98 lines
3.4 KiB
C++
98 lines
3.4 KiB
C++
#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_ */
|