Task.hpp

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// ======================================================================
// \title Os/Posix/Task.hpp
// \brief definitions of Posix implementation of Os::Task
// ======================================================================
#ifndef Os_Posix_Task_hpp_
#define Os_Posix_Task_hpp_

#include <pthread.h>
#include <Os/Task.hpp>
#include <atomic>

#include <Fw/Deprecate.hpp>
#include <Fw/FPrimeBasicTypes.hpp>
#include <Fw/Types/Serializable.hpp>
#include <Os/Mutex.hpp>
#include <Os/Posix/Models/FppConstantsAc.hpp>
#include <Os/TaskString.hpp>

namespace Os {
namespace Posix {
namespace Task {

struct PosixTaskHandle : public TaskHandle {
    static constexpr FwSizeType PTHREAD_NAME_LENGTH = 16;  
    static constexpr int SUCCESS = 0;

    pthread_t m_task_descriptor;
    bool m_is_valid = false;
#if defined(POSIX_THREADS_ENABLE_NAMES) && POSIX_THREADS_ENABLE_NAMES
    char m_name[PosixTaskHandle::PTHREAD_NAME_LENGTH];
#endif
};

class PosixTask : public TaskInterface {
  public:
    enum PermissionExpectation {
        EXPECT_PERMISSION,    
        EXPECT_NO_PERMISSION  
    };

    static constexpr FwTaskPriorityType TASK_PRIORITY_NON_REALTIME =
        static_cast<FwTaskPriorityType>(Os::Posix::TASK_PRIORITY_NON_REALTIME);
    static_assert(TASK_PRIORITY_NON_REALTIME != Os::Task::TASK_PRIORITY_DEFAULT,
                  "TASK_PRIORITY_NON_REALTIME must not alias TASK_PRIORITY_DEFAULT");

    PosixTask() = default;

    ~PosixTask() = default;

    PosixTask(const PosixTask& other) = delete;

    PosixTask& operator=(const PosixTask& other) = delete;

    void onStart() override;

    //
    Status start(const Arguments& arguments) override;

    Status join() override;  

    void suspend(SuspensionType suspensionType) override;

    void resume() override;

    Status _delay(const Fw::TimeInterval& interval) override;

    TaskHandle* getHandle() override;

  private:
    Status create(const Os::Task::Arguments& arguments, const PosixTask::PermissionExpectation permissions);

    PosixTaskHandle m_handle;                         
    static std::atomic<bool> s_permissions_reported;  
};
}  // end namespace Task
}  // end namespace Posix
}  // end namespace Os
#endif