Wrapper class around FreeRTOS's implementation of a task. More...

#include <mn_task.hpp>

Inheritance diagram for mn::basic_task:

Collaboration diagram for mn::basic_task:

Public Types
enum class	priority { Idle = MN_THREAD_CONFIG_CORE_PRIORITY_IDLE , Low = MN_THREAD_CONFIG_CORE_PRIORITY_LOW , Normal = MN_THREAD_CONFIG_CORE_PRIORITY_NORM , HalfCritical = MN_THREAD_CONFIG_CORE_PRIORITY_HALFCRT , Urgent = MN_THREAD_CONFIG_CORE_PRIORITY_URGENT , Critical = MN_THREAD_CONFIG_CORE_PRIORITY_CRITICAL }
	Task priority. More...

enum class	state { Running = 0 , Ready , Blocked , Suspended , Deleted }

using	native_handle_type = xTaskHandle

Public Member Functions
	basic_task () noexcept

	basic_task (std::string strName, basic_task::priority uiPriority=basic_task::priority::Normal, unsigned short usStackDepth=MN_THREAD_CONFIG_MINIMAL_STACK_SIZE) noexcept

virtual	~basic_task ()
	Our destructor. Delete the task. More...

virtual int	start (int uiCore=MN_THREAD_CONFIG_DEFAULT_CORE)
	Create and starts the Task. More...

int	kill ()
	Destroy and delete the task and call the function 'on_kill'. More...

bool	is_running ()
	Is the Task running? More...

std::string	get_name ()
	Get the debug name of this task. More...

basic_task::priority	get_priority ()
	Get the priority of this task. More...

unsigned short	get_stackdepth ()
	Get the stack depth of this task. More...

xTaskHandle	get_handle ()
	Accessor to get the task's backing task handle. There is no setter, on purpose. More...

int	get_return_value ()
	Get the return value of this task - after run. More...

timespan_t	get_time_since_start () const
	Get the time since start of this task. More...

int32_t	get_id ()
	Get the FreeRTOS task Numberid of this task. More...

int32_t	get_on_core ()
	Get the core number of this task run. More...

void	set_priority (basic_task::priority uiPriority)
	Set the priority of this task. More...

void	suspend ()
	Suspend this task. More...

void	resume ()
	Resume a specific task. More...

bool	joinable () const noexcept

int	join (unsigned int xTickTimeout=portMAX_DELAY)
	join the task, Wait in other task to end this task. More...

int	join (timespan_t time)
	join the task, Wait in other task to end this task. More...

int	wait (unsigned int xTimeOut)
	Wait for start the task. More...

int	wait (timespan_t time)
	Wait for start the task. More...

virtual void	on_start ()
	This virtual function call on creating, use for user code It is optional whether you implement this or not. More...

virtual void	on_kill ()
	This virtual function call on kill, use for user code It is optional whether you implement this or not. More...

virtual int	on_task ()
	Implementation of your actual task code. You must override this function. More...

virtual void	on_cleanup ()
	Called on exit from your on_task() routine. More...

state	get_state ()
	Get the state of the task. More...

	operator xTaskHandle ()
	Operator to get the task's backing task handle. More...

	operator int ()
	Operator to get the ID assigned to the task. More...

bool	operator== (const basic_task &r) const

bool	operator!= (const basic_task &r) const

bool	operator< (const basic_task &r) const

bool	operator> (const basic_task &r) const

Static Public Member Functions
static void	suspend (basic_task *t)
	Suspend the given task. More...

static void	resume (basic_task *t)
	Resume the given task. More...

static void	yield ()
	Yield the scheduler. More...

static void	sleep (unsigned int secs)
	sleep this task for n seconds More...

static void	usleep (unsigned int usec)
	sleep this task for n micro seconds More...

static void	nsleep (const timespan_t &req, timespan_t *rem)
	pause execution for a specified time More...

static uint32_t	get_tasks ()
	Get current number of tasks. More...

static bool	is_current (basic_task *task)
	Is the given task the current running task ? More...

static basic_task *	get_self ()
	Get the current task. More...

