Control a robot over the internet using UDP and a Wifly module (WiFi).

Dependencies:   Motor TextLCD WiflyInterface mbed-rtos mbed

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Show/hide line numbers Thread.cpp Source File

Thread.cpp

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 #include "Thread.h"
00023 
00024 #include "error.h"
00025 
00026 namespace rtos {
00027 
00028 Thread::Thread(void (*task)(void const *argument), void *argument,
00029         osPriority priority, uint32_t stack_size, unsigned char *stack_pointer) {
00030 #ifdef CMSIS_OS_RTX
00031     _thread_def.pthread = task;
00032     _thread_def.tpriority = priority;
00033     _thread_def.stacksize = stack_size;
00034     if (stack_pointer != NULL) {
00035         _thread_def.stack_pointer = stack_pointer;
00036         _dynamic_stack = false;
00037     } else {
00038         _thread_def.stack_pointer = new unsigned char[stack_size];
00039         if (_thread_def.stack_pointer == NULL)
00040             error("Error allocating the stack memory");
00041         _dynamic_stack = true;
00042     }
00043 #endif
00044     _tid = osThreadCreate(&_thread_def, argument);
00045 }
00046 
00047 osStatus Thread::terminate() {
00048     return osThreadTerminate(_tid);
00049 }
00050 
00051 osStatus Thread::set_priority(osPriority priority) {
00052     return osThreadSetPriority(_tid, priority);
00053 }
00054 
00055 osPriority Thread::get_priority() {
00056     return osThreadGetPriority(_tid);
00057 }
00058 
00059 int32_t Thread::signal_set(int32_t signals) {
00060     return osSignalSet(_tid, signals);
00061 }
00062 
00063 Thread::State Thread::get_state() {
00064     return ((State)_thread_def.tcb.state);
00065 }
00066 
00067 osEvent Thread::signal_wait(int32_t signals, uint32_t millisec) {
00068     return osSignalWait(signals, millisec);
00069 }
00070 
00071 osStatus Thread::wait(uint32_t millisec) {
00072     return osDelay(millisec);
00073 }
00074 
00075 osStatus Thread::yield() {
00076     return osThreadYield();
00077 }
00078 
00079 osThreadId Thread::gettid() {
00080     return osThreadGetId();
00081 }
00082 
00083 Thread::~Thread() {
00084     terminate();
00085     if (_dynamic_stack) {
00086         delete[] (_thread_def.stack_pointer);
00087     }
00088 }
00089 
00090 }