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Fix nasa#978, store task parameters in task record
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Implement a "CFE_ES_TaskStartParams_t" to complement the
existing "CFE_ES_AppStartParams_t" and store this in the
task record.

This permits some nice cleanup:

- All tasks can now use the same basic start function CFE_ES_StartAppTask()
- No special/different logic is needed for main tasks/child tasks
- Simplified APIs as parameters can be encapsulated in a single struct.
- Fixes a race condition where child tasks may not be fully instantiated
  at the time the task function is invoked.
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@jphickey
jphickey committed Feb 16, 2021
1 parent 6b9c267 commit 58abd38
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Showing 10 changed files with 528 additions and 510 deletions.
186 changes: 87 additions & 99 deletions fsw/cfe-core/src/es/cfe_es_api.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1015,15 +1015,15 @@ int32 CFE_ES_GetAppInfo(CFE_ES_AppInfo_t *AppInfo, CFE_ES_AppId_t AppId)
AppInfo->ResourceId = CFE_RESOURCEID_UNWRAP(AppId); /* make into a generic resource ID */
AppInfo->Type = AppRecPtr->Type;

strncpy(AppInfo->Name, CFE_ES_AppRecordGetName(AppRecPtr), sizeof(AppInfo->Name)-1);

CFE_ES_CopyModuleBasicInfo(&AppRecPtr->StartParams.BasicInfo, AppInfo);
CFE_ES_CopyModuleStatusInfo(&AppRecPtr->ModuleInfo, AppInfo);
CFE_ES_CopyModuleStatusInfo(&AppRecPtr->LoadStatus, AppInfo);

AppInfo->StackSize = AppRecPtr->StartParams.StackSize;
AppInfo->ExceptionAction = AppRecPtr->StartParams.ExceptionAction;
AppInfo->Priority = AppRecPtr->StartParams.Priority;
AppInfo->MainTaskId = AppRecPtr->MainTaskId;

ModuleId = AppRecPtr->ModuleInfo.ModuleId;
ModuleId = AppRecPtr->LoadStatus.ModuleId;

/*
** Calculate the number of child tasks
Expand All @@ -1042,6 +1042,10 @@ int32 CFE_ES_GetAppInfo(CFE_ES_AppInfo_t *AppInfo, CFE_ES_AppId_t AppId)
strncpy(AppInfo->MainTaskName, TaskRecPtr->TaskName,
sizeof(AppInfo->MainTaskName) - 1);
AppInfo->MainTaskName[sizeof(AppInfo->MainTaskName) - 1] = '\0';

AppInfo->StackSize = TaskRecPtr->StartParams.StackSize;
AppInfo->Priority = TaskRecPtr->StartParams.Priority;

}
else
{
Expand Down Expand Up @@ -1105,10 +1109,12 @@ int32 CFE_ES_GetLibInfo(CFE_ES_AppInfo_t *LibInfo, CFE_ES_LibId_t LibId)
LibInfo->ResourceId = CFE_RESOURCEID_UNWRAP(LibId); /* make into generic ID */
LibInfo->Type = CFE_ES_AppType_LIBRARY;

CFE_ES_CopyModuleBasicInfo(&LibRecPtr->BasicInfo, LibInfo);
CFE_ES_CopyModuleStatusInfo(&LibRecPtr->ModuleInfo, LibInfo);
strncpy(LibInfo->Name, CFE_ES_LibRecordGetName(LibRecPtr), sizeof(LibInfo->Name)-1);

ModuleId = LibRecPtr->ModuleInfo.ModuleId;
CFE_ES_CopyModuleBasicInfo(&LibRecPtr->LoadParams, LibInfo);
CFE_ES_CopyModuleStatusInfo(&LibRecPtr->LoadStatus, LibInfo);

ModuleId = LibRecPtr->LoadStatus.ModuleId;

Status = CFE_SUCCESS;
}
Expand Down Expand Up @@ -1243,108 +1249,90 @@ int32 CFE_ES_CreateChildTask(CFE_ES_TaskId_t *TaskIdPtr,
CFE_ES_TaskPriority_Atom_t Priority,
uint32 Flags)
{
int32 ReturnCode;
CFE_ES_AppRecord_t * AppRecPtr;
CFE_ES_AppId_t ParentAppId;
CFE_ES_TaskId_t SelfTaskId;
CFE_ES_TaskStartParams_t Params;

int32 Result;
CFE_ES_AppRecord_t *AppRecPtr;
CFE_ES_TaskRecord_t *TaskRecPtr;
int32 ReturnCode;
CFE_ES_TaskId_t SelfTaskId;
CFE_ES_TaskId_t LocalChildTaskId;
osal_id_t OsalId;
ParentAppId = CFE_ES_APPID_UNDEFINED;

/*
** Validate some of the arguments
*/
if ( TaskIdPtr == NULL )
{
if (TaskName == NULL)
{
CFE_ES_WriteToSysLog("CFE_ES_CreateChildTask: Task Id and Name Pointer Parameters are NULL.\n");
ReturnCode = CFE_ES_BAD_ARGUMENT;
}
else
{
CFE_ES_WriteToSysLog("CFE_ES_CreateChildTask: Task Id Pointer Parameter is NULL for Task '%s'.\n",TaskName);
ReturnCode = CFE_ES_BAD_ARGUMENT;
}
}
else if ( TaskName == NULL )
{
CFE_ES_WriteToSysLog("CFE_ES_CreateChildTask: TaskName Parameter is NULL\n");
ReturnCode = CFE_ES_BAD_ARGUMENT;
}
else if ( FunctionPtr == NULL )
{
CFE_ES_WriteToSysLog("CFE_ES_CreateChildTask: Function Pointer Parameter is NULL for Task '%s'\n",TaskName);
ReturnCode = CFE_ES_BAD_ARGUMENT;
}
else
{

