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Mutex improvements #90

Merged
gaisser merged 22 commits from KSat/fsfw:mueller_MutexImprovements into master 2020-08-25 12:13:30 +02:00
Conversation 6 Commits 22 Files Changed 16 +147 -84
16 changed files with 147 additions and 84 deletions
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2
datapool/DataPool.cpp
View File

@ -61,7 +61,7 @@ ReturnValue_t DataPool::freeDataPoolLock() {
} }
ReturnValue_t DataPool::lockDataPool() { ReturnValue_t DataPool::lockDataPool() {
ReturnValue_t status = mutex->lockMutex(MutexIF::NO_TIMEOUT); ReturnValue_t status = mutex->lockMutex(MutexIF::BLOCKING);
if ( status != RETURN_OK ) { if ( status != RETURN_OK ) {
sif::error << "DataPool::DataPool: lock of mutex failed with error code: " << status << std::endl; sif::error << "DataPool::DataPool: lock of mutex failed with error code: " << status << std::endl;
} }

2
events/EventManager.cpp
View File

@ -147,7 +147,7 @@ void EventManager::printEvent(EventMessage* message) {
#endif #endif
void EventManager::lockMutex() { void EventManager::lockMutex() {
mutex->lockMutex(MutexIF::NO_TIMEOUT); mutex->lockMutex(MutexIF::BLOCKING);
} }
void EventManager::unlockMutex() { void EventManager::unlockMutex() {

12
health/HealthTable.cpp
View File

@ -26,7 +26,7 @@ ReturnValue_t HealthTable::registerObject(object_id_t object,
void HealthTable::setHealth(object_id_t object, void HealthTable::setHealth(object_id_t object,
HasHealthIF::HealthState newState) { HasHealthIF::HealthState newState) {
mutex->lockMutex(MutexIF::NO_TIMEOUT); mutex->lockMutex(MutexIF::BLOCKING);
HealthMap::iterator iter = healthMap.find(object); HealthMap::iterator iter = healthMap.find(object);
if (iter != healthMap.end()) { if (iter != healthMap.end()) {
iter->second = newState; iter->second = newState;
@ -36,7 +36,7 @@ void HealthTable::setHealth(object_id_t object,
HasHealthIF::HealthState HealthTable::getHealth(object_id_t object) { HasHealthIF::HealthState HealthTable::getHealth(object_id_t object) {
HasHealthIF::HealthState state = HasHealthIF::HEALTHY; HasHealthIF::HealthState state = HasHealthIF::HEALTHY;
mutex->lockMutex(MutexIF::NO_TIMEOUT); mutex->lockMutex(MutexIF::BLOCKING);
HealthMap::iterator iter = healthMap.find(object); HealthMap::iterator iter = healthMap.find(object);
if (iter != healthMap.end()) { if (iter != healthMap.end()) {
state = iter->second; state = iter->second;
@ -46,7 +46,7 @@ HasHealthIF::HealthState HealthTable::getHealth(object_id_t object) {
} }
uint32_t HealthTable::getPrintSize() { uint32_t HealthTable::getPrintSize() {
mutex->lockMutex(MutexIF::NO_TIMEOUT); mutex->lockMutex(MutexIF::BLOCKING);
uint32_t size = healthMap.size() * 5 + 2; uint32_t size = healthMap.size() * 5 + 2;
mutex->unlockMutex(); mutex->unlockMutex();
return size; return size;
@ -54,7 +54,7 @@ uint32_t HealthTable::getPrintSize() {
bool HealthTable::hasHealth(object_id_t object) { bool HealthTable::hasHealth(object_id_t object) {
bool exits = false; bool exits = false;
mutex->lockMutex(MutexIF::NO_TIMEOUT); mutex->lockMutex(MutexIF::BLOCKING);
HealthMap::iterator iter = healthMap.find(object); HealthMap::iterator iter = healthMap.find(object);
if (iter != healthMap.end()) { if (iter != healthMap.end()) {
exits = true; exits = true;
@ -64,7 +64,7 @@ bool HealthTable::hasHealth(object_id_t object) {
} }
void HealthTable::printAll(uint8_t* pointer, size_t maxSize) { void HealthTable::printAll(uint8_t* pointer, size_t maxSize) {
mutex->lockMutex(MutexIF::NO_TIMEOUT); mutex->lockMutex(MutexIF::BLOCKING);
size_t size = 0; size_t size = 0;
uint16_t count = healthMap.size(); uint16_t count = healthMap.size();
ReturnValue_t result = SerializeAdapter::serialize(&count, ReturnValue_t result = SerializeAdapter::serialize(&count,
@ -85,7 +85,7 @@ void HealthTable::printAll(uint8_t* pointer, size_t maxSize) {
ReturnValue_t HealthTable::iterate( ReturnValue_t HealthTable::iterate(
std::pair<object_id_t, HasHealthIF::HealthState> *value, bool reset) { std::pair<object_id_t, HasHealthIF::HealthState> *value, bool reset) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
mutex->lockMutex(MutexIF::NO_TIMEOUT); mutex->lockMutex(MutexIF::BLOCKING);
if (reset) { if (reset) {
mapIterator = healthMap.begin(); mapIterator = healthMap.begin();
} }

