91 lines
3.0 KiB
C++
91 lines
3.0 KiB
C++
#ifndef FSFW_OSAL_FREERTOS_PERIODICTASK_H_
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#define FSFW_OSAL_FREERTOS_PERIODICTASK_H_
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#include <vector>
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#include "FreeRTOS.h"
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#include "FreeRTOSTaskIF.h"
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#include "fsfw/objectmanager/ObjectManagerIF.h"
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#include "fsfw/tasks/PeriodicTaskBase.h"
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#include "fsfw/tasks/definitions.h"
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#include "task.h"
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class ExecutableObjectIF;
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/**
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* @brief This class represents a specialized task for
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* periodic activities of multiple objects.
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* @ingroup task_handling
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*/
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class PeriodicTask : public PeriodicTaskBase, public FreeRTOSTaskIF {
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public:
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/**
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* Keep in Mind that you need to call before this vTaskStartScheduler()!
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* A lot of task parameters are set in "FreeRTOSConfig.h".
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* @details
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* The class is initialized without allocated objects.
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* These need to be added with #addComponent.
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* @param priority
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* Sets the priority of a task. Values depend on freeRTOS configuration,
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* high number means high priority.
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* @param stack_size
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* The stack size reserved by the operating system for the task.
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* @param setPeriod
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* The length of the period with which the task's
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* functionality will be executed. It is expressed in clock ticks.
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* @param setDeadlineMissedFunc
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* The function pointer to the deadline missed function that shall
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* be assigned.
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*/
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PeriodicTask(TaskName name, TaskPriority setPriority, TaskStackSize setStack,
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TaskPeriod setPeriod, TaskDeadlineMissedFunction deadlineMissedFunc);
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/**
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* @brief Currently, the executed object's lifetime is not coupled with
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* the task object's lifetime, so the destructor is empty.
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*/
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~PeriodicTask() override;
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/**
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* @brief The method to start the task.
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* @details The method starts the task with the respective system call.
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* Entry point is the taskEntryPoint method described below.
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* The address of the task object is passed as an argument
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* to the system call.
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*/
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ReturnValue_t startTask() override;
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ReturnValue_t sleepFor(uint32_t ms) override;
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TaskHandle_t getTaskHandle() override;
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protected:
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bool started;
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TaskHandle_t handle;
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/**
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* @brief This is the function executed in the new task's context.
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* @details
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* It converts the argument back to the thread object type and copies the
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* class instance to the task context. The taskFunctionality method is
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* called afterwards.
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* @param A pointer to the task object itself is passed as argument.
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*/
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static void taskEntryPoint(void* argument);
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/**
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* @brief The function containing the actual functionality of the task.
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* @details
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* The method sets and starts the task's period, then enters a loop that is
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* repeated as long as the isRunning attribute is true. Within the loop,
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* all performOperation methods of the added objects are called.
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* Afterwards the checkAndRestartPeriod system call blocks the task until
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* the next period.
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* On missing the deadline, the deadlineMissedFunction is executed.
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*/
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[[noreturn]] void taskFunctionality();
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void handleMissedDeadline();
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};
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#endif /* FSFW_OSAL_FREERTOS_PERIODICTASK_H_ */
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