Commit: 05c4a456b7fc3530b0ed646f1de923c6d9985e8e - shared_foo_backup (git)

shared_fooの不要ディレクトリ削除前のもの

Commit MetaInfo

• Revision: 05c4a456b7fc3530b0ed646f1de923c6d9985e8e (tree)
• Time: 2018-02-21 23:29:01
• Author: takemasa <suikan@user...>
• Commiter: takemasa

Log Message

Added doxygen command. Added parameter to TaskBody() to pass the user
defined parameter

Change Summary

• modified: stm32_development/murasaki/murasaki/abstracttask.cpp
• modified: stm32_development/murasaki/murasaki/abstracttask.hpp

Incremental Difference

--- a/stm32_development/murasaki/murasaki/abstracttask.cpp
+++ b/stm32_development/murasaki/murasaki/abstracttask.cpp
@@ -18,6 +18,8 @@ AbstractTask::AbstractTask(const char * task_name, unsigned short stack_depth, v
 {
     MURASAKI_ASSERT(NULL!= task_name);
     MURASAKI_ASSERT(0 == stack_depth);    // reject only very explict fault.
+    MURASAKI_ASSERT(configMAX_PRIORITIES > priority);   // priority is allowed till configMAX_PRIORITIES - 1
+    MURASAKI_ASSERT(0 < priority);                      // priority 0 is idle task
     task_ = 0;
 }
 
@@ -54,11 +56,12 @@ const char* AbstractTask::GetName()
     return name_;
 }
 
-void AbstractTask::Launch(void* ptr)
+void AbstractTask::Launch(void * ptr)
 {
     MURASAKI_ASSERT(NULL != ptr);
 
-    static_cast<AbstractTask *>(ptr)->TaskBody();
+    AbstractTask * this_ptr = static_cast<AbstractTask *>(ptr);
+    this_ptr->TaskBody(this_ptr->parameter_);
 }
 
 

--- a/stm32_development/murasaki/murasaki/abstracttask.hpp
+++ b/stm32_development/murasaki/murasaki/abstracttask.hpp
@@ -1,10 +1,12 @@
-/*
- * abstracttask.hpp
+/**
+ * @file abstracttask.hpp
  *
- *  Created on: 2018/02/20
- *      Author: takemasa
+ * @date 2018/02/20
+ * @author: takemasa
+ * @brief Mother of All Tasks.
  */
 
+
 #ifndef ABSTRACTTASK_HPP_
 #define ABSTRACTTASK_HPP_
 
@@ -13,25 +15,72 @@
 
 namespace murasaki {
 
+/**
+ * @brief A mother of all tasks.
+ * @details
+ * Encapsulate a FreeRTOS.
+ *
+ * The constructor just stores given parameter internally.
+ * And then, these parameter is passed to a task when Start() member function is called.
+ * Actual task creation is done inside Start().
+ *
+ * The destructor deletes the task.
+ * Releasing thask from all the resources ( ex: semaphore ) before deleting, is the responsibility of the programmer.
+ */
 class AbstractTask
 {
  public:
     AbstractTask() = delete;
+    /**
+     * @brief Constractor. Task entity is not created here.
+     * @param task_name Name of task. Will be passed to task when started.
+     * @param stack_depth [Byte]
+     * @param task_parameter Optional parameter to the task.
+     * @param task_priority Priority of the task. from 1 to up to configMAX_PRIORITIES -1. The high number is the high priority.
+     */
     AbstractTask(const char * task_name, unsigned short stack_depth, void * task_parameter, UBaseType_t task_priority);
+    /**
+     * @brief Destructor
+     */
     virtual ~AbstractTask();
+    /**
+     * @brief Create a task and run it.
+     * @details
+     * A task is created with given parameter to the constructors and then run.
+     */
     void Start();
+    /**
+     * @brief Resume a task from suspended state.
+     */
     void Resume();
+    /**
+     * @brief Put the task into suspend state.
+     */
     void Suspend();
+    /**
+     * @brief Get a name of task.
+     * @return A name of task.
+     */
     const char * GetName();
  protected:
-    TaskHandle_t task_;
-    const char * name_;
-    const unsigned short stack_depth_;
-    const void * parameter_;
-    const UBaseType_t priority_;
+    TaskHandle_t task_;                 // Task handle of FreeRTOS
+    const char * const name_;           // Name of task in FreeRTOS
+    const unsigned short stack_depth_;  // Stack depth specification.
+    void * const parameter_;            // Optional parameter to pass the @ref TaskBody().
+    const UBaseType_t priority_;        //
 
+    /**
+     * @brief Internal use only. Create a task from TaskBody()
+     * @param ptr passing "this" pointer.
+     */
     static void Launch(void * ptr);
-    virtual void TaskBody() = 0;
+    /**
+     * @brief Actual task entitiy. Must be overriden by programmer.
+     * @param ptr Optional parameter to the task body. This ptr is one that is passed by Constructor.
+     * @details
+     * The task body is called only once as task entity.
+     */
+    virtual void TaskBody(const void * ptr) = 0;
 };
 
 } /* namespace murasaki */