fsfw/osal/FreeRTOS/TaskManagement.h

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#ifndef FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
#define FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
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#include <framework/returnvalues/HasReturnvaluesIF.h>
extern "C" {
#include "FreeRTOS.h"
#include "task.h"
}
#include <cstdint>
/**
* Architecture dependant portmacro.h function call.
* Should be implemented in bsp.
*/
extern "C" void requestContextSwitchFromISR();
/*!
* Used by functions to tell if they are being called from
* within an ISR or from a regular task. This is required because FreeRTOS
* has different functions for handling semaphores and messages from within an ISR and task.
*/
enum CallContext {
task = 0x00,//!< task_context
isr = 0xFF //!< isr_context
};
class TaskManagement {
public:
/**
* In this function, a function dependant on the portmacro.h header function calls
* to request a context switch can be specified.
* This can be used if sending to the queue from an ISR caused a task to unblock
* and a context switch is required.
*/
static void requestContextSwitch(CallContext callContext);
/**
* If task preemption in FreeRTOS is disabled, a context switch
* can be requested manually by calling this function.
*/
static void requestContextSwitchFromTask(void);
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/**
* @return The current task handle
*/
static TaskHandle_t getCurrentTaskHandle();
/**
* Get returns the minimum amount of remaining stack space in words
* that was a available to the task since the task started executing.
* Please note that the actual value in bytes depends
* on the stack depth type.
* E.g. on a 32 bit machine, a value of 200 means 800 bytes.
* @return Smallest value of stack remaining since the task was started in
* words.
*/
static configSTACK_DEPTH_TYPE getTaskStackHighWatermark();
/**
* Function to be called to delay current task
* @param delay The delay in milliseconds
* @return Success of deletion
*/
static ReturnValue_t delayTask(uint32_t delayMs);
};
#endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */