user
135 lines
3.1 KiB
C++
135 lines
3.1 KiB
C++
#ifndef FREERTOS_CPP_EXPLICIT_TASK_HPP
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#define FREERTOS_CPP_EXPLICIT_TASK_HPP
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#include <stdint.h>
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#include <type_traits>
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extern "C"
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{
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#include "FreeRTOS.h"
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#include "task.h"
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}
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#ifndef FREERTOS_TASK_CHECKPOINT
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#define FREERTOS_TASK_CHECKPOINT( point, object ) \
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do \
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{ \
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( void ) ( point ); \
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( void ) ( object ); \
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} while( 0 )
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#endif
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namespace freertos
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{
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enum class TaskState : uint8_t
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{
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constructed,
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starting,
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ready,
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running,
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completed,
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start_failed
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};
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template< typename Derived >
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class Task
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{
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public:
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constexpr Task( const char * name,
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configSTACK_DEPTH_TYPE stack_words,
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UBaseType_t priority ) noexcept
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: name_ { name },
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stack_words_ { stack_words },
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priority_ { priority }
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{
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}
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Task( const Task & ) = delete;
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Task & operator=( const Task & ) = delete;
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Task( Task && ) = delete;
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Task & operator=( Task && ) = delete;
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bool start() noexcept
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{
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static_assert( std::is_base_of< Task< Derived >, Derived >::value,
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"Derived must inherit Task<Derived>" );
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if( state_ != TaskState::constructed )
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{
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return false;
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}
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state_ = TaskState::starting;
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FREERTOS_TASK_CHECKPOINT( 2U, this );
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/*
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* Mark ready before entering the kernel: with a live scheduler a
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* higher-priority new task may complete before xTaskCreate returns.
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*/
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state_ = TaskState::ready;
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FREERTOS_TASK_CHECKPOINT( 3U, this );
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const BaseType_t created = xTaskCreate(
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&Task::trampoline,
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name_,
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stack_words_,
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static_cast< Derived * >( this ),
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priority_,
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&handle_ );
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if( created != pdPASS )
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{
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handle_ = nullptr;
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state_ = TaskState::start_failed;
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return false;
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}
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FREERTOS_TASK_CHECKPOINT( 4U, this );
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return true;
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}
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TaskHandle_t native_handle() const noexcept
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{
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return handle_;
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}
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TaskState state() const noexcept
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{
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return state_;
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}
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const char * name() const noexcept
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{
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return name_;
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}
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private:
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static void trampoline( void * context )
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{
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Derived * const derived = static_cast< Derived * >( context );
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Task & base = *static_cast< Task * >( derived );
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FREERTOS_TASK_CHECKPOINT( 6U, derived );
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base.state_ = TaskState::running;
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FREERTOS_TASK_CHECKPOINT( 7U, derived );
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derived->run();
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base.state_ = TaskState::completed;
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base.handle_ = nullptr;
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FREERTOS_TASK_CHECKPOINT( 10U, derived );
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vTaskDelete( nullptr );
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for( ;; )
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{
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}
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}
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TaskHandle_t handle_ {};
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const char * const name_;
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const configSTACK_DEPTH_TYPE stack_words_;
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const UBaseType_t priority_;
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volatile TaskState state_ { TaskState::constructed };
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};
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} // namespace freertos
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#endif
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