TASK_DLLEXPORT Task *
Task_new(const char *name, long stacksize, void *data, void *(*run) (void *data), void (*destroy) (void *data))
{
Task *task = NEW(Task);
int psize;
Task_init();
++seqNo;
task->id = seqNo;
task->name = strdup(name);
task->data = data;
task->run = run;
task->destroy = destroy;
if (stacksize < TASK_STACK_MIN)
stacksize = TASK_STACK_MIN;
psize = getpagesize();
if (stacksize >= psize)
{
int n = stacksize / psize;
int rest = stacksize % psize;
stacksize = n * psize + (rest ? psize : 0);
}
task->stacklen = stacksize;
task->state = Task_initial;
return task;
}
void native_thread_invoke(u08_t mref) {
heap_id_t method_h,thread_h;
u16_t method_id,thread_id;
if(mref == NATIVE_METHOD_THREAD_RUNNABLE)
{
// nvm_method_hdr_t mhdr, *mhdr_ptr;
method_h = stack_pop();
thread_h = stack_pop();
method_id = ((nvm_ref_t*)heap_get_addr(method_h))[0];
thread_id = ((nvm_ref_t*)heap_get_addr(thread_h))[0];
Task_init(&SubThread[thread_id],vm_run, (void*)(method_id&0xFF), CONFIG_MAX_PRIORITY - 1, SubThread_stack[thread_id], sizeof(SubThread_stack[thread_id]));
// mhdr_ptr = nvmfile_get_method_hdr(method_id&0xFF);
// load new method header into ram
// nvmfile_read(&mhdr, mhdr_ptr, sizeof(nvm_method_hdr_t));
// heap_steal(sizeof(nvm_stack_t) * (mhdr.max_locals + mhdr.max_stack + mhdr.args));
// Task_setjsp(mhdr.
//stack_push(NVM_TYPE_HEAP | thread_h);
}
else if(mref == NATIVE_METHOD_THREAD_START) {
thread_h = stack_pop();
thread_id = ((nvm_ref_t*)heap_get_addr(thread_h))[0];
SubThread[thread_id].j_sp = (unsigned int*)&heap[heap_base];
SubThread[thread_id].j_stack = (unsigned int*)&heap[heap_base];
Task_start(&SubThread[thread_id]);
//Task_yield();
}
}
static SmartPtr<TaskBasic> Physics_schedule_cb(Physics& ph, py::object cb, py::object period, py::object time)
{
SmartPtr<TaskBasic> cpp_task = Task_init(cb, period);
return Physics_schedule_task(ph, cpp_task, time);
}