108 lines
4.3 KiB
C
108 lines
4.3 KiB
C
|
#ifndef FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_
|
||
|
|
#define FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_
|
||
|
|
|
||
|
|
#include "../../objectmanager/ObjectManagerIF.h"
|
||
|
|
#include "../../tasks/PeriodicTaskIF.h"
|
||
|
|
|
||
|
|
#include "TaskBase.h"
|
||
|
|
#include <vector>
|
||
|
|
|
||
|
|
class ExecutableObjectIF;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief This class represents a specialized task for periodic activities of multiple objects.
|
||
|
|
*
|
||
|
|
* @details MultiObjectTask is an extension to ObjectTask in the way that it is able to execute
|
||
|
|
* multiple objects that implement the ExecutableObjectIF interface. The objects must be
|
||
|
|
* added prior to starting the task.
|
||
|
|
* @author baetz
|
||
|
|
* @ingroup task_handling
|
||
|
|
*/
|
||
|
|
class MultiObjectTask: public TaskBase, public PeriodicTaskIF {
|
||
|
|
public:
|
||
|
|
/**
|
||
|
|
* @brief Standard constructor of the class.
|
||
|
|
* @details The class is initialized without allocated objects. These need to be added
|
||
|
|
* with #addObject.
|
||
|
|
* In the underlying TaskBase class, a new operating system task is created.
|
||
|
|
* In addition to the TaskBase parameters, the period, the pointer to the
|
||
|
|
* aforementioned initialization function and an optional "deadline-missed"
|
||
|
|
* function pointer is passed.
|
||
|
|
* @param priority Sets the priority of a task. Values range from a low 0 to a high 99.
|
||
|
|
* @param stack_size The stack size reserved by the operating system for the task.
|
||
|
|
* @param setPeriod The length of the period with which the task's functionality will be
|
||
|
|
* executed. It is expressed in clock ticks.
|
||
|
|
* @param setDeadlineMissedFunc The function pointer to the deadline missed function
|
||
|
|
* that shall be assigned.
|
||
|
|
*/
|
||
|
|
MultiObjectTask(const char *name, rtems_task_priority setPriority, size_t setStack, rtems_interval setPeriod,
|
||
|
|
void (*setDeadlineMissedFunc)());
|
||
|
|
/**
|
||
|
|
* @brief Currently, the executed object's lifetime is not coupled with the task object's
|
||
|
|
* lifetime, so the destructor is empty.
|
||
|
|
*/
|
||
|
|
virtual ~MultiObjectTask(void);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief The method to start the task.
|
||
|
|
* @details The method starts the task with the respective system call.
|
||
|
|
* Entry point is the taskEntryPoint method described below.
|
||
|
|
* The address of the task object is passed as an argument
|
||
|
|
* to the system call.
|
||
|
|
*/
|
||
|
|
ReturnValue_t startTask(void);
|
||
|
|
/**
|
||
|
|
* Adds an object to the list of objects to be executed.
|
||
|
|
* The objects are executed in the order added.
|
||
|
|
* @param object Id of the object to add.
|
||
|
|
* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
|
||
|
|
*/
|
||
|
|
ReturnValue_t addComponent(object_id_t object) override;
|
||
|
|
|
||
|
|
uint32_t getPeriodMs() const override;
|
||
|
|
|
||
|
|
ReturnValue_t sleepFor(uint32_t ms) override;
|
||
|
|
protected:
|
||
|
|
typedef std::vector<ExecutableObjectIF*> ObjectList; //!< Typedef for the List of objects.
|
||
|
|
/**
|
||
|
|
* @brief This attribute holds a list of objects to be executed.
|
||
|
|
*/
|
||
|
|
ObjectList objectList;
|
||
|
|
/**
|
||
|
|
* @brief The period of the task.
|
||
|
|
* @details The period determines the frequency of the task's execution. It is expressed in clock ticks.
|
||
|
|
*/
|
||
|
|
rtems_interval periodTicks;
|
||
|
|
/**
|
||
|
|
* @brief id of the associated OS period
|
||
|
|
*/
|
||
|
|
rtems_id periodId;
|
||
|
|
/**
|
||
|
|
* @brief The pointer to the deadline-missed function.
|
||
|
|
* @details This pointer stores the function that is executed if the task's deadline is missed.
|
||
|
|
* So, each may react individually on a timing failure. The pointer may be nullptr,
|
||
|
|
* then nothing happens on missing the deadline. The deadline is equal to the next execution
|
||
|
|
* of the periodic task.
|
||
|
|
*/
|
||
|
|
void (*deadlineMissedFunc)(void);
|
||
|
|
/**
|
||
|
|
* @brief This is the function executed in the new task's context.
|
||
|
|
* @details It converts the argument back to the thread object type and copies the class instance
|
||
|
|
* to the task context. The taskFunctionality method is called afterwards.
|
||
|
|
* @param A pointer to the task object itself is passed as argument.
|
||
|
|
*/
|
||
|
|
static rtems_task taskEntryPoint(rtems_task_argument argument);
|
||
|
|
/**
|
||
|
|
* @brief The function containing the actual functionality of the task.
|
||
|
|
* @details The method sets and starts
|
||
|
|
* the task's period, then enters a loop that is repeated as long as the isRunning
|
||
|
|
* attribute is true. Within the loop, all performOperation methods of the added
|
||
|
|
* objects are called. Afterwards the checkAndRestartPeriod system call blocks the task
|
||
|
|
* until the next period.
|
||
|
|
* On missing the deadline, the deadlineMissedFunction is executed.
|
||
|
|
*/
|
||
|
|
void taskFunctionality(void);
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif /* FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_ */
|