ct_task_deadline.h

/*
 * Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
 * All rights reserved. Copyright (c) 2015 VECTIONEER.
 */
 
#ifndef CT_TASK_DEADLINE_H
#define CT_TASK_DEADLINE_H
 
#include "ps_parameter.h"
#include "utl_sched.h"
 
#include <stdint.h>
#include <pthread.h>
#include <vector>
#include <atomic>
#include <initializer_list>
 
#define TASK_NAME_LENGTH 64
 
namespace container {
 
class Module;
 
class TaskDeadline {
public:
 
  enum Command {
    AUTOSTART = 0,
    NO_AUTOSTART = 1
  };
 
  TaskDeadline(void) = delete;
  TaskDeadline(const char* name, parameter_server::Parameter* parent);
  TaskDeadline(const TaskDeadline& orig);
  virtual ~TaskDeadline(void);
 
  void setName(const char* name);
  const char* getName(void) const;
 
  void add(Module* module, Command cmd = AUTOSTART);
  void remove(Module* module);
 
  void configure(void);
  void start(unsigned long cycle_time_micro_s, utils::SchedType = utils::SchedType::OTHER, std::initializer_list<int> cpu_affinity_list = {-1}, int priority = 0);
  void stop(void);
 
  void setCycleTimeMicroS(unsigned long micro_s);
  unsigned long getCycleMicroS(void);
  double getCycleTimeS(void);
 
  //bool setSchedPolicy(int policy, int priority);
  //int getSchedPolicy(void);
 
  //bool setSchedPriority(int priority);
  //bool getSchedPriority(void);
 
  //int getCPUAffinity(void);
 
private:
 
  bool setCpuAffinity(std::initializer_list<int> cpu_affinity_list);
 
  struct time_statistics_t {
    long actual;
    long max;
  };
 
  struct module_info {
    Module* module;
    Command user_command_;
  };
 
  struct sched_data {
    long desired_cycle_time_micro_s;
    utils::SchedType sched_type;
    int sched_prio;
    //int cpu_affinity_;
    pthread_t thread_id;
  };
  
  enum State {
    OFF = 0,
    READY = 1,
    ON = 2,
  };
 
  void* run(void);
  static void* runHelper(void *context);
 
  inline void correctNSec(struct timespec &time_nsec);
  inline void fillCycleTime(time_statistics_t& cycleTime, unsigned long time, unsigned long cycle);
 
  std::atomic<State> state_;
  char task_name_[TASK_NAME_LENGTH + 1];
  std::vector<module_info> modules_;
 
  //time_statistics_t task_load_;
  struct timespec desired_cycle_time_;
  time_statistics_t actual_load_time_;
  time_statistics_t actual_cycle_time_;
  
  int reset_absolute_max_time_micro_s_;
  long absolute_max_time_micro_s_;
  
  sched_data sched_data_;
//  long desired_cycle_time_micro_s_;
//  sched_param sched_priority_;
//  pthread_t task_thread_id_;
//  int sched_policy_;
//  int cpu_affinity_;  
  
  //page_fault_t last_page_fault_; 
  //page_fault_t page_fault_;
 
  parameter_server::Parameter local_branch_;
 
};
 
}; // namespace container
 
#endif /* CT_TASK_DEADLINE_H */