lestarch: reworking posix tasks (#992)

* lestarch: reworking posix tasks * lestarch: correcting macOS issues; using deprecate instead of logger warnings * lestarch: cleaning up task rework * lestarch: fixing .start in UTs, docs, templates * lestarch: cleaning-up non-default driver start calls * lestarch: fixing stubbed implementation signature * lestarch: moving reconnect up in order of args to socket read task
nasa · Sep 16, 2021 · a08dd11 · a08dd11
1 parent 567e2c5
commit a08dd11
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Showing 52 changed files with 316 additions and 507 deletions.
diff --git a/Autocoders/Python/src/fprime_ac/generators/templates/topology/publicInstanceTopologyCpp.tmpl b/Autocoders/Python/src/fprime_ac/generators/templates/topology/publicInstanceTopologyCpp.tmpl
@@ -43,7 +43,7 @@ void $(name)Init(void) {
 
 void $(name)Start(void) {
     // Active component startup
-    // start(identifier, priority, stack_size)
+    // start()
 #for $startup_template  in $component_startups:
     ${startup_template}
 #end for

diff --git a/Autocoders/Python/src/fprime_ac/generators/templates/topology/publicTopologyCpp.tmpl b/Autocoders/Python/src/fprime_ac/generators/templates/topology/publicTopologyCpp.tmpl
@@ -44,7 +44,7 @@ void construct$(name)Architecture(void) {
 #else:
 ###
     // Active component startup
-    // start(identifier, priority, stack_size)
+    // start()
 #for $startup_template  in $component_startups:
     ${startup_template}
 #end for

diff --git a/Autocoders/Python/src/fprime_ac/generators/visitors/InstanceTopologyCppVisitor.py b/Autocoders/Python/src/fprime_ac/generators/visitors/InstanceTopologyCppVisitor.py
@@ -381,13 +381,9 @@ def publicVisit(self, obj):
             startup_template = ""
             if component["kind"] == "active":
                 if obj.is_ptr:
-                    startup_template = (
-                        """{name}_ptr->start(0, 100, 10 * 1024);""".format(**component)
-                    )
+                    startup_template = """{name}_ptr->start();""".format(**component)
                 else:
-                    startup_template = """{name}.start(0, 100, 10 * 1024);""".format(
-                        **component
-                    )
+                    startup_template = """{name}.start();""".format(**component)
                 c.component_startups.append(startup_template)
         #
 

diff --git a/Autocoders/Python/src/fprime_ac/generators/visitors/InstanceTopologyHVisitor.py b/Autocoders/Python/src/fprime_ac/generators/visitors/InstanceTopologyHVisitor.py
@@ -388,13 +388,9 @@ def publicVisit(self, obj):
             startup_template = ""
             if component["kind"] == "active":
                 if obj.is_ptr:
-                    startup_template = (
-                        """{name}_ptr->start(0, 100, 10 * 1024);""".format(**component)
-                    )
+                    startup_template = """{name}_ptr->start();""".format(**component)
                 else:
-                    startup_template = """{name}.start(0, 100, 10 * 1024);""".format(
-                        **component
-                    )
+                    startup_template = """{name}.start();""".format(**component)
                 c.component_startups.append(startup_template)
         #
 

diff --git a/Autocoders/Python/src/fprime_ac/generators/visitors/TopologyCppVisitor.py b/Autocoders/Python/src/fprime_ac/generators/visitors/TopologyCppVisitor.py
@@ -379,13 +379,9 @@ def publicVisit(self, obj):
             startup_template = ""
             if component["kind"] == "active":
                 if obj.is_ptr:
-                    startup_template = (
-                        """{name}_ptr->start(0, 100, 10 * 1024);""".format(**component)
-                    )
+                    startup_template = """{name}_ptr->start();""".format(**component)
                 else:
-                    startup_template = """{name}.start(0, 100, 10 * 1024);""".format(
-                        **component
-                    )
+                    startup_template = """{name}.start();""".format(**component)
                 c.component_startups.append(startup_template)
         #
 

diff --git a/Autocoders/Python/src/fprime_ac/generators/visitors/TopologyHVisitor.py b/Autocoders/Python/src/fprime_ac/generators/visitors/TopologyHVisitor.py
@@ -389,13 +389,9 @@ def publicVisit(self, obj):
             startup_template = ""
             if component["kind"] == "active":
                 if obj.is_ptr:
-                    startup_template = (
-                        """{name}_ptr->start(0, 100, 10 * 1024);""".format(**component)
-                    )
+                    startup_template = """{name}_ptr->start();""".format(**component)
                 else:
-                    startup_template = """{name}.start(0, 100, 10 * 1024);""".format(
-                        **component
-                    )
+                    startup_template = """{name}.start();""".format(**component)
                 c.component_startups.append(startup_template)
         #
 

diff --git a/Autocoders/Python/test/app1/DuckAppAcRef.cpp b/Autocoders/Python/test/app1/DuckAppAcRef.cpp
@@ -49,9 +49,9 @@ void constructArchitecture(void) {
 
