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95 lines
2.6 KiB
C++
95 lines
2.6 KiB
C++
/*
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* @file Worker.hpp
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* @author Robert Borzecki (robert.borzecki@mudita.com)
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* @date 30 maj 2019
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* @brief
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* @copyright Copyright (C) 2019 mudita.com
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* @details
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*/
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#ifndef MODULE_SYS_SERVICE_WORKER_HPP_
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#define MODULE_SYS_SERVICE_WORKER_HPP_
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#include <memory>
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#include <string>
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#include "Service.hpp"
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namespace sys {
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class WorkerQueueInfo {
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public:
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std::string name;
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int elementSize;
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int length;
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};
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struct WorkerCommand {
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uint32_t command;
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uint32_t* data;
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};
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/*
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* @brief Worker is a wrapper for freeRTOS task used to separate sysmanager environment from
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* the rest of the system. Its purpose is to handle asynchronous events like IRQ or timers.
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* Flow of creating worker is as follows:
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* - create new Worker object and provide pointer to the service that owns the worker,
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* - call init method and provide list of parameters to create queues. Those queues can be later
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* used to wake up the worker.
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* - call run method to start the worker.
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* Flow for closing the worker is as follows:
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* - call stop method - task will send a close confirmation to the service after exiting its main loop
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* - call deinit to destroy all queues ued by the worker
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* - delete the object.
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*
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*/
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class Worker {
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protected:
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const uint32_t SERVICE_QUEUE_LENGTH = 10;
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const uint32_t SERVICE_QUEUE_SIZE = sizeof( WorkerCommand );
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sys::Service* service;
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//queue used by service to send commands to service.
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xQueueHandle serviceQueue;
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std::vector<xQueueHandle> queues;
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QueueSetHandle_t queueSet;
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//workers task handle
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xTaskHandle taskHandle;
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public:
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Worker( sys::Service* service );
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virtual ~Worker();
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/**
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* This function is responsible for creating all queues provided in the constructor.
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* When all queues are created this method creates set of queues.
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*/
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virtual bool init( std::list<WorkerQueueInfo> queues = std::list<WorkerQueueInfo>());
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virtual bool deinit();
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/**
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* This method starts RTOS thread that waits for incomming queue events.
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*/
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virtual bool run();
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/**
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* Sends stop command to worker.
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*/
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virtual bool stop();
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/**
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* This method is called from thread when new message arrives in queue.
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* @param queueID Index of the queue in the queues vector.
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*/
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virtual bool handleMessage( uint32_t queueID );
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/**
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* @brief Returns handle to the queue used to communicate with worker.
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*/
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virtual xQueueHandle getQueue();
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/**
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* @brief Sends command and pointer to data to worker
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*/
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virtual bool send( uint32_t cmd, uint32_t* data );
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std::vector<xQueueHandle>& getQueues(){ return queues; };
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QueueSetHandle_t getSet(){ return queueSet; };
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};
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} /* namespace sys */
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#endif /* MODULE_SYS_SERVICE_WORKER_HPP_ */
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