task.hpp

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// SPDX-License-Identifier: BSL-1.0
 
#ifndef TETL_FREERTOS_TASK_HPP
#define TETL_FREERTOS_TASK_HPP
 
#include <etl/version.hpp>
 
#include <etl/cstddef.hpp>
#include <etl/utility.hpp>
 
#if defined(TETL_FREERTOS_USE_STUBS)
    #include <etl/experimental/freertos/stubs.hpp>
#endif
 
namespace etl::experimental::freertos {
struct never {
    [[nodiscard]] auto operator()() const -> bool { return false; }
};

struct forever {
    [[nodiscard]] auto operator()() const -> bool { return true; }
};

template <etl::size_t Count>
struct times {
    etl::size_t run_count = Count;
 
    [[nodiscard]] auto operator()() -> bool { return (run_count-- != 0); }
};

using once = times<1>;

using twice = times<2>;

template <typename TaskType>
inline auto rtos_task(void* task) -> void
{
    static_cast<TaskType*>(task)->run();
}

template <typename TaskType>
inline auto create_task(
    TaskType& task,
    char const* const name,
    uint16_t stack,
    UBaseType_t prio           = 0,
    TaskHandle_t* const handle = nullptr
) -> void
{
    xTaskCreate(rtos_task<TaskType>, name, stack, static_cast<void*>(&task), prio, handle);
}

inline auto delete_task(TaskHandle_t task) -> void { vTaskDelete(task); }

inline auto start_scheduler() -> void { vTaskStartScheduler(); }
 
namespace this_task {
auto yield() -> void;

auto sleep_for(etl::uint32_t ticks) -> void;

auto sleep_until(etl::uint32_t& prev, etl::uint32_t increment) -> void;
 
inline auto yield() -> void { taskYIELD(); }
 
inline auto sleep_for(etl::uint32_t ticks) -> void { vTaskDelay(ticks); }
 
inline auto sleep_until(etl::uint32_t& prev, etl::uint32_t increment) -> void { vTaskDelayUntil(&prev, increment); }
} // namespace this_task
 
} // namespace etl::experimental::freertos
 
#endif // TETL_FREERTOS_TASK_HPP