Os task refactor issue 2526 (#2672)

* Task refactor WIP -- compiles, but does not link * Adding isCooperative method - WIP * more WIP * Initial Os::Posix::Task implementaion * Adding makeDelegate functions; Fixing existing UTs * Touching up comments * Fixing Linux issues * Adding type_traits import * Removing TaskId and reworking handle storage * Do not need to assert that a reference is not nullptr; compiler will get angry * Starting UT development * Start test works * Working start and join rules; random test * Adding state, delay, and count tests * Adding stub interface tests * sp * Registry tests * Fixing UTs * Fixing PTHREAD_MIN_STACK for linux * Missing newlines * Fixing GPIO driver's task * More build fixes * Fixes for CI * Correcting errors in GNU only code * Fixing review comments * Fixing sp * Fixing RPI (again) * Removing divergent open rules from interface testing. Fixes #2733 * Fixing review comments --------- Co-authored-by: Kevin F. Ortega <[email protected]>
nasa · May 22, 2024 · 640cf44 · 640cf44
1 parent 0fe467c
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diff --git a/.github/actions/spelling/expect.txt b/.github/actions/spelling/expect.txt
@@ -294,6 +294,7 @@ ect
 edu
 EGB
 EHAs
+eip
 elist
 ELOG
 Elts
@@ -1013,6 +1014,7 @@ svipc
 swcaegitadmin
 synchronicity
 synopsys
+sysconf
 SYSCONFDIR
 SYSFS
 sysinfo
@@ -1111,6 +1113,7 @@ toolset
 topologyapp
 Torvalds
 totalram
+tparam
 treeview
 trimwhitespace
 trinomials

diff --git a/Drv/Ip/SocketReadTask.cpp b/Drv/Ip/SocketReadTask.cpp
@@ -23,17 +23,18 @@ SocketReadTask::SocketReadTask() : m_reconnect(false), m_stop(false) {}
 
 SocketReadTask::~SocketReadTask() {}
 
-void SocketReadTask::startSocketTask(const Fw::StringBase &name,
+void SocketReadTask::start(const Fw::StringBase &name,
                                      const bool reconnect,
                                      const Os::Task::ParamType priority,
                                      const Os::Task::ParamType stack,
                                      const Os::Task::ParamType cpuAffinity) {
-    FW_ASSERT(not m_task.isStarted());  // It is a coding error to start this task multiple times
+    FW_ASSERT(m_task.getState() == Os::Task::State::NOT_STARTED);  // It is a coding error to start this task multiple times
     FW_ASSERT(not this->m_stop);        // It is a coding error to stop the thread before it is started
     m_reconnect = reconnect;
     // Note: the first step is for the IP socket to open the port
-    Os::Task::TaskStatus stat = m_task.start(name, SocketReadTask::readTask, this, priority, stack, cpuAffinity);
-    FW_ASSERT(Os::Task::TASK_OK == stat, static_cast<NATIVE_INT_TYPE>(stat));
+    Os::Task::Arguments arguments(name, SocketReadTask::readTask, this, priority, stack, cpuAffinity);
+    Os::Task::Status stat = m_task.start(arguments);
+    FW_ASSERT(Os::Task::OP_OK == stat, static_cast<NATIVE_INT_TYPE>(stat));
 }
 
 SocketIpStatus SocketReadTask::startup() {
@@ -57,11 +58,11 @@ void SocketReadTask::close() {
     this->getSocketHandler().close();
 }
 
-Os::Task::TaskStatus SocketReadTask::joinSocketTask(void** value_ptr) {
-    return m_task.join(value_ptr);
+Os::Task::Status SocketReadTask::join() {
+    return m_task.join();
 }
 
-void SocketReadTask::stopSocketTask() {
+void SocketReadTask::stop() {
     this->m_stop = true;
     this->getSocketHandler().shutdown();  // Break out of any receives and fully shutdown
 }
@@ -78,7 +79,7 @@ void SocketReadTask::readTask(void* pointer) {
                 "[WARNING] Failed to open port with status %d and errno %d\n",
                 static_cast<POINTER_CAST>(status),
                 static_cast<POINTER_CAST>(errno));
-            (void) Os::Task::delay(SOCKET_RETRY_INTERVAL_MS);
+            (void) Os::Task::delay(SOCKET_RETRY_INTERVAL);
             continue;
         }
 
