Steve Mylroie
mdot_rtos
Fork of
mbed-rtos
by 
mbed official
Embed:
(wiki syntax)
Show/hide line numbers
Thread.h
00001 /* mbed Microcontroller Library 00002 * Copyright (c) 2006-2012 ARM Limited 00003 * 00004 * Permission is hereby granted, free of charge, to any person obtaining a copy 00005 * of this software and associated documentation files (the "Software"), to deal 00006 * in the Software without restriction, including without limitation the rights 00007 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 00008 * copies of the Software, and to permit persons to whom the Software is 00009 * furnished to do so, subject to the following conditions: 00010 * 00011 * The above copyright notice and this permission notice shall be included in 00012 * all copies or substantial portions of the Software. 00013 * 00014 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 00015 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00016 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 00017 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 00018 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00019 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 00020 * SOFTWARE. 00021 */ 00022 #ifndef THREAD_H 00023 #define THREAD_H 00024 00025 #include <stdint.h> 00026 #include "cmsis_os.h" 00027 #include "Callback.h" 00028 #include "toolchain.h" 00029 #include "Semaphore.h" 00030 #include "Mutex.h" 00031 00032 namespace rtos { 00033 00034 /** The Thread class allow defining, creating, and controlling thread functions in the system. */ 00035 class Thread { 00036 public: 00037 /** Allocate a new thread without starting execution 00038 @param priority initial priority of the thread function. (default: osPriorityNormal). 00039 @param stack_size stack size (in bytes) requirements for the thread function. (default: DEFAULT_STACK_SIZE). 00040 @param stack_pointer pointer to the stack area to be used by this thread (default: NULL). 00041 */ 00042 Thread(osPriority priority=osPriorityNormal, 00043 uint32_t stack_size=DEFAULT_STACK_SIZE, 00044 unsigned char *stack_pointer=NULL) { 00045 constructor(priority, stack_size, stack_pointer); 00046 } 00047 00048 /** Create a new thread, and start it executing the specified function. 00049 @param task function to be executed by this thread. 00050 @param argument pointer that is passed to the thread function as start argument. (default: NULL). 00051 @param priority initial priority of the thread function. (default: osPriorityNormal). 00052 @param stack_size stack size (in bytes) requirements for the thread function. (default: DEFAULT_STACK_SIZE). 00053 @param stack_pointer pointer to the stack area to be used by this thread (default: NULL). 00054 @deprecated 00055 Thread-spawning constructors hide errors and may lead to complex 00056 program state when a thread is declared. 00057 00058 The explicit Thread::start member function should be used to spawn 00059 a thread. 00060 */ 00061 MBED_DEPRECATED_SINCE("mbed-os-5.1", 00062 "Thread-spawning constructors hide errors and may lead to complex " 00063 "program state when a thread is declared") 00064 Thread(mbed::Callback<void()> task, 00065 osPriority priority=osPriorityNormal, 00066 uint32_t stack_size=DEFAULT_STACK_SIZE, 00067 unsigned char *stack_pointer=NULL) { 00068 constructor(task, priority, stack_size, stack_pointer); 00069 } 00070 00071 /** Create a new thread, and start it executing the specified function. 00072 @param obj argument to task. 00073 @param method function to be executed by this thread. 00074 @param argument pointer that is passed to the thread function as start argument. (default: NULL). 00075 @param priority initial priority of the thread function. (default: osPriorityNormal). 00076 @param stack_size stack size (in bytes) requirements for the thread function. (default: DEFAULT_STACK_SIZE). 00077 @param stack_pointer pointer to the stack area to be used by this thread (default: NULL). 00078 @deprecated 00079 Thread-spawning constructors hide errors and may lead to complex 00080 program state when a thread is declared. 00081 00082 The explicit Thread::start member function should be used to spawn 00083 a thread. 