18
internalError/InternalErrorReporter.cpp
View File

@ -54,7 +54,7 @@ void InternalErrorReporter::lostTm() {
uint32_t InternalErrorReporter::getAndResetQueueHits() { uint32_t InternalErrorReporter::getAndResetQueueHits() {
uint32_t value; uint32_t value;
mutex->lockMutex(MutexIF::NO_TIMEOUT); mutex->lockMutex(MutexIF::BLOCKING);
value = queueHits; value = queueHits;
queueHits = 0; queueHits = 0;
mutex->unlockMutex(); mutex->unlockMutex();
@ -63,21 +63,21 @@ uint32_t InternalErrorReporter::getAndResetQueueHits() {
uint32_t InternalErrorReporter::getQueueHits() { uint32_t InternalErrorReporter::getQueueHits() {
uint32_t value; uint32_t value;
mutex->lockMutex(MutexIF::NO_TIMEOUT); mutex->lockMutex(MutexIF::BLOCKING);
value = queueHits; value = queueHits;
mutex->unlockMutex(); mutex->unlockMutex();
return value; return value;
} }
void InternalErrorReporter::incrementQueueHits() { void InternalErrorReporter::incrementQueueHits() {
mutex->lockMutex(MutexIF::NO_TIMEOUT); mutex->lockMutex(MutexIF::BLOCKING);
queueHits++; queueHits++;
mutex->unlockMutex(); mutex->unlockMutex();
} }
uint32_t InternalErrorReporter::getAndResetTmHits() { uint32_t InternalErrorReporter::getAndResetTmHits() {
uint32_t value; uint32_t value;
mutex->lockMutex(MutexIF::NO_TIMEOUT); mutex->lockMutex(MutexIF::BLOCKING);
value = tmHits; value = tmHits;
tmHits = 0; tmHits = 0;
mutex->unlockMutex(); mutex->unlockMutex();
@ -86,14 +86,14 @@ uint32_t InternalErrorReporter::getAndResetTmHits() {
uint32_t InternalErrorReporter::getTmHits() { uint32_t InternalErrorReporter::getTmHits() {
uint32_t value; uint32_t value;
mutex->lockMutex(MutexIF::NO_TIMEOUT); mutex->lockMutex(MutexIF::BLOCKING);
value = tmHits; value = tmHits;
mutex->unlockMutex(); mutex->unlockMutex();
return value; return value;
} }
void InternalErrorReporter::incrementTmHits() { void InternalErrorReporter::incrementTmHits() {
mutex->lockMutex(MutexIF::NO_TIMEOUT); mutex->lockMutex(MutexIF::BLOCKING);
tmHits++; tmHits++;
mutex->unlockMutex(); mutex->unlockMutex();
} }
@ -104,7 +104,7 @@ void InternalErrorReporter::storeFull() {
uint32_t InternalErrorReporter::getAndResetStoreHits() { uint32_t InternalErrorReporter::getAndResetStoreHits() {
uint32_t value; uint32_t value;
mutex->lockMutex(MutexIF::NO_TIMEOUT); mutex->lockMutex(MutexIF::BLOCKING);
value = storeHits; value = storeHits;
storeHits = 0; storeHits = 0;
mutex->unlockMutex(); mutex->unlockMutex();
@ -113,14 +113,14 @@ uint32_t InternalErrorReporter::getAndResetStoreHits() {
uint32_t InternalErrorReporter::getStoreHits() { uint32_t InternalErrorReporter::getStoreHits() {
uint32_t value; uint32_t value;
mutex->lockMutex(MutexIF::NO_TIMEOUT); mutex->lockMutex(MutexIF::BLOCKING);
value = storeHits; value = storeHits;
mutex->unlockMutex(); mutex->unlockMutex();
return value; return value;
} }
void InternalErrorReporter::incrementStoreHits() { void InternalErrorReporter::incrementStoreHits() {
mutex->lockMutex(MutexIF::NO_TIMEOUT); mutex->lockMutex(MutexIF::BLOCKING);
storeHits++; storeHits++;
mutex->unlockMutex(); mutex->unlockMutex();
} }

