osal/FreeRTOS/FixedTimeslotTask.cpp

@@ -5,11 +5,12 @@
 uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
 
-FixedTimeslotTask::FixedTimeslotTask(const char *name, TaskPriority setPriority,
+FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority,
 		TaskStackSize setStack, TaskPeriod overallPeriod,
 		void (*setDeadlineMissedFunc)()) :
 		started(false), handle(NULL), pst(overallPeriod * 1000) {
-	xTaskCreate(taskEntryPoint, name, setStack, this, setPriority, &handle);
+	configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
+	xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
 	// All additional attributes are applied to the object.
 	this->deadlineMissedFunc = setDeadlineMissedFunc;
 }
@@ -82,7 +83,7 @@ ReturnValue_t FixedTimeslotTask::checkSequence() const {
 void FixedTimeslotTask::taskFunctionality() {
 	// A local iterator for the Polling Sequence Table is created to find the
     // start time for the first entry.
-	FixedSlotSequence::SlotListIter slotListIter = pst.current;
+	auto slotListIter = pst.current;
 
 	//The start time for the first entry is read.
 	uint32_t intervalMs = slotListIter->pollingTimeMs;
@@ -155,3 +156,7 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
 	vTaskDelay(pdMS_TO_TICKS(ms));
 	return HasReturnvaluesIF::RETURN_OK;
 }
+
+TaskHandle_t FixedTimeslotTask::getTaskHandle() {
+    return handle;
+}

osal/FreeRTOS/FixedTimeslotTask.h

@@ -1,14 +1,16 @@
 #ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
 #define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
 
+#include "FreeRTOSTaskIF.h"
 #include "../../devicehandlers/FixedSlotSequence.h"
 #include "../../tasks/FixedTimeslotTaskIF.h"
 #include "../../tasks/Typedef.h"
 
+
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
 
-class FixedTimeslotTask: public FixedTimeslotTaskIF {
+class FixedTimeslotTask: public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
 public:
 
 	/**
@@ -23,7 +25,7 @@ public:
 	 * @param setDeadlineMissedFunc Callback if a deadline was missed.
 	 * @return Pointer to the newly created task.
 	 */
-	FixedTimeslotTask(const char *name, TaskPriority setPriority,
+	FixedTimeslotTask(TaskName name, TaskPriority setPriority,
 			TaskStackSize setStack, TaskPeriod overallPeriod,
 			void (*setDeadlineMissedFunc)());
 
@@ -57,6 +59,8 @@ public:
 
 	ReturnValue_t sleepFor(uint32_t ms) override;
 
+	TaskHandle_t getTaskHandle() override;
+
 protected:
 	bool started;
 	TaskHandle_t handle;

osal/FreeRTOS/FreeRTOSTaskIF.h

@@ -0,0 +1,13 @@
+#ifndef FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_
+#define FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_
+
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+
+class FreeRTOSTaskIF {
+public:
+	virtual~ FreeRTOSTaskIF() {}
+	virtual TaskHandle_t getTaskHandle() = 0;
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_ */

osal/FreeRTOS/PeriodicTask.cpp

@@ -5,12 +5,13 @@
 
 PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
 		TaskStackSize setStack, TaskPeriod setPeriod,
-		void (*setDeadlineMissedFunc)()) :
+		TaskDeadlineMissedFunction deadlineMissedFunc) :
 		started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(
-		setDeadlineMissedFunc)
+		deadlineMissedFunc)
 {
+	configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
 	BaseType_t status = xTaskCreate(taskEntryPoint, name,
-			setStack, this, setPriority, &handle);
+			stackSize, this, setPriority, &handle);
 	if(status != pdPASS){
 		sif::debug << "PeriodicTask Insufficient heap memory remaining. "
 		        "Status: " << status << std::endl;
@@ -86,12 +87,12 @@ ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
 			object);
 	if (newObject == nullptr) {
 	    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
-	            "it implements ExecutableObjectIF!" << std::endl;
+	            "it implement ExecutableObjectIF" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);
-
 	newObject->setTaskIF(this);
+
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -122,6 +123,10 @@ void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
     }
 }
 
+TaskHandle_t PeriodicTask::getTaskHandle() {
+    return handle;
+}
+
 void PeriodicTask::handleMissedDeadline() {
 #ifdef DEBUG
     sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<

osal/FreeRTOS/PeriodicTask.h

@@ -4,6 +4,8 @@
 #include "../../objectmanager/ObjectManagerIF.h"
 #include "../../tasks/PeriodicTaskIF.h"
 #include "../../tasks/Typedef.h"
+#include "FreeRTOSTaskIF.h"
+
 
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
@@ -17,7 +19,7 @@ class ExecutableObjectIF;
  * 			periodic activities of multiple objects.
  * @ingroup task_handling
  */
-class PeriodicTask: public PeriodicTaskIF {
+class PeriodicTask: public PeriodicTaskIF, public FreeRTOSTaskIF {
 public:
 	/**
 	 * Keep in Mind that you need to call before this vTaskStartScheduler()!
@@ -38,9 +40,9 @@ public:
 	 * The function pointer to the deadline missed function that shall
 	 * be assigned.
 	 */
-	PeriodicTask(const char *name, TaskPriority setPriority,
+	PeriodicTask(TaskName name, TaskPriority setPriority,
 	        TaskStackSize setStack, TaskPeriod setPeriod,
-	        void (*setDeadlineMissedFunc)());
+	        TaskDeadlineMissedFunction deadlineMissedFunc);
 	/**
 	 * @brief	Currently, the executed object's lifetime is not coupled with
 	 * 			the task object's lifetime, so the destructor is empty.
@@ -68,6 +70,8 @@ public:
 	uint32_t getPeriodMs() const override;
 
 	ReturnValue_t sleepFor(uint32_t ms) override;
+
+	TaskHandle_t getTaskHandle() override;
 protected:
 	bool started;
 	TaskHandle_t handle;

tasks/Typedef.h

@@ -1,7 +1,6 @@
 #ifndef FRAMEWORK_TASKS_TYPEDEF_H_
 #define FRAMEWORK_TASKS_TYPEDEF_H_
 
-//TODO more generic?
 typedef const char* TaskName;
 typedef uint8_t TaskPriority;
 typedef size_t TaskStackSize;