Frazer Legge / mbed-rtos

Official mbed Real Time Operating System based on the RTX implementation of the CMSIS-RTOS API open standard.

Dependents:   Assignment_3__Embedded_Software

Fork of mbed-rtos by mbed official

rtos/Thread.h@124:b63b65f13991, 2018-03-16 (annotated)

Committer:
f_legge
Date:
Fri Mar 16 13:44:31 2018 +0000
Revision:
124:b63b65f13991
Parent:
123:58563e6cba1e 
WattBob_Compat;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
emilmont 8:88a1a9c26ae3 1 /* mbed Microcontroller Library
emilmont 8:88a1a9c26ae3 2 * Copyright (c) 2006-2012 ARM Limited
emilmont 8:88a1a9c26ae3 3 *
emilmont 8:88a1a9c26ae3 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
emilmont 8:88a1a9c26ae3 5 * of this software and associated documentation files (the "Software"), to deal
emilmont 8:88a1a9c26ae3 6 * in the Software without restriction, including without limitation the rights
emilmont 8:88a1a9c26ae3 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
emilmont 8:88a1a9c26ae3 8 * copies of the Software, and to permit persons to whom the Software is
emilmont 8:88a1a9c26ae3 9 * furnished to do so, subject to the following conditions:
emilmont 8:88a1a9c26ae3 10 *
emilmont 8:88a1a9c26ae3 11 * The above copyright notice and this permission notice shall be included in
emilmont 8:88a1a9c26ae3 12 * all copies or substantial portions of the Software.
emilmont 8:88a1a9c26ae3 13 *
emilmont 8:88a1a9c26ae3 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
emilmont 8:88a1a9c26ae3 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
emilmont 8:88a1a9c26ae3 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
emilmont 8:88a1a9c26ae3 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
emilmont 8:88a1a9c26ae3 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
emilmont 8:88a1a9c26ae3 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
emilmont 8:88a1a9c26ae3 20 * SOFTWARE.
emilmont 8:88a1a9c26ae3 21 */
emilmont 6:350b53afb889 22 #ifndef THREAD_H
emilmont 8:88a1a9c26ae3 23 #define THREAD_H
emilmont 6:350b53afb889 24
emilmont 6:350b53afb889 25 #include <stdint.h>
emilmont 6:350b53afb889 26 #include "cmsis_os.h"
c1728p9 123:58563e6cba1e 27 #include "platform/Callback.h"
c1728p9 123:58563e6cba1e 28 #include "platform/toolchain.h"
c1728p9 123:58563e6cba1e 29 #include "rtos/Semaphore.h"
c1728p9 123:58563e6cba1e 30 #include "rtos/Mutex.h"
emilmont 6:350b53afb889 31
emilmont 6:350b53afb889 32 namespace rtos {
c1728p9 123:58563e6cba1e 33 /** \addtogroup rtos */
c1728p9 123:58563e6cba1e 34 /** @{*/
emilmont 6:350b53afb889 35
c1728p9 123:58563e6cba1e 36 /** The Thread class allow defining, creating, and controlling thread functions in the system.
c1728p9 123:58563e6cba1e 37 *
c1728p9 123:58563e6cba1e 38 * Example:
c1728p9 123:58563e6cba1e 39 * @code
c1728p9 123:58563e6cba1e 40 * #include "mbed.h"
c1728p9 123:58563e6cba1e 41 * #include "rtos.h"
c1728p9 123:58563e6cba1e 42 *
c1728p9 123:58563e6cba1e 43 * Thread thread;
c1728p9 123:58563e6cba1e 44 * DigitalOut led1(LED1);
c1728p9 123:58563e6cba1e 45 * volatile bool running = true;
c1728p9 123:58563e6cba1e 46 *
c1728p9 123:58563e6cba1e 47 * // Blink function toggles the led in a long running loop
c1728p9 123:58563e6cba1e 48 * void blink(DigitalOut *led) {
c1728p9 123:58563e6cba1e 49 * while (running) {
c1728p9 123:58563e6cba1e 50 * *led = !*led;
c1728p9 123:58563e6cba1e 51 * Thread::wait(1000);
c1728p9 123:58563e6cba1e 52 * }
c1728p9 123:58563e6cba1e 53 * }
c1728p9 123:58563e6cba1e 54 *
c1728p9 123:58563e6cba1e 55 * // Spawns a thread to run blink for 5 seconds
c1728p9 123:58563e6cba1e 56 * int main() {
c1728p9 123:58563e6cba1e 57 * thread.start(led1, blink);
c1728p9 123:58563e6cba1e 58 * Thread::wait(5000);
c1728p9 123:58563e6cba1e 59 * running = false;
c1728p9 123:58563e6cba1e 60 * thread.join();
c1728p9 123:58563e6cba1e 61 * }
c1728p9 123:58563e6cba1e 62 * @endcode
c1728p9 123:58563e6cba1e 63 */
emilmont 6:350b53afb889 64 class Thread {
emilmont 6:350b53afb889 65 public:
Kojto 118:6635230e06ba 66 /** Allocate a new thread without starting execution
Kojto 118:6635230e06ba 67 @param priority initial priority of the thread function. (default: osPriorityNormal).
Kojto 118:6635230e06ba 68 @param stack_size stack size (in bytes) requirements for the thread function. (default: DEFAULT_STACK_SIZE).
Kojto 118:6635230e06ba 69 @param stack_pointer pointer to the stack area to be used by this thread (default: NULL).
Kojto 118:6635230e06ba 70 */
Kojto 118:6635230e06ba 71 Thread(osPriority priority=osPriorityNormal,
Kojto 118:6635230e06ba 72 uint32_t stack_size=DEFAULT_STACK_SIZE,
Kojto 118:6635230e06ba 73 unsigned char *stack_pointer=NULL) {
Kojto 118:6635230e06ba 74 constructor(priority, stack_size, stack_pointer);
Kojto 118:6635230e06ba 75 }
Kojto 118:6635230e06ba 76
emilmont 8:88a1a9c26ae3 77 /** Create a new thread, and start it executing the specified function.
emilmont 8:88a1a9c26ae3 78 @param task function to be executed by this thread.
emilmont 8:88a1a9c26ae3 79 @param argument pointer that is passed to the thread function as start argument. (default: NULL).
emilmont 8:88a1a9c26ae3 80 @param priority initial priority of the thread function. (default: osPriorityNormal).
emilmont 8:88a1a9c26ae3 81 @param stack_size stack size (in bytes) requirements for the thread function. (default: DEFAULT_STACK_SIZE).
emilmont 8:88a1a9c26ae3 82 @param stack_pointer pointer to the stack area to be used by this thread (default: NULL).
Kojto 118:6635230e06ba 83 @deprecated
c1728p9 123:58563e6cba1e 84 Thread-spawning constructors hide errors. Replaced by thread.start(task).
c1728p9 123:58563e6cba1e 85
c1728p9 123:58563e6cba1e 86 @code
c1728p9 123:58563e6cba1e 87 Thread thread(priority, stack_size, stack_pointer);
Kojto 118:6635230e06ba 88
c1728p9 123:58563e6cba1e 89 osStatus status = thread.start(task);
c1728p9 123:58563e6cba1e 90 if (status != osOK) {
c1728p9 123:58563e6cba1e 91 error("oh no!");
c1728p9 123:58563e6cba1e 92 }
c1728p9 123:58563e6cba1e 93 @endcode
emilmont 6:350b53afb889 94 */
Kojto 120:4dc938e301cc 95 MBED_DEPRECATED_SINCE("mbed-os-5.1",
c1728p9 123:58563e6cba1e 96 "Thread-spawning constructors hide errors. "
c1728p9 123:58563e6cba1e 97 "Replaced by thread.start(task).")
