fsfw/osal/rtems/RTEMSTaskBase.h

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2021-01-28 11:28:28 +01:00
#ifndef FSFW_OSAL_RTEMS_RTEMSTASKBASE_H_
#define FSFW_OSAL_RTEMS_RTEMSTASKBASE_H_
#include "RtemsBasic.h"
#include "../../tasks/PeriodicTaskIF.h"
/**
* @brief This is the basic task handling class for rtems.
*
* @details Task creation base class for rtems.
*/
class RTEMSTaskBase {
protected:
/**
* @brief The class stores the task id it got assigned from the operating system in this attribute.
* If initialization fails, the id is set to zero.
*/
rtems_id id;
public:
/**
* @brief The constructor creates and initializes a task.
* @details This is accomplished by using the operating system call to create a task. The name is
* created automatically with the help od taskCounter. Priority and stack size are
* adjustable, all other attributes are set with default values.
* @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 nam The name of the Task, as a null-terminated String. Currently max 4 chars supported (excluding Null-terminator), rest will be truncated
*/
RTEMSTaskBase( rtems_task_priority priority, size_t stack_size, const char *name);
/**
* @brief In the destructor, the created task is deleted.
*/
virtual ~RTEMSTaskBase();
/**
* @brief This method returns the task id of this class.
*/
rtems_id getId();
ReturnValue_t sleepFor(uint32_t ms);
static ReturnValue_t setAndStartPeriod(rtems_interval period, rtems_id *periodId);
static rtems_status_code restartPeriod(rtems_interval period, rtems_id periodId);
private:
static ReturnValue_t convertReturnCode(rtems_status_code inValue);
};
#endif /* FSFW_OSAL_RTEMS_RTEMSTASKBASE_H_ */