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Merge pull request #586 from nasa/integration-candidate
Integration Candidate - 2020-04-01
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| @@ -1,7 +1,6 @@ | ||
| os: linux | ||
| dist: bionic | ||
| sudo: required | ||
| language: | ||
| - c | ||
| language: c | ||
| compiler: | ||
| - gcc | ||
| addons: | ||
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| /* | ||
| ** GSC-18128-1, "Core Flight Executive Version 6.7" | ||
| ** | ||
| ** Copyright (c) 2006-2019 United States Government as represented by | ||
| ** the Administrator of the National Aeronautics and Space Administration. | ||
| ** All Rights Reserved. | ||
| ** | ||
| ** Licensed under the Apache License, Version 2.0 (the "License"); | ||
| ** you may not use this file except in compliance with the License. | ||
| ** You may obtain a copy of the License at | ||
| ** | ||
| ** http://www.apache.org/licenses/LICENSE-2.0 | ||
| ** | ||
| ** Unless required by applicable law or agreed to in writing, software | ||
| ** distributed under the License is distributed on an "AS IS" BASIS, | ||
| ** WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| ** See the License for the specific language governing permissions and | ||
| ** limitations under the License. | ||
| */ | ||
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| /* | ||
| ** File: cfe_es_backgroundtask.c | ||
| ** | ||
| ** Purpose: This file contains the implementation of the ES "background task" | ||
| ** | ||
| ** This task sits idle most of the time, but is woken by the ES application | ||
| ** for various maintenance duties that may take time to execute, such as | ||
| ** writing status/log files. | ||
| ** | ||
| */ | ||
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| /* | ||
| ** Include Section | ||
| */ | ||
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| #include <string.h> | ||
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| #include "osapi.h" | ||
| #include "private/cfe_private.h" | ||
| #include "cfe_es_perf.h" | ||
| #include "cfe_es_global.h" | ||
| #include "cfe_es_task.h" | ||
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| #define CFE_ES_BACKGROUND_SEM_NAME "ES_BackgroundSem" | ||
| #define CFE_ES_BACKGROUND_CHILD_NAME "ES_BackgroundTask" | ||
| #define CFE_ES_BACKGROUND_CHILD_STACK_PTR NULL | ||
| #define CFE_ES_BACKGROUND_CHILD_STACK_SIZE CFE_PLATFORM_ES_PERF_CHILD_STACK_SIZE | ||
| #define CFE_ES_BACKGROUND_CHILD_PRIORITY CFE_PLATFORM_ES_PERF_CHILD_PRIORITY | ||
| #define CFE_ES_BACKGROUND_CHILD_FLAGS 0 | ||
| #define CFE_ES_BACKGROUND_MAX_IDLE_DELAY 30000 /* 30 seconds */ | ||
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| typedef struct | ||
| { | ||
| bool (*RunFunc)(uint32 ElapsedTime, void *Arg); | ||
| void *JobArg; | ||
| uint32 ActivePeriod; /**< max wait/delay time between calls when job is active */ | ||
| uint32 IdlePeriod; /**< max wait/delay time between calls when job is idle */ | ||
| } CFE_ES_BackgroundJobEntry_t; | ||
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| /* | ||
| * List of "background jobs" | ||
| * | ||
| * This is just a list of functions to periodically call from the context of the background task, | ||
| * and can be added/extended as needed. | ||
| * | ||
| * Each Job function returns a boolean, and should return "true" if it is active, or "false" if it is idle. | ||
| * | ||
| * This uses "cooperative multitasking" -- the function should do some limited work, then return to the | ||
| * background task. It will be called again after a delay period to do more work. | ||
| */ | ||
| const CFE_ES_BackgroundJobEntry_t CFE_ES_BACKGROUND_JOB_TABLE[] = | ||
| { | ||
| { /* Performance Log Data Dump to file */ | ||
| .RunFunc = CFE_ES_RunPerfLogDump, | ||
| .JobArg = &CFE_ES_TaskData.BackgroundPerfDumpState, | ||
| .ActivePeriod = CFE_PLATFORM_ES_PERF_CHILD_MS_DELAY, | ||
| .IdlePeriod = CFE_PLATFORM_ES_PERF_CHILD_MS_DELAY * 1000 | ||
| } | ||
| }; | ||
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| #define CFE_ES_BACKGROUND_NUM_JOBS (sizeof(CFE_ES_BACKGROUND_JOB_TABLE) / sizeof(CFE_ES_BACKGROUND_JOB_TABLE[0])) | ||
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| /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */ | ||
| /* Name: CFE_ES_BackgroundTask */ | ||
| /* */ | ||
| /* Purpose: A helper task for low priority routines that may take time to */ | ||
| /* execute, such as writing log files. */ | ||
| /* */ | ||
| /* Assumptions and Notes: This is started from the ES initialization, and */ | ||
| /* pends on a semaphore until a work request comes in. This is intended to */ | ||
| /* avoid the need to create a child task "on demand" when work items arrive, */ | ||
| /* which is a form of dynamic allocation. */ | ||
| /* */ | ||
| /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */ | ||
| void CFE_ES_BackgroundTask(void) | ||
| { | ||
| int32 status; | ||
| uint32 JobTotal; | ||
| uint32 NumJobsRunning; | ||
| uint32 NextDelay; | ||
| uint32 ElapsedTime; | ||
| OS_time_t CurrTime; | ||
| OS_time_t LastTime; | ||
| const CFE_ES_BackgroundJobEntry_t *JobPtr; | ||
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| status = CFE_ES_RegisterChildTask(); | ||
| if (status != CFE_SUCCESS) | ||
| { | ||
| /* should never occur */ | ||
| CFE_ES_WriteToSysLog("CFE_ES: Background Task Failed to register: %08lx\n", (unsigned long)status); | ||
| return; | ||
| } | ||
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| CFE_PSP_GetTime(&LastTime); | ||
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| while (true) | ||
| { | ||
| /* | ||
| * compute the elapsed time (difference) between last | ||
| * execution and now, in microseconds. | ||
| * | ||
| * Note this calculation is done as a uint32 which will overflow | ||
| * after about 35 minutes, but the max delays ensure that this | ||
| * executes at least every few seconds, so that should never happen. | ||
| */ | ||
| CFE_PSP_GetTime(&CurrTime); | ||
| ElapsedTime = 1000000 * (CurrTime.seconds - LastTime.seconds); | ||
| ElapsedTime += CurrTime.microsecs; | ||
| ElapsedTime -= LastTime.microsecs; | ||
| LastTime = CurrTime; | ||
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| /* | ||
| * convert to milliseconds. | ||
| * we do not really need high precision | ||
| * for background task timings | ||
| */ | ||
| ElapsedTime /= 1000; | ||
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| NextDelay = CFE_ES_BACKGROUND_MAX_IDLE_DELAY; /* default; will be adjusted based on active jobs */ | ||
| JobPtr = CFE_ES_BACKGROUND_JOB_TABLE; | ||
| JobTotal = CFE_ES_BACKGROUND_NUM_JOBS; | ||
| NumJobsRunning = 0; | ||
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| while (JobTotal > 0) | ||
| { | ||
| /* | ||
| * call the background job - | ||
| * if it returns "true" that means it is active, | ||
| * if it returns "false" that means it is idle | ||
| */ | ||
| if (JobPtr->RunFunc != NULL && JobPtr->RunFunc(ElapsedTime, JobPtr->JobArg)) | ||
| { | ||
| ++NumJobsRunning; | ||
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| if (JobPtr->ActivePeriod != 0 && NextDelay > JobPtr->ActivePeriod) | ||
| { | ||
| /* next delay is based on this active job wait time */ | ||
| NextDelay = JobPtr->ActivePeriod; | ||
| } | ||
| } | ||
