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cfe_es_apps.c
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cfe_es_apps.c
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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.
*/
/*
** File:
** cfe_es_apps.c
**
** Purpose:
** This file contains functions for starting cFE applications from a filesystem.
**
** References:
** Flight Software Branch C Coding Standard Version 1.0a
** cFE Flight Software Application Developers Guide
**
** Notes:
**
*/
/*
** Includes
*/
#include "cfe_es_module_all.h"
#include "cfe_evs_core_internal.h"
#include "cfe_sb_core_internal.h"
#include "cfe_tbl_core_internal.h"
#include "cfe_time_core_internal.h"
#include <stdio.h>
#include <string.h> /* memset() */
#include <fcntl.h>
/*
** Defines
*/
#define ES_START_BUFF_SIZE 128
/*
**
** Global Variables
**
*/
/*
****************************************************************************
** Functions
***************************************************************************
*/
/*
** Name:
** CFE_ES_StartApplications
**
** Purpose:
** This routine loads/starts cFE applications.
**
*/
void CFE_ES_StartApplications(uint32 ResetType, const char *StartFilePath)
{
char ES_AppLoadBuffer[ES_START_BUFF_SIZE]; /* A buffer of for a line in a file */
char ScriptFileName[OS_MAX_PATH_LEN];
const char *TokenList[CFE_ES_STARTSCRIPT_MAX_TOKENS_PER_LINE];
uint32 NumTokens;
uint32 BuffLen; /* Length of the current buffer */
osal_id_t AppFile = OS_OBJECT_ID_UNDEFINED;
int32 Status;
char c;
bool LineTooLong = false;
bool FileOpened = false;
/*
** Get the ES startup script filename.
** If this is a Processor Reset, try to open the file in the volatile disk first.
*/
if (ResetType == CFE_PSP_RST_TYPE_PROCESSOR)
{
/*
** First Attempt to parse as file in the volatile disk (temp area).
*/
Status = CFE_FS_ParseInputFileName(ScriptFileName, CFE_PLATFORM_ES_VOLATILE_STARTUP_FILE,
sizeof(ScriptFileName), CFE_FS_FileCategory_TEMP);
if (Status == CFE_SUCCESS)
{
Status = OS_OpenCreate(&AppFile, ScriptFileName, OS_FILE_FLAG_NONE, OS_READ_ONLY);
}
if (Status >= 0)
{
CFE_ES_WriteToSysLog("ES Startup: Opened ES App Startup file: %s\n", ScriptFileName);
FileOpened = true;
}
else
{
CFE_ES_WriteToSysLog("ES Startup: Cannot Open Volatile Startup file, Trying Nonvolatile.\n");
}
} /* end if */
/*
** This if block covers two cases: A Power on reset, and a Processor reset when
** the startup file on the volatile file system could not be opened.
*/
if (FileOpened == false)
{
/*
** Try to Open the file passed in to the cFE start.
*/
Status = CFE_FS_ParseInputFileName(ScriptFileName, StartFilePath, sizeof(ScriptFileName),
CFE_FS_FileCategory_SCRIPT);
if (Status == CFE_SUCCESS)
{
Status = OS_OpenCreate(&AppFile, ScriptFileName, OS_FILE_FLAG_NONE, OS_READ_ONLY);
}
if (Status >= 0)
{
CFE_ES_WriteToSysLog("ES Startup: Opened ES App Startup file: %s\n", ScriptFileName);
FileOpened = true;
}
else
{
CFE_ES_WriteToSysLog("ES Startup: Error, Can't Open ES App Startup file: %s EC = 0x%08X\n", StartFilePath,
(unsigned int)Status);
}
}
/*
** If the file is opened in either the Nonvolatile or the Volatile disk, process it.
*/
if (FileOpened == true)
{
memset(ES_AppLoadBuffer, 0x0, ES_START_BUFF_SIZE);
BuffLen = 0;
NumTokens = 0;
TokenList[0] = ES_AppLoadBuffer;
/*
** Parse the lines from the file. If it has an error
** or reaches EOF, then abort the loop.
*/
while (1)
{
Status = OS_read(AppFile, &c, 1);
if (Status < 0)
{
CFE_ES_WriteToSysLog("ES Startup: Error Reading Startup file. EC = 0x%08X\n", (unsigned int)Status);
break;
}
else if (Status == 0)
{
/*
** EOF Reached
*/
break;
}
else if (c != '!')
{
if (c <= ' ')
{
/*
** Skip all white space in the file
*/
;
}
else if (c == ',')
{
/*
** replace the field delimiter with a null
** This is used to separate the tokens
*/
if (BuffLen < ES_START_BUFF_SIZE)
{
ES_AppLoadBuffer[BuffLen] = 0;
}
else
{
LineTooLong = true;
}
BuffLen++;
if (NumTokens < (CFE_ES_STARTSCRIPT_MAX_TOKENS_PER_LINE - 1))
{
/*
* NOTE: pointer never deferenced unless "LineTooLong" is false.
*/
++NumTokens;
TokenList[NumTokens] = &ES_AppLoadBuffer[BuffLen];
}
}
else if (c != ';')
{
/*
** Regular data gets copied in
*/
if (BuffLen < ES_START_BUFF_SIZE)
{
ES_AppLoadBuffer[BuffLen] = c;
}
else
{
LineTooLong = true;
}
BuffLen++;
}
else
{
if (LineTooLong == true)
{
/*
** The was too big for the buffer
*/
CFE_ES_WriteToSysLog("ES Startup: ES Startup File Line is too long: %u bytes.\n",
(unsigned int)BuffLen);
LineTooLong = false;
}
else
{
/*
** Send the line to the file parser
** Ensure termination of the last token and send it along
*/
ES_AppLoadBuffer[BuffLen] = 0;
CFE_ES_ParseFileEntry(TokenList, 1 + NumTokens);
}
BuffLen = 0;
NumTokens = 0;
}
}
else
{
/*
** break when EOF character '!' is reached
*/
break;
}
}
/*
** close the file
*/
OS_close(AppFile);
}
}
/*
**---------------------------------------------------------------------------------------
** Name: CFE_ES_ParseFileEntry
**
** Purpose: This function parses the startup file line for an individual
** cFE application.
**---------------------------------------------------------------------------------------
*/
int32 CFE_ES_ParseFileEntry(const char **TokenList, uint32 NumTokens)
{
const char * ModuleName;
const char * EntryType;
unsigned long ParsedValue;
union
{
CFE_ES_AppId_t AppId;
CFE_ES_LibId_t LibId;
} IdBuf;
int32 Status;
CFE_ES_AppStartParams_t ParamBuf;
/*
** Check to see if the correct number of items were parsed
*/
if (NumTokens < 8)
{
CFE_ES_WriteToSysLog("ES Startup: Invalid ES Startup file entry: %u\n", (unsigned int)NumTokens);
return CFE_ES_BAD_ARGUMENT;
}
/* Get pointers to specific tokens that are simple strings used as-is */
EntryType = TokenList[0];
ModuleName = TokenList[3];
/*
* Other tokens will need to be scrubbed/converted.
* Both Libraries and Apps use File Name (1) and Symbol Name (2) fields so copy those now
*/
memset(&ParamBuf, 0, sizeof(ParamBuf));
Status = CFE_FS_ParseInputFileName(ParamBuf.BasicInfo.FileName, TokenList[1], sizeof(ParamBuf.BasicInfo.FileName),
CFE_FS_FileCategory_DYNAMIC_MODULE);
if (Status != CFE_SUCCESS)
{
CFE_ES_WriteToSysLog("ES Startup: Invalid ES Startup script file name: %s\n", TokenList[1]);
return Status;
}
strncpy(ParamBuf.BasicInfo.InitSymbolName, TokenList[2], sizeof(ParamBuf.BasicInfo.InitSymbolName) - 1);
if (strcmp(EntryType, "CFE_APP") == 0)
{
CFE_ES_WriteToSysLog("ES Startup: Loading file: %s, APP: %s\n", ParamBuf.BasicInfo.FileName, ModuleName);
/*
* Priority and Exception action have limited ranges, which is checked here
* Task priority cannot be bigger than OS_MAX_TASK_PRIORITY
*/
ParsedValue = strtoul(TokenList[4], NULL, 0);
if (ParsedValue > OS_MAX_TASK_PRIORITY)
{
ParamBuf.MainTaskInfo.Priority = OS_MAX_TASK_PRIORITY;
}
else
{
/* convert parsed value to correct type */
ParamBuf.MainTaskInfo.Priority = (CFE_ES_TaskPriority_Atom_t)ParsedValue;
}
/* No specific upper/lower limit for stack size - will pass value through */
ParamBuf.MainTaskInfo.StackSize = strtoul(TokenList[5], NULL, 0);
