Diff: rtos/Thread.h

Revision:

0:4a2c9c1f5b9e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rtos/Thread.h	Mon Mar 15 14:18:11 2021 +0000
@@ -0,0 +1,355 @@
+/* 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_os.h"
+#include "platform/Callback.h"
+#include "platform/toolchain.h"
+#include "rtos/Semaphore.h"
+#include "rtos/Mutex.h"
+
+namespace rtos {
+/** \addtogroup rtos */
+/** @{*/
+
+/** 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;
+ *          Thread::wait(1000);
+ *      }
+ *  }
+ *
+ *  // Spawns a thread to run blink for 5 seconds
+ *  int main() {
+ *      thread.start(led1, blink);
+ *      Thread::wait(5000);
+ *      running = false;
+ *      thread.join();
+ *  }
+ *  @endcode
+ */
+class 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: DEFAULT_STACK_SIZE).
+      @param   stack_pointer  pointer to the stack area to be used by this thread (default: NULL).
+    */
+    Thread(osPriority priority=osPriorityNormal,
+           uint32_t stack_size=DEFAULT_STACK_SIZE,
+           unsigned char *stack_pointer=NULL) {
+        constructor(priority, stack_size, stack_pointer);
+    }
+
+    /** Create a new thread, and start it executing the specified function.
+      @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: DEFAULT_STACK_SIZE).
+      @param   stack_pointer  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_pointer);
+
+        osStatus status = thread.start(task);
+        if (status != osOK) {
+            error("oh no!");
+        }
+        @endcode
+    */
+    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=DEFAULT_STACK_SIZE,
+           unsigned char *stack_pointer=NULL) {
+        constructor(task, priority, stack_size, stack_pointer);
+    }
+
+    /** Create a new thread, and start it executing the specified function.
+      @param   obj            argument to task.
+      @param   method         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: DEFAULT_STACK_SIZE).
+      @param   stack_pointer  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_pointer);
+
+        osStatus status = thread.start(callback(task, argument));
+        if (status != osOK) {
+            error("oh no!");
+        }
+        @endcode
+    */
+    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=DEFAULT_STACK_SIZE,
+           unsigned char *stack_pointer=NULL) {
+        constructor(mbed::callback(task, argument),
+                    priority, stack_size, stack_pointer);
+    }
+
+    /** Create a new thread, and start it executing the specified function.
+      @param   obj            argument to task.
+      @param   method         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: DEFAULT_STACK_SIZE).
+      @param   stack_pointer  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_pointer);
+
+        osStatus status = thread.start(callback(task, argument));
+        if (status != osOK) {
+            error("oh no!");
+        }
+        @endcode
+    */
+    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=DEFAULT_STACK_SIZE,
+           unsigned char *stack_pointer=NULL) {
+        constructor(mbed::callback(task, argument),
+                    priority, stack_size, stack_pointer);
+    }
+
+    /** 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: DEFAULT_STACK_SIZE).
+      @param   stack_pointer  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_pointer);
+
+        osStatus status = thread.start(callback(task, argument));
+        if (status != osOK) {
+            error("oh no!");
+        }
+        @endcode
+    */
+    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=DEFAULT_STACK_SIZE,
+           unsigned char *stack_pointer=NULL) {
+        constructor(mbed::callback((void (*)(void *))task, argument),
+                    priority, stack_size, stack_pointer);
+    }
+
+    /** 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.
+    */
+    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)).
+    */
+    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 not callable from interrupt
+    */
+    osStatus join();
+
+    /** Terminate execution of a thread and remove it from Active Threads
+      @return  status code that indicates the execution status of the function.
+    */
+    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.
+    */
+    osStatus set_priority(osPriority priority);
+
+    /** Get priority of an active thread
+      @return  current priority value of the thread function.
+    */
+    osPriority get_priority();
+
+    /** Set the specified Signal Flags of an active thread.
+      @param   signals  specifies the signal flags of the thread that should be set.
+      @return  previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
+    */
+    int32_t signal_set(int32_t signals);
+
+    /** Clears the specified Signal Flags of an active thread.
+      @param   signals  specifies the signal flags of the thread that should be cleared.
+      @return  resultant signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
+    */
+    int32_t signal_clr(int32_t signals);
+
+    /** State of the Thread */
+    enum State {
+        Inactive,           /**< Not created or terminated */
+        Ready,              /**< Ready to run */
+        Running,            /**< Running */
+        WaitingDelay,       /**< Waiting for a delay to occur */
+        WaitingInterval,    /**< Waiting for an interval to occur */
+        WaitingOr,          /**< Waiting for one event in a set to occur */
+        WaitingAnd,         /**< Waiting for multiple events in a set to occur */
+        WaitingSemaphore,   /**< Waiting for a semaphore event to occur */
+        WaitingMailbox,     /**< Waiting for a mailbox event to occur */
+        WaitingMutex,       /**< Waiting for a mutex event to occur */
+
+        /* Not in sync with RTX below here */
+        Deleted,            /**< The task has been deleted */
+    };
+
+    /** State of this Thread
+      @return  the State of this Thread
+    */
+    State get_state();
+    
+    /** Get the total stack memory size for this Thread
+      @return  the total stack memory size in bytes
+    */
+    uint32_t stack_size();
+    
+    /** Get the currently unused stack memory for this Thread
+      @return  the currently unused stack memory in bytes
+    */
+    uint32_t free_stack();
+    
+    /** Get the currently used stack memory for this Thread
+      @return  the currently used stack memory in bytes
+    */
+    uint32_t used_stack();
+    
+    /** Get the maximum stack memory usage to date for this Thread
+      @return  the maximum stack memory usage to date in bytes
+    */
+    uint32_t max_stack();
+
+    /** Wait for one or more Signal Flags to become signaled for the current RUNNING thread.
+      @param   signals   wait until all specified signal flags 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 not callable from interrupt
+    */
+    static osEvent signal_wait(int32_t signals, uint32_t millisec=osWaitForever);
+
+    /** Wait for a specified time period in millisec:
+      @param   millisec  time delay value
+      @return  status code that indicates the execution status of the function.
+      @note not callable from interrupt
+    */
+    static osStatus wait(uint32_t millisec);
+
+    /** Pass control to next thread that is in state READY.
+      @return  status code that indicates the execution status of the function.
+      @note not callable from interrupt
+    */
+    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.
+    */
+    static osThreadId gettid();
+    
+    /** Attach a function to be called by the RTOS idle task
+      @param   fptr  pointer to the function to be called
+    */
+    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
+    */
+    static void attach_terminate_hook(void (*fptr)(osThreadId id));
+
+    virtual ~Thread();
+
+private:
+    // Required to share definitions without
+    // delegated constructors
+    void constructor(osPriority priority=osPriorityNormal,
+                     uint32_t stack_size=DEFAULT_STACK_SIZE,
+                     unsigned char *stack_pointer=NULL);
+    void constructor(mbed::Callback<void()> task,
+                     osPriority priority=osPriorityNormal,
+                     uint32_t stack_size=DEFAULT_STACK_SIZE,
+                     unsigned char *stack_pointer=NULL);
+    static void _thunk(const void * thread_ptr);
+
+    mbed::Callback<void()> _task;
+    osThreadId _tid;
+    osThreadDef_t _thread_def;
+    bool _dynamic_stack;
+    Semaphore _join_sem;
+    Mutex _mutex;
+};
+
+}
+#endif
+
+/** @}*/