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