/*
** Validate Some parameters
** Exception action should be 0 ( Restart App ) or
** 1 ( Processor reset ). If it's non-zero, assume it means
** reset CPU.
*/
ParsedValue = strtoul(TokenList[7], NULL, 0);
if (ParsedValue > CFE_ES_ExceptionAction_RESTART_APP)
{
ParamBuf.ExceptionAction = CFE_ES_ExceptionAction_PROC_RESTART;
}
else
{
/* convert parsed value to correct type */
ParamBuf.ExceptionAction = (CFE_ES_ExceptionAction_Enum_t)ParsedValue;
}
/*
** Now create the application
*/
Status = CFE_ES_AppCreate(&IdBuf.AppId, ModuleName, &ParamBuf);
}
else if (strcmp(EntryType, "CFE_LIB") == 0)
{
CFE_ES_WriteToSysLog("ES Startup: Loading shared library: %s\n", ParamBuf.BasicInfo.FileName);
/*
** Now load the library
*/
Status = CFE_ES_LoadLibrary(&IdBuf.LibId, ModuleName, &ParamBuf.BasicInfo);
}
else
{
CFE_ES_WriteToSysLog("ES Startup: Unexpected EntryType %s in startup file.\n", EntryType);
Status = CFE_ES_ERR_APP_CREATE;
}
return (Status);
}
/*
**-------------------------------------------------------------------------------------
** Name: CFE_ES_LoadModule
**
** Helper function to load + configure (but not start) a new app/lib module
**
** Loads the module file via OSAL and stores all relevant info in the table entry as necessary.
**
**-------------------------------------------------------------------------------------
*/
int32 CFE_ES_LoadModule(CFE_ResourceId_t ParentResourceId, const char *ModuleName,
const CFE_ES_ModuleLoadParams_t *LoadParams, CFE_ES_ModuleLoadStatus_t *LoadStatus)
{
osal_id_t ModuleId;
cpuaddr InitSymbolAddress;
int32 ReturnCode;
int32 StatusCode;
uint32 LoadFlags;
LoadFlags = 0;
InitSymbolAddress = 0;
ReturnCode = CFE_SUCCESS;
if (LoadParams->FileName[0] != 0)
{
switch (CFE_ResourceId_GetBase(ParentResourceId))
{
case CFE_ES_APPID_BASE:
/*
* Apps should not typically have symbols exposed to other apps.
*
* Keeping symbols local/private may help ensure this module is unloadable
* in the future, depending on underlying OS/loader implementation.
*/
LoadFlags |= OS_MODULE_FLAG_LOCAL_SYMBOLS;
break;
case CFE_ES_LIBID_BASE:
/*
* Libraries need to have their symbols exposed to other apps.
*
* Note on some OS/loader implementations this may make it so the module
* cannot be unloaded, if there is no way to ensure that symbols
* are not being referenced. CFE does not currently support unloading
* of libraries for this reason, among others.
*/
LoadFlags |= OS_MODULE_FLAG_GLOBAL_SYMBOLS;
break;
default:
break;
}
/*
* Load the module via OSAL.
