102 lines
3.2 KiB
C
102 lines
3.2 KiB
C
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#ifndef FSFW_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
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#define FSFW_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
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#include "FreeRTOSTaskIF.h"
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#include "../../tasks/FixedSlotSequence.h"
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#include "../../tasks/FixedTimeslotTaskIF.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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class FixedTimeslotTask: public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
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public:
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/**
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* Keep in mind that you need to call before vTaskStartScheduler()!
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* A lot of task parameters are set in "FreeRTOSConfig.h".
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* @param name Name of the task, lenght limited by configMAX_TASK_NAME_LEN
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* @param setPriority Number of priorities specified by
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* configMAX_PRIORITIES. High taskPriority_ number means high priority.
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* @param setStack Stack size in words (not bytes!).
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* Lower limit specified by configMINIMAL_STACK_SIZE
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* @param overallPeriod Period in seconds.
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* @param setDeadlineMissedFunc Callback if a deadline was missed.
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* @return Pointer to the newly created task.
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*/
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FixedTimeslotTask(TaskName name, TaskPriority setPriority,
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TaskStackSize setStack, TaskPeriod overallPeriod,
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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
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* initialization for the PST and the device handlers. This is done by
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* 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
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* 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,
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int8_t executionStep) override;
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uint32_t getPeriodMs() const override;
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ReturnValue_t checkSequence() 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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FixedSlotSequence pst;
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/**
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* @brief This attribute holds a function pointer that is executed when
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* a deadline was missed.
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* @details
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* Another function may be announced to determine the actions to perform
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* when a deadline was missed. Currently, only one function for missing
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* any deadline is allowed. If not used, it shall be declared NULL.
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*/
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void (*deadlineMissedFunc)(void);
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/**
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* @brief This is the entry point for a new task.
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* @details
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* This method starts the task by calling taskFunctionality(), as soon as
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* all requirements (task scheduler has started and startTask()
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* has been called) are met.
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*/
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static void taskEntryPoint(void* 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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* Core function holding the main functionality of the task
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* It links the functionalities provided by FixedSlotSequence with the
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* OS's System Calls to keep the timing of the periods.
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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_FIXEDTIMESLOTTASK_H_ */
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