rtems bugfixes and updates only

2021-01-28 11:28:28 +01:00
parent 35d75bae56
commit 17a1ae9d0e
18 changed files with 481 additions and 338 deletions
--- a/osal/rtems/FixedTimeslotTask.cpp
+++ b/osal/rtems/FixedTimeslotTask.cpp
@ -0,0 +1,140 @@
+#include "FixedTimeslotTask.h"
+#include "RtemsBasic.h"
+
+#include "../../tasks/FixedSequenceSlot.h"
+#include "../../objectmanager/SystemObjectIF.h"
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
+#include "../../serviceinterface/ServiceInterface.h"
+
+#include <rtems/bspIo.h>
+#include <rtems/io.h>
+#include <rtems/rtems/ratemon.h>
+#include <rtems/rtems/status.h>
+#include <rtems/rtems/tasks.h>
+#include <rtems/rtems/types.h>
+#include <sys/_stdint.h>
+
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+#include <iostream>
+#endif
+
+#include <cstddef>
+#include <list>
+
+uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
+
+FixedTimeslotTask::FixedTimeslotTask(const char *name, rtems_task_priority setPriority,
+        size_t setStack, uint32_t setOverallPeriod, void (*setDeadlineMissedFunc)(void)):
+		RTEMSTaskBase(setPriority, setStack, name), periodId(0), pst(setOverallPeriod) {
+    // All additional attributes are applied to the object.
+    this->deadlineMissedFunc = setDeadlineMissedFunc;
+}
+
+FixedTimeslotTask::~FixedTimeslotTask() {
+}
+
+rtems_task FixedTimeslotTask::taskEntryPoint(rtems_task_argument argument) {
+    /* The argument is re-interpreted as a FixedTimeslotTask */
+    FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
+    /* The task's functionality is called. */
+    return originalTask->taskFunctionality();
+    /* Should never be reached */
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "Polling task " << originalTask->getId() << " returned from taskFunctionality." <<
+            std::endl;
+#endif
+}
+
+void FixedTimeslotTask::missedDeadlineCounter() {
+    FixedTimeslotTask::deadlineMissedCount++;
+    if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
+                << " deadlines." << std::endl;
+#endif
+    }
+}
+
+ReturnValue_t FixedTimeslotTask::startTask() {
+    rtems_status_code status = rtems_task_start(id, FixedTimeslotTask::taskEntryPoint,
+            rtems_task_argument((void *) this));
+    if (status != RTEMS_SUCCESSFUL) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "PollingTask::startTask for " << std::hex << this->getId()
+				        << std::dec << " failed." << std::endl;
+#endif
+    }
+    switch(status){
+    case RTEMS_SUCCESSFUL:
+        //ask started successfully
+        return HasReturnvaluesIF::RETURN_OK;
+    default:
+        /*
+	    RTEMS_INVALID_ADDRESS - invalid task entry point
+		RTEMS_INVALID_ID - invalid task id
+		RTEMS_INCORRECT_STATE - task not in the dormant state
+		RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+}
+
+ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
+        uint32_t slotTimeMs, int8_t executionStep) {
+    ExecutableObjectIF* object = objectManager->get<ExecutableObjectIF>(componentId);
+    if (object != nullptr) {
+        pst.addSlot(componentId, slotTimeMs, executionStep, object, this);
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "Component " << std::hex << componentId <<
+            " not found, not adding it to pst" << std::endl;
+#endif
+    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. */
+    FixedSlotSequence::SlotListIter it = pst.current;
+
+    /* Initialize the PST with the correct calling task */
+    pst.intializeSequenceAfterTaskCreation();
+
+    /* The start time for the first entry is read. */
+    rtems_interval interval = RtemsBasic::convertMsToTicks(it->pollingTimeMs);
+    RTEMSTaskBase::setAndStartPeriod(interval,&periodId);
+    //The task's "infinite" inner loop is entered.
+    while (1) {
+        if (pst.slotFollowsImmediately()) {
+            /* Do nothing */
+        }
+        else {
+            /* The interval for the next polling slot is selected. */
+            interval = RtemsBasic::convertMsToTicks(this->pst.getIntervalToNextSlotMs());
+            /* The period is checked and restarted with the new interval.
+			If the deadline was missed, the deadlineMissedFunc is called. */
+            rtems_status_code status = RTEMSTaskBase::restartPeriod(interval,periodId);
+            if (status == RTEMS_TIMEOUT) {
+                if (this->deadlineMissedFunc != nullptr) {
+                    this->deadlineMissedFunc();
+                }
+            }
+        }
+        /* The device handler for this slot is executed and the next one is chosen. */
+        this->pst.executeAndAdvance();
+    }
+}
+
+ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms){
+    return RTEMSTaskBase::sleepFor(ms);
+};