*/
StatusCode = OS_ModuleLoad(&ModuleId, ModuleName, LoadParams->FileName, LoadFlags);
if (StatusCode != OS_SUCCESS)
{
CFE_ES_WriteToSysLog("ES Startup: Could not load file:%s. EC = 0x%08X\n", LoadParams->FileName,
(unsigned int)StatusCode);
ModuleId = OS_OBJECT_ID_UNDEFINED;
ReturnCode = CFE_STATUS_EXTERNAL_RESOURCE_FAIL;
}
}
else
{
ModuleId = OS_OBJECT_ID_UNDEFINED;
}
/*
* If the Load was OK, then lookup the address of the entry point
*/
if (ReturnCode == CFE_SUCCESS && LoadParams->InitSymbolName[0] != 0)
{
StatusCode = OS_ModuleSymbolLookup(ModuleId, &InitSymbolAddress, LoadParams->InitSymbolName);
if (StatusCode != OS_SUCCESS)
{
CFE_ES_WriteToSysLog("ES Startup: Could not find symbol:%s. EC = 0x%08X\n", LoadParams->InitSymbolName,
(unsigned int)StatusCode);
ReturnCode = CFE_STATUS_EXTERNAL_RESOURCE_FAIL;
}
}
if (ReturnCode == CFE_SUCCESS)
{
/* store the data in the app record after successful load+lookup */
LoadStatus->ModuleId = ModuleId;
LoadStatus->InitSymbolAddress = InitSymbolAddress;
}
else if (OS_ObjectIdDefined(ModuleId))
{
/* If the module had been successfully loaded, then unload it,
* so that it does not consume resources */
StatusCode = OS_ModuleUnload(ModuleId);
if (StatusCode != OS_SUCCESS) /* There's not much we can do except notify */
{
CFE_ES_WriteToSysLog("ES Startup: Failed to unload: %s. EC = 0x%08X\n", ModuleName,
(unsigned int)StatusCode);
}
}
return ReturnCode;
}
/*
**-------------------------------------------------------------------------------------
** Name: CFE_ES_GetTaskFunction
**
** Helper function to act as the intermediate entry point of an app
** This is to support starting apps before having a fully completed entry in the
** global app table. The app startup will delay until the app creation is completed
** and verified, then the actual entry point will be determined.
**
**-------------------------------------------------------------------------------------
*/
int32 CFE_ES_GetTaskFunction(CFE_ES_TaskEntryFuncPtr_t *FuncPtr)
{
CFE_ES_TaskRecord_t * TaskRecPtr;
CFE_ES_TaskEntryFuncPtr_t EntryFunc;
int32 ReturnCode;
int32 Timeout;
/*
* Use the same timeout as was used for the startup script itself.
*/
ReturnCode = CFE_ES_ERR_APP_REGISTER;
Timeout = CFE_PLATFORM_ES_STARTUP_SCRIPT_TIMEOUT_MSEC;
EntryFunc = NULL;
while (true)
{
OS_TaskDelay(CFE_PLATFORM_ES_STARTUP_SYNC_POLL_MSEC);
CFE_ES_LockSharedData(__func__, __LINE__);
TaskRecPtr = CFE_ES_GetTaskRecordByContext();
if (TaskRecPtr != NULL)
{
EntryFunc = TaskRecPtr->EntryFunc;
if (CFE_RESOURCEID_TEST_DEFINED(TaskRecPtr->AppId) && EntryFunc != 0)
{
ReturnCode = CFE_SUCCESS;
}
}
CFE_ES_UnlockSharedData(__func__, __LINE__);
if (ReturnCode == CFE_SUCCESS || Timeout <= 0)
{
/* end of loop condition */
break;
}
Timeout -= CFE_PLATFORM_ES_STARTUP_SYNC_POLL_MSEC;
}
/* output function address to caller */
if (FuncPtr != NULL)
{
*FuncPtr = EntryFunc;
}
return (ReturnCode);
}
/*
**-------------------------------------------------------------------------------------
** Name: CFE_ES_TaskEntryPoint
**
** Helper function to act as the intermediate entry point of an app
** This is to support starting apps before having a fully completed entry in the
** global app table. The app startup will delay until the app creation is completed
** and verified, then the actual entry point will be determined.
**
**-------------------------------------------------------------------------------------
*/
void CFE_ES_TaskEntryPoint(void)
{
CFE_ES_TaskEntryFuncPtr_t RealEntryFunc;
if (CFE_ES_GetTaskFunction(&RealEntryFunc) == CFE_SUCCESS && RealEntryFunc != NULL)
{
/*
* Set the default exception environment, which should
* be done serialized (i.e. only one task at a time should
* call into CFE_PSP_SetDefaultExceptionEnvironment).
