OVMS3/OVMS.V3/main/task_base.cpp

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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.
*/
#include "ovms_log.h"
static const char *TAG = "task_base";
#include <stdio.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "ovms.h"
#include "task_base.h"
#include "ovms_module.h"
Parent::Parent()
{
m_mutex = xSemaphoreCreateMutex();
}
Parent::~Parent()
{
DeleteChildren();
vSemaphoreDelete(m_mutex);
}
bool Parent::AddChild(TaskBase* child)
{
if (!child->Instantiate())
{
child->Cleanup();
delete child;
return false;
}
xSemaphoreTake(m_mutex, portMAX_DELAY);
m_children.push_front(child);
xSemaphoreGive(m_mutex);
return true;
}
void Parent::DeleteChild(TaskBase* child)
{
if (RemoveChild(child))
child->DeleteTask();
}
// This function would typically be called from the child's task to divorce
// itself from the parent because it is closing down on its own.
bool Parent::RemoveChild(TaskBase* child)
{
bool removed = false;
xSemaphoreTake(m_mutex, portMAX_DELAY);
Children::iterator at = m_children.begin(), after = at;
if (at != m_children.end())
{
if (*at == child)
{
removed = true;
m_children.pop_front();
}
else
{
for (++after; after != m_children.end(); ++at, ++after)
{
if (*after == child)
{
removed = true;
m_children.erase_after(at);
break;
}
}
}
}
xSemaphoreGive(m_mutex);
return removed;
}
void Parent::DeleteChildren()
{
while (true)
{
xSemaphoreTake(m_mutex, portMAX_DELAY);
if (m_children.empty())
{
xSemaphoreGive(m_mutex);
break;
}
TaskBase* child = *m_children.begin();
m_children.pop_front();
xSemaphoreGive(m_mutex);
child->DeleteTask();
}
}
TaskBase::TaskBase(const char* name,
int stack /*=DEFAULT_STACK*/,
UBaseType_t priority /*=DEFAULT_PRIORITY*/,
Parent* parent /*=NULL*/)
{
m_name = name;
m_stack = stack;
m_priority = priority;
m_parent = parent;
m_taskid = 0;
}
TaskBase::~TaskBase()
{
}
bool TaskBase::Instantiate()
{
if (CreateTaskPinned(1, m_name, m_stack, m_priority) != pdPASS)
{
// Use printf here because ESP_LOG requires heap allocations
::printf("\nInsufficient memory to create %s task\n", m_name);
return false;
}
return true;
}
BaseType_t TaskBase::CreateTask(const char* name, int stack, UBaseType_t priority)
{
BaseType_t task = xTaskCreate(Task, name, stack, (void*)this, priority, &m_taskid);
AddTaskToMap(m_taskid);
return task;
}
BaseType_t TaskBase::CreateTaskPinned(const BaseType_t core, const char* name, int stack, UBaseType_t priority)
{
BaseType_t task = xTaskCreatePinnedToCore(Task, name, stack, (void*)this, priority, &m_taskid, CORE(core));
AddTaskToMap(m_taskid);
return task;
}
void TaskBase::Task(void *object)
{
TaskBase* me = (TaskBase*)object;
me->Service();
ESP_LOGD(TAG, "Task %s finished with %u stack free", me->m_name, uxTaskGetStackHighWaterMark(me->m_taskid));
me->DeleteFromParent();
while (true); // Illegal instruction abort occurs if this function returns
}
// This function should be overridden in the derived class to perform any
// cleanup operations that must be done after Service() has finished/stopped
// and before the TaskBase instance is deleted.
// This function should NOT be called from the destructor because it is
// called explicitly here before the object is deleted. That separation
// is needed so DeleteFromParent can clean up before deleting the task and still
// wait to delete the object until after the task is deleted.
void TaskBase::Cleanup()
{
}
// This function must NOT be called from ~TaskBase().
void TaskBase::DeleteFromParent()
{
if (!m_parent || m_parent->RemoveChild(this))
{
TaskHandle_t taskid = m_taskid;
Cleanup();
delete this;
if (taskid)
vTaskDelete(taskid);
}
}
// This function must NOT be called from the TaskBase object's own task.
// It is only to be called from Parent::DeleteChildren() executing in the
// parent object's task.
void TaskBase::DeleteTask()
{
if (m_taskid)
{
ESP_LOGD(TAG, "Task %s deletion at %u stack free", m_name, uxTaskGetStackHighWaterMark(m_taskid));
vTaskDelete(m_taskid);
}
Cleanup();
delete this;
}
// Kill: immediate task removal and instance deletion.
// ATT: This will terminate the running task (Service()) unconditionally!
// This function must NOT be called from the TaskBase object's own task.
void TaskBase::Kill()
{
if (m_parent)
m_parent->RemoveChild(this);
DeleteTask();
}