55 lines
1.8 KiB
C++
55 lines
1.8 KiB
C++
/*
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Copyright 2020 Scott Bezek and the splitflap contributors
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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#pragma once
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#include<Arduino.h>
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// Static polymorphic abstract base class for a FreeRTOS task using CRTP pattern. Concrete implementations
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// should implement a run() method.
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// Inspired by https://fjrg76.wordpress.com/2018/05/23/objectifying-task-creation-in-freertos-ii/
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template<class T>
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class Task {
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public:
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Task(const char* name, uint32_t stackDepth, UBaseType_t priority, const BaseType_t coreId = tskNO_AFFINITY) :
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name { name },
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stackDepth {stackDepth},
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priority { priority },
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coreId { coreId }
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{}
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virtual ~Task() {};
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TaskHandle_t getHandle() {
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return taskHandle;
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}
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void begin() {
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BaseType_t result = xTaskCreatePinnedToCore(taskFunction, name, stackDepth, this, priority, &taskHandle, coreId);
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assert("Failed to create task" && result == pdPASS);
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}
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private:
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static void taskFunction(void* params) {
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T* t = static_cast<T*>(params);
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t->run();
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}
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const char* name;
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uint32_t stackDepth;
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UBaseType_t priority;
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TaskHandle_t taskHandle;
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const BaseType_t coreId;
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};
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