Static Protected Member Functions
static void	runtaskstub (void *parm)
	Adapter function that allows you to write a class specific on_task() function that interfaces with FreeRTOS. More...

Protected Attributes
LockType_t	m_runningMutex
	Lock Objekt for task safty. More...

LockType_t	m_contextMutext

LockType_t	m_continuemutex

std::string	m_strName
	The name of this task. More...

basic_task::priority	m_uiPriority
	A saved / cached copy of what the task's priority is. More...

unsigned short	m_usStackDepth
	Stack depth of this task, in words. More...

int	m_retval
	The return value from user task routine. More...

bool	m_bRunning
	Flag whether or not the task was started. More...

int32_t	m_iID
	The FreeRTOS task Number. More...

int32_t	m_iCore
	A saved / cached copy of which core this task is running on. More...

native_handle_type	m_pHandle
	Reference to the underlying task handle for this task. More...

event_group_t	m_eventGroup

Detailed Description

Wrapper class around FreeRTOS's implementation of a task.

Note: To use this, you need to subclass it. All of your task should be derived from the basic_task class. Then implement the virtual on_task function.

#include <miniThread.hpp>
// The number of test tasks
#define NUMBER_OF_TEST_TASK      2
 
// The tost task class
class hello_world_task : public basic_task {
public:
    hello_world_task() : basic_task("HelloWorld", 1) { }
 
    virtual void*  on_task() override {
        int id = get_id(); // get the task id from this task
        int core = get_on_core(); // get the core on run this task
 
        while(true) { // infinity run
            // print the hello world message to the std output
            // out on core: 0 and with id: 0: "[0 @ 0] Hello World!"
            printf("[%d @ %d] Hello World!!\n", id, core );
        }
 
        return NULL;
    }
};
extern "C" void app_main() {
    hello_world_task tasks[NUMBER_OF_TEST_TASK];
 
    for(int i = 0; i < NUMBER_OF_TEST_TASK; i++) {
        tasks[i].start( i % 2 );
    }
    mn_panic();
}
// Examplo output:
// [0 @ 0] Hello World!
// [1 @ 1] Hello World!
// [0 @ 0] Hello World!
// ...

Author: Amber-Sophia Schröck

Member Typedef Documentation

◆ native_handle_type

using mn::basic_task::native_handle_type = xTaskHandle

Member Enumeration Documentation

◆ priority

enum mn::basic_task::priority

strong

Task priority.

Enumerator
Idle	Priority for no real time operations - idle task
Low	Priority for low operation
Normal	Priority for tasks for normal operatins - user interfaces for example
HalfCritical	Priority for tasks with normal deadlines and not a lot of processings
Urgent	priority for tasks with short deadlines and a lot of processings
Critical	Priority for critical tasks - the highest priority

◆ state

enum mn::basic_task::state

strong

Task states returned by get_state().

Enumerator
Running	A task is querying the state of itself, so must be running.
Ready	The task being queried is in a read or pending ready list.
Blocked	The task being queried is in the Blocked state.
Suspended	The task being queried is in the Suspended state, or is in the Blocked state with an infinite time out.
Deleted	The task being queried has been deleted, but its TCB has not yet been freed.

Constructor & Destructor Documentation

◆ basic_task() [1/2]

mn::basic_task::basic_task ( )

inlinenoexcept

Basic Constructor for this task. The priority is PriorityNormal and use MN_THREAD_CONFIG_MINIMAL_STACK_SIZE for the stack size

◆ basic_task() [2/2]

mn::basic_task::basic_task	(	std::string	strName,
		basic_task::priority	uiPriority = `basic_task::priority::Normal`,
		unsigned short	usStackDepth = `MN_THREAD_CONFIG_MINIMAL_STACK_SIZE`
	)

explicitnoexcept

Constructor for this task.

