Base class for FreeRTOS-aware tasks in the framework. More...

#include <FrameworkTask.h>

Inheritance diagram for FrameworkTask:

Collaboration diagram for FrameworkTask:

Public Member Functions
	FrameworkTask (const char *name, uint16_t stackSize=1024, UBaseType_t priority=1)
	Constructor.

virtual	~FrameworkTask ()
	Destructor.

virtual void	onEvent (const Event &event)
	Called when the task receives an event.

bool	start ()
	Starts the task via FreeRTOS.

void	suspend ()
	Suspends the task using `vTaskSuspend()`.

void	resume ()
	Resumes the task using `vTaskResume()`.

TaskHandle_t	getHandle () const
	Returns the FreeRTOS task handle.

const char *	getName () const
	Returns the task name.

void	notify (uint8_t index, uint32_t value=1)
	Sends a notification to this task using an index.

void	notify (Notification n, uint32_t value=1)
	Sends a notification using a framework-defined enum.

void	notifyFromISR (uint8_t index, uint32_t value=1, BaseType_t *pxHigherPriorityTaskWoken=nullptr)
	Sends a notification from an ISR (by index).

void	notifyFromISR (Notification n, uint32_t value=1, BaseType_t *pxHigherPriorityTaskWoken=nullptr)
	Sends a notification from ISR using enum identifier.

bool	waitFor (uint8_t index, TickType_t timeout=portMAX_DELAY)
	Waits for a notification (by index).

bool	waitFor (Notification n, TickType_t timeout=portMAX_DELAY)
	Waits for a notification (by enum identifier).

Notification	waitForAny (uint8_t index, uint32_t mask, TickType_t timeout=portMAX_DELAY)
	waits for any notification matching the given mask.

Protected Member Functions
virtual void	run ()=0
	Main task loop.

uint32_t	waitFor (TickType_t timeout=portMAX_DELAY)
	Wait for any notification (default index).

bool	createQueue (size_t itemSize, size_t length)
	Creates an internal FreeRTOS queue.

bool	sendToQueue (const void *item, TickType_t timeout=0)
	Sends an item to the internal queue.

bool	receiveFromQueue (void *item, TickType_t timeout=portMAX_DELAY)
	Receives an item from the internal queue.

Protected Attributes
const char *	_name

uint16_t	_stackSize

UBaseType_t	_priority

TaskHandle_t	_handle = nullptr

QueueHandle_t	_queue = nullptr

Static Private Member Functions
static void	taskEntry (void *pvParams)

Detailed Description

Subclass this to define application or system-level tasks.

Override run() to define the main task loop.
Optionally override onEvent() to receive posted events.

Supports:

Indexed task notifications (including from ISR)
Optional message queue for passing data
Integration with the framework event system

Definition at line 41 of file FrameworkTask.h.

Constructor & Destructor Documentation

◆ FrameworkTask()

FrameworkTask::FrameworkTask	(	const char *	name,
		uint16_t	stackSize = `1024`,
		UBaseType_t	priority = `1`
	)

Constructor.

Parameters

name	Task name (used by FreeRTOS).
stackSize	Stack size in words.
priority	Task priority.

Parameters

name	Task name (used by FreeRTOS).
stackSize	Stack size in words.
priority	Task priority.

Definition at line 18 of file FrameworkTask.cpp.

19 : _name(name), _stackSize(stackSize), _priority(priority) {}

FrameworkTask::_priority

UBaseType_t _priority

Definition FrameworkTask.h:178

FrameworkTask::_name

const char * _name

Definition FrameworkTask.h:176

FrameworkTask::_stackSize

uint16_t _stackSize

Definition FrameworkTask.h:177

◆ ~FrameworkTask()

FrameworkTask::~FrameworkTask ( )

virtual

Destructor.

Frees the task and its queue (if allocated).

Definition at line 22 of file FrameworkTask.cpp.

{
    if (_handle)
    {
        vTaskDelete(_handle);
    }
    if (_queue)
    {
        vQueueDelete(_queue);
    }
}

References _handle, and _queue.

Member Function Documentation

◆ createQueue()

bool FrameworkTask::createQueue	(	size_t	itemSize,
		size_t	length
	)

protected

Creates an internal FreeRTOS queue.

Parameters

itemSize	Size of each message item.
length	Number of slots in the queue.

Returns: true if queue was successfully created.

Parameters

itemSize	Size of each message item.
length	Number of slots in the queue.

Returns: true if queue was successfully created.

Definition at line 141 of file FrameworkTask.cpp.

{
    _queue = xQueueCreate(length, itemSize);
    return _queue != nullptr;
}

References _queue.

