Module task 

FreeRTOS task creation and management.

Any method of creating a task will return a TaskHandle. This handle can be used to control the task. A handle to the current task can be obtained with current.

Tasks can be created with the spawn function or, for more control, with a task Builder.

Example

use pros::task::{spawn, TaskPriority};
spawn(|| {
   println!("Hello from a task!");
});

Task locals can be created with the os_task_local! macro. See the local module for more info on the custom task local implementation used.

Modules

local

A custom TLS implementation that allows for more than 5 entries in TLS.

Structs

Builder

An ergonomic builder for tasks. Alternatively you can use spawn.

Interval

An interval that can be used to repeatedly run code at a given rate.

SchedulerSuspendGuard

A guard that can be used to suspend the FreeRTOS scheduler. When dropped, the scheduler will be resumed.

TaskHandle

An owned permission to perform actions on a task.

Enums

SpawnError

Errors that can occur when spawning a task.

TaskPriority

Represents how much time the cpu should spend on this task. (Otherwise known as the priority)

TaskStackDepth

Represents how large of a stack the task should get. Tasks that don’t have any or many variables and/or don’t need floats can use the low stack depth option.

TaskState

Represents the current state of a task.

Functions

current

Returns the task the function was called from.

delay

Blocks the current FreeRTOS task for the given amount of time.

get_notification

Gets the first notification in the queue. If there is none, blocks until a notification is received. I am unsure what happens if the thread is unblocked while waiting. returns the value of the notification

spawn

Creates a task to be run ‘asynchronously’ (More information at the FreeRTOS docs). Takes in a closure that can move variables if needed. If your task has a loop it is advised to use delay so that the task does not take up necessary system resources. Tasks should be long-living; starting many tasks can be slow and is usually not necessary.

suspend_all^⚠

Suspends the scheduler, preventing context switches. No other tasks will be run until the returned guard is dropped.