Diff: rtos/Thread.cpp

Revision:

0:a7c449cd2d5a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rtos/Thread.cpp	Mon Feb 03 13:41:14 2020 +0000
@@ -0,0 +1,374 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#include "rtos/Thread.h"
+
+#include "mbed.h"
+#include "rtos/rtos_idle.h"
+
+// rt_tid2ptcb is an internal function which we exposed to get TCB for thread id
+#undef NULL  //Workaround for conflicting macros in rt_TypeDef.h and stdio.h
+#include "rt_TypeDef.h"
+
+extern "C" P_TCB rt_tid2ptcb(osThreadId thread_id);
+
+
+static void (*terminate_hook)(osThreadId id) = 0;
+extern "C" void thread_terminate_hook(osThreadId id)
+{
+    if (terminate_hook != (void (*)(osThreadId))NULL) {
+        terminate_hook(id);
+    }
+}
+
+namespace rtos {
+
+void Thread::constructor(osPriority priority,
+        uint32_t stack_size, unsigned char *stack_pointer) {
+    _tid = 0;
+    _dynamic_stack = (stack_pointer == NULL);
+
+#if defined(__MBED_CMSIS_RTOS_CA9) || defined(__MBED_CMSIS_RTOS_CM)
+    _thread_def.tpriority = priority;
+    _thread_def.stacksize = stack_size;
+    _thread_def.stack_pointer = (uint32_t*)stack_pointer;
+#endif
+}
+
+void Thread::constructor(Callback<void()> task,
+        osPriority priority, uint32_t stack_size, unsigned char *stack_pointer) {
+    constructor(priority, stack_size, stack_pointer);
+
+    switch (start(task)) {
+        case osErrorResource:
+            error("OS ran out of threads!\n");
+            break;
+        case osErrorParameter:
+            error("Thread already running!\n");
+            break;
+        case osErrorNoMemory:
+            error("Error allocating the stack memory\n");
+        default:
+            break;
+    }
+}
+
+osStatus Thread::start(Callback<void()> task) {
+    _mutex.lock();
+
+    if (_tid != 0) {
+        _mutex.unlock();
+        return osErrorParameter;
+    }
+
+#if defined(__MBED_CMSIS_RTOS_CA9) || defined(__MBED_CMSIS_RTOS_CM)
+    _thread_def.pthread = Thread::_thunk;
+    if (_thread_def.stack_pointer == NULL) {
+        _thread_def.stack_pointer = new uint32_t[_thread_def.stacksize/sizeof(uint32_t)];
+        MBED_ASSERT(_thread_def.stack_pointer != NULL);
+    }
+
+    //Fill the stack with a magic word for maximum usage checking
+    for (uint32_t i = 0; i < (_thread_def.stacksize / sizeof(uint32_t)); i++) {
+        _thread_def.stack_pointer[i] = 0xE25A2EA5;
+    }
+#endif
+    _task = task;
+    _tid = osThreadCreate(&_thread_def, this);
+    if (_tid == NULL) {
+        if (_dynamic_stack) {
+            delete[] (_thread_def.stack_pointer);
+            _thread_def.stack_pointer = (uint32_t*)NULL;
+        }
+        _mutex.unlock();
+        _join_sem.release();
+        return osErrorResource;
+    }
+
+    _mutex.unlock();
+    return osOK;
+}
+
+osStatus Thread::terminate() {
+    osStatus ret;
+    _mutex.lock();
+
+    // Set the Thread's tid to NULL and
+    // release the semaphore before terminating
+    // since this thread could be terminating itself
+    osThreadId local_id = _tid;
+    _join_sem.release();
+    _tid = (osThreadId)NULL;
+
+    ret = osThreadTerminate(local_id);
+
+    _mutex.unlock();
+    return ret;
+}
+
+osStatus Thread::join() {
+    int32_t ret = _join_sem.wait();
+    if (ret < 0) {
+        return osErrorOS;
+    }
+
+    // The semaphore has been released so this thread is being
+    // terminated or has been terminated. Once the mutex has
+    // been locked it is ensured that the thread is deleted.
