RtosTask.cpp

//------------------------------------------------------------------------------
//This file is part of embKernel. 
//See license.txt for the full license governing this code.
//------------------------------------------------------------------------------
#include "RtosTask.hpp"
#include "Rtos.hpp"
#include "RtosPortable.hpp"
#include "RtosHeap.hpp"
#include "RtosMacros.hpp"

RtosTask::RtosTask(Rtos::PRIORITY priority, const char* name, size_t stackSize, void (*run)(RtosTask*)) {
    initVariables(priority, name, stackSize);
    RTOS_ASSERT(mStack);
    mCurrentStackPointer = RtosPortable::stackInit(mStack, stackSize, (void (*)(void*))run, this);
    Rtos::addTask(this);
}

RtosTask::RtosTask(Rtos::PRIORITY priority, const char* name, size_t stackSize, RtosRunnable& runnable) {
    initVariables(priority, name, stackSize);
    RTOS_ASSERT(mStack);
    mCurrentStackPointer = RtosPortable::stackInit(mStack, stackSize, (void (*)(void*))caller, &runnable);
    Rtos::addTask(this);
}

RtosTask::~RtosTask() {
    Rtos::removeTask(this);
}

void RtosTask::initVariables(Rtos::PRIORITY priority, const char* name, size_t stackSize) {
    mName = name;
    mPriority = priority;
    mIterableCore.mSortValue = mPriority;
    mIterableCore.mTaskOwner = this;
    mIterableSyncObj.mTaskOwner = this;
    mStack = RtosHeap::alloc(stackSize);
    mStackSize = stackSize;
}

void RtosTask::caller(RtosRunnable* runnable) {
    runnable->run();
}

void RtosTask::suspend() {
    RtosPortable::enterCriticalSection();
    if (mIterableSyncObj.mListOwner) {
        mIterableSyncObj.mListOwner->remove(mIterableSyncObj);
    }
    mIterableCore.mListOwner->remove(mIterableCore);
    Rtos::sListSuspended.insertAtEnd(mIterableCore);
    RtosPortable::yield();
    RtosPortable::exitCriticalSection();
}

void RtosTask::resume() {
    RtosPortable::enterCriticalSection();
    if (mIterableSyncObj.mListOwner) {
        mIterableSyncObj.mListOwner->remove(mIterableSyncObj);
    }
    mIterableCore.mListOwner->remove(mIterableCore);
    Rtos::sListReady[mPriority].insertAtEnd(mIterableCore);
    RtosPortable::yield();
    RtosPortable::exitCriticalSection();
}

const char* RtosTask::getName() {
    return mName;
}

size_t RtosTask::getStackSize() {
    return mStackSize;
}

size_t RtosTask::getFreeStackSize() {
    return RtosPortable::getFreeStackSize(mStack, mStackSize);
}