68 lines
2.2 KiB
C++
68 lines
2.2 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 "PosixThread.h"
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#include "fsfw/objectmanager/ObjectManagerIF.h"
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#include "fsfw/tasks/ExecutableObjectIF.h"
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#include "fsfw/tasks/PeriodicTaskBase.h"
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#include "fsfw/tasks/PeriodicTaskIF.h"
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class PeriodicPosixTask : public PeriodicTaskBase {
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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_, TaskPeriod period_,
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TaskDeadlineMissedFunction dlmFunc_);
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~PeriodicPosixTask() override = default;
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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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ReturnValue_t sleepFor(uint32_t ms) override;
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private:
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PosixThread posixThread;
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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 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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[[noreturn]] virtual void taskFunctionality();
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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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#endif /* FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_ */
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