From d9d9a28ef84f01b3915865cd5399e9ebe0e104f2 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 24 Mar 2022 21:04:46 +0100 Subject: [PATCH 1/2] delete code which is not required anymore --- hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp | 3 --- 1 file changed, 3 deletions(-) diff --git a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp index 69f6311e3..52b6dc07b 100644 --- a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp +++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp @@ -1,9 +1,6 @@ #include "MgmLIS3MDLHandler.h" #include "fsfw/datapool/PoolReadGuard.h" -#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 -#include "fsfw/globalfunctions/PeriodicOperationDivider.h" -#endif #include From 916ed3f56ac676f5a411895d4fadbb8665bb550e Mon Sep 17 00:00:00 2001 From: Ulrich Mohr Date: Mon, 28 Mar 2022 13:50:42 +0200 Subject: [PATCH 2/2] added function to add component to a periodic task by pointer --- src/fsfw/osal/freertos/PeriodicTask.cpp | 10 +++++++--- src/fsfw/osal/freertos/PeriodicTask.h | 10 ++++++++++ src/fsfw/osal/host/PeriodicTask.cpp | 10 +++++++--- src/fsfw/osal/host/PeriodicTask.h | 10 ++++++++++ src/fsfw/osal/linux/PeriodicPosixTask.cpp | 10 +++++++--- src/fsfw/osal/linux/PeriodicPosixTask.h | 8 ++++++++ src/fsfw/osal/rtems/PeriodicTask.cpp | 10 +++++++--- src/fsfw/osal/rtems/PeriodicTask.h | 9 +++++++++ src/fsfw/tasks/PeriodicTaskIF.h | 20 ++++++++++++-------- 9 files changed, 77 insertions(+), 20 deletions(-) diff --git a/src/fsfw/osal/freertos/PeriodicTask.cpp b/src/fsfw/osal/freertos/PeriodicTask.cpp index 8dfa02908..d2c46ea8d 100644 --- a/src/fsfw/osal/freertos/PeriodicTask.cpp +++ b/src/fsfw/osal/freertos/PeriodicTask.cpp @@ -97,7 +97,11 @@ void PeriodicTask::taskFunctionality() { ReturnValue_t PeriodicTask::addComponent(object_id_t object) { ExecutableObjectIF* newObject = ObjectManager::instance()->get(object); - if (newObject == nullptr) { + return addComponent(newObject); +} + +ReturnValue_t PeriodicTask::addComponent(ExecutableObjectIF* object) { + if (object == nullptr) { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "PeriodicTask::addComponent: Invalid object. Make sure" "it implement ExecutableObjectIF" @@ -105,8 +109,8 @@ ReturnValue_t PeriodicTask::addComponent(object_id_t object) { #endif return HasReturnvaluesIF::RETURN_FAILED; } - objectList.push_back(newObject); - newObject->setTaskIF(this); + objectList.push_back(object); + object->setTaskIF(this); return HasReturnvaluesIF::RETURN_OK; } diff --git a/src/fsfw/osal/freertos/PeriodicTask.h b/src/fsfw/osal/freertos/PeriodicTask.h index cc3951768..fc8e90927 100644 --- a/src/fsfw/osal/freertos/PeriodicTask.h +++ b/src/fsfw/osal/freertos/PeriodicTask.h @@ -63,6 +63,16 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF { */ ReturnValue_t addComponent(object_id_t object) override; + /** + * Adds an object to the list of objects to be executed. + * The objects are executed in the order added. + * @param object Id of the object to add. + * @return + * -@c RETURN_OK on success + * -@c RETURN_FAILED if the object could not be added. + */ + ReturnValue_t addComponent(ExecutableObjectIF* object) override; + uint32_t getPeriodMs() const override; ReturnValue_t sleepFor(uint32_t ms) override; diff --git a/src/fsfw/osal/host/PeriodicTask.cpp b/src/fsfw/osal/host/PeriodicTask.cpp index 1de4aedfc..cdcfafa67 100644 --- a/src/fsfw/osal/host/PeriodicTask.cpp +++ b/src/fsfw/osal/host/PeriodicTask.cpp @@ -102,11 +102,15 @@ void PeriodicTask::taskFunctionality() { ReturnValue_t PeriodicTask::addComponent(object_id_t object) { ExecutableObjectIF* newObject = ObjectManager::instance()->get(object); - if (newObject == nullptr) { + return addComponent(newObject); +} + +ReturnValue_t PeriodicTask::addComponent(ExecutableObjectIF* object) { + if (object == nullptr) { return HasReturnvaluesIF::RETURN_FAILED; } - newObject->setTaskIF(this); - objectList.push_back(newObject); + object->setTaskIF(this); + objectList.push_back(object); return HasReturnvaluesIF::RETURN_OK; } diff --git a/src/fsfw/osal/host/PeriodicTask.h b/src/fsfw/osal/host/PeriodicTask.h index 0c41c0f70..6c4d5e8bb 100644 --- a/src/fsfw/osal/host/PeriodicTask.h +++ b/src/fsfw/osal/host/PeriodicTask.h @@ -59,6 +59,16 @@ class PeriodicTask : public PeriodicTaskIF { */ ReturnValue_t addComponent(object_id_t object); + /** + * Adds an object to the list of objects to be executed. + * The objects are executed in the order added. + * @param object pointer to the object to add. + * @return + * -@c RETURN_OK on success + * -@c RETURN_FAILED if the object could not be added. + */ + ReturnValue_t