Task.hpp

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#ifndef _Task_hpp_
#define _Task_hpp_
 
#include <FpConfig.hpp>
#include <Fw/Types/BasicTypes.hpp>
#include <Fw/Types/Serializable.hpp>
#include <Os/TaskString.hpp>
 
#include <Os/TaskId.hpp>
#include <Fw/Deprecate.hpp>
#include <limits>
 
namespace Os {
 
    class TaskRegistry; 
    class Task {
        public:
            static const NATIVE_UINT_TYPE TASK_DEFAULT;
            typedef enum {
                TASK_OK, 
                TASK_INVALID_PARAMS, 
                TASK_INVALID_STACK, 
                TASK_UNKNOWN_ERROR, 
                TASK_INVALID_AFFINITY, 
                TASK_DELAY_ERROR, 
                TASK_JOIN_ERROR, 
                TASK_ERROR_RESOURCES, 
                TASK_ERROR_PERMISSION, 
            } TaskStatus ;
 
            typedef void (*taskRoutine)(void* ptr); 
 
            struct TaskRoutineWrapper {
                taskRoutine routine; 
                void* arg; 
            };
 
            Task(); 
            virtual ~Task(); 
 
            TaskStatus start(const Fw::StringBase &name, taskRoutine routine, void* arg, NATIVE_UINT_TYPE priority = TASK_DEFAULT, NATIVE_UINT_TYPE stackSize = TASK_DEFAULT,  NATIVE_UINT_TYPE cpuAffinity = TASK_DEFAULT, NATIVE_UINT_TYPE identifier = TASK_DEFAULT); 
 
            // Deprecated: only the name, routine, and argument are **required** parameters.  This ordering of parameters is therefore inappropriate and will be removed in the future
            DEPRECATED(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 = static_cast<NATIVE_INT_TYPE>(TASK_DEFAULT)),
                       "Please switch to start(Fw::StringBase &name, taskRoutine routine, void* arg, NATIVE_UINT_TYPE priority, NATIVE_UINT_TYPE stackSize, NATIVE_UINT_TYPE cpuAffinity, NATIVE_UINT_TYPE identifier)"); 
            I32 getIdentifier(); 
            static TaskId getOsIdentifier(); //Gets the Os Task ID. Useful for passive components.
 
            static TaskStatus delay(NATIVE_UINT_TYPE msecs); 
            static NATIVE_INT_TYPE getNumTasks();
 
            TaskStatus join(void **value_ptr); 
            void suspend(bool onPurpose = false); 
            void resume(); 
            bool wasSuspended(); 
            bool isSuspended(); 
            bool isStarted(); 
            void setStarted(bool started); 
 
            POINTER_CAST getRawHandle();
 
            static void registerTaskRegistry(TaskRegistry* registry);
 
        private:
 
            POINTER_CAST m_handle; 
            NATIVE_INT_TYPE m_identifier; 
            TaskString m_name; 
            NATIVE_INT_TYPE m_affinity; 
 
            void toString(char* buf, NATIVE_INT_TYPE buffSize); 
            bool m_started; 
            bool m_suspendedOnPurpose; 
            TaskRoutineWrapper m_routineWrapper; 
 
            static TaskRegistry* s_taskRegistry; 
            static NATIVE_INT_TYPE s_numTasks; 
 
    };
 
    class TaskRegistry {
        public:
            TaskRegistry(); 
            virtual ~TaskRegistry(); 
            virtual void addTask(Task* task) = 0; 
            virtual void removeTask(Task* task) = 0; 
 
        private:
    };
}
 
#endif