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Opencv 3.1 project on GR-PEACH board

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mbed-rtos/rtos/Thread.cpp@170:54ff26da7eb6, 2017-07-04 (annotated)

Committer:
thedo
Date:
Tue Jul 04 06:23:13 2017 +0000
Revision:
170:54ff26da7eb6
Parent:
166:3a9487d57a5c 
project opencv 3.1 on GR PEACH board, no use SD card.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
thedo 166:3a9487d57a5c 1 /* mbed Microcontroller Library
thedo 166:3a9487d57a5c 2 * Copyright (c) 2006-2012 ARM Limited
thedo 166:3a9487d57a5c 3 *
thedo 166:3a9487d57a5c 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
thedo 166:3a9487d57a5c 5 * of this software and associated documentation files (the "Software"), to deal
thedo 166:3a9487d57a5c 6 * in the Software without restriction, including without limitation the rights
thedo 166:3a9487d57a5c 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
thedo 166:3a9487d57a5c 8 * copies of the Software, and to permit persons to whom the Software is
thedo 166:3a9487d57a5c 9 * furnished to do so, subject to the following conditions:
thedo 166:3a9487d57a5c 10 *
thedo 166:3a9487d57a5c 11 * The above copyright notice and this permission notice shall be included in
thedo 166:3a9487d57a5c 12 * all copies or substantial portions of the Software.
thedo 166:3a9487d57a5c 13 *
thedo 166:3a9487d57a5c 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
thedo 166:3a9487d57a5c 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
thedo 166:3a9487d57a5c 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
thedo 166:3a9487d57a5c 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
thedo 166:3a9487d57a5c 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
thedo 166:3a9487d57a5c 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
thedo 166:3a9487d57a5c 20 * SOFTWARE.
thedo 166:3a9487d57a5c 21 */
thedo 166:3a9487d57a5c 22 #include "rtos/Thread.h"
thedo 166:3a9487d57a5c 23
thedo 166:3a9487d57a5c 24 #include "mbed.h"
thedo 166:3a9487d57a5c 25 #include "rtos/rtos_idle.h"
thedo 166:3a9487d57a5c 26
thedo 166:3a9487d57a5c 27 // rt_tid2ptcb is an internal function which we exposed to get TCB for thread id
thedo 166:3a9487d57a5c 28 #undef NULL //Workaround for conflicting macros in rt_TypeDef.h and stdio.h
thedo 166:3a9487d57a5c 29 #include "rt_TypeDef.h"
thedo 166:3a9487d57a5c 30
thedo 166:3a9487d57a5c 31 extern "C" P_TCB rt_tid2ptcb(osThreadId thread_id);
thedo 166:3a9487d57a5c 32
thedo 166:3a9487d57a5c 33
thedo 166:3a9487d57a5c 34 static void (*terminate_hook)(osThreadId id) = 0;
thedo 166:3a9487d57a5c 35 extern "C" void thread_terminate_hook(osThreadId id)
thedo 166:3a9487d57a5c 36 {
thedo 166:3a9487d57a5c 37 if (terminate_hook != (void (*)(osThreadId))NULL) {
thedo 166:3a9487d57a5c 38 terminate_hook(id);
thedo 166:3a9487d57a5c 39 }
thedo 166:3a9487d57a5c 40 }
thedo 166:3a9487d57a5c 41
thedo 166:3a9487d57a5c 42 namespace rtos {
thedo 166:3a9487d57a5c 43
thedo 166:3a9487d57a5c 44 void Thread::constructor(osPriority priority,
