fsfw/osal/linux/PeriodicPosixTask.h

79 lines
2.8 KiB
C++

#ifndef FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_
#define FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_
#include <framework/tasks/PeriodicTaskIF.h>
#include <framework/objectmanager/ObjectManagerIF.h>
#include <framework/osal/linux/PosixThread.h>
#include <framework/tasks/ExecutableObjectIF.h>
#include <vector>
class PeriodicPosixTask: public PosixThread, public PeriodicTaskIF {
public:
PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_,
uint32_t period_, void(*deadlineMissedFunc_)());
virtual ~PeriodicPosixTask();
/**
* @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(void);
/**
* 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 RETURN_OK on success, RETURN_FAILED if the object could not be added.
*/
ReturnValue_t addComponent(object_id_t object,
bool addTaskIF = true) override;
uint32_t getPeriodMs() const override;
ReturnValue_t sleepFor(uint32_t ms) override;
private:
typedef std::vector<ExecutableObjectIF*> ObjectList; //!< Typedef for the List of objects.
/**
* @brief This attribute holds a list of objects to be executed.
*/
ObjectList objectList;
/**
* @brief Flag to indicate that the task was started and is allowed to run
*/
bool started;
/**
* @brief Period of the task in milliseconds
*/
uint32_t periodMs;
/**
* @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 indefinitely. Within the loop, all performOperation methods of the added
* objects are called. Afterwards the task will be blocked until the next period.
* On missing the deadline, the deadlineMissedFunction is executed.
*/
virtual void taskFunctionality(void);
/**
* @brief This is the entry point in a new thread.
*
* @details This method, that is the entry point in the new thread and calls taskFunctionality of the child class.
* Needs a valid pointer to the derived class.
*/
static void* taskEntryPoint(void* arg);
/**
* @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)();
};
#endif /* FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_ */