rtos.h

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#ifndef _PROS_RTOS_H_
#define _PROS_RTOS_H_
 
#include <stdbool.h>
#include <stdint.h>
 
#ifdef __cplusplus
extern "C" {
namespace pros {
#endif




#define TASK_PRIORITY_MAX 16

#define TASK_PRIORITY_MIN 1

#define TASK_PRIORITY_DEFAULT 8

#define TASK_STACK_DEPTH_DEFAULT 0x2000

#define TASK_STACK_DEPTH_MIN 0x200

#define TASK_NAME_MAX_LEN 32

#define TIMEOUT_MAX ((uint32_t)0xffffffffUL)



typedef void* task_t;

typedef void (*task_fn_t)(void*);

 


typedef enum {
    E_TASK_STATE_RUNNING = 0, 
    E_TASK_STATE_READY, 
    E_TASK_STATE_BLOCKED, 
    E_TASK_STATE_SUSPENDED, 
    E_TASK_STATE_DELETED, 
    E_TASK_STATE_INVALID 
} task_state_e_t;

typedef enum {
    E_NOTIFY_ACTION_NONE, 
    E_NOTIFY_ACTION_BITS, 
    E_NOTIFY_ACTION_INCR, 
    E_NOTIFY_ACTION_OWRITE, 
    E_NOTIFY_ACTION_NO_OWRITE 
} notify_action_e_t;


 
#ifdef PROS_USE_SIMPLE_NAMES
#ifdef __cplusplus
#define TASK_STATE_RUNNING pros::E_TASK_STATE_RUNNING
#define TASK_STATE_READY pros::E_TASK_STATE_READY
#define TASK_STATE_BLOCKED pros::E_TASK_STATE_BLOCKED
#define TASK_STATE_SUSPENDED pros::E_TASK_STATE_SUSPENDED
#define TASK_STATE_DELETED pros::E_TASK_STATE_DELETED
#define TASK_STATE_INVALID pros::E_TASK_STATE_INVALID
#define NOTIFY_ACTION_NONE pros::E_NOTIFY_ACTION_NONE
#define NOTIFY_ACTION_BITS pros::E_NOTIFY_ACTION_BITS
#define NOTIFY_ACTION_INCR pros::E_NOTIFY_ACTION_INCR
#define NOTIFY_ACTION_OWRITE pros::E_NOTIFY_ACTION_OWRITE
#define NOTIFY_ACTION_NO_OWRITE pros::E_NOTIFY_ACTION_NO_OWRITE
#else
#define TASK_STATE_RUNNING E_TASK_STATE_RUNNING
#define TASK_STATE_READY E_TASK_STATE_READY
#define TASK_STATE_BLOCKED E_TASK_STATE_BLOCKED
#define TASK_STATE_SUSPENDED E_TASK_STATE_SUSPENDED
#define TASK_STATE_DELETED E_TASK_STATE_DELETED
#define TASK_STATE_INVALID E_TASK_STATE_INVALID
#define NOTIFY_ACTION_NONE E_NOTIFY_ACTION_NONE
#define NOTIFY_ACTION_BITS E_NOTIFY_ACTION_BITS
#define NOTIFY_ACTION_INCR E_NOTIFY_ACTION_INCR
#define NOTIFY_ACTION_OWRITE E_NOTIFY_ACTION_OWRITE
#define NOTIFY_ACTION_NO_OWRITE E_NOTIFY_ACTION_NO_OWRITE
#endif
#endif



typedef void* mutex_t;


#ifdef __cplusplus
#define CURRENT_TASK ((pros::task_t)NULL)
#else
#define CURRENT_TASK ((task_t)NULL)
#endif

 
#ifdef __cplusplus
namespace c {
#endif


uint32_t millis(void);

uint64_t micros(void);

task_t task_create(task_fn_t function, void* const parameters, uint32_t prio, const uint16_t stack_depth,
                   const char* const name);

void task_delete(task_t task);

void task_delay(const uint32_t milliseconds);

void delay(const uint32_t milliseconds);

void task_delay_until(uint32_t* const prev_time, const uint32_t delta);

uint32_t task_get_priority(task_t task);

void task_set_priority(task_t task, uint32_t prio);

task_state_e_t task_get_state(task_t task);

void task_suspend(task_t task);

void task_resume(task_t task);

uint32_t task_get_count(void);

char* task_get_name(task_t task);

task_t task_get_by_name(const char* name);

task_t task_get_current();

uint32_t task_notify(task_t task);

void task_join(task_t task);

uint32_t task_notify_ext(task_t task, uint32_t value, notify_action_e_t action, uint32_t* prev_value);

uint32_t task_notify_take(bool clear_on_exit, uint32_t timeout);

bool task_notify_clear(task_t task);

mutex_t mutex_create(void);

bool mutex_take(mutex_t mutex, uint32_t timeout);

bool mutex_give(mutex_t mutex);

mutex_t mutex_recursive_create(void);

bool mutex_recursive_take(mutex_t mutex, uint32_t timeout);

bool mutex_recursive_give(mutex_t mutex);

void mutex_delete(mutex_t mutex);

 
#ifdef __cplusplus
}  // namespace c
}  // namespace pros
}
#endif
 
#endif  // _PROS_RTOS_H_