thedo 166:3a9487d57a5c 45 uint32_t stack_size, unsigned char *stack_pointer) {
thedo 166:3a9487d57a5c 46 _tid = 0;
thedo 166:3a9487d57a5c 47 _dynamic_stack = (stack_pointer == NULL);
thedo 166:3a9487d57a5c 48
thedo 166:3a9487d57a5c 49 #if defined(__MBED_CMSIS_RTOS_CA9) || defined(__MBED_CMSIS_RTOS_CM)
thedo 166:3a9487d57a5c 50 _thread_def.tpriority = priority;
thedo 166:3a9487d57a5c 51 _thread_def.stacksize = stack_size;
thedo 166:3a9487d57a5c 52 _thread_def.stack_pointer = (uint32_t*)stack_pointer;
thedo 166:3a9487d57a5c 53 #endif
thedo 166:3a9487d57a5c 54 }
thedo 166:3a9487d57a5c 55
thedo 166:3a9487d57a5c 56 void Thread::constructor(Callback<void()> task,
thedo 166:3a9487d57a5c 57 osPriority priority, uint32_t stack_size, unsigned char *stack_pointer) {
thedo 166:3a9487d57a5c 58 constructor(priority, stack_size, stack_pointer);
thedo 166:3a9487d57a5c 59
thedo 166:3a9487d57a5c 60 switch (start(task)) {
thedo 166:3a9487d57a5c 61 case osErrorResource:
thedo 166:3a9487d57a5c 62 error("OS ran out of threads!\n");
thedo 166:3a9487d57a5c 63 break;
thedo 166:3a9487d57a5c 64 case osErrorParameter:
thedo 166:3a9487d57a5c 65 error("Thread already running!\n");
thedo 166:3a9487d57a5c 66 break;
thedo 166:3a9487d57a5c 67 case osErrorNoMemory:
thedo 166:3a9487d57a5c 68 error("Error allocating the stack memory\n");
thedo 166:3a9487d57a5c 69 default:
thedo 166:3a9487d57a5c 70 break;
thedo 166:3a9487d57a5c 71 }
thedo 166:3a9487d57a5c 72 }
thedo 166:3a9487d57a5c 73
thedo 166:3a9487d57a5c 74 osStatus Thread::start(Callback<void()> task) {
thedo 166:3a9487d57a5c 75 _mutex.lock();
thedo 166:3a9487d57a5c 76
thedo 166:3a9487d57a5c 77 if (_tid != 0) {
thedo 166:3a9487d57a5c 78 _mutex.unlock();
thedo 166:3a9487d57a5c 79 return osErrorParameter;
thedo 166:3a9487d57a5c 80 }
thedo 166:3a9487d57a5c 81
thedo 166:3a9487d57a5c 82 #if defined(__MBED_CMSIS_RTOS_CA9) || defined(__MBED_CMSIS_RTOS_CM)
thedo 166:3a9487d57a5c 83 _thread_def.pthread = Thread::_thunk;
thedo 166:3a9487d57a5c 84 if (_thread_def.stack_pointer == NULL) {
thedo 166:3a9487d57a5c 85 _thread_def.stack_pointer = new uint32_t[_thread_def.stacksize/sizeof(uint32_t)];
thedo 166:3a9487d57a5c 86 MBED_ASSERT(_thread_def.stack_pointer != NULL);
thedo 166:3a9487d57a5c 87 }
thedo 166:3a9487d57a5c 88
thedo 166:3a9487d57a5c 89 //Fill the stack with a magic word for maximum usage checking
thedo 166:3a9487d57a5c 90 for (uint32_t i = 0; i < (_thread_def.stacksize / sizeof(uint32_t)); i++) {
thedo 166:3a9487d57a5c 91 _thread_def.stack_pointer[i] = 0xE25A2EA5;
thedo 166:3a9487d57a5c 92 }
thedo 166:3a9487d57a5c 93 #endif
thedo 166:3a9487d57a5c 94 _task = task;
thedo 166:3a9487d57a5c 95 _tid = osThreadCreate(&_thread_def, this);
thedo 166:3a9487d57a5c 96 if (_tid == NULL) {
thedo 166:3a9487d57a5c 97 if (_dynamic_stack) {
thedo 166:3a9487d57a5c 98 delete[] (_thread_def.stack_pointer);
thedo 166:3a9487d57a5c 99 _thread_def.stack_pointer = (uint32_t*)NULL;
thedo 166:3a9487d57a5c 100 }
thedo 166:3a9487d57a5c 101 _mutex.unlock();
thedo 166:3a9487d57a5c 102 _join_sem.release();
thedo 166:3a9487d57a5c 103 return osErrorResource;
