tasklet.hpp

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/****************************************************************************
 *
 *  Copyright (c) 2017, Michael Becker (michael.f.becker@gmail.com)
 *
 *  This file is part of the FreeRTOS Add-ons project.
 *
 *  Source Code:
 *  https://github.com/michaelbecker/freertos-addons
 *
 *  Project Page:
 *  http://michaelbecker.github.io/freertos-addons/
 *
 *  On-line Documentation:
 *  http://michaelbecker.github.io/freertos-addons/docs/html/index.html
 *
 *  Permission is hereby granted, free of charge, to any person obtaining a
 *  copy of this software and associated documentation files
 *  (the "Software"), to deal in the Software without restriction, including
 *  without limitation the rights to use, copy, modify, merge, publish,
 *  distribute, sublicense, and/or sell copies of the Software, and to
 *  permit persons to whom the Software is furnished to do so,subject to the
 *  following conditions:
 *
 *  + The above copyright notice and this permission notice shall be included
 *    in all copies or substantial portions of the Software.
 *  + Credit is appreciated, but not required, if you find this project
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#ifndef TASKLET_HPP_
#define TASKLET_HPP_


#ifndef CPP_FREERTOS_NO_EXCEPTIONS
#include <exception>
#include <string>
#include <cstdio>
#ifdef CPP_FREERTOS_NO_CPP_STRINGS
#error "FreeRTOS-Addons require C++ Strings if you are using exceptions"
#endif
#endif
#include "FreeRTOS.h"
#include "timers.h"
#include "semphr.h"


namespace cpp_freertos {


#ifndef CPP_FREERTOS_NO_EXCEPTIONS

class TaskletCreateException : public std::exception {

    public:
        TaskletCreateException()
        {
            sprintf(errorString, "Tasklet Constructor Failed");
        }

        explicit TaskletCreateException(const char *info)
        {
            snprintf(errorString, sizeof(errorString),
                        "Tasklet Constructor Failed %s", info);
        }

        virtual const char *what() const throw()
        {
            return errorString;
        }

    private:
        char errorString[80];
};
#endif


class Tasklet {

    //
    //  Public API
    //
    public:
        Tasklet();

        virtual ~Tasklet();

        bool Schedule(  uint32_t parameter,
                        TickType_t CmdTimeout = portMAX_DELAY);

        bool ScheduleFromISR(   uint32_t parameter,
                                BaseType_t *pxHigherPriorityTaskWoken);

    //
    //  Protected API
    //  Available from inside your Tasklet implementation.
    //  You should make sure that you are only calling these methods
    //  from within your Run() method, or that your Run() method is on the
    //  callstack.
    //
    protected:
        virtual void Run(uint32_t parameter) = 0;

        void CheckForSafeDelete();

    //
    //  Private API
    //  The internals of this wrapper class.
    //
    private:
        static void TaskletAdapterFunction(void *ref, uint32_t parameter);

        SemaphoreHandle_t DtorLock;
};

}
#endif