59 lines
1.7 KiB
C
59 lines
1.7 KiB
C
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#ifndef FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
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#define FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
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#include <framework/tasks/FixedTimeslotTaskIF.h>
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#include <framework/devicehandlers/FixedSlotSequence.h>
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#include <framework/osal/linux/PosixThread.h>
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#include <pthread.h>
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class FixedTimeslotTask: public FixedTimeslotTaskIF, public PosixThread {
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public:
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FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, uint32_t periodMs_);
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virtual ~FixedTimeslotTask();
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virtual ReturnValue_t startTask();
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virtual ReturnValue_t sleepFor(uint32_t ms);
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virtual uint32_t getPeriodMs() const;
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virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
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virtual ReturnValue_t checkSequence() const;
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/**
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* This static function can be used as #deadlineMissedFunc.
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* It counts missedDeadlines and prints the number of missed deadlines every 10th time.
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*/
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static void missedDeadlineCounter();
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/**
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* A helper variable to count missed deadlines.
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*/
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static uint32_t deadlineMissedCount;
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protected:
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/**
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* @brief This function holds the main functionality of the thread.
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*
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*
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* @details Holding the main functionality of the task, this method is most important.
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* It links the functionalities provided by FixedSlotSequence with the OS's System Calls
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* to keep the timing of the periods.
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*/
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virtual void taskFunctionality();
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private:
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/**
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* @brief This is the entry point in a new thread.
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*
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* @details This method, that is the entry point in the new thread and calls taskFunctionality of the child class.
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* Needs a valid pointer to the derived class.
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*/
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static void* taskEntryPoint(void* arg);
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FixedSlotSequence pst;
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bool started;
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};
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#endif /* FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ */
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