#include <Os/Task.hpp>

Inheritance diagram for Os::Task:

Classes
class	TaskRoutineWrapper
	Wrapper for task routine that ensures `onStart()` is called once the task actually begins. More...

Public Types
typedef FwSizeType	ParamType
	backwards-compatible parameter type

Public Types inherited from Os::TaskInterface
enum	Status { OP_OK , INVALID_HANDLE , INVALID_PARAMS , INVALID_STACK , UNKNOWN_ERROR , INVALID_AFFINITY , DELAY_ERROR , JOIN_ERROR , ERROR_RESOURCES , ERROR_PERMISSION , INVALID_STATE }

enum	SuspensionType { INTENTIONAL , UNINTENTIONAL }

enum	State { NOT_STARTED , STARTING , RUNNING , SUSPENDED_INTENTIONALLY , SUSPENDED_UNINTENTIONALLY , EXITED , UNKNOWN }

typedef void(*	taskRoutine) (void *ptr)
	Prototype for task routine started in task context.

Public Member Functions
	Task ()
	default constructor

	~Task () final
	default virtual destructor

	Task (const Task &other)=delete
	copy constructor is forbidden

Task &	operator= (const Task &other)=delete
	assignment operator is forbidden

void	suspend ()
	suspend the current task

State	getState ()
	get the task's state

	DEPRECATED (Status start(const Fw::StringBase &name, const taskRoutine routine, void *const arg=nullptr, const ParamType priority=TASK_DEFAULT, const ParamType stackSize=TASK_DEFAULT, const ParamType cpuAffinity=TASK_DEFAULT, const ParamType identifier=TASK_DEFAULT), "Switch to Task::start(Arguments&)")
	start this task

Status	start (const Arguments &arguments) override
	start the task

void	onStart () override
	perform delegate's required task start actions

void	invokeRoutine ()
	invoke the task's routine

	DEPRECATED (Status join(void **value_ptr), "Please switch to argument free join.")
	join calling thread to this thread

Status	join () override
	block until the task has ended

void	suspend (SuspensionType suspensionType) override
	suspend the task given the suspension type

void	resume () override
	resume a suspended task

Status	_delay (Fw::TimeInterval interval) override
	delay the current task

bool	isCooperative () override
	determine if the task is cooperative multitasking (implementation specific)

FwSizeType	getPriority ()
	get the task priority

TaskHandle *	getHandle () override
	return the underlying task handle (implementation specific)

Public Member Functions inherited from Os::TaskInterface
	TaskInterface ()=default
	default constructor

virtual	~TaskInterface ()=default
	default virtual destructor

	TaskInterface (const TaskInterface &other)=delete
	copy constructor is forbidden

TaskInterface &	operator= (const TaskInterface &other)=delete
	assignment operator is forbidden

Static Public Member Functions
static void	init ()
	initialize singleton

static FwSizeType	getNumTasks ()
	get the current number of tasks

static void	registerTaskRegistry (TaskRegistry *registry)
	register a task registry to track Threads

static Task &	getSingleton ()
	get a reference to singleton

static Status	delay (Fw::TimeInterval interval)
	delay the current task

Static Public Member Functions inherited from Os::TaskInterface
static TaskInterface *	getDelegate (TaskHandleStorage &aligned_placement_new_memory)
	provide a pointer to a task delegate object

Additional Inherited Members
Static Public Attributes inherited from Os::TaskInterface
static constexpr FwSizeType	TASK_DEFAULT = std::numeric_limits<FwSizeType>::max()

Detailed Description

Task class intended to be used by the rest of the fprime system. This is final as it is not intended to be a parent class. Instead it wraps a delegate provided by TaskInterface::getDelegate() to provide system specific behaviour.

Definition at line 196 of file Task.hpp.

Member Typedef Documentation

◆ ParamType

typedef FwSizeType Os::Task::ParamType

backwards-compatible parameter type

Definition at line 219 of file Task.hpp.

Constructor & Destructor Documentation

◆ Task() [1/2]

Os::Task::Task ( )

default constructor

Definition at line 60 of file Task.cpp.

◆ ~Task()

Os::Task::~Task ( )

final

default virtual destructor

Definition at line 62 of file Task.cpp.

◆ Task() [2/2]

Os::Task::Task ( const Task & other )

delete

copy constructor is forbidden

Member Function Documentation

◆ _delay()

Os::TaskInterface::Status Os::Task::_delay ( Fw::TimeInterval interval )

overridevirtual

delay the current task

Delays, or sleeps, the current task by the supplied time interval. In non-preempting os implementations the task will resume no earlier than expected but an exact wake-up time is not guaranteed.

Parameters

interval delay time

Returns: status of the delay

Implements Os::TaskInterface.

Definition at line 186 of file Task.cpp.

◆ delay()

Os::TaskInterface::Status Os::Task::delay ( Fw::TimeInterval interval )

static

delay the current task

Delays, or sleeps, the current task by the supplied time interval. In non-preempting os implementations the task will resume no earlier than expected but an exact wake-up time is not guaranteed.

Parameters

interval delay time

Returns: status of the delay

Definition at line 191 of file Task.cpp.

◆ DEPRECATED() [1/2]

Os::Task::DEPRECATED	(	Status	joinvoid **value_ptr,
		"Please switch to argument free join."
	)

join calling thread to this thread

Note: this function is deprecated as the value_ptr object is not used anyway and should always be set to nullptr.

