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Diff: rtos/Thread.h
- Revision:
- 0:38ceb79fef03
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/rtos/Thread.h Wed Nov 28 15:10:15 2018 +0000
@@ -0,0 +1,548 @@
+/* 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.
+ */
+#ifndef THREAD_H
+#define THREAD_H
+
+#include <stdint.h>
+#include "cmsis_os2.h"
+#include "mbed_rtos1_types.h"
+#include "mbed_rtos_storage.h"
+#include "platform/Callback.h"
+#include "platform/mbed_toolchain.h"
+#include "platform/NonCopyable.h"
+#include "rtos/Semaphore.h"
+#include "rtos/Mutex.h"
+
+namespace rtos {
+/** \addtogroup rtos */
+/** @{*/
+/**
+ * \defgroup rtos_Thread Thread class
+ * @{
+ */
+
+/** The Thread class allow defining, creating, and controlling thread functions in the system.
+ *
+ * Example:
+ * @code
+ * #include "mbed.h"
+ * #include "rtos.h"
+ *
+ * Thread thread;
+ * DigitalOut led1(LED1);
+ * volatile bool running = true;
+ *
+ * // Blink function toggles the led in a long running loop
+ * void blink(DigitalOut *led) {
+ * while (running) {
+ * *led = !*led;
+ * wait(1);
+ * }
+ * }
+ *
+ * // Spawns a thread to run blink for 5 seconds
+ * int main() {
+ * thread.start(callback(blink, &led1));
+ * wait(5);
+ * running = false;
+ * thread.join();
+ * }
+ * @endcode
+ *
+ * @note
+ * Memory considerations: The thread control structures will be created on current thread's stack, both for the mbed OS
+ * and underlying RTOS objects (static or dynamic RTOS memory pools are not being used).
+ * Additionally the stack memory for this thread will be allocated on the heap, if it wasn't supplied to the constructor.
+ *
+ * @note
+ * MBED_TZ_DEFAULT_ACCESS (default:0) flag can be used to change the default access of all user threads in non-secure mode.
+ * MBED_TZ_DEFAULT_ACCESS set to 1, means all non-secure user threads have access to call secure functions.
+ * MBED_TZ_DEFAULT_ACCESS set to 0, means none of the non-secure user thread have access to call secure functions,
+ * to give access to particular thread used overloaded constructor with `tz_module` as argument during thread creation.
+ *
+ * MBED_TZ_DEFAULT_ACCESS is target specific define, should be set in targets.json file for Cortex-M23/M33 devices.
+ */
+
+class Thread : private mbed::NonCopyable<Thread> {
+public:
+ /** Allocate a new thread without starting execution
+ @param priority initial priority of the thread function. (default: osPriorityNormal).
+ @param stack_size stack size (in bytes) requirements for the thread function. (default: OS_STACK_SIZE).
+ @param stack_mem pointer to the stack area to be used by this thread (default: NULL).
+ @param name name to be used for this thread. It has to stay allocated for the lifetime of the thread (default: NULL)
+
+ @note Default value of tz_module will be MBED_TZ_DEFAULT_ACCESS
+ @note You cannot call this function from ISR context.
+ */
+
+ Thread(osPriority priority = osPriorityNormal,
+ uint32_t stack_size = OS_STACK_SIZE,
+ unsigned char *stack_mem = NULL, const char *name = NULL)
+ {
+ constructor(priority, stack_size, stack_mem, name);
+ }
+
+ /** Allocate a new thread without starting execution
+ @param tz_module trustzone thread identifier (osThreadAttr_t::tz_module)
+ Context of RTOS threads in non-secure state must be saved when calling secure functions.
+ tz_module ID is used to allocate context memory for threads, and it can be safely set to zero for
+ threads not using secure calls at all. See "TrustZone RTOS Context Management" for more details.
+ @param priority initial priority of the thread function. (default: osPriorityNormal).
+ @param stack_size stack size (in bytes) requirements for the thread function. (default: OS_STACK_SIZE).
+ @param stack_mem pointer to the stack area to be used by this thread (default: NULL).
+ @param name name to be used for this thread. It has to stay allocated for the lifetime of the thread (default: NULL)
+
+ @note You cannot call this function from ISR context.
