Threads refactor

Split thread into two different entities.
Add exclusive signal.

Threads/Inc/threads_exclusivesignal.hpp

@@ -0,0 +1,150 @@
+/*
+ * threads_signal.hpp
+ *
+ *  Created on: Jun 11, 2021
+ *      Author: erki
+ */
+
+#ifndef SKULLC_THREADS_EXCLUSIVESIGNAL_HPP_
+#define SKULLC_THREADS_EXCLUSIVESIGNAL_HPP_
+
+#include <array>
+#include <atomic>
+#include <optional>
+#include <type_traits>
+
+#include "threads_primitivethread.hpp"
+
+namespace Threads
+{
+
+template<typename T>
+class ExclusiveSignal
+{
+public:
+  using value_type = T;
+  using result_type = std::optional<T>;
+
+  static_assert(
+      std::is_trivially_copyable_v<value_type>, "Signal's value must be trivially copyable.");
+
+  ExclusiveSignal()
+    : current_value_(std::nullopt)
+    , waiting_thread_(std::nullopt)
+  { }
+
+  ExclusiveSignal(const ExclusiveSignal&) = delete;
+  ExclusiveSignal(ExclusiveSignal&&) = delete;
+  ExclusiveSignal& operator=(const ExclusiveSignal&) = delete;
+  ExclusiveSignal& operator=(ExclusiveSignal&&) = delete;
+
+#ifdef INCLUDE_xTaskGetCurrentTaskHandle
+  result_type wait()
+  {
+    return wait(PrimitiveThread::getCurrentThread());
+  }
+
+  result_type wait(const long timeout)
+  {
+    return wait(PrimitiveThread::getCurrentThread(), timeout);
+  }
+#endif
+
+  result_type wait(const PrimitiveThread& currentThread)
+  {
+    return wait(currentThread, portMAX_DELAY);
+  }
+
+  result_type wait(const PrimitiveThread& currentThread, const long timeout)
+  {
+    waiting_thread_ = currentThread;
+
+    const bool notified = currentThread.notifyWait(timeout);
+
+    if (!notified)
+    {
+      return std::nullopt;
+    }
+    else
+    {
+      return current_value_;
+    }
+  }
+
+  bool emit(const result_type& v)
+  {
+    current_value_ = v;
+
+    if (!waiting_thread_)
+    {
+      return false;
+    }
+    else
+    {
+      return waiting_thread_->notify(0, eNoAction);
+    }
+  }
+
+private:
+  result_type current_value_;
+  std::optional<PrimitiveThread> waiting_thread_;
+};
+
+template<>
+struct ExclusiveSignal<void>
+{
+  using value_type = void;
+  using result_type = bool;
+
+  ExclusiveSignal()
+    : waiting_thread_(std::nullopt)
+  { }
+
+  ExclusiveSignal(const ExclusiveSignal&) = delete;
+  ExclusiveSignal(ExclusiveSignal&&) = delete;
+  ExclusiveSignal& operator=(const ExclusiveSignal&) = delete;
+  ExclusiveSignal& operator=(ExclusiveSignal&&) = delete;
+
+#ifdef INCLUDE_xTaskGetCurrentTaskHandle
+  result_type wait()
+  {
+    return wait(PrimitiveThread::getCurrentThread());
+  }
+
+  result_type wait(const long timeout)
+  {
+    return wait(PrimitiveThread::getCurrentThread(), timeout);
+  }
+#endif
+
+  result_type wait(PrimitiveThread currentThread)
+  {
+    return wait(currentThread, portMAX_DELAY);
+  }
+
+  result_type wait(PrimitiveThread currentThread, const long timeout)
+  {
+    waiting_thread_ = currentThread;
+    return currentThread.notifyWait(timeout);
+  }
+
+  bool emit()
+  {
+    if (!waiting_thread_)
+    {
+      return false;
+    }
+    else
+    {
+      return waiting_thread_->notify(0, eNoAction);
+    }
+  }
+
+private:
+  std::optional<PrimitiveThread> waiting_thread_;
+};
+
+}
+
+
+#endif /* SKULLC_THREADS_EXCLUSIVESIGNAL_HPP_ */

Threads/Inc/threads_primitivethread.hpp

@@ -0,0 +1,84 @@
+/*
+ * threads_basethread.hpp
+ *
+ *  Created on: Jun 11, 2021
+ *      Author: erki
+ */
+
+#ifndef SKULLC_THREADS_PRIMITIVETHREAD_HPP_
+#define SKULLC_THREADS_PRIMITIVETHREAD_HPP_
+
+#include <cmsis_os.h>
+#include <freertos_os2.h>
+
+#include <type_traits>
+#include <tuple>
+
+namespace Threads
+{
+
+class PrimitiveThread
+{
+public:
+  PrimitiveThread() = delete;
+  PrimitiveThread(const PrimitiveThread&) = default;
+  PrimitiveThread(PrimitiveThread&&) = default;
+  PrimitiveThread& operator=(const PrimitiveThread&) = default;
+  PrimitiveThread& operator=(PrimitiveThread&&) = default;
+
+  osThreadId_t thread_id;
+  osThreadAttr_t attributes;
+
+#ifdef INCLUDE_xTaskGetCurrentTaskHandle
+  static PrimitiveThread getCurrentThread();
+#endif
+
+  [[nodiscard]] constexpr TaskHandle_t taskHandle() const
+  {
+    return static_cast<TaskHandle_t>(thread_id);
+  }
+
+  [[nodiscard]] BaseType_t notify(const long value, const eNotifyAction action);
+
+  /**
+   *
+   * @returns Tuple. First member indicating the return value of the underlying notify
+   * function, the second member indicating whether a higher priority task was awoken.
+   *
+   */
+  [[nodiscard]] std::pair<BaseType_t, BaseType_t> notifyFromIsr(const long value, const eNotifyAction action);
+
+  void yield();
+  void sleep(const unsigned long delay);
+  void sleepUntil(const unsigned long deadline);
+
+  [[nodiscard]] bool notifyWait(const TickType_t delay) const;
+  [[nodiscard]] std::pair<bool, unsigned long> notifyWait(const TickType_t delay, const unsigned long set_on_entry, const unsigned long set_on_exit) const;
+
+protected:
+  explicit PrimitiveThread(osThreadFunc_t function, const osThreadAttr_t& attrs);
+
+  template<typename F>
+  PrimitiveThread(F runner, const char* name, const osPriority_t priority, const std::uint32_t stack_size)
+    : PrimitiveThread(runner, constructThreadAttrs_(name, priority, stack_size))
+  {
+    static_assert(std::is_convertible_v<F, osThreadFunc_t>, "Run function F is not convertible to osThreadFunc_t (void (void*)).");
+  }
+
+private:
+  explicit PrimitiveThread(TaskHandle_t threadHandle);
+  osThreadAttr_t constructThreadAttrs_(const char* name, const osPriority_t priority, const std::uint32_t stack_size);
+};
+
+inline bool operator==(const PrimitiveThread& lhs, const PrimitiveThread& rhs)
+{
+  if (!lhs.thread_id || !rhs.thread_id)
+    return false;
+
+  return lhs.thread_id == rhs.thread_id;
+}
+
+}
+
+
+#endif /* SKULLC_THREADS_PRIMITIVETHREAD_HPP_ */

Threads/Inc/threads_thread.hpp

@@ -8,110 +8,27 @@
 #ifndef SKULLC_THREADS_THREAD_HPP_
 #define SKULLC_THREADS_THREAD_HPP_
 
-#include <cmsis_os.h>
-
-#include <freertos_os2.h>
-
-#include <cstdint>
-#include <cstring>
-#include <tuple>
-
-#include <peripherals_utility.hpp>
+#include "threads_primitivethread.hpp"
 
 namespace Threads
 {
 
 template<typename CRTP>
-class Thread
+class Thread : public PrimitiveThread
 {
 public:
-  Thread(const osThreadAttr_t attrs)
-      : attributes(attrs)
-  {
-    auto f = [](void* d) {
-      CRTP* dd = static_cast<CRTP*>(d);
-      (*dd)();
-    };
-
-    thread_id = osThreadNew(f, this, &attributes);
-    assert(thread_id != nullptr);
-  }
-
   Thread(const char* name, const osPriority_t priority, const std::uint32_t stack_size)
-      : Thread(constructThreadAttrs_(name, priority, stack_size))
+      : PrimitiveThread([](void* d) {
+          CRTP* dd = static_cast<CRTP*>(d);
+          (*dd)();
+        }, name, priority, stack_size)
   {}
 
+  Thread() = delete;
   Thread(const Thread&) = delete;
   Thread(Thread&&) = delete;
-
-  osThreadId_t thread_id;
-  osThreadAttr_t attributes;
-
-  constexpr TaskHandle_t taskHandle() const
-  {
-    return static_cast<TaskHandle_t>(thread_id);
-  }
-
-  [[nodiscard]] BaseType_t notify(const long value, const eNotifyAction action)
-  {
-    return xTaskNotify(taskHandle(), value, action);
-  }
-
-  /**
-   *
-   * @returns Tuple. First member indicating the return value of the underlying notify
-   * function, the second member indicating whether a higher priority task was awoken.
-   *
-   */
-  [[nodiscard]] std::pair<BaseType_t, BaseType_t> notifyFromIsr(const long value, const eNotifyAction action)
-  {
-    BaseType_t was_notified = pdFALSE;
-
-    const BaseType_t rval = xTaskNotifyFromISR(taskHandle(), value, action, &was_notified);
-
-    return {rval, was_notified};
-  }
-
-  void yield()
-  {
-    osThreadYield();
-  }
-
-  void sleep(const unsigned long delay)
-  {
-    osDelay(delay);
-  }
-
-  void sleepUntil(const unsigned long deadline)
-  {
-    osDelayUntil(deadline);
-  }
-
-protected:
-  bool notifyWait(const TickType_t delay) const
-  {
-    return xTaskNotifyWait(0, std::numeric_limits<unsigned long>::max(), nullptr, delay);
-  }
-
-  std::pair<bool, unsigned long> notifyWait(const TickType_t delay, const unsigned long set_on_entry, const unsigned long set_on_exit) const
-  {
-    unsigned long notification_value = 0;
-    const bool rval = xTaskNotifyWait(set_on_entry, set_on_exit, &notification_value, delay);
-
-    return {rval, notification_value};
-  }
-
-private:
-  osThreadAttr_t constructThreadAttrs_(const char* name, const osPriority_t priority, const std::uint32_t stack_size)
-  {
-    auto attrs = Peripherals::zeroInitialized<osThreadAttr_t>();
-
-    attrs.name = name;
-    attrs.priority = priority;
-    attrs.stack_size = stack_size;
-
-    return attrs;
-  }
+  Thread& operator=(const Thread&) = delete;
+  Thread& operator=(Thread&&) = delete;
 };
 