00084 */ 00085 template <typename T> 00086 MBED_DEPRECATED_SINCE("mbed-os-5.1", 00087 "Thread-spawning constructors hide errors and may lead to complex " 00088 "program state when a thread is declared") 00089 Thread(T *obj, void (T::*method)(), 00090 osPriority priority=osPriorityNormal, 00091 uint32_t stack_size=DEFAULT_STACK_SIZE, 00092 unsigned char *stack_pointer=NULL) { 00093 constructor(mbed::Callback<void()>(obj, method), 00094 priority, stack_size, stack_pointer); 00095 } 00096 00097 /** Create a new thread, and start it executing the specified function. 00098 @param obj argument to task. 00099 @param method function to be executed by this thread. 00100 @param argument pointer that is passed to the thread function as start argument. (default: NULL). 00101 @param priority initial priority of the thread function. (default: osPriorityNormal). 00102 @param stack_size stack size (in bytes) requirements for the thread function. (default: DEFAULT_STACK_SIZE). 00103 @param stack_pointer pointer to the stack area to be used by this thread (default: NULL). 00104 @deprecated 00105 Thread-spawning constructors hide errors and may lead to complex 00106 program state when a thread is declared. 00107 00108 The explicit Thread::start member function should be used to spawn 00109 a thread. 00110 */ 00111 template <typename T> 00112 MBED_DEPRECATED_SINCE("mbed-os-5.1", 00113 "Thread-spawning constructors hide errors and may lead to complex " 00114 "program state when a thread is declared") 00115 Thread(T *obj, void (*method)(T *), 00116 osPriority priority=osPriorityNormal, 00117 uint32_t stack_size=DEFAULT_STACK_SIZE, 00118 unsigned char *stack_pointer=NULL) { 00119 constructor(mbed::Callback<void()>(obj, method), 00120 priority, stack_size, stack_pointer); 00121 } 00122 00123 /** Create a new thread, and start it executing the specified function. 00124 Provided for backwards compatibility 00125 @param task function to be executed by this thread. 00126 @param argument pointer that is passed to the thread function as start argument. (default: NULL). 00127 @param priority initial priority of the thread function. (default: osPriorityNormal). 00128 @param stack_size stack size (in bytes) requirements for the thread function. (default: DEFAULT_STACK_SIZE). 00129 @param stack_pointer pointer to the stack area to be used by this thread (default: NULL). 00130 @deprecated 00131 Thread-spawning constructors hide errors and may lead to complex 00132 program state when a thread is declared. 00133 00134 The explicit Thread::start member function should be used to spawn 00135 a thread. 00136 */ 00137 MBED_DEPRECATED_SINCE("mbed-os-5.1", 00138 "Thread-spawning constructors hide errors and may lead to complex " 00139 "program state when a thread is declared") 00140 Thread(void (*task)(void const *argument), void *argument=NULL, 00141 osPriority priority=osPriorityNormal, 00142 uint32_t stack_size=DEFAULT_STACK_SIZE, 00143 unsigned char *stack_pointer=NULL) { 00144 constructor(mbed::Callback<void()>(argument, (void (*)(void *))task), 00145 priority, stack_size, stack_pointer); 00146 } 00147 00148 /** Starts a thread executing the specified function. 00149 @param task function to be executed by this thread. 00150 @return status code that indicates the execution status of the function. 00151 */ 00152 osStatus start(mbed::Callback<void()> task); 00153 00154 /** Starts a thread executing the specified function. 00155 @param obj argument to task 00156 @param method function to be executed by this thread. 00157 @return status code that indicates the execution status of the function. 00158 */ 00159 template <typename T, typename M> 00160 osStatus start(T *obj, M method) { 00161 return start(mbed::Callback<void()>(obj, method)); 00162 } 00163 00164 /** Wait for thread to terminate 00165 @return status code that indicates the execution status of the function. 00166 @note not callable from interrupt 00167 */ 00168 osStatus join(); 00169 00170 /** Terminate execution of a thread and remove it from Active Threads 00171 @return status code that indicates the execution status of the function. 00172 */ 00173 osStatus terminate(); 00174 00175 /** Set priority of an active thread 00176 @param priority new priority value for the thread function. 00177 @return status code that indicates the execution status of the function. 00178 */ 00179 osStatus set_priority(osPriority priority); 00180 00181 /** Get priority of an active thread 00182 @return current priority value of the thread function. 