Add thread wrapper class

include/sta/rtos/thread.hpp

@@ -0,0 +1,116 @@
+#ifndef STA_RTOS_THREAD_HPP
+#define STA_RTOS_THREAD_HPP
+
+#include <sta/rtos/defs.hpp>
+#include <sta/rtos/handle.hpp>
+
+#include <cmsis_os2.h>
+
+/**
+ * @ingroup STA_RTOS_API
+ * @{
+ */
+
+/**
+ * @brief Number of bits in task notification flags used internally.
+ */
+#define STA_RTOS_MAX_BITS_THREAD_SYS_NOTIFY         1U
+/**
+ * @brief Number of user usable bits in task notification flags.
+ */
+#define STA_RTOS_MAX_BITS_THREAD_USER_NOTIFY        ( STA_RTOS_MAX_BITS_THREAD_NOTIFY - STA_RTOS_MAX_BITS_THREAD_SYS_NOTIFY )
+/**
+ * @brief Mask for valid system task notification flag bits.
+ */
+#define STA_RTOS_THREAD_FLAGS_VALID_SYS_BITS        ( ( ( 1UL << STA_RTOS_MAX_BITS_THREAD_SYS_NOTIFY ) - 1U ) << STA_RTOS_MAX_BITS_THREAD_USER_NOTIFY )
+/**
+ * @brief Mask for valid user task notification flag bits.
+ */
+#define STA_RTOS_THREAD_FLAGS_VALID_USER_BITS       ( ( 1UL << STA_RTOS_MAX_BITS_THREAD_USER_NOTIFY ) - 1U )
+
+
+/**
+ * @brief Indicate error code instead of flag values.
+ */
+#define STA_RTOS_THREAD_FLAG_ERROR_CODE             ( 1UL << 31 )
+
+/**
+ * @brief Request thread termination.
+ */
+#define STA_RTOS_THREAD_FLAG_TERMINATE              ( 1UL << 30 )
+
+
+#define STA_RTOS_THREAD_FLAGS_ERROR_CODE_BITS       UINT32_C( 0x0000000F )
+#define STA_RTOS_THREAD_FLAGS_ERROR_CODE_EXT_BITS   UINT32_C( 0x7FFFFFF0 )
+
+
+#define STA_RTOS_THREAD_FLAGS_GET_EXT_ERROR_CODE(flags) (~flags & STA_RTOS_THREAD_FLAGS_ERROR_CODE_EXT_BITS)
+
+
+
+#define STA_RTOS_THREAD_FLAGS_WAIT_ANY(timeout) osThreadFlagsWait(STA_RTOS_THREAD_FLAGS_VALID_BITS, osFlagsWaitAny, timeout)
+
+
+/** @} */
+
+
+namespace sta
+{
+	/**
+	 * @brief Wrapper for RTOS thread control.
+	 *
+	 * @ingroup STA_RTOS_API
+	 */
+	class RtosThread
+	{
+	public:
+		using Handle = RtosHandle<osThreadId_t>;    /**< Thread handle type */
+
+	public:
+		RtosThread();
+
+		/**
+		 * @param handle Thread handle
+		 */
+		RtosThread(const Handle & handle);
+
+		/**
+		 * @brief Send user notification flags to thread.
+		 *
+		 * @param flags     User flags
+		 */
+		void notify(uint32_t flags);
+
+		/**
+		 * @brief Send termination request to thread.
+		 */
+		void requestTermination();
+		/**
+		 * @brief Forcibly terminate thread.
+		 */
+		void terminate();
+
+		/**
+		 * @brief Send system notification flags to thread.
+		 *
+		 * @param flags     System flags
+		 */
+		void sysNotify(uint32_t flags);
+
+	private:
+		Handle handle_;
+	};
+} // namespace sta
+
+
+/**
+ * @brief Create RtosThread wrapper object for thread handle.
+ *
+ * @param name Thread name
+ */
+#define STA_RTOS_THREAD_WRAPPER(name) \
+	extern osThreadId_t name ## Handle; \
+	sta::RtosThread name ## Thread = sta::RtosThread(sta::RtosThread::Handle::Deferred(&name ## Handle));
+
+
+#endif // STA_RTOS_THREAD_HPP

src/thread.cpp

@@ -0,0 +1,46 @@
+#include <sta/rtos/thread.hpp>
+
+
+#define IS_THREAD_SYS_FLAGS(flags)	( ( flags & STA_RTOS_THREAD_FLAGS_VALID_SYS_BITS ) == flags )
+#define IS_THREAD_USER_FLAGS(flags)	( ( flags & STA_RTOS_THREAD_FLAGS_VALID_USER_BITS ) == flags )
+
+
+namespace sta
+{
+	RtosThread::RtosThread()
+		: handle_(nullptr)
+	{}
+
+	RtosThread::RtosThread(const Handle & handle)
+		: handle_{handle}
+	{}
+
+
+	void RtosThread::notify(uint32_t flags)
+	{
+		STA_ASSERT(handle_.get() != nullptr);
+		STA_ASSERT_MSG(IS_THREAD_USER_FLAGS(flags), "Only user flags allowed");
+
+		osThreadFlagsSet(handle_.get(), flags);
+	}
+
+	void RtosThread::sysNotify(uint32_t flags)
+	{
+		STA_ASSERT(handle_.get() != nullptr);
+		STA_ASSERT_MSG(IS_THREAD_SYS_FLAGS(flags), "Only system flags allowed");
+
+		osThreadFlagsSet(handle_.get(), flags);
+	}
+
+
+	void RtosThread::requestTermination()
+	{
+		sysNotify(STA_RTOS_THREAD_FLAG_TERMINATE);
+	}
+
+	void RtosThread::terminate()
+	{
+		STA_ASSERT(handle_.get() != nullptr);
+		osThreadTerminate(handle_.get());
+	}
+} // namespace sta