fsfw/osal/rtems/PollingTask.h

#ifndef FSFW_OSAL_RTEMS_POLLINGTASK_H_
#define FSFW_OSAL_RTEMS_POLLINGTASK_H_

#include "../../tasks/FixedSlotSequence.h"
#include "../../tasks/FixedTimeslotTaskIF.h"
#include "TaskBase.h"

class PollingTask: public TaskBase, public FixedTimeslotTaskIF {
	public:
	/**
	 * @brief	The standard constructor of the class.
	 *
	 * @details	This is the general constructor of the class. In addition to the TaskBase parameters,
	 * 			the following variables are passed:
	 *
	 * @param	(*setDeadlineMissedFunc)() The function pointer to the deadline missed function that shall be assigned.
	 *
	 * @param	getPst The object id of the completely initialized polling sequence.
	 */
	PollingTask( const char *name, rtems_task_priority setPriority, size_t setStackSize, uint32_t 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 ~PollingTask( 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:
	/**
	* @brief id of the associated OS period
	*/
	rtems_id periodId;

	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 rtems_task taskEntryPoint( rtems_task_argument 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 /* FSFW_OSAL_RTEMS_POLLINGTASK_H_ */