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#ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
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#define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
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#include "../../osal/FreeRTOS/FreeRTOSTaskIF.h"
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#include "../../objectmanager/ObjectManagerIF.h"
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#include "../../tasks/PeriodicTaskIF.h"
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#include "../../tasks/Typedef.h"
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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#include <vector>
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class ExecutableObjectIF;
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/**
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* @brief This class represents a specialized task for
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* periodic activities of multiple objects.
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* @ingroup task_handling
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*/
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class PeriodicTask: public PeriodicTaskIF, public FreeRTOSTaskIF {
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public:
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/**
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* Keep in Mind that you need to call before this vTaskStartScheduler()!
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* A lot of task parameters are set in "FreeRTOSConfig.h".
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* TODO: why does this need to be called before vTaskStartScheduler?
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* @details
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* The class is initialized without allocated objects.
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* These need to be added with #addComponent.
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* @param priority
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* Sets the priority of a task. Values depend on freeRTOS configuration,
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* high number means high priority.
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* @param stack_size
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* The stack size reserved by the operating system for the task.
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* @param setPeriod
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* The length of the period with which the task's
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* functionality will be executed. It is expressed in clock ticks.
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* @param setDeadlineMissedFunc
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* The function pointer to the deadline missed function that shall
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* be assigned.
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*/
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PeriodicTask(TaskName name, TaskPriority setPriority,
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TaskStackSize setStack, TaskPeriod setPeriod,
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TaskDeadlineMissedFunction deadlineMissedFunc);
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/**
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* @brief Currently, the executed object's lifetime is not coupled with
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* the task object's lifetime, so the destructor is empty.
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*/
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virtual ~PeriodicTask(void);
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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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/**
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* Adds an object to the list of objects to be executed.
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* The objects are executed in the order added.
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* @param object Id of the object to add.
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* @return
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* -@c RETURN_OK on success
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* -@c RETURN_FAILED if the object could not be added.
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*/
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ReturnValue_t addComponent(object_id_t object) override;
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uint32_t getPeriodMs() const override;
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ReturnValue_t sleepFor(uint32_t ms) override;
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TaskHandle_t getTaskHandle() override;
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protected:
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bool started;
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TaskHandle_t handle;
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//! Typedef for the List of objects.
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typedef std::vector<ExecutableObjectIF*> ObjectList;
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/**
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* @brief This attribute holds a list of objects to be executed.
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*/
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ObjectList objectList;
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/**
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* @brief The period of the task.
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* @details
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* The period determines the frequency of the task's execution.
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* It is expressed in clock ticks.
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*/
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TaskPeriod period;
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/**
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* @brief The pointer to the deadline-missed function.
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* @details
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* This pointer stores the function that is executed if the task's deadline
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* is missed so each may react individually on a timing failure.
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* The pointer may be NULL, then nothing happens on missing the deadline.
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* The deadline is equal to the next execution of the periodic task.
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*/
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void (*deadlineMissedFunc)(void);
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/**
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* @brief This is the function executed in the new task's context.
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* @details
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* It converts the argument back to the thread object type and copies the
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* class instance to the task context. The taskFunctionality method is
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* called afterwards.
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* @param A pointer to the task object itself is passed as argument.
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*/
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static void taskEntryPoint(void* argument);
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/**
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* @brief The function containing the actual functionality of the task.
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* @details
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* The method sets and starts the task's period, then enters a loop that is
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* repeated as long as the isRunning attribute is true. Within the loop,
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* all performOperation methods of the added objects are called.
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* Afterwards the checkAndRestartPeriod system call blocks the task until
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* the next period.
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* On missing the deadline, the deadlineMissedFunction is executed.
