nasa · astrogeco · Mar 29, 2021 · Mar 23, 2021
diff --git a/docs/cFE Application Developers Guide.md b/docs/cFE Application Developers Guide.md
diff --git a/docs/src/cfe_api.dox b/docs/src/cfe_api.dox
@@ -15,7 +15,6 @@
     </UL>
     <LI> \ref CFEAPIESAppBehavior
     <UL>
-      <LI> #CFE_ES_RegisterApp - \copybrief CFE_ES_RegisterApp
       <LI> #CFE_ES_RunLoop - \copybrief CFE_ES_RunLoop
       <LI> #CFE_ES_WaitForStartupSync - \copybrief CFE_ES_WaitForStartupSync
       <LI> #CFE_ES_WaitForSystemState - \copybrief CFE_ES_WaitForSystemState
@@ -33,7 +32,6 @@
     </UL>
     <LI> \ref CFEAPIESChildTask
     <UL>
-      <LI> #CFE_ES_RegisterChildTask - \copybrief CFE_ES_RegisterChildTask
       <LI> #CFE_ES_CreateChildTask - \copybrief CFE_ES_CreateChildTask
       <LI> #CFE_ES_DeleteChildTask - \copybrief CFE_ES_DeleteChildTask
       <LI> #CFE_ES_ExitChildTask - \copybrief CFE_ES_ExitChildTask

diff --git a/modules/cfe_testrunner/src/cfe_testrunner_main.c b/modules/cfe_testrunner/src/cfe_testrunner_main.c
@@ -64,16 +64,6 @@ void CFE_TestRunner_AppMain(void)
     int32  rc;
     uint32 RunStatus;
 
-    /*
-    ** Register the app with Executive services
-    */
-    rc = CFE_ES_RegisterApp();
-    if (rc != CFE_SUCCESS)
-    {
-        CFE_ES_WriteToSysLog("Error in CFE_ES_RegisterApp(): %08lx\n", (unsigned long)rc);
-        return;
-    }
-
     /*
      * Delay until the system reaches "operational" state -- this is when all libs have initialized
      * and all apps have reached their RunLoop.

diff --git a/modules/core_api/fsw/inc/cfe_error.h b/modules/core_api/fsw/inc/cfe_error.h
@@ -438,7 +438,7 @@ typedef int32 CFE_Status_t;
 /**
  * @brief Application Register Error
  *
- *  Occurs when the #CFE_ES_RegisterApp fails.
+ *  Occurs when a task cannot be registered in ES global tables
  *
  */
 #define CFE_ES_ERR_APP_REGISTER ((CFE_Status_t)0xc4000017)
@@ -950,9 +950,6 @@ typedef int32 CFE_Status_t;
  * @brief Bad Application ID
  *
  *  The calling application does not have a legitimate Application ID.
- *  Most likely cause is a failure to register with the cFE via the
- *  #CFE_ES_RegisterApp function.
- *
  */
 #define CFE_TBL_ERR_BAD_APP_ID ((CFE_Status_t)0xcc00000A)
 

diff --git a/modules/core_api/fsw/inc/cfe_es.h b/modules/core_api/fsw/inc/cfe_es.h
@@ -341,7 +341,7 @@ CFE_Status_t CFE_ES_DeleteApp(CFE_ES_AppId_t AppID);
 ** \arg #CFE_ES_RunStatus_CORE_APP_RUNTIME_ERROR - \copybrief CFE_ES_RunStatus_CORE_APP_RUNTIME_ERROR
 **
 **
-** \sa #CFE_ES_RunLoop, #CFE_ES_RegisterApp
+** \sa #CFE_ES_RunLoop
 **
 ******************************************************************************/
 void CFE_ES_ExitApp(uint32 ExitStatus);
@@ -367,7 +367,7 @@ void CFE_ES_ExitApp(uint32 ExitStatus);
 ** \retval true  Application should continue running
 ** \retval false Application should not continue running
 **
-** \sa #CFE_ES_ExitApp, #CFE_ES_RegisterApp
+** \sa #CFE_ES_ExitApp
 **
 ******************************************************************************/
 bool CFE_ES_RunLoop(uint32 *ExitStatus);
@@ -436,23 +436,6 @@ CFE_Status_t CFE_ES_WaitForSystemState(uint32 MinSystemState, uint32 TimeOutMill
 ******************************************************************************/
 void CFE_ES_WaitForStartupSync(uint32 TimeOutMilliseconds);
 
-/*****************************************************************************/
-/**
-** \brief Registers a cFE Application with the Executive Services
-**
-** \par Description
-**        This API registers the calling Application with the cFE.
-**
-** \par Assumptions, External Events, and Notes:
-**        NOTE: This function \b MUST be called before any other cFE API functions are called.
-**
-** \return Execution status, see \ref CFEReturnCodes
-**
-** \sa #CFE_ES_ExitApp, #CFE_ES_RunLoop
-**
-******************************************************************************/
-CFE_Status_t CFE_ES_RegisterApp(void);
-
 /*****************************************************************************/
 /**
 ** \ingroup CFEAPIESAppBehavior
@@ -793,26 +776,6 @@ int32 CFE_ES_GetModuleInfo(CFE_ES_AppInfo_t *ModuleInfo, CFE_ResourceId_t Resour
  * @{
  */
 
-/*****************************************************************************/
-/**
-** \brief Registers a cFE Child task associated with a cFE Application
-**
-** \par Description
-**        This routine registers a cFE Child task and associates it with its parent
-**        cFE Application.
-**
-** \par Assumptions, External Events, and Notes:
-**        NOTE: This API \b MUST be called by the Child Task before any other cFE API calls are made.
-**
-** \return Execution status, see \ref CFEReturnCodes
-** \retval #CFE_SUCCESS                    \copybrief CFE_SUCCESS
-** \retval #CFE_ES_ERR_CHILD_TASK_REGISTER \copybrief CFE_ES_ERR_CHILD_TASK_REGISTER
-**
-** \sa #CFE_ES_CreateChildTask, #CFE_ES_DeleteChildTask, #CFE_ES_ExitChildTask
-**
-******************************************************************************/
-CFE_Status_t CFE_ES_RegisterChildTask(void);
-
 /*****************************************************************************/
 /**
 ** \brief Creates a new task under an existing Application
@@ -850,7 +813,7 @@ CFE_Status_t CFE_ES_RegisterChildTask(void);
 ** \retval #CFE_SUCCESS                  \copybrief CFE_SUCCESS
 ** \retval #CFE_ES_ERR_CHILD_TASK_CREATE \copybrief CFE_ES_ERR_CHILD_TASK_CREATE
 **
-** \sa #CFE_ES_RegisterChildTask, #CFE_ES_DeleteChildTask, #CFE_ES_ExitChildTask
+** \sa #CFE_ES_DeleteChildTask, #CFE_ES_ExitChildTask
 **
 ******************************************************************************/
 CFE_Status_t CFE_ES_CreateChildTask(CFE_ES_TaskId_t *TaskIdPtr, const char *TaskName,
@@ -930,7 +893,7 @@ CFE_Status_t CFE_ES_GetTaskName(char *TaskName, CFE_ES_TaskId_t TaskId, size_t B
 ** \retval #CFE_SUCCESS            \copybrief CFE_SUCCESS
 ** \retval #CFE_ES_NOT_IMPLEMENTED \copybrief CFE_ES_NOT_IMPLEMENTED
 **
-** \sa #CFE_ES_RegisterChildTask, #CFE_ES_CreateChildTask, #CFE_ES_ExitChildTask
+** \sa #CFE_ES_CreateChildTask, #CFE_ES_ExitChildTask
 **
 ******************************************************************************/
 CFE_Status_t CFE_ES_DeleteChildTask(CFE_ES_TaskId_t TaskId);
@@ -950,7 +913,7 @@ CFE_Status_t CFE_ES_DeleteChildTask(CFE_ES_TaskId_t TaskId);
 **        at all, it is assumed that the Task was either unregistered or
 **        this function was called from a cFE Application's main task.
 **
-** \sa #CFE_ES_RegisterChildTask, #CFE_ES_CreateChildTask, #CFE_ES_DeleteChildTask
+** \sa #CFE_ES_CreateChildTask, #CFE_ES_DeleteChildTask
 **
 ******************************************************************************/
 void CFE_ES_ExitChildTask(void);

diff --git a/modules/core_api/ut-stubs/src/ut_es_stubs.c b/modules/core_api/ut-stubs/src/ut_es_stubs.c
@@ -346,59 +346,6 @@ CFE_Status_t CFE_ES_GetAppName(char *AppName, CFE_ES_AppId_t AppId, size_t Buffe
     return status;
 }
 