@@ -89,7 +90,7 @@ void SocketReadTask::readTask(void* pointer) {
                 "[WARNING] Failed to open port with status %d and errno %d\n",
                 static_cast<POINTER_CAST>(status),
                 static_cast<POINTER_CAST>(errno));
-            (void) Os::Task::delay(SOCKET_RETRY_INTERVAL_MS);
+            (void) Os::Task::delay(SOCKET_RETRY_INTERVAL);
             continue;
         }
 

diff --git a/Drv/Ip/SocketReadTask.hpp b/Drv/Ip/SocketReadTask.hpp
@@ -49,7 +49,7 @@ class SocketReadTask {
      * \param stack: stack size provided to the task. See: Os::Task::start. Default: TASK_DEFAULT, posix threads default
      * \param cpuAffinity: cpu affinity provided to task. See: Os::Task::start. Default: TASK_DEFAULT, don't care
      */
-    void startSocketTask(const Fw::StringBase &name,
+    void start(const Fw::StringBase &name,
                          const bool reconnect = true,
                          const Os::Task::ParamType priority = Os::Task::TASK_DEFAULT,
                          const Os::Task::ParamType stack = Os::Task::TASK_DEFAULT,
@@ -106,17 +106,17 @@ class SocketReadTask {
      * Called to stop the socket read task. It is an error to call this before the thread has been started using the
      * startSocketTask call. This will stop the read task and close the client socket.
      */
-    void stopSocketTask();
+    void stop();
 
     /**
      * \brief joins to the stopping read task to wait for it to close
      *
      * Called to join with the read socket task. This will block and return after the task has been stopped with a call
      * to the stopSocketTask method.
      * \param value_ptr: a pointer to fill with data. Passed to the Os::Task::join call. NULL to ignore.
-     * \return: Os::Task::TaskStatus passed back from the Os::Task::join call.
+     * \return: Os::Task::Status passed back from the Os::Task::join call.
      */
-    Os::Task::TaskStatus joinSocketTask(void** value_ptr);
+    Os::Task::Status join();
 
 
   PROTECTED:

diff --git a/Drv/Ip/test/ut/SocketTestHelper.cpp b/Drv/Ip/test/ut/SocketTestHelper.cpp
@@ -10,6 +10,7 @@
 #include <unistd.h>
 #include <cerrno>
 #include <arpa/inet.h>
+#include <IpCfg.hpp>
 
 namespace Drv {
 namespace Test {
@@ -65,7 +66,7 @@ bool wait_on_change(Drv::IpSocket &socket, bool open, U32 iterations) {
         if (open == socket.isOpened()) {
             return true;
         }
-        Os::Task::delay(10);
+        Os::Task::delay(Fw::Time(0, 10000));
     }
     return false;
 }
@@ -75,10 +76,15 @@ bool wait_on_started(Drv::IpSocket &socket, bool open, U32 iterations) {
         if (open == socket.isStarted()) {
             return true;
         }
-        Os::Task::delay(10);
+        Os::Task::delay(Fw::Time(0, 10000));
     }
     return false;
 }
 
+U64 get_configured_delay_ms() {
+    return (static_cast<U64>(SOCKET_RETRY_INTERVAL.getSeconds()) * 1000) +
+           (static_cast<U64>(SOCKET_RETRY_INTERVAL.getUSeconds()) / 1000);
+}
+
 };
 };
diff --git a/Drv/Ip/test/ut/SocketTestHelper.hpp b/Drv/Ip/test/ut/SocketTestHelper.hpp
@@ -65,6 +65,12 @@ bool wait_on_change(Drv::IpSocket &socket, bool open, U32 iterations);
 */
 bool wait_on_started(Drv::IpSocket &socket, bool open, U32 iterations);
 
