FreeRtos.hpp

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#pragma once
 
#include <utility>
#include "corium/policies/QueuePolicies.hpp"
 
#if defined(FREERTOS) || defined(INC_FREERTOS_H) || defined(ESP_PLATFORM) || defined(ARDUINO_ARCH_ESP32)
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
#define CORIUM_HAS_FREERTOS_INCLUDES 1
#else
// Mock definitions for host build and desktop testing
using BaseType_t = long;
#define pdTRUE 1
#define pdFALSE 0
#define portYIELD_FROM_ISR(x) ((void)(x))
#endif
 
namespace corium::embedded {
 
template <typename EventSinkType>
class FreeRtosIsrSink {
public:
    constexpr FreeRtosIsrSink() noexcept = default;
 
    constexpr explicit FreeRtosIsrSink(EventSinkType sink) noexcept
        : _sink(sink)
    {}
 
    template <typename Event>
    void postFromIsr(Event&& event, BaseType_t* pxHigherPriorityTaskWoken = nullptr, EventPriority priority = EventPriority::Normal) noexcept
    {
        _sink.post(std::forward<Event>(event), priority);
        if (pxHigherPriorityTaskWoken) {
            *pxHigherPriorityTaskWoken = pdTRUE;
        }
    }
 
    template <typename Event>
    void postHighPriorityFromIsr(Event&& event, BaseType_t* pxHigherPriorityTaskWoken = nullptr) noexcept
    {
        _sink.postHighPriority(std::forward<Event>(event));
        if (pxHigherPriorityTaskWoken) {
            *pxHigherPriorityTaskWoken = pdTRUE;
        }
    }
 
    static void yieldFromIsr(BaseType_t xHigherPriorityTaskWoken) noexcept
    {
        if (xHigherPriorityTaskWoken == pdTRUE) {
            portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
        }
    }
 
    [[nodiscard]] constexpr EventSinkType& sink() noexcept { return _sink; }
    [[nodiscard]] constexpr const EventSinkType& sink() const noexcept { return _sink; }
 
private:
    EventSinkType _sink{};
};
 
template <typename EventSinkType>
[[nodiscard]] constexpr auto makeFreeRtosIsrSink(EventSinkType sink) noexcept
{
    return FreeRtosIsrSink<EventSinkType>(sink);
}
 
} // namespace corium::embedded