fsfw/osal/FreeRTOS/FixedTimeslotTask.h

#ifndef POLLINGTASK_H_
#define POLLINGTASK_H_

#include <framework/devicehandlers/FixedSlotSequence.h>
#include <framework/tasks/FixedTimeslotTaskIF.h>
#include <framework/tasks/Typedef.h>

#include <FreeRTOS.h>
#include "task.h"

class FixedTimeslotTask: public FixedTimeslotTaskIF {
public:

	/**
	 * Keep in Mind that you need to call before this vTaskStartScheduler()!
	 * A lot of task parameters are set in "FreeRTOSConfig.h".
	 * @param name Name of the task, lenght limited by configMAX_TASK_NAME_LEN
	 * @param setPriority Number of priorities specified by
	 * configMAX_PRIORITIES. High taskPriority_ number means high priority.
	 * @param setStack	Stack size in words (not bytes!).
	 * Lower limit specified by configMINIMAL_STACK_SIZE
	 * @param overallPeriod		Period in seconds.
	 * @param setDeadlineMissedFunc Callback if a deadline was missed.
	 * @return Pointer to the newly created task.
	 */
	FixedTimeslotTask(const char *name, TaskPriority setPriority,
			TaskStackSize setStack, TaskPeriod overallPeriod,
			void (*setDeadlineMissedFunc)());

	/**
	 * @brief	The destructor of the class.
	 *
	 * @details	The destructor frees all heap memory that was allocated on thread initialization for the PST and
	 * 			the device handlers. This is done by calling the PST's destructor.
	 */
	virtual ~FixedTimeslotTask(void);

	ReturnValue_t startTask(void);
	/**
	 * This static function can be used as #deadlineMissedFunc.
	 * It counts missedDeadlines and prints the number of missed deadlines every 10th time.
	 */
	static void missedDeadlineCounter();
	/**
	 * A helper variable to count missed deadlines.
	 */
	static uint32_t deadlineMissedCount;

	ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
			int8_t executionStep);

	uint32_t getPeriodMs() const;

	ReturnValue_t checkSequence() const;

	ReturnValue_t sleepFor(uint32_t ms);

protected:
	bool started;
	TaskHandle_t handle;

	FixedSlotSequence pst;

	/**
	 * @brief	This attribute holds a function pointer that is executed when a deadline was missed.
	 *
	 * @details	Another function may be announced to determine the actions to perform when a deadline was missed.
	 * 			Currently, only one function for missing any deadline is allowed.
	 * 			If not used, it shall be declared NULL.
	 */
	void (*deadlineMissedFunc)(void);
	/**
	 * @brief	This is the entry point in a new polling thread.
	 *
	 * @details	This method, that is the generalOSAL::checkAndRestartPeriod( this->periodId, interval ); entry point in the new thread, is here set to generate
	 * 			and link the Polling Sequence Table to the thread object and start taskFunctionality()
	 * 			on success. If operation of the task is ended for some reason,
	 * 			the destructor is called to free allocated memory.
	 */
	static void taskEntryPoint(void* argument);

	/**
	 * @brief	This function holds the main functionality of the thread.
	 *
	 *
	 * @details	Holding the main functionality of the task, this method is most important.
	 * 			It links the functionalities provided by FixedSlotSequence with the OS's System Calls
	 * 			to keep the timing of the periods.
	 */
	void taskFunctionality(void);
};

#endif /* POLLINGTASK_H_ */