fsfw/osal/FreeRTOS/FreeRTOSTaskIF.h

#ifndef FSFW_OSAL_FREERTOS_FREERTOSTASKIF_H_
#define FSFW_OSAL_FREERTOS_FREERTOSTASKIF_H_

#include <freertos/FreeRTOS.h>
#include <freertos/task.h>

class FreeRTOSTaskIF {
public:
    virtual~ FreeRTOSTaskIF() {}
    virtual TaskHandle_t getTaskHandle() = 0;

protected:

    bool checkMissedDeadline(const TickType_t xLastWakeTime,
            const TickType_t interval) {
        /* Check whether deadline was missed while also taking overflows
         * into account. Drawing this on paper with a timeline helps to understand
         * it. */
        TickType_t currentTickCount = xTaskGetTickCount();
        TickType_t timeToWake = xLastWakeTime + interval;
        // Time to wake has not overflown.
        if(timeToWake > xLastWakeTime) {
            /* If the current time has overflown exclusively or the current
             * tick count is simply larger than the time to wake, a deadline was
             * missed */
            if((currentTickCount < xLastWakeTime) or
                    (currentTickCount > timeToWake)) {
                return true;
            }
        }
        /* Time to wake has overflown. A deadline was missed if the current time
         * is larger than the time to wake */
        else if((timeToWake < xLastWakeTime) and
                (currentTickCount > timeToWake)) {
            return true;
        }
        return false;
    }
};

#endif /* FSFW_OSAL_FREERTOS_FREERTOSTASKIF_H_ */