mirror of
https://git.intern.spaceteamaachen.de/ALPAKA/rtos2-utils.git
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158 lines
3.5 KiB
C++
158 lines
3.5 KiB
C++
#ifndef STA_RTOS_THREAD_HPP
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#define STA_RTOS_THREAD_HPP
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#include <sta/rtos/defs.hpp>
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#include <sta/rtos/handle.hpp>
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#include <cmsis_os2.h>
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/**
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* @ingroup STA_RTOS_API
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* @{
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*/
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/**
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* @brief Number of bits in task notification flags used internally.
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*/
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#define STA_RTOS_MAX_BITS_THREAD_SYS_NOTIFY 1U
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/**
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* @brief Number of user usable bits in task notification flags.
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*/
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#define STA_RTOS_MAX_BITS_THREAD_USER_NOTIFY ( STA_RTOS_MAX_BITS_THREAD_NOTIFY - STA_RTOS_MAX_BITS_THREAD_SYS_NOTIFY )
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/**
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* @brief Mask for valid system task notification flag bits.
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*/
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#define STA_RTOS_THREAD_FLAGS_VALID_SYS_BITS ( ( ( 1UL << STA_RTOS_MAX_BITS_THREAD_SYS_NOTIFY ) - 1U ) << STA_RTOS_MAX_BITS_THREAD_USER_NOTIFY )
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/**
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* @brief Mask for valid user task notification flag bits.
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*/
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#define STA_RTOS_THREAD_FLAGS_VALID_USER_BITS ( ( 1UL << STA_RTOS_MAX_BITS_THREAD_USER_NOTIFY ) - 1U )
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/**
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* @brief Indicate error code instead of flag values.
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*/
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#define STA_RTOS_THREAD_FLAG_ERROR_CODE ( 1UL << 31 )
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/**
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* @brief Request thread start.
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*/
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#define STA_RTOS_THREAD_FLAG_START ( 1UL << 30 )
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#define STA_RTOS_THREAD_FLAGS_ERROR_CODE_BITS UINT32_C( 0x0000000F )
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#define STA_RTOS_THREAD_FLAGS_ERROR_CODE_EXT_BITS UINT32_C( 0x7FFFFFF0 )
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#define STA_RTOS_THREAD_FLAGS_GET_EXT_ERROR_CODE(flags) (~flags & STA_RTOS_THREAD_FLAGS_ERROR_CODE_EXT_BITS)
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#define STA_RTOS_THREAD_FLAGS_WAIT_ANY(timeout) osThreadFlagsWait(STA_RTOS_THREAD_FLAGS_VALID_BITS, osFlagsWaitAny, timeout)
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/** @} */
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namespace sta
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{
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/**
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* @brief Wrapper for RTOS thread control.
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*
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* @ingroup STA_RTOS_API
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*/
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class RtosThread
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{
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public:
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using Handle = RtosHandle<osThreadId_t>; /**< Thread handle type */
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public:
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RtosThread();
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/**
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* @param handle Thread handle
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*/
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RtosThread(const Handle & handle);
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/**
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* @brief Sets the thread to BLOCKED for a given number of ticks.
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* Other threads can run in the meantime.
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*
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* @param ticks The number of ticks before setting the thread to READY again.
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*/
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void sleep(uint32_t ticks);
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/**
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* @brief Send user notification flags to thread.
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*
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* @param flags User flags
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*/
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void notify(uint32_t flags);
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/**
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* @return Returns the flags that were set for this thread.
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*/
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uint32_t getFlags();
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/**
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* @brief Wait for certain thread flags.
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*
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* @return Returns the flags triggering the activation.
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*/
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uint32_t wait(uint32_t flags);
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/**
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* @brief Clears the thread flags set for this thread.
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*
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* @return Returns the thread flags that set before clearing.
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*/
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uint32_t clear(uint32_t flags);
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/**
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* @brief Send termination request to thread.
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*/
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void requestTermination();
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/**
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* @brief Clear the termination request flag for this thread.
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*/
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void deleteTerminationRequest();
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/**
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* @brief Resets the terminate bool to false.
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*
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* @return Returns the previous value of this variable.
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*/
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bool isTerminationRequested();
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/**
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* @brief Forcibly terminate thread.
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*/
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void terminate();
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/**
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* @brief Send system notification flags to thread.
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*
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* @param flags System flags
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*/
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void sysNotify(uint32_t flags);
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private:
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Handle handle_;
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bool terminate_;
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};
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} // namespace sta
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/**
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* @brief Create RtosThread wrapper object for thread handle.
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*
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* @param name Thread name
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*/
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#define STA_RTOS_THREAD_WRAPPER(name) \
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extern osThreadId_t name ## Handle; \
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sta::RtosThread name ## Thread = sta::RtosThread(sta::RtosThread::Handle::Deferred(&name ## Handle));
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#endif // STA_RTOS_THREAD_HPP
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