◆ getHandle()

TaskHandle_t FrameworkTask::getHandle ( ) const

Returns the FreeRTOS task handle.

Definition at line 62 of file FrameworkTask.cpp.

{
    return _handle;
}

References _handle.

◆ getName()

const char * FrameworkTask::getName ( ) const

inline

Definition at line 93 of file FrameworkTask.h.

93{ return _name; }

References _name.

Referenced by FrameworkController::getName().

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◆ notify() [1/2]

void FrameworkTask::notify	(	Notification	n,
		uint32_t	value = `1`
	)

Sends a notification to this task using an index.

Parameters

index	Notification slot index (0–7).
value	Value to send (default is 1).

Definition at line 74 of file FrameworkTask.cpp.

{
    notify(n.code(), value);
}

References Notification::code(), and notify().

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◆ notify() [2/2]

void FrameworkTask::notify	(	uint8_t	index,
		uint32_t	value = `1`
	)

Sends a notification to this task using an index.

Parameters

index	Notification slot index (0–7).
value	Value to send (default is 1).

Parameters

index	Notification slot index (0–7).
value	Value to send (default is 1).

Definition at line 68 of file FrameworkTask.cpp.

{
    xTaskNotifyIndexed(_handle, index, value, eSetValueWithOverwrite);
}

References _handle.

Referenced by notify().

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◆ notifyFromISR() [1/2]

void FrameworkTask::notifyFromISR	(	Notification	n,
		uint32_t	value = `1`,
		BaseType_t *	pxHigherPriorityTaskWoken = `nullptr`
	)

Sends a notification from an ISR (by index).

Definition at line 86 of file FrameworkTask.cpp.

{
    notifyFromISR(n.code(), value, pxHigherPriorityTaskWoken);
}

References Notification::code(), and notifyFromISR().

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◆ notifyFromISR() [2/2]

void FrameworkTask::notifyFromISR	(	uint8_t	index,
		uint32_t	value = `1`,
		BaseType_t *	pxHigherPriorityTaskWoken = `nullptr`
	)

Sends a notification from an ISR (by index).

Definition at line 80 of file FrameworkTask.cpp.

{
    xTaskNotifyIndexedFromISR(_handle, index, value, eSetValueWithOverwrite, pxHigherPriorityTaskWoken);
}

References _handle.

Referenced by notifyFromISR().

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◆ onEvent()

virtual void FrameworkTask::onEvent ( const Event & event )

inlinevirtual

Override to react to framework events. This is called by the event manager. Default implementation does nothing.

Reimplemented in App, FrameworkController, and FrameworkManager.

Definition at line 64 of file FrameworkTask.h.

64{}

◆ receiveFromQueue()

bool FrameworkTask::receiveFromQueue	(	void *	item,
		TickType_t	timeout = `portMAX_DELAY`
	)

protected

Receives an item from the internal queue.

Definition at line 154 of file FrameworkTask.cpp.

{
    return xQueueReceive(_queue, item, timeout) == pdTRUE;
}

References _queue.

◆ resume()

void FrameworkTask::resume ( )

Resumes the task using vTaskResume().

Definition at line 55 of file FrameworkTask.cpp.

{
    if (_handle)
        vTaskResume(_handle);
}

References _handle.

◆ run()

virtual void FrameworkTask::run ( )

protectedpure virtual

Must be implemented by subclasses.

Implemented in FrameworkController.

Referenced by taskEntry().

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◆ sendToQueue()

bool FrameworkTask::sendToQueue	(	const void *	item,
		TickType_t	timeout = `0`
	)

protected

Sends an item to the internal queue.

Definition at line 148 of file FrameworkTask.cpp.

{
    return xQueueSend(_queue, item, timeout) == pdTRUE;
}

References _queue.

◆ start()

bool FrameworkTask::start ( )

Starts the task via FreeRTOS.

Internally calls xTaskCreate(). The task runs run() when scheduled.

Returns: true if task was successfully created.

Internally calls xTaskCreate(). The task runs run() when scheduled.

Returns: true if task was successfully created.

Definition at line 35 of file FrameworkTask.cpp.

{
    return xTaskCreate(taskEntry, _name, _stackSize, this, _priority, &_handle) == pdPASS;
}

References _handle, _name, _priority, _stackSize, and taskEntry().

Referenced by FrameworkApp::FrameworkApp(), App::onStart(), and FrameworkApp::start().

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◆ suspend()

void FrameworkTask::suspend ( )

Suspends the task using vTaskSuspend().

Definition at line 48 of file FrameworkTask.cpp.

{
    if (_handle)
        vTaskSuspend(_handle);
}

References _handle.

