OVMS3/OVMS.V3/main/task_base.h

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/*
; Project: Open Vehicle Monitor System
; Date: 14th March 2017
;
; Changes:
; 1.0 Initial release
;
; (C) 2017 Mark Webb-Johnson
;
; Permission is hereby granted, free of charge, to any person obtaining a copy
; of this software and associated documentation files (the "Software"), to deal
; in the Software without restriction, including without limitation the rights
; to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
; copies of the Software, and to permit persons to whom the Software is
; furnished to do so, subject to the following conditions:
;
; The above copyright notice and this permission notice shall be included in
; all copies or substantial portions of the Software.
;
; THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
; IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
; FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
; AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
; LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
; OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
; THE SOFTWARE.
*/
#ifndef __TASK_BASE_H__
#define __TASK_BASE_H__
#include <forward_list>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/queue.h"
#include <freertos/semphr.h>
#define DEFAULT_STACK 4096
#define DEFAULT_PRIORITY 5
class TaskBase;
class Parent
{
public:
typedef std::forward_list<TaskBase*> Children;
public:
Parent();
~Parent();
protected:
bool AddChild(TaskBase* child);
void DeleteChild(TaskBase* child);
void DeleteChildren();
public:
bool RemoveChild(TaskBase* child);
private:
SemaphoreHandle_t m_mutex;
Children m_children;
};
class TaskBase
{
public:
TaskBase(const char* name, int stack = DEFAULT_STACK, UBaseType_t priority = DEFAULT_PRIORITY, Parent* parent = NULL);
Parent* parent() { return m_parent; }
virtual void Kill();
protected:
virtual ~TaskBase();
protected:
friend class Parent;
virtual bool Instantiate();
BaseType_t CreateTask(const char* name, int stack = DEFAULT_STACK,
UBaseType_t priority = DEFAULT_PRIORITY);
BaseType_t CreateTaskPinned(const BaseType_t core, const char* name, int stack = DEFAULT_STACK,
UBaseType_t priority = DEFAULT_PRIORITY);
static void Task(void *object);
virtual void Service() = 0;
virtual void Cleanup();
void DeleteFromParent();
private:
friend class Parent;
void DeleteTask();
private:
TaskHandle_t m_taskid;
const char* m_name;
int m_stack;
UBaseType_t m_priority;
Parent* m_parent;
};
#endif //#ifndef __TASK_BASE_H__