fsfw/osal/rtems/TaskBase.h

#ifndef TASKBASE_H_
#define TASKBASE_H_

#include "RtemsBasic.h"
#include "../../tasks/PeriodicTaskIF.h"

/**
 * @brief	This is the basic task handling class for rtems.
 *
 * @details Task creation base class for rtems.
 */
class TaskBase {
protected:
	/**
	 * @brief	The class stores the task id it got assigned from the operating system in this attribute.
	 * 			If initialization fails, the id is set to zero.
	 */
	rtems_id id;
public:
	/**
	 * @brief	The constructor creates and initializes a task.
	 * @details	This is accomplished by using the operating system call to create a task. The name is
	 * 			created automatically with the help od taskCounter. Priority and stack size are
	 * 			adjustable, all other attributes are set with default values.
	 * @param priority		Sets the priority of a task. Values range from a low 0 to a high 99.
	 * @param stack_size	The stack size reserved by the operating system for the task.
	 * @param nam			The name of the Task, as a null-terminated String. Currently max 4 chars supported (excluding Null-terminator), rest will be truncated
	 */
	TaskBase( rtems_task_priority priority, size_t stack_size, const char  *name);
	/**
	 * @brief	In the destructor, the created task is deleted.
	 */
	virtual ~TaskBase();
	/**
	 * @brief	This method returns the task id of this class.
	 */
	rtems_id getId();

	ReturnValue_t sleepFor(uint32_t ms);
	static ReturnValue_t setAndStartPeriod(rtems_interval period, rtems_id *periodId);
	static rtems_status_code restartPeriod(rtems_interval period, rtems_id periodId);
private:
	static ReturnValue_t convertReturnCode(rtems_status_code inValue);
};


#endif /* TASKBASE_H_ */