/*
 * task.cpp
 *
 *  Created on: 6 мар. 2023 г.
 *      Author: sychev
 */
#include "free_rtos/task/task.hpp"

bool free_rtos::Task::Create(std::string name, uint32_t priority, TaskFunction task_fun,
                  void * taskArg, int32_t stack_size_bytes)
{
    if ( (priority > TaskPriorityHiest) || (task_fun == nullptr) ) {
        return false;
    }

    if (stack_size_bytes < 0)
    {
        stack_size_bytes = defStackSize_;
    }

    /// Стек должен быть выровнен по границе 32 байта
    if (stack_size_bytes % 32) {
        return false;
    }

    auto ret = xTaskCreate(task_fun,
                           name.c_str(),
                           stack_size_bytes / sizeof(configSTACK_DEPTH_TYPE),
                           taskArg,
                           priority,
                           &taskHandle_);

    if (pdPASS != ret) {
        return false;
    }

    return true;
}