RTOS/Kernel/SingleCore/os_task.h

#ifndef INCLUDED_OS_TASK_H
#define INCLUDED_OS_TASK_H

#ifndef INCLUDED_OS_TYPES_H
#include <os_types.h>
#endif /*INCLUDED_OS_TYPES_H*/

#ifndef INCLUDED_OS_STACK_H
#include <os_stack.h>
#endif /*INCLUDED_OS_STACK_H*/

#ifndef INCLUDED_OS_LIST_H
#include <os_list.h>
#endif /*INCLUDED_OS_LIST_H*/

#ifndef INCLUDED_OS_PRIORITY_H
#include <os_priority.h>
#endif /*INCLUDED_OS_PRIORITY_H*/

#ifndef INCLUDED_OS_UTILS_H
#include <os_utils.h>
#endif /*INCLUDED_OS_UTILS_H*/

#ifndef INCLUDED_OS_TIMER_H
#include <os_timer.h>
#endif /*INCLUDED_OS_TIMER_H*/

#ifndef INCLUDED_OS_SCHED_H
#include <os_sched.h>
#endif /*INCLUDED_OS_SCHED_H*/

#ifndef INCLUDED_OS_ALIGN_H
#include <os_align.h>
#endif /*INCLUDED_OS_ALIGN_H*/


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

typedef void (*os_task_entry_t)(void*);

typedef enum {
    kOsTaskState_Terminated = -1,
    kOsTaskState_Idle = 0,
    kOsTaskState_Ready = 1,
    kOsTaskState_Running = 2,
    kOsTaskState_Yield = 3,
    kOsTaskState_Delay = 4,
    kOsTaskState_Wait = 5,
}os_task_state_t;

typedef struct os_task_t{
    os_stack_t stack;
    os_list_node_t node;
    os_tick_t init_ticks;
    os_tick_t remain_ticks;
    os_priority_t init_priority;
    os_priority_t curr_priority;
    os_timer_t timer;
    os_task_state_t  state;
    os_err_t errors;
}os_task_t;

void os_task_init(os_task_t* self, os_task_entry_t entry, void* param, void* stack_base, os_size_t stack_size, os_tick_t ticks, os_priority_t priority);

void os_task_sleep(os_tick_t ticks);

void os_task_yield(void);

void os_task_join(os_task_t* self);

OS_STATIC_FORCE_INLINE
void os_task_sleep_ms(os_size_t ms){
    os_task_sleep(os_tick_from_ms(ms));
}

OS_STATIC_FORCE_INLINE
os_task_t* os_task_self(void){
    return (os_task_t*)g_os_sched_current_task_p;
}

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

#define OS_TASK_DEF(Name, StackSize) \
OS_ALIGNED(OS_ALIGN_SIZE)            \
static uint8_t Name##_Stack[StackSize]; \
static os_task_t Name;               \
OS_NORETURN                          \
static void Name##_TaskEntry(void* param)

#define OS_TASK_RUN(Name, Param, Ticks, Priority) \
os_task_init(&Name, Name##_TaskEntry, Param, Name##_Stack, OS_ARRAY_SIZE(Name##_Stack), Ticks, Priority)

#define OS_TASK_FAST_DEF(Name) OS_TASK_DEF(Name, 1024)
#define OS_TASK_FAST_RUN(Name) OS_TASK_RUN(Name, 0, 10, OS_PRIORITY_NORMAL)

#endif /*INCLUDED_OS_TASK_H*/