54 lines
1.7 KiB
C++
54 lines
1.7 KiB
C++
#ifndef FRAMEWORK_TASK_PERIODICTASKIF_H_
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#define FRAMEWORK_TASK_PERIODICTASKIF_H_
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#include <cstddef>
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#include "fsfw/objectmanager/SystemObjectIF.h"
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#include "fsfw/tasks/ExecutableObjectIF.h"
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/**
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* New version of TaskIF
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* Follows RAII principles, i.e. there's no create or delete method.
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* Minimalistic.
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*/
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class PeriodicTaskIF {
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public:
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static const size_t MINIMUM_STACK_SIZE;
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/**
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* @brief A virtual destructor as it is mandatory for interfaces.
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*/
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virtual ~PeriodicTaskIF() = default;
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/**
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* @brief With the startTask method, a created task can be started
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* for the first time.
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*/
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virtual ReturnValue_t startTask() = 0;
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/**
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* Adds an object to the list of objects to be executed.
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* The objects are executed in the order added. The object needs to implement
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* ExecutableObjectIF
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* @param object Id of the object to add.
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* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
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*/
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virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode) = 0;
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virtual ReturnValue_t addComponent(object_id_t object) { return addComponent(object, 0); };
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/**
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* Adds an object to the list of objects to be executed.
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* The objects are executed in the order added.
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* @param object pointer to the object to add.
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* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
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*/
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virtual ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) = 0;
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virtual ReturnValue_t addComponent(ExecutableObjectIF* object) { return addComponent(object, 0); }
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virtual ReturnValue_t sleepFor(uint32_t ms) = 0;
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[[nodiscard]] virtual uint32_t getPeriodMs() const = 0;
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[[nodiscard]] virtual bool isEmpty() const = 0;
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};
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#endif /* FRAMEWORK_TASK_PERIODICTASKIF_H_ */
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