FreeRTOS experiment -- delete task

Tasks can now be created,Then of course it can also be deleted,For certain tasks that are not needed once or a few times,can be done after execution,Delete this task,It can be deleted by another task,You can also task yourself to delete yourself.
任务删除函数：
void vTaskDelete( TaskHandle_t xTaskToDelete );
Its parameter is the handle of the task,It is the fifth parameter of the create task function.

之前说过,A task handle is actually just oneTCB结构体,Store some information about the task,When doing something with a task,Just pass the task handle to the corresponding function.
So to delete a task, just pass the handle of the task to be deleted to the delete task function.
代码：
首先创建三个任务,在任务2中,任务2执行100次之后,调用vTaskDelete(NULL);函数,Delete yourself;在任务3中,任务3执行200次之后,任务3调用vTaskDelete(xHandleTask1);function put task1删除.注意vTaskDelete()中,参数写入NULLIt means to delete the task itself.

static volatile int Task1RunningFlag = 0;
static volatile int Task2RunningFlag = 0;
static volatile int Task3RunningFlag = 0;
TaskHandle_t xHandleTask1;
void Task1(void * param)
{
    
	while(1)
	{
    
		Task1RunningFlag = 1;
		Task2RunningFlag = 0;
		Task3RunningFlag = 0;
		printf("A");
	}	
}
TaskHandle_t xHandleTask2;
void Task2(void * param)
{
    
	int i = 0;
	while(1)
	{
    
		Task1RunningFlag = 0;
		Task2RunningFlag = 1;
		Task3RunningFlag = 0;
		printf("a");
		if(i++ == 100)
		{
    
			vTaskDelete(NULL);
		}
	}	
}
StackType_t xTask3Stack[100];
StaticTask_t xTask3Tcb;
void Task3(void * param)
{
    
	int i = 0;
	
	while(1)
	{
    
		Task1RunningFlag = 0;
		Task2RunningFlag = 0;
		Task3RunningFlag = 1;
		printf("1");
		if(i++ == 200)
		{
    
			vTaskDelete(xHandleTask1);
		}
	}	
}
StackType_t xIdleTaskStack[100];
StaticTask_t xIdleTaskTcb;
void vApplicationGetIdleTaskMemory(StaticTask_t * * ppxIdleTaskTCBBuffer, StackType_t * * ppxIdleTaskStackBuffer, uint32_t * pulIdleTaskStackSize)
{
    
	*ppxIdleTaskTCBBuffer = &xIdleTaskTcb;
	*ppxIdleTaskStackBuffer = xIdleTaskStack;
	*pulIdleTaskStackSize = 100;
}

主函数：

int main( void )
{
    
	prvSetupHardware();
	printf("Hello World!\r\n");

	xTaskCreate(Task1,"Task1",100,NULL,1,&xHandleTask1);
	xTaskCreate(Task2,"Task2",100,NULL,1,&xHandleTask2);
	xTaskCreateStatic(Task3,"Task3",100,NULL,1,xTask3Stack,&xTask3Tcb);
	
	vTaskStartScheduler();
	return 0;
}

输出结果：

可以看到,任务2执行一段时间（100次）后被删除,任务1After this, execute it for a while（共200次）之后被删除,After that, only the task remains3执行了.
vTaskDelete();Functions can both delete dynamically created task functionsxTaskCreate创建的任务,It is also possible to delete statically created task functionsxTaskCreateStatic创建的任务.
对于xTaskCreate()We have already set the task handle of the task when we created it,You can directly pass it in when you delete it.
对于xTaskCreateStatic,我们可以从下图看到,The return value of this function is a task handle,So use a create structure to get the handle of the task in advance.

TaskHandle_t TaskStaticHandle = xTaskCreateStatic(Task3,"Task3",100,NULL,1,xTask3Stack,&xTask3Tcb);