Threads: Add initial Actor implementation, rework primitivethread a bit.

Threads/Inc/threads_actor.hpp

@@ -0,0 +1,102 @@
+/*
+ * threads_actor.hpp
+ *
+ *  Created on: Jun 11, 2021
+ *      Author: erki
+ */
+
+#ifndef SKULLC_THREADS_ACTOR_HPP_
+#define SKULLC_THREADS_ACTOR_HPP_
+
+#include <queue.h>
+#include <type_traits>
+
+#include "threads_primitivethread.hpp"
+#include "threads_signal.hpp"
+
+namespace Threads
+{
+
+template<typename T>
+class Actor
+{
+public:
+  using value_type = T;
+
+  static_assert(std::is_trivially_constructible_v<value_type>, "T must be trivially constructible.");
+  static_assert(std::is_trivially_copyable_v<value_type>, "T must be trivially copyable.");
+
+  Actor(const std::uint32_t queue_size, const char* name, const osPriority_t priority, const std::uint32_t stack_size)
+      : thread_([](void* d) {
+          auto* dd = static_cast<Actor<T>*>(d);
+          (*dd)();
+        },
+                this, name, priority, stack_size),
+        msg_queue_(xQueueCreate(queue_size, sizeof(value_type))), signal_(*this)
+  {
+    assert(msg_queue_);
+  }
+
+  Signallable<T>* getSignal()
+  {
+    return &signal_;
+  }
+
+protected:
+  virtual void init() = 0;
+  virtual void onSignal(const T& data) = 0;
+
+private:
+  PrimitiveThread thread_;
+  QueueHandle_t msg_queue_;
+
+  void operator()()
+  {
+    init();
+
+    value_type data;
+
+    while (true)
+    {
+      const BaseType_t got = xQueueReceive(msg_queue_, &data, portMAX_DELAY);
+
+      if (got)
+      {
+        onSignal(data);
+      }
+    }
+  }
+
+  friend struct Signal_;
+
+  struct Signal_ : Signallable<value_type>
+  {
+    using parent = Actor<T>;
+    parent& q;
+
+    explicit Signal_(parent& q)
+        : q(q)
+    {}
+
+    bool emit(const value_type& data) override
+    {
+      const BaseType_t success = xQueueSend(q.msg_queue_, &data, 0);
+      return success == pdTRUE;
+    }
+
+    std::pair<bool, BaseType_t> emitFromIsr(const value_type& data) override
+    {
+      BaseType_t was_awoken = pdFALSE;
+      const BaseType_t success = xQueueSendFromISR(q.msg_queue_, &data, &was_awoken);
+
+      return {success == pdTRUE, was_awoken};
+    }
+  };
+
+  Signal_ signal_;
+};
+
+}// namespace Threads
+
+
+#endif /* SKULLC_THREADS_ACTOR_HPP_ */

Threads/Inc/threads_exclusivesignal.hpp

@@ -14,12 +14,14 @@
 #include <type_traits>
 
 #include "threads_primitivethread.hpp"
+#include "threads_signal.hpp"
 
 namespace Threads
 {
 
 template<typename T>
-class ExclusiveSignal
+class ExclusiveSignal : public Signallable<T>
+    , public Awaitable<std::optional<T>>
 {
 public:
   using value_type = T;
@@ -29,8 +31,7 @@ public:
           std::is_trivially_copyable_v<value_type>, "Signal's value must be trivially copyable.");
 
   ExclusiveSignal()
-    : current_value_(std::nullopt)
+      : current_value_(std::nullopt), waiting_thread_(std::nullopt)
-    , waiting_thread_(std::nullopt)
   {}
 
   ExclusiveSignal(const ExclusiveSignal&) = delete;
@@ -39,23 +40,23 @@ public:
   ExclusiveSignal& operator=(ExclusiveSignal&&) = delete;
 
 #ifdef INCLUDE_xTaskGetCurrentTaskHandle
-  result_type wait()
+  result_type await() override
   {
-    return wait(PrimitiveThread::getCurrentThread());
+    return await(PrimitiveThread::getCurrentThread());
   }
 
-  result_type wait(const long timeout)
+  result_type await(const long timeout) override
   {
-    return wait(PrimitiveThread::getCurrentThread(), timeout);
+    return await(PrimitiveThread::getCurrentThread(), timeout);
   }
 #endif
 