+/**
+ * Get the configured delay, converted to milliseconds
+ * @return SOCKET_RETRY_INTERVAL converted to milliseconds
+ */
+U64 get_configured_delay_ms();
+
 };
 };
 #endif
diff --git a/Drv/LinuxGpioDriver/LinuxGpioDriverComponentImpl.cpp b/Drv/LinuxGpioDriver/LinuxGpioDriverComponentImpl.cpp
@@ -396,13 +396,14 @@ namespace Drv {
 
   }
 
-  Os::Task::TaskStatus LinuxGpioDriverComponentImpl ::
-  startIntTask(NATIVE_UINT_TYPE priority, NATIVE_UINT_TYPE stackSize, NATIVE_UINT_TYPE cpuAffinity) {
+  Os::Task::Status LinuxGpioDriverComponentImpl ::
+  startIntTask(Os::Task::ParamType priority, Os::Task::ParamType stackSize, Os::Task::ParamType cpuAffinity) {
       Os::TaskString name;
       name.format("GPINT_%s",this->getObjName()); // The task name can only be 16 chars including null
-      Os::Task::TaskStatus stat = this->m_intTask.start(name, LinuxGpioDriverComponentImpl::intTaskEntry, this, priority, stackSize, cpuAffinity);
+      Os::Task::Arguments arguments(name, LinuxGpioDriverComponentImpl::intTaskEntry, this, priority, stackSize, cpuAffinity);
+      Os::Task::Status stat = this->m_intTask.start(arguments);
 
-      if (stat != Os::Task::TASK_OK) {
+      if (stat != Os::Task::OP_OK) {
           DEBUG_PRINT("Task start error: %d\n",stat);
       }
 

diff --git a/Drv/LinuxGpioDriver/LinuxGpioDriverComponentImpl.hpp b/Drv/LinuxGpioDriver/LinuxGpioDriverComponentImpl.hpp
@@ -45,9 +45,9 @@ namespace Drv {
       ~LinuxGpioDriverComponentImpl();
 
       //! Start interrupt task
-      Os::Task::TaskStatus startIntTask(NATIVE_UINT_TYPE priority = Os::Task::TASK_DEFAULT,
-                                        NATIVE_UINT_TYPE stackSize = Os::Task::TASK_DEFAULT,
-                                        NATIVE_UINT_TYPE cpuAffinity = Os::Task::TASK_DEFAULT);
+      Os::Task::Status startIntTask(Os::Task::ParamType priority = Os::Task::TASK_DEFAULT,
+                                    Os::Task::ParamType stackSize = Os::Task::TASK_DEFAULT,
+                                    Os::Task::ParamType cpuAffinity = Os::Task::TASK_DEFAULT);
 
       //! configure GPIO
       enum GpioDirection {

diff --git a/Drv/LinuxGpioDriver/LinuxGpioDriverComponentImplStub.cpp b/Drv/LinuxGpioDriver/LinuxGpioDriverComponentImplStub.cpp
@@ -43,9 +43,9 @@ namespace Drv {
       return false;
   }
 
-  Os::Task::TaskStatus LinuxGpioDriverComponentImpl ::
-    startIntTask(NATIVE_UINT_TYPE priority, NATIVE_UINT_TYPE stackSize, NATIVE_UINT_TYPE cpuAffinity) {
-     return Os::Task::TASK_OK;
+  Os::Task::Status LinuxGpioDriverComponentImpl ::
+    startIntTask(Os::Task::ParamType priority, Os::Task::ParamType stackSize, Os::Task::ParamType cpuAffinity) {
+     return Os::Task::OP_OK;
    }
 
   LinuxGpioDriverComponentImpl ::

diff --git a/Drv/LinuxUartDriver/LinuxUartDriver.cpp b/Drv/LinuxUartDriver/LinuxUartDriver.cpp
@@ -355,7 +355,7 @@ void LinuxUartDriver ::serialReadTaskEntry(void* ptr) {
             status = RecvStatus::RECV_ERROR;
             comp->recv_out(0, buff, status);
             // to avoid spinning, wait 50 ms
-            Os::Task::delay(50);
+            Os::Task::delay(Fw::Time(0, 50));
             continue;
         }
 
