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arduino-cli/libraries/CoopTask/examples/portable/portable.cpp

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+// portable.cpp
+// This is a basic portable example, without a scheduler.
+// All tasks are run round-robin inside a for loop.
+// It shows CoopTask creation, synchronization, and termination.
+
+#include <iostream>
+#include "CoopTask.h"
+#include "CoopSemaphore.h"
+#include "CoopMutex.h"
+
+template<typename StackAllocator> void printStackReport(BasicCoopTask<StackAllocator>& task)
+{
+    if (!task) return;
+    std::cerr << task.name().c_str() << " free stack = " << task.getFreeStack() << std::endl;
+}
+
+CoopMutex blinkMutex;
+
+int main()
+{
+    CoopSemaphore terminatorSema(0);
+    CoopSemaphore helloSema(0);
+
+    auto& hello = *createCoopTask<void>(std::string("hello"), [&terminatorSema, &helloSema]() noexcept
+        {
+            std::cerr << "Hello" << std::endl;
+            yield();
+            for (int x = 0; x < 10; ++x)
+            {
+                {
+                    CoopMutexLock lock(blinkMutex);
+                    std::cerr << "Loop" << std::endl;
+                }
+                helloSema.wait(2000);
+            }
+            terminatorSema.post();
+        }, 0x2000);
+    if (!hello) std::cerr << hello.name() << " CoopTask not created" << std::endl;
+
+
+    bool keepBlinking = true;
+
+    auto& terminator = *createCoopTask<void>(std::string("terminator"), [&keepBlinking, &terminatorSema]() noexcept
+        {
+            if (!terminatorSema.wait()) std::cerr << "terminatorSema.wait() failed" << std::endl;
+            keepBlinking = false;
+        }, 0x2000);
+    if (!terminator) std::cerr << terminator.name() << " CoopTask not created" << std::endl;
+
+    auto& blink = *createCoopTask<std::string, CoopTaskStackAllocatorFromLoop<>>(std::string("blink"), [&keepBlinking]()
+        {
+            while (keepBlinking)
+            {
+                {
+                    CoopMutexLock lock(blinkMutex);
+                    std::cerr << "LED on" << std::endl;
+                    delay(1000);
+                    std::cerr << "LED off" << std::endl;
+                }
+                delay(1000);
+            }
+            throw std::string("sixtynine");
+            return "fortytwo";
+        }, 0x2000);
+    if (!blink) std::cerr << blink.name() << " CoopTask not created" << std::endl;
+
+    auto& report = *createCoopTask<void>(std::string("report"), [&hello, &blink]() noexcept
+        {
+            for (;;) {
+                delay(5000);
+                {
+                    CoopMutexLock lock(blinkMutex);
+                    printStackReport(hello);
+                    printStackReport(blink);
+                }
+            }
+        }, 0x2000);
+    if (!report) std::cerr << report.name() << " CoopTask not created" << std::endl;
+
+    auto taskReaper = [&blink](const CoopTaskBase* const task)
+    {
+        // once: hello posts terminatorSema -> terminator sets keepBlinking = false -> blink exits -> break leaves for-loop -> program exits
+        if (task == &blink)
+        {
+            std::cerr << task->name() << " returns = " << blink.exitCode() << std::endl;
+            delete task;
+            exit(0);
+        }
+    };
+
+    for (;;)
+    {
+        runCoopTasks(taskReaper);
+    }
+    return 0;
+}