Adding Code for Linux

osal/linux/FixedTimeslotTask.h

@@ -0,0 +1,58 @@
+#ifndef FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
+#define FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
+
+#include <framework/tasks/FixedTimeslotTaskIF.h>
+#include <framework/devicehandlers/FixedSlotSequence.h>
+#include <framework/osal/linux/PosixThread.h>
+#include <pthread.h>
+
+class FixedTimeslotTask: public FixedTimeslotTaskIF, public PosixThread {
+public:
+	FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, uint32_t periodMs_);
+	virtual ~FixedTimeslotTask();
+
+	virtual ReturnValue_t startTask();
+
+	virtual ReturnValue_t sleepFor(uint32_t ms);
+
+	virtual uint32_t getPeriodMs() const;
+
+	virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
+	virtual ReturnValue_t checkSequence() const;
+
+	/**
+	 * 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;
+
+protected:
+	/**
+	 * @brief	This function holds the main functionality of the thread.
+	 *
+	 *
+	 * @details	Holding the main functionality of the task, this method is most important.
+	 * 			It links the functionalities provided by FixedSlotSequence with the OS's System Calls
+	 * 			to keep the timing of the periods.
+	 */
+	virtual void taskFunctionality();
+
+private:
+	/**
+	 * @brief	This is the entry point in a new thread.
+	 *
+	 * @details	This method, that is the entry point in the new thread and calls taskFunctionality of the child class.
+	 * 			Needs a valid pointer to the derived class.
+	 */
+	static void* taskEntryPoint(void* arg);
+	FixedSlotSequence pst;
+
+	bool started;
+};
+
+#endif /* FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ */