added deadline missed check
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@ -1,48 +1,49 @@
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#ifndef MULTIOBJECTTASK_H_
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#define MULTIOBJECTTASK_H_
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#ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
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#define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
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#include <framework/objectmanager/ObjectManagerIF.h>
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#include <framework/tasks/PeriodicTaskIF.h>
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#include <framework/tasks/Typedef.h>
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#include <FreeRTOS.h>
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#include "task.h"
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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#include <vector>
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class ExecutableObjectIF;
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/**
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* @brief This class represents a specialized task for periodic activities of multiple objects.
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*
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* @details MultiObjectTask is an extension to ObjectTask in the way that it is able to execute
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* multiple objects that implement the ExecutableObjectIF interface. The objects must be
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* added prior to starting the task.
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*
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* @brief This class represents a specialized task for
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* periodic activities of multiple objects.
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* @ingroup task_handling
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*/
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class PeriodicTask: public PeriodicTaskIF {
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public:
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/**
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* @brief Standard constructor of the class.
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* @details The class is initialized without allocated objects. These need to be added
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* with #addObject.
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* In the underlying TaskBase class, a new operating system task is created.
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* In addition to the TaskBase parameters, the period, the pointer to the
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* aforementioned initialization function and an optional "deadline-missed"
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* function pointer is passed.
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* @param priority Sets the priority of a task. Values range from a low 0 to a high 99.
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* @param stack_size The stack size reserved by the operating system for the task.
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* @param setPeriod The length of the period with which the task's functionality will be
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* executed. It is expressed in clock ticks.
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* @param setDeadlineMissedFunc The function pointer to the deadline missed function
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* that shall be assigned.
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* Keep in Mind that you need to call before this vTaskStartScheduler()!
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* A lot of task parameters are set in "FreeRTOSConfig.h".
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* TODO: why does this need to be called before vTaskStartScheduler?
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* @details
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* The class is initialized without allocated objects.
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* These need to be added with #addComponent.
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* @param priority
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* Sets the priority of a task. Values depend on freeRTOS configuration,
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* high number means high priority.
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* @param stack_size
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* The stack size reserved by the operating system for the task.
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* @param setPeriod
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* The length of the period with which the task's
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* functionality will be executed. It is expressed in clock ticks.
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* @param setDeadlineMissedFunc
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* The function pointer to the deadline missed function that shall
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* be assigned.
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*/
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PeriodicTask(const char *name, TaskPriority setPriority, TaskStackSize setStack, TaskPeriod setPeriod,
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void (*setDeadlineMissedFunc)());
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PeriodicTask(const char *name, TaskPriority setPriority,
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TaskStackSize setStack, TaskPeriod setPeriod,
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void (*setDeadlineMissedFunc)());
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/**
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* @brief Currently, the executed object's lifetime is not coupled with the task object's
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* lifetime, so the destructor is empty.
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* @brief Currently, the executed object's lifetime is not coupled with
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* the task object's lifetime, so the destructor is empty.
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*/
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virtual ~PeriodicTask(void);
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@ -58,7 +59,9 @@ public:
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* Adds an object to the list of objects to be executed.
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* The objects are executed in the order added.
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* @param object Id of the object to add.
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* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
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* @return
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* -@c RETURN_OK on success
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* -@c RETURN_FAILED if the object could not be added.
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*/
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ReturnValue_t addComponent(object_id_t object);
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@ -69,42 +72,49 @@ protected:
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bool started;
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TaskHandle_t handle;
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typedef std::vector<ExecutableObjectIF*> ObjectList; //!< Typedef for the List of objects.
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//! Typedef for the List of objects.
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typedef std::vector<ExecutableObjectIF*> ObjectList;
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/**
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* @brief This attribute holds a list of objects to be executed.
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*/
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ObjectList objectList;
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/**
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* @brief The period of the task.
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* @details The period determines the frequency of the task's execution. It is expressed in clock ticks.
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* @details
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* The period determines the frequency of the task's execution.
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* It is expressed in clock ticks.
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*/
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TaskPeriod period;
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/**
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* @brief The pointer to the deadline-missed function.
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* @details This pointer stores the function that is executed if the task's deadline is missed.
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* So, each may react individually on a timing failure. The pointer may be NULL,
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* then nothing happens on missing the deadline. The deadline is equal to the next execution
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* of the periodic task.
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* @details
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* This pointer stores the function that is executed if the task's deadline
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* is missed so each may react individually on a timing failure.
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* The pointer may be NULL, then nothing happens on missing the deadline.
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* The deadline is equal to the next execution of the periodic task.
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*/
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void (*deadlineMissedFunc)(void);
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/**
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* @brief This is the function executed in the new task's context.
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* @details It converts the argument back to the thread object type and copies the class instance
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* to the task context. The taskFunctionality method is called afterwards.
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* @details
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* It converts the argument back to the thread object type and copies the
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* class instance to the task context. The taskFunctionality method is
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* called afterwards.
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* @param A pointer to the task object itself is passed as argument.
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*/
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static void taskEntryPoint(void* argument);
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/**
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* @brief The function containing the actual functionality of the task.
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* @details The method sets and starts
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* the task's period, then enters a loop that is repeated as long as the isRunning
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* attribute is true. Within the loop, all performOperation methods of the added
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* objects are called. Afterwards the checkAndRestartPeriod system call blocks the task
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* until the next period.
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* On missing the deadline, the deadlineMissedFunction is executed.
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* @details
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* The method sets and starts the task's period, then enters a loop that is
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* repeated as long as the isRunning attribute is true. Within the loop,
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* all performOperation methods of the added objects are called.
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* Afterwards the checkAndRestartPeriod system call blocks the task until
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* the next period.
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* On missing the deadline, the deadlineMissedFunction is executed.
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*/
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void taskFunctionality(void);
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};
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#endif /* MULTIOBJECTTASK_H_ */
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#endif /* PERIODICTASK_H_ */
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