+ */
+
+ Thread(uint32_t tz_module, osPriority priority = osPriorityNormal,
+ uint32_t stack_size = OS_STACK_SIZE,
+ unsigned char *stack_mem = NULL, const char *name = NULL)
+ {
+ constructor(tz_module, priority, stack_size, stack_mem, name);
+ }
+
+
+ /** Create a new thread, and start it executing the specified function.
+ @param task function to be executed by this thread.
+ @param priority initial priority of the thread function. (default: osPriorityNormal).
+ @param stack_size stack size (in bytes) requirements for the thread function. (default: OS_STACK_SIZE).
+ @param stack_mem pointer to the stack area to be used by this thread (default: NULL).
+ @deprecated
+ Thread-spawning constructors hide errors. Replaced by thread.start(task).
+
+ @code
+ Thread thread(priority, stack_size, stack_mem);
+
+ osStatus status = thread.start(task);
+ if (status != osOK) {
+ error("oh no!");
+ }
+ @endcode
+
+ @note You cannot call this function from ISR context.
+ */
+ MBED_DEPRECATED_SINCE("mbed-os-5.1",
+ "Thread-spawning constructors hide errors. "
+ "Replaced by thread.start(task).")
+ Thread(mbed::Callback<void()> task,
+ osPriority priority = osPriorityNormal,
+ uint32_t stack_size = OS_STACK_SIZE,
+ unsigned char *stack_mem = NULL)
+ {
+ constructor(task, priority, stack_size, stack_mem);
+ }
+
+ /** Create a new thread, and start it executing the specified function.
+ @param argument pointer that is passed to the thread function as start argument. (default: NULL).
+ @param task argument to task.
+ @param priority initial priority of the thread function. (default: osPriorityNormal).
+ @param stack_size stack size (in bytes) requirements for the thread function. (default: OS_STACK_SIZE).
+ @param stack_mem pointer to the stack area to be used by this thread (default: NULL).
+ @deprecated
+ Thread-spawning constructors hide errors. Replaced by thread.start(callback(task, argument)).
+
+ @code
+ Thread thread(priority, stack_size, stack_mem);
+
+ osStatus status = thread.start(callback(task, argument));
+ if (status != osOK) {
+ error("oh no!");
+ }
+ @endcode
+
+ @note You cannot call this function from ISR context.
+ */
+ template <typename T>
+ MBED_DEPRECATED_SINCE("mbed-os-5.1",
+ "Thread-spawning constructors hide errors. "
+ "Replaced by thread.start(callback(task, argument)).")
+ Thread(T *argument, void (T::*task)(),
+ osPriority priority = osPriorityNormal,
+ uint32_t stack_size = OS_STACK_SIZE,
+ unsigned char *stack_mem = NULL)
+ {
+ constructor(mbed::callback(task, argument),
+ priority, stack_size, stack_mem);
+ }
+
+ /** Create a new thread, and start it executing the specified function.
+ @param argument pointer that is passed to the thread function as start argument. (default: NULL).
+ @param task argument to task.
+ @param priority initial priority of the thread function. (default: osPriorityNormal).
+ @param stack_size stack size (in bytes) requirements for the thread function. (default: OS_STACK_SIZE).
+ @param stack_mem pointer to the stack area to be used by this thread (default: NULL).
+ @deprecated
+ Thread-spawning constructors hide errors. Replaced by thread.start(callback(task, argument)).
+
+ @code
+ Thread thread(priority, stack_size, stack_mem);
+
+ osStatus status = thread.start(callback(task, argument));
+ if (status != osOK) {
+ error("oh no!");
+ }
+ @endcode
+
+ @note You cannot call this function from ISR context.
+ */
+ template <typename T>
+ MBED_DEPRECATED_SINCE("mbed-os-5.1",
+ "Thread-spawning constructors hide errors. "
+ "Replaced by thread.start(callback(task, argument)).")
+ Thread(T *argument, void (*task)(T *),
+ osPriority priority = osPriorityNormal,
+ uint32_t stack_size = OS_STACK_SIZE,
+ unsigned char *stack_mem = NULL)
+ {
+ constructor(mbed::callback(task, argument),
+ priority, stack_size, stack_mem);
+ }
+
+ /** Create a new thread, and start it executing the specified function.
+ Provided for backwards compatibility
+ @param task function to be executed by this thread.
+ @param argument pointer that is passed to the thread function as start argument. (default: NULL).
+ @param priority initial priority of the thread function. (default: osPriorityNormal).
+ @param stack_size stack size (in bytes) requirements for the thread function. (default: OS_STACK_SIZE).