*/
CFE_ES_LockSharedData(__func__, __LINE__);
CFE_PSP_SetDefaultExceptionEnvironment();
CFE_ES_UnlockSharedData(__func__, __LINE__);
/*
* Call the actual task entry function
*/
(*RealEntryFunc)();
}
}
/*
**-------------------------------------------------------------------------------------
** Name: CFE_ES_StartMainTask
**
** Helper function to start (but not load) a new app/lib module
**
** Note that OSAL does not separate the action of creating and start a task, providing
** only OS_TaskCreate which does both. But there is a potential race condition if
** the real task code starts and calls any function that depends on having an AppID
** context before its fully registered in the global app table.
**
** Therefore this calls a dedicated CFE_ES_AppEntryPoint which then will wait until
** the task is fully registered in the global, before calling the actual app entry point.
**
**-------------------------------------------------------------------------------------
*/
int32 CFE_ES_StartAppTask(CFE_ES_TaskId_t *TaskIdPtr, const char *TaskName, CFE_ES_TaskEntryFuncPtr_t EntryFunc,
const CFE_ES_TaskStartParams_t *Params, CFE_ES_AppId_t ParentAppId)
{
CFE_ES_TaskRecord_t *TaskRecPtr;
osal_id_t OsalTaskId;
CFE_ES_TaskId_t LocalTaskId;
int32 StatusCode;
int32 ReturnCode;
/*
* Create the primary task for the newly loaded task
*/
StatusCode = OS_TaskCreate(&OsalTaskId, /* task id */
TaskName, /* task name matches app name for main task */
CFE_ES_TaskEntryPoint, /* task function pointer */
OSAL_TASK_STACK_ALLOCATE, /* stack pointer (allocate) */
Params->StackSize, /* stack size */
Params->Priority, /* task priority */
OS_FP_ENABLED); /* task options */
CFE_ES_LockSharedData(__func__, __LINE__);
if (StatusCode == OS_SUCCESS)
{
/*
* As this is a newly-created task, this shouldn't fail.
* The entry is not (yet) matching the task ID - it will be
* initialized here.
*/
LocalTaskId = CFE_ES_TaskId_FromOSAL(OsalTaskId);
TaskRecPtr = CFE_ES_LocateTaskRecordByID(LocalTaskId);
if (CFE_ES_TaskRecordIsUsed(TaskRecPtr))
{
CFE_ES_SysLogWrite_Unsync("ES Startup: Error: ES_TaskTable slot for ID %lx in use at task creation!\n",
OS_ObjectIdToInteger(OsalTaskId));
}
/*
* Clear any other/stale data that might be in the entry,
* and reset all fields to the correct value.
*/
memset(TaskRecPtr, 0, sizeof(*TaskRecPtr));
TaskRecPtr->AppId = ParentAppId;
TaskRecPtr->EntryFunc = EntryFunc;
TaskRecPtr->StartParams = *Params;
strncpy(TaskRecPtr->TaskName, TaskName, sizeof(TaskRecPtr->TaskName) - 1);
TaskRecPtr->TaskName[sizeof(TaskRecPtr->TaskName) - 1] = 0;
CFE_ES_TaskRecordSetUsed(TaskRecPtr, CFE_RESOURCEID_UNWRAP(LocalTaskId));
/*
* Increment the registered Task count.
