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//******************************************************************************
// @file AppTask.h
// @author Nicolai Shlapunov
//
// @details DevCore: Application Task Base Class, header
//
// @section LICENSE
//
// Software License Agreement (Modified BSD License)
//
// Copyright (c) 2016, Devtronic & Nicolai Shlapunov
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// 1. Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// 3. Neither the name of the Devtronic nor the names of its contributors
// may be used to endorse or promote products derived from this software
// without specific prior written permission.
// 4. Redistribution and use of this software other than as permitted under
// this license is void and will automatically terminate your rights under
// this license.
//
// THIS SOFTWARE IS PROVIDED BY DEVTRONIC ''AS IS'' AND ANY EXPRESS OR IMPLIED
// WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
// MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
// IN NO EVENT SHALL DEVTRONIC BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// @section SUPPORT
//
// Devtronic invests time and resources providing this open source code,
// please support Devtronic and open-source hardware/software by
// donations and/or purchasing products from Devtronic.
//
//******************************************************************************
#ifndef AppTask_h
#define AppTask_h
// *****************************************************************************
// *** Includes ************************************************************
// *****************************************************************************
#include "DevCfg.h"
// *****************************************************************************
// * AppTask class. This class is wrapper for call C++ function from class. ****
// *****************************************************************************
class AppTask
{
public:
// *************************************************************************
// *** Init Task *******************************************************
// *************************************************************************
virtual void InitTask(void) {CreateTask();}
protected:
// *************************************************************************
// *** Constructor *****************************************************
// *************************************************************************
AppTask(uint16_t stk_size, uint8_t task_prio, const char name[],
uint16_t queue_len = 0U, uint16_t queue_msg_size = 0U,
void* task_msg_p = nullptr, uint32_t task_interval_ms = 0U) :
ctrl_queue((queue_len + 2U), sizeof(CtrlQueueMsg)),
task_queue(queue_len, queue_msg_size), task_msg_ptr(task_msg_p),
timer(task_interval_ms, RtosTimer::REPEATING, TimerCallback, (void*)this),
stack_size(stk_size), task_priority(task_prio), task_name(name) {};
// *************************************************************************
// *** Virtual destructor - prevent warning ****************************
// *************************************************************************
virtual ~AppTask() {};
// *************************************************************************
// *** Create task function ********************************************
// *************************************************************************
// * This function creates new task in FreeRTOS, provide pointer to function
// * and pointer to class as parameter. When TaskFunctionCallback() called
// * from FreeRTOS, it use pointer to class from parameter to call virtual
// * functions.
void CreateTask();
// *************************************************************************
// *** Setup function **************************************************
// *************************************************************************
// * * virtual function - some tasks may not have Setup() actions
virtual Result Setup() {return Result::RESULT_OK;}
// *************************************************************************
// *** IntervalTimerExpired function ***********************************
// *************************************************************************
// * Empty virtual function - some tasks may not have TimerExpired() actions
virtual Result TimerExpired() {return Result::RESULT_OK;}
// *************************************************************************
// *** ProcessMessage function *****************************************
// *************************************************************************
// * Empty virtual function - some tasks may not have ProcessMessage() actions
virtual Result ProcessMessage() {return Result::RESULT_OK;}
// *************************************************************************
// *** Loop function ***************************************************
// *************************************************************************
// * Empty virtual function - some tasks may not have Loop() actions
virtual Result Loop() {return Result::RESULT_OK;}
// *************************************************************************
// *** SendTaskMessage function ****************************************
// *************************************************************************
Result SendTaskMessage(const void* task_msg, bool is_priority = false);
private:
// Task control queue message types
enum CtrlQueueMsgType
{
CTRL_TIMER_MSG,
CTRL_TASK_QUEUE_MSG
};
// Task control queue message struct
struct CtrlQueueMsg
{
CtrlQueueMsgType type;
};
// Task control queue
RtosQueue ctrl_queue;
// Task queue
RtosQueue task_queue;
// Pointer to receive message buffer
void* task_msg_ptr;
// Timer object
RtosTimer timer;
// Task stack size
uint16_t stack_size;
// Task priority
uint8_t task_priority;
// Pointer to the task name
const char* task_name;
// *************************************************************************
// *** IntLoop function ************************************************
// *************************************************************************
Result IntLoop();
// *************************************************************************
// *** TaskFunctionCallback ********************************************
// *************************************************************************
static void TaskFunctionCallback(void* ptr);
// *************************************************************************
// *** IntervalTimerCallback function **********************************
// *************************************************************************
static void TimerCallback(void* ptr);
// *************************************************************************
// *** SendControlMessage function *************************************
// *************************************************************************
Result SendControlMessage(const CtrlQueueMsg& ctrl_msg, bool is_priority = false);
// *************************************************************************
// *** Change counter **************************************************
// *************************************************************************
static void ChangeCnt(bool is_up);
// *************************************************************************
// *** Private constructor and assign operator - prevent copying *******
// *************************************************************************
AppTask();
AppTask(const AppTask&);
AppTask& operator=(const AppTask&);
};
#endif
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