82 lines
2.7 KiB
C++
82 lines
2.7 KiB
C++
#ifndef FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_
|
|
#define FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_
|
|
|
|
#include "RTEMSTaskBase.h"
|
|
#include "../../tasks/FixedSlotSequence.h"
|
|
#include "../../tasks/FixedTimeslotTaskIF.h"
|
|
|
|
class FixedTimeslotTask: public RTEMSTaskBase, public FixedTimeslotTaskIF {
|
|
public:
|
|
/**
|
|
* @brief The standard constructor of the class.
|
|
* @details
|
|
* This is the general constructor of the class. In addition to the TaskBase parameters,
|
|
* the following variables are passed:
|
|
* @param setDeadlineMissedFunc The function pointer to the deadline missed function
|
|
* that shall be assigned.
|
|
* @param getPst The object id of the completely initialized polling sequence.
|
|
*/
|
|
FixedTimeslotTask( const char *name, rtems_task_priority setPriority, size_t setStackSize,
|
|
uint32_t overallPeriod, void (*setDeadlineMissedFunc)());
|
|
|
|
/**
|
|
* @brief The destructor of the class.
|
|
* @details
|
|
* The destructor frees all heap memory that was allocated on thread initialization
|
|
* for the PST andthe device handlers. This is done by calling the PST's destructor.
|
|
*/
|
|
virtual ~FixedTimeslotTask( void );
|
|
|
|
ReturnValue_t startTask( void );
|
|
/**
|
|
* This static function can be used as #deadlineMissedFunc.
|
|
* It counts missedDeadlines and prints the number of missed deadlines every 10th time.
|
|
*/
|
|
static void missedDeadlineCounter();
|
|
/**
|
|
* A helper variable to count missed deadlines.
|
|
*/
|
|
static uint32_t deadlineMissedCount;
|
|
|
|
ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
|
|
|
|
uint32_t getPeriodMs() const;
|
|
|
|
ReturnValue_t checkSequence() const;
|
|
|
|
ReturnValue_t sleepFor(uint32_t ms);
|
|
protected:
|
|
/**
|
|
* @brief id of the associated OS period
|
|
*/
|
|
rtems_id periodId;
|
|
|
|
FixedSlotSequence pst;
|
|
|
|
/**
|
|
* @brief This attribute holds a function pointer that is executed when a deadline was missed.
|
|
*
|
|
* @details
|
|
* Another function may be announced to determine the actions to perform when a deadline
|
|
* was missed. Currently, only one function for missing any deadline is allowed.
|
|
* If not used, it shall be declared NULL.
|
|
*/
|
|
void ( *deadlineMissedFunc )( void ) = nullptr;
|
|
/**
|
|
* @brief This is the entry point in a new polling thread.
|
|
* @details This method is the entry point in the new thread
|
|
*/
|
|
static rtems_task taskEntryPoint( rtems_task_argument argument );
|
|
|
|
/**
|
|
* @brief This function holds the main functionality of the thread.
|
|
* @details
|
|
* Holding the main functionality of the task, this method is most important.
|
|
* It links the functionalities provided by FixedSlotSequence with the OS's system calls to
|
|
* keep the timing of the periods.
|
|
*/
|
|
void taskFunctionality( void );
|
|
};
|
|
|
|
#endif /* FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_ */
|