     // Active component startup
 
-    // start(identifier, stack size, priority)
-    hueyComp_ptr->start(0, 10 * 1024, 100);
-    dueyComp_ptr->start(0, 10 * 1024, 100);
+    // start()
+    hueyComp_ptr->start();
+    dueyComp_ptr->start();
 
     dumparch();
 }

diff --git a/Autocoders/Python/test/app1/ReadMe b/Autocoders/Python/test/app1/ReadMe
diff --git a/Autocoders/Python/test/app1/scons.log b/Autocoders/Python/test/app1/scons.log
diff --git a/Autocoders/Python/test/app2/Top.cpp b/Autocoders/Python/test/app2/Top.cpp
@@ -55,9 +55,9 @@ void constructArchitecture(void) {
 
 	// Active component startup
 
-	// start(identifier, stack size, priority)
-	C1_ptr->start(0, 10 * 1024, 100);
-	C2_ptr->start(0, 10 * 1024, 100);
+	// start()
+	C1_ptr->start();
+	C2_ptr->start();
 
 	dumparch();
 

diff --git a/Autocoders/Python/test/app2/test/ut/Top.cpp b/Autocoders/Python/test/app2/test/ut/Top.cpp
@@ -55,9 +55,9 @@ void constructArchitecture(void) {
 
 	// Active component startup
 
-	// start(identifier, stack size, priority)
-	C1_ptr->start(0, 10 * 1024, 100);
-	C2_ptr->start(0, 10 * 1024, 100);
+	// start()
+	C1_ptr->start();
+	C2_ptr->start();
 
 	dumparch();
 

diff --git a/Autocoders/Python/test/app4/app2AppAcRef.cpp b/Autocoders/Python/test/app4/app2AppAcRef.cpp
@@ -52,8 +52,8 @@ void constructArchitecture(void) {
     hueyComp_ptr->setoutputPort2Msg1OutputPort(0, hub1Comp_ptr->getinputPort2SerializeInputPort(0));
 
     // Active component startup
-    // start(identifier, stack size, priority)
-    hueyComp_ptr->start(0, 10 * 1024, 100);
+    // start()
+    hueyComp_ptr->start();
     dumparch();
 }
 

diff --git a/Autocoders/Python/test/cnt_only/Top.cpp b/Autocoders/Python/test/cnt_only/Top.cpp
@@ -36,8 +36,8 @@ int main(int argc, char* argv[])  {
 	constructArchitecture();
 
         //Start Components
-        Huey_ptr->start(0, 10 * 1024, 100);
-        Duey_ptr->start(0, 10 * 1024, 100);
+        Huey_ptr->start();
+        Duey_ptr->start();
 
 	// Ask for input to huey or duey here.
 	char in[80];

diff --git a/Autocoders/Python/test/cnt_only/test/ut/Top.cpp b/Autocoders/Python/test/cnt_only/test/ut/Top.cpp
@@ -37,8 +37,8 @@ int main(int argc, char* argv[])  {
 	constructDuckArchitecture();
 
         //Start Components
-        Huey.start(0, 10 * 1024, 100);
-        Duey.start(0, 10 * 1024, 100);
+        Huey.start();
+        Duey.start();
 
 	// Ask for input to huey or duey here.
 	char in[80];

diff --git a/Autocoders/Python/test/command_string/main.cpp b/Autocoders/Python/test/command_string/main.cpp
@@ -14,7 +14,7 @@ int main(int argc, char* argv[]) {
 
 	TestCommand1Impl testImpl("TestCmdImpl");
 	testImpl.init(10);
-	testImpl.start(10,10*1024,100);
+	testImpl.start();
 	TestCommandSourceImpl cmdSrc("TestCmdSource");
 	cmdSrc.init();
 

diff --git a/Autocoders/Python/test/partition/Top.cpp b/Autocoders/Python/test/partition/Top.cpp
@@ -66,8 +66,8 @@ void constructArchitecture(void) {
 	partitionComp_ptr->getoutputPort2SerializeOutputPort()->registerSerialPort(hueyComp_ptr->getinputPort3Msg3InputPort());
 
 	// Active component startup
-	// start(identifier, stack size, priority)
-	hueyComp_ptr->start(0, 10 * 1024, 100);
+	// start()
+	hueyComp_ptr->start();
 
 	dumparch();
 

diff --git a/Autocoders/Python/test/passive/Top.cpp b/Autocoders/Python/test/passive/Top.cpp
@@ -51,8 +51,8 @@ void constructArchitecture(void) {
 
 	// Active component startup
 
-	// start(identifier, stack size, priority)
-	C1_ptr->start(0, 10 * 1024, 100);
+	// start()
+	C1_ptr->start();
 
 	dumparch();
 }

diff --git a/Autocoders/Python/test/serial_passive/test/ut/main.cpp b/Autocoders/Python/test/serial_passive/test/ut/main.cpp
@@ -7,7 +7,7 @@ int main(int argc, char* argv[]) {
     serImpl.init(10,100);
     ExampleComponents::ExampleComponentImpl exImpl("ExImpl");
     exImpl.init();
-    serImpl.start(100,100,10*1024);
+    serImpl.start();
 
     // connect ports
     exImpl.set_exampleOutput_OutputPort(0,serImpl.get_SerialInSync_InputPort(0));

diff --git a/Autocoders/Python/test/serialize_template/main.cpp b/Autocoders/Python/test/serialize_template/main.cpp
@@ -27,7 +27,7 @@ int main(int argc, char* argv[]) {
 #endif
 
     comp.init(10);
-    comp.start(10, 10 * 1024, 100);
+    comp.start();
 
     AnotherExample::InputExamplePort* port = comp.getexampleInputExampleInputPort(0);
 

diff --git a/Autocoders/Python/test/serialize_user/main.cpp b/Autocoders/Python/test/serialize_user/main.cpp
@@ -24,7 +24,7 @@ int main(int argc, char* argv[]) {
 #endif
 
     comp.init(10);
-    comp.start(10, 10 * 1024, 100);
+    comp.start();
 
     AnotherExample::InputExamplePort* port = comp.get_exampleInput_InputPort(0);
 

diff --git a/Autocoders/Python/test/stress/main.cpp b/Autocoders/Python/test/stress/main.cpp
@@ -27,7 +27,7 @@ int main(int argc, char* argv[]) {
     ;
 #endif
     testImpl.init(10);
-    testImpl.start(10, 10 * 1024, 100);
+    testImpl.start();
 
     TestCommandSourceImpl cmdSrc
 #if FW_OBJECT_NAMES

diff --git a/Drv/Ip/SocketReadTask.cpp b/Drv/Ip/SocketReadTask.cpp
@@ -24,15 +24,15 @@ SocketReadTask::SocketReadTask() : m_stop(false) {}
 SocketReadTask::~SocketReadTask() {}
 
 void SocketReadTask::startSocketTask(const Fw::StringBase &name,
+                                     const bool reconnect,
                                      const NATIVE_INT_TYPE priority,
                                      const NATIVE_INT_TYPE stack,
-                                     const bool reconnect,
                                      const NATIVE_INT_TYPE cpuAffinity) {
     FW_ASSERT(not m_task.isStarted());  // 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 the port
-    Os::Task::TaskStatus stat = m_task.start(name, 0, priority, stack, SocketReadTask::readTask, this, cpuAffinity);
+    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));
 }
 

diff --git a/Drv/Ip/SocketReadTask.hpp b/Drv/Ip/SocketReadTask.hpp
@@ -44,15 +44,15 @@ class SocketReadTask {
      * to the Os::Task::start call. cpuAffinity defaults to -1.
      *
      * \param name: name of the task
-     * \param priority: priority of the started task. See: Os::Task::start.
-     * \param stack: stack size provided to the task. See: Os::Task::start.
      * \param reconnect: automatically reconnect socket when closed. Default: true.
-     * \param cpuAffinity: cpu affinity provided to task. See: Os::Task::start.
+     * \param priority: priority of the started task. See: Os::Task::start. Default: -1, not prioritized
+     * \param stack: stack size provided to the task. See: Os::Task::start. Default: -1, posix threads default
+     * \param cpuAffinity: cpu affinity provided to task. See: Os::Task::start. Default: -1, don't care
      */
     void startSocketTask(const Fw::StringBase &name,
-                         const NATIVE_INT_TYPE priority,
-                         const NATIVE_INT_TYPE stack,
                          const bool reconnect = true,
+                         const NATIVE_INT_TYPE priority = -1,
+                         const NATIVE_INT_TYPE stack = -1,
                          const NATIVE_INT_TYPE cpuAffinity = -1);
 