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*/
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void taskFunctionality(void);
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void checkMissedDeadline(const TickType_t xLastWakeTime,
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const TickType_t interval);
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void handleMissedDeadline();
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};
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#endif /* PERIODICTASK_H_ */
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#ifndef FSFW_OSAL_FREERTOS_PERIODICTASK_H_
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#define FSFW_OSAL_FREERTOS_PERIODICTASK_H_
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#include "FreeRTOSTaskIF.h"
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#include "../../objectmanager/ObjectManagerIF.h"
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#include "../../tasks/PeriodicTaskIF.h"
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#include "../../tasks/Typedef.h"
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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#include <vector>
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class ExecutableObjectIF;
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/**
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* @brief This class represents a specialized task for
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* periodic activities of multiple objects.
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* @ingroup task_handling
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*/
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class PeriodicTask: public PeriodicTaskIF, public FreeRTOSTaskIF {
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public:
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/**
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* Keep in Mind that you need to call before this vTaskStartScheduler()!
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* A lot of task parameters are set in "FreeRTOSConfig.h".
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* @details
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* The class is initialized without allocated objects.
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* These need to be added with #addComponent.
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* @param priority
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* Sets the priority of a task. Values depend on freeRTOS configuration,
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* high number means high priority.
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* @param stack_size
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* The stack size reserved by the operating system for the task.
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* @param setPeriod
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* The length of the period with which the task's
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* functionality will be executed. It is expressed in clock ticks.
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* @param setDeadlineMissedFunc
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* The function pointer to the deadline missed function that shall
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* be assigned.
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*/
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PeriodicTask(TaskName name, TaskPriority setPriority,
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TaskStackSize setStack, TaskPeriod setPeriod,
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TaskDeadlineMissedFunction deadlineMissedFunc);
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/**
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* @brief Currently, the executed object's lifetime is not coupled with
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* the task object's lifetime, so the destructor is empty.
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*/
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virtual ~PeriodicTask(void);
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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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/**
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* Adds an object to the list of objects to be executed.
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* The objects are executed in the order added.
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* @param object Id of the object to add.
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* @return
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* -@c RETURN_OK on success
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* -@c RETURN_FAILED if the object could not be added.
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*/
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ReturnValue_t addComponent(object_id_t object) override;
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uint32_t getPeriodMs() const override;
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ReturnValue_t sleepFor(uint32_t ms) override;
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TaskHandle_t getTaskHandle() override;
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protected:
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bool started;
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TaskHandle_t handle;
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//! Typedef for the List of objects.
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typedef std::vector<ExecutableObjectIF*> ObjectList;
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/**
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* @brief This attribute holds a list of objects to be executed.
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*/
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ObjectList objectList;
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/**
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* @brief The period of the task.
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* @details
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* The period determines the frequency of the task's execution.
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* It is expressed in clock ticks.
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*/
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TaskPeriod period;
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/**
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* @brief The pointer to the deadline-missed function.
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* @details
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* This pointer stores the function that is executed if the task's deadline
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* is missed so each may react individually on a timing failure.
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* The pointer may be NULL, then nothing happens on missing the deadline.
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* The deadline is equal to the next execution of the periodic task.
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*/
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void (*deadlineMissedFunc)(void);
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/**
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* @brief This is the function executed in the new task's context.
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* @details
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* It converts the argument back to the thread object type and copies the
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* class instance to the task context. The taskFunctionality method is
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* called afterwards.
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* @param A pointer to the task object itself is passed as argument.
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*/
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static void taskEntryPoint(void* argument);
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/**
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* @brief The function containing the actual functionality of the task.
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* @details
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* The method sets and starts the task's period, then enters a loop that is
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* repeated as long as the isRunning attribute is true. Within the loop,
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* all performOperation methods of the added objects are called.
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* Afterwards the checkAndRestartPeriod system call blocks the task until
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* the next period.
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* On missing the deadline, the deadlineMissedFunction is executed.
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*/
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void taskFunctionality(void);
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void checkMissedDeadline(const TickType_t xLastWakeTime,
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const TickType_t interval);
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void handleMissedDeadline();
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};
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#endif /* FSFW_OSAL_FREERTOS_PERIODICTASK_H_ */
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