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Merge remote-tracking branch 'upstream/master' into mueller_MutexImprovements

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This commit is contained in:
Robin Müller
2020-08-07 22:07:37 +02:00
parent a0834204da 78442a8b92
commit 9d90348175
36 changed files with 1201 additions and 732 deletions
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97
osal/FreeRTOS/FixedTimeslotTask.cpp
View File

@ -1,6 +1,7 @@
#include <framework/serviceinterface/ServiceInterfaceStream.h>
#include "FixedTimeslotTask.h"
#include <framework/serviceinterface/ServiceInterfaceStream.h>
uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
@ -18,16 +19,19 @@ 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.
// The argument is re-interpreted as FixedTimeslotTask. The Task object is
// global, so it is found from any place.
FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
// Task should not start until explicitly requested
// 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
/* 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 (!originalTask->started) {
if (not originalTask->started) {
vTaskSuspend(NULL);
}
@ -58,11 +62,6 @@ ReturnValue_t FixedTimeslotTask::startTask() {
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
uint32_t slotTimeMs, int8_t executionStep) {
if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
if(slotTimeMs == 0) {
// FreeRTOS throws a sanity error for zero values, so we set
// the time to one millisecond.
slotTimeMs = 1;
}
pst.addSlot(componentId, slotTimeMs, executionStep, this);
return HasReturnvaluesIF::RETURN_OK;
}
@ -81,8 +80,9 @@ ReturnValue_t FixedTimeslotTask::checkSequence() const {
}
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;
// A local iterator for the Polling Sequence Table is created to find the
// start time for the first entry.
FixedSlotSequence::SlotListIter slotListIter = pst.current;
//The start time for the first entry is read.
uint32_t intervalMs = slotListIter->pollingTimeMs;
@ -90,32 +90,67 @@ void FixedTimeslotTask::taskFunctionality() {
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(). */
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
vTaskDelayUntil(&xLastWakeTime, interval);
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 (pst.slotFollowsImmediately()) {
//Do nothing
} else {
// we need to wait before executing the current slot
//this gives us the time to wait:
intervalMs = this->pst.getIntervalToPreviousSlotMs();
interval = pdMS_TO_TICKS(intervalMs);
vTaskDelayUntil(&xLastWakeTime, interval);
//TODO deadline missed check
}
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;

85
osal/FreeRTOS/FixedTimeslotTask.h
View File

@ -1,26 +1,27 @@
#ifndef POLLINGTASK_H_
#define POLLINGTASK_H_
#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
#include <framework/devicehandlers/FixedSlotSequence.h>
#include <framework/tasks/FixedTimeslotTaskIF.h>
#include <framework/tasks/Typedef.h>
extern "C" {
#include "FreeRTOS.h"
#include "task.h"
}
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
class FixedTimeslotTask: public FixedTimeslotTaskIF {
public:
/**
* @brief The standard constructor of the class.
*
* @details This is the general constructor of the class. In addition to the TaskBase parameters,
* the following variables are passed:
*
* @param (*setDeadlineMissedFunc)() The function pointer to the deadline missed function that shall be assigned.
*
* @param getPst The object id of the completely initialized polling sequence.
* 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(const char *name, TaskPriority setPriority,
TaskStackSize setStack, TaskPeriod overallPeriod,
@ -28,16 +29,18 @@ public:
/**
* @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.
* @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.
* It counts missedDeadlines and prints the number of missed deadlines
* every 10th time.
*/
static void missedDeadlineCounter();
/**
@ -46,13 +49,14 @@ public:
static uint32_t deadlineMissedCount;
ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
int8_t executionStep);
int8_t executionStep) override;
uint32_t getPeriodMs() const;
uint32_t getPeriodMs() const override;
ReturnValue_t checkSequence() const;
ReturnValue_t checkSequence() const override;
ReturnValue_t sleepFor(uint32_t ms) override;
ReturnValue_t sleepFor(uint32_t ms);
protected:
bool started;
TaskHandle_t handle;
@ -60,32 +64,35 @@ protected:
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.
* @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 in a new polling thread.
*
* @details This method, that is the generalOSAL::checkAndRestartPeriod( this->periodId, interval ); entry point in the new thread, is here set to generate
* and link the Polling Sequence Table to the thread object and start taskFunctionality()
* on success. If operation of the task is ended for some reason,
* the destructor is called to free allocated memory.
* @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 Holding the main functionality of the task, this method is most important.
* It links the functionalities provided by FixedSlotSequence with the OS's System Calls
* to keep the timing of the periods.
* @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_ */
#endif /* FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ */

92
osal/FreeRTOS/PeriodicTask.cpp
View File

@ -1,17 +1,19 @@
#include "PeriodicTask.h"
#include <framework/serviceinterface/ServiceInterfaceStream.h>
#include <framework/tasks/ExecutableObjectIF.h>
#include "PeriodicTask.h"
PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
TaskStackSize setStack, TaskPeriod setPeriod,
void (*setDeadlineMissedFunc)()) :
started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(
setDeadlineMissedFunc) {
BaseType_t status = xTaskCreate(taskEntryPoint, name, setStack, this, setPriority, &handle);
setDeadlineMissedFunc)
{
BaseType_t status = xTaskCreate(taskEntryPoint, name,
setStack, this, setPriority, &handle);
if(status != pdPASS){
sif::debug << "PeriodicTask Insufficient heap memory remaining. Status: "
<< status << std::endl;
sif::debug << "PeriodicTask Insufficient heap memory remaining. "
"Status: " << status << std::endl;
}
}
@ -21,16 +23,19 @@ PeriodicTask::~PeriodicTask(void) {
}
void PeriodicTask::taskEntryPoint(void* argument) {
//The argument is re-interpreted as PeriodicTask. The Task object is global, so it is found from any place.
// The argument is re-interpreted as PeriodicTask. The Task object is
// global, so it is found from any place.
PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
// Task should not start until explicitly requested
// 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
/* 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 (!originalTask->started) {
if (not originalTask->started) {
vTaskSuspend(NULL);
}
@ -59,31 +64,72 @@ void PeriodicTask::taskFunctionality() {
TickType_t xLastWakeTime;
const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
/* 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(). */
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();
/* Enter the loop that defines the task behavior. */
for (;;) {
for (ObjectList::iterator it = objectList.begin();
it != objectList.end(); ++it) {
(*it)->performOperation();
for (auto const& object: objectList) {
object->performOperation();
}
//TODO deadline missed check
checkMissedDeadline(xLastWakeTime, xPeriod);
vTaskDelayUntil(&xLastWakeTime, xPeriod);
}
}
ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) {
ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
object);
if (newObject == NULL) {
if (newObject == nullptr) {
sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
"it implements ExecutableObjectIF!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
objectList.push_back(newObject);
if(setTaskIF) {
newObject->setTaskIF(this);
}
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t PeriodicTask::getPeriodMs() const {
return period * 1000;
}
void PeriodicTask::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 PeriodicTask::handleMissedDeadline() {
#ifdef DEBUG
sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
" missed deadline!\n" << std::flush;
#endif
if(deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
}
}

