fsfw/tasks/TaskFactory.h

#ifndef FSFW_TASKS_TASKFACTORY_H_
#define FSFW_TASKS_TASKFACTORY_H_

#include "FixedTimeslotTaskIF.h"
#include "Typedef.h"

#include <cstdlib>

/**
 * Singleton Class that produces Tasks.
 */
class TaskFactory {
public:
	virtual ~TaskFactory();
	/**
	 * Returns the single instance of TaskFactory.
	 * The implementation of #instance is found in its subclasses.
	 * Thus, we choose link-time variability of the  instance.
	 */
	static TaskFactory* instance();

	/**
	 * Creates a new periodic task and returns the interface pointer.
	 * @param name_ Name of the task
	 * @param taskPriority_
	 * Priority of the task. This value might have different ranges for the various OSALs.
	 *  - Linux     Value ranging from 0 to 99 with 99 being the highest value.
	 *  - Host      For Windows, the value can be retrieved by using the #tasks::makeWinPriority
	 *              function. For Linux, same priority system as specified above. MacOS not tested
	 *              yet
	 *  - FreeRTOS  Value depends on the FreeRTOS configuration, higher number means higher priority
	 *  - RTEMS     Values ranging from 0 to 99 with 99 being the highest value.
	 *
	 * @param stackSize_ Stack Size of the task
	 * This value might have different recommended ranges for the various OSALs.
	 *  - Linux     Lowest limit is the PeriodicTaskIF::MINIMUM_STACK_SIZE value
	 *  - Host      Value is ignored for now because the C++ threading abstraction layer is used.
	 *  - FreeRTOS  Stack size in bytes. It is recommended to specify at least 1kB of stack for
	 *              FSFW tasks, but the lowest possible size is specified in the
	 *              FreeRTOSConfig.h file.
	 *  - RTEMS     Lowest limit is specified the PeriodicTaskIF::MINIMUM_STACK_SIZE value.
	 *
	 * @param period_ Period of the task
	 *
	 * @param deadLineMissedFunction_ Function to be called if a deadline was missed
	 * @return PeriodicTaskIF* Pointer to the newly created Task
	 */
	PeriodicTaskIF* createPeriodicTask(TaskName name_,
			TaskPriority taskPriority_, TaskStackSize stackSize_,
			TaskPeriod periodInSeconds_,
			TaskDeadlineMissedFunction deadLineMissedFunction_);

	/**
	 *
	 * @param name_ Name of the task
	 * @param taskPriority_ Priority of the task
	 * @param stackSize_ Stack Size of the task
	 * @param period_ Period of the task
	 * @param deadLineMissedFunction_ Function to be called if a deadline was missed
	 * @return FixedTimeslotTaskIF* Pointer to the newly created Task
	 */
	FixedTimeslotTaskIF* createFixedTimeslotTask(TaskName name_,
			TaskPriority taskPriority_, TaskStackSize stackSize_,
			TaskPeriod periodInSeconds_,
			TaskDeadlineMissedFunction deadLineMissedFunction_);

	/**
	 * Function to be called to delete a task
	 * @param task The pointer to the task that shall be deleted,
	 * nullptr specifies current Task
	 * @return Success of deletion
	 */
	static ReturnValue_t deleteTask(PeriodicTaskIF* task = nullptr);

	/**
	 * Function to be called to delay current task
	 * @param delay The delay in milliseconds
	 * @return Success of deletion
	 */
	static ReturnValue_t delayTask(uint32_t delayMs);

	/**
	 * OS specific implementation to print deadline. In most cases, there is a OS specific
	 * way to retrieve the task name and print it out as well.
	 */
	static void printMissedDeadline();

private:
	/**
	 * External instantiation is not allowed.
	 */
	TaskFactory();
	static TaskFactory* factoryInstance;

};

#endif /* FSFW_TASKS_TASKFACTORY_H_ */