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Remove any TCP/IP functionality from the task pool demo - the TCP/IP stack is still built as it will be used in later revisions.

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Richard Barry 2019-07-14 23:33:05 +00:00
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FreeRTOS-Plus/Demo/FreeRTOS_Plus_IoT_SDK/task_pool/DemoTasks/SimpleTaskPoolExamples.c Normal file
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/*
* FreeRTOS Kernel V10.2.1
* Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* http://www.FreeRTOS.org
* http://aws.amazon.com/freertos
*
* 1 tab == 4 spaces!
*/
//_RB_ Add link to docs here.
/* Kernel includes. */
#include "FreeRTOS.h"
#include "task.h"
/* Standard includes. */
#include <stdio.h>
/* IoT SDK includes. */
#include "iot_taskpool.h"
/* The priority at which that tasks in the task pool (the worker tasks) get
created. */
#define tpTASK_POOL_WORKER_PRIORITY 1
/* The number of jobs created in the example functions that create more than
one job. */
#define tpJOBS_TO_CREATE 5
/*
* Prototypes for the functions that demonstrate the task pool API.
* See the implementation of the prvTaskPoolDemoTask() function within this file
* for a description of the individual functions. A configASSERT() is hit if
* any of the demos encounter any unexpected behaviour.
*/
static void prvExample_BasicSingleJob( void );
static void prvExample_DeferredSingleJob( void );
static void prvExample_BasicRecyclableJob( void );
static void prvExample_ReuseRecyclableJobFromLowPriorityTask( void );
static void prvExample_ReuseRecyclableJobFromHighPriorityTask( void );
/*
* Prototypes of the callback functions used in the examples. The callback
* simply sends a signal (in the form of a direct task notification) to the
* prvTaskPoolDemoTask() task to let the task know that the callback execute.
* The handle of the prvTaskPoolDemoTask() task is not accessed directly, but
* instead passed into the task pool job as the job's context.
*/
static void prvSimpleTaskNotifyCallback( IotTaskPool_t pTaskPool, IotTaskPoolJob_t pJob, void *pUserContext );
/*
* The task used to demonstrate the task pool API. This task just loops through
* each demo in turn.
*/
static void prvTaskPoolDemoTask( void *pvParameters );
/*-----------------------------------------------------------*/
/* Parameters used to create the system task pool - see TBD for more information
as the task pool used in this example is a slimmed down version of the full
library - the slimmed down version being intended specifically for FreeRTOS
kernel use cases. */
static const IotTaskPoolInfo_t xTaskPoolParameters = {
/* Minimum number of threads in a task pool.
Note the slimmed down version of the task
pool used by this library does not autoscale
the number of tasks in the pool so in this
case this sets the number of tasks in the
pool. */
2,
/* Maximum number of threads in a task pool.
Note the slimmed down version of the task
pool used by this library does not autoscale
the number of tasks in the pool so in this
case this parameter is just ignored. */
2,
/* Stack size for every task pool thread - in
bytes, hence multiplying by the number of bytes
in a word as configMINIMAL_STACK_SIZE is
specified in words. */
configMINIMAL_STACK_SIZE * sizeof( portSTACK_TYPE ),
/* Priority for every task pool thread. */
tpTASK_POOL_WORKER_PRIORITY,
};
/*-----------------------------------------------------------*/
void vStartSimpleTaskPoolDemo( void )
{
/* This example uses a single application task, which in turn is used to
create and send jobs to task pool tasks. */
xTaskCreate( prvTaskPoolDemoTask, /* Function that implements the task. */
"PoolDemo", /* Text name for the task - only used for debugging. */
configMINIMAL_STACK_SIZE, /* Size of stack (in words, not bytes) to allocate for the task. */
NULL, /* Task parameter - not used in this case. */
tskIDLE_PRIORITY, /* Task priority, must be between 0 and configMAX_PRIORITIES - 1. */
NULL ); /* Used to pass out a handle to the created tsak - not used in this case. */
}
/*-----------------------------------------------------------*/
static void prvTaskPoolDemoTask( void *pvParameters )
{
IotTaskPoolError_t xResult;
uint32_t ulLoops = 0;
/* Remove compiler warnings about unused parameters. */
( void ) pvParameters;
/* The task pool must be created before it can be used. The system task
pool is the task pool managed by the task pool library itself - the storage
used by the task pool is provided by the library. */
xResult = IotTaskPool_CreateSystemTaskPool( &xTaskPoolParameters );
configASSERT( xResult == IOT_TASKPOOL_SUCCESS );
/* Attempting to create the task pool again should then appear to succeed
(in case it is initialised by more than one library), but have no effect. */
xResult = IotTaskPool_CreateSystemTaskPool( &xTaskPoolParameters );
configASSERT( xResult == IOT_TASKPOOL_SUCCESS );
for( ;; )
{
/* Demonstrate the most basic use case where a non persistent job is
created and scheduled to run immediately. The task pool worker tasks
(in which the job callback function executes) have a priority above the
priority of this task so the job's callback executes as soon as it is
scheduled. */
prvExample_BasicSingleJob();
/* Demonstrate a job being scheduled to run at some time in the
future, and how a job scheduled to run in the future can be cancelled if
it has not yet started executing. */
prvExample_DeferredSingleJob();
/* Demonstrate the most basic use of a recyclable job. This is similar
to prvExample_BasicSingleJob() but using a recyclable job. Creating a
recyclable job will re-use a previously created and now spare job from
the task pool's job cache if one is available, or otherwise dynamically
create a new job if a spare job is not available in the cache but space
remains in the cache. */
prvExample_BasicRecyclableJob();
/* Demonstrate multiple recyclable jobs being created, used, and then
re-used. In this the task pool worker tasks (in which the job callback
functions execute) have a priority above the priority of this task so
the job's callback functions execute as soon as they are scheduled. */
prvExample_ReuseRecyclableJobFromLowPriorityTask();
/* Again demonstrate multiple recyclable jobs being used, but this time
the priority of the task pool worker tasks (in which the job callback
functions execute) are lower than the priority of this task so the job's