| else if (JobPtr->IdlePeriod != 0 && NextDelay > JobPtr->IdlePeriod) | ||
| { | ||
| /* next delay is based on this idle job wait time */ | ||
| NextDelay = JobPtr->IdlePeriod; | ||
| } | ||
| --JobTotal; | ||
| ++JobPtr; | ||
| } | ||
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| CFE_ES_Global.BackgroundTask.NumJobsRunning = NumJobsRunning; | ||
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| status = OS_BinSemTimedWait(CFE_ES_Global.BackgroundTask.WorkSem, NextDelay); | ||
| if (status != OS_SUCCESS && status != OS_SEM_TIMEOUT) | ||
| { | ||
| /* should never occur */ | ||
| CFE_ES_WriteToSysLog("CFE_ES: Failed to take background sem: %08lx\n", (unsigned long)status); | ||
| break; | ||
| } | ||
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| } | ||
| } | ||
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| /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */ | ||
| /* Name: CFE_ES_BackgroundInit */ | ||
| /* */ | ||
| /* Purpose: Initialize the background task */ | ||
| /* */ | ||
| /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */ | ||
| int32 CFE_ES_BackgroundInit(void) | ||
| { | ||
| int32 status; | ||
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| status = OS_BinSemCreate(&CFE_ES_Global.BackgroundTask.WorkSem, CFE_ES_BACKGROUND_SEM_NAME, 0, 0); | ||
| if (status != OS_SUCCESS) | ||
| { | ||
| CFE_ES_WriteToSysLog("CFE_ES: Failed to create background sem: %08lx\n", (unsigned long)status); | ||
| return status; | ||
| } | ||
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| /* Spawn a task to write the performance data to a file */ | ||
| status = CFE_ES_CreateChildTask(&CFE_ES_Global.BackgroundTask.TaskID, | ||
| CFE_ES_BACKGROUND_CHILD_NAME, | ||
| CFE_ES_BackgroundTask, | ||
| CFE_ES_BACKGROUND_CHILD_STACK_PTR, | ||
| CFE_ES_BACKGROUND_CHILD_STACK_SIZE, | ||
| CFE_ES_BACKGROUND_CHILD_PRIORITY, | ||
| CFE_ES_BACKGROUND_CHILD_FLAGS); | ||
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| if (status != OS_SUCCESS) | ||
| { | ||
| CFE_ES_WriteToSysLog("CFE_ES: Failed to create background task: %08lx\n", (unsigned long)status); | ||
| return status; | ||
| } | ||
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| return CFE_SUCCESS; | ||
| } | ||
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| /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */ | ||
| /* Name: CFE_ES_BackgroundCleanup */ | ||
| /* */ | ||
| /* Purpose: Exit/Stop the background task */ | ||
| /* */ | ||
| /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */ | ||
| void CFE_ES_BackgroundCleanup(void) | ||
| { | ||
| CFE_ES_DeleteChildTask(CFE_ES_Global.BackgroundTask.TaskID); | ||
| OS_BinSemDelete(CFE_ES_Global.BackgroundTask.WorkSem); | ||
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| CFE_ES_Global.BackgroundTask.TaskID = 0; | ||
| CFE_ES_Global.BackgroundTask.WorkSem = 0; | ||
| } | ||
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| /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */ | ||
| /* Name: CFE_ES_BackgroundWakeup */ | ||
| /* */ | ||
| /* Purpose: Wake up the background task */ | ||
| /* Notifies the background task to perform an extra poll for new work */ | ||
| /* */ | ||
| /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */ | ||
| void CFE_ES_BackgroundWakeup(void) | ||
| { | ||
| /* wake up the background task by giving the sem. | ||
| * This is "informational" and not strictly required, | ||
| * but it will make the task immediately wake up and check for new | ||
| * work if it was idle. */ | ||
| OS_BinSemGive(CFE_ES_Global.BackgroundTask.WorkSem); | ||
| } | ||
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