Task.h

00001 /*
00002  * Task.h
00003  *
00004  *  Created on: Sep 9, 2016
00005  *      Author: Adrian
00006  */
00007 #include "main.h"
00008 
00009 #ifndef TASK_H_
00010 #define TASK_H_
00011 
00012 class Task {
00013 public:
00014     Task();
00015     virtual ~Task();
00016 
00017     /**
00018      * Starts the task by building and its measurement
00019      * @return
00020      */
00021     osStatus start();
00022 
00023     /**
00024      * Stops the task. Should only be used after start() was used
00025      * @return
00026      */
00027     osStatus stop();
00028 
00029 
00030     /**
00031      * Gets the actual state of the Task either RUNNING or SLEEPING
00032      * @return
00033      */
00034     TASK_STATE getState();
00035 
00036 protected:
00037     rtos::Thread* thread;
00038     rtos::Mutex* mutexInterface ;
00039     osPriority priority;
00040     uint32_t stack_size;
00041     unsigned char *stack_pointer;
00042 
00043     TASK_STATE state;
00044 
00045     /**
00046      * @brief A Callback function thats called by the mbed::Thread of this TaskClass
00047      * @param
00048      */
00049     static void callBack(void const *);
00050 
00051     /**
00052      * @brief Attaches the idle_hook for this task
00053      * @param
00054      */
00055     void attachIdleHook(void (*fptr) (void));
00056 
00057     /**
00058      * @brief A thread safe method that measures the acceleration. After measuring the acceleration
00059      * of each axis it stores the value inside a MPU9250AccelerationMessage
00060      */
00061     virtual void measure() = 0;
00062 
00063 
00064     /**
00065      * @brief Sets the mutex thats used for a thread safe measurement
00066      * @param mutexI2C the I2C mutex
00067      */
00068     void setMutex(Mutex* mutexI2C);
00069 
00070     /**
00071      * @brief Sets the priority of the Task
00072      * @param priority priority of the Task
00073      */
00074     void setPriority(osPriority priority);
00075 
00076     /**
00077      * @brief Sets the size of the Task
00078      * @param stackSize the stack size in Bytes
00079      */
00080     void setStackSize(uint32_t stackSize);
00081 
00082     /**
00083      * @brief Sets the stack pointer of for the task stack
00084      * @param stackPointer
00085      */
00086     void setStackPointer(unsigned char* stackPointer);
00087 
00088 
00089     /**
00090      * @brief Sets the actual state of the Task
00091      * @param taskState either RUNNING or SLEEPING
00092      */
00093     void setState(TASK_STATE taskState);
00094 };
00095 
00096 #endif /* TASK_H_ */