callback functions don't execute until this task enteres the blocked
state. */
prvExample_ReuseRecyclableJobFromHighPriorityTask();
ulLoops++;
if( ( ulLoops % 10UL ) == 0 )
{
printf( "prvTaskPoolDemoTask() performed %u iterations without hitting an assert.\r\n", ulLoops );
fflush( stdout );
}
}
}
/*-----------------------------------------------------------*/
static void prvSimpleTaskNotifyCallback( IotTaskPool_t pTaskPool, IotTaskPoolJob_t pJob, void *pUserContext )
{
TaskHandle_t xTaskToNotify = ( TaskHandle_t ) pUserContext;
/* Remove warnings about unused parameters. */
( void ) pTaskPool;
( void ) pJob;
/* Notify the task that created this job. */
xTaskNotifyGive( xTaskToNotify );
}
/*-----------------------------------------------------------*/
static void prvExample_BasicSingleJob( void )
{
IotTaskPoolJobStorage_t xJobStorage;
IotTaskPoolJob_t xJob;
IotTaskPoolError_t xResult;
uint32_t ulReturn;
const uint32_t ulNoFlags = 0UL;
const TickType_t xNoDelay = ( TickType_t ) 0;
size_t xFreeHeapBeforeCreatingJob = xPortGetFreeHeapSize();
IotTaskPoolJobStatus_t xJobStatus;
/* Don't expect any notifications to be pending yet. */
configASSERT( ulTaskNotifyTake( pdTRUE, 0 ) == 0 );
/* Create and schedule a job using the handle of this task as the job's
context and the function that sends a notification to the task handle as
the jobs callback function. This is not a recyclable job so the storage
required to hold information about the job is provided by this task - in
this case the storage is on the stack of this task so no memory is allocated
dynamically but the stack frame must remain in scope for the lifetime of
the job. */
xResult = IotTaskPool_CreateJob( prvSimpleTaskNotifyCallback, /* Callback function. */
( void * ) xTaskGetCurrentTaskHandle(), /* Job context. */
&xJobStorage,
&xJob );
configASSERT( xResult == IOT_TASKPOOL_SUCCESS );
/* The job has been created but not scheduled so is now ready. */
IotTaskPool_GetStatus( NULL, xJob, &xJobStatus );
configASSERT( xJobStatus == IOT_TASKPOOL_STATUS_READY );
/* This is not a persistent (recyclable) job and its storage is on the
stack of this function, so the amount of heap space available should not
have chanced since entering this function. */
configASSERT( xFreeHeapBeforeCreatingJob == xPortGetFreeHeapSize() );
/* In the full task pool implementation the first parameter is used to
pass the handle of the task pool to schedule. The lean task pool
implementation used in this demo only supports a single task pool, which
is created internally within the library, so the first parameter is NULL. */
xResult = IotTaskPool_Schedule( NULL, xJob, ulNoFlags );
configASSERT( xResult == IOT_TASKPOOL_SUCCESS );
/* Look for the notification coming from the job's callback function. The
priority of the task pool worker task that executes the callback is higher
than the priority of this task so a block time is not needed - the task pool
worker task pre-empts this task and sends the notification (from the job's
callback) as soon as the job is scheduled. */
ulReturn = ulTaskNotifyTake( pdTRUE, xNoDelay );
configASSERT( ulReturn );
/* The job's callback has executed so the job has now completed. */
IotTaskPool_GetStatus( NULL, xJob, &xJobStatus );
configASSERT( xJobStatus == IOT_TASKPOOL_STATUS_COMPLETED );
}
/*-----------------------------------------------------------*/
static void prvExample_DeferredSingleJob( void )
{
IotTaskPoolJobStorage_t xJobStorage;
IotTaskPoolJob_t xJob;
IotTaskPoolError_t xResult;
uint32_t ulReturn;
const uint32_t ulShortDelay_ms = 100UL;
const TickType_t xNoDelay = ( TickType_t ) 0, xAllowableMargin = ( TickType_t ) 5; /* Large margin for Windows port, which is not real time. */
TickType_t xTimeBefore, xElapsedTime, xShortDelay_ticks;
size_t xFreeHeapBeforeCreatingJob = xPortGetFreeHeapSize();
IotTaskPoolJobStatus_t xJobStatus;
/* Don't expect any notifications to be pending yet. */
configASSERT( ulTaskNotifyTake( pdTRUE, 0 ) == 0 );
/* Create a job using the handle of this task as the job's context and the
function that sends a notification to the task handle as the jobs callback
function. The job is created using storage allocated on the stack of this
function - so no memory is allocated. */
xResult = IotTaskPool_CreateJob( prvSimpleTaskNotifyCallback, /* Callback function. */
( void * ) xTaskGetCurrentTaskHandle(), /* Job context. */
&xJobStorage,
&xJob );
configASSERT( xResult == IOT_TASKPOOL_SUCCESS );
/* The job has been created but not scheduled so is now ready. */
IotTaskPool_GetStatus( NULL, xJob, &xJobStatus );
configASSERT( xJobStatus == IOT_TASKPOOL_STATUS_READY );
/* This is not a persistent (recyclable) job and its storage is on the
stack of this function, so the amount of heap space available should not
have chanced since entering this function. */
configASSERT( xFreeHeapBeforeCreatingJob == xPortGetFreeHeapSize() );
/* Schedule the job to run its callback in xShortDelay_ms milliseconds time.
In the full task pool implementation the first parameter is used to pass the
handle of the task pool to schedule. The lean task pool implementation used
in this demo only supports a single task pool, which is created internally
within the library, so the first parameter is NULL. */
xResult = IotTaskPool_ScheduleDeferred( NULL, xJob, ulShortDelay_ms );
configASSERT( xResult == IOT_TASKPOOL_SUCCESS );
/* The scheduled job should not have executed yet, so don't expect any
notifications and expect the job's status to be 'deferred'. */
ulReturn = ulTaskNotifyTake( pdTRUE, xNoDelay );
configASSERT( ulReturn == 0 );
IotTaskPool_GetStatus( NULL, xJob, &xJobStatus );
configASSERT( xJobStatus == IOT_TASKPOOL_STATUS_DEFERRED );
/* As the job has not yet been executed it can be stopped. */
xResult = IotTaskPool_TryCancel( NULL, xJob, &xJobStatus );
configASSERT( xResult == IOT_TASKPOOL_SUCCESS );
IotTaskPool_GetStatus( NULL, xJob, &xJobStatus );
configASSERT( xJobStatus == IOT_TASKPOOL_STATUS_CANCELED );
/* Schedule the job again, and this time wait until its callback is
executed (the callback function sends a notification to this task) to see
that it executes at the right time. */
xTimeBefore = xTaskGetTickCount();
xResult = IotTaskPool_ScheduleDeferred( NULL, xJob, ulShortDelay_ms );
configASSERT( xResult == IOT_TASKPOOL_SUCCESS );
/* Wait twice the deferred execution time to ensure the callback is executed
before the call below times out. */
ulReturn = ulTaskNotifyTake( pdTRUE, pdMS_TO_TICKS( ulShortDelay_ms * 2UL ) );