-  result_type wait(const PrimitiveThread& currentThread)
+  result_type await(const PrimitiveThread& currentThread) override
   {
-    return wait(currentThread, portMAX_DELAY);
+    return await(currentThread, portMAX_DELAY);
   }
 
-  result_type wait(const PrimitiveThread& currentThread, const long timeout)
+  result_type await(const PrimitiveThread& currentThread, const long timeout) override
   {
     waiting_thread_ = currentThread;
 
@@ -64,34 +65,49 @@ public:
     if (!notified)
     {
       return std::nullopt;
-    }
+    } else
-    else
     {
       return current_value_;
     }
   }
 
-  bool emit(const result_type& v)
+  bool emit(const value_type& v) override
   {
     current_value_ = v;
 
     if (!waiting_thread_)
     {
       return false;
-    }
+    } else
-    else
     {
       return waiting_thread_->notify(0, eNoAction);
     }
   }
 
+  std::pair<bool, BaseType_t> emitFromIsr(const value_type& v) override
+  {
+    current_value_ = v;
+
+    if (!waiting_thread_)
+    {
+      return {false, pdFALSE};
+    } else
+    {
+      auto const [discard, was_notified] = waiting_thread_->notifyFromIsr(0, eNoAction);
+      (void) discard;
+
+      return {true, was_notified};
+    }
+  }
+
 private:
   result_type current_value_;
   std::optional<PrimitiveThread> waiting_thread_;
 };
 
 template<>
-struct ExclusiveSignal<void>
+struct ExclusiveSignal<void> : public Signallable<void>
+    , public Awaitable<bool>
 {
   using value_type = void;
   using result_type = bool;
@@ -106,45 +122,58 @@ struct ExclusiveSignal<void>
   ExclusiveSignal& operator=(ExclusiveSignal&&) = delete;
 
 #ifdef INCLUDE_xTaskGetCurrentTaskHandle
-  result_type wait()
+  result_type await() override
   {
-    return wait(PrimitiveThread::getCurrentThread());
+    return await(PrimitiveThread::getCurrentThread());
   }
 
-  result_type wait(const long timeout)
+  result_type await(const long timeout) override
   {
-    return wait(PrimitiveThread::getCurrentThread(), timeout);
+    return await(PrimitiveThread::getCurrentThread(), timeout);
   }
 #endif
 
-  result_type wait(PrimitiveThread currentThread)
+  result_type await(const PrimitiveThread& currentThread) override
   {
-    return wait(currentThread, portMAX_DELAY);
+    return await(currentThread, portMAX_DELAY);
   }
 
-  result_type wait(PrimitiveThread currentThread, const long timeout)
+  result_type await(const PrimitiveThread& currentThread, const long timeout) override
   {
     waiting_thread_ = currentThread;
     return currentThread.notifyWait(timeout);
   }
 
-  bool emit()
+  bool emit() override
   {
     if (!waiting_thread_)
     {
       return false;
-    }
+    } else
-    else
     {
       return waiting_thread_->notify(0, eNoAction);
     }
   }
 
+  std::pair<bool, BaseType_t> emitFromIsr() override
+  {
+    if (!waiting_thread_)
+    {
+      return {false, pdFALSE};
+    } else
+    {
+      auto const [discard, was_notified] = waiting_thread_->notifyFromIsr(0, eNoAction);
+      (void) discard;
+
+      return {true, was_notified};
+    }
+  }
+
 private:
   std::optional<PrimitiveThread> waiting_thread_;
 };
 
-}
+}// namespace Threads
 
 
 #endif /* SKULLC_THREADS_EXCLUSIVESIGNAL_HPP_ */

Threads/Inc/threads_primitivethread.hpp

@@ -11,8 +11,8 @@
 #include <cmsis_os.h>
 #include <freertos_os2.h>
 
-#include <type_traits>
 #include <tuple>
+#include <type_traits>
 
 namespace Threads
 {
@@ -26,6 +26,15 @@ public:
   PrimitiveThread& operator=(const PrimitiveThread&) = default;
   PrimitiveThread& operator=(PrimitiveThread&&) = default;
 
