Merge branch 'development' into mueller/power-switcher-component-upstream
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fsfw/fsfw/pipeline/pr-development This commit looks good
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commit
dd1b0a9380
@ -22,6 +22,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
|
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
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- HAL Devicehandlers: Periodic printout is run-time configurable now
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- `oneShotAction` flag in the `TestTask` class is not static anymore
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- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
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## Removed
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@ -48,9 +48,10 @@ add_library(${LIB_FSFW_NAME})
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if(FSFW_BUILD_UNITTESTS)
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message(STATUS "Building the FSFW unittests in addition to the static library")
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# Check whether the user has already installed Catch2 first
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find_package(Catch2 3)
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find_package(Catch2 3 QUIET)
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# Not installed, so use FetchContent to download and provide Catch2
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if(NOT Catch2_FOUND)
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message(STATUS "Catch2 installation not found. Downloading Catch2 library with FetchContent")
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include(FetchContent)
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FetchContent_Declare(
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|
@ -1,9 +1,6 @@
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#include "MgmLIS3MDLHandler.h"
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#include "fsfw/datapool/PoolReadGuard.h"
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#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
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#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
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#endif
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#include <cmath>
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|
@ -148,16 +148,16 @@ void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCook
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/* Clear size bits */
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options->c_cflag &= ~CSIZE;
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switch (uartCookie->getBitsPerWord()) {
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case 5:
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case BitsPerWord::BITS_5:
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options->c_cflag |= CS5;
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break;
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case 6:
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case BitsPerWord::BITS_6:
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options->c_cflag |= CS6;
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break;
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case 7:
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case BitsPerWord::BITS_7:
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options->c_cflag |= CS7;
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break;
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case 8:
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case BitsPerWord::BITS_8:
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options->c_cflag |= CS8;
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break;
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default:
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@ -193,82 +193,126 @@ void UartComIF::setFixedOptions(struct termios* options) {
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void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCookie) {
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switch (uartCookie->getBaudrate()) {
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case 50:
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case UartBaudRate::RATE_50:
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cfsetispeed(options, B50);
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cfsetospeed(options, B50);
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break;
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case 75:
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case UartBaudRate::RATE_75:
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cfsetispeed(options, B75);
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cfsetospeed(options, B75);
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break;
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case 110:
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case UartBaudRate::RATE_110:
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cfsetispeed(options, B110);
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cfsetospeed(options, B110);
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break;
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case 134:
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case UartBaudRate::RATE_134:
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cfsetispeed(options, B134);
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cfsetospeed(options, B134);
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break;
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case 150:
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case UartBaudRate::RATE_150:
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cfsetispeed(options, B150);
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cfsetospeed(options, B150);
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break;
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case 200:
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case UartBaudRate::RATE_200:
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cfsetispeed(options, B200);
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cfsetospeed(options, B200);
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break;
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case 300:
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case UartBaudRate::RATE_300:
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cfsetispeed(options, B300);
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cfsetospeed(options, B300);
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break;
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case 600:
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case UartBaudRate::RATE_600:
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cfsetispeed(options, B600);
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cfsetospeed(options, B600);
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break;
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case 1200:
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case UartBaudRate::RATE_1200:
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cfsetispeed(options, B1200);
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cfsetospeed(options, B1200);
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break;
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case 1800:
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case UartBaudRate::RATE_1800:
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cfsetispeed(options, B1800);
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cfsetospeed(options, B1800);
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break;
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case 2400:
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case UartBaudRate::RATE_2400:
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cfsetispeed(options, B2400);
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cfsetospeed(options, B2400);
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break;
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case 4800:
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case UartBaudRate::RATE_4800:
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cfsetispeed(options, B4800);
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cfsetospeed(options, B4800);
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break;
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case 9600:
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case UartBaudRate::RATE_9600:
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cfsetispeed(options, B9600);
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cfsetospeed(options, B9600);
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break;
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case 19200:
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case UartBaudRate::RATE_19200:
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cfsetispeed(options, B19200);
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cfsetospeed(options, B19200);
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break;
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case 38400:
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case UartBaudRate::RATE_38400:
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cfsetispeed(options, B38400);
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cfsetospeed(options, B38400);
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break;
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case 57600:
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case UartBaudRate::RATE_57600:
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cfsetispeed(options, B57600);
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cfsetospeed(options, B57600);
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break;
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case 115200:
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case UartBaudRate::RATE_115200:
|
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cfsetispeed(options, B115200);
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cfsetospeed(options, B115200);
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break;
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case 230400:
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case UartBaudRate::RATE_230400:
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cfsetispeed(options, B230400);
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cfsetospeed(options, B230400);
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break;
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case 460800:
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case UartBaudRate::RATE_460800:
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cfsetispeed(options, B460800);
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cfsetospeed(options, B460800);
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break;
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case UartBaudRate::RATE_500000:
|
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cfsetispeed(options, B500000);
|
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cfsetospeed(options, B500000);
|
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break;
|
||||
case UartBaudRate::RATE_576000:
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cfsetispeed(options, B576000);
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cfsetospeed(options, B576000);
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break;
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case UartBaudRate::RATE_921600:
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cfsetispeed(options, B921600);
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cfsetospeed(options, B921600);
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break;
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case UartBaudRate::RATE_1000000:
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cfsetispeed(options, B1000000);
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cfsetospeed(options, B1000000);
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break;
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case UartBaudRate::RATE_1152000:
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cfsetispeed(options, B1152000);
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cfsetospeed(options, B1152000);
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break;
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case UartBaudRate::RATE_1500000:
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cfsetispeed(options, B1500000);
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cfsetospeed(options, B1500000);
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break;
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case UartBaudRate::RATE_2000000:
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cfsetispeed(options, B2000000);
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cfsetospeed(options, B2000000);
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break;
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case UartBaudRate::RATE_2500000:
|
||||
cfsetispeed(options, B2500000);
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cfsetospeed(options, B2500000);
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break;
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case UartBaudRate::RATE_3000000:
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cfsetispeed(options, B3000000);
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cfsetospeed(options, B3000000);
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break;
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case UartBaudRate::RATE_3500000:
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cfsetispeed(options, B3500000);
|
||||
cfsetospeed(options, B3500000);
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break;
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case UartBaudRate::RATE_4000000:
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||||
cfsetispeed(options, B4000000);
|
||||
cfsetospeed(options, B4000000);
|
||||
break;
|
||||
default:
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||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
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|
@ -1,9 +1,9 @@
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||||
#include "fsfw_hal/linux/uart/UartCookie.h"
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||||
#include "UartCookie.h"
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#include <fsfw/serviceinterface.h>
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UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
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uint32_t baudrate, size_t maxReplyLen)
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UartBaudRate baudrate, size_t maxReplyLen)
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||||
: handlerId(handlerId),
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deviceFile(deviceFile),
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uartMode(uartMode),
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@ -12,7 +12,7 @@ UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes
|
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UartCookie::~UartCookie() {}
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uint32_t UartCookie::getBaudrate() const { return baudrate; }
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UartBaudRate UartCookie::getBaudrate() const { return baudrate; }
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size_t UartCookie::getMaxReplyLen() const { return maxReplyLen; }
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|
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@ -24,23 +24,11 @@ void UartCookie::setParityEven() { parity = Parity::EVEN; }
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Parity UartCookie::getParity() const { return parity; }
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|
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void UartCookie::setBitsPerWord(uint8_t bitsPerWord_) {
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switch (bitsPerWord_) {
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case 5:
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||||
case 6:
|
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case 7:
|
||||
case 8:
|
||||
break;
|
||||
default:
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
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||||
sif::debug << "UartCookie::setBitsPerWord: Invalid bits per word specified" << std::endl;
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||||
#endif
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return;
|
||||
}
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void UartCookie::setBitsPerWord(BitsPerWord bitsPerWord_) {
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bitsPerWord = bitsPerWord_;
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}
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uint8_t UartCookie::getBitsPerWord() const { return bitsPerWord; }
|
||||
BitsPerWord UartCookie::getBitsPerWord() const { return bitsPerWord; }
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StopBits UartCookie::getStopBits() const { return stopBits; }
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|
@ -12,6 +12,41 @@ enum class StopBits { ONE_STOP_BIT, TWO_STOP_BITS };
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||||
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||||
enum class UartModes { CANONICAL, NON_CANONICAL };
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|
||||
enum class BitsPerWord { BITS_5, BITS_6, BITS_7, BITS_8 };
|
||||
|
||||
enum class UartBaudRate {
|
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RATE_50,
|
||||
RATE_75,
|
||||
RATE_110,
|
||||
RATE_134,
|
||||
RATE_150,
|
||||
RATE_200,
|
||||
RATE_300,
|
||||
RATE_600,
|
||||
RATE_1200,
|
||||
RATE_1800,
|
||||
RATE_2400,
|
||||
RATE_4800,
|
||||
RATE_9600,
|
||||
RATE_19200,
|
||||
RATE_38400,
|
||||
RATE_57600,
|
||||
RATE_115200,
|
||||
RATE_230400,
|
||||
RATE_460800,
|
||||
RATE_500000,
|
||||
RATE_576000,
|
||||
RATE_921600,
|
||||
RATE_1000000,
|
||||
RATE_1152000,
|
||||
RATE_1500000,
|
||||
RATE_2000000,
|
||||
RATE_2500000,
|
||||
RATE_3000000,
|
||||
RATE_3500000,
|
||||
RATE_4000000
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Cookie for the UartComIF. There are many options available to configure the UART driver.