Kojto 118:6635230e06ba 98 Thread(mbed::Callback<void()> task,
Kojto 118:6635230e06ba 99 osPriority priority=osPriorityNormal,
Kojto 118:6635230e06ba 100 uint32_t stack_size=DEFAULT_STACK_SIZE,
Kojto 118:6635230e06ba 101 unsigned char *stack_pointer=NULL) {
Kojto 118:6635230e06ba 102 constructor(task, priority, stack_size, stack_pointer);
Kojto 118:6635230e06ba 103 }
Kojto 118:6635230e06ba 104
Kojto 118:6635230e06ba 105 /** Create a new thread, and start it executing the specified function.
Kojto 118:6635230e06ba 106 @param obj argument to task.
Kojto 118:6635230e06ba 107 @param method function to be executed by this thread.
Kojto 118:6635230e06ba 108 @param argument pointer that is passed to the thread function as start argument. (default: NULL).
Kojto 118:6635230e06ba 109 @param priority initial priority of the thread function. (default: osPriorityNormal).
Kojto 118:6635230e06ba 110 @param stack_size stack size (in bytes) requirements for the thread function. (default: DEFAULT_STACK_SIZE).
Kojto 118:6635230e06ba 111 @param stack_pointer pointer to the stack area to be used by this thread (default: NULL).
Kojto 118:6635230e06ba 112 @deprecated
c1728p9 123:58563e6cba1e 113 Thread-spawning constructors hide errors. Replaced by thread.start(callback(task, argument)).
c1728p9 123:58563e6cba1e 114
c1728p9 123:58563e6cba1e 115 @code
c1728p9 123:58563e6cba1e 116 Thread thread(priority, stack_size, stack_pointer);
Kojto 118:6635230e06ba 117
c1728p9 123:58563e6cba1e 118 osStatus status = thread.start(callback(task, argument));
c1728p9 123:58563e6cba1e 119 if (status != osOK) {
c1728p9 123:58563e6cba1e 120 error("oh no!");
c1728p9 123:58563e6cba1e 121 }
c1728p9 123:58563e6cba1e 122 @endcode
Kojto 118:6635230e06ba 123 */
Kojto 118:6635230e06ba 124 template <typename T>
Kojto 120:4dc938e301cc 125 MBED_DEPRECATED_SINCE("mbed-os-5.1",
c1728p9 123:58563e6cba1e 126 "Thread-spawning constructors hide errors. "
c1728p9 123:58563e6cba1e 127 "Replaced by thread.start(callback(task, argument)).")
c1728p9 123:58563e6cba1e 128 Thread(T *argument, void (T::*task)(),
Kojto 118:6635230e06ba 129 osPriority priority=osPriorityNormal,
Kojto 118:6635230e06ba 130 uint32_t stack_size=DEFAULT_STACK_SIZE,
Kojto 118:6635230e06ba 131 unsigned char *stack_pointer=NULL) {
c1728p9 123:58563e6cba1e 132 constructor(mbed::callback(task, argument),
Kojto 118:6635230e06ba 133 priority, stack_size, stack_pointer);
Kojto 118:6635230e06ba 134 }
Kojto 118:6635230e06ba 135
Kojto 118:6635230e06ba 136 /** Create a new thread, and start it executing the specified function.
Kojto 118:6635230e06ba 137 @param obj argument to task.
Kojto 118:6635230e06ba 138 @param method function to be executed by this thread.
Kojto 118:6635230e06ba 139 @param argument pointer that is passed to the thread function as start argument. (default: NULL).
Kojto 118:6635230e06ba 140 @param priority initial priority of the thread function. (default: osPriorityNormal).
Kojto 118:6635230e06ba 141 @param stack_size stack size (in bytes) requirements for the thread function. (default: DEFAULT_STACK_SIZE).
Kojto 118:6635230e06ba 142 @param stack_pointer pointer to the stack area to be used by this thread (default: NULL).