16
ipc/MutexHelper.h
View File

@ -6,15 +6,21 @@
class MutexHelper { class MutexHelper {
public: public:
MutexHelper(MutexIF* mutex, uint32_t timeoutMs) : MutexHelper(MutexIF* mutex, MutexIF::TimeoutType timeoutType =
MutexIF::TimeoutType::BLOCKING, uint32_t timeoutMs = 0) :
internalMutex(mutex) { internalMutex(mutex) {
ReturnValue_t status = mutex->lockMutex(timeoutMs); ReturnValue_t status = mutex->lockMutex(timeoutType,
if(status != HasReturnvaluesIF::RETURN_OK){ timeoutMs);
sif::error << "MutexHelper: Lock of Mutex failed " << status << std::endl; if(status == MutexIF::MUTEX_TIMEOUT) {
sif::error << "MutexHelper: Lock of mutex failed with timeout of "
<< timeoutMs << " milliseconds!" << std::endl;
}
else if(status != HasReturnvaluesIF::RETURN_OK){
sif::error << "MutexHelper: Lock of Mutex failed with code " <<
status << std::endl;
} }
} }
~MutexHelper() { ~MutexHelper() {
internalMutex->unlockMutex(); internalMutex->unlockMutex();
} }

30
ipc/MutexIF.h
View File

@ -3,9 +3,33 @@
#include "../returnvalues/HasReturnvaluesIF.h" #include "../returnvalues/HasReturnvaluesIF.h"
/**
* @brief Common interface for OS Mutex objects which provide MUTual EXclusion.
* @details https://en.wikipedia.org/wiki/Lock_(computer_science)
* @ingroup osal
* @ingroup interface
*/
class MutexIF { class MutexIF {
public: public:
static const uint32_t NO_TIMEOUT; //!< Needs to be defined in implementation. /**
* Different types of timeout for the mutex lock.
*/
enum TimeoutType {
POLLING, //!< If mutex is not available, return immediately
WAITING, //!< Wait a specified time for the mutex to become available
BLOCKING //!< Block indefinitely until the mutex becomes available.
};
/**
* Lock the mutex. The timeout value will only be used for
* TimeoutType::WAITING
* @param timeoutType
* @param timeoutMs
* @return
*/
virtual ReturnValue_t lockMutex(TimeoutType timeoutType =
TimeoutType::BLOCKING, uint32_t timeoutMs = 0) = 0;
virtual ReturnValue_t unlockMutex() = 0;
static const uint8_t INTERFACE_ID = CLASS_ID::MUTEX_IF; static const uint8_t INTERFACE_ID = CLASS_ID::MUTEX_IF;
/** /**
@ -57,9 +81,7 @@ public:
*/ */
static const ReturnValue_t MUTEX_DESTROYED_WHILE_WAITING = MAKE_RETURN_CODE(12); static const ReturnValue_t MUTEX_DESTROYED_WHILE_WAITING = MAKE_RETURN_CODE(12);
virtual ~MutexIF() {} virtual ~MutexIF() {}
virtual ReturnValue_t lockMutex(uint32_t timeoutMs) = 0;
virtual ReturnValue_t unlockMutex() = 0;
}; };

4
osal/FreeRTOS/Clock.cpp
View File

@ -155,7 +155,7 @@ ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
if (checkOrCreateClockMutex() != HasReturnvaluesIF::RETURN_OK) { if (checkOrCreateClockMutex() != HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT); ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
@ -170,7 +170,7 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
if (timeMutex == NULL) { if (timeMutex == NULL) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT); ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }

