82 lines
2.9 KiB
C
82 lines
2.9 KiB
C
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#ifndef FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_
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#define FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_
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#include "RTEMSTaskBase.h"
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#include "../../tasks/FixedSlotSequence.h"
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#include "../../tasks/FixedTimeslotTaskIF.h"
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class FixedTimeslotTask: public RTEMSTaskBase, public FixedTimeslotTaskIF {
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public:
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/**
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* @brief The standard constructor of the class.
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* @details
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* This is the general constructor of the class. In addition to the TaskBase parameters,
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* the following variables are passed:
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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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* @param getPst The object id of the completely initialized polling sequence.
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*/
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FixedTimeslotTask( const char *name, rtems_task_priority setPriority, size_t setStackSize,
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uint32_t overallPeriod, void (*setDeadlineMissedFunc)());
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/**
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* @brief The destructor of the class.
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* @details
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* The destructor frees all heap memory that was allocated on thread initialization
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* for the PST andthe device handlers. This is done by calling the PST's destructor.
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*/
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virtual ~FixedTimeslotTask( void );
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ReturnValue_t startTask( void );
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/**
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* This static function can be used as #deadlineMissedFunc.
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* It counts missedDeadlines and prints the number of missed deadlines every 10th time.
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*/
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static void missedDeadlineCounter();
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/**
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* A helper variable to count missed deadlines.
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*/
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static uint32_t deadlineMissedCount;
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ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
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uint32_t getPeriodMs() const;
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ReturnValue_t checkSequence() const;
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ReturnValue_t sleepFor(uint32_t ms);
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protected:
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/**
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* @brief id of the associated OS period
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*/
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rtems_id periodId;
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FixedSlotSequence pst;
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/**
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* @brief This attribute holds a function pointer that is executed when a deadline was missed.
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*
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* @details
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* Another function may be announced to determine the actions to perform when a deadline
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* was missed. Currently, only one function for missing any deadline is allowed.
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* If not used, it shall be declared NULL.
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*/
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void ( *deadlineMissedFunc )( void ) = nullptr;
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/**
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* @brief This is the entry point in a new polling thread.
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* @details This method is the entry point in the new thread
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*/
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static rtems_task taskEntryPoint( rtems_task_argument argument );
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/**
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* @brief This function holds the main functionality of the thread.
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* @details
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* Holding the main functionality of the task, this method is most important.
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* It links the functionalities provided by FixedSlotSequence with the OS's system calls to
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* keep the timing of the periods.
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*/
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void taskFunctionality( void );
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};
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#endif /* FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_ */
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