PeriodicTask.h

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#ifndef PERIODICTASK_H_
#define PERIODICTASK_H_
 
#include "RunnableClass.h"
 
#include <chrono>
 
namespace SWE4211RPi {
 
class PeriodicTask: public RunnableClass {
protected:
    uint32_t taskPeriod = 100000;
private:
    long worstCaseExecutionTime = 0;
 
    long lastExecutionTime = 0;
 
    long missedDeadlineCount = 0;
 
    //std::chrono::microseconds lastWallTime = std::chrono::microseconds(0);
    long lastWallTime = 0;
 
    //std::chrono::microseconds worstCaseWallTime = std::chrono::microseconds(0);
    long worstCaseWallTime = 0;
 
    void invokeRun();
 
    void waitForNextExecution(std::chrono::microseconds remainingSleepTime);
 
    void waitForNextExecution(struct timespec sleepTime);
 
public:
    PeriodicTask(std::string threadName, uint32_t period, int priority=1);
 
    virtual ~PeriodicTask();
 
    virtual void taskMethod()=0;
 
    virtual void setTaskPeriod(uint32_t period) final;
 
    virtual uint32_t getTaskPeriod() final;
 
    void run() final;
 
    virtual void printInformation();
 
    virtual double getCPUUsageInfo();
 
    virtual void resetThreadDiagnostics();
 
protected:
    virtual void startChildRunnables() final;
 
    virtual void stopChildRunnables() final;
 
    virtual void startChildTasks();
 
    virtual void stopChildTasks();
 
};
 
}
#endif /* PERIODICTASK_H_ */