106 lines
3.7 KiB
C++
106 lines
3.7 KiB
C++
#ifndef FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_
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#define FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_
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#include <vector>
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#include "../../objectmanager/ObjectManagerIF.h"
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#include "../../tasks/ExecutableObjectIF.h"
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#include "../../tasks/PeriodicTaskIF.h"
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#include "PosixThread.h"
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class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
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public:
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/**
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* Create a generic periodic task.
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* @param name_
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* Name, maximum allowed size of linux is 16 chars, everything else will
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* be truncated.
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* @param priority_
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* Real-time priority, ranges from 1 to 99 for Linux.
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* See: https://man7.org/linux/man-pages/man7/sched.7.html
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* @param stackSize_
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* @param period_
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* @param deadlineMissedFunc_
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*/
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PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, uint32_t period_,
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void (*deadlineMissedFunc_)());
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virtual ~PeriodicPosixTask();
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/**
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* @brief The method to start the task.
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* @details The method starts the task with the respective system call.
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* Entry point is the taskEntryPoint method described below.
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* The address of the task object is passed as an argument
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* to the system call.
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*/
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ReturnValue_t startTask() override;
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/**
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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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*/
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ReturnValue_t addComponent(object_id_t object, uint8_t opCode) override;
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/**
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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 pointer to 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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*/
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ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) override;
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uint32_t getPeriodMs() const override;
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ReturnValue_t sleepFor(uint32_t ms) override;
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ReturnValue_t initObjsAfterTaskCreation();
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bool isEmpty() const override;
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private:
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//! Typedef for the List of objects. Will contain the objects to execute and their respective
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//! op codes
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using ObjectList = std::vector<std::pair<ExecutableObjectIF*, uint8_t>>;
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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 Flag to indicate that the task was started and is allowed to run
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*/
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bool started;
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/**
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* @brief Period of the task in milliseconds
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*/
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uint32_t periodMs;
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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 indefinitely. Within
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* the loop, all performOperation methods of the added objects are called. Afterwards the task
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* will be blocked until the next period. On missing the deadline, the deadlineMissedFunction is
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* executed.
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*/
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virtual void taskFunctionality(void);
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/**
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* @brief This is the entry point in a new thread.
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*
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* @details This method, that is the entry point in the new thread and calls taskFunctionality
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* of the child class. Needs a valid pointer to the derived class.
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*/
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static void* taskEntryPoint(void* arg);
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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
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* NULL, 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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*/
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void (*deadlineMissedFunc)();
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};
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#endif /* FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_ */
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