+ @param stack_mem pointer to the stack area to be used by this thread (default: NULL).
+ @deprecated
+ Thread-spawning constructors hide errors. Replaced by thread.start(callback(task, argument)).
+
+ @code
+ Thread thread(priority, stack_size, stack_mem);
+
+ osStatus status = thread.start(callback(task, argument));
+ if (status != osOK) {
+ error("oh no!");
+ }
+ @endcode
+
+ @note You cannot call this function from ISR context.
+ */
+ MBED_DEPRECATED_SINCE("mbed-os-5.1",
+ "Thread-spawning constructors hide errors. "
+ "Replaced by thread.start(callback(task, argument)).")
+ Thread(void (*task)(void const *argument), void *argument = NULL,
+ osPriority priority = osPriorityNormal,
+ uint32_t stack_size = OS_STACK_SIZE,
+ unsigned char *stack_mem = NULL)
+ {
+ constructor(mbed::callback((void (*)(void *))task, argument),
+ priority, stack_size, stack_mem);
+ }
+
+ /** Starts a thread executing the specified function.
+ @param task function to be executed by this thread.
+ @return status code that indicates the execution status of the function.
+ @note a thread can only be started once
+
+ @note You cannot call this function ISR context.
+ */
+ osStatus start(mbed::Callback<void()> task);
+
+ /** Starts a thread executing the specified function.
+ @param obj argument to task
+ @param method function to be executed by this thread.
+ @return status code that indicates the execution status of the function.
+ @deprecated
+ The start function does not support cv-qualifiers. Replaced by start(callback(obj, method)).
+
+ @note You cannot call this function from ISR context.
+ */
+ template <typename T, typename M>
+ MBED_DEPRECATED_SINCE("mbed-os-5.1",
+ "The start function does not support cv-qualifiers. "
+ "Replaced by thread.start(callback(obj, method)).")
+ osStatus start(T *obj, M method)
+ {
+ return start(mbed::callback(obj, method));
+ }
+
+ /** Wait for thread to terminate
+ @return status code that indicates the execution status of the function.
+
+ @note You cannot call this function from ISR context.
+ */
+ osStatus join();
+
+ /** Terminate execution of a thread and remove it from Active Threads
+ @return status code that indicates the execution status of the function.
+
+ @note You cannot call this function from ISR context.
+ */
+ osStatus terminate();
+
+ /** Set priority of an active thread
+ @param priority new priority value for the thread function.
+ @return status code that indicates the execution status of the function.
+
+ @note You cannot call this function from ISR context.
+ */
+ osStatus set_priority(osPriority priority);
+
+ /** Get priority of an active thread
+ @return current priority value of the thread function.
+
+ @note You cannot call this function from ISR context.
+ */
+ osPriority get_priority() const;
+
+ /** Set the specified Thread Flags for the thread.
+ @param flags specifies the flags of the thread that should be set.
+ @return thread flags after setting or osFlagsError in case of incorrect parameters.
+
+ @note You may call this function from ISR context.
+ */
+ uint32_t flags_set(uint32_t flags);
+
+ /** Set the specified Thread Flags for the thread.
+ @param signals specifies the signal flags of the thread that should be set.
+ @return signal flags after setting or osFlagsError in case of incorrect parameters.
+
+ @note You may call this function from ISR context.
+ @deprecated Other signal_xxx methods have been deprecated in favour of ThisThread::flags functions.
+ To match this naming scheme, derived from CMSIS-RTOS2, Thread::flags_set is now provided.
+ */
+ MBED_DEPRECATED_SINCE("mbed-os-5.10",
+ "Other signal_xxx methods have been deprecated in favour of ThisThread::flags functions. "
+ "To match this naming scheme, derived from CMSIS-RTOS2, Thread::flags_set is now provided.")
