![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
1
mbed-os/rtos/Thread.h@0:e056ac8fecf8, 2018-03-13 (annotated)
- Committer:
- valeyev
- Date:
- Tue Mar 13 07:17:50 2018 +0000
- Revision:
- 0:e056ac8fecf8
looking for...
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
valeyev | 0:e056ac8fecf8 | 1 | /* mbed Microcontroller Library |
valeyev | 0:e056ac8fecf8 | 2 | * Copyright (c) 2006-2012 ARM Limited |
valeyev | 0:e056ac8fecf8 | 3 | * |
valeyev | 0:e056ac8fecf8 | 4 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
valeyev | 0:e056ac8fecf8 | 5 | * of this software and associated documentation files (the "Software"), to deal |
valeyev | 0:e056ac8fecf8 | 6 | * in the Software without restriction, including without limitation the rights |
valeyev | 0:e056ac8fecf8 | 7 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
valeyev | 0:e056ac8fecf8 | 8 | * copies of the Software, and to permit persons to whom the Software is |
valeyev | 0:e056ac8fecf8 | 9 | * furnished to do so, subject to the following conditions: |
valeyev | 0:e056ac8fecf8 | 10 | * |
valeyev | 0:e056ac8fecf8 | 11 | * The above copyright notice and this permission notice shall be included in |
valeyev | 0:e056ac8fecf8 | 12 | * all copies or substantial portions of the Software. |
valeyev | 0:e056ac8fecf8 | 13 | * |
valeyev | 0:e056ac8fecf8 | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
valeyev | 0:e056ac8fecf8 | 15 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
valeyev | 0:e056ac8fecf8 | 16 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
valeyev | 0:e056ac8fecf8 | 17 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
valeyev | 0:e056ac8fecf8 | 18 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
valeyev | 0:e056ac8fecf8 | 19 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE |
valeyev | 0:e056ac8fecf8 | 20 | * SOFTWARE. |
valeyev | 0:e056ac8fecf8 | 21 | */ |
valeyev | 0:e056ac8fecf8 | 22 | #ifndef THREAD_H |
valeyev | 0:e056ac8fecf8 | 23 | #define THREAD_H |
valeyev | 0:e056ac8fecf8 | 24 | |
valeyev | 0:e056ac8fecf8 | 25 | #include <stdint.h> |
valeyev | 0:e056ac8fecf8 | 26 | #include "cmsis_os2.h" |
valeyev | 0:e056ac8fecf8 | 27 | #include "mbed_rtos1_types.h" |
valeyev | 0:e056ac8fecf8 | 28 | #include "mbed_rtos_storage.h" |
valeyev | 0:e056ac8fecf8 | 29 | #include "platform/Callback.h" |
valeyev | 0:e056ac8fecf8 | 30 | #include "platform/mbed_toolchain.h" |
valeyev | 0:e056ac8fecf8 | 31 | #include "platform/NonCopyable.h" |
valeyev | 0:e056ac8fecf8 | 32 | #include "rtos/Semaphore.h" |
valeyev | 0:e056ac8fecf8 | 33 | #include "rtos/Mutex.h" |
valeyev | 0:e056ac8fecf8 | 34 | |
valeyev | 0:e056ac8fecf8 | 35 | namespace rtos { |
valeyev | 0:e056ac8fecf8 | 36 | /** \addtogroup rtos */ |
valeyev | 0:e056ac8fecf8 | 37 | /** @{*/ |
valeyev | 0:e056ac8fecf8 | 38 | /** |
valeyev | 0:e056ac8fecf8 | 39 | * \defgroup rtos_Thread Thread class |
valeyev | 0:e056ac8fecf8 | 40 | * @{ |
valeyev | 0:e056ac8fecf8 | 41 | */ |
valeyev | 0:e056ac8fecf8 | 42 | |
valeyev | 0:e056ac8fecf8 | 43 | /** The Thread class allow defining, creating, and controlling thread functions in the system. |
valeyev | 0:e056ac8fecf8 | 44 | * |
valeyev | 0:e056ac8fecf8 | 45 | * Example: |
valeyev | 0:e056ac8fecf8 | 46 | * @code |
valeyev | 0:e056ac8fecf8 | 47 | * #include "mbed.h" |
valeyev | 0:e056ac8fecf8 | 48 | * #include "rtos.h" |
valeyev | 0:e056ac8fecf8 | 49 | * |
valeyev | 0:e056ac8fecf8 | 50 | * Thread thread; |
valeyev | 0:e056ac8fecf8 | 51 | * DigitalOut led1(LED1); |
valeyev | 0:e056ac8fecf8 | 52 | * volatile bool running = true; |
valeyev | 0:e056ac8fecf8 | 53 | * |
valeyev | 0:e056ac8fecf8 | 54 | * // Blink function toggles the led in a long running loop |
valeyev | 0:e056ac8fecf8 | 55 | * void blink(DigitalOut *led) { |
valeyev | 0:e056ac8fecf8 | 56 | * while (running) { |
valeyev | 0:e056ac8fecf8 | 57 | * *led = !*led; |
valeyev | 0:e056ac8fecf8 | 58 | * wait(1); |
