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]>

.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

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;
  }
 

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:

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);
+}
+
 };
 };

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

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);
  }
 

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 {

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 ::

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

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
  //!

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();
  }

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();
  }

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();
  }