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

osal/FreeRTOS/Clock.cpp

@@ -1,16 +1,18 @@
 #include <framework/timemanager/Clock.h>
 #include <framework/globalfunctions/timevalOperations.h>
-#include <stdlib.h>
-#include "Timekeeper.h"
+#include <framework/osal/FreeRTOS/Timekeeper.h>
 
-#include <FreeRTOS.h>
-#include <task.h>
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+
+#include <stdlib.h>
+#include <time.h>
 
 //TODO sanitize input?
 //TODO much of this code can be reused for tick-only systems
 
 uint16_t Clock::leapSeconds = 0;
-MutexIF* Clock::timeMutex = NULL;
+MutexIF* Clock::timeMutex = nullptr;
 
 uint32_t Clock::getTicksPerSecond(void) {
 	return 1000;
@@ -56,7 +58,6 @@ ReturnValue_t Clock::getUptime(timeval* uptime) {
 
 timeval Clock::getUptime() {
 	TickType_t ticksSinceStart = xTaskGetTickCount();
-
 	return Timekeeper::ticksToTimeval(ticksSinceStart);
 }
 
@@ -128,7 +129,7 @@ ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
 
 ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
 	//SHOULDDO: works not for dates in the past (might have less leap seconds)
-	if (timeMutex == NULL) {
+	if (timeMutex == nullptr) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 

osal/FreeRTOS/FixedTimeslotTask.cpp

@@ -82,10 +82,10 @@ 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.
-	std::list<FixedSequenceSlot*>::iterator it = pst.current;
+	auto slotListIter = pst.current;
 
 	//The start time for the first entry is read.
-	uint32_t intervalMs = (*it)->pollingTimeMs;
+	uint32_t intervalMs = slotListIter->pollingTimeMs;
 	TickType_t interval = pdMS_TO_TICKS(intervalMs);
 
 	TickType_t xLastWakeTime;
@@ -120,4 +120,3 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
 	vTaskDelay(pdMS_TO_TICKS(ms));
 	return HasReturnvaluesIF::RETURN_OK;
 }
-

osal/FreeRTOS/FixedTimeslotTask.h

@@ -5,8 +5,10 @@
 #include <framework/tasks/FixedTimeslotTaskIF.h>
 #include <framework/tasks/Typedef.h>
 
-#include <FreeRTOS.h>
+extern "C" {
+#include "FreeRTOS.h"
 #include "task.h"
+}
 
 class FixedTimeslotTask: public FixedTimeslotTaskIF {
 public:

osal/FreeRTOS/QueueFactory.cpp

@@ -25,8 +25,8 @@ QueueFactory::~QueueFactory() {
 }
 
 MessageQueueIF* QueueFactory::createMessageQueue(uint32_t message_depth,
-		uint32_t max_message_size) {
-	return new MessageQueue(message_depth, max_message_size);
+		size_t maxMessageSize) {
+	return new MessageQueue(message_depth, maxMessageSize);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {

osal/FreeRTOS/Timekeeper.cpp

@@ -1,20 +1,19 @@
-#include "Timekeeper.h"
-#include <FreeRTOSConfig.h>
+#include <framework/osal/FreeRTOS/Timekeeper.h>
 
-Timekeeper::Timekeeper() :
-		offset( { 0, 0 }) {
-	// TODO Auto-generated constructor stub
+#include "FreeRTOSConfig.h"
 
-}
+Timekeeper * Timekeeper::myinstance = nullptr;
 
-Timekeeper * Timekeeper::myinstance = NULL;
+Timekeeper::Timekeeper() : offset( { 0, 0 } ) {}
+
+Timekeeper::~Timekeeper() {}
 
 const timeval& Timekeeper::getOffset() const {
 	return offset;
 }
 
 Timekeeper* Timekeeper::instance() {
-	if (myinstance == NULL) {
+	if (myinstance == nullptr) {
 		myinstance = new Timekeeper();
 	}
 	return myinstance;
@@ -24,10 +23,6 @@ void Timekeeper::setOffset(const timeval& offset) {
 	this->offset = offset;
 }
 
-Timekeeper::~Timekeeper() {
-	// TODO Auto-generated destructor stub
-}
-
 timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
 	timeval uptime;
 	uptime.tv_sec = ticks / configTICK_RATE_HZ;
@@ -40,3 +35,7 @@ timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
 
 	return uptime;
 }
+
+TickType_t Timekeeper::getTicks() {
+    return xTaskGetTickCount();
+}

osal/FreeRTOS/Timekeeper.h

@@ -3,7 +3,9 @@
 
 #include <framework/timemanager/Clock.h>
 
-#include <FreeRTOS.h>
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+
 
 /**
  * A Class to basically store the time difference between uptime and UTC
@@ -25,6 +27,11 @@ public:
 	virtual ~Timekeeper();
 
 	static timeval ticksToTimeval(TickType_t ticks);
+    /**
+     * Get elapsed time in system ticks.
+     * @return
+     */
+    static TickType_t getTicks();
 
 	const timeval& getOffset() const;
 	void setOffset(const timeval& offset);