Merge remote-tracking branch 'upstream/master' into mueller_binSemaphoreInit

tasks/ExecutableObjectIF.h

@@ -3,7 +3,7 @@
 
 class PeriodicTaskIF;
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
 
 #include <cstring>
 /**

tasks/FixedTimeslotTaskIF.h

@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_
 #define FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_
 
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/tasks/PeriodicTaskIF.h>
+#include "../objectmanager/ObjectManagerIF.h"
+#include "PeriodicTaskIF.h"
 
 /**
  * Following the same principle as the base class IF. This is the interface for a Fixed timeslot task

tasks/PeriodicTaskIF.h

@@ -1,9 +1,11 @@
-#ifndef PERIODICTASKIF_H_
-#define PERIODICTASKIF_H_
+#ifndef FRAMEWORK_TASK_PERIODICTASKIF_H_
+#define FRAMEWORK_TASK_PERIODICTASKIF_H_
 
-#include <framework/objectmanager/SystemObjectIF.h>
+#include "../objectmanager/SystemObjectIF.h"
+#include "../timemanager/Clock.h"
 #include <cstddef>
 class ExecutableObjectIF;
+
 /**
  * New version of TaskIF
  * Follows RAII principles, i.e. there's no create or delete method.
@@ -17,11 +19,26 @@ public:
 	 */
 	virtual ~PeriodicTaskIF() { }
 	/**
-	 * @brief	With the startTask method, a created task can be started for the first time.
+	 * @brief	With the startTask method, a created task can be started
+	 *          for the first time.
 	 */
 	virtual ReturnValue_t startTask() = 0;
 
-	virtual ReturnValue_t addComponent(object_id_t object) {return HasReturnvaluesIF::RETURN_FAILED;};
+	/**
+	 * Add a component (object) to a periodic task. The pointer to the
+	 * task can be set optionally
+	 * @param object
+	 * Add an object to the task. The most important case is to add an
+	 * executable object with a function which will be called regularly
+	 * (see ExecutableObjectIF)
+	 * @param setTaskIF
+	 * Can be used to specify whether the task object pointer is passed
+	 * to the component.
+	 * @return
+	 */
+	virtual ReturnValue_t addComponent(object_id_t object) {
+	    return HasReturnvaluesIF::RETURN_FAILED;
+	};
 
 	virtual ReturnValue_t sleepFor(uint32_t ms) = 0;
 

tasks/TaskFactory.h

@@ -2,8 +2,8 @@
 #define FRAMEWORK_TASKS_TASKFACTORY_H_
 
 #include <stdlib.h>
-#include <framework/tasks/FixedTimeslotTaskIF.h>
-#include <framework/tasks/Typedef.h>
+#include "FixedTimeslotTaskIF.h"
+#include "Typedef.h"
 
 /**
  * Singleton Class that produces Tasks.

tasks/Typedef.h

@@ -1,7 +1,6 @@
 #ifndef FRAMEWORK_TASKS_TYPEDEF_H_
 #define FRAMEWORK_TASKS_TYPEDEF_H_
 
-//TODO more generic?
 typedef const char* TaskName;
 typedef uint8_t TaskPriority;
 typedef size_t TaskStackSize;