xElapsedTime = xTaskGetTickCount() - xTimeBefore;
/* A single notification should not have been received... */
configASSERT( ulReturn == 1 );
/* ...and the time since scheduling the job should be greater than or
equal to the deferred execution time - which is converted to ticks for
comparison. */
xShortDelay_ticks = pdMS_TO_TICKS( ulShortDelay_ms );
configASSERT( ( xElapsedTime >= xShortDelay_ticks ) && ( xElapsedTime < ( xShortDelay_ticks + xAllowableMargin ) ) );
}
/*-----------------------------------------------------------*/
static void prvExample_BasicRecyclableJob( void )
{
IotTaskPoolJob_t xJob;
IotTaskPoolError_t xResult;
uint32_t ulReturn;
const uint32_t ulNoFlags = 0UL;
const TickType_t xNoDelay = ( TickType_t ) 0;
size_t xFreeHeapBeforeCreatingJob = xPortGetFreeHeapSize();
/* Don't expect any notifications to be pending yet. */
configASSERT( ulTaskNotifyTake( pdTRUE, 0 ) == 0 );
/* Create and schedule a job using the handle of this task as the job's
context and the function that sends a notification to the task handle as
the jobs callback function. The job is created as a recyclable job and in
this case the memory used to hold the job status is allocated inside the
create function. As the job is persistent it can be used multiple times,
as demonstrated in other examples within this demo. In the full task pool
implementation the first parameter is used to pass the handle of the task
pool this recyclable job is to be associated with. In the lean
implementation of the task pool used by this demo there is only one task
pool (the system task pool created within the task pool library) so the
first parameter is NULL. */
xResult = IotTaskPool_CreateRecyclableJob( NULL,
prvSimpleTaskNotifyCallback,
(void * ) xTaskGetCurrentTaskHandle(),
&xJob );
configASSERT( xResult == IOT_TASKPOOL_SUCCESS );
/* This recyclable job is persistent, and in this case created dynamically,
so expect there to be less heap space then when entering the function. */
configASSERT( xPortGetFreeHeapSize() < xFreeHeapBeforeCreatingJob );
/* In the full task pool implementation the first parameter is used to
pass the handle of the task pool to schedule. The lean task pool
implementation used in this demo only supports a single task pool, which
is created internally within the library, so the first parameter is NULL. */
xResult = IotTaskPool_Schedule( NULL, xJob, ulNoFlags );
configASSERT( xResult == IOT_TASKPOOL_SUCCESS );
/* Look for the notification coming from the job's callback function. The
priority of the task pool worker task that executes the callback is higher
than the priority of this task so a block time is not needed - the task pool
worker task pre-empts this task and sends the notification (from the job's
callback) as soon as the job is scheduled. */
ulReturn = ulTaskNotifyTake( pdTRUE, xNoDelay );
configASSERT( ulReturn );
/* Clean up recyclable job. In the full implementation of the task pool
the first parameter is used to pass a handle to the task pool the job is
associated with. In the lean implementation of the task pool used by this
demo there is only one task pool (the system task pool created in the
task pool library itself) so the first parameter is NULL. */
IotTaskPool_DestroyRecyclableJob( NULL, xJob );
/* Once the job has been deleted the memory used to hold the job is
returned, so the available heap should be exactly as when entering this
function. */
configASSERT( xPortGetFreeHeapSize() == xFreeHeapBeforeCreatingJob );
}
/*-----------------------------------------------------------*/
static void prvExample_ReuseRecyclableJobFromLowPriorityTask( void )
{
IotTaskPoolError_t xResult;
uint32_t x, xIndex, ulNotificationValue;
const uint32_t ulNoFlags = 0UL;
IotTaskPoolJob_t xJobs[ tpJOBS_TO_CREATE ];
size_t xFreeHeapBeforeCreatingJob = xPortGetFreeHeapSize();
IotTaskPoolJobStatus_t xJobStatus;
/* Don't expect any notifications to be pending yet. */
configASSERT( ulTaskNotifyTake( pdTRUE, 0 ) == 0 );
/* Create tpJOBS_TO_CREATE jobs using the handle of this task as the job's
context and the function that sends a notification to the task handle as
the jobs callback function. The jobs are created as a recyclable job and
in this case the memory to store the job information is allocated within
the create function as at this time there are no recyclable jobs in the
task pool jobs cache. As the jobs are persistent they can be used multiple
times. In the full task pool implementation the first parameter is used to
pass the handle of the task pool this recyclable job is to be associated
with. In the lean implementation of the task pool used by this demo there
is only one task pool (the system task pool created within the task pool
library) so the first parameter is NULL. */
for( x = 0; x < tpJOBS_TO_CREATE; x++ )
{
xResult = IotTaskPool_CreateRecyclableJob( NULL,
prvSimpleTaskNotifyCallback,
(void * ) xTaskGetCurrentTaskHandle(),
&( xJobs[ x ] ) );
configASSERT( xResult == IOT_TASKPOOL_SUCCESS );
/* The job has been created but not scheduled so is now ready. */
IotTaskPool_GetStatus( NULL, xJobs[ x ], &xJobStatus );
configASSERT( xJobStatus == IOT_TASKPOOL_STATUS_READY );
}
/* Demonstrate that the jobs can be recycled by performing twice the number
of iterations of scheduling jobs than there actually are created jobs. This
works because the task pool task priorities are above the priority of this
task, so the tasks that run the jobs pre-empt this task as soon as a job is
ready. */
for( x = 0; x < ( tpJOBS_TO_CREATE * 2UL ); x++ )
{
/* Make sure array index does not go out of bounds. */
xIndex = x % tpJOBS_TO_CREATE;
xResult = IotTaskPool_Schedule( NULL, xJobs[ xIndex ], ulNoFlags );
configASSERT( xResult == IOT_TASKPOOL_SUCCESS );
/* The priority of the task pool task(s) is higher than the priority
of this task, so the job's callback function should have already
executed, sending a notification to this task, and incrementing this
task's notification value. */
xTaskNotifyWait( 0UL, /* Don't clear any bits on entry. */
0UL, /* Don't clear any bits on exit. */
&ulNotificationValue, /* Obtain the notification value. */
0UL ); /* No block time, return immediately. */
configASSERT( ulNotificationValue == ( x + 1 ) );
/* The job's callback has executed so the job is now completed. */
IotTaskPool_GetStatus( NULL, xJobs[ xIndex ], &xJobStatus );
configASSERT( xJobStatus == IOT_TASKPOOL_STATUS_COMPLETED );