valeyev | 0:e056ac8fecf8 | 59 | * } |
valeyev | 0:e056ac8fecf8 | 60 | * } |
valeyev | 0:e056ac8fecf8 | 61 | * |
valeyev | 0:e056ac8fecf8 | 62 | * // Spawns a thread to run blink for 5 seconds |
valeyev | 0:e056ac8fecf8 | 63 | * int main() { |
valeyev | 0:e056ac8fecf8 | 64 | * thread.start(callback(blink, &led1)); |
valeyev | 0:e056ac8fecf8 | 65 | * wait(5); |
valeyev | 0:e056ac8fecf8 | 66 | * running = false; |
valeyev | 0:e056ac8fecf8 | 67 | * thread.join(); |
valeyev | 0:e056ac8fecf8 | 68 | * } |
valeyev | 0:e056ac8fecf8 | 69 | * @endcode |
valeyev | 0:e056ac8fecf8 | 70 | * |
valeyev | 0:e056ac8fecf8 | 71 | * @note |
valeyev | 0:e056ac8fecf8 | 72 | * Memory considerations: The thread control structures will be created on current thread's stack, both for the mbed OS |
valeyev | 0:e056ac8fecf8 | 73 | * and underlying RTOS objects (static or dynamic RTOS memory pools are not being used). |
valeyev | 0:e056ac8fecf8 | 74 | * Additionally the stack memory for this thread will be allocated on the heap, if it wasn't supplied to the constructor. |
valeyev | 0:e056ac8fecf8 | 75 | */ |
valeyev | 0:e056ac8fecf8 | 76 | class Thread : private mbed::NonCopyable<Thread> { |
valeyev | 0:e056ac8fecf8 | 77 | public: |
valeyev | 0:e056ac8fecf8 | 78 | /** Allocate a new thread without starting execution |
valeyev | 0:e056ac8fecf8 | 79 | @param priority initial priority of the thread function. (default: osPriorityNormal). |
valeyev | 0:e056ac8fecf8 | 80 | @param stack_size stack size (in bytes) requirements for the thread function. (default: OS_STACK_SIZE). |
valeyev | 0:e056ac8fecf8 | 81 | @param stack_mem pointer to the stack area to be used by this thread (default: NULL). |
valeyev | 0:e056ac8fecf8 | 82 | @param name name to be used for this thread. It has to stay allocated for the lifetime of the thread (default: NULL) |
valeyev | 0:e056ac8fecf8 | 83 | |
valeyev | 0:e056ac8fecf8 | 84 | @note You cannot call this function from ISR context. |
valeyev | 0:e056ac8fecf8 | 85 | */ |
valeyev | 0:e056ac8fecf8 | 86 | Thread(osPriority priority=osPriorityNormal, |
valeyev | 0:e056ac8fecf8 | 87 | uint32_t stack_size=OS_STACK_SIZE, |
valeyev | 0:e056ac8fecf8 | 88 | unsigned char *stack_mem=NULL, const char *name=NULL) { |
valeyev | 0:e056ac8fecf8 | 89 | constructor(priority, stack_size, stack_mem, name); |
valeyev | 0:e056ac8fecf8 | 90 | } |
valeyev | 0:e056ac8fecf8 | 91 | |
valeyev | 0:e056ac8fecf8 | 92 | /** Create a new thread, and start it executing the specified function. |
valeyev | 0:e056ac8fecf8 | 93 | @param task function to be executed by this thread. |
valeyev | 0:e056ac8fecf8 | 94 | @param priority initial priority of the thread function. (default: osPriorityNormal). |
valeyev | 0:e056ac8fecf8 | 95 | @param stack_size stack size (in bytes) requirements for the thread function. (default: OS_STACK_SIZE). |
valeyev | 0:e056ac8fecf8 | 96 | @param stack_mem pointer to the stack area to be used by this thread (default: NULL). |
valeyev | 0:e056ac8fecf8 | 97 | @deprecated |
valeyev | 0:e056ac8fecf8 | 98 | Thread-spawning constructors hide errors. Replaced by thread.start(task). |
valeyev | 0:e056ac8fecf8 | 99 | |
valeyev | 0:e056ac8fecf8 | 100 | @code |
valeyev | 0:e056ac8fecf8 | 101 | Thread thread(priority, stack_size, stack_mem); |
valeyev | 0:e056ac8fecf8 | 102 | |
valeyev | 0:e056ac8fecf8 | 103 | osStatus status = thread.start(task); |
valeyev | 0:e056ac8fecf8 | 104 | if (status != osOK) { |
valeyev | 0:e056ac8fecf8 | 105 | error("oh no!"); |
valeyev | 0:e056ac8fecf8 | 106 | } |
valeyev | 0:e056ac8fecf8 | 107 | @endcode |
valeyev | 0:e056ac8fecf8 | 108 | |
valeyev | 0:e056ac8fecf8 | 109 | @note You cannot call this function from ISR context. |
valeyev | 0:e056ac8fecf8 | 110 | */ |
valeyev | 0:e056ac8fecf8 | 111 | MBED_DEPRECATED_SINCE("mbed-os-5.1", |
valeyev | 0:e056ac8fecf8 | 112 | "Thread-spawning constructors hide errors. " |