-/*****************************************************************************/
-/**
-** \brief CFE_ES_RegisterApp stub function
-**
-** \par Description
-**        This function is used to mimic the response of the cFE ES function
-**        CFE_ES_RegisterApp.  The user can adjust the response by setting
-**        the values in the ES_RegisterRtn structure prior to this function
-**        being called.  If the value ES_RegisterRtn.count is greater than
-**        zero then the counter is decremented; if it then equals zero the
-**        return value is set to the user-defined value ES_RegisterRtn.value.
-**        CFE_SUCCESS is returned otherwise.
-**
-** \par Assumptions, External Events, and Notes:
-**        None
-**
-** \returns
-**        Returns either a user-defined status flag or CFE_SUCCESS.
-**
-******************************************************************************/
-int32 CFE_ES_RegisterApp(void)
-{
-    int32 status;
-
-    status = UT_DEFAULT_IMPL(CFE_ES_RegisterApp);
-
-    return status;
-}
-
-/*****************************************************************************/
-/**
-** \brief CFE_ES_RegisterChildTask stub function
-**
-** \par Description
-**        This function is used to mimic the response of the cFE ES function
-**        CFE_ES_RegisterChildTask.  It always returns CFE_SUCCESS when called.
-**
-** \par Assumptions, External Events, and Notes:
-**        None
-**
-** \returns
-**        Returns CFE_SUCCESS.
-**
-******************************************************************************/
-int32 CFE_ES_RegisterChildTask(void)
-{
-    int32 status = CFE_SUCCESS;
-
-    status = UT_DEFAULT_IMPL(CFE_ES_RegisterChildTask);
-
-    return status;
-}
-
 /*****************************************************************************/
 /**
 ** \brief CFE_ES_WriteToSysLog stub function

diff --git a/modules/core_private/ut-stubs/inc/ut_osprintf_stubs.h b/modules/core_private/ut-stubs/inc/ut_osprintf_stubs.h
@@ -68,7 +68,6 @@
 #define UT_OSP_ES_APP_STARTUP_OPEN        39
 #define UT_OSP_COMMAND_PIPE               40
 #define UT_OSP_APP_INIT                   41
-#define UT_OSP_REGISTER_APP               42
 #define UT_OSP_SHARED_LIBRARY_INIT        43
 #define UT_OSP_DECOMPRESS_LIBRARY         44
 #define UT_OSP_EXTRACT_FILENAME_CF        45
@@ -96,7 +95,6 @@
 #define UT_OSP_STARTUP_SYNC_FAIL_2        67
 #define UT_OSP_MODULE_UNLOAD_FAILED       68
 #define UT_OSP_TASKEXIT_BAD_CONTEXT       69
-#define UT_OSP_BACKGROUND_REGISTER        70
 #define UT_OSP_BACKGROUND_TAKE            71
 
 #endif
diff --git a/modules/core_private/ut-stubs/src/ut_osprintf_stubs.c b/modules/core_private/ut-stubs/src/ut_osprintf_stubs.c
@@ -46,8 +46,6 @@ const char *UT_OSP_MESSAGES[] = {
     [UT_OSP_MOUNT_VOLATILE] = "ES Startup: Error Mounting Volatile(RAM) Volume. EC = 0x%08X\n",
     /* CFE_ES_ExitApp: CORE Application CFE_ES Had a Runtime Error. */
     [UT_OSP_CORE_RUNTIME] = "CFE_ES_ExitApp: CORE Application %s Had a Runtime Error.\n",
-    /* ES:Call to CFE_ES_RegisterApp Failed, RC = 0x~ */
-    [UT_OSP_REGISTER_APP] = "ES:Call to CFE_ES_RegisterApp Failed, RC = 0x%08X\n",
     /* ES Startup: OS_TaskCreate error creating core App: CFE_TBL: EC = 0x~ */
     [UT_OSP_CORE_APP_CREATE] = "ES Startup: OS_TaskCreate error creating core App: %s: EC = 0x%08X\n",
     /* ES Startup: Error returned when calling function: CFE_TBL_EarlyInit: EC = 0x~ */
@@ -161,6 +159,5 @@ const char *UT_OSP_MESSAGES[] = {
     [UT_OSP_RECORD_USED] = "ES Startup: Error: ES_TaskTable slot for ID %lx in use at task creation!\n",
     /* CFE_ES_ExitChildTask called from invalid task context */
     [UT_OSP_TASKEXIT_BAD_CONTEXT] = "CFE_ES_ExitChildTask called from invalid task context\n",
-    [UT_OSP_BACKGROUND_REGISTER]  = "CFE_ES: Background Task Failed to register: %08lx\n",
     [UT_OSP_BACKGROUND_TAKE]      = "CFE_ES: Failed to take background sem: %08lx\n",
 };
diff --git a/modules/es/fsw/src/cfe_es_api.c b/modules/es/fsw/src/cfe_es_api.c
@@ -639,44 +639,6 @@ void CFE_ES_WaitForStartupSync(uint32 TimeOutMilliseconds)
     CFE_ES_WaitForSystemState(CFE_ES_SystemState_OPERATIONAL, TimeOutMilliseconds);
 }
 
-/*
-** Function: - See API and header file for details
-*/
-int32 CFE_ES_RegisterApp(void)
-{
-    int32 Result;
-
-    CFE_ES_LockSharedData(__func__, __LINE__);
-
-    /*
-    ** Register the task
-    */
-    Result = OS_TaskRegister();
-
-    if (Result == OS_SUCCESS)
-    {
-        Result = CFE_SUCCESS;
-    }
-    else
-    {
-        /*
-        ** Cannot create a syslog entry here because it requires the task to
-        ** be registered
-        */
-        Result = CFE_ES_ERR_APP_REGISTER;
-    }
-
-    /*
-    ** Set the default exception environment
-    */
-    CFE_PSP_SetDefaultExceptionEnvironment();
-
-    CFE_ES_UnlockSharedData(__func__, __LINE__);
-
-    return (Result);
-
-} /* End of CFE_ES_RegisterApp() */
-
 /*
 ** Function: CFE_ES_GetAppIDByName - See API and header file for details
 */
@@ -1296,45 +1258,6 @@ int32 CFE_ES_CreateChildTask(CFE_ES_TaskId_t *TaskIdPtr, const char *TaskName,
 
 } /* End of CFE_ES_CreateChildTask() */
 
-/*
-** Function: CFE_ES_RegisterChildTask - See API and header file for details
-*/
-int32 CFE_ES_RegisterChildTask(void)
-{
-    int32 Result;
-    int32 ReturnCode;
-
-    CFE_ES_LockSharedData(__func__, __LINE__);
-
-    /*
-    ** Register the task with the OS
-    */
-    Result = OS_TaskRegister();
-
-    if (Result != OS_SUCCESS)
-    {
-        /*
-        ** Cannot create a syslog entry here because it requires the task to
-        ** be registered
-        */
-        ReturnCode = CFE_ES_ERR_CHILD_TASK_REGISTER;
-    }
-    else
-    {
-        ReturnCode = CFE_SUCCESS;
-    }
-
-    /*
-    ** Set the default exception environment
-    */
-    CFE_PSP_SetDefaultExceptionEnvironment();
-
-    CFE_ES_UnlockSharedData(__func__, __LINE__);
-
-    return (ReturnCode);
-
-} /* End of CFE_ES_RegisterChildTask() */
-
 /*
 ** Function: CFE_ES_IncrementTaskCounter - See API and header file for details
 */

diff --git a/modules/es/fsw/src/cfe_es_apps.c b/modules/es/fsw/src/cfe_es_apps.c
@@ -553,6 +553,18 @@ void CFE_ES_TaskEntryPoint(void)
 
     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)();
     }
 }
@@ -565,8 +577,8 @@ void CFE_ES_TaskEntryPoint(void)
 **
 ** 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 e.g. CFE_ES_RegisterApp() or any other function
-** that depends on having an AppID context, before its fully registered in the global app table.
+** 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.

diff --git a/modules/es/fsw/src/cfe_es_backgroundtask.c b/modules/es/fsw/src/cfe_es_backgroundtask.c
@@ -111,14 +111,6 @@ void CFE_ES_BackgroundTask(void)
     OS_time_t                          LastTime;
     const CFE_ES_BackgroundJobEntry_t *JobPtr;
 
-    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;
-    }
-
     CFE_PSP_GetTime(&LastTime);
 
     while (true)

diff --git a/modules/es/fsw/src/cfe_es_task.c b/modules/es/fsw/src/cfe_es_task.c
@@ -339,16 +339,6 @@ int32 CFE_ES_TaskInit(void)
     uint32  SizeofCfeSegment;
     cpuaddr CfeSegmentAddr;
 
-    /*
-    ** Register the Application
-    */
-    Status = CFE_ES_RegisterApp();
-    if (Status != CFE_SUCCESS)
-    {
-        CFE_ES_WriteToSysLog("ES:Call to CFE_ES_RegisterApp Failed, RC = 0x%08X\n", (unsigned int)Status);
-        return (Status);
-    }
-
     /*
     ** Initialize task command execution counters
     */