/* To leave the list of jobs empty we can stop re-creating jobs half
way through iterations of this loop. */
if( x < tpJOBS_TO_CREATE )
{
/* Recycle the job so it can be used again. In the full task pool
implementation the first parameter is used to pass the handle of the
task pool this job will be associated with. In this lean task pool
implementation only the system task pool exists (the task pool created
internally to the task pool library) so the first parameter is just
passed as NULL. *//*_RB_ Why not recycle it automatically? */
IotTaskPool_RecycleJob( NULL, xJobs[ xIndex ] );
xResult = IotTaskPool_CreateRecyclableJob( NULL,
prvSimpleTaskNotifyCallback,
(void * ) xTaskGetCurrentTaskHandle(),
&( xJobs[ xIndex ] ) );
}
}
/* Clear all the notification value bits again. */
xTaskNotifyWait( portMAX_DELAY, /* Clear all bits on entry - portMAX_DELAY is used as it is a portable way of having all bits set. */
0UL, /* Don't clear any bits on exit. */
NULL, /* Don't need the notification value this time. */
0UL ); /* No block time, return immediately. */
configASSERT( ulTaskNotifyTake( pdTRUE, 0 ) == 0 );
/* Clean up all the recyclable job. In the full implementation of the task
pool the first parameter is used to pass a handle to the task pool the job
is associated with. In the lean implementation of the task pool used by
this demo there is only one task pool (the system task pool created in the
task pool library itself) so the first parameter is NULL. */
for( x = 0; x < tpJOBS_TO_CREATE; x++ )
{
xResult = IotTaskPool_DestroyRecyclableJob( NULL, xJobs[ x ] );
configASSERT( xResult == IOT_TASKPOOL_SUCCESS );
}
/* Once the job has been deleted the memory used to hold the job is
returned, so the available heap should be exactly as when entering this
function. */
configASSERT( xPortGetFreeHeapSize() == xFreeHeapBeforeCreatingJob );
}
/*-----------------------------------------------------------*/
static void prvExample_ReuseRecyclableJobFromHighPriorityTask( void )
{
IotTaskPoolError_t xResult;
uint32_t x, ulNotificationValue;
const uint32_t ulNoFlags = 0UL;
IotTaskPoolJob_t xJobs[ tpJOBS_TO_CREATE ];
IotTaskPoolJobStorage_t xJobStorage[ tpJOBS_TO_CREATE ];
size_t xFreeHeapBeforeCreatingJob = xPortGetFreeHeapSize();
TickType_t xShortDelay = pdMS_TO_TICKS( 150 );
IotTaskPoolJobStatus_t xJobStatus;
/* Don't expect any notifications to be pending yet. */
configASSERT( ulTaskNotifyTake( pdTRUE, 0 ) == 0 );
/* prvExample_ReuseRecyclableJobFromLowPriorityTask() executes in a task
that has a lower [task] priority than the task pool's worker tasks.
Therefore a talk pool worker preempts the task that calls
prvExample_ReuseRecyclableJobFromHighPriorityTask() as soon as the job is
scheduled. prvExample_ReuseRecyclableJobFromHighPriorityTask() reverses the
priorities - prvExample_ReuseRecyclableJobFromHighPriorityTask() raises its
priority to above the task pool's worker tasks, so the worker tasks do not
execute until the calling task enters the blocked state. First raise the
priority - passing NULL means raise the priority of the calling task. */
vTaskPrioritySet( NULL, tpTASK_POOL_WORKER_PRIORITY + 1 );
/* Create tpJOBS_TO_CREATE jobs using the handle of this task as the job's
context and the function that sends a notification to the task handle as
the jobs callback function. */
for( x = 0; x < tpJOBS_TO_CREATE; x++ )
{
xResult = IotTaskPool_CreateJob( prvSimpleTaskNotifyCallback, /* Callback function. */
( void * ) xTaskGetCurrentTaskHandle(), /* Job context. */
&( xJobStorage[ x ] ),
&( xJobs[ x ] ) );
configASSERT( xResult == IOT_TASKPOOL_SUCCESS );
/* This is not a persistent (recyclable) job and its storage is on the
stack of this function, so the amount of heap space available should not
have chanced since entering this function. */
configASSERT( xFreeHeapBeforeCreatingJob == xPortGetFreeHeapSize() );
}
for( x = 0; x < tpJOBS_TO_CREATE; x++ )
{
/* Schedule the next job. */
xResult = IotTaskPool_Schedule( NULL, xJobs[ x ], ulNoFlags );
configASSERT( xResult == IOT_TASKPOOL_SUCCESS );
/* Although scheduled, the job's callback has not executed, so the job
reports itself as scheduled. */
IotTaskPool_GetStatus( NULL, xJobs[ x ], &xJobStatus );
configASSERT( xJobStatus == IOT_TASKPOOL_STATUS_SCHEDULED );
/* The priority of the task pool task(s) is lower than the priority
of this task, so the job's callback function should not have executed
yes, so don't expect the notification value for this task to have
changed. */
xTaskNotifyWait( 0UL, /* Don't clear any bits on entry. */
0UL, /* Don't clear any bits on exit. */
&ulNotificationValue, /* Obtain the notification value. */
0UL ); /* No block time, return immediately. */
configASSERT( ulNotificationValue == 0 );
}
/* At this point there are tpJOBS_TO_CREATE scheduled, but none have executed
their callbacks because the priority of this task is higher than the
priority of the task pool worker threads. When this task blocks to wait for
a notification a worker thread will be able to executes - but as soon as its
callback function sends a notification to this task this task will
preempt it (because it has a higher priority) so this task only expects to
receive one notification at a time. */
for( x = 0; x < tpJOBS_TO_CREATE; x++ )
{
xTaskNotifyWait( 0UL, /* Don't clear any bits on entry. */
0UL, /* Don't clear any bits on exit. */
&ulNotificationValue, /* Obtain the notification value. */
xShortDelay ); /* Short delay to allow a task pool worker to execute. */
configASSERT( ulNotificationValue == ( x + 1 ) );
}
/* All the scheduled jobs have now executed, so waiting for another
notification should timeout without the notification value changing. */
xTaskNotifyWait( 0UL, /* Don't clear any bits on entry. */
0UL, /* Don't clear any bits on exit. */
&ulNotificationValue, /* Obtain the notification value. */
xShortDelay ); /* Short delay to allow a task pool worker to execute. */
configASSERT( ulNotificationValue == x );
/* Reset the priority of this task and clear the notifications ready for the
next example. */
vTaskPrioritySet( NULL, tskIDLE_PRIORITY );
xTaskNotifyWait( portMAX_DELAY, /* Clear all bits on entry - portMAX_DELAY is used as it is a portable way of having all bits set. */
0UL, /* Don't clear any bits on exit. */
NULL, /* Don't need the notification value this time. */
0UL ); /* No block time, return immediately. */
}
/*-----------------------------------------------------------*/

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FreeRTOS-Plus/Demo/FreeRTOS_Plus_IoT_SDK/task_pool/DemoTasks/include/SimpleUDPClientAndServer.h
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@ -1,33 +0,0 @@
/*
* FreeRTOS Kernel V10.2.1
* Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* http://www.FreeRTOS.org
* http://aws.amazon.com/freertos
*
* 1 tab == 4 spaces!
*/
#ifndef SIMPLE_UDP_CLIENT_AND_SERVER_H
#define SIMPLE_UDPCLIENT_AND_SERVER_H
void vStartSimpleUDPClientServerTasks( uint16_t usStackSize, uint32_t ulsPort, UBaseType_t uxPriority );
#endif /* SIMPLE_UDPCLIENT_AND_SERVER_H */

4
FreeRTOS-Plus/Demo/FreeRTOS_Plus_IoT_SDK/task_pool/FreeRTOSConfig.h
View file

@ -65,8 +65,8 @@
/* Hook function related definitions. */
#define configUSE_TICK_HOOK 0
#define configUSE_IDLE_HOOK 1
#define configUSE_MALLOC_FAILED_HOOK 1
#define configUSE_IDLE_HOOK 0
#define configUSE_MALLOC_FAILED_HOOK 0
#define configCHECK_FOR_STACK_OVERFLOW 0 /* Not applicable to the Win32 port. */
/* Software timer related definitions. */

6
FreeRTOS-Plus/Demo/FreeRTOS_Plus_IoT_SDK/task_pool/FreeRTOSIPConfig.h
View file

@ -53,7 +53,7 @@ out the debugging messages. */
FreeRTOS_netstat() command, and ping replies. If ipconfigHAS_PRINTF is set to 1
then FreeRTOS_printf should be set to the function used to print out the
messages. */
#define ipconfigHAS_PRINTF 1
#define ipconfigHAS_PRINTF 0
#if( ipconfigHAS_PRINTF == 1 )
#define FreeRTOS_printf(X) vLoggingPrintf X
#endif
@ -76,10 +76,10 @@ used as defaults. */
/* Include support for LLMNR: Link-local Multicast Name Resolution
(non-Microsoft) */
#define ipconfigUSE_LLMNR ( 1 )
#define ipconfigUSE_LLMNR ( 0 )
/* Include support for NBNS: NetBIOS Name Service (Microsoft) */
#define ipconfigUSE_NBNS ( 1 )
#define ipconfigUSE_NBNS ( 0 )
/* Include support for DNS caching. For TCP, having a small DNS cache is very
useful. When a cache is present, ipconfigDNS_REQUEST_ATTEMPTS can be kept low

1
FreeRTOS-Plus/Demo/FreeRTOS_Plus_IoT_SDK/task_pool/WIN32.vcxproj
View file

@ -157,6 +157,7 @@
<ClCompile Include="..\..\..\Source\FreeRTOS-Plus-TCP\FreeRTOS_UDP_IP.c" />
<ClCompile Include="..\..\..\Source\FreeRTOS-Plus-TCP\portable\BufferManagement\BufferAllocation_2.c" />
<ClCompile Include="..\..\..\Source\FreeRTOS-Plus-TCP\portable\NetworkInterface\WinPCap\NetworkInterface.c" />
<ClCompile Include="DemoTasks\SimpleTaskPoolExamples.c" />
<ClCompile Include="DemoTasks\SimpleUDPClientAndServer.c" />
<ClCompile Include="demo_logging.c" />
<ClCompile Include="main.c">

3
FreeRTOS-Plus/Demo/FreeRTOS_Plus_IoT_SDK/task_pool/WIN32.vcxproj.filters
View file

@ -145,6 +145,9 @@
<ClCompile Include="..\..\..\Source\FreeRTOS-Plus-IoT-SDK\c_sdk\standard\common\taskpool\iot_taskpool.c">
<Filter>FreeRTOS+\FreeRTOS IoT Libraries\standard\common\task_pool</Filter>
</ClCompile>
<ClCompile Include="DemoTasks\SimpleTaskPoolExamples.c">
<Filter>DemoTasks</Filter>
</ClCompile>
</ItemGroup>
<ItemGroup>
<ClInclude Include="..\..\..\Source\FreeRTOS-Plus-TCP\include\NetworkInterface.h">

4
FreeRTOS-Plus/Demo/FreeRTOS_Plus_IoT_SDK/task_pool/iot_config_common.h
View file

@ -29,10 +29,10 @@
#define IOT_CONFIG_COMMON_H_
/* FreeRTOS include. */
#include "FreeRTOS.h"
#include "FreeRTOS.h" //_RB_Makes common config file FreeRTOS specific
/* Use platform types on FreeRTOS. */
#include "platform/iot_platform_types_afr.h"
#include "platform/iot_platform_types_freertos.h" //_RB_Makes common config file FreeRTOS specific
/* Used to get the cloud broker endpoint for FreeRTOS. */
//_RB_#include "aws_clientcredential.h"