valeyev | 0:e056ac8fecf8 | 113 | "Replaced by thread.start(task).") |
valeyev | 0:e056ac8fecf8 | 114 | Thread(mbed::Callback<void()> task, |
valeyev | 0:e056ac8fecf8 | 115 | osPriority priority=osPriorityNormal, |
valeyev | 0:e056ac8fecf8 | 116 | uint32_t stack_size=OS_STACK_SIZE, |
valeyev | 0:e056ac8fecf8 | 117 | unsigned char *stack_mem=NULL) { |
valeyev | 0:e056ac8fecf8 | 118 | constructor(task, priority, stack_size, stack_mem); |
valeyev | 0:e056ac8fecf8 | 119 | } |
valeyev | 0:e056ac8fecf8 | 120 | |
valeyev | 0:e056ac8fecf8 | 121 | /** Create a new thread, and start it executing the specified function. |
valeyev | 0:e056ac8fecf8 | 122 | @param argument pointer that is passed to the thread function as start argument. (default: NULL). |
valeyev | 0:e056ac8fecf8 | 123 | @param task argument to task. |
valeyev | 0:e056ac8fecf8 | 124 | @param priority initial priority of the thread function. (default: osPriorityNormal). |
valeyev | 0:e056ac8fecf8 | 125 | @param stack_size stack size (in bytes) requirements for the thread function. (default: OS_STACK_SIZE). |
valeyev | 0:e056ac8fecf8 | 126 | @param stack_mem pointer to the stack area to be used by this thread (default: NULL). |
valeyev | 0:e056ac8fecf8 | 127 | @deprecated |
valeyev | 0:e056ac8fecf8 | 128 | Thread-spawning constructors hide errors. Replaced by thread.start(callback(task, argument)). |
valeyev | 0:e056ac8fecf8 | 129 | |
valeyev | 0:e056ac8fecf8 | 130 | @code |
valeyev | 0:e056ac8fecf8 | 131 | Thread thread(priority, stack_size, stack_mem); |
valeyev | 0:e056ac8fecf8 | 132 | |
valeyev | 0:e056ac8fecf8 | 133 | osStatus status = thread.start(callback(task, argument)); |
valeyev | 0:e056ac8fecf8 | 134 | if (status != osOK) { |
valeyev | 0:e056ac8fecf8 | 135 | error("oh no!"); |
valeyev | 0:e056ac8fecf8 | 136 | } |
valeyev | 0:e056ac8fecf8 | 137 | @endcode |
valeyev | 0:e056ac8fecf8 | 138 | |
valeyev | 0:e056ac8fecf8 | 139 | @note You cannot call this function from ISR context. |
valeyev | 0:e056ac8fecf8 | 140 | */ |
valeyev | 0:e056ac8fecf8 | 141 | template <typename T> |
valeyev | 0:e056ac8fecf8 | 142 | MBED_DEPRECATED_SINCE("mbed-os-5.1", |
valeyev | 0:e056ac8fecf8 | 143 | "Thread-spawning constructors hide errors. " |
valeyev | 0:e056ac8fecf8 | 144 | "Replaced by thread.start(callback(task, argument)).") |
valeyev | 0:e056ac8fecf8 | 145 | Thread(T *argument, void (T::*task)(), |
valeyev | 0:e056ac8fecf8 | 146 | osPriority priority=osPriorityNormal, |
valeyev | 0:e056ac8fecf8 | 147 | uint32_t stack_size=OS_STACK_SIZE, |
valeyev | 0:e056ac8fecf8 | 148 | unsigned char *stack_mem=NULL) { |
valeyev | 0:e056ac8fecf8 | 149 | constructor(mbed::callback(task, argument), |
valeyev | 0:e056ac8fecf8 | 150 | priority, stack_size, stack_mem); |
valeyev | 0:e056ac8fecf8 | 151 | } |
valeyev | 0:e056ac8fecf8 | 152 | |
valeyev | 0:e056ac8fecf8 | 153 | /** Create a new thread, and start it executing the specified function. |
valeyev | 0:e056ac8fecf8 | 154 | @param argument pointer that is passed to the thread function as start argument. (default: NULL). |
valeyev | 0:e056ac8fecf8 | 155 | @param task argument to task. |
valeyev | 0:e056ac8fecf8 | 156 | @param priority initial priority of the thread function. (default: osPriorityNormal). |
valeyev | 0:e056ac8fecf8 | 157 | @param stack_size stack size (in bytes) requirements for the thread function. (default: OS_STACK_SIZE). |
valeyev | 0:e056ac8fecf8 | 158 | @param stack_mem pointer to the stack area to be used by this thread (default: NULL). |
valeyev | 0:e056ac8fecf8 | 159 | @deprecated |
valeyev | 0:e056ac8fecf8 | 160 | Thread-spawning constructors hide errors. Replaced by thread.start(callback(task, argument)). |
valeyev | 0:e056ac8fecf8 | 161 | |
valeyev | 0:e056ac8fecf8 | 162 | @code |
valeyev | 0:e056ac8fecf8 | 163 | Thread thread(priority, stack_size, stack_mem); |
valeyev | 0:e056ac8fecf8 | 164 | |
valeyev | 0:e056ac8fecf8 | 165 | osStatus status = thread.start(callback(task, argument)); |
