diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h index 1cdc3df7..87b8b6d2 100644 --- a/osal/FreeRTOS/PeriodicTask.h +++ b/osal/FreeRTOS/PeriodicTask.h @@ -1,128 +1,126 @@ -#ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_ -#define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_ - -#include "../../osal/FreeRTOS/FreeRTOSTaskIF.h" -#include "../../objectmanager/ObjectManagerIF.h" -#include "../../tasks/PeriodicTaskIF.h" -#include "../../tasks/Typedef.h" - - -#include -#include - -#include - -class ExecutableObjectIF; - -/** - * @brief This class represents a specialized task for - * periodic activities of multiple objects. - * @ingroup task_handling - */ -class PeriodicTask: public PeriodicTaskIF, public FreeRTOSTaskIF { -public: - /** - * Keep in Mind that you need to call before this vTaskStartScheduler()! - * A lot of task parameters are set in "FreeRTOSConfig.h". - * TODO: why does this need to be called before vTaskStartScheduler? - * @details - * The class is initialized without allocated objects. - * These need to be added with #addComponent. - * @param priority - * Sets the priority of a task. Values depend on freeRTOS configuration, - * high number means high priority. - * @param stack_size - * The stack size reserved by the operating system for the task. - * @param setPeriod - * The length of the period with which the task's - * functionality will be executed. It is expressed in clock ticks. - * @param setDeadlineMissedFunc - * The function pointer to the deadline missed function that shall - * be assigned. - */ - PeriodicTask(TaskName name, TaskPriority setPriority, - TaskStackSize setStack, TaskPeriod setPeriod, - TaskDeadlineMissedFunction deadlineMissedFunc); - /** - * @brief Currently, the executed object's lifetime is not coupled with - * the task object's lifetime, so the destructor is empty. - */ - virtual ~PeriodicTask(void); - - /** - * @brief The method to start the task. - * @details The method starts the task with the respective system call. - * Entry point is the taskEntryPoint method described below. - * The address of the task object is passed as an argument - * to the system call. - */ - ReturnValue_t startTask() override; - /** - * Adds an object to the list of objects to be executed. - * The objects are executed in the order added. - * @param object Id of the object to add. - * @return - * -@c RETURN_OK on success - * -@c RETURN_FAILED if the object could not be added. - */ - ReturnValue_t addComponent(object_id_t object) override; - - uint32_t getPeriodMs() const override; - - ReturnValue_t sleepFor(uint32_t ms) override; - - TaskHandle_t getTaskHandle() override; -protected: - bool started; - TaskHandle_t handle; - - //! Typedef for the List of objects. - typedef std::vector ObjectList; - /** - * @brief This attribute holds a list of objects to be executed. - */ - ObjectList objectList; - /** - * @brief The period of the task. - * @details - * The period determines the frequency of the task's execution. - * It is expressed in clock ticks. - */ - TaskPeriod period; - /** - * @brief The pointer to the deadline-missed function. - * @details - * This pointer stores the function that is executed if the task's deadline - * is missed so each may react individually on a timing failure. - * The pointer may be NULL, then nothing happens on missing the deadline. - * The deadline is equal to the next execution of the periodic task. - */ - void (*deadlineMissedFunc)(void); - /** - * @brief This is the function executed in the new task's context. - * @details - * It converts the argument back to the thread object type and copies the - * class instance to the task context. The taskFunctionality method is - * called afterwards. - * @param A pointer to the task object itself is passed as argument. - */ - - static void taskEntryPoint(void* argument); - /** - * @brief The function containing the actual functionality of the task. - * @details - * The method sets and starts the task's period, then enters a loop that is - * repeated as long as the isRunning attribute is true. Within the loop, - * all performOperation methods of the added objects are called. - * Afterwards the checkAndRestartPeriod system call blocks the task until - * the next period. - * On missing the deadline, the deadlineMissedFunction is executed. - */ - void taskFunctionality(void); - - void