TACOS/Tacos/src/thread.cpp

/*
 * thread.cpp
 *
 *  Created on: Sep 14, 2023
 *      Author: Dario
 */


#include <sta/tacos/thread.hpp>
#include <sta/debug/assert.hpp>
#include <sta/debug/debug.hpp>

#include <functional>
#include <cstring>


namespace sta
{
	namespace tacos
	{
		TacosThread::TacosThread(const char* name, osPriority_t prio)
				: RtosThread(RtosHandle<osThreadId_t>(Handle::Deferred(&instance_))),
				  instance_{ NULL },
				  attribs_{ .name = name, .priority = prio }
		{}

		TacosThread::TacosThread()
				: RtosThread(RtosHandle<osThreadId_t>(Handle::Deferred(&instance_))),
				  instance_{ NULL },
				  attribs_{ }
		{}

		void TacosThread::entry_point(void* arg)
		{
			STA_ASSERT(arg != nullptr);

			TacosThread* instance = reinterpret_cast<TacosThread*>(arg) ;
			instance->loop();
		}

		void TacosThread::start()
		{
			STA_ASSERT(!isRunning());

			instance_ = osThreadNew(entry_point, this, &attribs_);

			STA_ASSERT(instance_ != NULL);
		}

		bool TacosThread::isRunning()
		{
			return instance_ != NULL;
		}

		osThreadId_t TacosThread::getInstance()
		{
			STA_ASSERT(isRunning());

			return instance_;
		}

		const char* TacosThread::getName() const
		{
			return attribs_.name;
		}

		void TacosThread::loop()
		{
			init();

			while ((osEventFlagsGet(instance_) & STA_RTOS_THREAD_FLAG_TERMINATE) == 0)
			{
				func();
			}

			instance_ = NULL;

			osThreadExit();
		}

		bool TacosThread::operator==(const TacosThread& other) const
		{
			return std::strcmp(this->getName(), other.getName()) == 0;
		}

		bool TacosThread::operator<(const TacosThread& other) const
		{
			return std::strcmp(this->getName(), other.getName()) < 0;
		}

		TacosThread::~TacosThread(){}

	}  // namespace tacos
}  // namespace sta