tasks.h

#pragma once
 
/************************************************************************************************
 * @file   tasks.h
 *
 * @brief  Header file for the RTOS tasks wrapper
 *
 * @date   2024-10-27
 * @author Midnight Sun Team #24 - MSXVI
 ************************************************************************************************/
 
/* Standard library Headers */
#include <stdbool.h>
#include <stddef.h>
 
/* Inter-component Headers */
#include "FreeRTOS.h"
#include "semphr.h"
#include "task.h"
 
/* Intra-component Headers */
#include "status.h"
 
#define TASK(task_name, task_stack_size)                                                                                                                                                    \
  /* forward declaration so we can reference it in the Task */                                                                                                                              \
  static void _s_task_impl_##task_name(void *);                                                                                                                                             \
  static StackType_t _s_stack_##task_name[task_stack_size];                                                                                                                                 \
  /* use a compound literal so users can use it as a pointer */                                                                                                                             \
  Task *task_name = &((Task){                                                                                                                                                               \
      .task_func = _s_task_impl_##task_name, .name = #task_name, .stack = _s_stack_##task_name, .stack_size = task_stack_size, .handle = NULL, /* will be initialized by tasks_init_task */ \
  });                                                                                                                                                                                       \
  static void _s_task_impl_##task_name(void *context)
 
#define MAX_NUM_TASKS 15
 
#define TASK_PRIORITY(prio) ((TaskPriority)prio)
 
#define WAIT_TASK_TIMEOUT_MS 1000
 
#define TASK_MIN_STACK_SIZE configMINIMAL_STACK_SIZE
 
#define TASK_STACK_256 ((size_t)256)
#define TASK_STACK_512 ((size_t)512)
#define TASK_STACK_1024 ((size_t)1024)
#define TASK_STACK_2048 ((size_t)2048)
#define TASK_STACK_4096 ((size_t)4096)
 
typedef UBaseType_t TaskPriority;
 
typedef struct Task {
  TaskHandle_t handle;
  TaskFunction_t task_func;
  char *name;
  StackType_t *stack;
  size_t stack_size;
  StaticTask_t tcb;
  void *context;
} Task;
 
StatusCode tasks_init_task(Task *task, TaskPriority priority, void *context);
 
void tasks_start(void);
 
StatusCode tasks_init(void);
 
StatusCode wait_tasks(uint16_t num_tasks);
 
StatusCode send_task_end(void);