stk::Task< _StackSize, _AccessMode > Class Template Reference

Partial implementation of the user task. More...

#include <stk_helper.h>

Inheritance diagram for stk::Task< _StackSize, _AccessMode >:

Collaboration diagram for stk::Task< _StackSize, _AccessMode >:

Public Types
enum	{ STACK_SIZE = _StackSize }

Public Member Functions
const Word *	GetStack () const override
	Get pointer to the stack memory.
size_t	GetStackSize () const override
	Get number of elements of the stack memory array.
EAccessMode	GetAccessMode () const override
	Get hardware access mode of the user task.
virtual void	Run ()=0
	Entry point of the user task.
virtual IStackMemory *	GetSecureStackMemory ()
	Get pointer to the stack memory.
virtual const MpuRegionList *	GetMpuRegions () const
	Get up to (STK_MPU_TASK_REGIONS - 1) application-defined MPU regions for this task.
virtual void	OnDeadlineMissed (uint32_t duration)
	Called by the scheduler if deadline of the task is missed when Kernel is operating in Hard Real-Time mode (see stk::KERNEL_HRT).
virtual void	OnExit ()
	Called by the kernel before removal from the scheduling (see stk::KERNEL_DYNAMIC).
virtual Weight	GetWeight () const
	Get static base weight of the task.
virtual const char *	GetTraceName () const
	Get task trace name set by application.
virtual size_t	GetStackSpace () const
	Get available stack space.

Protected Member Functions
	Task (const Task &)=delete
Task &	operator= (const Task &)=delete
	Task ()
	Initializes task instance and zero-initializes its internal stack memory.
	~Task ()=default
	Destructor.

Private Attributes
StackMemoryDef< _StackSize >::Type	m_stack
	Stack memory region, STK_STACK_MEMORY_ALIGN-byte aligned.

Detailed Description

template<size_t _StackSize, EAccessMode _AccessMode>
class stk::Task< _StackSize, _AccessMode >

Partial implementation of the user task.

Provides stack storage and default implementations of all optional ITask methods. Inherit from this class and implement Run() to make a schedulable task. Use ACCESS_USER for unprivileged tasks and ACCESS_PRIVILEGED for tasks requiring full hardware access.

Usage example:

template <stk::EAccessMode _AccessMode>
class MyTask : public stk::Task<256, _AccessMode>
{
private:
    void Run()
    {
        while (true)
        {
            // do some work here ...
        }
    }
};
 
MyTask<ACCESS_PRIVILEGED> my_task;

Note

On ARM TrustZone Non-Secure builds (_STK_CORTEX_M_TRUSTZONE_NON_SECURE), derives from tz::nsec::NsTask instead of ITask directly. Unlike ISyncObject, ITask does have an explicit deregistration call (IKernel::RemoveTask), but NsTask's destructor still acts as a safety net: if a dynamically-allocated task is destroyed without that call first, the Secure-side proxy pool slot is freed anyway, preventing permanent pool exhaustion.

See also

tz::nsec::NsTask, IKernel::RemoveTask

Definition at line 92 of file stk_helper.h.

Member Enumeration Documentation

anonymous enum

template<size_t _StackSize, EAccessMode _AccessMode>

anonymous enum

Enumerator
STACK_SIZE

Definition at line 100 of file stk_helper.h.

{ STACK_SIZE = _StackSize }; 

Constructor & Destructor Documentation

Task() [1/2]

template<size_t _StackSize, EAccessMode _AccessMode>

stk::Task< _StackSize, _AccessMode >::Task ( const Task< _StackSize, _AccessMode > & )

protecteddelete

Referenced by operator=().

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Task() [2/2]

template<size_t _StackSize, EAccessMode _AccessMode>

stk::Task< _StackSize, _AccessMode >::Task ( )

inlineprotected

Initializes task instance and zero-initializes its internal stack memory.

The constructor is protected to ensure that the Task class can only be instantiated through a derived subclass. It handles the allocation (if applicable) and zero-initialization of the m_stack member based on the _StackSize template parameter.

Definition at line 116 of file stk_helper.h.

           : m_stack()
    {}

References m_stack.

~Task()

template<size_t _StackSize, EAccessMode _AccessMode>

stk::Task< _StackSize, _AccessMode >::~Task ( )

protecteddefault

Destructor.

Note

MISRA deviation: [STK-DEV-005] Rule 10-3-2.

References STK_VIRT_DTOR.

Member Function Documentation

GetAccessMode()

template<size_t _StackSize, EAccessMode _AccessMode>

EAccessMode stk::Task< _StackSize, _AccessMode >::GetAccessMode ( ) const

inlineoverridevirtual

Get hardware access mode of the user task.