valeyev | 0:e056ac8fecf8 | 166 | if (status != osOK) { |
valeyev | 0:e056ac8fecf8 | 167 | error("oh no!"); |
valeyev | 0:e056ac8fecf8 | 168 | } |
valeyev | 0:e056ac8fecf8 | 169 | @endcode |
valeyev | 0:e056ac8fecf8 | 170 | |
valeyev | 0:e056ac8fecf8 | 171 | @note You cannot call this function from ISR context. |
valeyev | 0:e056ac8fecf8 | 172 | */ |
valeyev | 0:e056ac8fecf8 | 173 | template <typename T> |
valeyev | 0:e056ac8fecf8 | 174 | MBED_DEPRECATED_SINCE("mbed-os-5.1", |
valeyev | 0:e056ac8fecf8 | 175 | "Thread-spawning constructors hide errors. " |
valeyev | 0:e056ac8fecf8 | 176 | "Replaced by thread.start(callback(task, argument)).") |
valeyev | 0:e056ac8fecf8 | 177 | Thread(T *argument, void (*task)(T *), |
valeyev | 0:e056ac8fecf8 | 178 | osPriority priority=osPriorityNormal, |
valeyev | 0:e056ac8fecf8 | 179 | uint32_t stack_size=OS_STACK_SIZE, |
valeyev | 0:e056ac8fecf8 | 180 | unsigned char *stack_mem=NULL) { |
valeyev | 0:e056ac8fecf8 | 181 | constructor(mbed::callback(task, argument), |
valeyev | 0:e056ac8fecf8 | 182 | priority, stack_size, stack_mem); |
valeyev | 0:e056ac8fecf8 | 183 | } |
valeyev | 0:e056ac8fecf8 | 184 | |
valeyev | 0:e056ac8fecf8 | 185 | /** Create a new thread, and start it executing the specified function. |
valeyev | 0:e056ac8fecf8 | 186 | Provided for backwards compatibility |
valeyev | 0:e056ac8fecf8 | 187 | @param task function to be executed by this thread. |
valeyev | 0:e056ac8fecf8 | 188 | @param argument pointer that is passed to the thread function as start argument. (default: NULL). |
valeyev | 0:e056ac8fecf8 | 189 | @param priority initial priority of the thread function. (default: osPriorityNormal). |
valeyev | 0:e056ac8fecf8 | 190 | @param stack_size stack size (in bytes) requirements for the thread function. (default: OS_STACK_SIZE). |
valeyev | 0:e056ac8fecf8 | 191 | @param stack_mem pointer to the stack area to be used by this thread (default: NULL). |
valeyev | 0:e056ac8fecf8 | 192 | @deprecated |
valeyev | 0:e056ac8fecf8 | 193 | Thread-spawning constructors hide errors. Replaced by thread.start(callback(task, argument)). |
valeyev | 0:e056ac8fecf8 | 194 | |
valeyev | 0:e056ac8fecf8 | 195 | @code |
valeyev | 0:e056ac8fecf8 | 196 | Thread thread(priority, stack_size, stack_mem); |
valeyev | 0:e056ac8fecf8 | 197 | |
valeyev | 0:e056ac8fecf8 | 198 | osStatus status = thread.start(callback(task, argument)); |
valeyev | 0:e056ac8fecf8 | 199 | if (status != osOK) { |
valeyev | 0:e056ac8fecf8 | 200 | error("oh no!"); |
valeyev | 0:e056ac8fecf8 | 201 | } |
valeyev | 0:e056ac8fecf8 | 202 | @endcode |
valeyev | 0:e056ac8fecf8 | 203 | |
valeyev | 0:e056ac8fecf8 | 204 | @note You cannot call this function from ISR context. |
valeyev | 0:e056ac8fecf8 | 205 | */ |
valeyev | 0:e056ac8fecf8 | 206 | MBED_DEPRECATED_SINCE("mbed-os-5.1", |
valeyev | 0:e056ac8fecf8 | 207 | "Thread-spawning constructors hide errors. " |
valeyev | 0:e056ac8fecf8 | 208 | "Replaced by thread.start(callback(task, argument)).") |
valeyev | 0:e056ac8fecf8 | 209 | Thread(void (*task)(void const *argument), void *argument=NULL, |
valeyev | 0:e056ac8fecf8 | 210 | osPriority priority=osPriorityNormal, |
valeyev | 0:e056ac8fecf8 | 211 | uint32_t stack_size=OS_STACK_SIZE, |
valeyev | 0:e056ac8fecf8 | 212 | unsigned char *stack_mem=NULL) { |
valeyev | 0:e056ac8fecf8 | 213 | constructor(mbed::callback((void (*)(void *))task, argument), |
valeyev | 0:e056ac8fecf8 | 214 | priority, stack_size, stack_mem); |
valeyev | 0:e056ac8fecf8 | 215 | } |
valeyev | 0:e056ac8fecf8 | 216 | |
valeyev | 0:e056ac8fecf8 | 217 | /** Starts a thread executing the specified function. |
valeyev | 0:e056ac8fecf8 | 218 | @param task function to be executed by this thread. |
valeyev | 0:e056ac8fecf8 | 219 | @return status code that indicates the execution status of the function. |
valeyev | 0:e056ac8fecf8 | 220 | @note a thread can only be started once |