CFE_ES_LockSharedData(__func__,__LINE__);
memset(&Params, 0, sizeof(Params));
Params.Priority = Priority;
Params.StackSize = StackSize;

/*
** Get the App Record of the calling Application
*/
AppRecPtr = CFE_ES_GetAppRecordByContext();
if (AppRecPtr == NULL)
{
CFE_ES_SysLogWrite_Unsync("CFE_ES_CreateChildTask: Invalid calling context when creating Task '%s'\n",TaskName);
ReturnCode = CFE_ES_ERR_RESOURCEID_NOT_VALID;
}
else /* else AppId is valid */
{
/*
** First, Make sure the Calling Task is a cFE Main task.
** TaskID must be the same as the Parent Task ID.
*/
OsalId = OS_TaskGetId();
SelfTaskId = CFE_ES_TaskId_FromOSAL(OsalId);
if ( CFE_RESOURCEID_TEST_EQUAL(SelfTaskId, AppRecPtr->MainTaskId) )
{
/*
** Step 2: Create the new task using the OS API call
*/
Result = OS_TaskCreate(&OsalId, TaskName, FunctionPtr, StackPtr,
StackSize, Priority, OS_FP_ENABLED );

/*
** Step 3: Record the task information in the task table
*/
if ( Result == OS_SUCCESS )
{
LocalChildTaskId = CFE_ES_TaskId_FromOSAL(OsalId);
TaskRecPtr = CFE_ES_LocateTaskRecordByID(LocalChildTaskId);
/*
** Validate some of the arguments
*/
if (TaskIdPtr == NULL)
{
if (TaskName == NULL)
{
CFE_ES_WriteToSysLog("CFE_ES_CreateChildTask: Task Id and Name Pointer Parameters are NULL.\n");
ReturnCode = CFE_ES_BAD_ARGUMENT;
}
else
{
CFE_ES_WriteToSysLog("CFE_ES_CreateChildTask: Task Id Pointer Parameter is NULL for Task '%s'.\n",
TaskName);
ReturnCode = CFE_ES_BAD_ARGUMENT;
}
}
else if (TaskName == NULL)
{
CFE_ES_WriteToSysLog("CFE_ES_CreateChildTask: TaskName Parameter is NULL\n");
ReturnCode = CFE_ES_BAD_ARGUMENT;
}
else if (FunctionPtr == NULL)
{
CFE_ES_WriteToSysLog("CFE_ES_CreateChildTask: Function Pointer Parameter is NULL for Task '%s'\n", TaskName);
ReturnCode = CFE_ES_BAD_ARGUMENT;
}
else
{
/*
** First, Make sure the Calling Task is a cFE Main task.
** TaskID must be the same as the Parent Task ID.
*/
SelfTaskId = CFE_ES_TaskId_FromOSAL(OS_TaskGetId());

CFE_ES_TaskRecordSetUsed(TaskRecPtr, CFE_RESOURCEID_UNWRAP(LocalChildTaskId));
TaskRecPtr->AppId = CFE_ES_AppRecordGetID(AppRecPtr);
strncpy(TaskRecPtr->TaskName,TaskName,sizeof(TaskRecPtr->TaskName) - 1);
TaskRecPtr->TaskName[sizeof(TaskRecPtr->TaskName) - 1] = '\0';
CFE_ES_Global.RegisteredTasks++;
CFE_ES_LockSharedData(__func__, __LINE__);

*TaskIdPtr = CFE_ES_TaskRecordGetID(TaskRecPtr);
ReturnCode = CFE_SUCCESS;
}
else
{
CFE_ES_SysLogWrite_Unsync("CFE_ES_CreateChildTask: Error calling OS_TaskCreate for Task '%s' RC = 0x%08X\n",TaskName,(unsigned int)Result);
ReturnCode = CFE_ES_ERR_CHILD_TASK_CREATE;
}
}
else
{
CFE_ES_SysLogWrite_Unsync("CFE_ES_CreateChildTask: Error: Cannot call from a Child Task (for Task '%s').\n",TaskName);
/*
** Get the App Record of the calling Application
*/
AppRecPtr = CFE_ES_GetAppRecordByContext();
if (AppRecPtr == NULL)
{
CFE_ES_SysLogWrite_Unsync("CFE_ES_CreateChildTask: Invalid calling context when creating Task '%s'\n",
TaskName);
ReturnCode = CFE_ES_ERR_RESOURCEID_NOT_VALID;
}
else if (!CFE_RESOURCEID_TEST_EQUAL(SelfTaskId, AppRecPtr->MainTaskId))
{
CFE_ES_SysLogWrite_Unsync("CFE_ES_CreateChildTask: Error: Cannot call from a Child Task (for Task '%s').\n",
TaskName);
ReturnCode = CFE_ES_ERR_CHILD_TASK_CREATE;
}
else
{
ParentAppId = CFE_ES_AppRecordGetID(AppRecPtr);
ReturnCode = CFE_SUCCESS;
} /* end If AppID is valid */

} /* end if Calling task is a main task */

}/* end If AppID is valid */
CFE_ES_UnlockSharedData(__func__, __LINE__);

CFE_ES_UnlockSharedData(__func__,__LINE__);
} /* end if parameter checking */

} /* end if parameter checking */
/*
** Step 2: Create the new task if the parameter validation succeeded
*/
if (ReturnCode == CFE_SUCCESS)
{
ReturnCode = CFE_ES_StartAppTask(TaskIdPtr, TaskName, FunctionPtr, &Params, ParentAppId);
}

return(ReturnCode);
return (ReturnCode);

} /* End of CFE_ES_CreateChildTask() */

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