FrameworkTask.h

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#ifndef FREERTOS_TASK_H
#define FREERTOS_TASK_H
#pragma once
 
#include <FreeRTOS.h>
#include <task.h>
#include <queue.h>
#include "events/Event.h"
#include "events/Notification.h"
 
class FrameworkTask
{
public:
    FrameworkTask(const char *name, uint16_t stackSize = 1024, UBaseType_t priority = 1);
 
    virtual ~FrameworkTask();
 
    virtual void onEvent(const Event &event) {}
 
    bool start();
 
    void suspend();
 
    void resume();
 
    TaskHandle_t getHandle() const;
 
    const char *getName() const { return _name; }
 
    // ----------- Notification Support -----------
 
    void notify(uint8_t index, uint32_t value = 1);
 
    void notify(Notification n, uint32_t value = 1);
 
    void notifyFromISR(uint8_t index, uint32_t value = 1, BaseType_t *pxHigherPriorityTaskWoken = nullptr);
 
    void notifyFromISR(Notification n, uint32_t value = 1, BaseType_t *pxHigherPriorityTaskWoken = nullptr);
 
    bool waitFor(uint8_t index, TickType_t timeout = portMAX_DELAY);
 
    bool waitFor(Notification n, TickType_t timeout = portMAX_DELAY);
 
    Notification waitForAny(uint8_t index, uint32_t mask, TickType_t timeout = portMAX_DELAY);
 
 
protected:
    virtual void run() = 0;
 
    uint32_t waitFor(TickType_t timeout = portMAX_DELAY);
 
    // ----------- Optional Queue Support -----------
 
    bool createQueue(size_t itemSize, size_t length);
 
    bool sendToQueue(const void *item, TickType_t timeout = 0);
 
    bool receiveFromQueue(void *item, TickType_t timeout = portMAX_DELAY);
 
protected:
    const char *_name;
    uint16_t _stackSize;
    UBaseType_t _priority;
    TaskHandle_t _handle = nullptr;
    QueueHandle_t _queue = nullptr;
 
private:
    static void taskEntry(void *pvParams);
};
 
#endif // FREERTOS_TASK_H