Implements stk::ITask.

Definition at line 104 of file stk_helper.h.

{ return _AccessMode; }

GetMpuRegions()

virtual const MpuRegionList * stk::ITask::GetMpuRegions ( ) const

inlinevirtualinherited

Get up to (STK_MPU_TASK_REGIONS - 1) application-defined MPU regions for this task.

When STK_MPU_STACK_GUARD is enabled, each task owns STK_MPU_TASK_REGIONS (2 or 4, see STK_MPU_TASK_REGIONS) hardware MPU region slots. Slot 0 is always the automatic stack guard, computed by the driver from the task's own stack memory (see IStackMemory::GetStack/GetStackSize). This hook supplies the remaining STK_MPU_TASK_REGIONS-1 slots, letting an application additionally sandbox a task to e.g. a private data buffer, a specific peripheral block, or a shared IPC region - on top of its stack guard.

Returns

Pointer to a constant MpuRegionList containing up to (STK_MPU_TASK_REGIONS - 1) region descriptors, or nullptr if no extra task regions are configured. Array element i is applied at task-relative region index i +1 (i.e. the slots following the stack guard).

Note

Optional. Only consulted when STK_MPU_STACK_GUARD is enabled; a no-op on platforms/builds without MPU stack-guard support.

Read once, when the task is bound via Kernel::AddTask() (through IPlatform::InitStack()), not re-evaluated on every context switch. The underlying MpuRegionList instance referenced by the returned pointer must remain valid (e.g. a static const instance); a stack-local temporary is invalid once this function returns.

Warning

An element count greater than (STK_MPU_TASK_REGIONS - 1) is clamped by the driver (STK_ASSERT fires in debug builds); only the first STK_MPU_TASK_REGIONS-1 entries are ever applied.

class MyTask : public stk::Task<256, stk::ACCESS_USER>
{
    static constexpr stk::MpuRegionConfig s_extra_regions[] =
    {
        { .addr = MY_BUFFER_ADDR, .size = MY_BUFFER_SIZE,
          .access_perm = stk::hw::mpu::ACCESS_FULL,
          .mem_type    = stk::hw::mpu::TYPE_NORMAL_CACHEABLE,
          .exec        = stk::hw::mpu::EXEC_NEVER },
    };
 
    const stk::MpuRegionList *GetMpuRegions() const override
    {
        static const stk::MpuRegionList mpu_regions(s_extra_regions, 1U);
        return &mpu_regions;
    }
 
    void Run() override { ... }
};

See also

TaskMpu::Configure, IPlatform::InitStack, MpuRegionList

Definition at line 801 of file stk_common.h.

    {
        return nullptr;
    }

GetSecureStackMemory()

virtual IStackMemory * stk::ITask::GetSecureStackMemory ( )

inlinevirtualinherited

Get pointer to the stack memory.

Note

Optional. ARM TrustZone only.

Returns

Pointer to the Secure stack memory.

Definition at line 756 of file stk_common.h.

{ return nullptr; }

GetStack()

template<size_t _StackSize, EAccessMode _AccessMode>

const Word * stk::Task< _StackSize, _AccessMode >::GetStack ( ) const

inlineoverridevirtual

Get pointer to the stack memory.

Implements stk::IStackMemory.

Definition at line 102 of file stk_helper.h.

{ return const_cast<Word *>(m_stack); }

References m_stack.

GetStackSize()

template<size_t _StackSize, EAccessMode _AccessMode>

size_t stk::Task< _StackSize, _AccessMode >::GetStackSize ( ) const

inlineoverridevirtual

Get number of elements of the stack memory array.

Implements stk::IStackMemory.

Definition at line 103 of file stk_helper.h.

{ return _StackSize; }

GetStackSpace()

virtual size_t stk::IStackMemory::GetStackSpace ( ) const

inlinevirtualinherited

Get available stack space.

Returns

Number of elements of the stack memory array remaining on the stack (computed via the watermark pattern). Returns 0 if the stack has been fully used or the watermark STK_STACK_MEMORY_FILLER was overwritten.

Warning

Stack type: Bottom to Top (index[0]).

Definition at line 418 of file stk_common.h.

    {
        const ArrayView<const Word> stack(GetStack(), GetStackSize());
        const size_t total_size = stack.GetSize();
        size_t space = 0U;
 
        for (size_t i = 0U; i < total_size; ++i)
        {
            if (stack[i] == STK_STACK_MEMORY_FILLER)
            {
                space = i + 1U;
            }
            else
            {
                break; // terminate loop as soon as watermark ends
            }
        }
 
        return space;
    }

References stk::ArrayView< T >::GetSize(), GetStack(), GetStackSize(), and STK_STACK_MEMORY_FILLER.

