How do I create member function to represent embedded task in C++

[glennpl]

The following code is an example of how task are created with micro cos III in c. I am trying to figure how to create similliar code in C++. My problem is how do I instantiate objects and how to use member functions to represent task. Within the create task routine the address of function is passed as argument. How do I do this in C++? Will I need more than one class? New to embedded C++.

/*!
* @brief LED Flasher Task
*/
void
led5_task (void * p_arg)
{
    OS_ERR  err;


    (void)p_arg;    // NOTE: Silence compiler warning about unused param.

    for (;;)
    {
        // Flash LED at 1 Hz.
	    protectedLED_Toggle(5);
	    OSTimeDlyHMSM(0, 0, 0, 500, OS_OPT_TIME_HMSM_STRICT, &err);
    }
}

/*!
*
* @brief LED Flasher Task
*
*/
void
led6_task (void * p_arg)
{
    OS_ERR  err;


    (void)p_arg;    // NOTE: Silence compiler warning about unused param.

    for (;;)
    {
        // Flash LED at 3 Hz.
	    protectedLED_Toggle(6);
	    OSTimeDlyHMSM(0, 0, 0, 167, OS_OPT_TIME_HMSM_STRICT, &err);
    }
}

/*!
* @brief Button SW1 Catcher Task
*/
void
sw1_task (void * p_arg)
{
    uint16_t    sw1_counter = 0;
    char	    p_str[LCD_CHARS_PER_LINE+1];
    OS_ERR	    err;
	

    (void)p_arg;    // NOTE: Silence compiler warning about unused param.

    // Draw the initial display.
	sprintf(p_str, "SW1: % 4u", sw1_counter);
    protectedDisplayLCD(LCD_LINE1, (uint8_t *) p_str);

    for (;;)
    {
        // Wait for a signal from the button debouncer.
	    OSSemPend(&g_sw1_sem, 0, OS_OPT_PEND_BLOCKING, 0, &err);

        // Check for errors.
	    assert(OS_ERR_NONE == err);
		
        // Increment button press counter.
	    sw1_counter++;

        // Format and display current count.
	    sprintf(p_str, "SW1: % 4u", sw1_counter);
        protectedDisplayLCD(LCD_LINE1, (uint8_t *) p_str);
    }
}

/*!
* @brief Button SW2 Catcher Task
*/
void
sw2_task (void * p_arg)
{
    uint16_t    sw2_counter = 0;
    char	    p_str[LCD_CHARS_PER_LINE+1];
    OS_ERR	    err;
	

    (void)p_arg;    // NOTE: Silence compiler warning about unused param.

    // Draw the initial display.
	sprintf(p_str, "SW2: % 4u", sw2_counter);
    protectedDisplayLCD(LCD_LINE2, (uint8_t *) p_str);

    for (;;)
    {
        // Wait for a signal from the button debouncer.
	    OSSemPend(&g_sw2_sem, 0, OS_OPT_PEND_BLOCKING, 0, &err);

        // Check for errors.
	    assert(OS_ERR_NONE == err);
		
        // Increment button press counter.
	    sw2_counter++;

        // Format and display current count.
	    sprintf(p_str, "SW2: % 4u", sw2_counter);
        protectedDisplayLCD(LCD_LINE2, (uint8_t *) p_str);
    }
}

/*!
* @brief A task to create all of the other tasks and their shared objects.
*/
void
startup_task (void * p_arg)
{
    OS_ERR   err;


    (void)p_arg;    // NOTE: Silence compiler warning about unused param.

    // Perform hardware initializations that should be after multitasking.
    BSP_Init();
    CPU_Init();
    OS_CPU_TickInit();

    // Initialize the reentrant LED driver.
    protectedLED_Init();

    // Create the LED flasher tasks.
    OSTaskCreate((OS_TCB     *)&g_led5_tcb,
                 (CPU_CHAR   *)"LED5 Flasher",
                 (OS_TASK_PTR ) led5_task,
                 (void       *) 0,
                 (OS_PRIO     ) LED5_PRIO,
                 (CPU_STK    *)&g_led5_stack[0],
                 (CPU_STK_SIZE) TASK_STACK_SIZE / 10u,
                 (CPU_STK_SIZE) TASK_STACK_SIZE,
                 (OS_MSG_QTY  ) 0u,
                 (OS_TICK     ) 0u,
                 (void       *) 0,
                 (OS_OPT      ) 0,
                 (OS_ERR     *)&err);
    assert(OS_ERR_NONE == err);

    OSTaskCreate((OS_TCB     *)&g_led6_tcb,
                 (CPU_CHAR   *)"LED6 Flasher",
                 (OS_TASK_PTR ) led6_task,
                 (void       *) 0,
                 (OS_PRIO     ) LED6_PRIO,
                 (CPU_STK    *)&g_led6_stack[0],
                 (CPU_STK_SIZE) TASK_STACK_SIZE / 10u,
                 (CPU_STK_SIZE) TASK_STACK_SIZE,
                 (OS_MSG_QTY  ) 0u,
                 (OS_TICK     ) 0u,
                 (void       *) 0,
                 (OS_OPT      ) 0,
                 (OS_ERR     *)&err);
    assert(OS_ERR_NONE == err);

    // Create the semaphores signaled by the button debouncer.
    OSSemCreate(&g_sw1_sem, "Switch 1", 0, &err);
    assert(OS_ERR_NONE == err);	

    OSSemCreate(&g_sw2_sem, "Switch 2", 0, &err);
    assert(OS_ERR_NONE == err);	

    // Create the button debouncer.
    OSTaskCreate((OS_TCB     *)&g_debounce_tcb,
                 (CPU_CHAR   *)"Button Debouncer",
                 (OS_TASK_PTR ) debounce_task,
                 (void       *) 0,
                 (OS_PRIO     ) DEBOUNCE_PRIO,
                 (CPU_STK    *)&g_debounce_stack[0],
                 (CPU_STK_SIZE) TASK_STACK_SIZE / 10u,
                 (CPU_STK_SIZE) TASK_STACK_SIZE,
                 (OS_MSG_QTY  ) 0u,
                 (OS_TICK     ) 0u,
                 (void       *) 0,
                 (OS_OPT      ) 0,
                 (OS_ERR     *)&err);
    assert(OS_ERR_NONE == err);

    // Initialise the LCD driver.
    protectedInitialiseLCD();

    // Create the tasks to catch the button semaphores.
    OSTaskCreate((OS_TCB     *)&g_sw1_tcb,
                 (CPU_CHAR   *)"Button 1 Catcher",
                 (OS_TASK_PTR ) sw1_task,
                 (void       *) 0,
                 (OS_PRIO     ) SW1_PRIO,
                 (CPU_STK    *)&g_sw1_stack[0],
                 (CPU_STK_SIZE) TASK_STACK_SIZE / 10u,
                 (CPU_STK_SIZE) TASK_STACK_SIZE,
                 (OS_MSG_QTY  ) 0u,
                 (OS_TICK     ) 0u,
                 (void       *) 0,
                 (OS_OPT      ) 0,
                 (OS_ERR     *)&err);
    assert(OS_ERR_NONE == err);

    OSTaskCreate((OS_TCB     *)&g_sw2_tcb,
                 (CPU_CHAR   *)"Button 2 Catcher",
                 (OS_TASK_PTR ) sw2_task,
                 (void       *) 0,
                 (OS_PRIO     ) SW2_PRIO,
                 (CPU_STK    *)&g_sw2_stack[0],
                 (CPU_STK_SIZE) TASK_STACK_SIZE / 10u,
                 (CPU_STK_SIZE) TASK_STACK_SIZE,
                 (OS_MSG_QTY  ) 0u,
                 (OS_TICK     ) 0u,
                 (void       *) 0,
                 (OS_OPT      ) 0,
                 (OS_ERR     *)&err);
    assert(OS_ERR_NONE == err);

    // Delete the startup task (or enter an infinite loop like other tasks).
    OSTaskDel(NULL, &err);

    // We should never get here.
    assert(0);
}

/*!
* @brief The starting point for the entire C program.
*/
void
main (void)
{
    OS_ERR  err;


    // Disable all interrupts.
    CPU_IntDis();

    // Initialize the operating system's internal data structures.
    OSInit(&err);
    assert(OS_ERR_NONE == err);

    // Install application-specific OS hooks.
    App_OS_SetAllHooks();

    // Create the alarm task.
    OSTaskCreate((OS_TCB     *)&g_startup_tcb,
                 (CPU_CHAR   *)"Startup Task",
                 (OS_TASK_PTR ) startup_task,
                 (void       *) 0,
                 (OS_PRIO     ) STARTUP_PRIO,
                 (CPU_STK    *)&g_startup_stack[0],
                 (CPU_STK_SIZE) TASK_STACK_SIZE / 10u,
                 (CPU_STK_SIZE) TASK_STACK_SIZE ,
                 (OS_MSG_QTY  ) 0u,
                 (OS_TICK     ) 0u,
                 (void       *) 0,
                 (OS_OPT      ) 0,
                 (OS_ERR     *)&err);
    assert(OS_ERR_NONE == err);

    // Start multitasking.
    OSStart(&err);

    // We should never get here.
    assert(0);
}

[cire]

How do I do this in C++?

It would appear you're using a C API so you would do it the same way.

[glennpl]

What I would like to know is how do I create member functions to represent task in C++ what type of objects will I need?