Class HsmEventDispatcherFreeRTOS

• Defined in File HsmEventDispatcherFreeRTOS.hpp

Inheritance Relationships

Base Type

• public hsmcpp::HsmEventDispatcherBase (Class HsmEventDispatcherBase)

Class Documentation

class HsmEventDispatcherFreeRTOS : public hsmcpp::HsmEventDispatcherBase

HsmEventDispatcherFreeRTOS provides dispatcher implementation for FreeRTOS platform.

Events dispatching is done using a custom Task. See HsmEventDispatcherFreeRTOS for details.

Warning

Dispatcher methods should be called only from Tasks. Dispatcher instance should never be deleted from an ISR.

Public Functions

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virtual void emitEvent(const HandlerID_t handlerID) override

See IHsmEventDispatcher::emitEvent()

Concurrency

thread-safe

Only for systems with single core CPU

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virtual bool start() override

See IHsmEventDispatcher::start()

Not Thread Safe

Thread safety is not required by HierarchicalStateMachine::initialize() which uses this API.

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virtual void stop()

Stop dispatching events.

Future calls to dispatchEvents() will have no effect.

Wakes up dispatcher Task and instructs it to stop. Has no effect if Task is not running.

Remark

Operation is performed asynchronously. It does not interrupt currently handled event, but will cancel all other pending events.

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void join()

Blocks current thread until dispatcher is stopped.

Make sure you call stop() before destroying dispatcher object if you use join() API. Failing to do so will result in an undefined behaviour.

Public Static Functions

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static std::shared_ptr<HsmEventDispatcherFreeRTOS> create(const configSTACK_DEPTH_TYPE stackDepth = configMINIMAL_STACK_SIZE, const UBaseType_t priority = tskIDLE_PRIORITY, const size_t eventsCacheSize = (10))

Create dispatcher instance.

Parameters

• stackDepth – The number of words (not bytes!) to allocate for use as the task’s stack. For example, if the stack is 16-bits wide and usStackDepth is 100, then 200 bytes will be allocated for use as the task’s stack. As another example, if the stack is 32-bits wide and usStackDepth is 400 then 1600 bytes will be allocated for use as the task’s stack. The stack depth multiplied by the stack width must not exceed the maximum value that can be contained in a variable of type size_t.

• priority – The priority at which the created task will execute. Systems that include MPU support can optionally create a task in a privileged (system) mode by setting the bit portPRIVILEGE_BIT in uxPriority. For example, to create a privileged task at priority 2 set uxPriority to ( 2 | portPRIVILEGE_BIT ). Priorities are asserted to be less than configMAX_PRIORITIES. If configASSERT is undefined, priorities are silently capped at (configMAX_PRIORITIES - 1).

• eventsCacheSize – size of the queue preallocated for delayed events

Returns

New dispatcher instance.