124 lines
3.8 KiB
C++
124 lines
3.8 KiB
C++
#ifndef FRAMEWORK_OSAL_HOST_PERIODICTASK_H_
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#define FRAMEWORK_OSAL_HOST_PERIODICTASK_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 <vector>
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#include <thread>
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#include <condition_variable>
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#include <atomic>
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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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* @details
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*
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* @ingroup task_handling
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*/
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class PeriodicTask: public PeriodicTaskIF {
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public:
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/**
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* @brief Standard constructor of the class.
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* @details
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* The class is initialized without allocated objects. These need to be
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* added with #addComponent.
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* @param priority
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* @param stack_size
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* @param setPeriod
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* @param setDeadlineMissedFunc
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* The function pointer to the deadline missed function that shall be
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* assigned.
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*/
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PeriodicTask(const char *name, TaskPriority setPriority, TaskStackSize setStack,
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TaskPeriod setPeriod,void (*setDeadlineMissedFunc)());
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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(void);
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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);
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uint32_t getPeriodMs() const;
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ReturnValue_t sleepFor(uint32_t ms);
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protected:
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using chron_ms = std::chrono::milliseconds;
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bool started;
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//!< Typedef for the List of objects.
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typedef std::vector<ExecutableObjectIF*> ObjectList;
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std::thread mainThread;
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std::atomic<bool> terminateThread = false;
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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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std::condition_variable initCondition;
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std::mutex initMutex;
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std::string taskName;
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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.
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* The taskFunctionality method is 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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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. Afterwards
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* the checkAndRestartPeriod system call blocks the task until the next
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* period. On missing the deadline, the deadlineMissedFunction is executed.
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*/
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void taskFunctionality(void);
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bool delayForInterval(chron_ms * previousWakeTimeMs,
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const chron_ms interval);
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};
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#endif /* PERIODICTASK_H_ */
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