thedo 166:3a9487d57a5c 104 }
thedo 166:3a9487d57a5c 105
thedo 166:3a9487d57a5c 106 _mutex.unlock();
thedo 166:3a9487d57a5c 107 return osOK;
thedo 166:3a9487d57a5c 108 }
thedo 166:3a9487d57a5c 109
thedo 166:3a9487d57a5c 110 osStatus Thread::terminate() {
thedo 166:3a9487d57a5c 111 osStatus ret;
thedo 166:3a9487d57a5c 112 _mutex.lock();
thedo 166:3a9487d57a5c 113
thedo 166:3a9487d57a5c 114 // Set the Thread's tid to NULL and
thedo 166:3a9487d57a5c 115 // release the semaphore before terminating
thedo 166:3a9487d57a5c 116 // since this thread could be terminating itself
thedo 166:3a9487d57a5c 117 osThreadId local_id = _tid;
thedo 166:3a9487d57a5c 118 _join_sem.release();
thedo 166:3a9487d57a5c 119 _tid = (osThreadId)NULL;
thedo 166:3a9487d57a5c 120
thedo 166:3a9487d57a5c 121 ret = osThreadTerminate(local_id);
thedo 166:3a9487d57a5c 122
thedo 166:3a9487d57a5c 123 _mutex.unlock();
thedo 166:3a9487d57a5c 124 return ret;
thedo 166:3a9487d57a5c 125 }
thedo 166:3a9487d57a5c 126
thedo 166:3a9487d57a5c 127 osStatus Thread::join() {
thedo 166:3a9487d57a5c 128 int32_t ret = _join_sem.wait();
thedo 166:3a9487d57a5c 129 if (ret < 0) {
thedo 166:3a9487d57a5c 130 return osErrorOS;
thedo 166:3a9487d57a5c 131 }
thedo 166:3a9487d57a5c 132
thedo 166:3a9487d57a5c 133 // The semaphore has been released so this thread is being
thedo 166:3a9487d57a5c 134 // terminated or has been terminated. Once the mutex has
thedo 166:3a9487d57a5c 135 // been locked it is ensured that the thread is deleted.
thedo 166:3a9487d57a5c 136 _mutex.lock();
thedo 166:3a9487d57a5c 137 MBED_ASSERT(NULL == _tid);
thedo 166:3a9487d57a5c 138 _mutex.unlock();
thedo 166:3a9487d57a5c 139
thedo 166:3a9487d57a5c 140 // Release sem so any other threads joining this thread wake up
thedo 166:3a9487d57a5c 141 _join_sem.release();
thedo 166:3a9487d57a5c 142 return osOK;
thedo 166:3a9487d57a5c 143 }
thedo 166:3a9487d57a5c 144
thedo 166:3a9487d57a5c 145 osStatus Thread::set_priority(osPriority priority) {
thedo 166:3a9487d57a5c 146 osStatus ret;
thedo 166:3a9487d57a5c 147 _mutex.lock();
thedo 166:3a9487d57a5c 148
thedo 166:3a9487d57a5c 149 ret = osThreadSetPriority(_tid, priority);
thedo 166:3a9487d57a5c 150
thedo 166:3a9487d57a5c 151 _mutex.unlock();
thedo 166:3a9487d57a5c 152 return ret;
thedo 166:3a9487d57a5c 153 }
thedo 166:3a9487d57a5c 154
thedo 166:3a9487d57a5c 155 osPriority Thread::get_priority() {
thedo 166:3a9487d57a5c 156 osPriority ret;
thedo 166:3a9487d57a5c 157 _mutex.lock();
thedo 166:3a9487d57a5c 158
thedo 166:3a9487d57a5c 159 ret = osThreadGetPriority(_tid);
thedo 166:3a9487d57a5c 160
thedo 166:3a9487d57a5c 161 _mutex.unlock();
thedo 166:3a9487d57a5c 162 return ret;
thedo 166:3a9487d57a5c 163 }
thedo 166:3a9487d57a5c 164
thedo 166:3a9487d57a5c 165 int32_t Thread::signal_set(int32_t signals) {
thedo 166:3a9487d57a5c 166 // osSignalSet is thread safe as long as the underlying
thedo 166:3a9487d57a5c 167 // thread does not get terminated or return from main
thedo 166:3a9487d57a5c 168 return osSignalSet(_tid, signals);
thedo 166:3a9487d57a5c 169 }
