45 lines
1,012 B
C++
45 lines
1,012 B
C++
/*
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* task.h
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*
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* Created on: Oct 29, 2021
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* Author: compi
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*/
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#ifndef FSL_TASK_H_
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#define FSL_TASK_H_
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#include <FreeRTOS.h>
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#include <task.h> // FreeRTOS
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#include <semphr.h> // FreeRTOS
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namespace fsl {
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template<typename T, uint32_t stackSize> class Task {
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public:
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Task(UBaseType_t priority, void (T::*fp)()) : m_priority(priority), m_fp(fp) {}
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void Start(SemaphoreHandle_t doneSem = nullptr, bool waitForInit = false) {
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m_handle = xTaskCreateStatic(staticBridge, getName(), sizeof(m_stack)/sizeof(m_stack[0]),
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this, m_priority, m_stack, &m_tcb);
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}
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virtual ~Task() {};
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virtual char const * getName() = 0;
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private:
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static void staticBridge(void *taskObj) {
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reinterpret_cast<Task<T, stackSize>*>(taskObj)->taskBridge();
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}
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void taskBridge() {
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(static_cast<T*>(this)->*m_fp)();
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}
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TaskHandle_t m_handle;
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UBaseType_t m_priority;
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void (T::*m_fp)();
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StaticTask_t m_tcb;
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StackType_t m_stack[stackSize];
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};
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} /* namespace fsl */
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#endif /* FSL_TASK_H_ */
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