fsfw/osal/linux/FixedTimeslotTask.h

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2020-08-18 13:09:15 +02:00
#ifndef FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
#define FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
#include "../../tasks/FixedTimeslotTaskIF.h"
#include "../../tasks/FixedSlotSequence.h"
#include "../../osal/linux/PosixThread.h"
#include <pthread.h>
class FixedTimeslotTask: public FixedTimeslotTaskIF, public PosixThread {
public:
/**
* Create a generic periodic task.
* @param name_
* Name, maximum allowed size of linux is 16 chars, everything else will
* be truncated.
* @param priority_
* Real-time priority, ranges from 1 to 99 for Linux.
* See: https://man7.org/linux/man-pages/man7/sched.7.html
* @param stackSize_
* @param period_
* @param deadlineMissedFunc_
*/
FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_,
uint32_t periodMs_);
virtual ~FixedTimeslotTask();
virtual ReturnValue_t startTask();
virtual ReturnValue_t sleepFor(uint32_t ms);
virtual uint32_t getPeriodMs() const;
virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
int8_t executionStep);
virtual ReturnValue_t checkSequence() const;
/**
* 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;
protected:
/**
* @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.
*/
virtual void taskFunctionality();
private:
/**
* @brief This is the entry point in a new thread.
*
* @details
* This method, that is the entry point in the new thread and calls
* taskFunctionality of the child class. Needs a valid pointer to the
* derived class.
*
* The void* returnvalue is not used yet but could be used to return
* arbitrary data.
*/
static void* taskEntryPoint(void* arg);
FixedSlotSequence pst;
bool started;
};
#endif /* FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ */