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