1000) { + configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE); + xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle); + // All additional attributes are applied to the object. + this->deadlineMissedFunc = setDeadlineMissedFunc; +} + +FixedTimeslotTask::~FixedTimeslotTask() { +} + +void FixedTimeslotTask::taskEntryPoint(void* argument) { + + // The argument is re-interpreted as FixedTimeslotTask. The Task object is + // global, so it is found from any place. + FixedTimeslotTask *originalTask(reinterpret_cast(argument)); + /* Task should not start until explicitly requested, + * but in FreeRTOS, tasks start as soon as they are created if the scheduler + * is running but not if the scheduler is not running. + * To be able to accommodate both cases we check a member which is set in + * #startTask(). If it is not set and we get here, the scheduler was started + * before #startTask() was called and we need to suspend if it is set, + * the scheduler was not running before #startTask() was called and we + * can continue */ + + if (not originalTask->started) { + vTaskSuspend(NULL); + } + + originalTask->taskFunctionality(); + sif::debug << "Polling task " << originalTask->handle + << " returned from taskFunctionality." << std::endl; +} + +void FixedTimeslotTask::missedDeadlineCounter() { + FixedTimeslotTask::deadlineMissedCount++; + if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) { + sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount + << " deadlines." << std::endl; + } +} + +ReturnValue_t FixedTimeslotTask::startTask() { + started = true; + + // We must not call resume if scheduler is not started yet + if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) { + vTaskResume(handle); + } + + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, + uint32_t slotTimeMs, int8_t executionStep) { + ExecutableObjectIF* handler = + objectManager->get(componentId); + if (handler != nullptr) { + pst.addSlot(componentId, slotTimeMs, executionStep, handler, this); + return HasReturnvaluesIF::RETURN_OK; + } + + sif::error << "Component " << std::hex << componentId << + " not found, not adding it to pst" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; +} + +uint32_t FixedTimeslotTask::getPeriodMs() const { + return pst.getLengthMs(); +} + +ReturnValue_t FixedTimeslotTask::checkSequence() const { + return pst.checkSequence(); +} + +void FixedTimeslotTask::taskFunctionality() { + // A local iterator for the Polling Sequence Table is created to find the + // start time for the first entry. + auto slotListIter = pst.current; + + pst.intializeSequenceAfterTaskCreation(); + + //The start time for the first entry is read. + uint32_t intervalMs = slotListIter->pollingTimeMs; + TickType_t interval = pdMS_TO_TICKS(intervalMs); + + TickType_t xLastWakeTime; + /* The xLastWakeTime variable needs to be initialized with the current tick + count. Note that this is the only time the variable is written to + explicitly. After this assignment, xLastWakeTime is updated automatically + internally within vTaskDelayUntil(). */ + xLastWakeTime = xTaskGetTickCount(); + + // wait for first entry's start time + if(interval > 0) { + vTaskDelayUntil(&xLastWakeTime, interval); + } + + /* Enter the loop that defines the task behavior. */ + for (;;) { + //The component for this slot is executed and the next one is chosen. + this->pst.executeAndAdvance(); + if (not pst.slotFollowsImmediately()) { + // Get the interval till execution of the next slot. + intervalMs = this->pst.getIntervalToPreviousSlotMs(); + interval = pdMS_TO_TICKS(intervalMs); + + checkMissedDeadline(xLastWakeTime, interval); + + // Wait for the interval. This exits immediately if a deadline was + // missed while also updating the last wake time. + vTaskDelayUntil(&xLastWakeTime, interval); + } + } +} + +void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime, + const TickType_t interval) { + /* Check whether deadline was missed while also taking overflows + * into account. Drawing this on paper with a timeline helps to understand + * it. */ + TickType_t currentTickCount = xTaskGetTickCount(); + TickType_t timeToWake = xLastWakeTime + interval; + // Time to wake has not overflown. + if(timeToWake > xLastWakeTime) { + /* If the current time has overflown exclusively or the current + * tick count is simply larger than the time to wake, a deadline was + * missed */ + if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) { + handleMissedDeadline(); + } + } + /* Time to wake has overflown. A deadline was missed if the current time + * is larger than the time to wake */ + else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) { + handleMissedDeadline(); + } +} + +void FixedTimeslotTask::handleMissedDeadline() { +#ifdef DEBUG + sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) << + " missed deadline!\n" << std::flush; +#endif + if(deadlineMissedFunc != nullptr) { + this->deadlineMissedFunc(); + } +} + +ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) { + vTaskDelay(pdMS_TO_TICKS(ms)); + return HasReturnvaluesIF::RETURN_OK; +} + +TaskHandle_t FixedTimeslotTask::getTaskHandle() { + return handle; +} diff --git a/osal/FreeRTOS/FixedTimeslotTask.h b/osal/FreeRTOS/FixedTimeslotTask.h index 84264c4c2..42af14b84 100644 --- a/osal/FreeRTOS/FixedTimeslotTask.h +++ b/osal/FreeRTOS/FixedTimeslotTask.h @@ -1,102 +1,101 @@ -#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ -#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ - -#include "FreeRTOSTaskIF.h" -#include "../../devicehandlers/FixedSlotSequence.h" -#include "../../tasks/FixedTimeslotTaskIF.h" -#include "../../tasks/Typedef.h" - - -#include -#include - -class FixedTimeslotTask: public FixedTimeslotTaskIF, public FreeRTOSTaskIF { -public: - - /** - * Keep in mind that you need to call before vTaskStartScheduler()! - * A lot of task parameters are set in "FreeRTOSConfig.h". - * @param name Name of the task, lenght limited by configMAX_TASK_NAME_LEN - * @param setPriority Number of priorities specified by - * configMAX_PRIORITIES. High taskPriority_ number means high priority. - * @param setStack Stack size in words (not bytes!). - * Lower limit specified by configMINIMAL_STACK_SIZE - * @param overallPeriod Period in seconds. - * @param setDeadlineMissedFunc Callback if a deadline was missed. - * @return Pointer to the newly created task. - */ - FixedTimeslotTask(TaskName name, TaskPriority setPriority, - TaskStackSize setStack, TaskPeriod overallPeriod, - void (*setDeadlineMissedFunc)()); - - /** - * @brief The destructor of the class. - * @details - * The destructor frees all heap memory that was allocated on thread - * initialization for the PST and the device handlers. This is done by - * calling the PST's destructor. - */ - virtual ~FixedTimeslotTask(void); - - ReturnValue_t startTask(void); - /** - * This static function can be used as #deadlineMissedFunc. - * It counts missedDeadlines and prints the number of missed deadlines - * every 10th time. - */ - static void missedDeadlineCounter(); - /** - * A helper variable to count missed deadlines. - */ - static uint32_t deadlineMissedCount; - - ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, - int8_t executionStep) override; - - uint32_t getPeriodMs() const override; - - ReturnValue_t checkSequence() const override; - - ReturnValue_t sleepFor(uint32_t ms) override; - - TaskHandle_t getTaskHandle() override; - -protected: - bool started; - TaskHandle_t handle; - - 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); - /** - * @brief This is the entry point for a new task. - * @details - * This method starts the task by calling taskFunctionality(), as soon as - * all requirements (task scheduler has started and startTask() - * has been called) are met. - */ - static void taskEntryPoint(void* argument); - - /** - * @brief This function holds the main functionality of the thread. - * @details - * Core function holding the main functionality of the task - * It links the functionalities provided by FixedSlotSequence with the - * OS's System Calls to keep the timing of the periods. - */ - void taskFunctionality(void); - - void checkMissedDeadline(const TickType_t xLastWakeTime, - const TickType_t interval); - void handleMissedDeadline(); -}; - -#endif /* FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ */ +#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ +#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ + +#include "../../osal/FreeRTOS/FreeRTOSTaskIF.h" +#include "../../tasks/FixedSlotSequence.h" +#include "../../tasks/FixedTimeslotTaskIF.h" +#include "../../tasks/Typedef.h" + +#include +#include + +class FixedTimeslotTask: public FixedTimeslotTaskIF, public FreeRTOSTaskIF { +public: + + /** + * Keep in mind that you need to call before vTaskStartScheduler()! + * A lot of task parameters are set in "FreeRTOSConfig.h". + * @param name Name of the task, lenght limited by configMAX_TASK_NAME_LEN + * @param setPriority Number of priorities specified by + * configMAX_PRIORITIES. High taskPriority_ number means high priority. + * @param setStack Stack size in words (not bytes!). + * Lower limit specified by configMINIMAL_STACK_SIZE + * @param overallPeriod Period in seconds. + * @param setDeadlineMissedFunc Callback if a deadline was missed. + * @return Pointer to the newly created task. + */ + FixedTimeslotTask(TaskName name, TaskPriority setPriority, + TaskStackSize setStack, TaskPeriod overallPeriod, + void (*setDeadlineMissedFunc)()); + + /** + * @brief The destructor of the class. + * @details + * The destructor frees all heap memory that was allocated on thread + * initialization for the PST and the device handlers. This is done by + * calling the PST's destructor. + */ + virtual ~FixedTimeslotTask(void); + + ReturnValue_t startTask(void); + /** + * This static function can be used as #deadlineMissedFunc. + * It counts missedDeadlines and prints the number of missed deadlines + * every 10th time. + */ + static void missedDeadlineCounter(); + /** + * A helper variable to count missed deadlines. + */ + static uint32_t deadlineMissedCount; + + ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, + int8_t executionStep) override; + + uint32_t getPeriodMs() const override; + + ReturnValue_t checkSequence() const override; + + ReturnValue_t sleepFor(uint32_t ms) override; + + TaskHandle_t getTaskHandle() override; + +protected: + bool started; + TaskHandle_t handle; + + 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); + /** + * @brief This is the entry point for a new task. + * @details + * This method starts the task by calling taskFunctionality(), as soon as + * all requirements (task scheduler has started and startTask() + * has been called) are met. + */ + static void taskEntryPoint(void* argument); + + /** + * @brief This function holds the main functionality of the thread. + * @details + * Core function holding the main functionality of the task + * It links the functionalities provided by FixedSlotSequence with the + * OS's System Calls to keep the timing of the periods. + */ + void taskFunctionality(void); + + void checkMissedDeadline(const TickType_t xLastWakeTime, + const TickType_t interval); + void handleMissedDeadline(); +}; + +#endif /* POLLINGTASK_H_ */ diff --git a/tasks/FixedSequenceSlot.cpp b/tasks/FixedSequenceSlot.cpp new file mode 100644 index 000000000..5fe495239 --- /dev/null +++ b/tasks/FixedSequenceSlot.cpp @@ -0,0 +1,17 @@ +#include "FixedSequenceSlot.h" +#include "../objectmanager/SystemObjectIF.h" +#include + +FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime, + int8_t setSequenceId, ExecutableObjectIF* executableObject, + PeriodicTaskIF* executingTask) : + pollingTimeMs(setTime), opcode(setSequenceId) { + if(executableObject == nullptr) { + return; + } + this->executableObject = executableObject; + this->executableObject->setTaskIF(executingTask); +} + +FixedSequenceSlot::~FixedSequenceSlot() {} + diff --git