@@ -389,21 +389,19 @@ void LinuxUartDriver ::serialReadTaskEntry(void* ptr) {
     }
 }
 
-void LinuxUartDriver ::startReadThread(NATIVE_UINT_TYPE priority,
-                                       NATIVE_UINT_TYPE stackSize,
-                                       NATIVE_UINT_TYPE cpuAffinity) {
+void LinuxUartDriver ::start(Os::Task::ParamType priority, Os::Task::ParamType stackSize, Os::Task::ParamType cpuAffinity) {
     Os::TaskString task("SerReader");
-    Os::Task::TaskStatus stat =
-        this->m_readTask.start(task, serialReadTaskEntry, this, priority, stackSize, cpuAffinity);
-    FW_ASSERT(stat == Os::Task::TASK_OK, stat);
+    Os::Task::Arguments arguments(task, serialReadTaskEntry, this, priority, stackSize, cpuAffinity);
+    Os::Task::Status stat = this->m_readTask.start(arguments);
+    FW_ASSERT(stat == Os::Task::OP_OK, stat);
 }
 
 void LinuxUartDriver ::quitReadThread() {
     this->m_quitReadThread = true;
 }
 
-Os::Task::TaskStatus LinuxUartDriver ::join(void** value_ptr) {
-    return m_readTask.join(value_ptr);
+Os::Task::Status LinuxUartDriver ::join() {
+    return m_readTask.join();
 }
 
 }  // end namespace Drv
diff --git a/Drv/LinuxUartDriver/LinuxUartDriver.hpp b/Drv/LinuxUartDriver/LinuxUartDriver.hpp
@@ -77,15 +77,15 @@ class LinuxUartDriver : public LinuxUartDriverComponentBase {
     //! start the serial poll thread.
     //! buffSize is the max receive buffer size
     //!
-    void startReadThread(NATIVE_UINT_TYPE priority = Os::Task::TASK_DEFAULT,
-                         NATIVE_UINT_TYPE stackSize = Os::Task::TASK_DEFAULT,
-                         NATIVE_UINT_TYPE cpuAffinity = Os::Task::TASK_DEFAULT);
+    void start(Os::Task::ParamType priority = Os::Task::TASK_DEFAULT,
+               Os::Task::ParamType stackSize = Os::Task::TASK_DEFAULT,
+               Os::Task::ParamType cpuAffinity = Os::Task::TASK_DEFAULT);
 
     //! Quit thread
     void quitReadThread();
 
     //! Join thread
-    Os::Task::TaskStatus join(void** value_ptr);
+    Os::Task::Status join();
 
     //! Destroy object LinuxUartDriver
     //!

diff --git a/Drv/TcpClient/test/ut/TcpClientTester.cpp b/Drv/TcpClient/test/ut/TcpClientTester.cpp
@@ -44,7 +44,7 @@ void TcpClientTester ::test_with_loop(U32 iterations, bool recv_thread) {
     // Start up a receive thread
     if (recv_thread) {
         Os::TaskString name("receiver thread");
-        this->component.startSocketTask(name, true, Os::Task::TASK_DEFAULT, Os::Task::TASK_DEFAULT);
+        this->component.start(name, true, Os::Task::TASK_DEFAULT, Os::Task::TASK_DEFAULT);
     }
 
     // Loop through a bunch of client disconnects
@@ -55,7 +55,7 @@ void TcpClientTester ::test_with_loop(U32 iterations, bool recv_thread) {
         if (not recv_thread) {
             status1 = this->component.open();
         } else {
-            EXPECT_TRUE(Drv::Test::wait_on_change(this->component.getSocketHandler(), true, SOCKET_RETRY_INTERVAL_MS/10 + 1));
+            EXPECT_TRUE(Drv::Test::wait_on_change(this->component.getSocketHandler(), true, Drv::Test::get_configured_delay_ms()/10 + 1));
         }
         EXPECT_TRUE(this->component.getSocketHandler().isOpened());
         status2 = server.open();
@@ -87,8 +87,8 @@ void TcpClientTester ::test_with_loop(U32 iterations, bool recv_thread) {
         }
         // Properly stop the client on the last iteration
         if ((1 + i) == iterations && recv_thread) {
-            this->component.stopSocketTask();
-            this->component.joinSocketTask(nullptr);
+            this->component.stop();
+            this->component.join();
         } else {
             this->component.close();
         }

