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/*
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FreeRTOS V8.1.2 - Copyright (C) 2014 Real Time Engineers Ltd.
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All rights reserved
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VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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***************************************************************************
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* *
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* FreeRTOS provides completely free yet professionally developed, *
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* robust, strictly quality controlled, supported, and cross *
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* platform software that has become a de facto standard. *
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* *
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* Help yourself get started quickly and support the FreeRTOS *
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* project by purchasing a FreeRTOS tutorial book, reference *
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* manual, or both from: http://www.FreeRTOS.org/Documentation *
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* *
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* Thank you! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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>>! NOTE: The modification to the GPL is included to allow you to !<<
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>>! distribute a combined work that includes FreeRTOS without being !<<
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>>! obliged to provide the source code for proprietary components !<<
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>>! outside of the FreeRTOS kernel. !<<
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. Full license text is available from the following
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link: http://www.freertos.org/a00114.html
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1 tab == 4 spaces!
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***************************************************************************
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* *
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* Having a problem? Start by reading the FAQ "My application does *
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* not run, what could be wrong?" *
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* *
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* http://www.FreeRTOS.org/FAQHelp.html *
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* *
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***************************************************************************
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http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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license and Real Time Engineers Ltd. contact details.
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http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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compatible FAT file system, and our tiny thread aware UDP/IP stack.
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http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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licenses offer ticketed support, indemnification and middleware.
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http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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engineered and independently SIL3 certified version for use in safety and
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mission critical applications that require provable dependability.
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1 tab == 4 spaces!
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*/
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/**
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* Create a single persistent task which periodically dynamically creates another
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* two tasks. The original task is called the creator task, the two tasks it
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* creates are called suicidal tasks.
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*
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* One of the created suicidal tasks kill one other suicidal task before killing
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* itself - leaving just the original task remaining.
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*
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* The creator task must be spawned after all of the other demo application tasks
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* as it keeps a check on the number of tasks under the scheduler control. The
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* number of tasks it expects to see running should never be greater than the
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* number of tasks that were in existence when the creator task was spawned, plus
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* one set of four suicidal tasks. If this number is exceeded an error is flagged.
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*
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* \page DeathC death.c
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* \ingroup DemoFiles
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* <HR>
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*/
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#include <stdlib.h>
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/* Scheduler include files. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Demo program include files. */
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#include "death.h"
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#define deathSTACK_SIZE ( configMINIMAL_STACK_SIZE + 60 )
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/* The task originally created which is responsible for periodically dynamically
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creating another four tasks. */
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static portTASK_FUNCTION_PROTO( vCreateTasks, pvParameters );
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/* The task function of the dynamically created tasks. */
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static portTASK_FUNCTION_PROTO( vSuicidalTask, pvParameters );
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/* A variable which is incremented every time the dynamic tasks are created. This
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is used to check that the task is still running. */
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static volatile uint16_t usCreationCount = 0;
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/* Used to store the number of tasks that were originally running so the creator
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task can tell if any of the suicidal tasks have failed to die.
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*/
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static volatile UBaseType_t uxTasksRunningAtStart = 0;
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/* Tasks are deleted by the idle task. Under heavy load the idle task might
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not get much processing time, so it would be legitimate for several tasks to
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remain undeleted for a short period. */
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static const UBaseType_t uxMaxNumberOfExtraTasksRunning = 3;
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/* Used to store a handle to the task that should be killed by a suicidal task,
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before it kills itself. */
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TaskHandle_t xCreatedTask;
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/*-----------------------------------------------------------*/
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void vCreateSuicidalTasks( UBaseType_t uxPriority )
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{
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UBaseType_t *puxPriority;
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/* Create the Creator tasks - passing in as a parameter the priority at which
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the suicidal tasks should be created. */
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puxPriority = ( UBaseType_t * ) pvPortMalloc( sizeof( UBaseType_t ) );
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*puxPriority = uxPriority;
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xTaskCreate( vCreateTasks, "CREATOR", deathSTACK_SIZE, ( void * ) puxPriority, uxPriority, NULL );
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/* Record the number of tasks that are running now so we know if any of the
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suicidal tasks have failed to be killed. */
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uxTasksRunningAtStart = ( UBaseType_t ) uxTaskGetNumberOfTasks();
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/* FreeRTOS.org versions before V3.0 started the idle-task as the very
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first task. The idle task was then already included in uxTasksRunningAtStart.
