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More elegant fsl::Task implementation

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This commit is contained in:
Attila Body 2021-11-09 00:31:53 +01:00
parent 7eedbfdf9b
commit 0111f3d210
9 changed files with 301 additions and 19 deletions
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13
components/fsl/task.h
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@ -16,17 +16,26 @@ namespace fsl {
template<typename T, uint32_t stackSize> class Task {
public:
Task(UBaseType_t priority) : m_priority(priority) {}
Task(UBaseType_t priority, void (T::*fp)()) : m_priority(priority), m_fp(fp) {}
void Start(SemaphoreHandle_t doneSem = nullptr, bool waitForInit = false) {
m_handle = xTaskCreateStatic(T::TaskFn, getName(), sizeof(m_stack)/sizeof(m_stack[0]),
m_handle = xTaskCreateStatic(staticBridge, getName(), sizeof(m_stack)/sizeof(m_stack[0]),
this, m_priority, m_stack, &m_tcb);
}
virtual ~Task() {};
virtual char const * getName() = 0;
private:
static void staticBridge(void *taskObj) {
reinterpret_cast<Task<T, stackSize>*>(taskObj)->taskBridge();
}
void taskBridge() {
(static_cast<T*>(this)->*m_fp)();
}
TaskHandle_t m_handle;
UBaseType_t m_priority;
void (T::*m_fp)();
StaticTask_t m_tcb;
StackType_t m_stack[stackSize];
};