fsfw/osal/FreeRTOS/PeriodicTask.h

#ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_

#include <framework/objectmanager/ObjectManagerIF.h>
#include <framework/tasks/PeriodicTaskIF.h>
#include <framework/tasks/Typedef.h>

#include <freertos/FreeRTOS.h>
#include <freertos/task.h>

#include <vector>

class ExecutableObjectIF;

/**
 * @brief 	This class represents a specialized task for
 * 			periodic activities of multiple objects.
 * @ingroup task_handling
 */
class PeriodicTask: public PeriodicTaskIF {
public:
	/**
	 * Keep in Mind that you need to call before this vTaskStartScheduler()!
	 * A lot of task parameters are set in "FreeRTOSConfig.h".
	 * TODO: why does this need to be called before vTaskStartScheduler?
	 * @details
	 * The class is initialized without allocated objects.
	 * These need to be added with #addComponent.
	 * @param priority
	 * Sets the priority of a task. Values depend on freeRTOS configuration,
	 * high number means high priority.
	 * @param stack_size
	 * The stack size reserved by the operating system for the task.
	 * @param setPeriod
	 * The length of the period with which the task's
	 * functionality will be executed. It is expressed in clock ticks.
	 * @param setDeadlineMissedFunc
	 * The function pointer to the deadline missed function that shall
	 * be assigned.
	 */
	PeriodicTask(const char *name, TaskPriority setPriority,
	        TaskStackSize setStack, TaskPeriod setPeriod,
	        void (*setDeadlineMissedFunc)());
	/**
	 * @brief	Currently, the executed object's lifetime is not coupled with
	 * 			the task object's lifetime, so the destructor is empty.
	 */
	virtual ~PeriodicTask(void);

	/**
	 * @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() override;
	/**
	 * 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
	 * -@c RETURN_OK on success
	 * -@c RETURN_FAILED if the object could not be added.
	 */
	ReturnValue_t addComponent(object_id_t object,
	        bool setTaskIF = true) override;

	uint32_t getPeriodMs() const override;

	ReturnValue_t sleepFor(uint32_t ms) override;
protected:
	bool started;
	TaskHandle_t handle;

	//! Typedef for the List of objects.
	typedef std::vector<ExecutableObjectIF*> ObjectList;
	/**
	 * @brief	This attribute holds a list of objects to be executed.
	 */
	ObjectList objectList;
	/**
	 * @brief	The period of the task.
	 * @details
	 * The period determines the frequency of the task's execution.
	 * It is expressed in clock ticks.
	 */
	TaskPeriod period;
	/**
	 * @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)(void);
	/**
	 * @brief	This is the function executed in the new task's context.
	 * @details
	 * It converts the argument back to the thread object type and copies the
	 * class instance to the task context. The taskFunctionality method is
	 * called afterwards.
	 * @param	A pointer to the task object itself is passed as argument.
	 */

	static void taskEntryPoint(void* argument);
	/**
	 * @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 as long as the isRunning attribute is true. Within the loop,
	 * all performOperation methods of the added objects are called.
	 * Afterwards the checkAndRestartPeriod system call blocks the task until
	 * the next period.
	 * On missing the deadline, the deadlineMissedFunction is executed.
	 */
	void taskFunctionality(void);

	void checkMissedDeadline(const TickType_t xLastWakeTime,
	        const TickType_t interval);
	void handleMissedDeadline();
};

#endif /* PERIODICTASK_H_ */