[0074691a] | 1 | /* |
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| 2 | ------------------------------------------------------------------------ |
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| 3 | |
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| 4 | COPYRIGHT (c) 1997 |
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| 5 | Objective Design Systems Ltd Pty (ODS) |
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| 6 | All rights reserved (R) Objective Design Systems Ltd Pty |
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[1b4f2b30] | 7 | |
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[0074691a] | 8 | The license and distribution terms for this file may be found in the |
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| 9 | file LICENSE in this distribution or at |
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[c499856] | 10 | http://www.rtems.org/license/LICENSE. |
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[0074691a] | 11 | |
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| 12 | ------------------------------------------------------------------------ |
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| 13 | |
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| 14 | rtemsTask class. |
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| 15 | |
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| 16 | This class allows the user to create a RTEMS task, or to access and |
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| 17 | manage an already existing task. |
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| 18 | |
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| 19 | The first constructor with the task parameters creates a RTEMS task |
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| 20 | object. The destructor of this object also deletes the task |
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| 21 | object. The last status code should be checked after construction to |
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| 22 | see if the create completed successfully. |
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| 23 | |
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| 24 | The second constructor connects to an existing task object. The last |
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| 25 | status code should be checked after construction to see if the |
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| 26 | task existed. |
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| 27 | |
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| 28 | The third constructor is a copy constructor. Connects to an existing |
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| 29 | object which is in scope. |
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[1b4f2b30] | 30 | |
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[0074691a] | 31 | The RTEMS id is set to self in the default construction. |
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| 32 | |
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| 33 | The creation of the task object can be defered until after |
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| 34 | construction. This allows for static task objects to be created. |
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| 35 | |
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| 36 | RTEMS should be initialised before static constructors run, how-ever |
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| 37 | threads will will not. You need to watch the start-order. |
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| 38 | |
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| 39 | A task object can change state from an owner of a task to being |
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| 40 | connected to a task. |
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| 41 | |
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| 42 | Task objects connected to another task do not receive notification |
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| 43 | when the task connected to changes state. |
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| 44 | |
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| 45 | The sleep methods operate on the current thread not the task |
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| 46 | reference by this object. |
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| 47 | |
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| 48 | Mode control is through the rtemsTaskMode class. |
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| 49 | |
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| 50 | ------------------------------------------------------------------------ */ |
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| 51 | |
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| 52 | #if !defined(_rtemsTask_h_) |
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| 53 | #define _rtemsTask_h_ |
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| 54 | |
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| 55 | #include <rtems++/rtemsStatusCode.h> |
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| 56 | |
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| 57 | /* ---- |
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| 58 | rtemsTask |
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| 59 | */ |
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| 60 | |
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| 61 | class rtemsTask |
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| 62 | : public rtemsStatusCode |
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| 63 | { |
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| 64 | public: |
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| 65 | enum FloatingPoint { fpoff = RTEMS_NO_FLOATING_POINT, |
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| 66 | fpon = RTEMS_FLOATING_POINT }; |
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| 67 | enum Scope { local = RTEMS_LOCAL, |
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| 68 | global = RTEMS_GLOBAL }; |
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| 69 | |
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[1c9a4c75] | 70 | // only the first 4 characters of the name are taken |
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[0074691a] | 71 | |
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| 72 | // creates a task |
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| 73 | rtemsTask(const char* name, |
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| 74 | const rtems_task_priority initial_priority, |
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[600a241e] | 75 | const uint32_t stack_size, |
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[0074691a] | 76 | const rtems_mode preemption = RTEMS_NO_PREEMPT, |
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| 77 | const rtems_mode timeslice = RTEMS_NO_TIMESLICE, |
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| 78 | const rtems_mode asr = RTEMS_NO_ASR, |
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| 79 | const rtems_interrupt_level interrupt_level = 0, |
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| 80 | const FloatingPoint floating_point = fpoff, |
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| 81 | const Scope scope = local); |
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| 82 | |
