102 lines
3.2 KiB
C++
102 lines
3.2 KiB
C++
#ifndef FSFW_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
|
|
#define FSFW_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
|
|
|
|
#include "FreeRTOSTaskIF.h"
|
|
#include "../../tasks/FixedSlotSequence.h"
|
|
#include "../../tasks/FixedTimeslotTaskIF.h"
|
|
#include "../../tasks/Typedef.h"
|
|
|
|
#include <freertos/FreeRTOS.h>
|
|
#include <freertos/task.h>
|
|
|
|
class FixedTimeslotTask: public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
|
|
public:
|
|
|
|
/**
|
|
* Keep in mind that you need to call before vTaskStartScheduler()!
|
|
* A lot of task parameters are set in "FreeRTOSConfig.h".
|
|
* @param name Name of the task, lenght limited by configMAX_TASK_NAME_LEN
|
|
* @param setPriority Number of priorities specified by
|
|
* configMAX_PRIORITIES. High taskPriority_ number means high priority.
|
|
* @param setStack Stack size in words (not bytes!).
|
|
* Lower limit specified by configMINIMAL_STACK_SIZE
|
|
* @param overallPeriod Period in seconds.
|
|
* @param setDeadlineMissedFunc Callback if a deadline was missed.
|
|
* @return Pointer to the newly created task.
|
|
*/
|
|
FixedTimeslotTask(TaskName name, TaskPriority setPriority,
|
|
TaskStackSize setStack, TaskPeriod overallPeriod,
|
|
void (*setDeadlineMissedFunc)());
|
|
|
|
/**
|
|
* @brief The destructor of the class.
|
|
* @details
|
|
* The destructor frees all heap memory that was allocated on thread
|
|
* initialization for the PST and the device handlers. This is done by
|
|
* calling the PST's destructor.
|
|
*/
|
|
virtual ~FixedTimeslotTask(void);
|
|
|
|
ReturnValue_t startTask(void);
|
|
/**
|
|
* This static function can be used as #deadlineMissedFunc.
|
|
* It counts missedDeadlines and prints the number of missed deadlines
|
|
* every 10th time.
|
|
*/
|
|
static void missedDeadlineCounter();
|
|
/**
|
|
* A helper variable to count missed deadlines.
|
|
*/
|
|
static uint32_t deadlineMissedCount;
|
|
|
|
ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
|
|
int8_t executionStep) override;
|
|
|
|
uint32_t getPeriodMs() const override;
|
|
|
|
ReturnValue_t checkSequence() const override;
|
|
|
|
ReturnValue_t sleepFor(uint32_t ms) override;
|
|
|
|
TaskHandle_t getTaskHandle() override;
|
|
|
|
protected:
|
|
bool started;
|
|
TaskHandle_t handle;
|
|
|
|
FixedSlotSequence pst;
|
|
|
|
/**
|
|
* @brief This attribute holds a function pointer that is executed when
|
|
* a deadline was missed.
|
|
* @details
|
|
* Another function may be announced to determine the actions to perform
|
|
* when a deadline was missed. Currently, only one function for missing
|
|
* any deadline is allowed. If not used, it shall be declared NULL.
|
|
*/
|
|
void (*deadlineMissedFunc)(void);
|
|
/**
|
|
* @brief This is the entry point for a new task.
|
|
* @details
|
|
* This method starts the task by calling taskFunctionality(), as soon as
|
|
* all requirements (task scheduler has started and startTask()
|
|
* has been called) are met.
|
|
*/
|
|
static void taskEntryPoint(void* argument);
|
|
|
|
/**
|
|
* @brief This function holds the main functionality of the thread.
|
|
* @details
|
|
* Core function holding the main functionality of the task
|
|
* It links the functionalities provided by FixedSlotSequence with the
|
|
* OS's System Calls to keep the timing of the periods.
|
|
*/
|
|
void taskFunctionality(void);
|
|
|
|
void checkMissedDeadline(const TickType_t xLastWakeTime,
|
|
const TickType_t interval);
|
|
void handleMissedDeadline();
|
|
};
|
|
|
|
#endif /* FSFW_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ */
|