valeyev | 0:e056ac8fecf8 | 221 | |
valeyev | 0:e056ac8fecf8 | 222 | @note You cannot call this function ISR context. |
valeyev | 0:e056ac8fecf8 | 223 | */ |
valeyev | 0:e056ac8fecf8 | 224 | osStatus start(mbed::Callback<void()> task); |
valeyev | 0:e056ac8fecf8 | 225 | |
valeyev | 0:e056ac8fecf8 | 226 | /** Starts a thread executing the specified function. |
valeyev | 0:e056ac8fecf8 | 227 | @param obj argument to task |
valeyev | 0:e056ac8fecf8 | 228 | @param method function to be executed by this thread. |
valeyev | 0:e056ac8fecf8 | 229 | @return status code that indicates the execution status of the function. |
valeyev | 0:e056ac8fecf8 | 230 | @deprecated |
valeyev | 0:e056ac8fecf8 | 231 | The start function does not support cv-qualifiers. Replaced by start(callback(obj, method)). |
valeyev | 0:e056ac8fecf8 | 232 | |
valeyev | 0:e056ac8fecf8 | 233 | @note You cannot call this function from ISR context. |
valeyev | 0:e056ac8fecf8 | 234 | */ |
valeyev | 0:e056ac8fecf8 | 235 | template <typename T, typename M> |
valeyev | 0:e056ac8fecf8 | 236 | MBED_DEPRECATED_SINCE("mbed-os-5.1", |
valeyev | 0:e056ac8fecf8 | 237 | "The start function does not support cv-qualifiers. " |
valeyev | 0:e056ac8fecf8 | 238 | "Replaced by thread.start(callback(obj, method)).") |
valeyev | 0:e056ac8fecf8 | 239 | osStatus start(T *obj, M method) { |
valeyev | 0:e056ac8fecf8 | 240 | return start(mbed::callback(obj, method)); |
valeyev | 0:e056ac8fecf8 | 241 | } |
valeyev | 0:e056ac8fecf8 | 242 | |
valeyev | 0:e056ac8fecf8 | 243 | /** Wait for thread to terminate |
valeyev | 0:e056ac8fecf8 | 244 | @return status code that indicates the execution status of the function. |
valeyev | 0:e056ac8fecf8 | 245 | @note not callable from interrupt |
valeyev | 0:e056ac8fecf8 | 246 | |
valeyev | 0:e056ac8fecf8 | 247 | @note You cannot call this function from ISR context. |
valeyev | 0:e056ac8fecf8 | 248 | */ |
valeyev | 0:e056ac8fecf8 | 249 | osStatus join(); |
valeyev | 0:e056ac8fecf8 | 250 | |
valeyev | 0:e056ac8fecf8 | 251 | /** Terminate execution of a thread and remove it from Active Threads |
valeyev | 0:e056ac8fecf8 | 252 | @return status code that indicates the execution status of the function. |
valeyev | 0:e056ac8fecf8 | 253 | |
valeyev | 0:e056ac8fecf8 | 254 | @note You cannot call this function from ISR context. |
valeyev | 0:e056ac8fecf8 | 255 | */ |
valeyev | 0:e056ac8fecf8 | 256 | osStatus terminate(); |
valeyev | 0:e056ac8fecf8 | 257 | |
valeyev | 0:e056ac8fecf8 | 258 | /** Set priority of an active thread |
valeyev | 0:e056ac8fecf8 | 259 | @param priority new priority value for the thread function. |
valeyev | 0:e056ac8fecf8 | 260 | @return status code that indicates the execution status of the function. |
valeyev | 0:e056ac8fecf8 | 261 | |
valeyev | 0:e056ac8fecf8 | 262 | @note You cannot call this function from ISR context. |
valeyev | 0:e056ac8fecf8 | 263 | */ |
valeyev | 0:e056ac8fecf8 | 264 | osStatus set_priority(osPriority priority); |
valeyev | 0:e056ac8fecf8 | 265 | |
valeyev | 0:e056ac8fecf8 | 266 | /** Get priority of an active thread |
valeyev | 0:e056ac8fecf8 | 267 | @return current priority value of the thread function. |
valeyev | 0:e056ac8fecf8 | 268 | |
valeyev | 0:e056ac8fecf8 | 269 | @note You cannot call this function from ISR context. |
valeyev | 0:e056ac8fecf8 | 270 | */ |
valeyev | 0:e056ac8fecf8 | 271 | osPriority get_priority(); |
valeyev | 0:e056ac8fecf8 | 272 | |
valeyev | 0:e056ac8fecf8 | 273 | /** Set the specified Thread Flags for the thread. |
valeyev | 0:e056ac8fecf8 | 274 | @param signals specifies the signal flags of the thread that should be set. |
valeyev | 0:e056ac8fecf8 | 275 | @return signal flags after setting or osFlagsError in case of incorrect parameters. |
valeyev | 0:e056ac8fecf8 | 276 | |
valeyev | 0:e056ac8fecf8 | 277 | @note You may call this function from ISR context. |