checkMissedDeadline(const TickType_t xLastWakeTime, - const TickType_t interval); - void handleMissedDeadline(); -}; - -#endif /* PERIODICTASK_H_ */ +#ifndef FSFW_OSAL_FREERTOS_PERIODICTASK_H_ +#define FSFW_OSAL_FREERTOS_PERIODICTASK_H_ + +#include "FreeRTOSTaskIF.h" +#include "../../objectmanager/ObjectManagerIF.h" +#include "../../tasks/PeriodicTaskIF.h" +#include "../../tasks/Typedef.h" + +#include +#include + +#include + +class ExecutableObjectIF; + +/** + * @brief This class represents a specialized task for + * periodic activities of multiple objects. + * @ingroup task_handling + */ +class PeriodicTask: public PeriodicTaskIF, public FreeRTOSTaskIF { +public: + /** + * Keep in Mind that you need to call before this vTaskStartScheduler()! + * A lot of task parameters are set in "FreeRTOSConfig.h". + * @details + * The class is initialized without allocated objects. + * These need to be added with #addComponent. + * @param priority + * Sets the priority of a task. Values depend on freeRTOS configuration, + * high number means high priority. + * @param stack_size + * The stack size reserved by the operating system for the task. + * @param setPeriod + * The length of the period with which the task's + * functionality will be executed. It is expressed in clock ticks. + * @param setDeadlineMissedFunc + * The function pointer to the deadline missed function that shall + * be assigned. + */ + PeriodicTask(TaskName name, TaskPriority setPriority, + TaskStackSize setStack, TaskPeriod setPeriod, + TaskDeadlineMissedFunction deadlineMissedFunc); + /** + * @brief Currently, the executed object's lifetime is not coupled with + * the task object's lifetime, so the destructor is empty. + */ + virtual ~PeriodicTask(void); + + /** + * @brief The method to start the task. + * @details The method starts the task with the respective system call. + * Entry point is the taskEntryPoint method described below. + * The address of the task object is passed as an argument + * to the system call. + */ + ReturnValue_t startTask() override; + /** + * Adds an object to the list of objects to be executed. + * The objects are executed in the order added. + * @param object Id of the object to add. + * @return + * -@c RETURN_OK on success + * -@c RETURN_FAILED if the object could not be added. + */ + ReturnValue_t addComponent(object_id_t object) override; + + uint32_t getPeriodMs() const override; + + ReturnValue_t sleepFor(uint32_t ms) override; + + TaskHandle_t getTaskHandle() override; +protected: + bool started; + TaskHandle_t handle; + + //! Typedef for the List of objects. + typedef std::vector ObjectList; + /** + * @brief This attribute holds a list of objects to be executed. + */ + ObjectList objectList; + /** + * @brief The period of the task. + * @details + * The period determines the frequency of the task's execution. + * It is expressed in clock ticks. + */ + TaskPeriod period; + /** + * @brief The pointer to the deadline-missed function. + * @details + * This pointer stores the function that is executed if the task's deadline + * is missed so each may react individually on a timing failure. + * The pointer may be NULL, then nothing happens on missing the deadline. + * The deadline is equal to the next execution of the periodic task. + */ + void (*deadlineMissedFunc)(void); + /** + * @brief This is the function executed in the new task's context. + * @details + * It converts the argument back to the thread object type and copies the + * class instance to the task context. The taskFunctionality method is + * called afterwards. + * @param A pointer to the task object itself is passed as argument. + */ + + static void taskEntryPoint(void* argument); + /** + * @brief The function containing the actual functionality of the task. + * @details + * The method sets and starts the task's period, then enters a loop that is + * repeated as long as the isRunning attribute is true. Within the loop, + * all performOperation methods of the added objects are called. + * Afterwards the checkAndRestartPeriod system call blocks the task until + * the next period. + * On missing the deadline, the deadlineMissedFunction is executed. + */ + void taskFunctionality(void); + + void checkMissedDeadline(const TickType_t xLastWakeTime, + const TickType_t interval); + void handleMissedDeadline(); +}; + +#endif /* FSFW_OSAL_FREERTOS_PERIODICTASK_H_ */