API guide¶

Which class to reach for, by task. Each row links the page with a compiled example and the memory and timing notes.

Task	Use	Header	Page
Run a loop in its own task, start and stop it	`BaseThread`	`BaseThread.h`	BaseThread
Start and stop a group of threads	`BaseThreadsManager<Enum, Max>`	`BaseThreadsManager.h`	Utility
Protect shared data	`RtosMutex` with `std::lock_guard`	`RtosMutex.h`	Synchronization
Lock with a timeout and a named mutex	`Mutex` and `MutexGuard`	`Mutex.h`, `MutexGuard.h`	Synchronization
Wake one task from another	`SignalSemaphore`	`SignalSemaphore.h`	Synchronization
Wait for any or all of several events	`OsEventFlags`	`OsEventFlags.h`	Synchronization
Keep an interrupt out of a few lines	`CriticalGuard`	`CriticalGuard.h`	Synchronization
Pass values between tasks	`OsQueue<T, N>`	`OsQueue.h`	Queues
Call a function every N ms	`PeriodicTimer`	`PeriodicTimer.h`	Timers
Share status flags	`hf::FlagsSaver<Id, N>`	`FlagsSaver.h`	Generic templates
Share the latest value of a struct	`hf::SeqlockSnapshot<T>`	`SeqlockSnapshot.h`	Generic templates
Keep the last N errors	`hf::ErrorHistory<R, N>`	`ErrorHistory.h`	Generic templates
Wait until a condition holds, with a timeout	`TestLogicWithTimeout()`	`Utility.h`	Utility
Read time, sleep	`RtosTime::GetCurrentTimeUs()`, `os_delay_msec()`	`RtosMutex.h`, `OsUtility.h`	Utility

Conventions¶

Results are bool. True means the operation happened; false means a timeout or a failed kernel call.
Timeouts are milliseconds in a uint32_t. UINT32_MAX waits forever; 0 does not wait.
Objects are not copyable. Each owns a kernel handle; RtosMutex and RtosSharedMutex can be moved.
Task context only. The queue, event-flag, mutex, semaphore and generic-template calls use the task-level kernel API. From an interrupt, use the kernel's FromISR calls and hand the work to a task.