+  explicit PrimitiveThread(osThreadFunc_t function, void* runner_data, const osThreadAttr_t& attrs);
+
+  template<typename F>
+  PrimitiveThread(F runner, void* runner_data, const char* name, const osPriority_t priority, const std::uint32_t stack_size)
+      : PrimitiveThread(runner, runner_data, 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*)).");
+  }
+
   osThreadId_t thread_id;
   osThreadAttr_t attributes;
 
@@ -55,17 +64,9 @@ public:
   [[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:
+  void* runner_data_ = nullptr;
+
   explicit PrimitiveThread(TaskHandle_t threadHandle);
   osThreadAttr_t constructThreadAttrs_(const char* name, const osPriority_t priority, const std::uint32_t stack_size);
 };
@@ -78,7 +79,7 @@ inline bool operator==(const PrimitiveThread& lhs, const PrimitiveThread& rhs)
   return lhs.thread_id == rhs.thread_id;
 }
 
-}
+}// namespace Threads
 
 
 #endif /* SKULLC_THREADS_PRIMITIVETHREAD_HPP_ */

Threads/Inc/threads_signal.hpp

@@ -0,0 +1,54 @@
+/*
+ * threads_signal.hpp
+ *
+ *  Created on: Jun 20, 2021
+ *      Author: erki
+ */
+
+#ifndef THREADS_INC_THREADS_SIGNAL_HPP_
+#define THREADS_INC_THREADS_SIGNAL_HPP_
+
+#include <FreeRTOSConfig.h>
+
+namespace Threads
+{
+
+class PrimitiveThread;
+
+template<typename T>
+struct Signallable
+{
+  using value_type = T;
+
+  static_assert(std::is_trivially_constructible_v<value_type>, "T must be trivially constructible.");
+
+  virtual bool emit(const T& t) = 0;
+  virtual std::pair<bool, BaseType_t> emitFromIsr(const T& t) = 0;
+};
+
+template<>
+struct Signallable<void>
+{
+  using value_type = void;
+
+  virtual bool emit() = 0;
+  virtual std::pair<bool, BaseType_t> emitFromIsr() = 0;
+};
+
+template<typename R>
+struct Awaitable
+{
+  using result_type = R;
+
+#ifdef INCLUDE_xTaskGetCurrentTaskHandle
+  virtual result_type await() = 0;
+  virtual result_type await(const long timeout) = 0;
+#endif
+
+  virtual result_type await(const PrimitiveThread& currentThread) = 0;
+  virtual result_type await(const PrimitiveThread& currentThread, const long timeout) = 0;
+};
+
+}// namespace Threads
+
+#endif /* THREADS_INC_THREADS_SIGNAL_HPP_ */

Threads/Inc/threads_thread.hpp

@@ -21,7 +21,8 @@ public:
       : PrimitiveThread([](void* d) {
           CRTP* dd = static_cast<CRTP*>(d);
           (*dd)();
-        }, name, priority, stack_size)
+        },
+                        this, name, priority, stack_size)
   {}
 
   Thread() = delete;

Threads/Src/threads_primitivethread.cpp

@@ -88,20 +88,18 @@ void PrimitiveThread::sleepUntil(const unsigned long deadline)
 }
 
 
-PrimitiveThread::PrimitiveThread(osThreadFunc_t function, const osThreadAttr_t& attrs)
+PrimitiveThread::PrimitiveThread(osThreadFunc_t function, void* runner_data, const osThreadAttr_t& attrs)
-  : thread_id(nullptr)
+    : thread_id(nullptr), attributes(attrs), runner_data_(runner_data)
-  , attributes(attrs)
 {
   assert(function);
 
-  thread_id = osThreadNew(function, this, &attributes);
+  thread_id = osThreadNew(function, runner_data_, &attributes);
   assert(thread_id != nullptr);
 }
 
 
 PrimitiveThread::PrimitiveThread(TaskHandle_t threadHandle)
-  : thread_id(static_cast<osThreadId_t>(threadHandle))
+    : thread_id(static_cast<osThreadId_t>(threadHandle)), attributes(Peripherals::zeroInitialized<osThreadAttr_t>())
-  , attributes(Peripherals::zeroInitialized<osThreadAttr_t>())
 {
   assert(thread_id != nullptr);
 }
@@ -117,4 +115,4 @@ osThreadAttr_t PrimitiveThread::constructThreadAttrs_(const char* name, const os
   return attrs;
 }
 
-}
+}// namespace Threads