+ int32_t signal_set(int32_t signals);
+
+ /** State of the Thread */
+ enum State {
+ Inactive, /**< NOT USED */
+ Ready, /**< Ready to run */
+ Running, /**< Running */
+ WaitingDelay, /**< Waiting for a delay to occur */
+ WaitingJoin, /**< Waiting for thread to join. Only happens when using RTX directly. */
+ WaitingThreadFlag, /**< Waiting for a thread flag to be set */
+ WaitingEventFlag, /**< Waiting for a event flag to be set */
+ WaitingMutex, /**< Waiting for a mutex event to occur */
+ WaitingSemaphore, /**< Waiting for a semaphore event to occur */
+ WaitingMemoryPool, /**< Waiting for a memory pool */
+ WaitingMessageGet, /**< Waiting for message to arrive */
+ WaitingMessagePut, /**< Waiting for message to be send */
+ WaitingInterval, /**< NOT USED */
+ WaitingOr, /**< NOT USED */
+ WaitingAnd, /**< NOT USED */
+ WaitingMailbox, /**< NOT USED (Mail is implemented as MemoryPool and Queue) */
+
+ /* Not in sync with RTX below here */
+ Deleted, /**< The task has been deleted or not started */
+ };
+
+ /** State of this Thread
+ @return the State of this Thread
+
+ @note You cannot call this function from ISR context.
+ */
+ State get_state() const;
+
+ /** Get the total stack memory size for this Thread
+ @return the total stack memory size in bytes
+
+ @note You cannot call this function from ISR context.
+ */
+ uint32_t stack_size() const;
+
+ /** Get the currently unused stack memory for this Thread
+ @return the currently unused stack memory in bytes
+
+ @note You cannot call this function from ISR context.
+ */
+ uint32_t free_stack() const;
+
+ /** Get the currently used stack memory for this Thread
+ @return the currently used stack memory in bytes
+
+ @note You cannot call this function from ISR context.
+ */
+ uint32_t used_stack() const;
+
+ /** Get the maximum stack memory usage to date for this Thread
+ @return the maximum stack memory usage to date in bytes
+
+ @note You cannot call this function from ISR context.
+ */
+ uint32_t max_stack() const;
+
+ /** Get thread name
+ @return thread name or NULL if the name was not set.
+
+ @note You may call this function from ISR context.
+ */
+ const char *get_name() const;
+
+ /** Get thread id
+ @return thread ID for reference by other functions.
+
+ @note You may call this function from ISR context.
+ */
+ osThreadId_t get_id() const;
+
+ /** Clears the specified Thread Flags of the currently running thread.
+ @param signals specifies the signal flags of the thread that should be cleared.
+ @return signal flags before clearing or osFlagsError in case of incorrect parameters.
+
+ @note You cannot call this function from ISR context.
+ @deprecated Static methods only affecting current thread cause confusion. Replaced by ThisThread::flags_clear.
+ */
+ MBED_DEPRECATED_SINCE("mbed-os-5.10",
+ "Static methods only affecting current thread cause confusion. "
+ "Replaced by ThisThread::flags_clear.")
+ static int32_t signal_clr(int32_t signals);
+
+ /** Wait for one or more Thread Flags to become signaled for the current RUNNING thread.
+ @param signals wait until all specified signal flags are set or 0 for any single signal flag.
+ @param millisec timeout value or 0 in case of no time-out. (default: osWaitForever).
+ @return event flag information or error code. @note if @a millisec is set to 0 and flag is no set the event carries osOK value.
+
+ @note You cannot call this function from ISR context.
+ @deprecated Static methods only affecting current thread cause confusion.
+ Replaced by ThisThread::flags_wait_all, ThisThread::flags_wait_all_for, ThisThread::flags_wait_any and ThisThread:wait_any_for.
+ */
+ MBED_DEPRECATED_SINCE("mbed-os-5.10",
+ "Static methods only affecting current thread cause confusion. "
+ "Replaced by ThisThread::flags_wait_all, ThisThread::flags_wait_all_for, ThisThread::flags_wait_any and ThisThread:wait_any_for.")
+ static osEvent signal_wait(int32_t signals, uint32_t millisec = osWaitForever);
+
+ /** Wait for a specified time period in milliseconds
+ Being tick-based, the delay will be up to the specified time - eg for
+ a value of 1 the system waits until the next millisecond tick occurs,
+ leading to a delay of 0-1 milliseconds.
+ @param millisec time delay value
+ @return status code that indicates the execution status of the function.
+
+ @note You cannot call this function from ISR context.
+ @deprecated Static methods only affecting current thread cause confusion. Replaced by ThisThread::sleep_for.
+ */
+ MBED_DEPRECATED_SINCE("mbed-os-5.10",
+ "Static methods only affecting current thread cause confusion. "
+ "Replaced by ThisThread::sleep_for.")
+ static osStatus wait(uint32_t millisec);
+
+ /** Wait until a specified time in millisec
+ The specified time is according to Kernel::get_ms_count().