diff --git a/Drv/TcpServer/test/ut/TcpServerTester.cpp b/Drv/TcpServer/test/ut/TcpServerTester.cpp
@@ -37,8 +37,8 @@ void TcpServerTester ::test_with_loop(U32 iterations, bool recv_thread) {
     // Start up a receive thread
     if (recv_thread) {
         Os::TaskString name("receiver thread");
-        this->component.startSocketTask(name, true, Os::Task::TASK_DEFAULT, Os::Task::TASK_DEFAULT);
-        EXPECT_TRUE(Drv::Test::wait_on_started(this->component.getSocketHandler(), true, SOCKET_RETRY_INTERVAL_MS/10 + 1));
+        this->component.start(name, true, Os::Task::TASK_DEFAULT, Os::Task::TASK_DEFAULT);
+        EXPECT_TRUE(Drv::Test::wait_on_started(this->component.getSocketHandler(), true, Drv::Test::get_configured_delay_ms()/10 + 1));
     } else {
         serverStat = this->component.startup();
         ASSERT_EQ(serverStat, SOCK_SUCCESS)
@@ -59,7 +59,7 @@ void TcpServerTester ::test_with_loop(U32 iterations, bool recv_thread) {
         if (not recv_thread) {
             status1 = this->component.open();
         } else {
-            EXPECT_TRUE(Drv::Test::wait_on_change(this->component.getSocketHandler(), true, SOCKET_RETRY_INTERVAL_MS/10 + 1));
+            EXPECT_TRUE(Drv::Test::wait_on_change(this->component.getSocketHandler(), true, Drv::Test::get_configured_delay_ms()/10 + 1));
         }
         EXPECT_TRUE(this->component.getSocketHandler().isOpened());
 
@@ -93,8 +93,8 @@ void TcpServerTester ::test_with_loop(U32 iterations, bool recv_thread) {
         // Properly stop the client on the last iteration
         if ((1 + i) == iterations && recv_thread) {
             this->component.shutdown();
-            this->component.stopSocketTask();
-            this->component.joinSocketTask(nullptr);
+            this->component.stop();
+            this->component.join();
         } else {
             this->component.close();
         }

diff --git a/Drv/Udp/test/ut/UdpTester.cpp b/Drv/Udp/test/ut/UdpTester.cpp
@@ -51,7 +51,7 @@ void UdpTester::test_with_loop(U32 iterations, bool recv_thread) {
     // Start up a receive thread
     if (recv_thread) {
         Os::TaskString name("receiver thread");
-        this->component.startSocketTask(name, true, Os::Task::TASK_DEFAULT, Os::Task::TASK_DEFAULT);
+        this->component.start(name, true, Os::Task::TASK_DEFAULT, Os::Task::TASK_DEFAULT);
     }
 
     // Loop through a bunch of client disconnects
@@ -69,7 +69,7 @@ void UdpTester::test_with_loop(U32 iterations, bool recv_thread) {
                 << "Port2: " << port2;
 
         } else {
-            EXPECT_TRUE(Drv::Test::wait_on_change(this->component.getSocketHandler(), true, SOCKET_RETRY_INTERVAL_MS/10 + 1));
+            EXPECT_TRUE(Drv::Test::wait_on_change(this->component.getSocketHandler(), true, Drv::Test::get_configured_delay_ms()/10 + 1));
         }
         EXPECT_TRUE(this->component.getSocketHandler().isOpened());
 
@@ -106,8 +106,8 @@ void UdpTester::test_with_loop(U32 iterations, bool recv_thread) {
         }
         // Properly stop the client on the last iteration
         if ((1 + i) == iterations && recv_thread) {
-            this->component.stopSocketTask();
-            this->component.joinSocketTask(nullptr);
+            this->component.stop();
+            this->component.join();
         } else {
             this->component.close();
         }