Parameters

value_ptr must be set to nullptr

Returns: status of the join

◆ DEPRECATED() [2/2]

Os::Task::DEPRECATED	(	Status	startconst Fw::StringBase &name, const taskRoutine routine, void *const arg=nullptr, const ParamType priority=TASK_DEFAULT, const ParamType stackSize=TASK_DEFAULT, const ParamType cpuAffinity=TASK_DEFAULT, const ParamType identifier=TASK_DEFAULT,
		"Switch to Task::start(Arguments&)"
	)

start this task

Start this task with supplied name, task routine (run function), priority, stack, affinity, and task identifier. These arguments are supplied into an Arguments class and that version of the function is called. It is illegal to supply a nullptr as routine.

Parameters

name	name of the task to start
routine	user routine to run
arg	(optional) user argument to supply to task routine
priority	(optional) priority of this task
stackSize	(optional) stack size of this task
cpuAffinity	(optional) affinity of this task. Use `Task::start(Arguments&)` to supply affinity set.
identifier	(optional) identifier of this task

Returns: : status of the start call

◆ getHandle()

TaskHandle * Os::Task::getHandle ( )

overridevirtual

return the underlying task handle (implementation specific)

Returns: internal task handle representation

Implements Os::TaskInterface.

Definition at line 174 of file Task.cpp.

◆ getNumTasks()

FwSizeType Os::Task::getNumTasks ( )

static

get the current number of tasks

Returns: current number of tasks

Definition at line 179 of file Task.cpp.

◆ getPriority()

FwSizeType Os::Task::getPriority ( )

get the task priority

Definition at line 169 of file Task.cpp.

◆ getSingleton()

Task & Os::Task::getSingleton ( )

static

get a reference to singleton

Returns: reference to singleton

Definition at line 200 of file Task.cpp.

◆ getState()

Task::State Os::Task::getState ( )

get the task's state

Returns the task state: not started, running, suspended (intentionally), suspended (unintentionally), and exited.

Returns: task state

Definition at line 74 of file Task.cpp.

◆ init()

void Os::Task::init ( )

static

initialize singleton

Definition at line 195 of file Task.cpp.

◆ invokeRoutine()

void Os::Task::invokeRoutine ( )

invoke the task's routine

This will invoke the task's routine passing this as the argument to that call. This is used as a helper when running this task (e.g. repetitive cooperative calls).

Definition at line 130 of file Task.cpp.

◆ isCooperative()

bool Os::Task::isCooperative ( )

overridevirtual

determine if the task is cooperative multitasking (implementation specific)

Returns: true if cooperative, false otherwise

Reimplemented from Os::TaskInterface.

Definition at line 164 of file Task.cpp.

◆ join()

Task::Status Os::Task::join ( )

overridevirtual

block until the task has ended

Blocks the current (calling) task until this task execution has ended. Callers should ensure that any signals required to stop this task have already been emitted or will be emitted by another task.

Returns: status of the block Wait for task to finish

Implements Os::TaskInterface.

Definition at line 134 of file Task.cpp.

◆ onStart()

void Os::Task::onStart ( )

overridevirtual

perform delegate's required task start actions

Implements Os::TaskInterface.

Definition at line 125 of file Task.cpp.

◆ operator=()

Task & Os::Task::operator= ( const Task & other )

delete

assignment operator is forbidden

◆ registerTaskRegistry()

void Os::Task::registerTaskRegistry ( TaskRegistry * registry )

static

register a task registry to track Threads

Definition at line 205 of file Task.cpp.

◆ resume()

void Os::Task::resume ( )

overridevirtual

resume a suspended task

Resumes this task. Not started, running, and exited tasks take no action.

Implements Os::TaskInterface.

Definition at line 159 of file Task.cpp.

◆ start()

Task::Status Os::Task::start ( const Arguments & arguments )

overridevirtual

start the task

Starts the task given the supplied arguments. This is done via a task routine wrapper intermediary that ensures that setStarted is called once the task has actually started to run. The task then runs the user routine. This function may return before the new task begins to run. It is illegal for arguments.m_routine to be null.

Parameters

arguments arguments supplied to the task start call

Returns: status of the task start

Implements Os::TaskInterface.

Definition at line 82 of file Task.cpp.

◆ suspend() [1/2]

void Os::Task::suspend ( )

suspend the current task

Suspend the current task unintentionally. If the user needs to indicate that the task was suspended intentionally then a call to suspend(SuspensionType::INTENTIONAL) should be used.

Definition at line 70 of file Task.cpp.

◆ suspend() [2/2]

void Os::Task::suspend ( Task::SuspensionType suspensionType )

overridevirtual

suspend the task given the suspension type

Suspends the task. Some implementations track if the suspension of a task was intentional or unintentional. The supplied suspensionType parameter indicates that this was intentional or unintentional. The type of suspension is also returned when calling isSuspended.

Parameters

suspensionType intentionality of the suspension

Implements Os::TaskInterface.

Definition at line 151 of file Task.cpp.

The documentation for this class was generated from the following files:

Os/Task.hpp
Os/Task.cpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ParamType

Constructor & Destructor Documentation

◆ Task() [1/2]

◆ ~Task()

◆ Task() [2/2]

Member Function Documentation

◆ _delay()

◆ delay()

◆ DEPRECATED() [1/2]

◆ DEPRECATED() [2/2]

◆ getHandle()

◆ getNumTasks()

◆ getPriority()

◆ getSingleton()

◆ getState()

◆ init()

◆ invokeRoutine()

◆ isCooperative()

◆ join()

◆ onStart()

◆ operator=()

◆ registerTaskRegistry()

◆ resume()

◆ start()

◆ suspend() [1/2]

◆ suspend() [2/2]