+ @param millisec absolute time in millisec
+ @return status code that indicates the execution status of the function.
+ @note not callable from interrupt
+ @note if millisec is equal to or lower than the current tick count, this
+ returns immediately, either with an error or "osOK".
+ @note the underlying RTOS may have a limit to the maximum wait time
+ due to internal 32-bit computations, but this is guaranteed to work if the
+ delay is <= 0x7fffffff milliseconds (~24 days). If the limit is exceeded,
+ it may return with an immediate error, or wait for the maximum delay.
+
+ @note You cannot call this function from ISR context.
+ @deprecated Static methods only affecting current thread cause confusion. Replaced by ThisThread::sleep_until.
+ */
+ MBED_DEPRECATED_SINCE("mbed-os-5.10",
+ "Static methods only affecting current thread cause confusion. "
+ "Replaced by ThisThread::sleep_until.")
+ static osStatus wait_until(uint64_t millisec);
+
+ /** Pass control to next thread that is in state READY.
+ @return status code that indicates the execution status of the function.
+
+ @note You cannot call this function from ISR context.
+ @deprecated Static methods only affecting current thread cause confusion. Replaced by ThisThread::sleep_until.
+ */
+ MBED_DEPRECATED_SINCE("mbed-os-5.10",
+ "Static methods only affecting current thread cause confusion. "
+ "Replaced by ThisThread::yield.")
+ static osStatus yield();
+
+ /** Get the thread id of the current running thread.
+ @return thread ID for reference by other functions or NULL in case of error.
+
+ @note You may call this function from ISR context.
+ @deprecated Static methods only affecting current thread cause confusion. Replaced by ThisThread::get_id.
+ Use Thread::get_id for the ID of a specific Thread.
+ */
+ MBED_DEPRECATED_SINCE("mbed-os-5.10",
+ "Static methods only affecting current thread cause confusion. "
+ "Replaced by ThisThread::get_id. Use Thread::get_id for the ID of a specific Thread.")
+ static osThreadId gettid();
+
+ /** Attach a function to be called by the RTOS idle task
+ @param fptr pointer to the function to be called
+
+ @note You may call this function from ISR context.
+ @deprecated Static methods affecting system cause confusion. Replaced by Kernel::attach_idle_hook.
+ */
+ MBED_DEPRECATED_SINCE("mbed-os-5.10",
+ "Static methods affecting system cause confusion. "
+ "Replaced by Kernel::attach_idle_hook.")
+ static void attach_idle_hook(void (*fptr)(void));
+
+ /** Attach a function to be called when a task is killed
+ @param fptr pointer to the function to be called
+
+ @note You may call this function from ISR context.
+ @deprecated Static methods affecting system cause confusion. Replaced by Kernel::attach_thread_terminate_hook.
+ */
+ MBED_DEPRECATED_SINCE("mbed-os-5.10",
+ "Static methods affecting system cause confusion. "
+ "Replaced by Kernel::attach_thread_terminate_hook.")
+ static void attach_terminate_hook(void (*fptr)(osThreadId id));
+
+ /** Thread destructor
+ *
+ * @note You cannot call this function from ISR context.
+ */
+ virtual ~Thread();
+
+private:
+ // Required to share definitions without
+ // delegated constructors
+ void constructor(osPriority priority = osPriorityNormal,
+ uint32_t stack_size = OS_STACK_SIZE,
+ unsigned char *stack_mem = NULL,
+ const char *name = NULL);
+ void constructor(mbed::Callback<void()> task,
+ osPriority priority = osPriorityNormal,
+ uint32_t stack_size = OS_STACK_SIZE,
+ unsigned char *stack_mem = NULL,
+ const char *name = NULL);
+ void constructor(uint32_t tz_module,
+ osPriority priority = osPriorityNormal,
+ uint32_t stack_size = OS_STACK_SIZE,
+ unsigned char *stack_mem = NULL,
+ const char *name = NULL);
+ static void _thunk(void *thread_ptr);
+
+ mbed::Callback<void()> _task;
+ osThreadId_t _tid;
+ osThreadAttr_t _attr;
+ bool _dynamic_stack;
+ Semaphore _join_sem;
+ mutable Mutex _mutex;
+ mbed_rtos_storage_thread_t _obj_mem;
+ bool _finished;
+};
+/** @}*/
+/** @}*/
+}
+#endif
+
+