87 lines
3.0 KiB
C
87 lines
3.0 KiB
C
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/**
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* @file TaskBase.h
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*
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* @date 11/05/2012
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* @author Bastian Baetz
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*
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* @brief This file contains the definition of the TaskBase class.
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* It is a reviewed and updated version of a file originally created
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* by Claas Ziemke in 2010.
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*/
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#ifndef TASKBASE_H_
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#define TASKBASE_H_
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#include <framework/osal/OSAL.h>
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#include <framework/returnvalues/HasReturnvaluesIF.h>
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#include <framework/tasks/TaskIF.h>
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/**
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* @brief This is the basic task handling class.
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*
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* @details The virtual parent class contains attributes and methods to perform basic task operations.
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* The task is created in the constructor. Next to the main methods to set the functionality
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* and start the task, it also contains methods to stop execution safely and to return its
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* identifier.
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* The whole class was undergoing a major redesign by Bastian Baetz in November 2012 where
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* unnecessary attributes were removed and task creation was simplified. Also, the class
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* implements the TaskIF now.
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*
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* @author Claas Ziemke
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*
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* @date 07/23/2010
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*
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* @ingroup task_handling
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*/
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class TaskBase : public TaskIF, public HasReturnvaluesIF {
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protected:
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/**
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* @brief The task's name -a user specific information for the operating system- is
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* generated automatically with the help of this static counter.
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*/
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static uint8_t taskCounter;
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/**
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* @brief The class stores the task id it got assigned from the operating system in this attribute.
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* If initialization fails, the id is set to zero.
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*/
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TaskId_t id;
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/**
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* @brief The isRunning information can be used by child classes to change its operational behavior.
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* @details It is not used in the TaskBase class itself, but for example in periodic tasks to leave
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* the periodic activity.
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*/
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bool isRunning;
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public:
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/**
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* @brief The constructor creates and initializes a task.
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* @details This is accomplished by using the operating system call to create a task. The name is
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* created automatically with the help od taskCounter. Priority and stack size are
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* adjustable, all other attributes are set with default values.
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* @param priority Sets the priority of a task. Values range from a low 0 to a high 99.
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* @param stack_size The stack size reserved by the operating system for the task.
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* @param nam The name of the Task, as a null-terminated String. Currently max 4 chars supported (excluding Null-terminator), rest will be truncated
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*/
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TaskBase( TaskPriority_t priority, size_t stack_size, const char *name);
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/**
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* @brief In the destructor, the created task is deleted.
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*/
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virtual ~TaskBase();
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/**
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* @brief This abstract method must be implemented by child classes to successfully start a task.
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*/
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virtual ReturnValue_t startTask() = 0;
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/**
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* @brief This method returns the task id of this class.
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*/
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TaskId_t getId();
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/**
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* @brief With this method, the task "running" state can be set.
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* @details This typically involves leaving any kind of periodic activity.
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*/
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void setRunning( bool set );
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};
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#endif /* TASKBASE_H_ */
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