add preempt_task

Author: glutio

examples/TaskBlink/TaskBlink.ino

@@ -21,7 +21,7 @@ void Off(int) {
       delay(1000);
       _on = true;
     }
-  }
+  } 
 }
 
 void setup() {

src/BTaskSwitcher.cpp

@@ -127,13 +127,21 @@ bool BTaskSwitcher::can_switch() {
   return _initialized && _current_task == _next_task;
 }
 
+void BTaskSwitcher::preempt_task() {
+  BDisableInterrupts cli;
+  if (can_switch() && _current_slice <= 0) {
+    schedule_task();
+  } else {
+    --_current_slice;
+  }
+}
+
 void BTaskSwitcher::yield_task() {
   BDisableInterrupts cli;
   if (can_switch()) {
     _yielded_task = _current_task;
     schedule_task();
   }
-  return;
 }
 
 void BTaskSwitcher::initialize(int tasks, int slice) {

src/BTaskSwitcher.h

@@ -84,6 +84,7 @@ class BTaskSwitcher {
   static void switch_context();
   static void schedule_task();
   static bool can_switch();
+  static void preempt_task();
 
   template<typename T>
   static BTaskInfoBase* alloc_task(BTask<T> task, typename BTask<T>::ArgumentType arg, unsigned stackSize) {

src/BTaskSwitcherAVR.cpp

@@ -171,11 +171,7 @@ void BTaskSwitcher::init_arch() {
 using namespace Buratino;
 
 ISR(TIMER0_COMPA_vect) {
-  if (BTaskSwitcher::can_switch() && BTaskSwitcher::_current_slice <= 0) {
-    BTaskSwitcher::schedule_task();
-  } else {
-    --BTaskSwitcher::_current_slice;
-  }
+  BTaskSwitcher::preempt_task();
 }
 
 #endif

src/BTaskSwitcherSAMD.cpp

@@ -99,14 +99,7 @@ extern "C" {
   }
 
   int sysTickHook() {
-    BTaskSwitcher::BDisableInterrupts cli;
-    if (BTaskSwitcher::can_switch() && BTaskSwitcher::_current_slice <= 0) {
-      BTaskSwitcher::schedule_task();
-    }
-    else
-    {
-      --BTaskSwitcher::_current_slice;
-    }
+    BTaskSwitcher::preempt_task();
     return 0;
   }
 }