kbf/include/kbf/task.h

#ifndef KBF_TASK_H
#define KBF_TASK_H

#include <string>

using std::string;

#include <freertos/FreeRTOS.h>
#include <freertos/task.h>

namespace kbf {
    /**
     * @brief RTOS task handling functions.
     */
    class Task {
    public:
        /**
         * @brief task function type
         */
        typedef void (&TaskFunc)(void *data);

        /**
         * @brief Creates an RTOS task.
         *
         * @param name name of the task; max 16 bytes, see #name
         * @param function function to run
         * @param args arguments to pass to callback; default is nullptr
         */
        Task(string name, TaskFunc function, void *args = nullptr);

        /**
         * @brief Destructor.
         *
         * @note will call stop() if isRunning()
         */
        ~Task();

        /**
         * @brief Deletes the RTOS task.
         */
        void stop();

        /**
         * @brief Returns whether the task is running.
         *
         * @return true if task is running; false otherwise
         */
        [[nodiscard]] bool isRunning() const;

        /**
         * @brief function to be run as a new task
         */
        TaskFunc function;

        /**
         * @brief name of the RTOS task
         *
         * @note RTOS seems to impose a 16-byte limit on task names. If the provided name is longer,
         * it will be silently truncated.
         */
        const string name;

    private:
        bool         running = false;
        TaskHandle_t handle;
        void         *data;

        /**
         * @brief RTOS task callback. Calls the function passed to the ctor then deletes RTOS task.
         *
         * @param pvParameters Task *
         */
        static void task(void *pvParameters);
    };
}

#endif //KBF_TASK_H