37
osal/FreeRTOS/Mutex.cpp
View File

@ -1,28 +1,32 @@
#include "Mutex.h" #include <framework/osal/FreeRTOS/Mutex.h>
#include "../../serviceinterface/ServiceInterfaceStream.h" #include "../../serviceinterface/ServiceInterfaceStream.h"
const uint32_t MutexIF::NO_TIMEOUT = 0;
Mutex::Mutex() { Mutex::Mutex() {
handle = xSemaphoreCreateMutex(); handle = xSemaphoreCreateMutex();
//TODO print error if(handle == nullptr) {
sif::error << "Mutex::Mutex(FreeRTOS): Creation failure" << std::endl;
}
} }
Mutex::~Mutex() { Mutex::~Mutex() {
if (handle != 0) { if (handle != nullptr) {
vSemaphoreDelete(handle); vSemaphoreDelete(handle);
} }
} }
ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) { ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType,
if (handle == 0) { uint32_t timeoutMs) {
//TODO Does not exist if (handle == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED; return MutexIF::MUTEX_NOT_FOUND;
} }
TickType_t timeout = portMAX_DELAY; // If the timeout type is BLOCKING, this will be the correct value.
if (timeoutMs != NO_TIMEOUT) { uint32_t timeout = portMAX_DELAY;
if(timeoutType == TimeoutType::POLLING) {
timeout = 0;
}
else if(timeoutType == TimeoutType::WAITING){
timeout = pdMS_TO_TICKS(timeoutMs); timeout = pdMS_TO_TICKS(timeoutMs);
} }
@ -30,21 +34,18 @@ ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
if (returncode == pdPASS) { if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} else { } else {
//TODO could not be acquired/timeout return MutexIF::MUTEX_TIMEOUT;
return HasReturnvaluesIF::RETURN_FAILED;
} }
} }
ReturnValue_t Mutex::unlockMutex() { ReturnValue_t Mutex::unlockMutex() {
if (handle == 0) { if (handle == nullptr) {
//TODO Does not exist return MutexIF::MUTEX_NOT_FOUND;
return HasReturnvaluesIF::RETURN_FAILED;
} }
BaseType_t returncode = xSemaphoreGive(handle); BaseType_t returncode = xSemaphoreGive(handle);
if (returncode == pdPASS) { if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} else { } else {
//TODO is not owner return MutexIF::CURR_THREAD_DOES_NOT_OWN_MUTEX;
return HasReturnvaluesIF::RETURN_FAILED;
} }
} }

27
osal/FreeRTOS/Mutex.h
View File

@ -1,22 +1,29 @@
#ifndef OS_RTEMS_MUTEX_H_ #ifndef FRAMEWORK_FREERTOS_MUTEX_H_
#define OS_RTEMS_MUTEX_H_ #define FRAMEWORK_FREERTOS_MUTEX_H_
#include "../../ipc/MutexIF.h" #include "../../ipc/MutexIF.h"
#include <freertos/FreeRTOS.h>
#include <freertos/semphr.h>
#include <FreeRTOS.h> /**
#include "semphr.h" * @brief OS component to implement MUTual EXclusion
*
* @details
* Mutexes are binary semaphores which include a priority inheritance mechanism.
* Documentation: https://www.freertos.org/Real-time-embedded-RTOS-mutexes.html
* @ingroup osal
*/
class Mutex : public MutexIF { class Mutex : public MutexIF {
public: public:
Mutex(); Mutex();
~Mutex(); ~Mutex();
ReturnValue_t lockMutex(uint32_t timeoutMs); ReturnValue_t lockMutex(TimeoutType timeoutType,
ReturnValue_t unlockMutex(); uint32_t timeoutMs) override;
ReturnValue_t unlockMutex() override;
private: private:
SemaphoreHandle_t handle; SemaphoreHandle_t handle;
}; };
#endif /* OS_RTEMS_MUTEX_H_ */ #endif /* FRAMEWORK_FREERTOS_MUTEX_H_ */

4
osal/linux/Clock.cpp
View File

@ -179,7 +179,7 @@ ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){ if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT); ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
@ -194,7 +194,7 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
if(timeMutex==NULL){ if(timeMutex==NULL){
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT); ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }

37
osal/linux/Mutex.cpp
View File

@ -2,7 +2,6 @@
#include "../../serviceinterface/ServiceInterfaceStream.h" #include "../../serviceinterface/ServiceInterfaceStream.h"
#include "../../timemanager/Clock.h" #include "../../timemanager/Clock.h"
const uint32_t MutexIF::NO_TIMEOUT = 0;
uint8_t Mutex::count = 0; uint8_t Mutex::count = 0;
@ -25,7 +24,9 @@ Mutex::Mutex() {
sif::error << "Mutex: creation with name, id " << mutex.__data.__count sif::error << "Mutex: creation with name, id " << mutex.__data.__count
<< ", " << " failed with " << strerror(status) << std::endl; << ", " << " failed with " << strerror(status) << std::endl;
} }
//After a mutex attributes object has been used to initialize one or more mutexes, any function affecting the attributes object (including destruction) shall not affect any previously initialized mutexes. // After a mutex attributes object has been used to initialize one or more
// mutexes, any function affecting the attributes object
// (including destruction) shall not affect any previously initialized mutexes.
status = pthread_mutexattr_destroy(&mutexAttr); status = pthread_mutexattr_destroy(&mutexAttr);
if (status != 0) { if (status != 0) {
sif::error << "Mutex: Attribute destroy failed with " << strerror(status) << std::endl; sif::error << "Mutex: Attribute destroy failed with " << strerror(status) << std::endl;
@ -37,9 +38,13 @@ Mutex::~Mutex() {
pthread_mutex_destroy(&mutex); pthread_mutex_destroy(&mutex);
} }
ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) { ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType, uint32_t timeoutMs) {
int status = 0; int status = 0;
if (timeoutMs != MutexIF::NO_TIMEOUT) {
if(timeoutType == TimeoutType::POLLING) {
status = pthread_mutex_trylock(&mutex);
}
else if (timeoutType == TimeoutType::WAITING) {
timespec timeOut; timespec timeOut;
clock_gettime(CLOCK_REALTIME, &timeOut); clock_gettime(CLOCK_REALTIME, &timeOut);
uint64_t nseconds = timeOut.tv_sec * 1000000000 + timeOut.tv_nsec; uint64_t nseconds = timeOut.tv_sec * 1000000000 + timeOut.tv_nsec;
@ -47,27 +52,35 @@ ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
timeOut.tv_sec = nseconds / 1000000000; timeOut.tv_sec = nseconds / 1000000000;
timeOut.tv_nsec = nseconds - timeOut.tv_sec * 1000000000; timeOut.tv_nsec = nseconds - timeOut.tv_sec * 1000000000;
status = pthread_mutex_timedlock(&mutex, &timeOut); status = pthread_mutex_timedlock(&mutex, &timeOut);
} else { }
else if(timeoutType == TimeoutType::BLOCKING) {
status = pthread_mutex_lock(&mutex); status = pthread_mutex_lock(&mutex);
} }
switch (status) { switch (status) {
case EINVAL: case EINVAL:
//The mutex was created with the protocol attribute having the value PTHREAD_PRIO_PROTECT and the calling thread's priority is higher than the mutex's current priority ceiling. // The mutex was created with the protocol attribute having the value
// PTHREAD_PRIO_PROTECT and the calling thread's priority is higher
// than the mutex's current priority ceiling.
return WRONG_ATTRIBUTE_SETTING; return WRONG_ATTRIBUTE_SETTING;
//The process or thread would have blocked, and the abs_timeout parameter specified a nanoseconds field value less than zero or greater than or equal to 1000 million. // The process or thread would have blocked, and the abs_timeout
//The value specified by mutex does not refer to an initialized mutex object. // parameter specified a nanoseconds field value less than zero or
// greater than or equal to 1000 million.
// The value specified by mutex does not refer to an initialized mutex object.
//return MUTEX_NOT_FOUND; //return MUTEX_NOT_FOUND;
case EBUSY: case EBUSY:
//The mutex could not be acquired because it was already locked. // The mutex could not be acquired because it was already locked.
return MUTEX_ALREADY_LOCKED; return MUTEX_ALREADY_LOCKED;
case ETIMEDOUT: case ETIMEDOUT:
//The mutex could not be locked before the specified timeout expired. // The mutex could not be locked before the specified timeout expired.
return MUTEX_TIMEOUT; return MUTEX_TIMEOUT;
case EAGAIN: case EAGAIN:
//The mutex could not be acquired because the maximum number of recursive locks for mutex has been exceeded. // The mutex could not be acquired because the maximum number of
// recursive locks for mutex has been exceeded.
return MUTEX_MAX_LOCKS; return MUTEX_MAX_LOCKS;
case EDEADLK: case EDEADLK:
//A deadlock condition was detected or the current thread already owns the mutex. // A deadlock condition was detected or the current thread
// already owns the mutex.
return CURR_THREAD_ALREADY_OWNS_MUTEX; return CURR_THREAD_ALREADY_OWNS_MUTEX;
case 0: case 0:
//Success //Success