Kojto 118:6635230e06ba 143 @deprecated
c1728p9 123:58563e6cba1e 144 Thread-spawning constructors hide errors. Replaced by thread.start(callback(task, argument)).
c1728p9 123:58563e6cba1e 145
c1728p9 123:58563e6cba1e 146 @code
c1728p9 123:58563e6cba1e 147 Thread thread(priority, stack_size, stack_pointer);
Kojto 118:6635230e06ba 148
c1728p9 123:58563e6cba1e 149 osStatus status = thread.start(callback(task, argument));
c1728p9 123:58563e6cba1e 150 if (status != osOK) {
c1728p9 123:58563e6cba1e 151 error("oh no!");
c1728p9 123:58563e6cba1e 152 }
c1728p9 123:58563e6cba1e 153 @endcode
Kojto 118:6635230e06ba 154 */
Kojto 118:6635230e06ba 155 template <typename T>
Kojto 120:4dc938e301cc 156 MBED_DEPRECATED_SINCE("mbed-os-5.1",
c1728p9 123:58563e6cba1e 157 "Thread-spawning constructors hide errors. "
c1728p9 123:58563e6cba1e 158 "Replaced by thread.start(callback(task, argument)).")
c1728p9 123:58563e6cba1e 159 Thread(T *argument, void (*task)(T *),
Kojto 118:6635230e06ba 160 osPriority priority=osPriorityNormal,
Kojto 118:6635230e06ba 161 uint32_t stack_size=DEFAULT_STACK_SIZE,
Kojto 118:6635230e06ba 162 unsigned char *stack_pointer=NULL) {
c1728p9 123:58563e6cba1e 163 constructor(mbed::callback(task, argument),
Kojto 118:6635230e06ba 164 priority, stack_size, stack_pointer);
Kojto 118:6635230e06ba 165 }
Kojto 118:6635230e06ba 166
Kojto 118:6635230e06ba 167 /** Create a new thread, and start it executing the specified function.
Kojto 118:6635230e06ba 168 Provided for backwards compatibility
Kojto 118:6635230e06ba 169 @param task function to be executed by this thread.
Kojto 118:6635230e06ba 170 @param argument pointer that is passed to the thread function as start argument. (default: NULL).
Kojto 118:6635230e06ba 171 @param priority initial priority of the thread function. (default: osPriorityNormal).
Kojto 118:6635230e06ba 172 @param stack_size stack size (in bytes) requirements for the thread function. (default: DEFAULT_STACK_SIZE).
Kojto 118:6635230e06ba 173 @param stack_pointer pointer to the stack area to be used by this thread (default: NULL).
Kojto 118:6635230e06ba 174 @deprecated
c1728p9 123:58563e6cba1e 175 Thread-spawning constructors hide errors. Replaced by thread.start(callback(task, argument)).
c1728p9 123:58563e6cba1e 176
c1728p9 123:58563e6cba1e 177 @code
c1728p9 123:58563e6cba1e 178 Thread thread(priority, stack_size, stack_pointer);
Kojto 118:6635230e06ba 179
c1728p9 123:58563e6cba1e 180 osStatus status = thread.start(callback(task, argument));
c1728p9 123:58563e6cba1e 181 if (status != osOK) {
c1728p9 123:58563e6cba1e 182 error("oh no!");
c1728p9 123:58563e6cba1e 183 }
c1728p9 123:58563e6cba1e 184 @endcode
Kojto 118:6635230e06ba 185 */
Kojto 120:4dc938e301cc 186 MBED_DEPRECATED_SINCE("mbed-os-5.1",
c1728p9 123:58563e6cba1e 187 "Thread-spawning constructors hide errors. "
c1728p9 123:58563e6cba1e 188 "Replaced by thread.start(callback(task, argument)).")
emilmont 6:350b53afb889 189 Thread(void (*task)(void const *argument), void *argument=NULL,
emilmont 6:350b53afb889 190 osPriority priority=osPriorityNormal,
emilmont 6:350b53afb889 191 uint32_t stack_size=DEFAULT_STACK_SIZE,
Kojto 118:6635230e06ba 192 unsigned char *stack_pointer=NULL) {
c1728p9 123:58563e6cba1e 193 constructor(mbed::callback((void (*)(void *))task, argument),
Kojto 118:6635230e06ba 194 priority, stack_size, stack_pointer);
Kojto 118:6635230e06ba 195 }
Kojto 118:6635230e06ba 196
Kojto 118:6635230e06ba 197 /** Starts a thread executing the specified function.
