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79 lines
3.4 KiB
C++
79 lines
3.4 KiB
C++
#ifndef _Task_hpp_
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#define _Task_hpp_
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#include <Fw/Cfg/Config.hpp>
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#include <Fw/Types/BasicTypes.hpp>
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#include <Fw/Types/Serializable.hpp>
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#include <Os/TaskString.hpp>
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namespace Os {
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class TaskRegistry; //!< forward declaration
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class Task {
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public:
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typedef enum {
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TASK_OK, //!< message sent/received okay
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TASK_INVALID_PARAMS, //!< started task with invalid parameters
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TASK_INVALID_STACK, //!< started with invalid stack size
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TASK_UNKNOWN_ERROR, //!< unexpected error return value
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TASK_INVALID_AFFINITY, //!< unable to set the task affinity
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TASK_DELAY_ERROR, //!< error trying to delay the task
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TASK_JOIN_ERROR //!< error trying to join the task
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} TaskStatus ;
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typedef void (*taskRoutine)(void* ptr); //!< prototype for task routine started in task context
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Task(); //!< constructor
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virtual ~Task(); //!< destructor
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// Priority is based on Posix priorities - 0 lowest, 255 highest
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TaskStatus start(const Fw::StringBase &name, NATIVE_INT_TYPE identifier, NATIVE_INT_TYPE priority, NATIVE_INT_TYPE stackSize, taskRoutine routine, void* arg, NATIVE_INT_TYPE cpuAffinity = -1); //!< start the task
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I32 getIdentifier(void); //!< get the identifier for the task
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static TaskStatus delay(NATIVE_UINT_TYPE msecs); //!< delay the task
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static NATIVE_INT_TYPE getNumTasks(void);
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TaskStatus join(void **value_ptr); //!< Wait for task to finish
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void suspend(bool onPurpose = false); //!< suspend task
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void resume(void); //!< resume execution of task
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bool wasSuspended(void); //!< returns whether or not task was suspended on purpose
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bool isSuspended(void); //!< check with OS to see if it is suspended already
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bool isStarted(void); //!< check to see if task is started
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void setStarted(bool started); //!< set task to started when thread is fully up. Avoids a VxWorks race condition.
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/**
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* Returns the task-handle owned by this task
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*/
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POINTER_CAST getRawHandle();
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static void registerTaskRegistry(TaskRegistry* registry);
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private:
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POINTER_CAST m_handle; //!< handle for implementation specific task
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NATIVE_INT_TYPE m_identifier; //!< thread independent identifer
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TaskString m_name; //!< object name
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NATIVE_INT_TYPE m_affinity; //!< CPU affinity for SMP targets
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void toString(char* buf, NATIVE_INT_TYPE buffSize); //!< print a string of the state of the task
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bool m_started; //!< set when task has reached entry point
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bool m_suspendedOnPurpose; //!< set when task was suspended in purpose (i.e. simulation)
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static TaskRegistry* s_taskRegistry; //!< pointer to registered task
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static NATIVE_INT_TYPE s_numTasks; //!< stores the number of tasks created.
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};
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class TaskRegistry {
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public:
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TaskRegistry(); //!< constructor for task registry
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virtual ~TaskRegistry(); //!< destructor for task registry
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virtual void addTask(Task* task) = 0; //!< Add a task to the registry
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virtual void removeTask(Task* task) = 0; //!< remove a task from the registry
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private:
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};
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}
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#endif
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