a/devicehandlers/FixedSequenceSlot.h b/tasks/FixedSequenceSlot.h similarity index 56% rename from devicehandlers/FixedSequenceSlot.h rename to tasks/FixedSequenceSlot.h index 735049550..9cf5894c0 100644 --- a/devicehandlers/FixedSequenceSlot.h +++ b/tasks/FixedSequenceSlot.h @@ -1,60 +1,57 @@ -/** - * @file FixedSequenceSlot.h - * @brief This file defines the PollingSlot class. - * @date 19.12.2012 - * @author baetz - */ - -#ifndef FIXEDSEQUENCESLOT_H_ -#define FIXEDSEQUENCESLOT_H_ - -#include "../objectmanager/ObjectManagerIF.h" -#include "../tasks/ExecutableObjectIF.h" -class PeriodicTaskIF; - -/** - * @brief This class is the representation of a single polling sequence table entry. - * - * @details The PollingSlot class is the representation of a single polling - * sequence table entry. - */ -class FixedSequenceSlot { -public: - FixedSequenceSlot( object_id_t handlerId, uint32_t setTimeMs, - int8_t setSequenceId, PeriodicTaskIF* executingTask ); - virtual ~FixedSequenceSlot(); - - /** - * @brief Handler identifies which device handler object is executed in this slot. - */ - ExecutableObjectIF* handler; - - /** - * @brief This attribute defines when a device handler object is executed. - * - * @details The pollingTime attribute identifies the time the handler is executed in ms. - * It must be smaller than the period length of the polling sequence. - */ - uint32_t pollingTimeMs; - - /** - * @brief This value defines the type of device communication. - * - * @details The state of this value decides what communication routine is - * called in the PST executable or the device handler object. - */ - uint8_t opcode; - - /** - * @brief Operator overload for the comparison operator to - * allow sorting by polling time. - * @param fixedSequenceSlot - * @return - */ - bool operator <(const FixedSequenceSlot & fixedSequenceSlot) const { - return pollingTimeMs < fixedSequenceSlot.pollingTimeMs; - } -}; - - -#endif /* FIXEDSEQUENCESLOT_H_ */ +#ifndef FRAMEWORK_TASKS_FIXEDSEQUENCESLOT_H_ +#define FRAMEWORK_TASKS_FIXEDSEQUENCESLOT_H_ + +#include "../objectmanager/ObjectManagerIF.h" +#include "../tasks/ExecutableObjectIF.h" +class PeriodicTaskIF; + +/** + * @brief This class is the representation of a single polling sequence + * table entry. + * @details + * The PollingSlot class is the representation of a single polling + * sequence table entry. + * @author baetz + */ +class FixedSequenceSlot { +public: + FixedSequenceSlot( object_id_t handlerId, uint32_t setTimeMs, + int8_t setSequenceId, ExecutableObjectIF* executableObject, + PeriodicTaskIF* executingTask); + virtual ~FixedSequenceSlot(); + + /** + * @brief Handler identifies which object is executed in this slot. + */ + ExecutableObjectIF* executableObject = nullptr; + + /** + * @brief This attribute defines when a device handler object is executed. + * @details + * The pollingTime attribute identifies the time the handler is + * executed in ms. It must be smaller than the period length of the + * polling sequence. + */ + uint32_t pollingTimeMs; + + /** + * @brief This value defines the type of device communication. + * + * @details The state of this value decides what communication routine is + * called in the PST executable or the device handler object. + */ + uint8_t opcode; + + /** + * @brief Operator overload for the comparison operator to + * allow sorting by polling time. + * @param fixedSequenceSlot + * @return + */ + bool operator <(const FixedSequenceSlot & fixedSequenceSlot) const { + return pollingTimeMs < fixedSequenceSlot.pollingTimeMs; + } +}; + + +#endif /* FIXEDSEQUENCESLOT_H_ */ diff --git a/devicehandlers/FixedSlotSequence.cpp b/tasks/FixedSlotSequence.cpp similarity index 61% rename from devicehandlers/FixedSlotSequence.cpp rename to tasks/FixedSlotSequence.cpp index 38d4dcea6..78f512ca7 100644 --- a/devicehandlers/FixedSlotSequence.cpp +++ b/tasks/FixedSlotSequence.cpp @@ -1,123 +1,147 @@ -#include "FixedSlotSequence.h" -#include "../serviceinterface/ServiceInterfaceStream.h" - -FixedSlotSequence::FixedSlotSequence(uint32_t setLengthMs) : - lengthMs(setLengthMs) { - current = slotList.begin(); -} - -FixedSlotSequence::~FixedSlotSequence() { - // Call the destructor on each list entry. - slotList.clear(); -} - -void FixedSlotSequence::executeAndAdvance() { - current->handler->performOperation(current->opcode); -// if (returnValue != RETURN_OK) { -// this->sendErrorMessage( returnValue ); -// } - //Increment the polling Sequence iterator - this->current++; - //Set it to the beginning, if the list's end is reached. - if (this->current == this->slotList.end()) { - this->current = this->slotList.begin(); - } -} - -uint32_t FixedSlotSequence::getIntervalToNextSlotMs() { - uint32_t oldTime; - SlotListIter slotListIter = current; - // Get the pollingTimeMs of the current slot object. - oldTime = slotListIter->pollingTimeMs; - // Advance to the next object. - slotListIter++; - // Find the next interval which is not 0. - while (slotListIter != slotList.end()) { - if (oldTime != slotListIter->pollingTimeMs) { - return slotListIter->pollingTimeMs - oldTime; - } else { - slotListIter++; - } - } - // If the list end is reached (this is definitely an interval != 0), - // the interval is calculated by subtracting the remaining time of the PST - // and adding the start time of the first handler in the list. - slotListIter = slotList.begin(); - return lengthMs - oldTime + slotListIter->pollingTimeMs; -} - -uint32_t FixedSlotSequence::getIntervalToPreviousSlotMs() { - uint32_t currentTime; - SlotListIter slotListIter = current; - // Get the pollingTimeMs of the current slot object. - currentTime = slotListIter->pollingTimeMs; - - //if it is the first slot, calculate difference to last slot - if (slotListIter == slotList.begin()){ - return lengthMs - (--slotList.end())->pollingTimeMs + currentTime; - } - // get previous slot - slotListIter--; - - return currentTime - slotListIter->pollingTimeMs; -} - -bool FixedSlotSequence::slotFollowsImmediately() { - uint32_t currentTime = current->pollingTimeMs; - SlotListIter fixedSequenceIter = this->current; - // Get the pollingTimeMs of the current slot object. - if (fixedSequenceIter == slotList.begin()) - return false; - fixedSequenceIter--; - if (fixedSequenceIter->pollingTimeMs == currentTime) { - return true; - } else { - return false; - } -} - -uint32_t FixedSlotSequence::getLengthMs() const { - return this->lengthMs; -} - -ReturnValue_t FixedSlotSequence::checkSequence() const { - if(slotList.empty()) { - sif::error << "Fixed Slot Sequence: Slot list is empty!" << std::endl; - return HasReturnvaluesIF::RETURN_FAILED; - } - - auto slotIt = slotList.begin(); - uint32_t count = 0; - uint32_t time = 0; - while (slotIt != slotList.end()) { - if (slotIt->handler == nullptr) { - sif::error << "FixedSlotSequene::initialize: ObjectId does not exist!" - << std::endl; - count++; - } else if (slotIt->pollingTimeMs < time) { - sif::error << "FixedSlotSequence::initialize: Time: " - << slotIt->pollingTimeMs - << " is smaller than previous with " << time << std::endl; - count++; - } else { - // All ok, print slot. - //info << "Current slot polling time: " << std::endl; - //info << std::dec << slotIt->pollingTimeMs << std::endl; - } - time = slotIt->pollingTimeMs; - slotIt++; - } - //info << "Number of elements in slot list: " - // << slotList.size() << std::endl; - if (count > 0) { - return HasReturnvaluesIF::RETURN_FAILED; - } - return HasReturnvaluesIF::RETURN_OK; -} - -void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs, - int8_t executionStep, PeriodicTaskIF* executingTask) { - this->slotList.insert(FixedSequenceSlot(componentId, slotTimeMs, executionStep, - executingTask)); - this->current = slotList.begin(); -} +#include "FixedSlotSequence.h" +#include "../serviceinterface/ServiceInterfaceStream.h" +#include + +FixedSlotSequence::FixedSlotSequence(uint32_t setLengthMs) : + lengthMs(setLengthMs) { + current = slotList.begin(); +} + +FixedSlotSequence::~FixedSlotSequence() { + // Call the destructor on each list entry. + slotList.clear(); +} + +void FixedSlotSequence::executeAndAdvance() { + current->executableObject->performOperation(current->opcode); +// if (returnValue != RETURN_OK) { +// this->sendErrorMessage( returnValue ); +// } + //Increment the polling Sequence iterator + this->current++; + //Set it to the beginning, if the list's end is reached. + if (this->current == this->slotList.end()) { + this->current = this->slotList.begin(); + } +} + +uint32_t FixedSlotSequence::getIntervalToNextSlotMs() { + uint32_t oldTime; + SlotListIter slotListIter = current; + // Get the pollingTimeMs of the current slot object. + oldTime = slotListIter->pollingTimeMs; + // Advance to the next object. + slotListIter++; + // Find the next interval which is not 0. + while (slotListIter != slotList.end()) { + if (oldTime != slotListIter->pollingTimeMs) { + return slotListIter->pollingTimeMs - oldTime; + } else { + slotListIter++; + } + } + // If the list end is reached (this is definitely an interval != 0), + // the interval is calculated by subtracting the remaining time of the PST + // and adding the start time of the first handler in the list. + slotListIter = slotList.begin(); + return lengthMs - oldTime + slotListIter->pollingTimeMs; +} + +uint32_t FixedSlotSequence::getIntervalToPreviousSlotMs() { + uint32_t currentTime; + SlotListIter slotListIter = current; + // Get the pollingTimeMs of the current slot object. + currentTime = slotListIter->pollingTimeMs; + + //if it is the first slot, calculate difference to last slot + if (slotListIter == slotList.begin()){ + return lengthMs - (--slotList.end())->pollingTimeMs + currentTime; + } + // get previous slot + slotListIter--; + + return currentTime - slotListIter->pollingTimeMs; +} + +bool FixedSlotSequence::slotFollowsImmediately() { + uint32_t currentTime = current->pollingTimeMs; + SlotListIter fixedSequenceIter = this->current; + // Get the pollingTimeMs of the current slot object. + if (fixedSequenceIter == slotList.begin()) + return false; + fixedSequenceIter--; + if (fixedSequenceIter->pollingTimeMs == currentTime) { + return true; + } else { + return false; + } +} + +uint32_t FixedSlotSequence::getLengthMs() const { + return this->lengthMs; +} + +void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs, + int8_t executionStep, ExecutableObjectIF* executableObject, + PeriodicTaskIF* executingTask) { + this->slotList.insert(FixedSequenceSlot(componentId, slotTimeMs, + executionStep, executableObject, executingTask)); + this->current = slotList.begin(); +} + +ReturnValue_t FixedSlotSequence::checkSequence() const { + if(slotList.empty()) { + sif::error << "Fixed Slot Sequence: Slot list is empty!" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + + uint32_t count = 0; + uint32_t time = 0; + for(const auto& slot: slotList) { + if (slot.executableObject == nullptr) { + count++; + } + else if (slot.pollingTimeMs < time) { + sif::error << "FixedSlotSequence::initialize: Time: " + << slot.pollingTimeMs << " is smaller than previous with " + << time << std::endl; + count++; + } + else { + // All ok, print slot. + //sif::info << "Current slot polling time: " << std::endl; + //sif::info << std::dec << slotIt->pollingTimeMs << std::endl; + } + time = slot.pollingTimeMs; + + } + //sif::info << "Number of elements in slot list: " + // << slotList.size() << std::endl; + if (count > 0) { + return HasReturnvaluesIF::RETURN_FAILED; + } + return HasReturnvaluesIF::RETURN_OK; +} + + +ReturnValue_t FixedSlotSequence::intializeSequenceAfterTaskCreation() const { + std::set uniqueObjects; + uint32_t count = 0; + for(const auto& slot: slotList) { + // Ensure that each unique object is initialized once. + if(uniqueObjects.find(slot.executableObject) == uniqueObjects.end()) { + ReturnValue_t result = + slot.executableObject->initializeAfterTaskCreation(); + if(result != HasReturnvaluesIF::RETURN_OK) { + count++; + } + uniqueObjects.emplace(slot.executableObject); + } + } + if (count > 0) { + sif::error << "FixedSlotSequence::intializeSequenceAfterTaskCreation:" + "Counted " << count << " failed initializations!" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + return HasReturnvaluesIF::RETURN_OK; +} diff --git a/devicehandlers/FixedSlotSequence.h b/tasks/FixedSlotSequence.h similarity index 90% rename from devicehandlers/FixedSlotSequence.h rename to tasks/FixedSlotSequence.h index be6dc2d1f..8aa04a27c 100644 --- a/devicehandlers/FixedSlotSequence.h +++ b/tasks/FixedSlotSequence.h @@ -1,152 +1,159 @@ -#ifndef FRAMEWORK_DEVICEHANDLERS_FIXEDSLOTSEQUENCE_H_ -#define FRAMEWORK_DEVICEHANDLERS_FIXEDSLOTSEQUENCE_H_ - -#include "FixedSequenceSlot.h" -#include "../objectmanager/SystemObject.h" -#include - -/** - * @brief This class is the representation of a Polling Sequence Table in software. - * - * @details - * The FixedSlotSequence object maintains the dynamic execution of - * device handler objects. - * - * The main idea is to create a list of device handlers, to announce all - * handlers to thepolling sequence and to maintain a list of - * polling slot objects. This slot list represents the Polling Sequence Table - * in software. - * - * Each polling slot contains information to indicate when and - * which device handler shall be executed within a given polling period. - * The sequence is then executed by iterating through this slot list. - * Handlers are invoking by calling a certain function stored in the handler list. - */ -class FixedSlotSequence { -public: - using SlotList = std::multiset; - using SlotListIter = std::multiset::iterator; - - /** - * @brief The constructor of the FixedSlotSequence object. - * - * @details The constructor takes two arguments, the period length and the init function. - * - * @param setLength The period length, expressed in ms. - */ - FixedSlotSequence(uint32_t setLengthMs); - - /** - * @brief The destructor of the FixedSlotSequence object. - * - * @details The destructor frees all allocated memory by iterating through the slotList - * and deleting all allocated resources. - */ - virtual ~FixedSlotSequence(); - - /** - * @brief This is a method to add an PollingSlot object to slotList. - * - * @details Here, a polling slot object is added to the slot list. It is appended - * to the end of the list. The list is currently NOT reordered. - * Afterwards, the iterator current is set to the beginning of the list. - * @param Object ID of the object to add - * @param setTime Value between (0 to 1) * slotLengthMs, when a FixedTimeslotTask - * will be called inside the slot period. - * @param setSequenceId ID which can be used to distinguish - * different task operations - * @param - * @param - */ - void addSlot(object_id_t handlerId, uint32_t setTime, int8_t setSequenceId, - PeriodicTaskIF* executingTask); - - /** - * Checks if the current slot shall be executed immediately after the one before. - * This allows to distinguish between grouped and not grouped handlers. - * @return - @c true if the slot has the same polling time as the previous - * - @c false else - */ - bool slotFollowsImmediately(); - - /** - * @brief This method returns the time until the next software - * component is invoked. - * - * @details - * This method is vitally important for the operation of the PST. - * By fetching the polling time of the current slot and that of the - * next one (or the first one, if the list end is reached) - * it calculates and returns the interval in milliseconds within - * which the handler execution shall take place. - * If the next slot has the same time as the current one, it is ignored - * until a slot with different time or the end of the PST is found. - */ - uint32_t getIntervalToNextSlotMs(); - - /** - * @brief This method returns the time difference between the current - * slot and the previous slot - * - * @details - * This method is vitally important for the operation of the PST. - * By fetching the polling time of the current slot and that of the previous - * one (or the last one, if the slot is the first one) it calculates and - * returns the interval in milliseconds that the handler execution shall - * be delayed. - */ - uint32_t getIntervalToPreviousSlotMs(); - - /** - * @brief This method returns the length of this FixedSlotSequence instance. - */ - uint32_t getLengthMs() const; - - /** - * @brief The method to execute the device handler entered in the current - * PollingSlot object. - * - * @details - * Within this method the device handler object to be executed is chosen by - * looking up the handler address of the current slot in the handlerMap. - * Either the device handler's talkToInterface or its listenToInterface - * method is invoked, depending on the isTalking flag of the polling slot. - * After execution the iterator current is increased or, by reaching the - * end of slotList, reset to the beginning. - */ - void executeAndAdvance(); - - /** - * @brief An iterator that indicates the current polling slot to execute. - * - * @details This is an iterator for slotList and always points to the - * polling slot which is executed next. - */ - SlotListIter current; - - /** - * Iterate through slotList and check successful creation. - * Checks if timing is ok (must be ascending) and if all handlers were found. - * @return - */ - ReturnValue_t checkSequence() const; - -protected: - - /** - * @brief This list contains all PollingSlot objects, defining order and - * execution time of the device handler objects. - * - * @details - * The slot list is a std:list object that contains all created - * PollingSlot instances. They are NOT ordered automatically, so by - * adding entries, the correct order needs to be ensured. By iterating - * through this list the polling sequence is executed. Two entries with - * identical polling times are executed immediately one after another. - */ - SlotList slotList; - - uint32_t lengthMs; -}; - -#endif /* FIXEDSLOTSEQUENCE_H_ */ +#ifndef FRAMEWORK_TASKS_FIXEDSLOTSEQUENCE_H_ +#define FRAMEWORK_TASKS_FIXEDSLOTSEQUENCE_H_ + +#include "FixedSequenceSlot.h" +#include "../objectmanager/SystemObject.h" + +#include + +/** + * @brief This class is the representation of a Polling Sequence Table in software. + * @details + * The FixedSlotSequence object maintains the dynamic execution of + * device handler objects. + * + * The main idea is to create a list of device handlers, to announce all + * handlers to thepolling sequence and to maintain a list of + * polling slot objects. This slot list represents the Polling Sequence Table + * in software. + * + * Each polling slot contains information to indicate when and + * which device handler shall be executed within a given polling period. + * The sequence is then executed by iterating through this slot list. + * Handlers are invoking by calling a certain function stored in the handler list. + */ +class FixedSlotSequence { +public: + using SlotList = std::multiset; + using SlotListIter = std::multiset::iterator; + + /** + * @brief The constructor of the FixedSlotSequence object. + * + * @details The constructor takes two arguments, the period length and the init function. + * + * @param setLength The period length, expressed in ms. + */ + FixedSlotSequence(uint32_t setLengthMs); + + /** + * @brief The destructor of the FixedSlotSequence object. + * + * @details The destructor frees all allocated memory by iterating through the slotList + * and deleting all allocated resources. + */ + virtual ~FixedSlotSequence(); + + /** + * @brief This is a method to add an PollingSlot object to slotList. + * + * @details Here, a polling slot object is added to the slot list. It is appended + * to the end of the list. The list is currently NOT reordered. + * Afterwards, the iterator current is set to the beginning of the list. + * @param Object ID of the object to add + * @param setTime Value between (0 to 1) * slotLengthMs, when a FixedTimeslotTask + * will be called inside the slot period. + * @param setSequenceId ID which can be used to distinguish + * different task operations + * @param + * @param + */ + void addSlot(object_id_t handlerId, uint32_t setTime, int8_t setSequenceId, + ExecutableObjectIF* executableObject, PeriodicTaskIF* executingTask); + + /** + * Checks if the current slot shall be executed immediately after the one before. + * This allows to distinguish between grouped and not grouped handlers. + * @return - @c true if the slot has the same polling time as the previous + * - @c false else + */ + bool slotFollowsImmediately(); + + /** + * @brief This method returns the time until the next software + * component is invoked. + * + * @details + * This method is vitally important for the operation of the PST. + * By fetching the polling time of the current slot and that of the + * next one (or the first one, if the list end is reached) + * it calculates and returns the interval in milliseconds within + * which the handler execution shall take place. + * If the next slot has the same time as the current one, it is ignored + * until a slot with different time or the end of the PST is found. + */ + uint32_t getIntervalToNextSlotMs(); + + /** + * @brief This method returns the time difference between the current + * slot and the previous slot + * + * @details + * This method is vitally important for the operation of the PST. + * By fetching the polling time of the current slot and that of the previous + * one (or the last one, if the slot is the first one) it calculates and + * returns the interval in milliseconds that the handler execution shall + * be delayed. + */ + uint32_t getIntervalToPreviousSlotMs(); + + /** + * @brief This method returns the length of this FixedSlotSequence instance. + */ + uint32_t getLengthMs() const; + + /** + * @brief The method to execute the device handler entered in the current + * PollingSlot object. + * + * @details + * Within this method the device handler object to be executed is chosen by + * looking up the handler address of the current slot in the handlerMap. + * Either the device handler's talkToInterface or its listenToInterface + * method is invoked, depending on the isTalking flag of the polling slot. + * After execution the iterator current is increased or, by reaching the + * end of slotList, reset to the beginning. + */ + void executeAndAdvance(); + + /** + * @brief An iterator that indicates the current polling slot to execute. + * + * @details This is an iterator for slotList and always points to the + * polling slot which is executed next. + */ + SlotListIter current; + + /** + * @brief Check and initialize slot list. + * @details + * Checks if timing is ok (must be ascending) and if all handlers were found. + * Also calls any initialization steps which are required after task + * creation. + * @return + */ + ReturnValue_t checkSequence() const; + + ReturnValue_t intializeSequenceAfterTaskCreation() const; + +protected: + + /** + * @brief This list contains all PollingSlot objects, defining order and + * execution time of the device handler objects. + * + * @details + * The slot list is a std:list object that contains all created + * PollingSlot instances. They are NOT ordered automatically, so by + * adding entries, the correct order needs to be ensured. By iterating + * through this list the polling sequence is executed. Two entries with + * identical polling times are executed immediately one after another. + */ + SlotList slotList; + + uint32_t lengthMs; + + bool isEmpty = false; +}; + +#endif /* FIXEDSLOTSEQUENCE_H_ */ From 64022212f97e6726feb6a5768f44897180081e20 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 27 Aug 2020 16:20:32 +0200 Subject: [PATCH 02/10] removed is empty flag --- tasks/FixedSlotSequence.h | 2 -- 1 file changed, 2 deletions(-) diff --git a/tasks/FixedSlotSequence.h b/tasks/FixedSlotSequence.h index 8aa04a27c..026d5a3d9 100644 --- a/tasks/FixedSlotSequence.h +++ b/tasks/FixedSlotSequence.h @@ -152,8 +152,6 @@ protected: SlotList slotList; uint32_t lengthMs; - - bool isEmpty = false; }; #endif /* FIXEDSLOTSEQUENCE_H_ */ From 5eaf6cfd1f3afa8a02f7ce30c0e84f6a648f7193 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 4 Sep 2020 13:52:02 +0200 Subject: [PATCH 03/10] renormalizing pull request step1 --- osal/FreeRTOS/FixedTimeslotTask.cpp | 337 ++++++++++++++-------------- osal/FreeRTOS/FixedTimeslotTask.h | 202 ++++++++--------- 2 files changed, 272 insertions(+), 267 deletions(-) diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp index 772c4bca6..309574eb7 100644 --- a/osal/FreeRTOS/FixedTimeslotTask.cpp +++ b/osal/FreeRTOS/FixedTimeslotTask.cpp @@ -1,166 +1,171 @@ -#include "FixedTimeslotTask.h" - -#include "../../serviceinterface/ServiceInterfaceStream.h" - -uint32_t FixedTimeslotTask::deadlineMissedCount = 0; -const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE; - -FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority, - TaskStackSize setStack, TaskPeriod overallPeriod, - void (*setDeadlineMissedFunc)()) : - started(false), handle(nullptr), pst(overallPeriod * 1000) { - configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE); - xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle); - // All additional attributes are applied to the object. - this->deadlineMissedFunc = setDeadlineMissedFunc; -} - -FixedTimeslotTask::~FixedTimeslotTask() { -} - -void FixedTimeslotTask::taskEntryPoint(void* argument) { - - // The argument is re-interpreted as FixedTimeslotTask. The Task object is - // global, so it is found from any place. - FixedTimeslotTask *originalTask(reinterpret_cast(argument)); - /* Task should not start until explicitly requested, - * but in FreeRTOS, tasks start as soon as they are created if the scheduler - * is running but not if the scheduler is not running. - * To be able to accommodate both cases we check a member which is set in - * #startTask(). If it is not set and we get here, the scheduler was started - * before #startTask() was called and we need to suspend if it is set, - * the scheduler was not running before #startTask() was called and we - * can continue */ - - if (not originalTask->started) { - vTaskSuspend(NULL); - } - - originalTask->taskFunctionality(); - sif::debug << "Polling task " << originalTask->handle - << " returned from taskFunctionality." << std::endl; -} - -void FixedTimeslotTask::missedDeadlineCounter() { - FixedTimeslotTask::deadlineMissedCount++; - if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) { - sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount - << " deadlines." << std::endl; - } -} - -ReturnValue_t FixedTimeslotTask::startTask() { - started = true; - - // We must not call resume if scheduler is not started yet - if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) { - vTaskResume(handle); - } - - return HasReturnvaluesIF::RETURN_OK; -} - -ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, - uint32_t slotTimeMs, int8_t executionStep) { - ExecutableObjectIF* handler = - objectManager->get(componentId); - if (handler != nullptr) { - pst.addSlot(componentId, slotTimeMs, executionStep, handler, this); - return HasReturnvaluesIF::RETURN_OK; - } - - sif::error << "Component " << std::hex << componentId << - " not found, not adding it to pst" << std::endl; - return HasReturnvaluesIF::RETURN_FAILED; -} - -uint32_t FixedTimeslotTask::getPeriodMs() const { - return pst.getLengthMs(); -} - -ReturnValue_t FixedTimeslotTask::checkSequence() const { - return pst.checkSequence(); -} - -void FixedTimeslotTask::taskFunctionality() { - // A local iterator for the Polling Sequence Table is created to find the - // start time for the first entry. - auto slotListIter = pst.current; - - pst.intializeSequenceAfterTaskCreation(); - - //The start time for the first entry is read. - uint32_t intervalMs = slotListIter->pollingTimeMs; - TickType_t interval = pdMS_TO_TICKS(intervalMs); - - TickType_t xLastWakeTime; - /* The xLastWakeTime variable needs to be initialized with the current tick - count. Note that this is the only time the variable is written to - explicitly. After this assignment, xLastWakeTime is updated automatically - internally within vTaskDelayUntil(). */ - xLastWakeTime = xTaskGetTickCount(); - - // wait for first entry's start time - if(interval > 0) { - vTaskDelayUntil(&xLastWakeTime, interval); - } - - /* Enter the loop that defines the task behavior. */ - for (;;) { - //The component for this slot is executed and the next one is chosen. - this->pst.executeAndAdvance(); - if (not pst.slotFollowsImmediately()) { - // Get the interval till execution of the next slot. - intervalMs = this->pst.getIntervalToPreviousSlotMs(); - interval = pdMS_TO_TICKS(intervalMs); - - checkMissedDeadline(xLastWakeTime, interval); - - // Wait for the interval. This exits immediately if a deadline was - // missed while also updating the last wake time. - vTaskDelayUntil(&xLastWakeTime, interval); - } - } -} - -void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime, - const TickType_t interval) { - /* Check whether deadline was missed while also taking overflows - * into account. Drawing this on paper with a timeline helps to understand - * it. */ - TickType_t currentTickCount = xTaskGetTickCount(); - TickType_t timeToWake = xLastWakeTime + interval; - // Time to wake has not overflown. - if(timeToWake > xLastWakeTime) { - /* If the current time has overflown exclusively or the current - * tick count is simply larger than the time to wake, a deadline was - * missed */ - if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) { - handleMissedDeadline(); - } - } - /* Time to wake has overflown. A deadline was missed if the current time - * is larger than the time to wake */ - else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) { - handleMissedDeadline(); - } -} - -void FixedTimeslotTask::handleMissedDeadline() { -#ifdef DEBUG - sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) << - " missed deadline!\n" << std::flush; -#endif - if(deadlineMissedFunc != nullptr) { - this->deadlineMissedFunc(); - } -} - -ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) { - vTaskDelay(pdMS_TO_TICKS(ms)); - return HasReturnvaluesIF::RETURN_OK; -} - -TaskHandle_t FixedTimeslotTask::getTaskHandle() { - return handle; -} +#include "FixedTimeslotTask.h" + +#include "../../serviceinterface/ServiceInterfaceStream.h" + +uint32_t FixedTimeslotTask::deadlineMissedCount = 0; +const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE; + +FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority, + TaskStackSize setStack, TaskPeriod overallPeriod, + void (*setDeadlineMissedFunc)()) : + started(false), handle(nullptr), pst(overallPeriod * 1000) { + configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE); + xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle); + // All additional attributes are applied to the object. + this->deadlineMissedFunc = setDeadlineMissedFunc; +} + +FixedTimeslotTask::~FixedTimeslotTask() { +} + +void FixedTimeslotTask::taskEntryPoint(void* argument) { + + // The argument is re-interpreted as FixedTimeslotTask. The Task object is + // global, so it is found from any place. + FixedTimeslotTask *originalTask(reinterpret_cast(argument)); + /* Task should not start until explicitly requested, + * but in FreeRTOS, tasks start as soon as they are created if the scheduler + * is running but not if the scheduler is not running. + * To be able to accommodate both cases we check a member which is set in + * #startTask(). If it is not set and we get here, the scheduler was started + * before #startTask() was called and we need to suspend if it is set, + * the scheduler was not running before #startTask() was called and we + * can continue */ + + if (not originalTask->started) { + vTaskSuspend(NULL); + } + + originalTask->taskFunctionality(); + sif::debug << "Polling task " << originalTask->handle + << " returned from taskFunctionality." << std::endl; +} + +void FixedTimeslotTask::missedDeadlineCounter() { + FixedTimeslotTask::deadlineMissedCount++; + if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) { + sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount + << " deadlines." << std::endl; + } +} + +ReturnValue_t FixedTimeslotTask::startTask() { + started = true; + + // We must not call resume if scheduler is not started yet + if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) { + vTaskResume(handle); + } + + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, + uint32_t slotTimeMs, int8_t executionStep) { + ExecutableObjectIF* handler = + objectManager->get(componentId); + if (handler != nullptr) { + pst.addSlot(componentId, slotTimeMs, executionStep, handler, this); + return HasReturnvaluesIF::RETURN_OK; + } + + sif::error << "Component " << std::hex << componentId << + " not found, not adding it to pst" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; +} + +uint32_t FixedTimeslotTask::getPeriodMs() const { + return pst.getLengthMs(); +} + +ReturnValue_t FixedTimeslotTask::checkSequence() const { + return pst.checkSequence(); +} + +void FixedTimeslotTask::taskFunctionality() { + // A local iterator for the Polling Sequence Table is created to find the + // start time for the first entry. + auto slotListIter = pst.current; + + pst.intializeSequenceAfterTaskCreation(); + + //The start time for the first entry is read. + uint32_t intervalMs = slotListIter->pollingTimeMs; + TickType_t interval = pdMS_TO_TICKS(intervalMs); + + TickType_t xLastWakeTime; + /* The xLastWakeTime variable needs to be initialized with the current tick + count. Note that this is the only time the variable is written to + explicitly. After this assignment, xLastWakeTime is updated automatically + internally within vTaskDelayUntil(). */ + xLastWakeTime = xTaskGetTickCount(); + + // wait for first entry's start time + if(interval > 0) { + vTaskDelayUntil(&xLastWakeTime, interval); + } + + /* Enter the loop that defines the task behavior. */ + for (;;) { + //The component for this slot is executed and the next one is chosen. + this->pst.executeAndAdvance(); + if (not pst.slotFollowsImmediately()) { + // Get the interval till execution of the next slot. + intervalMs = this->pst.getIntervalToPreviousSlotMs(); + interval = pdMS_TO_TICKS(intervalMs); + + checkMissedDeadline(xLastWakeTime, interval); + + // Wait for the interval. This exits immediately if a deadline was + // missed while also updating the last wake time. + vTaskDelayUntil(&xLastWakeTime, interval); + } + } +} + +void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime, + const TickType_t interval) { + /* Check whether deadline was missed while also taking overflows + * into account. Drawing this on paper with a timeline helps to understand + * it. */ + TickType_t currentTickCount = xTaskGetTickCount(); + TickType_t timeToWake = xLastWakeTime + interval; + // Time to wake has not overflown. + if(timeToWake > xLastWakeTime) { + /* If the current time has overflown exclusively or the current + * tick count is simply larger than the time to wake, a deadline was + * missed */ + if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) { + handleMissedDeadline(); + } + } + /* Time to wake has overflown. A deadline was missed if the current time + * is larger than the time to wake */ + else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) { + handleMissedDeadline(); + } +} + +void FixedTimeslotTask::handleMissedDeadline() { + if(deadlineMissedFunc != nullptr) { + this->deadlineMissedFunc(); + } + +#ifdef DEBUG + object_id_t handlerId = pst.current->handlerId; + sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) << " with" + << " object ID 0x" << std::setfill('0') << std::setw(8) << std::hex + << handlerId << " missed deadline!" << std::setfill(' ') + << std::dec << std::endl; +#endif + +} + +ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) { + vTaskDelay(pdMS_TO_TICKS(ms)); + return HasReturnvaluesIF::RETURN_OK; +} + +TaskHandle_t FixedTimeslotTask::getTaskHandle() { + return handle; +} diff --git a/osal/FreeRTOS/FixedTimeslotTask.h b/osal/FreeRTOS/FixedTimeslotTask.h index 42af14b84..c46de5b7b 100644 --- a/osal/FreeRTOS/FixedTimeslotTask.h +++ b/osal/FreeRTOS/FixedTimeslotTask.h @@ -1,101 +1,101 @@ -#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ -#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ - -#include "../../osal/FreeRTOS/FreeRTOSTaskIF.h" -#include "../../tasks/FixedSlotSequence.h" -#include "../../tasks/FixedTimeslotTaskIF.h" -#include "../../tasks/Typedef.h" - -#include -#include - -class FixedTimeslotTask: public FixedTimeslotTaskIF, public FreeRTOSTaskIF { -public: - - /** - * Keep in mind that you need to call before vTaskStartScheduler()! - * A lot of task parameters are set in "FreeRTOSConfig.h". - * @param name Name of the task, lenght limited by configMAX_TASK_NAME_LEN - * @param setPriority Number of priorities specified by - * configMAX_PRIORITIES. High taskPriority_ number means high priority. - * @param setStack Stack size in words (not bytes!). - * Lower limit specified by configMINIMAL_STACK_SIZE - * @param overallPeriod Period in seconds. - * @param setDeadlineMissedFunc Callback if a deadline was missed. - * @return Pointer to the newly created task. - */ - FixedTimeslotTask(TaskName name, TaskPriority setPriority, - TaskStackSize setStack, TaskPeriod overallPeriod, - void (*setDeadlineMissedFunc)()); - - /** - * @brief The destructor of the class. - * @details - * The destructor frees all heap memory that was allocated on thread - * initialization for the PST and the device handlers. This is done by - * calling the PST's destructor. - */ - virtual ~FixedTimeslotTask(void); - - ReturnValue_t startTask(void); - /** - * This static function can be used as #deadlineMissedFunc. - * It counts missedDeadlines and prints the number of missed deadlines - * every 10th time. - */ - static void missedDeadlineCounter(); - /** - * A helper variable to count missed deadlines. - */ - static uint32_t deadlineMissedCount; - - ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, - int8_t executionStep) override; - - uint32_t getPeriodMs() const override; - - ReturnValue_t checkSequence() const override; - - ReturnValue_t sleepFor(uint32_t ms) override; - - TaskHandle_t getTaskHandle() override; - -protected: - bool started; - TaskHandle_t handle; - - 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); - /** - * @brief This is the entry point for a new task. - * @details - * This method starts the task by calling taskFunctionality(), as soon as - * all requirements (task scheduler has started and startTask() - * has been called) are met. - */ - static void taskEntryPoint(void* argument); - - /** - * @brief This function holds the main functionality of the thread. - * @details - * Core function holding the main functionality of the task - * It links the functionalities provided by FixedSlotSequence with the - * OS's System Calls to keep the timing of the periods. - */ - void taskFunctionality(void); - - void checkMissedDeadline(const TickType_t xLastWakeTime, - const TickType_t interval); - void handleMissedDeadline(); -}; - -#endif /* POLLINGTASK_H_ */ +#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ +#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ + +#include "../../osal/FreeRTOS/FreeRTOSTaskIF.h" +#include "../../tasks/FixedSlotSequence.h" +#include "../../tasks/FixedTimeslotTaskIF.h" +#include "../../tasks/Typedef.h" + +#include +#include + +class FixedTimeslotTask: public FixedTimeslotTaskIF, public FreeRTOSTaskIF { +public: + + /** + * Keep in mind that you need to call before vTaskStartScheduler()! + * A lot of task parameters are set in "FreeRTOSConfig.h". + * @param name Name of the task, lenght limited by configMAX_TASK_NAME_LEN + * @param setPriority Number of priorities specified by + * configMAX_PRIORITIES. High taskPriority_ number means high priority. + * @param setStack Stack size in words (not bytes!). + * Lower limit specified by configMINIMAL_STACK_SIZE + * @param overallPeriod Period in seconds. + * @param setDeadlineMissedFunc Callback if a deadline was missed. + * @return Pointer to the newly created task. + */ + FixedTimeslotTask(TaskName name, TaskPriority setPriority, + TaskStackSize setStack, TaskPeriod overallPeriod, + void (*setDeadlineMissedFunc)()); + + /** + * @brief The destructor of the class. + * @details + * The destructor frees all heap memory that was allocated on thread + * initialization for the PST and the device handlers. This is done by + * calling the PST's destructor. + */ + virtual ~FixedTimeslotTask(void); + + ReturnValue_t startTask(void); + /** + * This static function can be used as #deadlineMissedFunc. + * It counts missedDeadlines and prints the number of missed deadlines + * every 10th time. + */ + static void missedDeadlineCounter(); + /** + * A helper variable to count missed deadlines. + */ + static uint32_t deadlineMissedCount; + + ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, + int8_t executionStep) override; + + uint32_t getPeriodMs() const override; + + ReturnValue_t checkSequence() const override; + + ReturnValue_t sleepFor(uint32_t ms) override; + + TaskHandle_t getTaskHandle() override; + +protected: + bool started; + TaskHandle_t handle; + + 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); + /** + * @brief This is the entry point for a new task. + * @details + * This method starts the task by calling taskFunctionality(), as soon as + * all requirements (task scheduler has started and startTask() + * has been called) are met. + */ + static void taskEntryPoint(void* argument); + + /** + * @brief This function holds the main functionality of the thread. + * @details + * Core function holding the main functionality of the task + * It links the functionalities provided by FixedSlotSequence with the + * OS's System Calls to keep the timing of the periods. + */ + void taskFunctionality(void); + + void checkMissedDeadline(const TickType_t xLastWakeTime, + const TickType_t interval); + void handleMissedDeadline(); +}; + +#endif /* POLLINGTASK_H_ */ From 04532b8f6b4bbd661e53ac4b19e37824c73bd2fa Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 4 Sep 2020 13:52:54 +0200 Subject: [PATCH 04/10] renormalizing pull request step2 --- tasks/FixedSequenceSlot.cpp | 34 ++-- tasks/FixedSequenceSlot.h | 116 ++++++------- tasks/FixedSlotSequence.cpp | 294 ++++++++++++++++----------------- tasks/FixedSlotSequence.h | 316 ++++++++++++++++++------------------ 4 files changed, 382 insertions(+), 378 deletions(-) diff --git a/tasks/FixedSequenceSlot.cpp b/tasks/FixedSequenceSlot.cpp index 5fe495239..d7aeff0af 100644 --- a/tasks/FixedSequenceSlot.cpp +++ b/tasks/FixedSequenceSlot.cpp @@ -1,17 +1,17 @@ -#include "FixedSequenceSlot.h" -#include "../objectmanager/SystemObjectIF.h" -#include - -FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime, - int8_t setSequenceId, ExecutableObjectIF* executableObject, - PeriodicTaskIF* executingTask) : - pollingTimeMs(setTime), opcode(setSequenceId) { - if(executableObject == nullptr) { - return; - } - this->executableObject = executableObject; - this->executableObject->setTaskIF(executingTask); -} - -FixedSequenceSlot::~FixedSequenceSlot() {} - +#include "../objectmanager/SystemObjectIF.h" +#include "../tasks/FixedSequenceSlot.h" +#include + +FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime, + int8_t setSequenceId, ExecutableObjectIF* executableObject, + PeriodicTaskIF* executingTask) : handlerId(handlerId), + pollingTimeMs(setTime), opcode(setSequenceId) { + if(executableObject == nullptr) { + return; + } + this->executableObject = executableObject; + this->executableObject->setTaskIF(executingTask); +} + +FixedSequenceSlot::~FixedSequenceSlot() {} + diff --git a/tasks/FixedSequenceSlot.h b/tasks/FixedSequenceSlot.h index 9cf5894c0..151173e96 100644 --- a/tasks/FixedSequenceSlot.h +++ b/tasks/FixedSequenceSlot.h @@ -1,57 +1,59 @@ -#ifndef FRAMEWORK_TASKS_FIXEDSEQUENCESLOT_H_ -#define FRAMEWORK_TASKS_FIXEDSEQUENCESLOT_H_ - -#include "../objectmanager/ObjectManagerIF.h" -#include "../tasks/ExecutableObjectIF.h" -class PeriodicTaskIF; - -/** - * @brief This class is the representation of a single polling sequence - * table entry. - * @details - * The PollingSlot class is the representation of a single polling - * sequence table entry. - * @author baetz - */ -class FixedSequenceSlot { -public: - FixedSequenceSlot( object_id_t handlerId, uint32_t setTimeMs, - int8_t setSequenceId, ExecutableObjectIF* executableObject, - PeriodicTaskIF* executingTask); - virtual ~FixedSequenceSlot(); - - /** - * @brief Handler identifies which object is executed in this slot. - */ - ExecutableObjectIF* executableObject = nullptr; - - /** - * @brief This attribute defines when a device handler object is executed. - * @details - * The pollingTime attribute identifies the time the handler is - * executed in ms. It must be smaller than the period length of the - * polling sequence. - */ - uint32_t pollingTimeMs; - - /** - * @brief This value defines the type of device communication. - * - * @details The state of this value decides what communication routine is - * called in the PST executable or the device handler object. - */ - uint8_t opcode; - - /** - * @brief Operator overload for the comparison operator to - * allow sorting by polling time. - * @param fixedSequenceSlot - * @return - */ - bool operator <(const FixedSequenceSlot & fixedSequenceSlot) const { - return pollingTimeMs < fixedSequenceSlot.pollingTimeMs; - } -}; - - -#endif /* FIXEDSEQUENCESLOT_H_ */ +#ifndef FRAMEWORK_TASKS_FIXEDSEQUENCESLOT_H_ +#define FRAMEWORK_TASKS_FIXEDSEQUENCESLOT_H_ + +#include "../objectmanager/ObjectManagerIF.h" +#include "../tasks/ExecutableObjectIF.h" +class PeriodicTaskIF; + +/** + * @brief This class is the representation of a single polling sequence + * table entry. + * @details + * The PollingSlot class is the representation of a single polling + * sequence table entry. + * @author baetz + */ +class FixedSequenceSlot { +public: + FixedSequenceSlot( object_id_t handlerId, uint32_t setTimeMs, + int8_t setSequenceId, ExecutableObjectIF* executableObject, + PeriodicTaskIF* executingTask); + virtual ~FixedSequenceSlot(); + + object_id_t handlerId; + + /** + * @brief Handler identifies which object is executed in this slot. + */ + ExecutableObjectIF* executableObject = nullptr; + + /** + * @brief This attribute defines when a device handler object is executed. + * @details + * The pollingTime attribute identifies the time the handler is + * executed in ms. It must be smaller than the period length of the + * polling sequence. + */ + uint32_t pollingTimeMs; + + /** + * @brief This value defines the type of device communication. + * + * @details The state of this value decides what communication routine is + * called in the PST executable or the device handler object. + */ + uint8_t opcode; + + /** + * @brief Operator overload for the comparison operator to + * allow sorting by polling time. + * @param fixedSequenceSlot + * @return + */ + bool operator <(const FixedSequenceSlot & fixedSequenceSlot) const { + return pollingTimeMs < fixedSequenceSlot.pollingTimeMs; + } +}; + + +#endif /* FIXEDSEQUENCESLOT_H_ */ diff --git a/tasks/FixedSlotSequence.cpp b/tasks/FixedSlotSequence.cpp index 78f512ca7..59859ce51 100644 --- a/tasks/FixedSlotSequence.cpp +++ b/tasks/FixedSlotSequence.cpp @@ -1,147 +1,147 @@ -#include "FixedSlotSequence.h" -#include "../serviceinterface/ServiceInterfaceStream.h" -#include - -FixedSlotSequence::FixedSlotSequence(uint32_t setLengthMs) : - lengthMs(setLengthMs) { - current = slotList.begin(); -} - -FixedSlotSequence::~FixedSlotSequence() { - // Call the destructor on each list entry. - slotList.clear(); -} - -void FixedSlotSequence::executeAndAdvance() { - current->executableObject->performOperation(current->opcode); -// if (returnValue != RETURN_OK) { -// this->sendErrorMessage( returnValue ); -// } - //Increment the polling Sequence iterator - this->current++; - //Set it to the beginning, if the list's end is reached. - if (this->current == this->slotList.end()) { - this->current = this->slotList.begin(); - } -} - -uint32_t FixedSlotSequence::getIntervalToNextSlotMs() { - uint32_t oldTime; - SlotListIter slotListIter = current; - // Get the pollingTimeMs of the current slot object. - oldTime = slotListIter->pollingTimeMs; - // Advance to the next object. - slotListIter++; - // Find the next interval which is not 0. - while (slotListIter != slotList.end()) { - if (oldTime != slotListIter->pollingTimeMs) { - return slotListIter->pollingTimeMs - oldTime; - } else { - slotListIter++; - } - } - // If the list end is reached (this is definitely an interval != 0), - // the interval is calculated by subtracting the remaining time of the PST - // and adding the start time of the first handler in the list. - slotListIter = slotList.begin(); - return lengthMs - oldTime + slotListIter->pollingTimeMs; -} - -uint32_t FixedSlotSequence::getIntervalToPreviousSlotMs() { - uint32_t currentTime; - SlotListIter slotListIter = current; - // Get the pollingTimeMs of the current slot object. - currentTime = slotListIter->pollingTimeMs; - - //if it is the first slot, calculate difference to last slot - if (slotListIter == slotList.begin()){ - return lengthMs - (--slotList.end())->pollingTimeMs + currentTime; - } - // get previous slot - slotListIter--; - - return currentTime - slotListIter->pollingTimeMs; -} - -bool FixedSlotSequence::slotFollowsImmediately() { - uint32_t currentTime = current->pollingTimeMs; - SlotListIter fixedSequenceIter = this->current; - // Get the pollingTimeMs of the current slot object. - if (fixedSequenceIter == slotList.begin()) - return false; - fixedSequenceIter--; - if (fixedSequenceIter->pollingTimeMs == currentTime) { - return true; - } else { - return false; - } -} - -uint32_t FixedSlotSequence::getLengthMs() const { - return this->lengthMs; -} - -void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs, - int8_t executionStep, ExecutableObjectIF* executableObject, - PeriodicTaskIF* executingTask) { - this->slotList.insert(FixedSequenceSlot(componentId, slotTimeMs, - executionStep, executableObject, executingTask)); - this->current = slotList.begin(); -} - -ReturnValue_t FixedSlotSequence::checkSequence() const { - if(slotList.empty()) { - sif::error << "Fixed Slot Sequence: Slot list is empty!" << std::endl; - return HasReturnvaluesIF::RETURN_FAILED; - } - - uint32_t count = 0; - uint32_t time = 0; - for(const auto& slot: slotList) { - if (slot.executableObject == nullptr) { - count++; - } - else if (slot.pollingTimeMs < time) { - sif::error << "FixedSlotSequence::initialize: Time: " - << slot.pollingTimeMs << " is smaller than previous with " - << time << std::endl; - count++; - } - else { - // All ok, print slot. - //sif::info << "Current slot polling time: " << std::endl; - //sif::info << std::dec << slotIt->pollingTimeMs << std::endl; - } - time = slot.pollingTimeMs; - - } - //sif::info << "Number of elements in slot list: " - // << slotList.size() << std::endl; - if (count > 0) { - return HasReturnvaluesIF::RETURN_FAILED; - } - return HasReturnvaluesIF::RETURN_OK; -} - - -ReturnValue_t FixedSlotSequence::intializeSequenceAfterTaskCreation() const { - std::set uniqueObjects; - uint32_t count = 0; - for(const auto& slot: slotList) { - // Ensure that each unique object is initialized once. - if(uniqueObjects.find(slot.executableObject) == uniqueObjects.end()) { - ReturnValue_t result = - slot.executableObject->initializeAfterTaskCreation(); - if(result != HasReturnvaluesIF::RETURN_OK) { - count++; - } - uniqueObjects.emplace(slot.executableObject); - } - } - if (count > 0) { - sif::error << "FixedSlotSequence::intializeSequenceAfterTaskCreation:" - "Counted " << count << " failed initializations!" << std::endl; - return HasReturnvaluesIF::RETURN_FAILED; - } - return HasReturnvaluesIF::RETURN_OK; -} +#include "../serviceinterface/ServiceInterfaceStream.h" +#include "../tasks/FixedSlotSequence.h" +#include + +FixedSlotSequence::FixedSlotSequence(uint32_t setLengthMs) : + lengthMs(setLengthMs) { + current = slotList.begin(); +} + +FixedSlotSequence::~FixedSlotSequence() { + // Call the destructor on each list entry. + slotList.clear(); +} + +void FixedSlotSequence::executeAndAdvance() { + current->executableObject->performOperation(current->opcode); +// if (returnValue != RETURN_OK) { +// this->sendErrorMessage( returnValue ); +// } + //Increment the polling Sequence iterator + this->current++; + //Set it to the beginning, if the list's end is reached. + if (this->current == this->slotList.end()) { + this->current = this->slotList.begin(); + } +} + +uint32_t FixedSlotSequence::getIntervalToNextSlotMs() { + uint32_t oldTime; + SlotListIter slotListIter = current; + // Get the pollingTimeMs of the current slot object. + oldTime = slotListIter->pollingTimeMs; + // Advance to the next object. + slotListIter++; + // Find the next interval which is not 0. + while (slotListIter != slotList.end()) { + if (oldTime != slotListIter->pollingTimeMs) { + return slotListIter->pollingTimeMs - oldTime; + } else { + slotListIter++; + } + } + // If the list end is reached (this is definitely an interval != 0), + // the interval is calculated by subtracting the remaining time of the PST + // and adding the start time of the first handler in the list. + slotListIter = slotList.begin(); + return lengthMs - oldTime + slotListIter->pollingTimeMs; +} + +uint32_t FixedSlotSequence::getIntervalToPreviousSlotMs() { + uint32_t currentTime; + SlotListIter slotListIter = current; + // Get the pollingTimeMs of the current slot object. + currentTime = slotListIter->pollingTimeMs; + + //if it is the first slot, calculate difference to last slot + if (slotListIter == slotList.begin()){ + return lengthMs - (--slotList.end())->pollingTimeMs + currentTime; + } + // get previous slot + slotListIter--; + + return currentTime - slotListIter->pollingTimeMs; +} + +bool FixedSlotSequence::slotFollowsImmediately() { + uint32_t currentTime = current->pollingTimeMs; + SlotListIter fixedSequenceIter = this->current; + // Get the pollingTimeMs of the current slot object. + if (fixedSequenceIter == slotList.begin()) + return false; + fixedSequenceIter--; + if (fixedSequenceIter->pollingTimeMs == currentTime) { + return true; + } else { + return false; + } +} + +uint32_t FixedSlotSequence::getLengthMs() const { + return this->lengthMs; +} + +void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs, + int8_t executionStep, ExecutableObjectIF* executableObject, + PeriodicTaskIF* executingTask) { + this->slotList.insert(FixedSequenceSlot(componentId, slotTimeMs, + executionStep, executableObject, executingTask)); + this->current = slotList.begin(); +} + +ReturnValue_t FixedSlotSequence::checkSequence() const { + if(slotList.empty()) { + sif::error << "Fixed Slot Sequence: Slot list is empty!" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + + uint32_t count = 0; + uint32_t time = 0; + for(const auto& slot: slotList) { + if (slot.executableObject == nullptr) { + count++; + } + else if (slot.pollingTimeMs < time) { + sif::error << "FixedSlotSequence::initialize: Time: " + << slot.pollingTimeMs << " is smaller than previous with " + << time << std::endl; + count++; + } + else { + // All ok, print slot. + //sif::info << "Current slot polling time: " << std::endl; + //sif::info << std::dec << slotIt->pollingTimeMs << std::endl; + } + time = slot.pollingTimeMs; + + } + //sif::info << "Number of elements in slot list: " + // << slotList.size() << std::endl; + if (count > 0) { + return HasReturnvaluesIF::RETURN_FAILED; + } + return HasReturnvaluesIF::RETURN_OK; +} + + +ReturnValue_t FixedSlotSequence::intializeSequenceAfterTaskCreation() const { + std::set uniqueObjects; + uint32_t count = 0; + for(const auto& slot: slotList) { + // Ensure that each unique object is initialized once. + if(uniqueObjects.find(slot.executableObject) == uniqueObjects.end()) { + ReturnValue_t result = + slot.executableObject->initializeAfterTaskCreation(); + if(result != HasReturnvaluesIF::RETURN_OK) { + count++; + } + uniqueObjects.emplace(slot.executableObject); + } + } + if (count > 0) { + sif::error << "FixedSlotSequence::intializeSequenceAfterTaskCreation:" + "Counted " << count << " failed initializations!" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + return HasReturnvaluesIF::RETURN_OK; +} diff --git a/tasks/FixedSlotSequence.h b/tasks/FixedSlotSequence.h index 026d5a3d9..1140dd254 100644 --- a/tasks/FixedSlotSequence.h +++ b/tasks/FixedSlotSequence.h @@ -1,157 +1,159 @@ -#ifndef FRAMEWORK_TASKS_FIXEDSLOTSEQUENCE_H_ -#define FRAMEWORK_TASKS_FIXEDSLOTSEQUENCE_H_ - -#include "FixedSequenceSlot.h" -#include "../objectmanager/SystemObject.h" - -#include - -/** - * @brief This class is the representation of a Polling Sequence Table in software. - * @details - * The FixedSlotSequence object maintains the dynamic execution of - * device handler objects. - * - * The main idea is to create a list of device handlers, to announce all - * handlers to thepolling sequence and to maintain a list of - * polling slot objects. This slot list represents the Polling Sequence Table - * in software. - * - * Each polling slot contains information to indicate when and - * which device handler shall be executed within a given polling period. - * The sequence is then executed by iterating through this slot list. - * Handlers are invoking by calling a certain function stored in the handler list. - */ -class FixedSlotSequence { -public: - using SlotList = std::multiset; - using SlotListIter = std::multiset::iterator; - - /** - * @brief The constructor of the FixedSlotSequence object. - * - * @details The constructor takes two arguments, the period length and the init function. - * - * @param setLength The period length, expressed in ms. - */ - FixedSlotSequence(uint32_t setLengthMs); - - /** - * @brief The destructor of the FixedSlotSequence object. - * - * @details The destructor frees all allocated memory by iterating through the slotList - * and deleting all allocated resources. - */ - virtual ~FixedSlotSequence(); - - /** - * @brief This is a method to add an PollingSlot object to slotList. - * - * @details Here, a polling slot object is added to the slot list. It is appended - * to the end of the list. The list is currently NOT reordered. - * Afterwards, the iterator current is set to the beginning of the list. - * @param Object ID of the object to add - * @param setTime Value between (0 to 1) * slotLengthMs, when a FixedTimeslotTask - * will be called inside the slot period. - * @param setSequenceId ID which can be used to distinguish - * different task operations - * @param - * @param - */ - void addSlot(object_id_t handlerId, uint32_t setTime, int8_t setSequenceId, - ExecutableObjectIF* executableObject, PeriodicTaskIF* executingTask); - - /** - * Checks if the current slot shall be executed immediately after the one before. - * This allows to distinguish between grouped and not grouped handlers. - * @return - @c true if the slot has the same polling time as the previous - * - @c false else - */ - bool slotFollowsImmediately(); - - /** - * @brief This method returns the time until the next software - * component is invoked. - * - * @details - * This method is vitally important for the operation of the PST. - * By fetching the polling time of the current slot and that of the - * next one (or the first one, if the list end is reached) - * it calculates and returns the interval in milliseconds within - * which the handler execution shall take place. - * If the next slot has the same time as the current one, it is ignored - * until a slot with different time or the end of the PST is found. - */ - uint32_t getIntervalToNextSlotMs(); - - /** - * @brief This method returns the time difference between the current - * slot and the previous slot - * - * @details - * This method is vitally important for the operation of the PST. - * By fetching the polling time of the current slot and that of the previous - * one (or the last one, if the slot is the first one) it calculates and - * returns the interval in milliseconds that the handler execution shall - * be delayed. - */ - uint32_t getIntervalToPreviousSlotMs(); - - /** - * @brief This method returns the length of this FixedSlotSequence instance. - */ - uint32_t getLengthMs() const; - - /** - * @brief The method to execute the device handler entered in the current - * PollingSlot object. - * - * @details - * Within this method the device handler object to be executed is chosen by - * looking up the handler address of the current slot in the handlerMap. - * Either the device handler's talkToInterface or its listenToInterface - * method is invoked, depending on the isTalking flag of the polling slot. - * After execution the iterator current is increased or, by reaching the - * end of slotList, reset to the beginning. - */ - void executeAndAdvance(); - - /** - * @brief An iterator that indicates the current polling slot to execute. - * - * @details This is an iterator for slotList and always points to the - * polling slot which is executed next. - */ - SlotListIter current; - - /** - * @brief Check and initialize slot list. - * @details - * Checks if timing is ok (must be ascending) and if all handlers were found. - * Also calls any initialization steps which are required after task - * creation. - * @return - */ - ReturnValue_t checkSequence() const; - - ReturnValue_t intializeSequenceAfterTaskCreation() const; - -protected: - - /** - * @brief This list contains all PollingSlot objects, defining order and - * execution time of the device handler objects. - * - * @details - * The slot list is a std:list object that contains all created - * PollingSlot instances. They are NOT ordered automatically, so by - * adding entries, the correct order needs to be ensured. By iterating - * through this list the polling sequence is executed. Two entries with - * identical polling times are executed immediately one after another. - */ - SlotList slotList; - - uint32_t lengthMs; -}; - -#endif /* FIXEDSLOTSEQUENCE_H_ */ +#ifndef FRAMEWORK_TASKS_FIXEDSLOTSEQUENCE_H_ +#define FRAMEWORK_TASKS_FIXEDSLOTSEQUENCE_H_ + +#include "../objectmanager/SystemObject.h" +#include "../tasks/FixedSequenceSlot.h" + +#include + +/** + * @brief This class is the representation of a Polling Sequence Table in software. + * @details + * The FixedSlotSequence object maintains the dynamic execution of + * device handler objects. + * + * The main idea is to create a list of device handlers, to announce all + * handlers to thepolling sequence and to maintain a list of + * polling slot objects. This slot list represents the Polling Sequence Table + * in software. + * + * Each polling slot contains information to indicate when and + * which device handler shall be executed within a given polling period. + * The sequence is then executed by iterating through this slot list. + * Handlers are invoking by calling a certain function stored in the handler list. + */ +class FixedSlotSequence { +public: + using SlotList = std::multiset; + using SlotListIter = std::multiset::iterator; + + /** + * @brief The constructor of the FixedSlotSequence object. + * + * @details The constructor takes two arguments, the period length and the init function. + * + * @param setLength The period length, expressed in ms. + */ + FixedSlotSequence(uint32_t setLengthMs); + + /** + * @brief The destructor of the FixedSlotSequence object. + * + * @details The destructor frees all allocated memory by iterating through the slotList + * and deleting all allocated resources. + */ + virtual ~FixedSlotSequence(); + + /** + * @brief This is a method to add an PollingSlot object to slotList. + * + * @details Here, a polling slot object is added to the slot list. It is appended + * to the end of the list. The list is currently NOT reordered. + * Afterwards, the iterator current is set to the beginning of the list. + * @param Object ID of the object to add + * @param setTime Value between (0 to 1) * slotLengthMs, when a FixedTimeslotTask + * will be called inside the slot period. + * @param setSequenceId ID which can be used to distinguish + * different task operations + * @param + * @param + */ + void addSlot(object_id_t handlerId, uint32_t setTime, int8_t setSequenceId, + ExecutableObjectIF* executableObject, PeriodicTaskIF* executingTask); + + /** + * Checks if the current slot shall be executed immediately after the one before. + * This allows to distinguish between grouped and not grouped handlers. + * @return - @c true if the slot has the same polling time as the previous + * - @c false else + */ + bool slotFollowsImmediately(); + + /** + * @brief This method returns the time until the next software + * component is invoked. + * + * @details + * This method is vitally important for the operation of the PST. + * By fetching the polling time of the current slot and that of the + * next one (or the first one, if the list end is reached) + * it calculates and returns the interval in milliseconds within + * which the handler execution shall take place. + * If the next slot has the same time as the current one, it is ignored + * until a slot with different time or the end of the PST is found. + */ + uint32_t getIntervalToNextSlotMs(); + + /** + * @brief This method returns the time difference between the current + * slot and the previous slot + * + * @details + * This method is vitally important for the operation of the PST. + * By fetching the polling time of the current slot and that of the previous + * one (or the last one, if the slot is the first one) it calculates and + * returns the interval in milliseconds that the handler execution shall + * be delayed. + */ + uint32_t getIntervalToPreviousSlotMs(); + + /** + * @brief This method returns the length of this FixedSlotSequence instance. + */ + uint32_t getLengthMs() const; + + /** + * @brief The method to execute the device handler entered in the current + * PollingSlot object. + * + * @details + * Within this method the device handler object to be executed is chosen by + * looking up the handler address of the current slot in the handlerMap. + * Either the device handler's talkToInterface or its listenToInterface + * method is invoked, depending on the isTalking flag of the polling slot. + * After execution the iterator current is increased or, by reaching the + * end of slotList, reset to the beginning. + */ + void executeAndAdvance(); + + /** + * @brief An iterator that indicates the current polling slot to execute. + * + * @details This is an iterator for slotList and always points to the + * polling slot which is executed next. + */ + SlotListIter current; + + /** + * @brief Check and initialize slot list. + * @details + * Checks if timing is ok (must be ascending) and if all handlers were found. + * Also calls any initialization steps which are required after task + * creation. + * @return + */ + ReturnValue_t checkSequence() const; + + ReturnValue_t intializeSequenceAfterTaskCreation() const; + +protected: + + /** + * @brief This list contains all PollingSlot objects, defining order and + * execution time of the device handler objects. + * + * @details + * The slot list is a std:list object that contains all created + * PollingSlot instances. They are NOT ordered automatically, so by + * adding entries, the correct order needs to be ensured. By iterating + * through this list the polling sequence is executed. Two entries with + * identical polling times are executed immediately one after another. + */ + SlotList slotList; + + uint32_t lengthMs; + + bool isEmpty = false; +}; + +#endif /* FIXEDSLOTSEQUENCE_H_ */ From 92c736927610847f18e1899f4e9fbf577d302bda Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 4 Sep 2020 13:56:12 +0200 Subject: [PATCH 05/10] include guard fix --- osal/FreeRTOS/FixedTimeslotTask.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/osal/FreeRTOS/FixedTimeslotTask.h b/osal/FreeRTOS/FixedTimeslotTask.h index c46de5b7b..7d2cdb703 100644 --- a/osal/FreeRTOS/FixedTimeslotTask.h +++ b/osal/FreeRTOS/FixedTimeslotTask.h @@ -1,7 +1,7 @@ -#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ -#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ +#ifndef FSFW_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ +#define FSFW_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ -#include "../../osal/FreeRTOS/FreeRTOSTaskIF.h" +#include "FreeRTOSTaskIF.h" #include "../../tasks/FixedSlotSequence.h" #include "../../tasks/FixedTimeslotTaskIF.h" #include "../../tasks/Typedef.h" @@ -98,4 +98,4 @@ protected: void handleMissedDeadline(); }; -#endif /* POLLINGTASK_H_ */ +#endif /* FSFW_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ */ From b8754fbc1609b05ea962133a7c5fbfbeb9e17535 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 4 Sep 2020 14:11:59 +0200 Subject: [PATCH 06/10] made fixed sequence slot doc generic --- tasks/FixedSequenceSlot.cpp | 4 +- tasks/FixedSequenceSlot.h | 9 +++-- tasks/FixedSlotSequence.cpp | 2 +- tasks/FixedSlotSequence.h | 77 +++++++++++++++++++++---------------- 4 files changed, 51 insertions(+), 41 deletions(-) diff --git a/tasks/FixedSequenceSlot.cpp b/tasks/FixedSequenceSlot.cpp index d7aeff0af..f5d82178d 100644 --- a/tasks/FixedSequenceSlot.cpp +++ b/tasks/FixedSequenceSlot.cpp @@ -1,5 +1,5 @@ -#include "../objectmanager/SystemObjectIF.h" -#include "../tasks/FixedSequenceSlot.h" +#include "FixedSequenceSlot.h" +#include "PeriodicTaskIF.h" #include FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime, diff --git a/tasks/FixedSequenceSlot.h b/tasks/FixedSequenceSlot.h index 151173e96..1744ec198 100644 --- a/tasks/FixedSequenceSlot.h +++ b/tasks/FixedSequenceSlot.h @@ -1,8 +1,9 @@ -#ifndef FRAMEWORK_TASKS_FIXEDSEQUENCESLOT_H_ -#define FRAMEWORK_TASKS_FIXEDSEQUENCESLOT_H_ +#ifndef FSFW_TASKS_FIXEDSEQUENCESLOT_H_ +#define FSFW_TASKS_FIXEDSEQUENCESLOT_H_ +#include "ExecutableObjectIF.h" #include "../objectmanager/ObjectManagerIF.h" -#include "../tasks/ExecutableObjectIF.h" + class PeriodicTaskIF; /** @@ -56,4 +57,4 @@ public: }; -#endif /* FIXEDSEQUENCESLOT_H_ */ +#endif /* FSFW_TASKS_FIXEDSEQUENCESLOT_H_ */ diff --git a/tasks/FixedSlotSequence.cpp b/tasks/FixedSlotSequence.cpp index 59859ce51..2467671b1 100644 --- a/tasks/FixedSlotSequence.cpp +++ b/tasks/FixedSlotSequence.cpp @@ -1,5 +1,5 @@ +#include "FixedSlotSequence.h" #include "../serviceinterface/ServiceInterfaceStream.h" -#include "../tasks/FixedSlotSequence.h" #include FixedSlotSequence::FixedSlotSequence(uint32_t setLengthMs) : diff --git a/tasks/FixedSlotSequence.h b/tasks/FixedSlotSequence.h index 1140dd254..056e0bb5a 100644 --- a/tasks/FixedSlotSequence.h +++ b/tasks/FixedSlotSequence.h @@ -1,26 +1,30 @@ -#ifndef FRAMEWORK_TASKS_FIXEDSLOTSEQUENCE_H_ -#define FRAMEWORK_TASKS_FIXEDSLOTSEQUENCE_H_ +#ifndef FSFW_TASKS_FIXEDSLOTSEQUENCE_H_ +#define FSFW_TASKS_FIXEDSLOTSEQUENCE_H_ +#include "FixedSequenceSlot.h" #include "../objectmanager/SystemObject.h" -#include "../tasks/FixedSequenceSlot.h" #include /** - * @brief This class is the representation of a Polling Sequence Table in software. + * @brief This class is the representation of a + * Polling Sequence Table in software. * @details * The FixedSlotSequence object maintains the dynamic execution of - * device handler objects. + * objects with stricter timing requirements for the FixedTimeslotTask. * - * The main idea is to create a list of device handlers, to announce all - * handlers to thepolling sequence and to maintain a list of - * polling slot objects. This slot list represents the Polling Sequence Table - * in software. + * The main idea is to create a