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114 lines
2.3 KiB
C++
114 lines
2.3 KiB
C++
/*
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* task.hpp
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*
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* Created on: Sep 14, 2023
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* Author: Dario
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*/
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#ifndef INCLUDE_TACOS_TASK_HPP_
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#define INCLUDE_TACOS_TASK_HPP_
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#include <cmsis_os2.h>
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#include <sta/rtos/thread.hpp>
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/**
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* @defgroup tacos_thread TACOS Thread
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* @ingroup tacos
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* @brief TACOS Thread class.
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*/
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namespace sta
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{
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namespace tacos
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{
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/**
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* @brief Abstract class for thread implementations in Tacos.
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*
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* @ingroup tacos_thread
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*/
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class TacosThread : public RtosThread
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{
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public:
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/**
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* @brief Create a new thread with the given name and priority.
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*/
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TacosThread(const char* name, osPriority_t prio);
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TacosThread();
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virtual ~TacosThread();
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/**
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* @brief Start the execution of this thread.
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*/
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void start();
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/**
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* @brief Checks if this thread is currently running.
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*/
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bool isRunning();
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/**
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* @brief Get the currently running instance.
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*
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* @return The currently running instance id.
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*/
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osThreadId_t getInstance();
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/**
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* @brief Get the name of this thread.
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*/
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const char* getName() const;
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/**
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* @brief Compare two threads by their names.
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*/
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bool operator==(const TacosThread& other) const;
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/**
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* @brief Compare two threads by their names.
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*/
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bool operator<(const TacosThread& other) const;
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/**
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* @brief A function that wraps this task's functionality in a loop. This loop will run until
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* termination is requested.
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*/
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void loop();
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/**
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* @brief This function is executed first when this thread is started.
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*/
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virtual void init();
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/**
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* @brief The body of the thread's loop. Has to be implemented by the user.
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* This function is called repeatedly until termination is requested.
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*/
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virtual void func() = 0;
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/**
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* @brief This function is executed when the thread is terminated. Has to be implemented by the user.
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* This function should free all ressources used by this thread.
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*/
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virtual void cleanup();
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private:
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/**
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* @brief Static function to pass to RTOS to run as a thread. Calls the loop function implemented here.
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*/
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static void entry_point(void* arg);
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private:
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osThreadId_t instance_;
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osThreadAttr_t attribs_;
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bool running_;
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};
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}
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}
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#endif /* INCLUDE_TACOS_TASK_HPP_ */
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