111 lines
4.2 KiB
C++
111 lines
4.2 KiB
C++
#ifndef MULTIOBJECTTASK_H_
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#define MULTIOBJECTTASK_H_
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#include <framework/objectmanager/ObjectManagerIF.h>
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#include <framework/tasks/PeriodicTaskIF.h>
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#include <framework/tasks/Typedef.h>
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#include <FreeRTOS.h>
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#include "task.h"
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#include <vector>
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class ExecutableObjectIF;
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/**
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* @brief This class represents a specialized task for periodic activities of multiple objects.
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*
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* @details MultiObjectTask is an extension to ObjectTask in the way that it is able to execute
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* multiple objects that implement the ExecutableObjectIF interface. The objects must be
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* added prior to starting the task.
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*
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* @ingroup task_handling
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*/
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class PeriodicTask: public PeriodicTaskIF {
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public:
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/**
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* @brief Standard constructor of the class.
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* @details The class is initialized without allocated objects. These need to be added
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* with #addObject.
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* In the underlying TaskBase class, a new operating system task is created.
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* In addition to the TaskBase parameters, the period, the pointer to the
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* aforementioned initialization function and an optional "deadline-missed"
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* function pointer is passed.
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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 setPeriod The length of the period with which the task's functionality will be
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* executed. It is expressed in clock ticks.
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* @param setDeadlineMissedFunc The function pointer to the deadline missed function
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* that shall be assigned.
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*/
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PeriodicTask(const char *name, TaskPriority setPriority, TaskStackSize setStack, TaskPeriod setPeriod,
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void (*setDeadlineMissedFunc)());
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/**
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* @brief Currently, the executed object's lifetime is not coupled with the task object's
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* lifetime, so the destructor is empty.
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*/
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virtual ~PeriodicTask(void);
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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(void);
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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);
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uint32_t getPeriodMs() const;
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ReturnValue_t sleepFor(uint32_t ms);
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protected:
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bool started;
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TaskHandle_t handle;
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typedef std::vector<ExecutableObjectIF*> ObjectList; //!< Typedef for the List of objects.
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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 The period of the task.
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* @details The period determines the frequency of the task's execution. It is expressed in clock ticks.
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*/
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TaskPeriod period;
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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 NULL,
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* 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)(void);
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/**
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* @brief This is the function executed in the new task's context.
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* @details It converts the argument back to the thread object type and copies the class instance
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* to the task context. The taskFunctionality method is called afterwards.
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* @param A pointer to the task object itself is passed as argument.
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*/
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static void taskEntryPoint(void* argument);
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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 as long as the isRunning
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* attribute is true. Within the loop, all performOperation methods of the added
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* objects are called. Afterwards the checkAndRestartPeriod system call blocks the task
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* until the next period.
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* On missing the deadline, the deadlineMissedFunction is executed.
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*/
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void taskFunctionality(void);
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};
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#endif /* MULTIOBJECTTASK_H_ */
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