96 lines
2.5 KiB
C++
96 lines
2.5 KiB
C++
#include <iostream>
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#include <thread>
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#include "fsfw/platform.h"
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#include "fsfw/tasks/ExecutableObjectIF.h"
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#include "fsfw/tasks/PeriodicTaskIF.h"
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#include "fsfw/tasks/TaskFactory.h"
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#ifdef PLATFORM_WIN
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#include "fsfw/osal/windows/winTaskHelpers.h"
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#endif
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using namespace std;
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class MyExecutableObjectIF {
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public:
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virtual ~MyExecutableObjectIF() = default;
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virtual void performOperation() = 0;
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};
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class MyExecutableObject0: public ExecutableObjectIF {
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public:
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MyExecutableObject0() = default;
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ReturnValue_t performOperation(uint8_t opCode) override {
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cout << "Task 0" << endl;
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return returnvalue::OK;
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}
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private:
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};
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class MyExecutableObject1: public ExecutableObjectIF {
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public:
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MyExecutableObject1() = default;
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ReturnValue_t performOperation(uint8_t opCode) override {
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cout << "Task 1" << endl;
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return returnvalue::OK;
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}
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private:
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};
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class MyExecutableObject2: public ExecutableObjectIF {
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public:
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MyExecutableObject2() = default;
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ReturnValue_t performOperation(uint8_t opCode) override {
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cout << "Task 2" << endl;
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return returnvalue::OK;
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}
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private:
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};
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class MyPeriodicTask {
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public:
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MyPeriodicTask(MyExecutableObjectIF& executable, uint32_t taskFreqMs)
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: executable(executable), taskFreqMs(taskFreqMs) {}
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std::thread start() {
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return std::thread(
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MyPeriodicTask::executeTask,
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std::reference_wrapper(*this));
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}
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private:
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static void executeTask(MyPeriodicTask& self) {
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while(true) {
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self.executable.performOperation();
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this_thread::sleep_for(std::chrono::milliseconds(self.taskFreqMs));
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}
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}
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MyExecutableObjectIF& executable;
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uint32_t taskFreqMs;
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};
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int main() {
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MyExecutableObject0 myExecutableObject0;
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MyExecutableObject1 myExecutableObject1;
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MyExecutableObject2 myExecutableObject2;
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auto* factory = TaskFactory::instance();
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#ifdef PLATFORM_WIN
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auto prio = tasks::makeWinPriority();
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#else
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auto prio = 0;
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#endif
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auto* periodicTask0 = factory->createPeriodicTask("TASK_0", prio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, nullptr);
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auto* periodicTask1 = factory->createPeriodicTask("TASK_1", prio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
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periodicTask0->addComponent(&myExecutableObject0);
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periodicTask0->addComponent(&myExecutableObject1);
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periodicTask1->addComponent(&myExecutableObject2);
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periodicTask0->startTask();
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periodicTask1->startTask();
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while(true) {
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this_thread::sleep_for(5000ms);
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}
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}
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