7
osal/linux/Mutex.h
View File

@ -1,14 +1,15 @@
#ifndef OS_RTEMS_MUTEX_H_ #ifndef OS_LINUX_MUTEX_H_
#define OS_RTEMS_MUTEX_H_ #define OS_LINUX_MUTEX_H_
#include "../../ipc/MutexIF.h" #include "../../ipc/MutexIF.h"
#include <pthread.h> #include <pthread.h>
class Mutex : public MutexIF { class Mutex : public MutexIF {
public: public:
Mutex(); Mutex();
virtual ~Mutex(); virtual ~Mutex();
virtual ReturnValue_t lockMutex(uint32_t timeoutMs); virtual ReturnValue_t lockMutex(TimeoutType timeoutType, uint32_t timeoutMs);
virtual ReturnValue_t unlockMutex(); virtual ReturnValue_t unlockMutex();
private: private:
pthread_mutex_t mutex; pthread_mutex_t mutex;

2
osal/linux/PeriodicPosixTask.cpp
View File

@ -22,7 +22,7 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) {
} }
ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object, ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object,
bool addTaskIF) { bool addTaskIF) {
ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>( ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
object); object);
if (newObject == nullptr) { if (newObject == nullptr) {

19
osal/rtems/Mutex.cpp
View File

@ -1,7 +1,6 @@
#include "Mutex.h" #include "Mutex.h"
#include "../../serviceinterface/ServiceInterfaceStream.h" #include "../../serviceinterface/ServiceInterfaceStream.h"
const uint32_t MutexIF::NO_TIMEOUT = RTEMS_NO_TIMEOUT;
uint8_t Mutex::count = 0; uint8_t Mutex::count = 0;
gaisser commented 2020-06-08 19:37:23 +02:00
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Looked through the RTEMS interface and unfortunately this is not correct.
RTEMS_NO_TIMEOUT is only the variable used for the TIMEOUT itself.
The RTEMS rtems_semaphore_obtain uses two different parameters:

  • The second parameter can be "RTEMS_WAIT" or "RTEMS_NO_WAIT".
  • The third parameter is the timeout. This can be RTEMS_NO_TIMEOUT. If the second parameter is on RTEMS_NO_WAIT, this parameter is ignored.

Our implementation of lockMutex takes a Timeout. If set to zero this could mean "Lock forever" or "Poll". If we check the value against "MutexIF::POLLING" and "MutexIF::BLOCKING" it is still not clear how long the mutex should be BLOCKING.

Looked through the RTEMS interface and unfortunately this is not correct. RTEMS_NO_TIMEOUT is only the variable used for the TIMEOUT itself. The RTEMS rtems_semaphore_obtain uses two different parameters: * The second parameter can be "RTEMS_WAIT" or "RTEMS_NO_WAIT". * The third parameter is the timeout. This can be RTEMS_NO_TIMEOUT. If the second parameter is on RTEMS_NO_WAIT, this parameter is ignored. Our implementation of lockMutex takes a Timeout. If set to zero this could mean "Lock forever" or "Poll". If we check the value against "MutexIF::POLLING" and "MutexIF::BLOCKING" it is still not clear how long the mutex should be BLOCKING.
muellerr commented 2020-06-09 13:27:42 +02:00
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I changed it again. But I don't know what rtems_interval is (is it milliseconds)?
I also don't know what the numerical values of those RTEMS constants are so maybe
the implementatio ndoes not work like that.