00183 */ 00184 osPriority get_priority(); 00185 00186 /** Set the specified Signal Flags of an active thread. 00187 @param signals specifies the signal flags of the thread that should be set. 00188 @return previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters. 00189 */ 00190 int32_t signal_set(int32_t signals); 00191 00192 /** Clears the specified Signal Flags of an active thread. 00193 @param signals specifies the signal flags of the thread that should be cleared. 00194 @return resultant signal flags of the specified thread or 0x80000000 in case of incorrect parameters. 00195 */ 00196 int32_t signal_clr(int32_t signals); 00197 00198 /** State of the Thread */ 00199 enum State { 00200 Inactive, /**< Not created or terminated */ 00201 Ready, /**< Ready to run */ 00202 Running, /**< Running */ 00203 WaitingDelay, /**< Waiting for a delay to occur */ 00204 WaitingInterval, /**< Waiting for an interval to occur */ 00205 WaitingOr, /**< Waiting for one event in a set to occur */ 00206 WaitingAnd, /**< Waiting for multiple events in a set to occur */ 00207 WaitingSemaphore, /**< Waiting for a semaphore event to occur */ 00208 WaitingMailbox, /**< Waiting for a mailbox event to occur */ 00209 WaitingMutex, /**< Waiting for a mutex event to occur */ 00210 00211 /* Not in sync with RTX below here */ 00212 Deleted, /**< The task has been deleted */ 00213 }; 00214 00215 /** State of this Thread 00216 @return the State of this Thread 00217 */ 00218 State get_state(); 00219 00220 /** Get the total stack memory size for this Thread 00221 @return the total stack memory size in bytes 00222 */ 00223 uint32_t stack_size(); 00224 00225 /** Get the currently unused stack memory for this Thread 00226 @return the currently unused stack memory in bytes 00227 */ 00228 uint32_t free_stack(); 00229 00230 /** Get the currently used stack memory for this Thread 00231 @return the currently used stack memory in bytes 00232 */ 00233 uint32_t used_stack(); 00234 00235 /** Get the maximum stack memory usage to date for this Thread 00236 @return the maximum stack memory usage to date in bytes 00237 */ 00238 uint32_t max_stack(); 00239 00240 /** Wait for one or more Signal Flags to become signaled for the current RUNNING thread. 00241 @param signals wait until all specified signal flags set or 0 for any single signal flag. 00242 @param millisec timeout value or 0 in case of no time-out. (default: osWaitForever). 00243 @return event flag information or error code. 00244 @note not callable from interrupt 00245 */ 00246 static osEvent signal_wait(int32_t signals, uint32_t millisec=osWaitForever); 00247 00248 /** Wait for a specified time period in millisec: 00249 @param millisec time delay value 00250 @return status code that indicates the execution status of the function. 00251 @note not callable from interrupt 00252 */ 00253 static osStatus wait(uint32_t millisec); 00254 00255 /** Pass control to next thread that is in state READY. 00256 @return status code that indicates the execution status of the function. 00257 @note not callable from interrupt 00258 */ 00259 static osStatus yield(); 00260 00261 /** Get the thread id of the current running thread. 00262 @return thread ID for reference by other functions or NULL in case of error. 00263 */ 00264 static osThreadId gettid(); 00265 00266 /** Attach a function to be called by the RTOS idle task 00267 @param fptr pointer to the function to be called 00268 */ 00269 static void attach_idle_hook(void (*fptr)(void)); 00270 00271 virtual ~Thread(); 00272 00273 private: 00274 // Required to share definitions without 00275 // delegated constructors 00276 void constructor(osPriority priority=osPriorityNormal, 00277 uint32_t stack_size=DEFAULT_STACK_SIZE, 00278 unsigned char *stack_pointer=NULL); 00279 void constructor(mbed::Callback<void()> task, 00280 osPriority priority=osPriorityNormal, 00281 uint32_t stack_size=DEFAULT_STACK_SIZE, 00282 unsigned char *stack_pointer=NULL); 00283 static void _thunk(const void * thread_ptr); 00284 00285 mbed::Callback<void()> _task; 00286 osThreadId _tid; 00287 osThreadDef_t _thread_def; 00288 bool _dynamic_stack; 00289 Semaphore _join_sem; 00290 Mutex _mutex; 00291 }; 00292 00293 } 00294 #endif
Generated on Thu Jul 14 2022 09:48:40 by
1.7.2