109
osal/FreeRTOS/PeriodicTask.h
View File

@ -1,48 +1,49 @@
#ifndef MULTIOBJECTTASK_H_
#define MULTIOBJECTTASK_H_
#ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
#include <framework/objectmanager/ObjectManagerIF.h>
#include <framework/tasks/PeriodicTaskIF.h>
#include <framework/tasks/Typedef.h>
#include <FreeRTOS.h>
#include "task.h"
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
#include <vector>
class ExecutableObjectIF;
/**
* @brief This class represents a specialized task for periodic activities of multiple objects.
*
* @details MultiObjectTask is an extension to ObjectTask in the way that it is able to execute
* multiple objects that implement the ExecutableObjectIF interface. The objects must be
* added prior to starting the task.
*
* @brief This class represents a specialized task for
* periodic activities of multiple objects.
* @ingroup task_handling
*/
class PeriodicTask: public PeriodicTaskIF {
public:
/**
* @brief Standard constructor of the class.
* @details The class is initialized without allocated objects. These need to be added
* with #addObject.
* In the underlying TaskBase class, a new operating system task is created.
* In addition to the TaskBase parameters, the period, the pointer to the
* aforementioned initialization function and an optional "deadline-missed"
* function pointer is passed.
* @param priority Sets the priority of a task. Values range from a low 0 to a high 99.
* @param stack_size The stack size reserved by the operating system for the task.
* @param setPeriod The length of the period with which the task's functionality will be
* executed. It is expressed in clock ticks.
* @param setDeadlineMissedFunc The function pointer to the deadline missed function
* that shall be assigned.
* Keep in Mind that you need to call before this vTaskStartScheduler()!
* A lot of task parameters are set in "FreeRTOSConfig.h".
* TODO: why does this need to be called before vTaskStartScheduler?
* @details
* The class is initialized without allocated objects.
* These need to be added with #addComponent.
* @param priority
* Sets the priority of a task. Values depend on freeRTOS configuration,
* high number means high priority.
* @param stack_size
* The stack size reserved by the operating system for the task.
* @param setPeriod
* The length of the period with which the task's
* functionality will be executed. It is expressed in clock ticks.
* @param setDeadlineMissedFunc
* The function pointer to the deadline missed function that shall
* be assigned.
*/
PeriodicTask(const char *name, TaskPriority setPriority, TaskStackSize setStack, TaskPeriod setPeriod,
void (*setDeadlineMissedFunc)());
PeriodicTask(const char *name, TaskPriority setPriority,
TaskStackSize setStack, TaskPeriod setPeriod,
void (*setDeadlineMissedFunc)());
/**
* @brief Currently, the executed object's lifetime is not coupled with the task object's
* lifetime, so the destructor is empty.
* @brief Currently, the executed object's lifetime is not coupled with
* the task object's lifetime, so the destructor is empty.
*/
virtual ~PeriodicTask(void);
@ -53,58 +54,72 @@ public:
* The address of the task object is passed as an argument
* to the system call.
*/
ReturnValue_t startTask(void);
ReturnValue_t startTask() 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 RETURN_OK on success, RETURN_FAILED if the object could not be added.
* @return
* -@c RETURN_OK on success
* -@c RETURN_FAILED if the object could not be added.
*/
ReturnValue_t addComponent(object_id_t object);
ReturnValue_t addComponent(object_id_t object,
bool setTaskIF = true) override;
uint32_t getPeriodMs() const;
uint32_t getPeriodMs() const override;
ReturnValue_t sleepFor(uint32_t ms);
ReturnValue_t sleepFor(uint32_t ms) override;
protected:
bool started;
TaskHandle_t handle;
typedef std::vector<ExecutableObjectIF*> ObjectList; //!< Typedef for the List of objects.
//! Typedef for the List of objects.
typedef std::vector<ExecutableObjectIF*> ObjectList;
/**
* @brief This attribute holds a list of objects to be executed.
*/
ObjectList objectList;
/**
* @brief The period of the task.
* @details The period determines the frequency of the task's execution. It is expressed in clock ticks.
* @details
* The period determines the frequency of the task's execution.
* It is expressed in clock ticks.
*/
TaskPeriod period;
/**
* @brief The pointer to the deadline-missed function.
* @details This pointer stores the function that is executed if the task's deadline is missed.
* So, each may react individually on a timing failure. The pointer may be NULL,
* then nothing happens on missing the deadline. The deadline is equal to the next execution
* of the periodic task.
* @details
* This pointer stores the function that is executed if the task's deadline
* is missed so each may react individually on a timing failure.
* The pointer may be NULL, then nothing happens on missing the deadline.
* The deadline is equal to the next execution of the periodic task.
*/
void (*deadlineMissedFunc)(void);
/**
* @brief This is the function executed in the new task's context.
* @details It converts the argument back to the thread object type and copies the class instance
* to the task context. The taskFunctionality method is called afterwards.
* @details
* It converts the argument back to the thread object type and copies the
* class instance to the task context. The taskFunctionality method is
* called afterwards.
* @param A pointer to the task object itself is passed as argument.
*/
static void taskEntryPoint(void* argument);
/**
* @brief The function containing the actual functionality of the task.
* @details The method sets and starts
* the task's period, then enters a loop that is repeated as long as the isRunning
* attribute is true. Within the loop, all performOperation methods of the added
* objects are called. Afterwards the checkAndRestartPeriod system call blocks the task
* until the next period.
* On missing the deadline, the deadlineMissedFunction is executed.
* @details
* The method sets and starts the task's period, then enters a loop that is
* repeated as long as the isRunning attribute is true. Within the loop,
* all performOperation methods of the added objects are called.
* Afterwards the checkAndRestartPeriod system call blocks the task until
* the next period.
* On missing the deadline, the deadlineMissedFunction is executed.
*/
void taskFunctionality(void);
void checkMissedDeadline(const TickType_t xLastWakeTime,
const TickType_t interval);
void handleMissedDeadline();
};
#endif /* MULTIOBJECTTASK_H_ */
#endif /* PERIODICTASK_H_ */