 }// namespace Threads

Threads/Src/threads_primitivethread.cpp

@@ -0,0 +1,120 @@
+/*
+ * threads_primitivethread.cpp
+ *
+ *  Created on: Jun 11, 2021
+ *      Author: erki
+ */
+
+#include "threads_primitivethread.hpp"
+
+#include "peripherals_utility.hpp"
+
+#ifdef INCLUDE_xTaskGetCurrentTaskHandle
+# define ASSERT_IS_CURRENT() \
+  assert(Threads::PrimitiveThread::getCurrentThread().taskHandle() == this->taskHandle())
+#else
+# define ASSERT_IS_CURRENT()
+#endif
+
+#ifdef INCLUDE_xTaskGetCurrentTaskHandle
+# define ASSERT_IS_NOT_CURRENT() \
+  assert(Threads::PrimitiveThread::getCurrentThread().taskHandle() != this->taskHandle())
+#else
+# define ASSERT_IS_NOT_CURRENT()
+#endif
+
+namespace Threads
+{
+
+#ifdef INCLUDE_xTaskGetCurrentTaskHandle
+PrimitiveThread PrimitiveThread::getCurrentThread()
+{
+  return PrimitiveThread(xTaskGetCurrentTaskHandle());
+}
+#endif
+
+BaseType_t PrimitiveThread::notify(const long value, const eNotifyAction action)
+{
+  ASSERT_IS_NOT_CURRENT();
+
+  return xTaskNotify(taskHandle(), value, action);
+}
+
+std::pair<BaseType_t, BaseType_t> PrimitiveThread::notifyFromIsr(const long value, const eNotifyAction action)
+{
+  BaseType_t was_notified = pdFALSE;
+
+  const BaseType_t rval = xTaskNotifyFromISR(taskHandle(), value, action, &was_notified);
+
+  return {rval, was_notified};
+}
+
+void PrimitiveThread::yield()
+{
+  ASSERT_IS_CURRENT();
+
+  osThreadYield();
+}
+
+void PrimitiveThread::sleep(const unsigned long delay)
+{
+  ASSERT_IS_CURRENT();
+
+  osDelay(delay);
+}
+
+void PrimitiveThread::sleepUntil(const unsigned long deadline)
+{
+  ASSERT_IS_CURRENT();
+
+  osDelayUntil(deadline);
+}
+
+[[nodiscard]] bool PrimitiveThread::notifyWait(const TickType_t delay) const
+{
+  ASSERT_IS_CURRENT();
+
+  return xTaskNotifyWait(0, std::numeric_limits<unsigned long>::max(), nullptr, delay);
+}
+
+[[nodiscard]] std::pair<bool, unsigned long> PrimitiveThread::notifyWait(const TickType_t delay, const unsigned long set_on_entry, const unsigned long set_on_exit) const
+{
+  ASSERT_IS_CURRENT();
+
+  unsigned long notification_value = 0;
+  const bool rval = xTaskNotifyWait(set_on_entry, set_on_exit, &notification_value, delay);
+
+  return {rval, notification_value};
+}
+
+
+PrimitiveThread::PrimitiveThread(osThreadFunc_t function, const osThreadAttr_t& attrs)
+  : thread_id(nullptr)
+  , attributes(attrs)
+{
+  assert(function);
+
+  thread_id = osThreadNew(function, this, &attributes);
+  assert(thread_id != nullptr);
+}
+
+
+PrimitiveThread::PrimitiveThread(TaskHandle_t threadHandle)
+  : thread_id(static_cast<osThreadId_t>(threadHandle))
+  , attributes(Peripherals::zeroInitialized<osThreadAttr_t>())
+{
+  assert(thread_id != nullptr);
+}
+
+osThreadAttr_t PrimitiveThread::constructThreadAttrs_(const char* name, const osPriority_t priority, const std::uint32_t stack_size)
+{
+  auto attrs = Peripherals::zeroInitialized<osThreadAttr_t>();
+
+  attrs.name = name;
+  attrs.priority = priority;
+  attrs.stack_size = stack_size;
+
+  return attrs;
+}
+
+}