fsfw/osal/rtems/FixedTimeslotTask.h

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2021-01-28 11:28:28 +01:00
#ifndef FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_
#define FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_
#include "RTEMSTaskBase.h"
#include "../../tasks/FixedSlotSequence.h"
#include "../../tasks/FixedTimeslotTaskIF.h"
class FixedTimeslotTask: public RTEMSTaskBase, public FixedTimeslotTaskIF {
public:
/**
* @brief The standard constructor of the class.
* @details
* This is the general constructor of the class. In addition to the TaskBase parameters,
* the following variables are passed:
* @param setDeadlineMissedFunc The function pointer to the deadline missed function
* that shall be assigned.
* @param getPst The object id of the completely initialized polling sequence.
*/
FixedTimeslotTask( const char *name, rtems_task_priority setPriority, size_t setStackSize,
uint32_t overallPeriod, void (*setDeadlineMissedFunc)());
/**
* @brief The destructor of the class.
* @details
* The destructor frees all heap memory that was allocated on thread initialization
* for the PST andthe device handlers. This is done by calling the PST's destructor.
*/
virtual ~FixedTimeslotTask( void );
ReturnValue_t startTask( void );
/**
* This static function can be used as #deadlineMissedFunc.
* It counts missedDeadlines and prints the number of missed deadlines every 10th time.
*/
static void missedDeadlineCounter();
/**
* A helper variable to count missed deadlines.
*/
static uint32_t deadlineMissedCount;
ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
uint32_t getPeriodMs() const;
ReturnValue_t checkSequence() const;
ReturnValue_t sleepFor(uint32_t ms);
protected:
/**
* @brief id of the associated OS period
*/
rtems_id periodId;
FixedSlotSequence pst;
/**
* @brief This attribute holds a function pointer that is executed when a deadline was missed.
*
* @details
* Another function may be announced to determine the actions to perform when a deadline
* was missed. Currently, only one function for missing any deadline is allowed.
* If not used, it shall be declared NULL.
*/
void ( *deadlineMissedFunc )( void ) = nullptr;
/**
* @brief This is the entry point in a new polling thread.
* @details This method is the entry point in the new thread
*/
static rtems_task taskEntryPoint( rtems_task_argument argument );
/**
* @brief This function holds the main functionality of the thread.
* @details
* Holding the main functionality of the task, this method is most important.
* It links the functionalities provided by FixedSlotSequence with the OS's system calls to
* keep the timing of the periods.
*/
void taskFunctionality( void );
};
#endif /* FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_ */