addComponent(ExecutableObjectIF* object); + uint32_t getPeriodMs() const; ReturnValue_t sleepFor(uint32_t ms); diff --git a/src/fsfw/osal/linux/PeriodicPosixTask.cpp b/src/fsfw/osal/linux/PeriodicPosixTask.cpp index ca346670d..e1937df4a 100644 --- a/src/fsfw/osal/linux/PeriodicPosixTask.cpp +++ b/src/fsfw/osal/linux/PeriodicPosixTask.cpp @@ -28,7 +28,11 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) { ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) { ExecutableObjectIF* newObject = ObjectManager::instance()->get(object); - if (newObject == nullptr) { + return addComponent(newObject); +} + +ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object) { + if (object == nullptr) { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "PeriodicTask::addComponent: Invalid object. Make sure" << " it implements ExecutableObjectIF!" << std::endl; @@ -39,8 +43,8 @@ ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) { #endif return HasReturnvaluesIF::RETURN_FAILED; } - objectList.push_back(newObject); - newObject->setTaskIF(this); + objectList.push_back(object); + object->setTaskIF(this); return HasReturnvaluesIF::RETURN_OK; } diff --git a/src/fsfw/osal/linux/PeriodicPosixTask.h b/src/fsfw/osal/linux/PeriodicPosixTask.h index 1c3a52c7e..3cd9847ad 100644 --- a/src/fsfw/osal/linux/PeriodicPosixTask.h +++ b/src/fsfw/osal/linux/PeriodicPosixTask.h @@ -42,6 +42,14 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF { */ ReturnValue_t addComponent(object_id_t object) override; + /** + * Adds an object to the list of objects to be executed. + * The objects are executed in the order added. + * @param object pointer to the object to add. + * @return RETURN_OK on success, RETURN_FAILED if the object could not be added. + */ + ReturnValue_t addComponent(ExecutableObjectIF* object) override; + uint32_t getPeriodMs() const override; ReturnValue_t sleepFor(uint32_t ms) override; diff --git a/src/fsfw/osal/rtems/PeriodicTask.cpp b/src/fsfw/osal/rtems/PeriodicTask.cpp index 1785c8cfb..ae2ec4265 100644 --- a/src/fsfw/osal/rtems/PeriodicTask.cpp +++ b/src/fsfw/osal/rtems/PeriodicTask.cpp @@ -68,11 +68,15 @@ void PeriodicTask::taskFunctionality() { ReturnValue_t PeriodicTask::addComponent(object_id_t object) { ExecutableObjectIF* newObject = ObjectManager::instance()->get(object); - if (newObject == nullptr) { + return addComponent(newObject); +} + +ReturnValue_t PeriodicTask::addComponent(ExecutableObjectIF* object) { + if (object == nullptr) { return HasReturnvaluesIF::RETURN_FAILED; } - objectList.push_back(newObject); - newObject->setTaskIF(this); + objectList.push_back(object); + object->setTaskIF(this); return HasReturnvaluesIF::RETURN_OK; } diff --git a/src/fsfw/osal/rtems/PeriodicTask.h b/src/fsfw/osal/rtems/PeriodicTask.h index 119329f2a..24ce4af1e 100644 --- a/src/fsfw/osal/rtems/PeriodicTask.h +++ b/src/fsfw/osal/rtems/PeriodicTask.h @@ -59,6 +59,15 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF { */ ReturnValue_t addComponent(object_id_t object) override; +/** + * Adds an object to the list of objects to be executed. + * The objects are executed in the order added. + * @param object pointer to the object to add. + * @return RETURN_OK on success, RETURN_FAILED if the object could not be added. + */ + ReturnValue_t addComponent(ExecutableObjectIF* object) override; + + uint32_t getPeriodMs() const override; ReturnValue_t sleepFor(uint32_t ms) override; diff --git a/src/fsfw/tasks/PeriodicTaskIF.h b/src/fsfw/tasks/PeriodicTaskIF.h index a8a512296..c78a32dec 100644 --- a/src/fsfw/tasks/PeriodicTaskIF.h +++ b/src/fsfw/tasks/PeriodicTaskIF.h @@ -26,21 +26,25 @@ class PeriodicTaskIF { virtual ReturnValue_t startTask() = 0; /** - * Add a component (object) to a periodic task. The pointer to the - * task can be set optionally + * Add a component (object) to a periodic task. * @param object - * Add an object to the task. The most important case is to add an - * executable object with a function which will be called regularly - * (see ExecutableObjectIF) - * @param setTaskIF - * Can be used to specify whether the task object pointer is passed - * to the component. + * Add an object to the task. The object needs to implement ExecutableObjectIF * @return */ virtual ReturnValue_t addComponent(object_id_t object) { return HasReturnvaluesIF::RETURN_FAILED; }; + /** + * Add an object to a periodic task. + * @param object + * Add an object to the task. + * @return + */ + virtual ReturnValue_t addComponent(ExecutableObjectIF* object) { + return HasReturnvaluesIF::RETURN_FAILED; + }; + virtual ReturnValue_t sleepFor(uint32_t ms) = 0; virtual uint32_t getPeriodMs() const = 0;