Parameters

strName	Name of the Task. Only useful for debugging.
uiPriority	FreeRTOS priority of this Task.
usStackDepth	Number of "words" allocated for the Task stack. default MN_THREAD_CONFIG_MINIMAL_STACK_SIZE

◆ ~basic_task()

mn::basic_task::~basic_task ( )

virtual

Our destructor. Delete the task.

Member Function Documentation

◆ get_handle()

xTaskHandle mn::basic_task::get_handle ( )

Accessor to get the task's backing task handle. There is no setter, on purpose.

Returns: FreeRTOS task handle.

◆ get_id()

int32_t mn::basic_task::get_id ( )

Get the FreeRTOS task Numberid of this task.

Returns: The FreeRTOS task Number

◆ get_name()

std::string mn::basic_task::get_name ( )

Get the debug name of this task.

Returns: The name of this task

◆ get_on_core()

int32_t mn::basic_task::get_on_core ( )

Get the core number of this task run.

Returns: The core number

◆ get_priority()

basic_task::priority mn::basic_task::get_priority ( )

Get the priority of this task.

Returns: The priority

◆ get_return_value()

int mn::basic_task::get_return_value ( )

Get the return value of this task - after run.

Returns: The return value

◆ get_self()

basic_task * mn::basic_task::get_self ( )

static

Get the current task.

Returns: The current task

◆ get_stackdepth()

unsigned short mn::basic_task::get_stackdepth ( )

Get the stack depth of this task.

Returns: The stack depth

◆ get_state()

basic_task::state mn::basic_task::get_state ( )

Get the state of the task.

Returns: The state of the task at the time the function was called.

◆ get_tasks()

uint32_t mn::basic_task::get_tasks ( )

static

Get current number of tasks.

Returns: The number of tasks that the real time kernel is currently managing. This includes all ready, blocked and suspended tasks. A task that has been deleted but not yet freed by the idle task will also be included in the count.

◆ get_time_since_start()

timespan_t mn::basic_task::get_time_since_start ( ) const

Get the time since start of this task.

Returns: The time since start of this task

◆ is_current()

static bool mn::basic_task::is_current ( basic_task * task )

inlinestatic

Is the given task the current running task ?

◆ is_running()

bool mn::basic_task::is_running ( )

Is the Task running?

Returns: true If the task running, false If not

◆ join() [1/2]

int mn::basic_task::join ( timespan_t time )

join the task, Wait in other task to end this task.

Parameters

time	The maximum amount of time to wait.

Note: call never in the this task, then wait this task to end this task.

Returns

ERR_TASK_NOTRUNNING Call start first.
ERR_TASK_CALLFROMSELFTASK Don't do this ... see the notes
NO_ERROR No error

◆ join() [2/2]

int mn::basic_task::join ( unsigned int xTickTimeout = portMAX_DELAY )

join the task, Wait in other task to end this task.

Parameters

xTickTimeout The maximum amount of ticks to wait.

Note: call never in the this task, then wait this task to end this task.

Returns

ERR_TASK_NOTRUNNING Call start first.
ERR_TASK_CALLFROMSELFTASK Don't do this ... see the notes
NO_ERROR No error

◆ joinable()

bool mn::basic_task::joinable ( ) const

noexcept

◆ kill()

int mn::basic_task::kill ( )

Destroy and delete the task and call the function 'on_kill'.

Returns

ERR_TASK_OK The task are destroyed
ERR_TASK_NOTRUNNING The task was not running

◆ nsleep()

static void mn::basic_task::nsleep	(	const timespan_t &	req,
		timespan_t *	rem
	)

inlinestatic

pause execution for a specified time

Note: see Linux nanosleep function

◆ on_cleanup()

virtual void mn::basic_task::on_cleanup ( )

inlinevirtual

Called on exit from your on_task() routine.

