86 lines
2.9 KiB
C++
86 lines
2.9 KiB
C++
#ifndef POLLINGTASK_H_
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#define POLLINGTASK_H_
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#include "../../tasks/FixedSlotSequence.h"
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#include "../../tasks/FixedTimeslotTaskIF.h"
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#include "TaskBase.h"
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class PollingTask: public TaskBase, public FixedTimeslotTaskIF {
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public:
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/**
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* @brief The standard constructor of the class.
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*
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* @details This is the general constructor of the class. In addition to the TaskBase parameters,
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* the following variables are passed:
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*
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* @param (*setDeadlineMissedFunc)() The function pointer to the deadline missed function that shall be assigned.
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*
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* @param getPst The object id of the completely initialized polling sequence.
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*/
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PollingTask( const char *name, rtems_task_priority setPriority, size_t setStackSize, uint32_t overallPeriod, void (*setDeadlineMissedFunc)());
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/**
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* @brief The destructor of the class.
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*
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* @details The destructor frees all heap memory that was allocated on thread initialization for the PST and
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* the device handlers. This is done by calling the PST's destructor.
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*/
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virtual ~PollingTask( void );
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ReturnValue_t startTask( void );
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/**
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* This static function can be used as #deadlineMissedFunc.
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* It counts missedDeadlines and prints the number of missed deadlines every 10th time.
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*/
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static void missedDeadlineCounter();
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/**
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* A helper variable to count missed deadlines.
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*/
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static uint32_t deadlineMissedCount;
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ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
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uint32_t getPeriodMs() const;
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ReturnValue_t checkSequence() const;
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ReturnValue_t sleepFor(uint32_t ms);
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protected:
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/**
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* @brief id of the associated OS period
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*/
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rtems_id periodId;
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FixedSlotSequence pst;
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/**
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* @brief This attribute holds a function pointer that is executed when a deadline was missed.
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*
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* @details Another function may be announced to determine the actions to perform when a deadline was missed.
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* Currently, only one function for missing any deadline is allowed.
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* If not used, it shall be declared NULL.
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*/
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void ( *deadlineMissedFunc )( void );
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/**
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* @brief This is the entry point in a new polling thread.
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*
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* @details This method, that is the generalOSAL::checkAndRestartPeriod( this->periodId, interval ); entry point in the new thread, is here set to generate
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* and link the Polling Sequence Table to the thread object and start taskFunctionality()
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* on success. If operation of the task is ended for some reason,
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* the destructor is called to free allocated memory.
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*/
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static rtems_task taskEntryPoint( rtems_task_argument argument );
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/**
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* @brief This function holds the main functionality of the thread.
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*
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*
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* @details Holding the main functionality of the task, this method is most important.
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* It links the functionalities provided by FixedSlotSequence with the OS's System Calls
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* to keep the timing of the periods.
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*/
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void taskFunctionality( void );
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};
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#endif /* POLLINGTASK_H_ */
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