Mbed OS Reference | ConditionVariable.h Source File

 /* Mbed Microcontroller Library
  * Copyright (c) 2017-2019 ARM Limited
  * SPDX-License-Identifier: MIT
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
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 #ifndef CONDITIONVARIABLE_H
 #define CONDITIONVARIABLE_H
 
 #include <stdint.h>
 #include <utility>
 #include "rtos/mbed_rtos_types.h"
 #include "rtos/Mutex.h"
 #include "rtos/Semaphore.h"
 #include "rtos/Kernel.h"
 
 #include "platform/NonCopyable.h"
 
 #if MBED_CONF_RTOS_PRESENT || defined(DOXYGEN_ONLY)
 
 namespace rtos {
 /** \addtogroup rtos-public-api */
 /** @{*/
 
 enum class cv_status {
     no_timeout,
     timeout
 };
 
 struct Waiter;
 /**
  * \defgroup rtos_ConditionVariable ConditionVariable class
  * @{
  */
 
 /** The ConditionVariable class is a synchronization primitive that allows
  *   threads to wait until a particular condition occurs.
  *
  * Use the condition variable in conjunction with a mutex to safely wait for
  * or notify waiters of condition changes to a resource accessible by multiple
  * threads.
  *
  * The thread that intends to wait on a ConditionVariable must:
  * - Acquire a lock on a mutex.
  * - Execute `wait`, `wait_for` or `wait_until`. While the thread is waiting,
  *   the mutex is unlocked.
  * - When the condition variable has been notified, or in the case of `wait_for`
  *   and `wait_until` the timeout expires, the thread is awakened.
  *
  * The thread that intends to notify a ConditionVariable must:
  * - Acquire a lock on the mutex used to construct the condition variable.
  * - Execute `notify_one` or `notify_all` on the condition variable.
  *
  * All threads waiting on the condition variable wake when
  *   `ConditionVariable::notify_all` is called.
  * At least one thread waiting on the condition variable wakes
  *   when `ConditionVariable::notify_one` is called.
  *
  * While a thread is waiting for notification of a
  *   ConditionVariable, it releases the lock held on the mutex.
  * The ConditionVariable reacquires the mutex lock before exiting the wait
  *   function.
  *
  * #### Unspecified behavior
  * - The thread that is unblocked on `ConditionVariable::notify_one` is
  *   unspecified if there are multiple waiters.
  * - When `ConditionVariable::notify_one` or `ConditionVariable::notify_all` is
  *   called and there are one or more waiters, and one or more threads
  *   attempting to acquire the condition variable's mutex, the order in which the mutex is
  *   acquired is unspecified.
  * - Spurious notifications (not triggered by the application) can occur.
  *
  * #### Undefined behavior
  * - Calling wait if the mutex is not locked by the current thread is undefined
  *   behavior.
  * - The order in which waiting threads acquire the condition variable's
  *   mutex after `ConditionVariable::notify_all` is called is undefined.
  * - The behavior of `ConditionVariable::wait` and `ConditionVariable::wait_for`
  *   is undefined if the condition variable's mutex is locked more than once by
  *   the calling thread.
  *
  * @note Synchronization level: Thread safe
  *
  * @note Bare metal profile: This class is not supported.
  *
  * Example:
  *
  * @code
  * #include "mbed.h"
  *
  * Mutex mutex;
  * ConditionVariable cv(mutex);
  *
  * // These variables are protected by locking the mutex.
  * uint32_t work_count = 0;
  * bool done = false;
  *
  * void worker_thread()
  * {
  *   // Acquire lock on mutex before accessing protected variables and waiting.
  *   mutex.lock();
  *
  *   while (done == false) {
  *     printf("Worker thread: Count: %lu\r\n", work_count);
  *
  *     // Wait for main thread to notify the condition variable.
  *     printf("Worker thread: Waiting\r\n");
  *     cv.wait();
  *   }
  *
  *   printf("Worker: Exiting\r\n");
  *
  *   // The condition variable acquires the lock when exiting the `wait` function.
  *   // Unlock mutex when exiting the thread.
  *   mutex.unlock();
  * }
  *
  * int main()
  * {
  *   Thread thread;
  *   thread.start(worker_thread);
  *
  *   for (int i = 0; i < 5; i++) {
  *     // Acquire lock on mutex before modifying variables and notifying.
  *     mutex.lock();
  *
  *     // Change count and notify waiters.
  *     work_count++;
  *     printf("Main thread: Set count to: %lu\r\n", work_count);
  *     printf("Main thread: Notifying worker thread\r\n");
  *     cv.notify_all();
  *
  *     // Mutex must be unlocked before the worker thread can acquire it.
  *     mutex.unlock();
  *
  *     ThisThread::sleep_for(1000);
  *   }
  *
  *   // Change done and notify waiters of this.
  *   mutex.lock();
  *   done = true;
  *   cv.notify_all();
  *   mutex.unlock();
  *
  *   thread.join();
  *
  *   printf("Main: Exiting\r\n");
  * }
  * @endcode
  */
 
