mcx::container::Task

mcx::container::Task

Module: Container

Event loop and concurrency primitive for Motorcortex modules.

#include <ct_task.h>

Public Functions

Public Functions Documentation

function Task

Task(
    const char * name,
    parameter_server::Parameter * parent
)

Creates new task.

Parameters:

• name - unique name.
• parameter_server - pointer to the root.

function ~Task

virtual ~Task()

Destructor brings all the task modules to a destroy phase.

function Task

Task() =delete

Default constructor is deleted.

function Task

Task(
    Task & orig
) =delete

Copy constructors are deleted.

function operator=

Task & operator=(
    Task & orig
) =delete

Copy constructors are deleted.

function setName

void setName(
    const char * name
)

Sets the name of the task.

Parameters:

• name - name of the task.

function getName

const char * getName() const

Returns the name of the task.

Return: name of the task.

function running

bool running() const

Returns true if task is running.

function setStackSize

void setStackSize(
    uint64_t size_bytes
)

Sets stack size of the task bytes.

Parameters:

• size_bytes - new size of the stack.

function getStackSize

uint64_t getStackSize() const

Returns stack size of the task im bytes.

Return: stack size in bytes.

function add

void add(
    Module * module
)

Adds module to the task.

Parameters:

• module - pointer to the module.

function add

void add(
    const std::vector< Module * > & modules
)

Adds list of modules to the task.

Parameters:

• modules - list of pointers to the modules.

function configure

void configure()

Starts Configuration Phase of the task.

function start

void start(
    uint64_t cycle_time_micro_s,
    TaskSched task_sched,
    const std::vector< uint32_t > & cpu_affinity_list ={},
    uint32_t priority =0
)

Starts Operation Phase of the task.

Parameters:

• cycle_time_micro_s - a cycle time of the event loop of the task.
• task_sched - scheduler policy of the task: REALTIME for the tasks, which require realtime and NORMAL for everything else.
• cpu_affinity_list - binding task to the list of CPUs.
• priority - tasks scheduled with NORMAL priority have static priority 0, processes scheduled under REALTIME can have a static priority in the range 1 to 99.

Par: Example Usage:

// Start control task with cycle-time 1000 microseconds,
// realtime scheduling policy on CPU 0 with priority 80.
control_task.start(1000, container::TaskSched::REALTIME , {0}, 80);

// Start publisher task with cycle-time 1000 microseconds,
// non-realtime scheduling policy on CPU 1, 2.
comm_task.start(1000, container::TaskSched::NORMAL, {1, 2});

// Start logic task with cycle-time 5000 microseconds,
// non-realtime scheduling policy on any non-isolated CPU.
logic_task.start(5000, container::TaskSched::NORMAL);

function start

void start(
    cmd_line::Task task
)

function stop

void stop()

Stops Operation Phase of the task.

function setCycleTimeMicroS

void setCycleTimeMicroS(
    uint64_t cycle_time_micro_s
)

Sets a cycle time of the event-loop of the task.

Parameters:

• cycle_time_micro_s - new cycle time in microseconds.

function getCycleMicroS

uint64_t getCycleMicroS() const

Gets cycle time of the event-loop of the task in microseconds.

Return: cycle time in microseconds.

function getCycleTimeS

double getCycleTimeS() const

Gets cycle time of the event-loop of the task in seconds.

Return: cycle time in seconds.

function getNrOfCycles

uint64_t getNrOfCycles() const

Gets number of execution cycles.

Return: number of execution cycles.

function setSchedPolicy

bool setSchedPolicy(
    uint32_t policy
)

Sets task scheduler policy.

Parameters:

• policy - new scheduler policy: SCHED_OTHER, SCHED_FIFO etc.:

Return: true on success.

Note: For more information about Linux scheduler policies check: http://man7.org/linux/man-pages/man7/sched.7.html

function getSchedPolicy

uint32_t getSchedPolicy() const

Gets task scheduler policy.

Return: scheduler policy.

function setSchedPriority

bool setSchedPriority(
    int priority
)

Sets task scheduler priority.

Return: true on success.

Tasks scheduled with SCHED_OTHER (NORMAL) have static priority 0. Processes scheduled under SCHED_FIFO or SCHED_RR (REALTIME) can have a static priority in the range 1 to 99.

function getSchedPriority

int getSchedPriority() const

Gets task scheduler priority.

Return: scheduler priority of the task.

function setCpuAffinity

bool setCpuAffinity(
    const std::vector< uint32_t > & cpu_affinity_list
)

Binds task to the list of CPUs.

Parameters:

• cpu_affinity_list - list of CPUs, to which the task is bound to.

Return: true on success.

function getCpuAffinity

const std::vector< uint32_t > & getCpuAffinity() const

Gets list of CPUs to which task is bound.

Return: list of CPUs to which task is bound.

Updated on 2022-04-05 at 16:21:27 +0200