thedo 166:3a9487d57a5c 170
thedo 166:3a9487d57a5c 171 int32_t Thread::signal_clr(int32_t signals) {
thedo 166:3a9487d57a5c 172 // osSignalClear is thread safe as long as the underlying
thedo 166:3a9487d57a5c 173 // thread does not get terminated or return from main
thedo 166:3a9487d57a5c 174 return osSignalClear(_tid, signals);
thedo 166:3a9487d57a5c 175 }
thedo 166:3a9487d57a5c 176
thedo 166:3a9487d57a5c 177 Thread::State Thread::get_state() {
thedo 166:3a9487d57a5c 178 #if !defined(__MBED_CMSIS_RTOS_CA9) && !defined(__MBED_CMSIS_RTOS_CM)
thedo 166:3a9487d57a5c 179 #ifdef CMSIS_OS_RTX
thedo 166:3a9487d57a5c 180 State status = Deleted;
thedo 166:3a9487d57a5c 181 _mutex.lock();
thedo 166:3a9487d57a5c 182
thedo 166:3a9487d57a5c 183 if (_tid != NULL) {
thedo 166:3a9487d57a5c 184 status = (State)_thread_def.tcb.state;
thedo 166:3a9487d57a5c 185 }
thedo 166:3a9487d57a5c 186
thedo 166:3a9487d57a5c 187 _mutex.unlock();
thedo 166:3a9487d57a5c 188 return status;
thedo 166:3a9487d57a5c 189 #endif
thedo 166:3a9487d57a5c 190 #else
thedo 166:3a9487d57a5c 191 State status = Deleted;
thedo 166:3a9487d57a5c 192 _mutex.lock();
thedo 166:3a9487d57a5c 193
thedo 166:3a9487d57a5c 194 if (_tid != NULL) {
thedo 166:3a9487d57a5c 195 status = (State)osThreadGetState(_tid);
thedo 166:3a9487d57a5c 196 }
thedo 166:3a9487d57a5c 197
thedo 166:3a9487d57a5c 198 _mutex.unlock();
thedo 166:3a9487d57a5c 199 return status;
thedo 166:3a9487d57a5c 200 #endif
thedo 166:3a9487d57a5c 201 }
thedo 166:3a9487d57a5c 202
thedo 166:3a9487d57a5c 203 uint32_t Thread::stack_size() {
thedo 166:3a9487d57a5c 204 #ifndef __MBED_CMSIS_RTOS_CA9
thedo 166:3a9487d57a5c 205 #if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
thedo 166:3a9487d57a5c 206 uint32_t size = 0;
thedo 166:3a9487d57a5c 207 _mutex.lock();
thedo 166:3a9487d57a5c 208
thedo 166:3a9487d57a5c 209 if (_tid != NULL) {
thedo 166:3a9487d57a5c 210 size = _thread_def.tcb.priv_stack;
thedo 166:3a9487d57a5c 211 }
thedo 166:3a9487d57a5c 212
thedo 166:3a9487d57a5c 213 _mutex.unlock();
thedo 166:3a9487d57a5c 214 return size;
thedo 166:3a9487d57a5c 215 #else
thedo 166:3a9487d57a5c 216 uint32_t size = 0;
thedo 166:3a9487d57a5c 217 _mutex.lock();
thedo 166:3a9487d57a5c 218
thedo 166:3a9487d57a5c 219 if (_tid != NULL) {
thedo 166:3a9487d57a5c 220 P_TCB tcb = rt_tid2ptcb(_tid);
thedo 166:3a9487d57a5c 221 size = tcb->priv_stack;
thedo 166:3a9487d57a5c 222 }
thedo 166:3a9487d57a5c 223
thedo 166:3a9487d57a5c 224 _mutex.unlock();
thedo 166:3a9487d57a5c 225 return size;
thedo 166:3a9487d57a5c 226 #endif
thedo 166:3a9487d57a5c 227 #else
thedo 166:3a9487d57a5c 228 return 0;
thedo 166:3a9487d57a5c 229 #endif
thedo 166:3a9487d57a5c 230 }
thedo 166:3a9487d57a5c 231
thedo 166:3a9487d57a5c 232 uint32_t Thread::free_stack() {
thedo 166:3a9487d57a5c 233 #ifndef __MBED_CMSIS_RTOS_CA9
thedo 166:3a9487d57a5c 234 #if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
thedo 166:3a9487d57a5c 235 uint32_t size = 0;
thedo 166:3a9487d57a5c 236 _mutex.lock();
thedo 166:3a9487d57a5c 237
thedo 166:3a9487d57a5c 238 if (_tid != NULL) {