Kojto 118:6635230e06ba 198 @param task function to be executed by this thread.
Kojto 118:6635230e06ba 199 @return status code that indicates the execution status of the function.
Kojto 118:6635230e06ba 200 */
Kojto 118:6635230e06ba 201 osStatus start(mbed::Callback<void()> task);
Kojto 118:6635230e06ba 202
Kojto 118:6635230e06ba 203 /** Starts a thread executing the specified function.
Kojto 118:6635230e06ba 204 @param obj argument to task
Kojto 118:6635230e06ba 205 @param method function to be executed by this thread.
Kojto 118:6635230e06ba 206 @return status code that indicates the execution status of the function.
c1728p9 123:58563e6cba1e 207 @deprecated
c1728p9 123:58563e6cba1e 208 The start function does not support cv-qualifiers. Replaced by start(callback(obj, method)).
Kojto 118:6635230e06ba 209 */
Kojto 118:6635230e06ba 210 template <typename T, typename M>
c1728p9 123:58563e6cba1e 211 MBED_DEPRECATED_SINCE("mbed-os-5.1",
c1728p9 123:58563e6cba1e 212 "The start function does not support cv-qualifiers. "
c1728p9 123:58563e6cba1e 213 "Replaced by thread.start(callback(obj, method)).")
Kojto 118:6635230e06ba 214 osStatus start(T *obj, M method) {
c1728p9 123:58563e6cba1e 215 return start(mbed::callback(obj, method));
Kojto 118:6635230e06ba 216 }
Kojto 118:6635230e06ba 217
Kojto 118:6635230e06ba 218 /** Wait for thread to terminate
Kojto 118:6635230e06ba 219 @return status code that indicates the execution status of the function.
Kojto 118:6635230e06ba 220 @note not callable from interrupt
Kojto 118:6635230e06ba 221 */
Kojto 118:6635230e06ba 222 osStatus join();
mbed_official 31:015df9e602b6 223
emilmont 8:88a1a9c26ae3 224 /** Terminate execution of a thread and remove it from Active Threads
emilmont 8:88a1a9c26ae3 225 @return status code that indicates the execution status of the function.
emilmont 6:350b53afb889 226 */
emilmont 6:350b53afb889 227 osStatus terminate();
mbed_official 31:015df9e602b6 228
emilmont 8:88a1a9c26ae3 229 /** Set priority of an active thread
emilmont 8:88a1a9c26ae3 230 @param priority new priority value for the thread function.
emilmont 8:88a1a9c26ae3 231 @return status code that indicates the execution status of the function.
emilmont 6:350b53afb889 232 */
emilmont 6:350b53afb889 233 osStatus set_priority(osPriority priority);
mbed_official 31:015df9e602b6 234
emilmont 8:88a1a9c26ae3 235 /** Get priority of an active thread
emilmont 8:88a1a9c26ae3 236 @return current priority value of the thread function.
emilmont 6:350b53afb889 237 */
emilmont 6:350b53afb889 238 osPriority get_priority();
mbed_official 31:015df9e602b6 239
emilmont 8:88a1a9c26ae3 240 /** Set the specified Signal Flags of an active thread.
emilmont 8:88a1a9c26ae3 241 @param signals specifies the signal flags of the thread that should be set.
emilmont 8:88a1a9c26ae3 242 @return previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
emilmont 6:350b53afb889 243 */
emilmont 6:350b53afb889 244 int32_t signal_set(int32_t signals);
mbed_official 31:015df9e602b6 245
mbed_official 76:85a52b7ef44b 246 /** Clears the specified Signal Flags of an active thread.
mbed_official 76:85a52b7ef44b 247 @param signals specifies the signal flags of the thread that should be cleared.