 class ConditionVariable : private mbed::NonCopyable<ConditionVariable> {
 public:
     /** Create and initialize a ConditionVariable object.
      *
      * @note You cannot call this function from ISR context.
     */
     ConditionVariable(Mutex &mutex);
 
     /** Wait for a notification.
      *
      * Wait causes the current thread to block until the condition variable
      * receives a notification from another thread.
      *
      * @note - The thread calling this function must be the owner of the
      * ConditionVariable's mutex, and it must be locked exactly once.
      *
      * @note - Spurious notifications can occur, so the caller of this API
      * should check to make sure the condition the caller is waiting on has
      * been met.
      *
      * @note - The current thread releases the mutex while inside the wait
      * function and reacquires it upon exiting the function.
      *
      * Example:
      * @code
      * mutex.lock();
      *
      * while (!condition_met) {
      *     cond.wait();
      * }
      *
      * function_to_handle_condition();
      *
      * mutex.unlock();
      * @endcode
      *
      * @note You cannot call this function from ISR context.
      */
     void wait();
 
     /** Wait for a predicate.
      *
      * Wait causes the current thread to block until the predicate is
      * true.
      *
      * @param   pred      A function-like object such that `pred()` is convertible to bool
      *
      * @note - The thread calling this function must be the owner of the
      * ConditionVariable's mutex, and it must be locked exactly once.
      *
      * @note - The current thread releases the mutex while inside the wait
      * function and reacquires it upon exiting the function.
      *
      * Example:
      * @code
      * extern bool data_available();
      *
      * mutex.lock();
      *
      * cond.wait(data_available);
      *
      * function_to_handle_data();
      *
      * mutex.unlock();
      * @endcode
      *
      * @note You cannot call this function from ISR context.
      */
     template <typename Predicate>
     void wait(Predicate pred)
     {
         while (!pred()) {
             wait();
         }
     }
 
 
     /** Wait for a notification until the specified time.
      *
      * Wait until causes the current thread to block until the condition
      * variable is notified, or a specific time given by millisec parameter is
      * reached.
      *
      * @param   millisec  Absolute end time referenced to `Kernel::get_ms_count()`
      * @return  `true` if a timeout occurred, `false` otherwise.
      *
      * @note - The thread calling this function must be the owner of the
      * ConditionVariable's mutex, and it must be locked exactly once.
      *
      * @note - Spurious notifications can occur, so the caller of this API
      * should check to make sure the condition the caller is waiting on has
      * been met.
      *
      * @note - The current thread releases the lock while inside the wait
      * function and reacquires it upon exiting the function.
      *
      * Example:
      * @code
      * mutex.lock();
      * uint64_t end_time = Kernel::get_ms_count() + COND_WAIT_TIMEOUT;
      *
      * while (!condition_met) {
      *     if (cond.wait_until(end_time)) {
      *         break;
      *     }
      * }
      *
      * if (condition_met) {
      *     function_to_handle_condition();
      * }
      *
      * mutex.unlock();
      * @endcode
      *
      * @note You cannot call this function from ISR context.
      * @deprecated Pass a chrono time_point, not an integer millisecond count. For example use `Kernel::Clock::now() + 5s`
      *             rather than `Kernel::get_ms_count() + 5000`.
      */
     MBED_DEPRECATED_SINCE("mbed-os-6.0.0", "Pass a chrono time_point, not an integer millisecond count. For example use `Kernel::Clock::now() + 5s` rather than `Kernel::get_ms_count() + 5000`.")
     bool wait_until(uint64_t millisec);
 
     /** Wait for a notification until the specified time.
      *
      * Wait until causes the current thread to block until the condition
      * variable is notified, or a specific time given by millisec parameter is
      * reached.
      *
      * @param   abs_time  Absolute end time referenced to `Kernel::Clock`
      * @return  `cv_status::timeout` if a timeout occurred, `cv_status::no_timeout` otherwise.
      *
      * @note - The thread calling this function must be the owner of the
      * ConditionVariable's mutex, and it must be locked exactly once.
      *
      * @note - Spurious notifications can occur, so the caller of this API
      * should check to make sure the condition the caller is waiting on has
      * been met.
      *
      * @note - The current thread releases the lock while inside the wait
      * function and reacquires it upon exiting the function.
      *
      * Example:
      * @code
      * mutex.lock();
      * Kernel::Clock::time_point end_time = Kernel::Clock::now() + 2s;
      *
      * while (!condition_met) {
      *     if (cond.wait_until(end_time) == cv_status::timeout) {
      *         break;
      *     }
      * }
      *
      * if (condition_met) {
      *     function_to_handle_condition();
      * }
      *
      * mutex.unlock();
      * @endcode
      *
      * @note You cannot call this function from ISR context.
      */
     cv_status wait_until(Kernel::Clock::time_point abs_time);
 
     /** Wait for a predicate until the specified time.
      *
      * Wait until causes the current thread to block until the predicate is true,
      * or a specific time given by abs_time parameter is reached.
      *
      * @param   abs_time  Absolute end time referenced to `Kernel::Clock`
      * @param   pred      A function-like object such that `pred()` is convertible to bool
      * @return  The state of the predicate
      *
      * @note - The thread calling this function must be the owner of the
      * ConditionVariable's mutex, and it must be locked exactly once.
      *
      * @note - The current thread releases the mutex while inside the wait
      * function and reacquires it upon exiting the function.
      *
      * Example:
      * @code
      * extern bool data_available();
      *
      * mutex.lock();
      *
      * if (cond.wait_until(Kernel::Clock::now() + 2s, data_available)) {
      *     function_to_handle_data();
      * }
      *
      * mutex.unlock();
      * @endcode
      *
      * @note You cannot call this function from ISR context.
      */
     template <class Predicate>
     bool wait_until(Kernel::Clock::time_point abs_time, Predicate pred)
     {
         while (!pred()) {
             if (wait_until(abs_time) == cv_status::timeout) {
                 return pred();
             }
         }
         return true;
     }
 
     /** Wait for a notification or timeout.
      *
      * `Wait for` causes the current thread to block until the condition
      * variable receives a notification from another thread, or the timeout
      * specified by the millisec parameter is reached.
      *
      * @param   millisec  Timeout value or osWaitForever in case of no timeout.
      * @return  `true` if a timeout occurred, `false` otherwise.
      *
      * @note - The thread calling this function must be the owner of the
      * ConditionVariable's mutex, and it must be locked exactly once.
      *
      * @note - Spurious notifications can occur, so the caller of this API
      * should check to make sure the condition the caller is waiting on has
      * been met.
      *
      * @note - The current thread releases the lock while inside the wait
      * function and reacquire it upon exiting the function.
      *
      * Example:
      * @code
      * mutex.lock();
      *
      * while (!condition_met) {
      *     cond.wait_for(MAX_SLEEP_TIME);
      *     if (!condition_met) {
      *         do_other_work_while_condition_false();
      *     }
      * }
      *
      * if (condition_met) {
      *     function_to_handle_condition();
      * }
      *
      * mutex.unlock();
      * @endcode
      *
      * @note You cannot call this function from ISR context.
      * @deprecated Pass a chrono duration, not an integer millisecond count. For example use `5s` rather than `5000`.
      */
     MBED_DEPRECATED_SINCE("mbed-os-6.0.0", "Pass a chrono duration, not an integer millisecond count. For example use `5s` rather than `5000`.")
     bool wait_for(uint32_t millisec);
 
