2018-07-13 18:28:26 +02:00
|
|
|
#ifndef FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
|
|
|
|
#define FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
|
|
|
|
|
2020-08-13 20:53:35 +02:00
|
|
|
#include "../../tasks/FixedTimeslotTaskIF.h"
|
|
|
|
#include "../../devicehandlers/FixedSlotSequence.h"
|
|
|
|
#include "PosixThread.h"
|
2018-07-13 18:28:26 +02:00
|
|
|
#include <pthread.h>
|
|
|
|
|
|
|
|
class FixedTimeslotTask: public FixedTimeslotTaskIF, public PosixThread {
|
|
|
|
public:
|
2020-06-06 15:47:33 +02:00
|
|
|
/**
|
|
|
|
* Create a generic periodic task.
|
|
|
|
* @param name_
|
|
|
|
* Name, maximum allowed size of linux is 16 chars, everything else will
|
|
|
|
* be truncated.
|
|
|
|
* @param priority_
|
|
|
|
* Real-time priority, ranges from 1 to 99 for Linux.
|
|
|
|
* See: https://man7.org/linux/man-pages/man7/sched.7.html
|
|
|
|
* @param stackSize_
|
|
|
|
* @param period_
|
|
|
|
* @param deadlineMissedFunc_
|
|
|
|
*/
|
|
|
|
FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_,
|
|
|
|
uint32_t periodMs_);
|
2018-07-13 18:28:26 +02:00
|
|
|
virtual ~FixedTimeslotTask();
|
|
|
|
|
|
|
|
virtual ReturnValue_t startTask();
|
|
|
|
|
|
|
|
virtual ReturnValue_t sleepFor(uint32_t ms);
|
|
|
|
|
|
|
|
virtual uint32_t getPeriodMs() const;
|
|
|
|
|
2020-06-06 15:47:33 +02:00
|
|
|
virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
|
|
|
|
int8_t executionStep);
|
|
|
|
|
2018-07-13 18:28:26 +02:00
|
|
|
virtual ReturnValue_t checkSequence() const;
|
|
|
|
|
|
|
|
/**
|
|
|
|
* 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;
|
|
|
|
|
|
|
|
protected:
|
|
|
|
/**
|
|
|
|
* @brief This function holds the main functionality of the thread.
|
2020-06-06 15:47:33 +02:00
|
|
|
* @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.
|
2018-07-13 18:28:26 +02:00
|
|
|
*/
|
|
|
|
virtual void taskFunctionality();
|
|
|
|
|
|
|
|
private:
|
|
|
|
/**
|
|
|
|
* @brief This is the entry point in a new thread.
|
|
|
|
*
|
2020-06-06 15:47:33 +02:00
|
|
|
* @details
|
|
|
|
* This method, that is the entry point in the new thread and calls
|
|
|
|
* taskFunctionality of the child class. Needs a valid pointer to the
|
|
|
|
* derived class.
|
|
|
|
*
|
|
|
|
* The void* returnvalue is not used yet but could be used to return
|
|
|
|
* arbitrary data.
|
2018-07-13 18:28:26 +02:00
|
|
|
*/
|
|
|
|
static void* taskEntryPoint(void* arg);
|
|
|
|
FixedSlotSequence pst;
|
|
|
|
|
|
|
|
bool started;
|
|
|
|
};
|
|
|
|
|
|
|
|
#endif /* FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ */
|