*/
CFE_ES_Global.RegisteredTasks++;
ReturnCode = CFE_SUCCESS;
*TaskIdPtr = CFE_ES_TaskRecordGetID(TaskRecPtr);
}
else
{
CFE_ES_SysLogWrite_Unsync("ES Startup: AppCreate Error: TaskCreate %s Failed. EC = 0x%08X!\n", TaskName,
(unsigned int)StatusCode);
ReturnCode = CFE_STATUS_EXTERNAL_RESOURCE_FAIL;
*TaskIdPtr = CFE_ES_TASKID_UNDEFINED;
}
CFE_ES_UnlockSharedData(__func__, __LINE__);
return ReturnCode;
}
/*
**---------------------------------------------------------------------------------------
** Name: ES_AppCreate
**
** Purpose: This function loads and creates a cFE Application.
** This function can be called from the ES startup code when it
** loads the cFE Applications from the disk using the startup script, or it
** can be called when the ES Start Application command is executed.
**
**---------------------------------------------------------------------------------------
*/
int32 CFE_ES_AppCreate(CFE_ES_AppId_t *ApplicationIdPtr, const char *AppName, const CFE_ES_AppStartParams_t *Params)
{
CFE_Status_t Status;
CFE_ES_AppRecord_t *AppRecPtr;
CFE_ResourceId_t PendingResourceId = CFE_RESOURCEID_UNDEFINED;
/*
* The AppName must not be NULL
*/
if (AppName == NULL || Params == NULL)
{
return CFE_ES_BAD_ARGUMENT;
}
/* Confirm name will fit inside the record */
if (memchr(AppName, 0, sizeof(AppRecPtr->AppName)) == NULL)
{
return CFE_ES_BAD_ARGUMENT;
}
/*
** Allocate an ES_AppTable entry
*/
CFE_ES_LockSharedData(__func__, __LINE__);
/*
** Find an ES AppTable entry, and set to RESERVED
**
** In this state, the entry is no longer free, but also will not pass the
** validation test. So this function effectively has exclusive access
** without holding the global lock.
**
** IMPORTANT: it must set the ID to something else before leaving
** this function or else the resource will be leaked. After this
** point, execution must proceed to the end of the function to
** guarantee that the entry is either completed or freed.
*/
/*
* Check for an existing entry with the same name.
* Also check for a matching Library name.
* (Apps and libraries should be uniquely named)
*/
AppRecPtr = CFE_ES_LocateAppRecordByName(AppName);
if (AppRecPtr != NULL)
{
CFE_ES_SysLogWrite_Unsync("ES Startup: Duplicate app name '%s'\n", AppName);
Status = CFE_ES_ERR_DUPLICATE_NAME;
}
else
{
/* scan for a free slot */
PendingResourceId = CFE_ResourceId_FindNext(CFE_ES_Global.LastAppId, CFE_PLATFORM_ES_MAX_APPLICATIONS,
CFE_ES_CheckAppIdSlotUsed);
AppRecPtr = CFE_ES_LocateAppRecordByID(CFE_ES_APPID_C(PendingResourceId));
if (AppRecPtr == NULL)
{
CFE_ES_SysLogWrite_Unsync("ES Startup: No free application slots available\n");
Status = CFE_ES_NO_RESOURCE_IDS_AVAILABLE;
}
else
{
/* Fully clear the entry, just in case of stale data */
memset(AppRecPtr, 0, sizeof(*AppRecPtr));
/* Store the app name from passed-in value */
strncpy(AppRecPtr->AppName, AppName, sizeof(AppRecPtr->AppName) - 1);
AppRecPtr->Type = CFE_ES_AppType_EXTERNAL;
/*
* Fill out the parameters in the StartParams sub-structure
*
* This contains all relevant info, including file name, entry point,
* main task info, etc. which is required to start the app now
* or in a future restart/reload request.
*/
AppRecPtr->StartParams = *Params;
/*
* Fill out the Task State info
*/
AppRecPtr->ControlReq.AppControlRequest = CFE_ES_RunStatus_APP_RUN;
AppRecPtr->ControlReq.AppTimerMsec = 0;
CFE_ES_AppRecordSetUsed(AppRecPtr, CFE_RESOURCEID_RESERVED);
CFE_ES_Global.LastAppId = PendingResourceId;
Status = CFE_SUCCESS;
}
}
CFE_ES_UnlockSharedData(__func__, __LINE__);
/*
* If ID allocation was not successful, return now.