|
||||
* The constructor only requests for common options like the baudrate. Other options can
|
||||
@ -27,25 +62,23 @@ class UartCookie : public CookieIF {
|
||||
* @param uartMode Specify the UART mode. The canonical mode should be used if the
|
||||
* messages are separated by a delimited character like '\n'. See the
|
||||
* termios documentation for more information
|
||||
* @param baudrate The baudrate to use for input and output. Possible Baudrates are: 50,
|
||||
* 75, 110, 134, 150, 200, 300, 600, 1200, 1800, 2400, 4800, 9600, B19200,
|
||||
* 38400, 57600, 115200, 230400, 460800
|
||||
* @param baudrate The baudrate to use for input and output.
|
||||
* @param maxReplyLen The maximum size an object using this cookie expects
|
||||
* @details
|
||||
* Default configuration: No parity
|
||||
* 8 databits (number of bits transfered with one uart frame)
|
||||
* One stop bit
|
||||
*/
|
||||
UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode, uint32_t baudrate,
|
||||
size_t maxReplyLen);
|
||||
UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
|
||||
UartBaudRate baudrate, size_t maxReplyLen);
|
||||
|
||||
virtual ~UartCookie();
|
||||
|
||||
uint32_t getBaudrate() const;
|
||||
UartBaudRate getBaudrate() const;
|
||||
size_t getMaxReplyLen() const;
|
||||
std::string getDeviceFile() const;
|
||||
Parity getParity() const;
|
||||
uint8_t getBitsPerWord() const;
|
||||
BitsPerWord getBitsPerWord() const;
|
||||
StopBits getStopBits() const;
|
||||
UartModes getUartMode() const;
|
||||
object_id_t getHandlerId() const;
|
||||
@ -76,7 +109,7 @@ class UartCookie : public CookieIF {
|
||||
/**
|
||||
* Function two set number of bits per UART frame.
|
||||
*/
|
||||
void setBitsPerWord(uint8_t bitsPerWord_);
|
||||
void setBitsPerWord(BitsPerWord bitsPerWord_);
|
||||
|
||||
/**
|
||||
* Function to specify the number of stopbits.
|
||||
@ -97,10 +130,10 @@ class UartCookie : public CookieIF {
|
||||
std::string deviceFile;
|
||||
const UartModes uartMode;
|
||||
bool flushInput = false;
|
||||
uint32_t baudrate;
|
||||
UartBaudRate baudrate;
|
||||
size_t maxReplyLen = 0;
|
||||
Parity parity = Parity::NONE;
|
||||
uint8_t bitsPerWord = 8;
|
||||
BitsPerWord bitsPerWord = BitsPerWord::BITS_8;
|
||||
uint8_t readCycles = 1;
|
||||
StopBits stopBits = StopBits::ONE_STOP_BIT;
|
||||
bool replySizeFixed = true;
|
||||
|
@ -47,13 +47,14 @@ LocalPoolObjectBase::LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
|
||||
HasLocalDataPoolIF* hkOwner = ObjectManager::instance()->get<HasLocalDataPoolIF>(poolOwner);
|
||||
if (hkOwner == nullptr) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "LocalPoolVariable: The supplied pool owner did not implement the correct "
|
||||
"interface HasLocalDataPoolIF!"
|
||||
<< std::endl;
|
||||
sif::error << "LocalPoolVariable: The supplied pool owner 0x" << std::hex << poolOwner
|
||||
<< std::dec << " did not implement the correct interface "
|
||||
<< "HasLocalDataPoolIF" << std::endl;
|
||||
#else
|
||||
sif::printError(
|
||||
"LocalPoolVariable: The supplied pool owner did not implement the correct "
|
||||
"interface HasLocalDataPoolIF!\n");
|
||||
"LocalPoolVariable: The supplied pool owner 0x%08x did not implement the correct "
|
||||
"interface HasLocalDataPoolIF\n",
|
||||
poolOwner);
|
||||
#endif
|
||||
return;
|
||||
}
|
||||
|
@ -46,7 +46,7 @@ class StaticLocalDataSet : public LocalPoolDataSetBase {
|
||||
}
|
||||
|
||||
private:
|
||||
std::array<PoolVariableIF*, NUM_VARIABLES> poolVarList;
|
||||
std::array<PoolVariableIF*, NUM_VARIABLES> poolVarList = {};
|
||||
};
|
||||
|
||||
#endif /* FSFW_DATAPOOLLOCAL_STATICLOCALDATASET_H_ */
|
||||
|
@ -410,7 +410,7 @@ ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
|
||||
DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles, LocalPoolDataSetBase* replyDataSet,
|
||||
size_t replyLen, bool periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId) {
|
||||
// No need to check, as we may try to insert multiple times.