298
FreeRTOS-Plus/Demo/FreeRTOS_Plus_IoT_SDK/task_pool/main.c
View file

@ -36,116 +36,45 @@
#include <stdio.h>
#include <time.h>
/* Visual studio intrinsics used so the __debugbreak() function is available
should an assert get hit. */
#include <intrin.h>
/* FreeRTOS includes. */
#include <FreeRTOS.h>
#include "task.h"
/* Demo application includes. */
/* TCP/IP stack includes. */
#include "FreeRTOS_IP.h"
#include "FreeRTOS_Sockets.h"
#include "SimpleUDPClientAndServer.h"
#include "demo_logging.h"
/* Simple UDP client and server task parameters. */
#define mainSIMPLE_UDP_CLIENT_SERVER_TASK_PRIORITY ( tskIDLE_PRIORITY )
#define mainSIMPLE_UDP_CLIENT_SERVER_PORT ( 5005UL )
/* Define a name that will be used for LLMNR and NBNS searches. */
#define mainHOST_NAME "RTOSDemo"
#define mainDEVICE_NICK_NAME "windows_demo"
/* Set the following constants to 1 or 0 to define which tasks to include and
exclude:
mainCREATE_SIMPLE_UDP_CLIENT_SERVER_TASKS: When set to 1 two UDP client tasks
and two UDP server tasks are created. The clients talk to the servers. One set
of tasks use the standard sockets interface, and the other the zero copy sockets
interface. These tasks are self checking and will trigger a configASSERT() if
they detect a difference in the data that is received from that which was sent.
As these tasks use UDP, and can therefore loose packets, they will cause
configASSERT() to be called when they are run in a less than perfect networking
environment.
mainCREATE_TCP_ECHO_TASKS_SINGLE: When set to 1 a set of tasks are created that
send TCP echo requests to the standard echo port (port 7), then wait for and
verify the echo reply, from within the same task (Tx and Rx are performed in the
same RTOS task). The IP address of the echo server must be configured using the
configECHO_SERVER_ADDR0 to configECHO_SERVER_ADDR3 constants in
FreeRTOSConfig.h.
mainCREATE_TCP_ECHO_SERVER_TASK: When set to 1 a task is created that accepts
connections on the standard echo port (port 7), then echos back any data
received on that connection.
*/
#define mainCREATE_SIMPLE_UDP_CLIENT_SERVER_TASKS 1
/*-----------------------------------------------------------*/
/*
* Just seeds the simple pseudo random number generator.
* Prototypes for the demos that can be started from this project.
*/
static void prvSRand( UBaseType_t ulSeed );
extern void vStartSimpleTaskPoolDemo( void );
/*
* Miscellaneous initialisation including preparing the logging and seeding the
* random number generator.
*/
static void prvMiscInitialisation( void );
/* The default IP and MAC address used by the demo. The address configuration
defined here will be used if ipconfigUSE_DHCP is 0, or if ipconfigUSE_DHCP is
1 but a DHCP server could not be contacted. See the online documentation for
more information. */
static const uint8_t ucIPAddress[ 4 ] = { configIP_ADDR0, configIP_ADDR1, configIP_ADDR2, configIP_ADDR3 };
static const uint8_t ucNetMask[ 4 ] = { configNET_MASK0, configNET_MASK1, configNET_MASK2, configNET_MASK3 };
static const uint8_t ucGatewayAddress[ 4 ] = { configGATEWAY_ADDR0, configGATEWAY_ADDR1, configGATEWAY_ADDR2, configGATEWAY_ADDR3 };
static const uint8_t ucDNSServerAddress[ 4 ] = { configDNS_SERVER_ADDR0, configDNS_SERVER_ADDR1, configDNS_SERVER_ADDR2, configDNS_SERVER_ADDR3 };
/* Set the following constant to pdTRUE to log using the method indicated by the
name of the constant, or pdFALSE to not log using the method indicated by the
name of the constant. Options include to standard out (xLogToStdout), to a disk
file (xLogToFile), and to a UDP port (xLogToUDP). If xLogToUDP is set to pdTRUE
then UDP messages are sent to the IP address configured as the echo server
address (see the configECHO_SERVER_ADDR0 definitions in FreeRTOSConfig.h) and
the port number set by configPRINT_PORT in FreeRTOSConfig.h. */
const BaseType_t xLogToStdout = pdTRUE, xLogToFile = pdFALSE, xLogToUDP = pdFALSE;
/* Default MAC address configuration. The demo creates a virtual network
connection that uses this MAC address by accessing the raw Ethernet data
to and from a real network connection on the host PC. See the
configNETWORK_INTERFACE_TO_USE definition for information on how to configure
the real network connection to use. */
/* This example is the first in a sequence that adds IoT functionality into
an existing TCP/IP project. In this first project the TCP/IP stack is not
actually used, but it is still built, which requires this array to be
present. */
const uint8_t ucMACAddress[ 6 ] = { configMAC_ADDR0, configMAC_ADDR1, configMAC_ADDR2, configMAC_ADDR3, configMAC_ADDR4, configMAC_ADDR5 };
/* Use by the pseudo random number generator. */
static UBaseType_t ulNextRand;
/*-----------------------------------------------------------*/
int main( void )
{
const uint32_t ulLongTime_ms = pdMS_TO_TICKS( 1000UL );
/*
* Instructions for using this project are provided on:
* http://www.freertos.org/FreeRTOS-Plus/FreeRTOS_Plus_TCP/examples_FreeRTOS_simulator.html
* TBD
*/
/* Miscellaneous initialisation including preparing the logging and seeding
the random number generator. */
prvMiscInitialisation();
/* Create the example that demonstrates task pool functionality. Examples
that demonstrate networking connectivity will be added in future projects
and get started after the network has connected (from within the
vApplicationIPNetworkEventHook() function).*/
vStartSimpleTaskPoolDemo();
/* Initialise the network interface.
***NOTE*** Tasks that use the network are created in the network event hook
when the network is connected and ready for use (see the definition of
vApplicationIPNetworkEventHook() below). The address values passed in here
are used if ipconfigUSE_DHCP is set to 0, or if ipconfigUSE_DHCP is set to 1
but a DHCP server cannot be contacted. */
FreeRTOS_debug_printf( ( "FreeRTOS_IPInit\n" ) );
FreeRTOS_IPInit( ucIPAddress, ucNetMask, ucGatewayAddress, ucDNSServerAddress, ucMACAddress );
/* Start the RTOS scheduler. */
FreeRTOS_debug_printf( ("vTaskStartScheduler\n") );
/* Start the scheduler - if all is well from this point on only FreeRTOS
tasks will execute. */
vTaskStartScheduler();
/* If all is well, the scheduler will now be running, and the following
@ -156,26 +85,13 @@ const uint32_t ulLongTime_ms = pdMS_TO_TICKS( 1000UL );
really applicable to the Win32 simulator port). */
for( ;; )
{
Sleep( ulLongTime_ms );
__debugbreak();
}
}
/*-----------------------------------------------------------*/
void vApplicationIdleHook( void )
{
const uint32_t ulMSToSleep = 1;
/* This is just a trivial example of an idle hook. It is called on each
cycle of the idle task if configUSE_IDLE_HOOK is set to 1 in
FreeRTOSConfig.h. It must *NOT* attempt to block. In this case the
idle task just sleeps to lower the CPU usage. */
Sleep( ulMSToSleep );
}
/*-----------------------------------------------------------*/
void vAssertCalled( const char *pcFile, uint32_t ulLine )
{
const uint32_t ulLongSleep = 1000UL;
volatile uint32_t ulBlockVariable = 0UL;
volatile char *pcFileName = ( volatile char * ) pcFile;
volatile uint32_t ulLineNumber = ulLine;
@ -183,7 +99,7 @@ volatile uint32_t ulLineNumber = ulLine;
( void ) pcFileName;
( void ) ulLineNumber;
FreeRTOS_debug_printf( ( "vAssertCalled( %s, %ld\n", pcFile, ulLine ) );
printf( "vAssertCalled( %s, %u\n", pcFile, ulLine );
/* Setting ulBlockVariable to a non-zero value in the debugger will allow
this function to be exited. */
@ -191,7 +107,7 @@ volatile uint32_t ulLineNumber = ulLine;
{
while( ulBlockVariable == 0UL )
{
Sleep( ulLongSleep );
__debugbreak();
}
}
taskENABLE_INTERRUPTS();
@ -202,162 +118,46 @@ volatile uint32_t ulLineNumber = ulLine;
events are only received if implemented in the MAC driver. */
void vApplicationIPNetworkEventHook( eIPCallbackEvent_t eNetworkEvent )
{
uint32_t ulIPAddress, ulNetMask, ulGatewayAddress, ulDNSServerAddress;
char cBuffer[ 16 ];
static BaseType_t xTasksAlreadyCreated = pdFALSE;
/* If the network has just come up...*/
if( eNetworkEvent == eNetworkUp )
{
/* Create the tasks that use the IP stack if they have not already been
created. */
if( xTasksAlreadyCreated == pdFALSE )
{
/* See the comments above the definitions of these pre-processor
macros at the top of this file for a description of the individual
demo tasks. */
#if( mainCREATE_SIMPLE_UDP_CLIENT_SERVER_TASKS == 1 )
{
vStartSimpleUDPClientServerTasks( configMINIMAL_STACK_SIZE, mainSIMPLE_UDP_CLIENT_SERVER_PORT, mainSIMPLE_UDP_CLIENT_SERVER_TASK_PRIORITY );
}
#endif /* mainCREATE_SIMPLE_UDP_CLIENT_SERVER_TASKS */
#if( mainCREATE_TCP_ECHO_TASKS_SINGLE == 1 )
{
vStartTCPEchoClientTasks_SingleTasks( mainECHO_CLIENT_TASK_STACK_SIZE, mainECHO_CLIENT_TASK_PRIORITY );
}
#endif /* mainCREATE_TCP_ECHO_TASKS_SINGLE */
#if( mainCREATE_TCP_ECHO_SERVER_TASK == 1 )
{
vStartSimpleTCPServerTasks( mainECHO_SERVER_TASK_STACK_SIZE, mainECHO_SERVER_TASK_PRIORITY );
}
#endif
xTasksAlreadyCreated = pdTRUE;
}
/* Print out the network configuration, which may have come from a DHCP
server. */
FreeRTOS_GetAddressConfiguration( &ulIPAddress, &ulNetMask, &ulGatewayAddress, &ulDNSServerAddress );
FreeRTOS_inet_ntoa( ulIPAddress, cBuffer );
FreeRTOS_printf( ( "\r\n\r\nIP Address: %s\r\n", cBuffer ) );
FreeRTOS_inet_ntoa( ulNetMask, cBuffer );
FreeRTOS_printf( ( "Subnet Mask: %s\r\n", cBuffer ) );
FreeRTOS_inet_ntoa( ulGatewayAddress, cBuffer );
FreeRTOS_printf( ( "Gateway Address: %s\r\n", cBuffer ) );
FreeRTOS_inet_ntoa( ulDNSServerAddress, cBuffer );
FreeRTOS_printf( ( "DNS Server Address: %s\r\n\r\n\r\n", cBuffer ) );
}
/* This example is the first in a sequence that adds IoT functionality into
an existing TCP/IP project. In this first project the TCP/IP stack is not
actually used, but it is still built, which requires this function to be
present. For now this function does not need to do anything, so just ensure
the unused parameters don't cause compiler warnings and that calls to this
function are trapped by the debugger. */
__debugbreak();
( void ) eNetworkEvent;
}
/*-----------------------------------------------------------*/
void vApplicationMallocFailedHook( void )
{
/* Called if a call to pvPortMalloc() fails because there is insufficient
free memory available in the FreeRTOS heap. pvPortMalloc() is called
internally by FreeRTOS API functions that create tasks, queues, software
timers, and semaphores. The size of the FreeRTOS heap is set by the
configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */
vAssertCalled( __FILE__, __LINE__ );
}
/*-----------------------------------------------------------*/
UBaseType_t uxRand( void )
{
const uint32_t ulMultiplier = 0x015a4e35UL, ulIncrement = 1UL;
/* Utility function to generate a pseudo random number. */
ulNextRand = ( ulMultiplier * ulNextRand ) + ulIncrement;
return( ( int ) ( ulNextRand >> 16UL ) & 0x7fffUL );
}
/*-----------------------------------------------------------*/
static void prvSRand( UBaseType_t ulSeed )
{
/* Utility function to seed the pseudo random number generator. */
ulNextRand = ulSeed;
}
/*-----------------------------------------------------------*/
static void prvMiscInitialisation( void )
{
time_t xTimeNow;
uint32_t ulLoggingIPAddress;
ulLoggingIPAddress = FreeRTOS_inet_addr_quick( configECHO_SERVER_ADDR0, configECHO_SERVER_ADDR1, configECHO_SERVER_ADDR2, configECHO_SERVER_ADDR3 );
vLoggingInit( xLogToStdout, xLogToFile, xLogToUDP, ulLoggingIPAddress, configPRINT_PORT );
/* Seed the random number generator. */
time( &xTimeNow );
FreeRTOS_debug_printf( ( "Seed for randomiser: %lu\n", xTimeNow ) );
prvSRand( ( uint32_t ) xTimeNow );
FreeRTOS_debug_printf( ( "Random numbers: %08X %08X %08X %08X\n", ipconfigRAND32(), ipconfigRAND32(), ipconfigRAND32(), ipconfigRAND32() ) );
}
/*-----------------------------------------------------------*/
#if( ipconfigUSE_LLMNR != 0 ) || ( ipconfigUSE_NBNS != 0 ) || ( ipconfigDHCP_REGISTER_HOSTNAME == 1 )
const char *pcApplicationHostnameHook( void )
{
/* Assign the name "FreeRTOS" to this network node. This function will
be called during the DHCP: the machine will be registered with an IP
address plus this name. */
return mainHOST_NAME;
}
#endif
/*-----------------------------------------------------------*/
#if( ipconfigUSE_LLMNR != 0 ) || ( ipconfigUSE_NBNS != 0 )
BaseType_t xApplicationDNSQueryHook( const char *pcName )
{
BaseType_t xReturn;
/* Determine if a name lookup is for this node. Two names are given
to this node: that returned by pcApplicationHostnameHook() and that set
by mainDEVICE_NICK_NAME. */
if( _stricmp( pcName, pcApplicationHostnameHook() ) == 0 )
{
xReturn = pdPASS;
}
else if( _stricmp( pcName, mainDEVICE_NICK_NAME ) == 0 )
{
xReturn = pdPASS;
}
else
{
xReturn = pdFAIL;
}
return xReturn;
}
#endif
/*-----------------------------------------------------------*/
/*
* Callback that provides the inputs necessary to generate a randomized TCP
* Initial Sequence Number per RFC 6528. THIS IS ONLY A DUMMY IMPLEMENTATION
* THAT RETURNS A PSEUDO RANDOM NUMBER SO IS NOT INTENDED FOR USE IN PRODUCTION
* SYSTEMS.
*/
extern uint32_t ulApplicationGetNextSequenceNumber( uint32_t ulSourceAddress,
uint16_t usSourcePort,
uint32_t ulDestinationAddress,
uint16_t usDestinationPort )
{
/* This example is the first in a sequence that adds IoT functionality into
an existing TCP/IP project. In this first project the TCP/IP stack is not
actually used, but it is still built, which requires this function to be
present. For now this function does not need to do anything, so just ensure
the unused parameters don't cause compiler warnings and that calls to this
function are trapped by the debugger. */
( void ) ulSourceAddress;
( void ) usSourcePort;
( void ) ulDestinationAddress;
( void ) usDestinationPort;
__debugbreak();
return 0;
}
/*-----------------------------------------------------------*/
return uxRand();
UBaseType_t uxRand( void )
{
/* This example is the first in a sequence that adds IoT functionality into
an existing TCP/IP project. In this first project the TCP/IP stack is not
actually used, but it is still built, which requires this function to be
present. For now this function does not need to do anything, so just ensure
the calls to the function are trapped by the debugger. */
__debugbreak();
return 0;
}
/*-----------------------------------------------------------*/

2
FreeRTOS-Plus/Source/FreeRTOS-Plus-IoT-SDK/c_sdk/standard/common/taskpool/iot_taskpool.c
View file

@ -935,7 +935,7 @@ static IotTaskPoolError_t _createTaskPool( const IotTaskPoolInfo_t * const pInfo
BaseType_t res = xTaskCreate( _taskPoolWorker,
cTaskName,
pInfo->stackSize,
pInfo->stackSize / sizeof( portSTACK_TYPE ), /* xTaskCreate() expects the stack size to be specified in words. */
pTaskPool,
pInfo->priority,
&task );