50 lines
1.7 KiB
C++
50 lines
1.7 KiB
C++
#ifndef FSFW_OSAL_RTEMS_RTEMSTASKBASE_H_
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#define FSFW_OSAL_RTEMS_RTEMSTASKBASE_H_
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#include "../../tasks/PeriodicTaskIF.h"
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#include "RtemsBasic.h"
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/**
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* @brief This is the basic task handling class for rtems.
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*
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* @details Task creation base class for rtems.
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*/
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class RTEMSTaskBase {
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protected:
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/**
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* @brief The class stores the task id it got assigned from the operating system in this
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* attribute. If initialization fails, the id is set to zero.
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*/
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rtems_id id;
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public:
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/**
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* @brief The constructor creates and initializes a task.
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* @details This is accomplished by using the operating system call to create a task. The name
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* is created automatically with the help od taskCounter. Priority and stack size are adjustable,
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* all other attributes are set with default values.
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* @param priority Sets the priority of a task. Values range from a low 0 to a high 99.
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* @param stack_size The stack size reserved by the operating system for the task.
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* @param nam The name of the Task, as a null-terminated String. Currently max 4
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* chars supported (excluding Null-terminator), rest will be truncated
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*/
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RTEMSTaskBase(rtems_task_priority priority, size_t stack_size, const char *name);
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/**
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* @brief In the destructor, the created task is deleted.
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*/
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virtual ~RTEMSTaskBase();
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/**
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* @brief This method returns the task id of this class.
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*/
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rtems_id getId() const;
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static ReturnValue_t sleepFor(uint32_t ms);
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static ReturnValue_t setAndStartPeriod(rtems_interval period, rtems_id *periodId);
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static rtems_status_code restartPeriod(rtems_interval period, rtems_id periodId);
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private:
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static ReturnValue_t convertReturnCode(rtems_status_code inValue);
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};
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#endif /* FSFW_OSAL_RTEMS_RTEMSTASKBASE_H_ */
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