* A message regarding the issue should have already been logged
*/
if (Status != CFE_SUCCESS)
{
return Status;
}
/*
* Load the module based on StartParams configured above.
*/
Status = CFE_ES_LoadModule(PendingResourceId, AppName, &AppRecPtr->StartParams.BasicInfo, &AppRecPtr->LoadStatus);
/*
* If the Load was OK, then complete the initialization
*/
if (Status == CFE_SUCCESS)
{
Status =
CFE_ES_StartAppTask(&AppRecPtr->MainTaskId, /* Task ID (output) stored in App Record as main task */
AppName, /* Main Task name matches app name */
(CFE_ES_TaskEntryFuncPtr_t)
AppRecPtr->LoadStatus.InitSymbolAddress, /* Init Symbol is main task entry point */
&AppRecPtr->StartParams.MainTaskInfo, /* Main task parameters */
CFE_ES_APPID_C(PendingResourceId)); /* Parent App ID */
}
/*
* Finalize data in the app table entry, which must be done under lock.
* This transitions the entry from being RESERVED to the real ID.
*/
CFE_ES_LockSharedData(__func__, __LINE__);
if (Status == CFE_SUCCESS)
{
/*
* important - set the ID to its proper value
* which turns this into a real/valid table entry
*/
CFE_ES_AppRecordSetUsed(AppRecPtr, PendingResourceId);
/*
** Increment the registered App counter.
*/
CFE_ES_Global.RegisteredExternalApps++;
}
else
{
/*
* Set the table entry back to free
*/
CFE_ES_AppRecordSetFree(AppRecPtr);
PendingResourceId = CFE_RESOURCEID_UNDEFINED;
}
CFE_ES_UnlockSharedData(__func__, __LINE__);
*ApplicationIdPtr = CFE_ES_APPID_C(PendingResourceId);
return Status;
} /* End Function */
/*
**---------------------------------------------------------------------------------------
** Name: CFE_ES_LoadLibrary
**
** Purpose: This function loads and initializes a cFE Shared Library.
**
**---------------------------------------------------------------------------------------
*/
int32 CFE_ES_LoadLibrary(CFE_ES_LibId_t *LibraryIdPtr, const char *LibName, const CFE_ES_ModuleLoadParams_t *Params)
{
CFE_ES_LibraryEntryFuncPtr_t FunctionPointer;
CFE_ES_LibRecord_t * LibSlotPtr;
int32 Status;
CFE_ResourceId_t PendingResourceId;
/*
* The LibName must not be NULL
*/
if (LibName == NULL || Params == NULL)
{
return CFE_ES_BAD_ARGUMENT;
}
/* Confirm name will fit inside the record */
if (memchr(LibName, 0, sizeof(LibSlotPtr->LibName)) == NULL)
{
return CFE_ES_BAD_ARGUMENT;
}
/*
** Allocate an ES_LibTable entry
*/
FunctionPointer = NULL;
PendingResourceId = CFE_RESOURCEID_UNDEFINED;
/*
** Find an ES AppTable entry, and set to RESERVED
**
** In this state, the entry is no longer free, but also will not pass the
** validation test. So this function effectively has exclusive access
** without holding the global lock.
**
** IMPORTANT: it must set the ID to something else before leaving
** this function or else the resource will be leaked. After this
** point, execution must proceed to the end of the function to
** guarantee that the entry is either completed or freed.
*/
CFE_ES_LockSharedData(__func__, __LINE__);
/*
* Check for an existing entry with the same name.
* Also check for a matching Library name.