mbed_official 76:85a52b7ef44b 248 @return resultant signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
mbed_official 76:85a52b7ef44b 249 */
mbed_official 76:85a52b7ef44b 250 int32_t signal_clr(int32_t signals);
mbed_official 76:85a52b7ef44b 251
emilmont 8:88a1a9c26ae3 252 /** State of the Thread */
emilmont 8:88a1a9c26ae3 253 enum State {
emilmont 8:88a1a9c26ae3 254 Inactive, /**< Not created or terminated */
emilmont 8:88a1a9c26ae3 255 Ready, /**< Ready to run */
emilmont 8:88a1a9c26ae3 256 Running, /**< Running */
emilmont 8:88a1a9c26ae3 257 WaitingDelay, /**< Waiting for a delay to occur */
emilmont 8:88a1a9c26ae3 258 WaitingInterval, /**< Waiting for an interval to occur */
emilmont 8:88a1a9c26ae3 259 WaitingOr, /**< Waiting for one event in a set to occur */
emilmont 8:88a1a9c26ae3 260 WaitingAnd, /**< Waiting for multiple events in a set to occur */
emilmont 8:88a1a9c26ae3 261 WaitingSemaphore, /**< Waiting for a semaphore event to occur */
emilmont 8:88a1a9c26ae3 262 WaitingMailbox, /**< Waiting for a mailbox event to occur */
emilmont 8:88a1a9c26ae3 263 WaitingMutex, /**< Waiting for a mutex event to occur */
Kojto 119:19af2d39a542 264
Kojto 119:19af2d39a542 265 /* Not in sync with RTX below here */
Kojto 119:19af2d39a542 266 Deleted, /**< The task has been deleted */
emilmont 8:88a1a9c26ae3 267 };
mbed_official 31:015df9e602b6 268
emilmont 8:88a1a9c26ae3 269 /** State of this Thread
emilmont 8:88a1a9c26ae3 270 @return the State of this Thread
emilmont 8:88a1a9c26ae3 271 */
emilmont 8:88a1a9c26ae3 272 State get_state();
mbed_official 84:143955ffb790 273
mbed_official 84:143955ffb790 274 /** Get the total stack memory size for this Thread
mbed_official 84:143955ffb790 275 @return the total stack memory size in bytes
mbed_official 84:143955ffb790 276 */
mbed_official 84:143955ffb790 277 uint32_t stack_size();
mbed_official 84:143955ffb790 278
mbed_official 84:143955ffb790 279 /** Get the currently unused stack memory for this Thread
mbed_official 84:143955ffb790 280 @return the currently unused stack memory in bytes
mbed_official 84:143955ffb790 281 */
mbed_official 84:143955ffb790 282 uint32_t free_stack();
mbed_official 84:143955ffb790 283
mbed_official 84:143955ffb790 284 /** Get the currently used stack memory for this Thread
mbed_official 84:143955ffb790 285 @return the currently used stack memory in bytes
mbed_official 84:143955ffb790 286 */
mbed_official 84:143955ffb790 287 uint32_t used_stack();
mbed_official 84:143955ffb790 288
mbed_official 84:143955ffb790 289 /** Get the maximum stack memory usage to date for this Thread
mbed_official 84:143955ffb790 290 @return the maximum stack memory usage to date in bytes
mbed_official 84:143955ffb790 291 */
mbed_official 84:143955ffb790 292 uint32_t max_stack();
mbed_official 31:015df9e602b6 293
mbed_official 31:015df9e602b6 294 /** Wait for one or more Signal Flags to become signaled for the current RUNNING thread.
emilmont 8:88a1a9c26ae3 295 @param signals wait until all specified signal flags set or 0 for any single signal flag.
emilmont 8:88a1a9c26ae3 296 @param millisec timeout value or 0 in case of no time-out. (default: osWaitForever).
emilmont 8:88a1a9c26ae3 297 @return event flag information or error code.
