fsfw/osal/rtems/TaskFactory.cpp

#include <fsfw/osal/rtems/PeriodicTask.h>
#include "../../tasks/TaskFactory.h"
#include "PollingTask.h"
#include "InitTask.h"
#include "RtemsBasic.h"
#include "../../returnvalues/HasReturnvaluesIF.h"

//TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
TaskFactory* TaskFactory::factoryInstance = new TaskFactory();

TaskFactory::~TaskFactory() {
}

TaskFactory* TaskFactory::instance() {
	return TaskFactory::factoryInstance;
}

PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,TaskPriority taskPriority_,TaskStackSize stackSize_,TaskPeriod periodInSeconds_,TaskDeadlineMissedFunction deadLineMissedFunction_) {
	rtems_interval taskPeriod = periodInSeconds_ * Clock::getTicksPerSecond();

	return static_cast<PeriodicTaskIF*>(new PeriodicTask(name_,taskPriority_,stackSize_,taskPeriod,deadLineMissedFunction_));
}

FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,TaskPriority taskPriority_,TaskStackSize stackSize_,TaskPeriod periodInSeconds_,TaskDeadlineMissedFunction deadLineMissedFunction_) {
	rtems_interval taskPeriod = periodInSeconds_ * Clock::getTicksPerSecond();
	return static_cast<FixedTimeslotTaskIF*>(new PollingTask(name_,taskPriority_,stackSize_,taskPeriod,deadLineMissedFunction_));
}

ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
	//TODO not implemented
	return HasReturnvaluesIF::RETURN_FAILED;
}

ReturnValue_t TaskFactory::delayTask(uint32_t delayMs){
	rtems_task_wake_after(RtemsBasic::convertMsToTicks(delayMs));
	//Only return value is "RTEMS_SUCCESSFUL - always successful" so it has been neglected
	return HasReturnvaluesIF::RETURN_OK;
}

TaskFactory::TaskFactory() {
}