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| 83 | // connects to a task |
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[600a241e] | 84 | rtemsTask(const char *name, const uint32_t node = RTEMS_SEARCH_ALL_NODES); |
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[0074691a] | 85 | |
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| 86 | // copy and default constructors |
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| 87 | rtemsTask(const rtemsTask& task); |
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| 88 | rtemsTask(); |
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[1b4f2b30] | 89 | |
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[0074691a] | 90 | // only the creator's destructor will delete the actual object |
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| 91 | virtual ~rtemsTask(); |
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[1b4f2b30] | 92 | |
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[0074691a] | 93 | // create or destroy (delete) the task |
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| 94 | virtual const rtems_status_code create(const char* name, |
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| 95 | const rtems_task_priority initial_priority, |
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[600a241e] | 96 | const uint32_t stack_size, |
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[0074691a] | 97 | const rtems_mode preemption = RTEMS_NO_PREEMPT, |
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| 98 | const rtems_mode timeslice = RTEMS_NO_TIMESLICE, |
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| 99 | const rtems_mode asr = RTEMS_NO_ASR, |
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| 100 | const rtems_interrupt_level interrupt_level = 0, |
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| 101 | const FloatingPoint floating_point = fpoff, |
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| 102 | const Scope scope = local); |
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| 103 | virtual const rtems_status_code destroy(); |
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| 104 | |
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| 105 | // connect to an existing task object, will not be the owner |
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| 106 | const rtemsTask& operator=(const rtemsTask& task); |
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| 107 | virtual const rtems_status_code connect(const char *name, |
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[600a241e] | 108 | const uint32_t node = RTEMS_SEARCH_ALL_NODES); |
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[1b4f2b30] | 109 | |
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[0074691a] | 110 | // run control |
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| 111 | virtual const rtems_status_code start(const rtems_task_argument argument); |
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| 112 | virtual const rtems_status_code restart(const rtems_task_argument argument); |
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| 113 | virtual const rtems_status_code suspend(); |
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| 114 | virtual const rtems_status_code resume(); |
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| 115 | |
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| 116 | // sleep control, the timeout is in micro-seconds |
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| 117 | virtual const rtems_status_code wake_after(const rtems_interval micro_secs); |
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| 118 | virtual const rtems_status_code wake_when(const rtems_time_of_day& tod); |
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[1b4f2b30] | 119 | |
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[0074691a] | 120 | // priority control |
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| 121 | const rtems_status_code get_priority(rtems_task_priority& priority); |
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| 122 | const rtems_status_code set_priority(const rtems_task_priority priority); |
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| 123 | const rtems_status_code set_priority(const rtems_task_priority priority, |
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| 124 | rtems_task_priority& old_priority); |
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[1b4f2b30] | 125 | |
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[0074691a] | 126 | // object id, and name |
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| 127 | const rtems_id id_is() const { return id; } |
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| 128 | const rtems_name name_is() const { return name; } |
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| 129 | const char *name_string() const { return name_str; } |
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[1b4f2b30] | 130 | |
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[0074691a] | 131 | protected: |
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| 132 | |
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| 133 | // task entry point |
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| 134 | virtual void body(rtems_task_argument argument); |
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[1b4f2b30] | 135 | |
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[0074691a] | 136 | private: |
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| 137 | |
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| 138 | // make the object to point to RTEMS_SELF |
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| 139 | void make_self(); |
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[1b4f2b30] | 140 | |
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[0074691a] | 141 | // task name |
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| 142 | rtems_name name; |
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| 143 | char name_str[5]; |
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| 144 | |
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| 145 | // owner, true if this object owns the task |
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| 146 | // will delete the task when it destructs |
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| 147 | bool owner; |
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[1b4f2b30] | 148 | |
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[0074691a] | 149 | // the rtems id, object handle |
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| 150 | rtems_id id; |
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| 151 | |
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| 152 | // the argument for the task, this class uses the actual argument |
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| 153 | // passed to RTEMS |
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| 154 | rtems_task_argument argument; |
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[1b4f2b30] | 155 | |
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[0074691a] | 156 | // common entry point to the task |
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| 157 | static rtems_task origin(rtems_task_argument argument); |
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| 158 | }; |
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| 159 | |
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| 160 | #endif // _rtemsTask_h_ |
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