     /** Wait for a notification or timeout.
      *
      * `Wait for` causes the current thread to block until the condition
      * variable receives a notification from another thread, or the timeout
      * specified by the millisec parameter is reached.
      *
      * @param   rel_time Timeout value.
      * @return  `cv_status::timeout` if a timeout occurred, `cv_status::no_timeout` otherwise.
      *
      * @note - The thread calling this function must be the owner of the
      * ConditionVariable's mutex, and it must be locked exactly once.
      *
      * @note - Spurious notifications can occur, so the caller of this API
      * should check to make sure the condition the caller is waiting on has
      * been met.
      *
      * @note - The current thread releases the lock while inside the wait
      * function and reacquire it upon exiting the function.
      *
      * Example:
      * @code
      * mutex.lock();
      *
      * while (!condition_met) {
      *     cond.wait_for(MAX_SLEEP_TIME);
      *     if (!condition_met) {
      *         do_other_work_while_condition_false();
      *     }
      * }
      *
      * if (condition_met) {
      *     function_to_handle_condition();
      * }
      *
      * mutex.unlock();
      * @endcode
      *
      * @note You cannot call this function from ISR context.
      */
     cv_status wait_for(Kernel::Clock::duration_u32 rel_time);
 
     /** Wait for a predicate or timeout.
      *
      * `Wait for` causes the current thread to block until the predicate
      * is true, or the timeout specified by the rel_time parameter is reached.
      *
      * @param   rel_time  Timeout value.
      * @param   pred      a function-like object such that `pred()` is convertible to bool
      * @return  The state of the predicate
      *
      * @note - The thread calling this function must be the owner of the
      * ConditionVariable's mutex, and it must be locked exactly once.
      *
      * @note - The current thread releases the mutex while inside the wait
      * function and reacquire it upon exiting the function.
      *
      * Example:
      * @code
      * extern bool data_available();
      *
      * mutex.lock();
      *
      * if (cond.wait_for(2s, data_available)) {
      *     function_to_handle_data();
      * }
      *
      * mutex.unlock();
      * @endcode
      *
      * @note You cannot call this function from ISR context.
      */
     template <class Predicate>
     bool wait_for(Kernel::Clock::duration rel_time, Predicate pred)
     {
         return wait_until(Kernel::Clock::now() + rel_time, std::move(pred));
     }
 
     /** Notify one waiter on this condition variable that a condition changed.
      *
      * This function unblocks one of the threads waiting for the condition
      * variable.
      *
      * @note - The thread calling this function must be the owner of the
      * ConditionVariable's mutex.
      *
      * @note - The thread that is unblocked on ConditionVariable::notify_one is
      * undefined if there are multiple waiters.
      *
      * @note You cannot call this function from ISR context.
      */
     void notify_one();
 
     /** Notify all waiters on this condition variable that a condition changed.
      *
      * This function unblocks all of the threads waiting for the condition
      * variable.
      *
      * @note - The thread calling this function must be the owner of the
      * ConditionVariable's mutex.
      *
      * @note - If there are one or more waiters and one or more threads
      * attempting to acquire the condition variable's mutex the order in which
      * the mutex is acquired is undefined.
      *
      * @note You cannot call this function from ISR context.
      */
     void notify_all();
 
     /** ConditionVariable destructor.
      *
      * @note You cannot call this function from ISR context.
      */
     ~ConditionVariable();
 
 #if !defined(DOXYGEN_ONLY)
 protected:
     struct Waiter {
         Waiter();
         Semaphore sem;
         Waiter *prev;
         Waiter *next;
         bool in_list;
     };
 
     static void _add_wait_list(Waiter **wait_list, Waiter *waiter);
     static void _remove_wait_list(Waiter **wait_list, Waiter *waiter);
     Mutex &_mutex;
     Waiter *_wait_list;
 #endif // !defined(DOXYGEN_ONLY)
 };
 
 /** @}*/
 /** @}*/
 } // namespace rtos
 #endif
 
 #endif
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