valeyev | 0:e056ac8fecf8 | 278 | */ |
valeyev | 0:e056ac8fecf8 | 279 | int32_t signal_set(int32_t signals); |
valeyev | 0:e056ac8fecf8 | 280 | |
valeyev | 0:e056ac8fecf8 | 281 | /** State of the Thread */ |
valeyev | 0:e056ac8fecf8 | 282 | enum State { |
valeyev | 0:e056ac8fecf8 | 283 | Inactive, /**< NOT USED */ |
valeyev | 0:e056ac8fecf8 | 284 | Ready, /**< Ready to run */ |
valeyev | 0:e056ac8fecf8 | 285 | Running, /**< Running */ |
valeyev | 0:e056ac8fecf8 | 286 | WaitingDelay, /**< Waiting for a delay to occur */ |
valeyev | 0:e056ac8fecf8 | 287 | WaitingJoin, /**< Waiting for thread to join. Only happens when using RTX directly. */ |
valeyev | 0:e056ac8fecf8 | 288 | WaitingThreadFlag, /**< Waiting for a thread flag to be set */ |
valeyev | 0:e056ac8fecf8 | 289 | WaitingEventFlag, /**< Waiting for a event flag to be set */ |
valeyev | 0:e056ac8fecf8 | 290 | WaitingMutex, /**< Waiting for a mutex event to occur */ |
valeyev | 0:e056ac8fecf8 | 291 | WaitingSemaphore, /**< Waiting for a semaphore event to occur */ |
valeyev | 0:e056ac8fecf8 | 292 | WaitingMemoryPool, /**< Waiting for a memory pool */ |
valeyev | 0:e056ac8fecf8 | 293 | WaitingMessageGet, /**< Waiting for message to arrive */ |
valeyev | 0:e056ac8fecf8 | 294 | WaitingMessagePut, /**< Waiting for message to be send */ |
valeyev | 0:e056ac8fecf8 | 295 | WaitingInterval, /**< NOT USED */ |
valeyev | 0:e056ac8fecf8 | 296 | WaitingOr, /**< NOT USED */ |
valeyev | 0:e056ac8fecf8 | 297 | WaitingAnd, /**< NOT USED */ |
valeyev | 0:e056ac8fecf8 | 298 | WaitingMailbox, /**< NOT USED (Mail is implemented as MemoryPool and Queue) */ |
valeyev | 0:e056ac8fecf8 | 299 | |
valeyev | 0:e056ac8fecf8 | 300 | /* Not in sync with RTX below here */ |
valeyev | 0:e056ac8fecf8 | 301 | Deleted, /**< The task has been deleted or not started */ |
valeyev | 0:e056ac8fecf8 | 302 | }; |
valeyev | 0:e056ac8fecf8 | 303 | |
valeyev | 0:e056ac8fecf8 | 304 | /** State of this Thread |
valeyev | 0:e056ac8fecf8 | 305 | @return the State of this Thread |
valeyev | 0:e056ac8fecf8 | 306 | |
valeyev | 0:e056ac8fecf8 | 307 | @note You cannot call this function from ISR context. |
valeyev | 0:e056ac8fecf8 | 308 | */ |
valeyev | 0:e056ac8fecf8 | 309 | State get_state(); |
valeyev | 0:e056ac8fecf8 | 310 | |
valeyev | 0:e056ac8fecf8 | 311 | /** Get the total stack memory size for this Thread |
valeyev | 0:e056ac8fecf8 | 312 | @return the total stack memory size in bytes |
valeyev | 0:e056ac8fecf8 | 313 | |
valeyev | 0:e056ac8fecf8 | 314 | @note You cannot call this function from ISR context. |
valeyev | 0:e056ac8fecf8 | 315 | */ |
valeyev | 0:e056ac8fecf8 | 316 | uint32_t stack_size(); |
valeyev | 0:e056ac8fecf8 | 317 | |
valeyev | 0:e056ac8fecf8 | 318 | /** Get the currently unused stack memory for this Thread |
valeyev | 0:e056ac8fecf8 | 319 | @return the currently unused stack memory in bytes |
valeyev | 0:e056ac8fecf8 | 320 | |
valeyev | 0:e056ac8fecf8 | 321 | @note You cannot call this function from ISR context. |
valeyev | 0:e056ac8fecf8 | 322 | */ |
valeyev | 0:e056ac8fecf8 | 323 | uint32_t free_stack(); |
valeyev | 0:e056ac8fecf8 | 324 | |
valeyev | 0:e056ac8fecf8 | 325 | /** Get the currently used stack memory for this Thread |
valeyev | 0:e056ac8fecf8 | 326 | @return the currently used stack memory in bytes |
valeyev | 0:e056ac8fecf8 | 327 | |
valeyev | 0:e056ac8fecf8 | 328 | @note You cannot call this function from ISR context. |
valeyev | 0:e056ac8fecf8 | 329 | */ |
valeyev | 0:e056ac8fecf8 | 330 | uint32_t used_stack(); |
valeyev | 0:e056ac8fecf8 | 331 | |
valeyev | 0:e056ac8fecf8 | 332 | /** Get the maximum stack memory usage to date for this Thread |
valeyev | 0:e056ac8fecf8 | 333 | @return the maximum stack memory usage to date in bytes |
valeyev | 0:e056ac8fecf8 | 334 | |
valeyev | 0:e056ac8fecf8 | 335 | @note You cannot call this function from ISR context. |
valeyev | 0:e056ac8fecf8 | 336 | */ |
valeyev | 0:e056ac8fecf8 | 337 | uint32_t max_stack(); |
valeyev | 0:e056ac8fecf8 | 338 | |
valeyev | 0:e056ac8fecf8 | 339 | /** Get thread name |
valeyev | 0:e056ac8fecf8 | 340 | @return thread name or NULL if the name was not set. |
valeyev | 0:e056ac8fecf8 | 341 | |
valeyev | 0:e056ac8fecf8 | 342 | @note You may call this function from ISR context. |
valeyev | 0:e056ac8fecf8 | 343 | */ |
valeyev | 0:e056ac8fecf8 | 344 | const char *get_name(); |
valeyev | 0:e056ac8fecf8 | 345 | |
valeyev | 0:e056ac8fecf8 | 346 | /** Clears the specified Thread Flags of the currently running thread. |
valeyev | 0:e056ac8fecf8 | 347 | @param signals specifies the signal flags of the thread that should be cleared. |
valeyev | 0:e056ac8fecf8 | 348 | @return signal flags before clearing or osFlagsError in case of incorrect parameters. |
valeyev | 0:e056ac8fecf8 | 349 | |
valeyev | 0:e056ac8fecf8 | 350 | @note You cannot call this function from ISR context. |
valeyev | 0:e056ac8fecf8 | 351 | */ |
valeyev | 0:e056ac8fecf8 | 352 | static int32_t signal_clr(int32_t signals); |
valeyev | 0:e056ac8fecf8 | 353 | |
valeyev | 0:e056ac8fecf8 | 354 | /** Wait for one or more Thread Flags to become signaled for the current RUNNING thread. |
valeyev | 0:e056ac8fecf8 | 355 | @param signals wait until all specified signal flags are set or 0 for any single signal flag. |
valeyev | 0:e056ac8fecf8 | 356 | @param millisec timeout value or 0 in case of no time-out. (default: osWaitForever). |
valeyev | 0:e056ac8fecf8 | 357 | @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. |
valeyev | 0:e056ac8fecf8 | 358 | |
valeyev | 0:e056ac8fecf8 | 359 | @note You cannot call this function from ISR context. |
valeyev | 0:e056ac8fecf8 | 360 | */ |
valeyev | 0:e056ac8fecf8 | 361 | static osEvent signal_wait(int32_t signals, uint32_t millisec=osWaitForever); |
valeyev | 0:e056ac8fecf8 | 362 | |
valeyev | 0:e056ac8fecf8 | 363 | /** Wait for a specified time period in milliseconds |
valeyev | 0:e056ac8fecf8 | 364 | Being tick-based, the delay will be up to the specified time - eg for |
valeyev | 0:e056ac8fecf8 | 365 | a value of 1 the system waits until the next millisecond tick occurs, |
valeyev | 0:e056ac8fecf8 | 366 | leading to a delay of 0-1 milliseconds. |
valeyev | 0:e056ac8fecf8 | 367 | @param millisec time delay value |
valeyev | 0:e056ac8fecf8 | 368 | @return status code that indicates the execution status of the function. |
valeyev | 0:e056ac8fecf8 | 369 | |
valeyev | 0:e056ac8fecf8 | 370 | @note You cannot call this function from ISR context. |
valeyev | 0:e056ac8fecf8 | 371 | */ |
valeyev | 0:e056ac8fecf8 | 372 | static osStatus wait(uint32_t millisec); |
valeyev | 0:e056ac8fecf8 | 373 | |
valeyev | 0:e056ac8fecf8 | 374 | /** Wait until a specified time in millisec |
valeyev | 0:e056ac8fecf8 | 375 | The specified time is according to Kernel::get_ms_count(). |
valeyev | 0:e056ac8fecf8 | 376 | @param millisec absolute time in millisec |
valeyev | 0:e056ac8fecf8 | 377 | @return status code that indicates the execution status of the function. |
valeyev | 0:e056ac8fecf8 | 378 | @note not callable from interrupt |
valeyev | 0:e056ac8fecf8 | 379 | @note if millisec is equal to or lower than the current tick count, this |
valeyev | 0:e056ac8fecf8 | 380 | returns immediately, either with an error or "osOK". |
valeyev | 0:e056ac8fecf8 | 381 | @note the underlying RTOS may have a limit to the maximum wait time |
valeyev | 0:e056ac8fecf8 | 382 | due to internal 32-bit computations, but this is guaranteed to work if the |
valeyev | 0:e056ac8fecf8 | 383 | delay is <= 0x7fffffff milliseconds (~24 days). If the limit is exceeded, |
valeyev | 0:e056ac8fecf8 | 384 | it may return with an immediate error, or wait for the maximum delay. |
valeyev | 0:e056ac8fecf8 | 385 | |
valeyev | 0:e056ac8fecf8 | 386 | @note You cannot call this function from ISR context. |
valeyev | 0:e056ac8fecf8 | 387 | */ |
valeyev | 0:e056ac8fecf8 | 388 | static osStatus wait_until(uint64_t millisec); |
valeyev | 0:e056ac8fecf8 | 389 | |
valeyev | 0:e056ac8fecf8 | 390 | /** Pass control to next thread that is in state READY. |
valeyev | 0:e056ac8fecf8 | 391 | @return status code that indicates the execution status of the function. |
valeyev | 0:e056ac8fecf8 | 392 | |
valeyev | 0:e056ac8fecf8 | 393 | @note You cannot call this function from ISR context. |
valeyev | 0:e056ac8fecf8 | 394 | */ |
valeyev | 0:e056ac8fecf8 | 395 | static osStatus yield(); |
valeyev | 0:e056ac8fecf8 | 396 | |
valeyev | 0:e056ac8fecf8 | 397 | /** Get the thread id of the current running thread. |
valeyev | 0:e056ac8fecf8 | 398 | @return thread ID for reference by other functions or NULL in case of error. |
valeyev | 0:e056ac8fecf8 | 399 | |
valeyev | 0:e056ac8fecf8 | 400 | @note You may call this function from ISR context. |
valeyev | 0:e056ac8fecf8 | 401 | */ |
valeyev | 0:e056ac8fecf8 | 402 | static osThreadId gettid(); |
valeyev | 0:e056ac8fecf8 | 403 | |
valeyev | 0:e056ac8fecf8 | 404 | /** Attach a function to be called by the RTOS idle task |
valeyev | 0:e056ac8fecf8 | 405 | @param fptr pointer to the function to be called |
valeyev | 0:e056ac8fecf8 | 406 | |
valeyev | 0:e056ac8fecf8 | 407 | @note You may call this function from ISR context. |
valeyev | 0:e056ac8fecf8 | 408 | */ |
valeyev | 0:e056ac8fecf8 | 409 | static void attach_idle_hook(void (*fptr)(void)); |
valeyev | 0:e056ac8fecf8 | 410 | |
valeyev | 0:e056ac8fecf8 | 411 | /** Attach a function to be called when a task is killed |
valeyev | 0:e056ac8fecf8 | 412 | @param fptr pointer to the function to be called |
valeyev | 0:e056ac8fecf8 | 413 | |
valeyev | 0:e056ac8fecf8 | 414 | @note You may call this function from ISR context. |
valeyev | 0:e056ac8fecf8 | 415 | */ |
valeyev | 0:e056ac8fecf8 | 416 | static void attach_terminate_hook(void (*fptr)(osThreadId id)); |
valeyev | 0:e056ac8fecf8 | 417 | |
valeyev | 0:e056ac8fecf8 | 418 | /** Thread destructor |
valeyev | 0:e056ac8fecf8 | 419 | * |
valeyev | 0:e056ac8fecf8 | 420 | * @note You cannot call this function from ISR context. |
valeyev | 0:e056ac8fecf8 | 421 | */ |
valeyev | 0:e056ac8fecf8 | 422 | virtual ~Thread(); |
valeyev | 0:e056ac8fecf8 | 423 | |
valeyev | 0:e056ac8fecf8 | 424 | private: |
valeyev | 0:e056ac8fecf8 | 425 | // Required to share definitions without |
valeyev | 0:e056ac8fecf8 | 426 | // delegated constructors |
valeyev | 0:e056ac8fecf8 | 427 | void constructor(osPriority priority=osPriorityNormal, |
valeyev | 0:e056ac8fecf8 | 428 | uint32_t stack_size=OS_STACK_SIZE, |
valeyev | 0:e056ac8fecf8 | 429 | unsigned char *stack_mem=NULL, |
valeyev | 0:e056ac8fecf8 | 430 | const char *name=NULL); |
valeyev | 0:e056ac8fecf8 | 431 | void constructor(mbed::Callback<void()> task, |
valeyev | 0:e056ac8fecf8 | 432 | osPriority priority=osPriorityNormal, |
valeyev | 0:e056ac8fecf8 | 433 | uint32_t stack_size=OS_STACK_SIZE, |
valeyev | 0:e056ac8fecf8 | 434 | unsigned char *stack_mem=NULL, |
valeyev | 0:e056ac8fecf8 | 435 | const char *name=NULL); |
valeyev | 0:e056ac8fecf8 | 436 | static void _thunk(void * thread_ptr); |
valeyev | 0:e056ac8fecf8 | 437 | |
valeyev | 0:e056ac8fecf8 | 438 | mbed::Callback<void()> _task; |
valeyev | 0:e056ac8fecf8 | 439 | osThreadId_t _tid; |
valeyev | 0:e056ac8fecf8 | 440 | osThreadAttr_t _attr; |
valeyev | 0:e056ac8fecf8 | 441 | bool _dynamic_stack; |
valeyev | 0:e056ac8fecf8 | 442 | Semaphore _join_sem; |
valeyev | 0:e056ac8fecf8 | 443 | Mutex _mutex; |
valeyev | 0:e056ac8fecf8 | 444 | mbed_rtos_storage_thread_t _obj_mem; |
valeyev | 0:e056ac8fecf8 | 445 | bool _finished; |
valeyev | 0:e056ac8fecf8 | 446 | }; |
valeyev | 0:e056ac8fecf8 | 447 | /** @}*/ |
valeyev | 0:e056ac8fecf8 | 448 | /** @}*/ |
valeyev | 0:e056ac8fecf8 | 449 | } |
valeyev | 0:e056ac8fecf8 | 450 | #endif |
valeyev | 0:e056ac8fecf8 | 451 | |
valeyev | 0:e056ac8fecf8 | 452 |