|
||||
insertInCommandMap(deviceCommand);
|
||||
insertInCommandMap(deviceCommand, hasDifferentReplyId, replyId);
|
||||
if (hasDifferentReplyId) {
|
||||
return insertInReplyMap(replyId, maxDelayCycles, replyDataSet, replyLen, periodic);
|
||||
} else {
|
||||
@ -437,11 +437,15 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceCommand) {
|
||||
ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceCommand,
|
||||
bool useAlternativeReply,
|
||||
DeviceCommandId_t alternativeReplyId) {
|
||||
DeviceCommandInfo info;
|
||||
info.expectedReplies = 0;
|
||||
info.isExecuting = false;
|
||||
info.sendReplyTo = NO_COMMANDER;
|
||||
info.useAlternativeReplyId = alternativeReplyId;
|
||||
info.alternativeReplyId = alternativeReplyId;
|
||||
auto resultPair = deviceCommandMap.emplace(deviceCommand, info);
|
||||
if (resultPair.second) {
|
||||
return RETURN_OK;
|
||||
@ -451,12 +455,21 @@ ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceComm
|
||||
}
|
||||
|
||||
size_t DeviceHandlerBase::getNextReplyLength(DeviceCommandId_t commandId) {
|
||||
DeviceReplyIter iter = deviceReplyMap.find(commandId);
|
||||
if (iter != deviceReplyMap.end()) {
|
||||
return iter->second.replyLen;
|
||||
} else {
|
||||
return 0;
|
||||
DeviceCommandId_t replyId = NO_COMMAND_ID;
|
||||
DeviceCommandMap::iterator command = cookieInfo.pendingCommand;
|
||||
if (command->second.useAlternativeReplyId) {
|
||||
replyId = command->second.alternativeReplyId;
|
||||
}
|
||||
else {
|
||||
replyId = commandId;
|
||||
}
|
||||
DeviceReplyIter iter = deviceReplyMap.find(replyId);
|
||||
if (iter != deviceReplyMap.end()) {
|
||||
if (iter->second.delayCycles != 0) {
|
||||
return iter->second.replyLen;
|
||||
}
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply,
|
||||
@ -651,7 +664,9 @@ void DeviceHandlerBase::doGetWrite() {
|
||||
|
||||
// We need to distinguish here, because a raw command never expects a reply.
|
||||
//(Could be done in eRIRM, but then child implementations need to be careful.
|
||||
result = enableReplyInReplyMap(cookieInfo.pendingCommand);
|
||||
DeviceCommandMap::iterator command = cookieInfo.pendingCommand;
|
||||
result = enableReplyInReplyMap(command, 1, command->second.useAlternativeReplyId,
|
||||
command->second.alternativeReplyId);
|
||||
} else {
|
||||
// always generate a failure event, so that FDIR knows what's up
|
||||
triggerEvent(DEVICE_SENDING_COMMAND_FAILED, result, cookieInfo.pendingCommand->first);
|
||||
|
@ -478,7 +478,9 @@ class DeviceHandlerBase : public DeviceHandlerIF,
|
||||
* @return - @c RETURN_OK when the command was successfully inserted,
|
||||
* - @c RETURN_FAILED else.
|
||||
*/
|
||||
ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand);
|
||||
ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand,
|
||||
bool useAlternativeReply = false,
|
||||
DeviceCommandId_t alternativeReplyId = 0);
|
||||
|
||||
/**
|
||||
* Enables a periodic reply for a given command. It sets to delay cycles to the specified
|
||||
@ -751,6 +753,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
|
||||
//! if this is != NO_COMMANDER, DHB was commanded externally and shall
|
||||
//! report everything to commander.
|
||||
MessageQueueId_t sendReplyTo;
|
||||
bool useAlternativeReplyId;
|
||||
DeviceCommandId_t alternativeReplyId;
|
||||
};
|
||||
using DeviceCommandMap = std::map<DeviceCommandId_t, DeviceCommandInfo>;
|
||||
/**
|
||||
|
@ -97,7 +97,11 @@ void PeriodicTask::taskFunctionality() {
|
||||
|
||||
ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
|
||||
ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(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;
|
||||
}
|
||||
|
@ -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;
|
||||
|
@ -102,11 +102,15 @@ void PeriodicTask::taskFunctionality() {
|
||||
|
||||
ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
|
||||
ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(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;
|
||||
}
|
||||
|
||||
|
@ -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);
|
||||
|
@ -28,7 +28,11 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) {
|
||||
|
||||
ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
|
||||
ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(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;
|
||||
}
|
||||
|
@ -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;
|
||||
|
@ -68,11 +68,15 @@ void PeriodicTask::taskFunctionality() {
|
||||
|
||||
ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
|
||||
ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(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;
|
||||
}
|
||||
|
@ -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;
|
||||
|
@ -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;
|
||||
|
Loading…
Reference in New Issue
Block a user