Steins7
432310a52d
For now, most code is temporary to validate that the system can work as envisionned. Optimisations and cleaning will be done shortly
97 lines
2.8 KiB
C
97 lines
2.8 KiB
C
/** @file task.h
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* Module handling the task creation and management
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*
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* The module provides an API to create, run and manage lightweight, stack-less
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* threads (tasks). This system is based on protothreads,
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* see https://dunkels.com/adam/pt/index.html
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*/
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#ifndef _task_h_
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#define _task_h_
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//--includes--------------------------------------------------------------------
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#include <stdint.h>
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#include <stdbool.h>
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//--type definitions------------------------------------------------------------
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struct TaskReturn {
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uint32_t delay_ms;
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uint8_t state;
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};
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typedef struct TaskReturn(*Task)(uint8_t);
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//--functions-------------------------------------------------------------------
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#define TASK(fct_name) struct TaskReturn fct_name(uint8_t __task_state)
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#define TASK_ENTRY \
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_TASK_COUNT_INIT; \
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switch (__task_state) {
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#define TASK_CLEANUP \
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case (_TASK_COUNT_CLEANUP): \
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/* fall through */
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#define TASK_EXIT \
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} \
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return (struct TaskReturn){0, _TASK_COUNT_EXIT};
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#define TASK_YIELD() _TASK_YIELD(_TASK_COUNT_INCR)
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#define TASK_SLEEP(delay_ms) _TASK_SLEEP(delay_ms, _TASK_COUNT_INCR)
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#define TASK_WAIT_UNTIL(cond) _TASK_WAIT_UNTIL(cond, _TASK_COUNT_INCR)
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#define TASK_EXECUTE(task) _TASK_EXECUTE(task, _TASK_COUNT_INCR)
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void task_start_scheduler(void);
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void task_start(Task task, uint8_t priority);
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void task_stop(Task task);
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bool task_is_running(Task task);
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//--internal_functions----------------------------------------------------------
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#define _TASK_COUNT_INIT enum { TASK_COUNTER_BASE = __COUNTER__ }
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#define _TASK_COUNT_INCR (uint8_t)(__COUNTER__ - TASK_COUNTER_BASE - 1)
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#define _TASK_COUNT_EXIT UINT8_MAX
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#define _TASK_COUNT_CLEANUP (UINT8_MAX - 1)
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#define _TASK(fct_name)
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#define _TASK_YIELD(count) do { \
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return (struct TaskReturn){0, count}; \
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case (count): \
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/* fall through */ \
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} while (0)
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#define _TASK_SLEEP(delay_ms, count) do { \
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return (struct TaskReturn){delay_ms, count}; \
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case (count): \
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/* fall through */ \
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} while (0)
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#define _TASK_WAIT_UNTIL(cond, count) do { \
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case (count): \
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if (!(cond)) { \
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return (struct TaskReturn){0, count}; \
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} \
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/* fall through */ \
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} while (0)
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#define _TASK_EXECUTE(task, count) do { \
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task_start(Task task); \
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return (struct TaskReturn){0, count); \
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case (count): \
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if (task_is_running(task)) { \
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return (struct TaskReturn){0, count}; \
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} \
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/* fall through */ \
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} while (0)
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#endif //_task_h_
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