Steins7
c09d2cda67
In the end, priorities are only usefull in preemptive systems. Here, it would only garentee the execution order, which we don't care about most of the time
97 lines
2.8 KiB
C
97 lines
2.8 KiB
C
/** @file task.h
|
|
* Module handling the task creation and management
|
|
*
|
|
* The module provides an API to create, run and manage lightweight, stack-less
|
|
* threads (tasks). This system is based on protothreads,
|
|
* see https://dunkels.com/adam/pt/index.html
|
|
*/
|
|
|
|
#ifndef _task_h_
|
|
#define _task_h_
|
|
|
|
//--includes--------------------------------------------------------------------
|
|
|
|
#include <stdint.h>
|
|
#include <stdbool.h>
|
|
|
|
|
|
//--type definitions------------------------------------------------------------
|
|
|
|
struct TaskReturn {
|
|
uint32_t delay_ms;
|
|
uint8_t state;
|
|
};
|
|
|
|
typedef struct TaskReturn(*Task)(uint8_t);
|
|
|
|
|
|
//--functions-------------------------------------------------------------------
|
|
|
|
#define TASK(fct_name) struct TaskReturn fct_name(uint8_t __task_state)
|
|
|
|
#define TASK_ENTRY \
|
|
_TASK_COUNT_INIT; \
|
|
switch (__task_state) {
|
|
|
|
#define TASK_CLEANUP \
|
|
case (_TASK_COUNT_CLEANUP): \
|
|
/* fall through */
|
|
|
|
#define TASK_EXIT \
|
|
} \
|
|
return (struct TaskReturn){0, _TASK_COUNT_EXIT};
|
|
|
|
#define TASK_YIELD() _TASK_YIELD(_TASK_COUNT_INCR)
|
|
#define TASK_SLEEP(delay_ms) _TASK_SLEEP(delay_ms, _TASK_COUNT_INCR)
|
|
#define TASK_WAIT_UNTIL(cond) _TASK_WAIT_UNTIL(cond, _TASK_COUNT_INCR)
|
|
#define TASK_EXECUTE(task) _TASK_EXECUTE(task, _TASK_COUNT_INCR)
|
|
|
|
void task_start_scheduler(void);
|
|
|
|
void task_start(Task task);
|
|
void task_stop(Task task);
|
|
bool task_is_running(Task task);
|
|
|
|
|
|
//--internal_functions----------------------------------------------------------
|
|
|
|
#define _TASK_COUNT_INIT enum { TASK_COUNTER_BASE = __COUNTER__ }
|
|
#define _TASK_COUNT_INCR (uint8_t)(__COUNTER__ - TASK_COUNTER_BASE - 1)
|
|
#define _TASK_COUNT_EXIT UINT8_MAX
|
|
#define _TASK_COUNT_CLEANUP (UINT8_MAX - 1)
|
|
|
|
#define _TASK(fct_name)
|
|
|
|
#define _TASK_YIELD(count) do { \
|
|
return (struct TaskReturn){0, count}; \
|
|
case (count): \
|
|
/* fall through */ \
|
|
} while (0)
|
|
|
|
#define _TASK_SLEEP(delay_ms, count) do { \
|
|
return (struct TaskReturn){delay_ms, count}; \
|
|
case (count): \
|
|
/* fall through */ \
|
|
} while (0)
|
|
|
|
#define _TASK_WAIT_UNTIL(cond, count) do { \
|
|
case (count): \
|
|
if (!(cond)) { \
|
|
return (struct TaskReturn){0, count}; \
|
|
} \
|
|
/* fall through */ \
|
|
} while (0)
|
|
|
|
#define _TASK_EXECUTE(task, count) do { \
|
|
task_start(Task task); \
|
|
return (struct TaskReturn){0, count); \
|
|
case (count): \
|
|
if (task_is_running(task)) { \
|
|
return (struct TaskReturn){0, count}; \
|
|
} \
|
|
/* fall through */ \
|
|
} while (0)
|
|
|
|
#endif //_task_h_
|
|
|