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new generic freertos task interface

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This commit is contained in:
Robin Müller 2020-07-12 18:01:09 +02:00
parent 99aef0cf28
commit b4f292f3d7
6 changed files with 31 additions and 7 deletions
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2
osal/FreeRTOS/FixedTimeslotTask.cpp
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@ -157,6 +157,6 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
TaskHandle_t FixedTimeslotTask::getTaskHandle() const { TaskHandle_t FixedTimeslotTask::getTaskHandle() {
return handle; return handle;
} }

5
osal/FreeRTOS/FixedTimeslotTask.h
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@ -1,6 +1,7 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ #ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ #define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
#include <framework/osal/FreeRTOS/FreeRTOSTaskIF.h>
#include <framework/tasks/FixedSlotSequence.h> #include <framework/tasks/FixedSlotSequence.h>
#include <framework/tasks/FixedTimeslotTaskIF.h> #include <framework/tasks/FixedTimeslotTaskIF.h>
#include <framework/tasks/Typedef.h> #include <framework/tasks/Typedef.h>
@ -8,7 +9,7 @@
#include <freertos/FreeRTOS.h> #include <freertos/FreeRTOS.h>
#include <freertos/task.h> #include <freertos/task.h>
class FixedTimeslotTask: public FixedTimeslotTaskIF { class FixedTimeslotTask: public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
public: public:
/** /**
@ -57,7 +58,7 @@ public:
ReturnValue_t sleepFor(uint32_t ms) override; ReturnValue_t sleepFor(uint32_t ms) override;
TaskHandle_t getTaskHandle() const; TaskHandle_t getTaskHandle() override;
protected: protected:
bool started; bool started;

13
osal/FreeRTOS/FreeRTOSTaskIF.h Normal file
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@ -0,0 +1,13 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_
#define FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
class FreeRTOSTaskIF {
public:
virtual~ FreeRTOSTaskIF() {}
virtual TaskHandle_t getTaskHandle() = 0;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_ */

2
osal/FreeRTOS/PeriodicTask.cpp
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@ -126,7 +126,7 @@ void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
} }
} }
TaskHandle_t PeriodicTask::getTaskHandle() const { TaskHandle_t PeriodicTask::getTaskHandle() {
return handle; return handle;
} }

6
osal/FreeRTOS/PeriodicTask.h
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@ -1,10 +1,12 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_ #ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_ #define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
#include <framework/osal/FreeRTOS/FreeRTOSTaskIF.h>
#include <framework/objectmanager/ObjectManagerIF.h> #include <framework/objectmanager/ObjectManagerIF.h>
#include <framework/tasks/PeriodicTaskIF.h> #include <framework/tasks/PeriodicTaskIF.h>
#include <framework/tasks/Typedef.h> #include <framework/tasks/Typedef.h>
#include <freertos/FreeRTOS.h> #include <freertos/FreeRTOS.h>
#include <freertos/task.h> #include <freertos/task.h>
@ -17,7 +19,7 @@ class ExecutableObjectIF;
* periodic activities of multiple objects. * periodic activities of multiple objects.
* @ingroup task_handling * @ingroup task_handling
*/ */
class PeriodicTask: public PeriodicTaskIF { class PeriodicTask: public PeriodicTaskIF, public FreeRTOSTaskIF {
public: public:
/** /**
* Keep in Mind that you need to call before this vTaskStartScheduler()! * Keep in Mind that you need to call before this vTaskStartScheduler()!
@ -70,7 +72,7 @@ public:
ReturnValue_t sleepFor(uint32_t ms) override; ReturnValue_t sleepFor(uint32_t ms) override;
TaskHandle_t getTaskHandle() const; TaskHandle_t getTaskHandle() override;
protected: protected:
bool started; bool started;
TaskHandle_t handle; TaskHandle_t handle;

10
returnvalues/HasReturnvaluesIF.h
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@ -15,7 +15,15 @@ public:
static const ReturnValue_t RETURN_FAILED = 1; static const ReturnValue_t RETURN_FAILED = 1;
virtual ~HasReturnvaluesIF() {} virtual ~HasReturnvaluesIF() {}
static ReturnValue_t makeReturnCode(uint8_t interfaceId, uint8_t number) { /**
* It is discouraged to use the input parameters 0,0 and 0,1 as this
* will generate the RETURN_OK and RETURN_FAILED returnvalues.
* @param interfaceId
* @param number
* @return
*/
static constexpr ReturnValue_t makeReturnCode(uint8_t interfaceId,
uint8_t number) {
return (interfaceId << 8) + number; return (interfaceId << 8) + number;
} }
}; };