Referenced by FrtosTask::GetStackHighWaterMark(), and osThreadGetStackSpace().

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GetTraceName()

virtual const char * stk::ITask::GetTraceName ( ) const

inlinevirtualinherited

Get task trace name set by application.

Returns

Null-terminated name string, or NULL if unused.

Note

Used for debugging and tracing only (e.g. SEGGER SystemView). Kernel does not interpret this value.

Reimplemented in FrtosTask, stk::time::TimerHost::TimerWorkerTask, StkThread, and TaskWrapper.

Definition at line 841 of file stk_common.h.

{ return nullptr; }

GetWeight()

virtual Weight stk::ITask::GetWeight ( ) const

inlinevirtualinherited

Get static base weight of the task.

Returns

Static weight value of the task (must be non-zero, positive 24-bit number).

See also

SwitchStrategyFixedPriority, SwitchStrategySmoothWeightedRoundRobin, IKernelTask::GetWeight, IKernelService::InheritWeight, IKernelService::RestoreWeight

Reimplemented in FrtosTask, stk::TaskW< _Weight, _StackSize, _AccessMode >, stk::time::TimerHost::TimerWorkerTask, StkThread, and TaskWrapper.

Definition at line 834 of file stk_common.h.

{ return DEFAULT_WEIGHT; }

References stk::DEFAULT_WEIGHT.

Referenced by stk::ISyncObject::FindWeightHigherThan().

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OnDeadlineMissed()

virtual void stk::ITask::OnDeadlineMissed ( uint32_t duration )

inlinevirtualinherited

Called by the scheduler if deadline of the task is missed when Kernel is operating in Hard Real-Time mode (see stk::KERNEL_HRT).

Parameters

[in]

duration

Elapsed active time in ticks at the point the deadline was detected. Always greater than the task's configured deadline (ticks).

Note

Optional handler. Use it for fault logging.

After this call returns, IPlatform::ProcessHardFault() is invoked and the system enters a safe state. This function should not attempt to recover scheduling.

Reimplemented in FrtosTask, stk::time::TimerHost::TimerWorkerTask, StkThread, and TaskWrapper.

Definition at line 817 of file stk_common.h.

{ STK_UNUSED(duration); }

References STK_UNUSED.

OnExit()

virtual void stk::ITask::OnExit ( )

inlinevirtualinherited

Called by the kernel before removal from the scheduling (see stk::KERNEL_DYNAMIC).

Note

The task's stack is no longer in use but the ITask object itself is still valid.

The default no-op implementation is sufficient for detached tasks. Override to implement join semantics (signal a waiting joiner).

Called in kernel/tick context - keep it short. ISR-safe primitives only (e.g. stk::sync::Semaphore::Signal(), stk::sync::EventFlags::Set()).

KERNEL_DYNAMIC only. Never called in KERNEL_STATIC mode.

Reimplemented in FrtosTask, stk::time::TimerHost::TimerWorkerTask, StkThread, and TaskWrapper.

Definition at line 827 of file stk_common.h.

{}

Referenced by stk::Kernel< stk::KERNEL_DYNAMIC|stk::KERNEL_SYNC|stk::KERNEL_TICKLESS,(16U), stk::SwitchStrategyFP32, stk::PlatformDefault >::RemoveTask().

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operator=()

template<size_t _StackSize, EAccessMode _AccessMode>

Task & stk::Task< _StackSize, _AccessMode >::operator= ( const Task< _StackSize, _AccessMode > & )

protecteddelete

References Task().

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Run()

virtual void stk::ITask::Run ( )

pure virtualinherited

Entry point of the user task.

Note

Called by the Kernel when the task is scheduled for execution. Implement this method with the task's main logic.

Warning

If Kernel is configured as KERNEL_STATIC, the body must contain an infinite loop.

void Run( override)
{
    while (true)
    {
        // task logic here
    }
}

Implemented in FrtosTask, stk::time::TimerHost::TimerWorkerTask, StkThread, and TaskWrapper.

Member Data Documentation

m_stack

template<size_t _StackSize, EAccessMode _AccessMode>

StackMemoryDef<_StackSize>::Type stk::Task< _StackSize, _AccessMode >::m_stack

private

Stack memory region, STK_STACK_MEMORY_ALIGN-byte aligned.

Definition at line 125 of file stk_helper.h.

Referenced by GetStack(), and Task().

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

• stk_helper.h