RTOS lib used for Eurobot 2012
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Thread.h
00001 /* Copyright (c) 2012 mbed.org */ 00002 #ifndef THREAD_H 00003 #define THREAD_H 00004 00005 #include <stdint.h> 00006 #include "cmsis_os.h" 00007 00008 namespace rtos { 00009 00010 /*! The Thread class allow defining, creating, and controlling thread functions in the system. */ 00011 class Thread { 00012 public: 00013 /*! Create a new thread, and start it executing the specified function. 00014 \param task function to be executed by this thread. 00015 \param argument pointer that is passed to the thread function as start argument. (default: NULL). 00016 \param priority initial priority of the thread function. (default: osPriorityNormal). 00017 \param stacksz stack size (in bytes) requirements for the thread function. (default: DEFAULT_STACK_SIZE). 00018 */ 00019 Thread (void (*task)(void const *argument), 00020 void *argument=NULL, 00021 osPriority priority=osPriorityNormal, 00022 uint32_t stacksize=DEFAULT_STACK_SIZE); 00023 00024 /*! Terminate execution of a thread and remove it from Active Threads 00025 \return status code that indicates the execution status of the function. 00026 */ 00027 osStatus terminate (); 00028 00029 /*! Set priority of an active thread 00030 \param priority new priority value for the thread function. 00031 \return status code that indicates the execution status of the function. 00032 */ 00033 osStatus set_priority (osPriority priority); 00034 00035 /*! Get priority of an active thread 00036 \ return current priority value of the thread function. 00037 */ 00038 osPriority get_priority (); 00039 00040 /*! Set the specified Signal Flags of an active thread. 00041 \param signals specifies the signal flags of the thread that should be set. 00042 \return previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters. 00043 */ 00044 int32_t signal_set (int32_t signals); 00045 00046 /*! Wait for one or more Signal Flags to become signaled for the current RUNNING thread. 00047 \param signals wait until all specified signal flags set or 0 for any single signal flag. 00048 \param millisec timeout value or 0 in case of no time-out. (default: osWaitForever). 00049 \return event flag information or error code. 00050 */ 00051 static osEvent signal_wait (int32_t signals, uint32_t millisec=osWaitForever); 00052 00053 00054 /*! Wait for a specified time period in millisec: 00055 \param millisec time delay value 00056 \return status code that indicates the execution status of the function. 00057 */ 00058 static osStatus wait (uint32_t millisec); 00059 00060 /*! Pass control to next thread that is in state READY. 00061 \return status code that indicates the execution status of the function. 00062 */ 00063 static osStatus yield (); 00064 00065 /*! Get the thread id of the current running thread. 00066 \return thread ID for reference by other functions or NULL in case of error. 00067 */ 00068 static osThreadId gettid (); 00069 00070 private: 00071 osThreadId _tid; 00072 osThreadDef_t _thread_def; 00073 }; 00074 00075 } 00076 #endif
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