freertos_task.hpp

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#ifndef ELEC_C7222_UTILS_FREERTOS_TASK_HPP
#define ELEC_C7222_UTILS_FREERTOS_TASK_HPP
 
#include <cstdint>
#include <functional>
#include <limits>
 
#include "non_copyable.hpp"
 
namespace c7222 {
 
class FreeRtosTask : public NonCopyableNonMovable {
  public:
    using TaskFunction = std::function<void(void*)>;
    static constexpr std::uint32_t kInfinite = std::numeric_limits<std::uint32_t>::max();
 
    FreeRtosTask() = default;
    FreeRtosTask(const char* name,
                 std::uint32_t stack_depth_words,
                 std::uint32_t priority,
                 TaskFunction task_function,
                 void* task_arg = nullptr);
 
    bool Initialize(const char* name,
                    std::uint32_t stack_depth_words,
                    std::uint32_t priority,
                    TaskFunction task_function,
                    void* task_arg = nullptr);
 
    ~FreeRtosTask();
 
    bool Delete(std::uint32_t ticks_to_wait = 0);
    bool Suspend();
    bool Resume();
    bool ResumeFromISR();
 
    bool SetPriority(std::uint32_t priority);
    std::uint32_t GetPriority() const;
 
    bool IsValid() const;
    bool IsRunning() const;
    void* GetHandle() const;
 
    static void Delay(std::uint32_t ticks);
    static void Yield();
    static std::uint32_t GetTickCount();
    static void StartScheduler();
    static std::uint32_t MsToTicks(std::uint32_t milliseconds);
    static std::uint32_t IdlePriority();
 
    void RunTaskBody();
 
  private:
    void* handle_{nullptr};
    TaskFunction task_function_{nullptr};
    void* task_arg_{nullptr};
    std::uint32_t priority_{0};
};
 
} // namespace c7222
 
#endif // ELEC_C7222_UTILS_FREERTOS_TASK_HPP