Note: It is optional whether you implement this or not. If you allow your task to exit its on_task method,

◆ on_kill()

virtual void mn::basic_task::on_kill ( )

inlinevirtual

This virtual function call on kill, use for user code It is optional whether you implement this or not.

◆ on_start()

virtual void mn::basic_task::on_start ( )

inlinevirtual

This virtual function call on creating, use for user code It is optional whether you implement this or not.

◆ on_task()

virtual int mn::basic_task::on_task ( )

inlinevirtual

Implementation of your actual task code. You must override this function.

Returns: Your return your task function, get with get_return_value()

Reimplemented in mn::queue::work_queue_task, mn::basic_thread, mn::ext::basic_message_task, and mn::ext::foreign_task.

◆ operator int()

mn::basic_task::operator int ( )

inline

Operator to get the ID assigned to the task.

Returns: The ID assigned to the task being queried.

◆ operator xTaskHandle()

mn::basic_task::operator xTaskHandle ( )

inline

Operator to get the task's backing task handle.

Returns: FreeRTOS task handle.

◆ operator!=()

bool mn::basic_task::operator!= ( const basic_task & r ) const

inline

◆ operator<()

bool mn::basic_task::operator< ( const basic_task & r ) const

inline

◆ operator==()

bool mn::basic_task::operator== ( const basic_task & r ) const

inline

◆ operator>()

bool mn::basic_task::operator> ( const basic_task & r ) const

inline

◆ resume() [1/2]

void mn::basic_task::resume ( )

Resume a specific task.

◆ resume() [2/2]

static void mn::basic_task::resume ( basic_task * t )

inlinestatic

Resume the given task.

Parameters

t	The given task to resume

◆ runtaskstub()

void mn::basic_task::runtaskstub ( void * parm )

staticprotected

Adapter function that allows you to write a class specific on_task() function that interfaces with FreeRTOS.

◆ set_priority()

void mn::basic_task::set_priority ( basic_task::priority uiPriority )

Set the priority of this task.

Parameters

uiPriority The task's new priority.

◆ sleep()

static void mn::basic_task::sleep ( unsigned int secs )

inlinestatic

sleep this task for n seconds

Parameters

secs	How long seconds to sleep the task.

◆ start()

int mn::basic_task::start ( int uiCore = MN_THREAD_CONFIG_DEFAULT_CORE )

virtual

Create and starts the Task.

This is the API call that actually starts the Task running. It creates a backing FreeRTOS task. By separating object creation from starting the Task, it solves the pure virtual fuction call failure case. Call after creating the Task the function on_start

Parameters

uiCore If the value is MN_THREAD_CONFIG_CORE_IFNO, the created task is not pinned to any CPU, and the scheduler can run it on any core available. Other values indicate the index number of the CPU which the task should be pinned to. Specifying values larger than (portNUM_PROCESSORS - 1) will cause the function to fail.

Returns

ERR_TASK_OK The task are creating,
ERR_TASK_CANTINITMUTEX on error creating the using LockObjets, the task is not created.
ERR_TASK_ALREADYRUNNING the Task is allready running.
ERR_TASK_CANTSTARTTHREAD can't create the tas.
ERR_TASK_CANTCREATEEVENTGROUP can't create the event group, the task is not created.

Reimplemented in mn::ext::foreign_task.

◆ suspend() [1/2]

void mn::basic_task::suspend ( )

Suspend this task.

Note: While a task can suspend() itself, it cannot resume() itself, becauseit's suspended.

◆ suspend() [2/2]

static void mn::basic_task::suspend ( basic_task * t )

inlinestatic

Suspend the given task.

Parameters

t	The given task to suspend

Note: While a task can suspend() itself, it cannot resume() itself, becauseit's suspended.

◆ usleep()

static void mn::basic_task::usleep ( unsigned int usec )

inlinestatic

sleep this task for n micro seconds

Parameters

secs	How long micro seconds to sleep the task.

◆ wait() [1/2]

int mn::basic_task::wait ( timespan_t time )

Wait for start the task.

Parameters

xTickTimeout The maximum amount of time to wait.

Note: call never in the this task, then wait this task to start this task.

Returns

ERR_TASK_NOTRUNNING Call start first.
ERR_TASK_CALLFROMSELFTASK Don't do this ... see the notes
NO_ERROR No error

◆ wait() [2/2]

int mn::basic_task::wait ( unsigned int xTimeOut )

Wait for start the task.

Parameters

xTickTimeout The maximum amount of ticks to wait.

Note: call never in the this task, then wait this task to start this task.

Returns

ERR_TASK_NOTRUNNING Call start first.
ERR_TASK_CALLFROMSELFTASK Don't do this ... see the notes
NO_ERROR No error

◆ yield()

static void mn::basic_task::yield ( )

inlinestatic

Yield the scheduler.

Member Data Documentation

◆ m_bRunning

bool mn::basic_task::m_bRunning

protected

Flag whether or not the task was started.

◆ m_contextMutext

LockType_t mn::basic_task::m_contextMutext

protected

◆ m_continuemutex

LockType_t mn::basic_task::m_continuemutex

protected

◆ m_eventGroup

event_group_t mn::basic_task::m_eventGroup

protected

◆ m_iCore

int32_t mn::basic_task::m_iCore

protected

A saved / cached copy of which core this task is running on.

◆ m_iID

int32_t mn::basic_task::m_iID

protected

The FreeRTOS task Number.

◆ m_pHandle

native_handle_type mn::basic_task::m_pHandle

protected

Reference to the underlying task handle for this task.

Note: Can be obtained from get_handle().

◆ m_retval

int mn::basic_task::m_retval

protected

The return value from user task routine.

◆ m_runningMutex

LockType_t mn::basic_task::m_runningMutex

mutableprotected

Lock Objekt for task safty.

◆ m_strName

std::string mn::basic_task::m_strName

protected

The name of this task.

◆ m_uiPriority

basic_task::priority mn::basic_task::m_uiPriority

protected

A saved / cached copy of what the task's priority is.

◆ m_usStackDepth

unsigned short mn::basic_task::m_usStackDepth

protected

Stack depth of this task, in words.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Static Public Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ native_handle_type

Member Enumeration Documentation

◆ priority

◆ state

Constructor & Destructor Documentation

◆ basic_task() [1/2]

◆ basic_task() [2/2]

◆ ~basic_task()

Member Function Documentation

◆ get_handle()

◆ get_id()

◆ get_name()

◆ get_on_core()

◆ get_priority()

◆ get_return_value()

◆ get_self()

◆ get_stackdepth()

◆ get_state()

◆ get_tasks()

◆ get_time_since_start()

◆ is_current()

◆ is_running()

◆ join() [1/2]

◆ join() [2/2]

◆ joinable()

◆ kill()

◆ nsleep()

◆ on_cleanup()

◆ on_kill()

◆ on_start()

◆ on_task()

◆ operator int()

◆ operator xTaskHandle()

◆ operator!=()

◆ operator<()

◆ operator==()

◆ operator>()

◆ resume() [1/2]

◆ resume() [2/2]

◆ runtaskstub()

◆ set_priority()

◆ sleep()

◆ start()

◆ suspend() [1/2]

◆ suspend() [2/2]

◆ usleep()

◆ wait() [1/2]

◆ wait() [2/2]

◆ yield()

Member Data Documentation

◆ m_bRunning

◆ m_contextMutext

◆ m_continuemutex

◆ m_eventGroup

◆ m_iCore

◆ m_iID

◆ m_pHandle

◆ m_retval

◆ m_runningMutex

◆ m_strName

◆ m_uiPriority

◆ m_usStackDepth