+    _mutex.lock();
+    MBED_ASSERT(NULL == _tid);
+    _mutex.unlock();
+
+    // Release sem so any other threads joining this thread wake up
+    _join_sem.release();
+    return osOK;
+}
+
+osStatus Thread::set_priority(osPriority priority) {
+    osStatus ret;
+    _mutex.lock();
+
+    ret = osThreadSetPriority(_tid, priority);
+
+    _mutex.unlock();
+    return ret;
+}
+
+osPriority Thread::get_priority() {
+    osPriority ret;
+    _mutex.lock();
+
+    ret = osThreadGetPriority(_tid);
+
+    _mutex.unlock();
+    return ret;
+}
+
+int32_t Thread::signal_set(int32_t signals) {
+    // osSignalSet is thread safe as long as the underlying
+    // thread does not get terminated or return from main
+    return osSignalSet(_tid, signals);
+}
+
+int32_t Thread::signal_clr(int32_t signals) {
+    // osSignalClear is thread safe as long as the underlying
+    // thread does not get terminated or return from main
+    return osSignalClear(_tid, signals);
+}
+
+Thread::State Thread::get_state() {
+#if !defined(__MBED_CMSIS_RTOS_CA9) && !defined(__MBED_CMSIS_RTOS_CM)
+#ifdef CMSIS_OS_RTX
+    State status = Deleted;
+    _mutex.lock();
+
+    if (_tid != NULL) {
+        status = (State)_thread_def.tcb.state;
+    }
+
+    _mutex.unlock();
+    return status;
+#endif
+#else
+    State status = Deleted;
+    _mutex.lock();
+
+    if (_tid != NULL) {
+        status = (State)osThreadGetState(_tid);
+    }
+
+    _mutex.unlock();
+    return status;
+#endif
+}
+
+uint32_t Thread::stack_size() {
+#ifndef __MBED_CMSIS_RTOS_CA9
+#if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
+    uint32_t size = 0;
+    _mutex.lock();
+
+    if (_tid != NULL) {
+        size = _thread_def.tcb.priv_stack;
+    }
+
+    _mutex.unlock();
+    return size;
+#else
+    uint32_t size = 0;
+    _mutex.lock();
+
+    if (_tid != NULL) {
+        P_TCB tcb = rt_tid2ptcb(_tid);
+        size = tcb->priv_stack;
+    }
+
+    _mutex.unlock();
+    return size;
+#endif
+#else
+    return 0;
+#endif
+}
+
+uint32_t Thread::free_stack() {
+#ifndef __MBED_CMSIS_RTOS_CA9
+#if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
+    uint32_t size = 0;
+    _mutex.lock();
+
+    if (_tid != NULL) {
+        uint32_t bottom = (uint32_t)_thread_def.tcb.stack;
+        size = _thread_def.tcb.tsk_stack - bottom;
+    }
+
+    _mutex.unlock();
+    return size;
+#else
+    uint32_t size = 0;
+    _mutex.lock();
+
+    if (_tid != NULL) {
+        P_TCB tcb = rt_tid2ptcb(_tid);
+        uint32_t bottom = (uint32_t)tcb->stack;
+        size = tcb->tsk_stack - bottom;
+    }
+
+    _mutex.unlock();
+    return size;
+#endif
+#else
+    return 0;
+#endif
+}
+
+uint32_t Thread::used_stack() {
+#ifndef __MBED_CMSIS_RTOS_CA9
+#if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
+    uint32_t size = 0;
+    _mutex.lock();
+
+    if (_tid != NULL) {
+        uint32_t top = (uint32_t)_thread_def.tcb.stack + _thread_def.tcb.priv_stack;
+        size = top - _thread_def.tcb.tsk_stack;
+    }
+
+    _mutex.unlock();
+    return size;
+#else
+    uint32_t size = 0;
+    _mutex.lock();
+
+    if (_tid != NULL) {
+        P_TCB tcb = rt_tid2ptcb(_tid);
+        uint32_t top = (uint32_t)tcb->stack + tcb->priv_stack;
+        size =  top - tcb->tsk_stack;
+    }
+
+    _mutex.unlock();
+    return size;
+#endif
+#else
+    return 0;
+#endif
+}
+
+uint32_t Thread::max_stack() {
+#ifndef __MBED_CMSIS_RTOS_CA9
+#if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
+    uint32_t size = 0;
+    _mutex.lock();
+
+    if (_tid != NULL) {
+        uint32_t high_mark = 0;
+        while (_thread_def.tcb.stack[high_mark] == 0xE25A2EA5)
+            high_mark++;
+        size = _thread_def.tcb.priv_stack - (high_mark * 4);
+    }
+
+    _mutex.unlock();
+    return size;
+#else
+    uint32_t size = 0;
+    _mutex.lock();
+
+    if (_tid != NULL) {
+        P_TCB tcb = rt_tid2ptcb(_tid);
+        uint32_t high_mark = 0;
+        while (tcb->stack[high_mark] == 0xE25A2EA5)
+            high_mark++;
+        size = tcb->priv_stack - (high_mark * 4);
+    }
+
+    _mutex.unlock();
+    return size;
+#endif
+#else
+    return 0;
+#endif
+}
+
+osEvent Thread::signal_wait(int32_t signals, uint32_t millisec) {
+    return osSignalWait(signals, millisec);
+}
+
+osStatus Thread::wait(uint32_t millisec) {
+    return osDelay(millisec);
+}
+
+osStatus Thread::yield() {
+    return osThreadYield();
+}
+
+osThreadId Thread::gettid() {
+    return osThreadGetId();
+}
+
+void Thread::attach_idle_hook(void (*fptr)(void)) {
+    rtos_attach_idle_hook(fptr);
+}
+
+void Thread::attach_terminate_hook(void (*fptr)(osThreadId id)) {
+    terminate_hook = fptr;
+}
+
+Thread::~Thread() {
+    // terminate is thread safe
+    terminate();
+#ifdef __MBED_CMSIS_RTOS_CM
+    if (_dynamic_stack) {
+        delete[] (_thread_def.stack_pointer);
+        _thread_def.stack_pointer = (uint32_t*)NULL;
+    }
+#endif
+}
+
+void Thread::_thunk(const void * thread_ptr)
+{
+    Thread *t = (Thread*)thread_ptr;
+    t->_task();
+    t->_mutex.lock();
+    t->_tid = (osThreadId)NULL;
+    t->_join_sem.release();
+    // rtos will release the mutex automatically
+}
+
+}