thedo 166:3a9487d57a5c 239 uint32_t bottom = (uint32_t)_thread_def.tcb.stack;
thedo 166:3a9487d57a5c 240 size = _thread_def.tcb.tsk_stack - bottom;
thedo 166:3a9487d57a5c 241 }
thedo 166:3a9487d57a5c 242
thedo 166:3a9487d57a5c 243 _mutex.unlock();
thedo 166:3a9487d57a5c 244 return size;
thedo 166:3a9487d57a5c 245 #else
thedo 166:3a9487d57a5c 246 uint32_t size = 0;
thedo 166:3a9487d57a5c 247 _mutex.lock();
thedo 166:3a9487d57a5c 248
thedo 166:3a9487d57a5c 249 if (_tid != NULL) {
thedo 166:3a9487d57a5c 250 P_TCB tcb = rt_tid2ptcb(_tid);
thedo 166:3a9487d57a5c 251 uint32_t bottom = (uint32_t)tcb->stack;
thedo 166:3a9487d57a5c 252 size = tcb->tsk_stack - bottom;
thedo 166:3a9487d57a5c 253 }
thedo 166:3a9487d57a5c 254
thedo 166:3a9487d57a5c 255 _mutex.unlock();
thedo 166:3a9487d57a5c 256 return size;
thedo 166:3a9487d57a5c 257 #endif
thedo 166:3a9487d57a5c 258 #else
thedo 166:3a9487d57a5c 259 return 0;
thedo 166:3a9487d57a5c 260 #endif
thedo 166:3a9487d57a5c 261 }
thedo 166:3a9487d57a5c 262
thedo 166:3a9487d57a5c 263 uint32_t Thread::used_stack() {
thedo 166:3a9487d57a5c 264 #ifndef __MBED_CMSIS_RTOS_CA9
thedo 166:3a9487d57a5c 265 #if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
thedo 166:3a9487d57a5c 266 uint32_t size = 0;
thedo 166:3a9487d57a5c 267 _mutex.lock();
thedo 166:3a9487d57a5c 268
thedo 166:3a9487d57a5c 269 if (_tid != NULL) {
thedo 166:3a9487d57a5c 270 uint32_t top = (uint32_t)_thread_def.tcb.stack + _thread_def.tcb.priv_stack;
thedo 166:3a9487d57a5c 271 size = top - _thread_def.tcb.tsk_stack;
thedo 166:3a9487d57a5c 272 }
thedo 166:3a9487d57a5c 273
thedo 166:3a9487d57a5c 274 _mutex.unlock();
thedo 166:3a9487d57a5c 275 return size;
thedo 166:3a9487d57a5c 276 #else
thedo 166:3a9487d57a5c 277 uint32_t size = 0;
thedo 166:3a9487d57a5c 278 _mutex.lock();
thedo 166:3a9487d57a5c 279
thedo 166:3a9487d57a5c 280 if (_tid != NULL) {
thedo 166:3a9487d57a5c 281 P_TCB tcb = rt_tid2ptcb(_tid);
thedo 166:3a9487d57a5c 282 uint32_t top = (uint32_t)tcb->stack + tcb->priv_stack;
thedo 166:3a9487d57a5c 283 size = top - tcb->tsk_stack;
thedo 166:3a9487d57a5c 284 }
thedo 166:3a9487d57a5c 285
thedo 166:3a9487d57a5c 286 _mutex.unlock();
thedo 166:3a9487d57a5c 287 return size;
thedo 166:3a9487d57a5c 288 #endif
thedo 166:3a9487d57a5c 289 #else
thedo 166:3a9487d57a5c 290 return 0;
thedo 166:3a9487d57a5c 291 #endif
thedo 166:3a9487d57a5c 292 }
thedo 166:3a9487d57a5c 293
thedo 166:3a9487d57a5c 294 uint32_t Thread::max_stack() {
thedo 166:3a9487d57a5c 295 #ifndef __MBED_CMSIS_RTOS_CA9
thedo 166:3a9487d57a5c 296 #if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
thedo 166:3a9487d57a5c 297 uint32_t size = 0;
thedo 166:3a9487d57a5c 298 _mutex.lock();
thedo 166:3a9487d57a5c 299
thedo 166:3a9487d57a5c 300 if (_tid != NULL) {
thedo 166:3a9487d57a5c 301 uint32_t high_mark = 0;
thedo 166:3a9487d57a5c 302 while (_thread_def.tcb.stack[high_mark] == 0xE25A2EA5)
thedo 166:3a9487d57a5c 303 high_mark++;
thedo 166:3a9487d57a5c 304 size = _thread_def.tcb.priv_stack - (high_mark * 4);
thedo 166:3a9487d57a5c 305 }