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From FreeRTOS V3.0 on, the idle task is started when the scheduler is
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started. Therefore the idle task is not yet accounted for. We correct
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this by increasing uxTasksRunningAtStart by 1. */
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uxTasksRunningAtStart++;
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/* From FreeRTOS version 7.0.0 can optionally create a timer service task.
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If this is done, then uxTasksRunningAtStart needs incrementing again as that
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too is created when the scheduler is started. */
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#if configUSE_TIMERS == 1
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uxTasksRunningAtStart++;
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#endif
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}
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/*-----------------------------------------------------------*/
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static portTASK_FUNCTION( vSuicidalTask, pvParameters )
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{
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volatile long l1, l2;
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TaskHandle_t xTaskToKill;
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const TickType_t xDelay = ( TickType_t ) 200 / portTICK_PERIOD_MS;
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if( pvParameters != NULL )
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{
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/* This task is periodically created four times. Two created tasks are
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passed a handle to the other task so it can kill it before killing itself.
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The other task is passed in null. */
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xTaskToKill = *( TaskHandle_t* )pvParameters;
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}
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else
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{
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xTaskToKill = NULL;
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}
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for( ;; )
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{
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/* Do something random just to use some stack and registers. */
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l1 = 2;
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l2 = 89;
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l2 *= l1;
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vTaskDelay( xDelay );
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if( xTaskToKill != NULL )
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{
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/* Make sure the other task has a go before we delete it. */
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vTaskDelay( ( TickType_t ) 0 );
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/* Kill the other task that was created by vCreateTasks(). */
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vTaskDelete( xTaskToKill );
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/* Kill ourselves. */
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vTaskDelete( NULL );
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}
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}
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}/*lint !e818 !e550 Function prototype must be as per standard for task functions. */
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/*-----------------------------------------------------------*/
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static portTASK_FUNCTION( vCreateTasks, pvParameters )
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{
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const TickType_t xDelay = ( TickType_t ) 1000 / portTICK_PERIOD_MS;
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UBaseType_t uxPriority;
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uxPriority = *( UBaseType_t * ) pvParameters;
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vPortFree( pvParameters );
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for( ;; )
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{
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/* Just loop round, delaying then creating the four suicidal tasks. */
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vTaskDelay( xDelay );
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xCreatedTask = NULL;
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xTaskCreate( vSuicidalTask, "SUICID1", configMINIMAL_STACK_SIZE, NULL, uxPriority, &xCreatedTask );
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xTaskCreate( vSuicidalTask, "SUICID2", configMINIMAL_STACK_SIZE, &xCreatedTask, uxPriority, NULL );
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++usCreationCount;
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}
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}
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/*-----------------------------------------------------------*/
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/* This is called to check that the creator task is still running and that there
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are not any more than four extra tasks. */
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BaseType_t xIsCreateTaskStillRunning( void )
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{
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static uint16_t usLastCreationCount = 0xfff;
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BaseType_t xReturn = pdTRUE;
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static UBaseType_t uxTasksRunningNow;
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if( usLastCreationCount == usCreationCount )
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{
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xReturn = pdFALSE;
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}
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else
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{
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usLastCreationCount = usCreationCount;
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}
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uxTasksRunningNow = ( UBaseType_t ) uxTaskGetNumberOfTasks();
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if( uxTasksRunningNow < uxTasksRunningAtStart )
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{
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xReturn = pdFALSE;
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}
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else if( ( uxTasksRunningNow - uxTasksRunningAtStart ) > uxMaxNumberOfExtraTasksRunning )
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{
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xReturn = pdFALSE;
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}
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else
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{
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/* Everything is okay. */
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}
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return xReturn;
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}
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