* (Libs and libraries should be uniquely named)
*/
LibSlotPtr = CFE_ES_LocateLibRecordByName(LibName);
if (LibSlotPtr != NULL || CFE_ES_LocateAppRecordByName(LibName) != NULL)
{
CFE_ES_SysLogWrite_Unsync("ES Startup: Duplicate Lib name '%s'\n", LibName);
if (LibSlotPtr != NULL)
{
PendingResourceId = CFE_RESOURCEID_UNWRAP(CFE_ES_LibRecordGetID(LibSlotPtr));
}
Status = CFE_ES_ERR_DUPLICATE_NAME;
}
else
{
/* scan for a free slot */
PendingResourceId =
CFE_ResourceId_FindNext(CFE_ES_Global.LastLibId, CFE_PLATFORM_ES_MAX_LIBRARIES, CFE_ES_CheckLibIdSlotUsed);
LibSlotPtr = CFE_ES_LocateLibRecordByID(CFE_ES_LIBID_C(PendingResourceId));
if (LibSlotPtr == NULL)
{
CFE_ES_SysLogWrite_Unsync("ES Startup: No free library slots available\n");
Status = CFE_ES_NO_RESOURCE_IDS_AVAILABLE;
}
else
{
/* Fully clear the entry, just in case of stale data */
memset(LibSlotPtr, 0, sizeof(*LibSlotPtr));
/*
* Fill out the parameters in the AppStartParams sub-structure
*/
strncpy(LibSlotPtr->LibName, LibName, sizeof(LibSlotPtr->LibName) - 1);
LibSlotPtr->LibName[sizeof(LibSlotPtr->LibName) - 1] = '\0';
LibSlotPtr->LoadParams = *Params;
CFE_ES_LibRecordSetUsed(LibSlotPtr, CFE_RESOURCEID_RESERVED);
CFE_ES_Global.LastLibId = PendingResourceId;
Status = CFE_SUCCESS;
}
}
CFE_ES_UnlockSharedData(__func__, __LINE__);
/*
* If any off-nominal condition exists, skip the rest of this logic.
* (Log message already written)
*/
if (Status != CFE_SUCCESS)
{
*LibraryIdPtr = CFE_ES_LIBID_C(PendingResourceId);
return Status;
}
/*
* Load the module based on StartParams configured above.
*/
Status = CFE_ES_LoadModule(PendingResourceId, LibName, &LibSlotPtr->LoadParams, &LibSlotPtr->LoadStatus);
if (Status == CFE_SUCCESS)
{
FunctionPointer = (CFE_ES_LibraryEntryFuncPtr_t)LibSlotPtr->LoadStatus.InitSymbolAddress;
if (FunctionPointer != NULL)
{
Status = (*FunctionPointer)(CFE_ES_LIBID_C(PendingResourceId));
if (Status != CFE_SUCCESS)
{
CFE_ES_WriteToSysLog("ES Startup: Load Shared Library Init Error = 0x%08x\n", (unsigned int)Status);
}
}
}
/*
* Finalize data in the app table entry, which must be done under lock.
* This transitions the entry from being RESERVED to the real type,
* either MAIN_TASK (success) or returning to INVALID (failure).
*/
CFE_ES_LockSharedData(__func__, __LINE__);
if (Status == CFE_SUCCESS)
{
/*
* important - set the ID to its proper value
* which turns this into a real/valid table entry
*/
CFE_ES_LibRecordSetUsed(LibSlotPtr, PendingResourceId);
/*
* Increment the registered Lib counter.
*/
CFE_ES_Global.RegisteredLibs++;
}
else
{
CFE_ES_LibRecordSetFree(LibSlotPtr);
PendingResourceId = CFE_RESOURCEID_UNDEFINED;
}
CFE_ES_UnlockSharedData(__func__, __LINE__);
*LibraryIdPtr = CFE_ES_LIBID_C(PendingResourceId);
return (Status);
} /* End Function */
/*
**---------------------------------------------------------------------------------------
** Name: CFE_ES_RunAppTableScan
**
** Purpose: This function scans the ES Application table and acts on the changes
** in application states. This is where the external cFE Applications are
** restarted, reloaded, or deleted.
**---------------------------------------------------------------------------------------
*/
bool CFE_ES_RunAppTableScan(uint32 ElapsedTime, void *Arg)
{
CFE_ES_AppTableScanState_t *State = (CFE_ES_AppTableScanState_t *)Arg;
uint32 i;
CFE_ES_AppRecord_t * AppPtr;
CFE_ES_AppId_t AppTimeoutList[CFE_PLATFORM_ES_MAX_APPLICATIONS];
uint32 NumAppTimeouts;