thedo 166:3a9487d57a5c 306
thedo 166:3a9487d57a5c 307 _mutex.unlock();
thedo 166:3a9487d57a5c 308 return size;
thedo 166:3a9487d57a5c 309 #else
thedo 166:3a9487d57a5c 310 uint32_t size = 0;
thedo 166:3a9487d57a5c 311 _mutex.lock();
thedo 166:3a9487d57a5c 312
thedo 166:3a9487d57a5c 313 if (_tid != NULL) {
thedo 166:3a9487d57a5c 314 P_TCB tcb = rt_tid2ptcb(_tid);
thedo 166:3a9487d57a5c 315 uint32_t high_mark = 0;
thedo 166:3a9487d57a5c 316 while (tcb->stack[high_mark] == 0xE25A2EA5)
thedo 166:3a9487d57a5c 317 high_mark++;
thedo 166:3a9487d57a5c 318 size = tcb->priv_stack - (high_mark * 4);
thedo 166:3a9487d57a5c 319 }
thedo 166:3a9487d57a5c 320
thedo 166:3a9487d57a5c 321 _mutex.unlock();
thedo 166:3a9487d57a5c 322 return size;
thedo 166:3a9487d57a5c 323 #endif
thedo 166:3a9487d57a5c 324 #else
thedo 166:3a9487d57a5c 325 return 0;
thedo 166:3a9487d57a5c 326 #endif
thedo 166:3a9487d57a5c 327 }
thedo 166:3a9487d57a5c 328
thedo 166:3a9487d57a5c 329 osEvent Thread::signal_wait(int32_t signals, uint32_t millisec) {
thedo 166:3a9487d57a5c 330 return osSignalWait(signals, millisec);
thedo 166:3a9487d57a5c 331 }
thedo 166:3a9487d57a5c 332
thedo 166:3a9487d57a5c 333 osStatus Thread::wait(uint32_t millisec) {
thedo 166:3a9487d57a5c 334 return osDelay(millisec);
thedo 166:3a9487d57a5c 335 }
thedo 166:3a9487d57a5c 336
thedo 166:3a9487d57a5c 337 osStatus Thread::yield() {
thedo 166:3a9487d57a5c 338 return osThreadYield();
thedo 166:3a9487d57a5c 339 }
thedo 166:3a9487d57a5c 340
thedo 166:3a9487d57a5c 341 osThreadId Thread::gettid() {
thedo 166:3a9487d57a5c 342 return osThreadGetId();
thedo 166:3a9487d57a5c 343 }
thedo 166:3a9487d57a5c 344
thedo 166:3a9487d57a5c 345 void Thread::attach_idle_hook(void (*fptr)(void)) {
thedo 166:3a9487d57a5c 346 rtos_attach_idle_hook(fptr);
thedo 166:3a9487d57a5c 347 }
thedo 166:3a9487d57a5c 348
thedo 166:3a9487d57a5c 349 void Thread::attach_terminate_hook(void (*fptr)(osThreadId id)) {
thedo 166:3a9487d57a5c 350 terminate_hook = fptr;
thedo 166:3a9487d57a5c 351 }
thedo 166:3a9487d57a5c 352
thedo 166:3a9487d57a5c 353 Thread::~Thread() {
thedo 166:3a9487d57a5c 354 // terminate is thread safe
thedo 166:3a9487d57a5c 355 terminate();
thedo 166:3a9487d57a5c 356 #ifdef __MBED_CMSIS_RTOS_CM
thedo 166:3a9487d57a5c 357 if (_dynamic_stack) {
thedo 166:3a9487d57a5c 358 delete[] (_thread_def.stack_pointer);
thedo 166:3a9487d57a5c 359 _thread_def.stack_pointer = (uint32_t*)NULL;
thedo 166:3a9487d57a5c 360 }
thedo 166:3a9487d57a5c 361 #endif
thedo 166:3a9487d57a5c 362 }
thedo 166:3a9487d57a5c 363
thedo 166:3a9487d57a5c 364 void Thread::_thunk(const void * thread_ptr)
thedo 166:3a9487d57a5c 365 {
thedo 166:3a9487d57a5c 366 Thread *t = (Thread*)thread_ptr;
thedo 166:3a9487d57a5c 367 t->_task();
thedo 166:3a9487d57a5c 368 t->_mutex.lock();
thedo 166:3a9487d57a5c 369 t->_tid = (osThreadId)NULL;
thedo 166:3a9487d57a5c 370 t->_join_sem.release();
thedo 166:3a9487d57a5c 371 // rtos will release the mutex automatically
thedo 166:3a9487d57a5c 372 }
thedo 166:3a9487d57a5c 373
thedo 166:3a9487d57a5c 374 }