From 73f44206914d85d5feeb26b25412101d8fe48295 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Cl=C3=A9ment=20Foucher?= <cfoucher@laas.fr>
Date: Fri, 18 Nov 2022 17:53:23 +0100
Subject: [PATCH] Add a way to suspend asynchronous tasks.
---
.../zephyr/public_api/Scheduling.cpp | 13 ++++++++++++
.../zephyr/public_api/Scheduling.h | 21 +++++++++++++++++++
2 files changed, 34 insertions(+)
diff --git a/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.cpp b/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.cpp
index 8a122a0..692b352 100644
--- a/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.cpp
+++ b/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.cpp
@@ -75,3 +75,16 @@ void Scheduling::startAsynchronousTask(uint8_t task_number)
}
#endif // CONFIG_OWNTECH_SCHEDULING_ENABLE_ASYNCHRONOUS_TASKS
+
+
+// Suspend asynchronous tasks
+
+void Scheduling::suspendCurrentTaskMs(uint32_t duration_ms)
+{
+ k_sleep(K_MSEC(duration_ms));
+}
+
+void Scheduling::suspendCurrentTaskUs(uint32_t duration_us)
+{
+ k_sleep(K_USEC(duration_us));
+}
diff --git a/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.h b/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.h
index eb3be2d..52a6e5f 100644
--- a/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.h
+++ b/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.h
@@ -91,6 +91,27 @@ public:
#endif // CONFIG_OWNTECH_SCHEDULING_ENABLE_ASYNCHRONOUS_TASKS
+ /**
+ * @brief This function allows to suspend an asynchronous
+ * task for a specified duration expressed in milliseconds.
+ * For example, you can call this function at the end of an
+ * asynchronous task main function, when there is no need
+ * for the task to run permanently.
+ *
+ * DO NOT use this function in a synchronous task!
+ */
+ void suspendCurrentTaskMs(uint32_t duration_ms);
+
+ /**
+ * @brief This function allows to suspend an asynchronous
+ * task for a specified duration expressed in microseconds.
+ * For example, you can call this function at the end of an
+ * asynchronous task main function, when there is no need
+ * for the task to run permanently.
+ *
+ * DO NOT use this function in a synchronous task!
+ */
+ void suspendCurrentTaskUs(uint32_t duration_us);
private:
static const int DEFAULT_PRIORITY;
--
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