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Merge pull request 'Added return value to addThread' (#22) from thread-memory into main

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Reviewed-on: https://git.intern.spaceteamaachen.de/ALPAKA/TACOS/pulls/22
Reviewed-by: carlwachter <carlwachter@noreply.git.intern.spaceteamaachen.de>
This commit is contained in:
carlwachter 2024-01-20 17:38:16 +00:00
commit 93a4112f59
3 changed files with 18 additions and 15 deletions
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8
include/sta/tacos.hpp
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@ -68,9 +68,13 @@ namespace sta
* @ingroup tacos_api * @ingroup tacos_api
*/ */
template<typename T, typename ... Args> template<typename T, typename ... Args>
void addThread(std::list<uint16_t> states, Args ... args) std::shared_ptr<T> addThread(std::list<uint16_t> states, Args ... args)
{ {
Manager::instance()->registerThread(std::make_shared<T>(args...), states); std::shared_ptr<T> thread_ptr = std::make_shared<T>(args...);
Manager::instance()->registerThread(thread_ptr, states);
return thread_ptr;
} }
} // namespace tacos } // namespace tacos
} }

9
include/sta/tacos/thread.hpp
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@ -32,10 +32,13 @@ namespace sta
public: public:
/** /**
* @brief Create a new thread with the given name and priority. * @brief Create a new thread with the given name and priority.
*
* @param name The thread's name. This is used for debugging.
* @param prio The thread's priority. Generally, this should be lower than the manager and statemachine priority.
* @param stack_size The stack size for the task. The default is 0, i.e. the stack size specified in the FreeRTOS settings.
* @param cb_size The control block size for the task. The default is 0, i.e. the size specified in the FreeRTOS settings.
*/ */
TacosThread(const char* name, osPriority_t prio); TacosThread(const char* name, osPriority_t prio, uint32_t stack_size = 0, uint32_t cb_size = 0);
TacosThread();
virtual ~TacosThread(); virtual ~TacosThread();

16
src/thread.cpp
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@ -19,19 +19,15 @@ namespace sta
{ {
namespace tacos namespace tacos
{ {
TacosThread::TacosThread(const char* name, osPriority_t prio) TacosThread::TacosThread(const char* name, osPriority_t prio, uint32_t stack_size /* = 0 */, uint32_t cb_size /* = 0 */)
: RtosThread(RtosHandle<osThreadId_t>(Handle::Deferred(&instance_))), : RtosThread(RtosHandle<osThreadId_t>(Handle::Deferred(&instance_))),
instance_{ NULL }, instance_{ NULL },
attribs_{ .name = name, .priority = prio }, attribs_{ .name=name, .cb_size=cb_size, .stack_size=stack_size, .priority=prio },
running_{false} running_{false}
{} {
STA_ASSERT(stack_size >= 0);
TacosThread::TacosThread() STA_ASSERT(cb_size >= 0);
: RtosThread(RtosHandle<osThreadId_t>(Handle::Deferred(&instance_))), }
instance_{ NULL },
attribs_{ },
running_{false}
{}
void TacosThread::entry_point(void* arg) void TacosThread::entry_point(void* arg)
{ {