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

Partial implementation of the user task. More...

#include <stk_helper.h>

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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.
size_t	GetStackSizeBytes () const override
	Get size of the memory in bytes.
EAccessMode	GetAccessMode () const override
	Get hardware access mode of the user task.
virtual void	Run ()=0
	Entry point of the user 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.
TId	GetId () const
	Get task Id set by application.
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, 16-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 GetFunc() and GetFuncUserData() 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;

Definition at line 49 of file stk_helper.h.

Member Enumeration Documentation

anonymous enum

template<size_t _StackSize, EAccessMode _AccessMode>

anonymous enum

Enumerator
STACK_SIZE

Definition at line 52 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 69 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.

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 57 of file stk_helper.h.

{ return _AccessMode; }

GetId()

TId stk::ITask::GetId ( ) const

inlineinherited

Get task Id set by application.

Implementation of ITask::GetId, see ITask. Placed here as it depends on GetTidFromUserTask.

Returns

Application-defined task identifier. Return 0 if unused.

Note

Used for debugging and tracing only. The kernel does not interpret this value.

Definition at line 234 of file stk_helper.h.

{
    return GetTidFromUserTask(this);
}

References stk::GetTidFromUserTask().

Referenced by stk::Kernel< TMode, TSize, TStrategy, TPlatform >::KernelTask::Bind(), and stk_task_get_id().

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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 54 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 55 of file stk_helper.h.

{ return _StackSize; }

GetStackSizeBytes()

template<size_t _StackSize, EAccessMode _AccessMode>

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

inlineoverridevirtual

Get size of the memory in bytes.

Implements stk::IStackMemory.

Definition at line 56 of file stk_helper.h.

{ return _StackSize * sizeof(Word); }

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 318 of file stk_common.h.

    {
        ArrayView<const Word> stack(GetStack(), GetStackSize());
      
        // count leading Words equal to STK_STACK_MEMORY_FILLER (watermark)
        size_t space = 0U;
        for ( ; (space < stack.GetSize()) && (stack[space] == STK_STACK_MEMORY_FILLER); ++space)
        {}
 
        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 648 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 635 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 618 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 628 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, 16-byte aligned.

Definition at line 78 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