Merge pull request 'Allow creating regular threads' (#140) from allow_creating_regular_threads into develop
Reviewed-on: eive/fsfw#140
This commit is contained in:
commit
b814e7198f
@ -20,16 +20,18 @@ TaskFactory::~TaskFactory() = default;
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TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
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PeriodicTaskIF* TaskFactory::createPeriodicTask(
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TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
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TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
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PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_, TaskPriority taskPriority_,
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TaskStackSize stackSize_,
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TaskPeriod periodInSeconds_,
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TaskDeadlineMissedFunction deadLineMissedFunction_,
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void* args) {
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return new PeriodicTask(name_, taskPriority_, stackSize_, periodInSeconds_,
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deadLineMissedFunction_);
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}
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FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(
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TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
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TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
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TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_, void* args) {
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return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_,
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deadLineMissedFunction_);
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}
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@ -7,10 +7,15 @@
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const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = PTHREAD_STACK_MIN;
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FixedTimeslotTask::FixedTimeslotTask(const char* name_, TaskPriority priority_, size_t stackSize_,
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TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_)
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TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_,
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PosixThreadArgs* args)
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: FixedTimeslotTaskBase(periodSeconds_, dlmFunc_),
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posixThread(name_, priority_, stackSize_),
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started(false) {}
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posixThread(name_, SchedulingPolicy::REGULAR, priority_, stackSize_),
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started(false) {
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if (args != nullptr) {
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posixThread.setSchedPolicy(args->policy);
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}
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}
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void* FixedTimeslotTask::taskEntryPoint(void* arg) {
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// The argument is re-interpreted as PollingTask.
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@ -23,7 +23,8 @@ class FixedTimeslotTask : public FixedTimeslotTaskBase {
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* @param deadlineMissedFunc_
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*/
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FixedTimeslotTask(const char* name_, TaskPriority priority_, size_t stackSize_,
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TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_);
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TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_,
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PosixThreadArgs* args);
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~FixedTimeslotTask() override = default;
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ReturnValue_t startTask() override;
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@ -4,10 +4,15 @@
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#include "fsfw/tasks/ExecutableObjectIF.h"
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PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_,
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TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_)
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TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_,
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PosixThreadArgs* args)
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: PeriodicTaskBase(period_, dlmFunc_),
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posixThread(name_, priority_, stackSize_),
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started(false) {}
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posixThread(name_, SchedulingPolicy::REGULAR, priority_, stackSize_),
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started(false) {
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if (args != nullptr) {
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posixThread.setSchedPolicy(args->policy);
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}
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}
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void* PeriodicPosixTask::taskEntryPoint(void* arg) {
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// The argument is re-interpreted as PollingTask.
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@ -24,7 +24,7 @@ class PeriodicPosixTask : public PeriodicTaskBase {
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* @param deadlineMissedFunc_
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*/
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PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, TaskPeriod period_,
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TaskDeadlineMissedFunction dlmFunc_);
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TaskDeadlineMissedFunction dlmFunc_, PosixThreadArgs* args);
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~PeriodicPosixTask() override = default;
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/**
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@ -7,8 +7,9 @@
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#include "fsfw/osal/linux/unixUtility.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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PosixThread::PosixThread(const char* name_, int priority_, size_t stackSize_)
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: thread(0), priority(priority_), stackSize(stackSize_) {
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PosixThread::PosixThread(const char* name_, SchedulingPolicy schedPolciy, int priority_,
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size_t stackSize_)
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: thread(0), schedPolicy(schedPolciy), priority(priority_), stackSize(stackSize_) {
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name[0] = '\0';
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std::strncat(name, name_, PTHREAD_MAX_NAMELEN - 1);
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}
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@ -178,20 +179,30 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
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#ifndef FSFW_USE_REALTIME_FOR_LINUX
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#error "Please define FSFW_USE_REALTIME_FOR_LINUX with either 0 or 1"
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#endif
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if (schedPolicy == SchedulingPolicy::RR) {
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// RR -> This needs root privileges for the process
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#if FSFW_USE_REALTIME_FOR_LINUX == 1
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// RR -> This needs root privileges for the process
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status = pthread_attr_setschedpolicy(&attributes, SCHED_RR);
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if (status != 0) {
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utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setschedpolicy");
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status = pthread_attr_setschedpolicy(&attributes, SCHED_RR);
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if (status != 0) {
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utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setschedpolicy");
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}
