98 lines
2.7 KiB
C
98 lines
2.7 KiB
C
|
/*
|
||
|
|
; 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; }
|
||
|
|
|
||
|
|
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__
|