97 lines
3.8 KiB
C++
97 lines
3.8 KiB
C++
#ifndef FSFW_TASKS_TASKFACTORY_H_
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#define FSFW_TASKS_TASKFACTORY_H_
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#include <cstdlib>
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#include "FixedTimeslotTaskIF.h"
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#include "definitions.h"
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/**
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* Singleton Class that produces Tasks.
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*/
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class TaskFactory {
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public:
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virtual ~TaskFactory();
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/**
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* Returns the single instance of TaskFactory.
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* The implementation of #instance is found in its subclasses.
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* Thus, we choose link-time variability of the instance.
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*/
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static TaskFactory* instance();
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/**
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* Creates a new periodic task and returns the interface pointer.
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* @param name_ Name of the task
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* @param taskPriority_
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* Priority of the task. This value might have different ranges for the various OSALs.
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* - Linux Value ranging from 0 to 99 with 99 being the highest value.
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* - Host For Windows, the value can be retrieved by using the #tasks::makeWinPriority
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* function. For Linux, same priority system as specified above. MacOS not tested
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* yet
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* - FreeRTOS Value depends on the FreeRTOS configuration, higher number means higher priority
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* - RTEMS Values ranging from 0 to 99 with 99 being the highest value.
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*
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* @param stackSize_ Stack Size of the task
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* This value might have different recommended ranges for the various OSALs.
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* - Linux Lowest limit is the PeriodicTaskIF::MINIMUM_STACK_SIZE value
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* - Host Value is ignored for now because the C++ threading abstraction layer is used.
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* - FreeRTOS Stack size in bytes. It is recommended to specify at least 1kB of stack for
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* FSFW tasks, but the lowest possible size is specified in the
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* FreeRTOSConfig.h file.
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* - RTEMS Lowest limit is specified the PeriodicTaskIF::MINIMUM_STACK_SIZE value.
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*
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* @param period_ Period of the task
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*
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* @param deadLineMissedFunction_ Function to be called if a deadline was missed
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* @return PeriodicTaskIF* Pointer to the newly created Task
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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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/**
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* The meaning for the variables for fixed timeslot tasks is the same as for periodic tasks.
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* See #createPeriodicTask documentation.
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* @param name_ Name of the task
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* @param taskPriority_ Priority of the task
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* @param stackSize_ Stack Size of the task
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* @param period_ Period of the task
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* @param deadLineMissedFunction_ Function to be called if a deadline was missed
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* @return FixedTimeslotTaskIF* Pointer to the newly created Task
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*/
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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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/**
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* Function to be called to delete a task
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* @param task The pointer to the task that shall be deleted,
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* nullptr specifies current Task
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* @return Success of deletion
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*/
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static ReturnValue_t deleteTask(PeriodicTaskIF* task = nullptr);
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/**
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* Function to be called to delay current task
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* @param delay The delay in milliseconds
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* @return Success of deletion
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*/
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static ReturnValue_t delayTask(uint32_t delayMs);
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/**
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* OS specific implementation to print deadline. In most cases, there is a OS specific
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* way to retrieve the task name and print it out as well.
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*/
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static void printMissedDeadline();
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private:
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/**
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* External instantiation is not allowed.
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*/
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TaskFactory();
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static TaskFactory* factoryInstance;
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};
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#endif /* FSFW_TASKS_TASKFACTORY_H_ */
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