list of executable objects (for example + * device handlers), to announce all handlers to the polling sequence and to + * maintain a list of polling slot objects. + * This slot list represents the Polling Sequence Table in software. * * Each polling slot contains information to indicate when and - * which device handler shall be executed within a given polling period. - * The sequence is then executed by iterating through this slot list. - * Handlers are invoking by calling a certain function stored in the handler list. + * which executable object shall be executed within a given polling period. + * When adding a slot, a pointer to the executing task, a pointer to the + * executable object and a step number can be passed. The step number will be + * passed to the periodic handler. + * The sequence is executed by iterating through the slot sequence and + * executing the executable object in the correct timeslot. */ class FixedSlotSequence { public: @@ -29,41 +33,44 @@ public: /** * @brief The constructor of the FixedSlotSequence object. - * - * @details The constructor takes two arguments, the period length and the init function. - * * @param setLength The period length, expressed in ms. */ FixedSlotSequence(uint32_t setLengthMs); /** * @brief The destructor of the FixedSlotSequence object. - * - * @details The destructor frees all allocated memory by iterating through the slotList - * and deleting all allocated resources. + * @details + * The destructor frees all allocated memory by iterating through the + * slotList and deleting all allocated resources. */ virtual ~FixedSlotSequence(); /** * @brief This is a method to add an PollingSlot object to slotList. * - * @details Here, a polling slot object is added to the slot list. It is appended - * to the end of the list. The list is currently NOT reordered. - * Afterwards, the iterator current is set to the beginning of the list. - * @param Object ID of the object to add - * @param setTime Value between (0 to 1) * slotLengthMs, when a FixedTimeslotTask - * will be called inside the slot period. - * @param setSequenceId ID which can be used to distinguish - * different task operations + * @details + * Here, a polling slot object is added to the slot list. It is appended + * to the end of the list. The list is currently NOT reordered. + * Afterwards, the iterator current is set to the beginning of the list. + * @param handlerId ID of the object to add + * @param setTime + * Value between (0 to 1) * slotLengthMs, when a FixedTimeslotTask + * will be called inside the slot period. + * @param setSequenceId + * ID which can be used to distinguish different task operations. This + * value will be passed to the executable function. * @param * @param */ void addSlot(object_id_t handlerId, uint32_t setTime, int8_t setSequenceId, - ExecutableObjectIF* executableObject, PeriodicTaskIF* executingTask); + ExecutableObjectIF* executableObject, + PeriodicTaskIF* executingTask); /** - * Checks if the current slot shall be executed immediately after the one before. - * This allows to distinguish between grouped and not grouped handlers. + * @brief Checks if the current slot shall be executed immediately + * after the one before. + * @details + * This allows to distinguish between grouped and separated handlers. * @return - @c true if the slot has the same polling time as the previous * - @c false else */ @@ -128,12 +135,16 @@ public: * @brief Check and initialize slot list. * @details * Checks if timing is ok (must be ascending) and if all handlers were found. - * Also calls any initialization steps which are required after task - * creation. * @return */ ReturnValue_t checkSequence() const; + /** + * @brief Perform any initialization steps required after the executing + * task has been created. This function should be called from the + * executing task! + * @return + */ ReturnValue_t intializeSequenceAfterTaskCreation() const; protected: @@ -152,8 +163,6 @@ protected: SlotList slotList; uint32_t lengthMs; - - bool isEmpty = false; }; -#endif /* FIXEDSLOTSEQUENCE_H_ */ +#endif /* FSFW_TASKS_FIXEDSLOTSEQUENCE_H_ */ From 4d7d48e8ca5206e384cf8bcd4241c0ac39f4104c Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 4 Sep 2020 14:24:34 +0200 Subject: [PATCH 07/10] added a generic way to add a custom check --- tasks/FixedSlotSequence.cpp | 27 +++++++++++++++++++++------ tasks/FixedSlotSequence.h | 4 ++++ 2 files changed, 25 insertions(+), 6 deletions(-) diff --git a/tasks/FixedSlotSequence.cpp b/tasks/FixedSlotSequence.cpp index 2467671b1..e5db4301e 100644 --- a/tasks/FixedSlotSequence.cpp +++ b/tasks/FixedSlotSequence.cpp @@ -91,21 +91,31 @@ void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs, ReturnValue_t FixedSlotSequence::checkSequence() const { if(slotList.empty()) { - sif::error << "Fixed Slot Sequence: Slot list is empty!" << std::endl; + sif::error << "FixedSlotSequence::checkSequence:" + << " Slot list is empty!" << std::endl; return HasReturnvaluesIF::RETURN_FAILED; } - uint32_t count = 0; + if(customCheckFunction != nullptr) { + ReturnValue_t result = customCheckFunction(slotList); + if(result != HasReturnvaluesIF::RETURN_OK) { + // Continue for now but print error output. + sif::error << "FixedSlotSequence::checkSequence:" + << " Custom check failed!" << std::endl; + } + } + + uint32_t errorCount = 0; uint32_t time = 0; for(const auto& slot: slotList) { if (slot.executableObject == nullptr) { - count++; + errorCount++; } else if (slot.pollingTimeMs < time) { - sif::error << "FixedSlotSequence::initialize: Time: " + sif::error << "FixedSlotSequence::checkSequence: Time: " << slot.pollingTimeMs << " is smaller than previous with " << time << std::endl; - count++; + errorCount++; } else { // All ok, print slot. @@ -117,7 +127,7 @@ ReturnValue_t FixedSlotSequence::checkSequence() const { } //sif::info << "Number of elements in slot list: " // << slotList.size() << std::endl; - if (count > 0) { + if (errorCount > 0) { return HasReturnvaluesIF::RETURN_FAILED; } return HasReturnvaluesIF::RETURN_OK; @@ -145,3 +155,8 @@ ReturnValue_t FixedSlotSequence::intializeSequenceAfterTaskCreation() const { } return HasReturnvaluesIF::RETURN_OK; } + +void FixedSlotSequence::addCustomCheck(ReturnValue_t + (*customCheckFunction)(const SlotList&)) { + this->customCheckFunction = customCheckFunction; +} diff --git a/tasks/FixedSlotSequence.h b/tasks/FixedSlotSequence.h index 056e0bb5a..19a05f210 100644 --- a/tasks/FixedSlotSequence.h +++ b/tasks/FixedSlotSequence.h @@ -139,6 +139,8 @@ public: */ ReturnValue_t checkSequence() const; + void addCustomCheck(ReturnValue_t (*customCheckFunction)(const SlotList &)); + /** * @brief Perform any initialization steps required after the executing * task has been created. This function should be called from the @@ -162,6 +164,8 @@ protected: */ SlotList slotList; + ReturnValue_t (*customCheckFunction)(const SlotList&) = nullptr; + uint32_t lengthMs; }; From 0eb4c3817edb8abe0cfcf979d6fd5db9ff2a5c9d Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 4 Sep 2020 14:31:39 +0200 Subject: [PATCH 08/10] added initialize after taks creation for linux --- osal/linux/FixedTimeslotTask.cpp | 14 ++++++++++---- osal/linux/FixedTimeslotTask.h | 10 +++++----- 2 files changed, 15 insertions(+), 9 deletions(-) diff --git a/osal/linux/FixedTimeslotTask.cpp b/osal/linux/FixedTimeslotTask.cpp index 858a39a7a..247a34ed8 100644 --- a/osal/linux/FixedTimeslotTask.cpp +++ b/osal/linux/FixedTimeslotTask.cpp @@ -1,5 +1,5 @@ -#include "../../serviceinterface/ServiceInterfaceStream.h" #include "FixedTimeslotTask.h" +#include "../../serviceinterface/ServiceInterfaceStream.h" #include @@ -39,13 +39,16 @@ uint32_t FixedTimeslotTask::getPeriodMs() const { ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep) { - if (objectManager->get(componentId) != nullptr) { - pst.addSlot(componentId, slotTimeMs, executionStep, this); + ExecutableObjectIF* executableObject = + objectManager->get(componentId); + if (executableObject != nullptr) { + pst.addSlot(componentId, slotTimeMs, executionStep, + executableObject,this); return HasReturnvaluesIF::RETURN_OK; } sif::error << "Component " << std::hex << componentId << - " not found, not adding it to pst" << std::endl; + " not found, not adding it to pst" << std::dec << std::endl; return HasReturnvaluesIF::RETURN_FAILED; } @@ -58,6 +61,9 @@ void FixedTimeslotTask::taskFunctionality() { if (!started) { suspend(); } + + pst.intializeSequenceAfterTaskCreation(); + //The start time for the first entry is read. uint64_t lastWakeTime = getCurrentMonotonicTimeMs(); uint64_t interval = pst.getIntervalToNextSlotMs(); diff --git a/osal/linux/FixedTimeslotTask.h b/osal/linux/FixedTimeslotTask.h index 42802b1dd..5c5c18148 100644 --- a/osal/linux/FixedTimeslotTask.h +++ b/osal/linux/FixedTimeslotTask.h @@ -1,9 +1,9 @@ -#ifndef FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ -#define FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ +#ifndef FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ +#define FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ -#include "../../tasks/FixedTimeslotTaskIF.h" -#include "../../devicehandlers/FixedSlotSequence.h" #include "PosixThread.h" +#include "../../tasks/FixedTimeslotTaskIF.h" +#include "../../tasks/FixedSlotSequence.h" #include class FixedTimeslotTask: public FixedTimeslotTaskIF, public PosixThread { @@ -74,4 +74,4 @@ private: bool started; }; -#endif /* FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ */ +#endif /* FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ */ From 22d9b771654aba5698c6e4f94d8eb7a925d159e2 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Sat, 26 Sep 2020 14:19:51 +0200 Subject: [PATCH 09/10] added documentation --- tasks/FixedSlotSequence.h | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/tasks/FixedSlotSequence.h b/tasks/FixedSlotSequence.h index 19a05f210..077dd10ba 100644 --- a/tasks/FixedSlotSequence.h +++ b/tasks/FixedSlotSequence.h @@ -139,6 +139,15 @@ public: */ ReturnValue_t checkSequence() const; + /** + * @brief A custom check can be injected for the respective slot list. + * @details + * This can be used by the developer to check the validity of a certain + * sequence. The function will be run in the #checkSequence function. + * The general check will be continued for now if the custom check function + * fails but a diagnostic debug output will be given. + * @param customCheckFunction + */ void addCustomCheck(ReturnValue_t (*customCheckFunction)(const SlotList &)); /** From 7dbb73b7d8e7cb9e655327e7341aeb5a23c1b046 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 29 Sep 2020 14:29:57 +0200 Subject: [PATCH 10/10] removed dbeug printout --- osal/FreeRTOS/FixedTimeslotTask.cpp | 9 --------- osal/FreeRTOS/PeriodicTask.cpp | 4 ---- 2 files changed, 13 deletions(-) diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp index 309574eb7..062686e2b 100644 --- a/osal/FreeRTOS/FixedTimeslotTask.cpp +++ b/osal/FreeRTOS/FixedTimeslotTask.cpp @@ -150,15 +150,6 @@ void FixedTimeslotTask::handleMissedDeadline() { if(deadlineMissedFunc != nullptr) { this->deadlineMissedFunc(); } - -#ifdef DEBUG - object_id_t handlerId = pst.current->handlerId; - sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) << " with" - << " object ID 0x" << std::setfill('0') << std::setw(8) << std::hex - << handlerId << " missed deadline!" << std::setfill(' ') - << std::dec << std::endl; -#endif - } ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) { diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp index 990d38d67..5c0a840da 100644 --- a/osal/FreeRTOS/PeriodicTask.cpp +++ b/osal/FreeRTOS/PeriodicTask.cpp @@ -133,10 +133,6 @@ TaskHandle_t PeriodicTask::getTaskHandle() { } void PeriodicTask::handleMissedDeadline() { -#ifdef DEBUG - sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) << - " missed deadline!\n" << std::flush; -#endif if(deadlineMissedFunc != nullptr) { this->deadlineMissedFunc(); }