Kojto 118:6635230e06ba 298 @note not callable from interrupt
emilmont 6:350b53afb889 299 */
emilmont 6:350b53afb889 300 static osEvent signal_wait(int32_t signals, uint32_t millisec=osWaitForever);
mbed_official 31:015df9e602b6 301
emilmont 8:88a1a9c26ae3 302 /** Wait for a specified time period in millisec:
emilmont 8:88a1a9c26ae3 303 @param millisec time delay value
mbed_official 31:015df9e602b6 304 @return status code that indicates the execution status of the function.
Kojto 118:6635230e06ba 305 @note not callable from interrupt
emilmont 6:350b53afb889 306 */
emilmont 6:350b53afb889 307 static osStatus wait(uint32_t millisec);
mbed_official 31:015df9e602b6 308
emilmont 8:88a1a9c26ae3 309 /** Pass control to next thread that is in state READY.
emilmont 8:88a1a9c26ae3 310 @return status code that indicates the execution status of the function.
Kojto 118:6635230e06ba 311 @note not callable from interrupt
emilmont 6:350b53afb889 312 */
emilmont 6:350b53afb889 313 static osStatus yield();
mbed_official 31:015df9e602b6 314
emilmont 8:88a1a9c26ae3 315 /** Get the thread id of the current running thread.
emilmont 8:88a1a9c26ae3 316 @return thread ID for reference by other functions or NULL in case of error.
emilmont 6:350b53afb889 317 */
emilmont 6:350b53afb889 318 static osThreadId gettid();
mbed_official 107:bdd541595fc5 319
mbed_official 107:bdd541595fc5 320 /** Attach a function to be called by the RTOS idle task
mbed_official 107:bdd541595fc5 321 @param fptr pointer to the function to be called
mbed_official 107:bdd541595fc5 322 */
mbed_official 107:bdd541595fc5 323 static void attach_idle_hook(void (*fptr)(void));
mbed_official 31:015df9e602b6 324
c1728p9 123:58563e6cba1e 325 /** Attach a function to be called when a task is killed
c1728p9 123:58563e6cba1e 326 @param fptr pointer to the function to be called
c1728p9 123:58563e6cba1e 327 */
c1728p9 123:58563e6cba1e 328 static void attach_terminate_hook(void (*fptr)(osThreadId id));
c1728p9 123:58563e6cba1e 329
emilmont 6:350b53afb889 330 virtual ~Thread();
emilmont 6:350b53afb889 331
emilmont 6:350b53afb889 332 private:
Kojto 118:6635230e06ba 333 // Required to share definitions without
Kojto 118:6635230e06ba 334 // delegated constructors
Kojto 118:6635230e06ba 335 void constructor(osPriority priority=osPriorityNormal,
Kojto 118:6635230e06ba 336 uint32_t stack_size=DEFAULT_STACK_SIZE,
Kojto 118:6635230e06ba 337 unsigned char *stack_pointer=NULL);
Kojto 118:6635230e06ba 338 void constructor(mbed::Callback<void()> task,
Kojto 118:6635230e06ba 339 osPriority priority=osPriorityNormal,
Kojto 118:6635230e06ba 340 uint32_t stack_size=DEFAULT_STACK_SIZE,
Kojto 118:6635230e06ba 341 unsigned char *stack_pointer=NULL);
Kojto 119:19af2d39a542 342 static void _thunk(const void * thread_ptr);
Kojto 118:6635230e06ba 343
Kojto 118:6635230e06ba 344 mbed::Callback<void()> _task;
emilmont 6:350b53afb889 345 osThreadId _tid;
emilmont 6:350b53afb889 346 osThreadDef_t _thread_def;
emilmont 6:350b53afb889 347 bool _dynamic_stack;
Kojto 119:19af2d39a542 348 Semaphore _join_sem;
Kojto 119:19af2d39a542 349 Mutex _mutex;
emilmont 6:350b53afb889 350 };
emilmont 6:350b53afb889 351
emilmont 6:350b53afb889 352 }
emilmont 6:350b53afb889 353 #endif
c1728p9 123:58563e6cba1e 354
c1728p9 123:58563e6cba1e 355 /** @}*/