I changed it again. But I don't know what rtems_interval is (is it milliseconds)? I also don't know what the numerical values of those RTEMS constants are so maybe the implementatio ndoes not work like that.
gaisser commented 2020-06-23 20:41:36 +02:00
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Hm WAIT is 0 and NO_WAIT is 1. So you can not request a 1 ms wait.

Hm WAIT is 0 and NO_WAIT is 1. So you can not request a 1 ms wait.
Mutex::Mutex() : Mutex::Mutex() :
@ -24,8 +23,22 @@ Mutex::~Mutex() {
} }
} }
ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) { ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType =
rtems_status_code status = rtems_semaphore_obtain(mutexId, RTEMS_WAIT, timeoutMs); TimeoutType::BLOCKING, uint32_t timeoutMs) {
if(timeoutMs == MutexIF::TimeoutType::BLOCKING) {
rtems_status_code status = rtems_semaphore_obtain(mutexId,
RTEMS_WAIT, RTEMS_NO_TIMEOUT);
}
else if(timeoutMs == MutexIF::TimeoutType::POLLING) {
timeoutMs = RTEMS_NO_TIMEOUT;
rtems_status_code status = rtems_semaphore_obtain(mutexId,
RTEMS_NO_WAIT, 0);
}
else {
rtems_status_code status = rtems_semaphore_obtain(mutexId,
RTEMS_WAIT, timeoutMs);
}
switch(status){ switch(status){
case RTEMS_SUCCESSFUL: case RTEMS_SUCCESSFUL:
//semaphore obtained successfully //semaphore obtained successfully

6
osal/rtems/Mutex.h
View File

@ -1,5 +1,5 @@
#ifndef OS_RTEMS_MUTEX_H_ #ifndef FRAMEWORK_OSAL_RTEMS_MUTEX_H_
#define OS_RTEMS_MUTEX_H_ #define FRAMEWORK_OSAL_RTEMS_MUTEX_H_
#include "../../ipc/MutexIF.h" #include "../../ipc/MutexIF.h"
#include "RtemsBasic.h" #include "RtemsBasic.h"
@ -8,7 +8,7 @@ class Mutex : public MutexIF {
public: public:
Mutex(); Mutex();
~Mutex(); ~Mutex();
ReturnValue_t lockMutex(uint32_t timeoutMs); ReturnValue_t lockMutex(TimeoutType timeoutType, uint32_t timeoutMs = 0);
ReturnValue_t unlockMutex(); ReturnValue_t unlockMutex();
private: private:
rtems_id mutexId; rtems_id mutexId;

8
storagemanager/PoolManager.tpp
View File

@ -17,7 +17,7 @@ inline PoolManager<NUMBER_OF_POOLS>::~PoolManager(void) {
template<uint8_t NUMBER_OF_POOLS> template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::reserveSpace( inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::reserveSpace(
const uint32_t size, store_address_t* address, bool ignoreFault) { const uint32_t size, store_address_t* address, bool ignoreFault) {
MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT); MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::reserveSpace(size, ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::reserveSpace(size,
address,ignoreFault); address,ignoreFault);
return status; return status;
@ -29,7 +29,7 @@ inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
// debug << "PoolManager( " << translateObject(getObjectId()) << // debug << "PoolManager( " << translateObject(getObjectId()) <<
// " )::deleteData from store " << packet_id.pool_index << // " )::deleteData from store " << packet_id.pool_index <<
// ". id is "<< packet_id.packet_index << std::endl; // ". id is "<< packet_id.packet_index << std::endl;
MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT); MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(packet_id); ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(packet_id);
return status; return status;
} }
@ -37,7 +37,7 @@ inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
template<uint8_t NUMBER_OF_POOLS> template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(uint8_t* buffer, inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(uint8_t* buffer,
size_t size, store_address_t* storeId) { size_t size, store_address_t* storeId) {
MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT); MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(buffer, ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(buffer,
size, storeId); size, storeId);
return status; return status;
@ -46,7 +46,7 @@ inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(uint8_t* buffer,
template<uint8_t NUMBER_OF_POOLS> template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::modifyData( inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::modifyData(
store_address_t packet_id, uint8_t** packet_ptr, size_t* size) { store_address_t packet_id, uint8_t** packet_ptr, size_t* size) {
MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT); MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::modifyData(packet_id, ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::modifyData(packet_id,
packet_ptr, size); packet_ptr, size);
return status; return status;