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sched_param scheduleParams;
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scheduleParams.sched_priority = priority;
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status = pthread_attr_setschedparam(&attributes, &scheduleParams);
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if (status != 0) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "PosixThread: Setting priority failed" << std::endl;
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#endif
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}
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#else
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning
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<< "Real time priorities are only allowed if FSFW_USE_REALTIME_FOR_LINUX is set to 1"
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<< std::endl;
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#endif
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#endif
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}
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sched_param scheduleParams;
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scheduleParams.__sched_priority = priority;
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status = pthread_attr_setschedparam(&attributes, &scheduleParams);
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if (status != 0) {
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utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setschedparam");
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}
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#endif
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// Set Signal Mask for suspend until startTask is called
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sigset_t waitSignal;
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sigemptyset(&waitSignal);
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@ -243,3 +254,5 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
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utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_destroy");
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}
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}
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void PosixThread::setSchedPolicy(SchedulingPolicy policy) { this->schedPolicy = policy; }
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@ -9,10 +9,15 @@
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#include "../../returnvalues/returnvalue.h"
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enum SchedulingPolicy { REGULAR, RR };
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struct PosixThreadArgs {
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SchedulingPolicy policy = SchedulingPolicy::REGULAR;
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};
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class PosixThread {
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public:
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static constexpr uint8_t PTHREAD_MAX_NAMELEN = 16;
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PosixThread(const char* name_, int priority_, size_t stackSize_);
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PosixThread(const char* name_, SchedulingPolicy schedPolicy, int priority_, size_t stackSize_);
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virtual ~PosixThread();
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/**
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* Set the Thread to sleep state
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@ -20,6 +25,9 @@ class PosixThread {
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* @return Returns Failed if sleep fails
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*/
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static ReturnValue_t sleep(uint64_t ns);
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void setSchedPolicy(SchedulingPolicy policy);
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/**
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* @brief Function to suspend the task until SIGUSR1 was received
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*
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@ -72,6 +80,7 @@ class PosixThread {
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private:
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char name[PTHREAD_MAX_NAMELEN];
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SchedulingPolicy schedPolicy;
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int priority;
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size_t stackSize = 0;
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@ -12,18 +12,20 @@ TaskFactory::~TaskFactory() = default;
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TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
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PeriodicTaskIF* TaskFactory::createPeriodicTask(
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TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
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TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
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PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_, TaskPriority taskPriority_,
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TaskStackSize stackSize_,
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TaskPeriod periodInSeconds_,
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TaskDeadlineMissedFunction deadLineMissedFunction_,
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void* args) {
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return new PeriodicPosixTask(name_, taskPriority_, stackSize_, periodInSeconds_,
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deadLineMissedFunction_);
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deadLineMissedFunction_, reinterpret_cast<PosixThreadArgs*>(args));
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}
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FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(
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TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
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TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
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TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_, void* args) {
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return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_,
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deadLineMissedFunction_);
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deadLineMissedFunction_, reinterpret_cast<PosixThreadArgs*>(args));
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}
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ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
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@ -47,7 +47,8 @@ class TaskFactory {
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*/
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PeriodicTaskIF* createPeriodicTask(TaskName name_, TaskPriority taskPriority_,
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TaskStackSize stackSize_, TaskPeriod periodInSeconds_,
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TaskDeadlineMissedFunction deadLineMissedFunction_);
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TaskDeadlineMissedFunction deadLineMissedFunction_,
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void* args = nullptr);
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/**
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* The meaning for the variables for fixed timeslot tasks is the same as for periodic tasks.
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@ -62,7 +63,8 @@ class TaskFactory {
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FixedTimeslotTaskIF* createFixedTimeslotTask(TaskName name_, TaskPriority taskPriority_,
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TaskStackSize stackSize_,
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TaskPeriod periodInSeconds_,
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TaskDeadlineMissedFunction deadLineMissedFunction_);
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TaskDeadlineMissedFunction deadLineMissedFunction_,
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void* args = nullptr);
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/**
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* Function to be called to delete a task
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@ -69,6 +69,6 @@ void flushTxRxBuf(int fd);
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int readCountersAndErrors(int serialPort, serial_icounter_struct& icounter);
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} // namespace uart
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} // namespace serial
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#endif /* FSFW_HAL_LINUX_UART_HELPER_H_ */
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