task.h

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#ifndef _ISIX_TASK_H
#define _ISIX_TASK_H
/*-----------------------------------------------------------------------*/
#ifdef __cplusplus
extern "C" {
namespace isix {
#endif /*__cplusplus*/

/*-----------------------------------------------------------------------*/
#include <isix/types.h>
#include <isix/scheduler.h>

/*-----------------------------------------------------------------------*/
#ifndef __cplusplus

#define ISIX_TASK_FUNC(FUNC, ARG)                                                       \
        void FUNC(void *ARG) __attribute__ ((noreturn));        \
        void FUNC(void *ARG)

#endif
/*-----------------------------------------------------------------------*/
task_t* isix_task_create(task_func_ptr_t task_func, void *func_param, unsigned long stack_depth, prio_t priority);

/*-----------------------------------------------------------------------*/
int isixp_task_change_prio(task_t *task,prio_t new_prio,bool yield);

/*-----------------------------------------------------------------------*/
static inline int isix_task_change_prio( task_t* task, prio_t new_prio )
{
        return isixp_task_change_prio(task,new_prio,true);
}

/*-----------------------------------------------------------------------*/

int isix_task_delete(task_t *task);

/*-----------------------------------------------------------------------*/

task_t* isix_task_self(void);

/*-----------------------------------------------------------------------*/
#if ISIX_CONFIG_TASK_STACK_CHECK == ISIX_ON
size_t isix_free_stack_space(const task_t *task);
#endif

/*-----------------------------------------------------------------------*/

#ifdef __cplusplus
}       //end namespace
}       //end extern-C
#endif /* __cplusplus */

/****************************** C++ API ***********************************/
#ifdef __cplusplus
#include <cstddef>

namespace isix {
/*-----------------------------------------------------------------------*/
class task_base
{
public:
        explicit task_base(std::size_t stack_depth, prio_t priority)
        {
                task_id = isix_task_create( start_task, this, stack_depth, priority );
        }
        virtual ~task_base()
        {
                isix_task_delete(task_id);
        }
        task_t* get_taskid() { return task_id; }
        bool is_valid() { return task_id!=0; }
protected:
        virtual void main() = 0;

private:
        __attribute__ ((noreturn)) static void start_task(void *ptr)
        {
                static_cast<task_base*>(ptr)->main();
                while(1) isix_wait(-1);
        }
private:
        task_base(const task_base&);
        task_base& operator=(const task_base&);
private:
        task_t *task_id;
};


/*-----------------------------------------------------------------------*/
}
#endif /* __cplusplus */
/*-----------------------------------------------------------------------*/
#endif /* __ISIX_TASK_H */

/*-----------------------------------------------------------------------*/