     /**

diff --git a/Drv/Ip/docs/sdd.md b/Drv/Ip/docs/sdd.md
@@ -170,7 +170,7 @@ a Drv::SocketReadTask derived class is shown below.
 
 ```c++
 Os::TaskString name("ReceiveTask");
-uplinkComm.startSocketTask(name, 100, 10 * 1024); // Default reconnect=true
+uplinkComm.startSocketTask(name); // Default reconnect=true
 ...
 
 uplinkComm.stopSocketTask();

diff --git a/Drv/LinuxGpioDriver/LinuxGpioDriverComponentImpl.cpp b/Drv/LinuxGpioDriver/LinuxGpioDriverComponentImpl.cpp
@@ -397,10 +397,10 @@ namespace Drv {
   }
 
   Os::Task::TaskStatus LinuxGpioDriverComponentImpl ::
-  startIntTask(NATIVE_INT_TYPE priority, NATIVE_INT_TYPE cpuAffinity) {
+  startIntTask(NATIVE_UINT_TYPE priority, NATIVE_UINT_TYPE 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,0,priority,20*1024,LinuxGpioDriverComponentImpl::intTaskEntry,this,cpuAffinity);
+      Os::Task::TaskStatus stat = this->m_intTask.start(name, LinuxGpioDriverComponentImpl::intTaskEntry, this, priority, Os::Task::TASK_DEFAULT, cpuAffinity);
 
       if (stat != Os::Task::TASK_OK) {
           DEBUG_PRINT("Task start error: %d\n",stat);

diff --git a/Drv/LinuxGpioDriver/LinuxGpioDriverComponentImpl.hpp b/Drv/LinuxGpioDriver/LinuxGpioDriverComponentImpl.hpp
@@ -45,7 +45,7 @@ namespace Drv {
       ~LinuxGpioDriverComponentImpl(void);
 
       //! Start interrupt task
-      Os::Task::TaskStatus startIntTask(NATIVE_INT_TYPE priority, NATIVE_INT_TYPE cpuAffinity = -1);
+      Os::Task::TaskStatus startIntTask(NATIVE_UINT_TYPE priority = Os::Task::TASK_DEFAULT, NATIVE_UINT_TYPE cpuAffinity = Os::Task::TASK_DEFAULT);
 
       //! configure GPIO
       enum GpioDirection {

diff --git a/Drv/LinuxGpioDriver/LinuxGpioDriverComponentImplStub.cpp b/Drv/LinuxGpioDriver/LinuxGpioDriverComponentImplStub.cpp
@@ -44,7 +44,7 @@ namespace Drv {
   }
 
   Os::Task::TaskStatus LinuxGpioDriverComponentImpl ::
-    startIntTask(NATIVE_INT_TYPE priority, NATIVE_INT_TYPE cpuAffinity) {
+    startIntTask(NATIVE_UINT_TYPE priority, NATIVE_UINT_TYPE cpuAffinity) {
      return Os::Task::TASK_OK;
    }
 

diff --git a/Drv/LinuxSerialDriver/LinuxSerialDriverComponentImpl.cpp b/Drv/LinuxSerialDriver/LinuxSerialDriverComponentImpl.cpp
@@ -417,8 +417,7 @@ namespace Drv {
     startReadThread(NATIVE_INT_TYPE priority, NATIVE_INT_TYPE stackSize, NATIVE_INT_TYPE cpuAffinity) {
 
       Os::TaskString task("SerReader");
-      Os::Task::TaskStatus stat = this->m_readTask.start(task, 0, priority, stackSize,
-                                                         serialReadTaskEntry, this, cpuAffinity);
+      Os::Task::TaskStatus stat = this->m_readTask.start(task, serialReadTaskEntry, this, priority, stackSize, cpuAffinity);
       FW_ASSERT(stat == Os::Task::TASK_OK, stat);
   }
 

diff --git a/Drv/LinuxSerialDriver/LinuxSerialDriverComponentImpl.hpp b/Drv/LinuxSerialDriver/LinuxSerialDriverComponentImpl.hpp
@@ -16,6 +16,7 @@
 #include <Drv/LinuxSerialDriver/LinuxSerialDriverComponentAc.hpp>
 #include <LinuxSerialDriverComponentImplCfg.hpp>
 #include <Os/Mutex.hpp>
+#include <Os/Task.hpp>
 
 namespace Drv {
 
@@ -70,7 +71,7 @@ namespace Drv {
       //! start the serial poll thread.
       //! buffSize is the max receive buffer size
       //!
-      void startReadThread(NATIVE_INT_TYPE priority, NATIVE_INT_TYPE stackSize, NATIVE_INT_TYPE cpuAffinity = -1);
+      void startReadThread(NATIVE_INT_TYPE priority = Os::Task::TASK_DEFAULT, NATIVE_INT_TYPE stackSize = Os::Task::TASK_DEFAULT, NATIVE_INT_TYPE cpuAffinity = Os::Task::TASK_DEFAULT);
 
       //! Quit thread
       void quitReadThread(void);