78 lines
2.1 KiB
C
78 lines
2.1 KiB
C
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#ifndef FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
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#define FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
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#include "PosixThread.h"
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#include "../../tasks/FixedTimeslotTaskIF.h"
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#include "../../tasks/FixedSlotSequence.h"
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#include <pthread.h>
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class FixedTimeslotTask: public FixedTimeslotTaskIF, public PosixThread {
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public:
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/**
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* Create a generic periodic task.
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* @param name_
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* Name, maximum allowed size of linux is 16 chars, everything else will
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* be truncated.
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* @param priority_
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* Real-time priority, ranges from 1 to 99 for Linux.
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* See: https://man7.org/linux/man-pages/man7/sched.7.html
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* @param stackSize_
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* @param period_
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* @param deadlineMissedFunc_
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*/
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FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_,
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uint32_t periodMs_);
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virtual ~FixedTimeslotTask();
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virtual ReturnValue_t startTask();
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virtual ReturnValue_t sleepFor(uint32_t ms);
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virtual uint32_t getPeriodMs() const;
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virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
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int8_t executionStep);
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virtual ReturnValue_t checkSequence() const;
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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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protected:
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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
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* OS's System Calls to keep the timing of the periods.
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*/
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virtual void taskFunctionality();
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private:
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/**
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* @brief This is the entry point in a new thread.
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*
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* @details
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* This method, that is the entry point in the new thread and calls
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* taskFunctionality of the child class. Needs a valid pointer to the
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* derived class.
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*
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* The void* returnvalue is not used yet but could be used to return
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* arbitrary data.
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*/
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static void* taskEntryPoint(void* arg);
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FixedSlotSequence pst;
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bool started;
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};
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#endif /* FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ */
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