◆ taskEntry()

void FrameworkTask::taskEntry ( void * pvParams )

staticprivate

Definition at line 41 of file FrameworkTask.cpp.

{
    static_cast<FrameworkTask *>(pvParams)->run();
    vTaskDelete(nullptr); // Clean up after run ends
}

References run().

Referenced by start().

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◆ waitFor() [1/3]

bool FrameworkTask::waitFor	(	Notification	n,
		TickType_t	timeout = `portMAX_DELAY`
	)

Waits for a notification (by index).

Parameters

index	Notification index to wait for.
timeout	Timeout in ticks.

Returns: true if notified, false on timeout.

Definition at line 99 of file FrameworkTask.cpp.

{
    return waitFor(n.code(), timeout);
}

References Notification::code(), and waitFor().

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◆ waitFor() [2/3]

uint32_t FrameworkTask::waitFor ( TickType_t timeout = portMAX_DELAY )

protected

Waits for a notification (by index).

Parameters

index	Notification index to wait for.
timeout	Timeout in ticks.

Returns: true if notified, false on timeout.

Definition at line 105 of file FrameworkTask.cpp.

{
    uint32_t value = 0;
    xTaskNotifyWaitIndexed(0, 0, UINT32_MAX, &value, timeout);
    return value;
}

◆ waitFor() [3/3]

bool FrameworkTask::waitFor	(	uint8_t	index,
		TickType_t	timeout = `portMAX_DELAY`
	)

Waits for a notification (by index).

Parameters

index	Notification index to wait for.
timeout	Timeout in ticks.

Returns: true if notified, false on timeout.

Parameters

index	Notification index to wait for.
timeout	Timeout in ticks.

Returns: true if notified, false on timeout.

Definition at line 92 of file FrameworkTask.cpp.

{
    uint32_t value;
    return xTaskNotifyWaitIndexed(index, 0, UINT32_MAX, &value, timeout) == pdTRUE;
}

Referenced by waitFor().

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◆ waitForAny()

Notification FrameworkTask::waitForAny	(	uint8_t	index,
		uint32_t	mask,
		TickType_t	timeout = `portMAX_DELAY`
	)

This is useful for waiting on multiple notification types.

Parameters

index Notification index to wait for.

Definition at line 113 of file FrameworkTask.cpp.

{
    uint32_t value = 0;
    if (xTaskNotifyWaitIndexed(index, 0, mask, &value, timeout) == pdTRUE && (value & mask))
    {
        Notification n;
        n.kind = NotificationKind::System;
 
        // Find the *first* matching bit set — basic scan
        for (uint8_t i = 0; i < 32; ++i)
        {
            if (value & (1u << i))
            {
                n.system = static_cast<SystemNotification>(i);
                break;
            }
        }
 
        return n;
    }
 
    Notification n;
    n.kind = NotificationKind::System;
    n.system = SystemNotification::WaitForTimeout;
    return n;
}

References Notification::kind, System, Notification::system, and WaitForTimeout.

Member Data Documentation

◆ _handle

TaskHandle_t FrameworkTask::_handle = nullptr

protected

Definition at line 179 of file FrameworkTask.h.

Referenced by getHandle(), notify(), notifyFromISR(), resume(), start(), suspend(), and ~FrameworkTask().

◆ _name

const char* FrameworkTask::_name

protected

Definition at line 176 of file FrameworkTask.h.

Referenced by getName(), and start().

◆ _priority

UBaseType_t FrameworkTask::_priority

protected

Definition at line 178 of file FrameworkTask.h.

Referenced by start().

◆ _queue

QueueHandle_t FrameworkTask::_queue = nullptr

protected

Definition at line 180 of file FrameworkTask.h.

Referenced by createQueue(), receiveFromQueue(), sendToQueue(), and ~FrameworkTask().

◆ _stackSize

uint16_t FrameworkTask::_stackSize

protected

Definition at line 177 of file FrameworkTask.h.

Referenced by start().

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Static Private Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ FrameworkTask()

◆ ~FrameworkTask()

Member Function Documentation

◆ createQueue()

◆ getHandle()

◆ getName()

◆ notify() [1/2]

◆ notify() [2/2]

◆ notifyFromISR() [1/2]

◆ notifyFromISR() [2/2]

◆ onEvent()

◆ receiveFromQueue()

◆ resume()

◆ run()

◆ sendToQueue()

◆ start()

◆ suspend()

◆ taskEntry()

◆ waitFor() [1/3]

◆ waitFor() [2/3]

◆ waitFor() [3/3]

◆ waitForAny()

Member Data Documentation

◆ _handle

◆ _name

◆ _priority

◆ _queue

◆ _stackSize