Add initial freertos thread abstraction

Threads/Inc/threads_thread.hpp

@@ -0,0 +1,120 @@
+/*
+ * tasks_task.hpp
+ *
+ *  Created on: Mar 18, 2021
+ *      Author: erki
+ */
+
+#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>
+
+namespace Threads
+{
+
+template<typename CRTP>
+class Thread
+{
+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))
+  {}
+
+  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;
+  }
+};
+
+}// namespace Threads
+
+
+#endif /* SKULLC_THREADS_THREAD_HPP_ */