Threads: integrate Action with Timers and rework the signalling model a bit

Threads/Inc/threads_actor.hpp

@@ -17,6 +17,7 @@
 
 #include "threads_primitivethread.hpp"
 #include "threads_signal.hpp"
+#include "threads_timer.hpp"
 
 namespace Threads
 {
@@ -36,14 +37,53 @@ public:
           (*dd)();
         },
                 this, name, priority, stack_size),
-        msg_queue_(xQueueCreate(queue_size, sizeof(value_type))), signal_(*this)
+        msg_queue_(xQueueCreate(queue_size, sizeof(value_type))), signal_(this)
   {
     assert(msg_queue_);
   }
 
   virtual ~Actor() {}
 
-  Signallable<value_type>* getSignal()
+  template<typename T>
+  struct Signal : Signallable<T>
+  {
+    using parent = Actor<CRTP, Ts...>;
+
+    static_assert(std::is_convertible_v<T, parent::value_type>, "value_type cannot be constructed from T.");
+
+    explicit Signal(parent* q)
+        : q_(q)
+    {}
+
+    bool emit(const T& data) override
+    {
+      parent::value_type to_send = data;
+      const BaseType_t success = xQueueSend(q_->msg_queue_, &to_send, 0);
+      return success == pdTRUE;
+    }
+
+    std::pair<bool, BaseType_t> emitFromIsr(const T& data) override
+    {
+      parent::value_type to_send = data;
+      BaseType_t was_awoken = pdFALSE;
+      const BaseType_t success = xQueueSendFromISR(q_->msg_queue_, &to_send, &was_awoken);
+
+      return {success == pdTRUE, was_awoken};
+    }
+
+  private:
+    parent* q_;
+  };
+
+  template<typename U>
+  Signal<U> getSignal()
+  {
+    static_assert(std::is_convertible_v<U, value_type>, "value_type cannot be constructed from U.");
+
+    return Signal<U>(this);
+  }
+
+  Signallable<value_type>* getStaticSignal()
   {
     return &signal_;
   }
@@ -89,33 +129,7 @@ private:
     }
   }
 
-  friend struct Signal_;
+  Signal<value_type> signal_;
-
-  struct Signal_ : Signallable<value_type>
-  {
-    using parent = Actor<CRTP, Ts...>;
-    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_;
 };
 
 template<typename CRTP>

Threads/Inc/threads_signal.hpp

@@ -8,7 +8,7 @@
 #ifndef THREADS_INC_THREADS_SIGNAL_HPP_
 #define THREADS_INC_THREADS_SIGNAL_HPP_
 
-#include <FreeRTOSConfig.h>
+#include <freertos_os2.h>
 
 namespace Threads
 {

Threads/Inc/threads_timer.hpp

@@ -0,0 +1,54 @@
+/*
+ * threads_timer.hpp
+ *
+ *  Created on: Jun 23, 2021
+ *      Author: erki
+ */
+
+#ifndef SKULLC_THREADS_TIMER_HPP_
+#define SKULLC_THREADS_TIMER_HPP_
+
+#include <cstdint>
+#include <tuple>
+
+#include "threads_signal.hpp"
+
+extern "C" {
+
+struct tmrTimerControl;
+typedef struct tmrTimerControl* TimerHandle_t;
+}
+
+namespace Threads
+{
+
+struct TimeoutSignal
+{
+};
+
+class Timer
+{
+public:
+  Timer(Signallable<TimeoutSignal>* signal, const char* name, const std::int32_t period_ms, const bool auto_reload = true);
+  ~Timer();
+
+  void setAutoReload(const bool auto_reload);
+  void setPeriod(const std::int32_t period_ms);
+  BaseType_t setPeriodFromIsr(const std::int32_t period_ms);
+
+  bool start();
+  bool stop();
+  std::pair<bool, BaseType_t> startFromIsr();
+  std::pair<bool, BaseType_t> stopFromIsr();
+
+private:
+  TimerHandle_t timer_;
+  Signallable<TimeoutSignal>* signal_;
+
+  static void timeoutHandler_(TimerHandle_t timer);
+};
+
+}// namespace Threads
+
+
+#endif /* SKULLC_THREADS_TIMER_HPP_ */

Threads/Src/threads_timer.cpp

@@ -0,0 +1,88 @@
+/*
+ * threads_timer.cpp
+ *
+ *  Created on: Jun 23, 2021
+ *      Author: erki
+ */
+
+#include "threads_timer.hpp"
+
+#include <algorithm>
+#include <array>
+
+#include <freertos_os2.h>
+#include <timers.h>
+
+namespace Threads
+{
+
+Timer::Timer(Signallable<TimeoutSignal>* signal, const char* name, const std::int32_t period_ms, const bool auto_reload)
+    : timer_(xTimerCreate(name, pdMS_TO_TICKS(period_ms), auto_reload, this, &Timer::timeoutHandler_)), signal_(signal)
+{
+  assert(timer_);
+}
+
+Timer::~Timer()
+{
+  xTimerDelete(timer_, 0);
+}
+
+void Timer::setAutoReload(const bool auto_reload)
+{
+  vTimerSetReloadMode(timer_, auto_reload ? pdTRUE : pdFALSE);
+}
+
+void Timer::setPeriod(const std::int32_t period_ms)
+{
+  xTimerChangePeriod(timer_, pdMS_TO_TICKS(period_ms), 0);
+}
+
+BaseType_t Timer::setPeriodFromIsr(const std::int32_t period_ms)
+{
+  BaseType_t was_awoken = false;
+  xTimerChangePeriodFromISR(timer_, pdMS_TO_TICKS(period_ms), &was_awoken);
+
+  return was_awoken;
+}
+
+bool Timer::start()
+{
+  const BaseType_t success = xTimerStart(timer_, 0);
+
+  return success != pdFAIL;
+}
+
+bool Timer::stop()
+{
+  const BaseType_t success = xTimerStop(timer_, 0);
+
+  return success != pdFAIL;
+}
+
+std::pair<bool, BaseType_t> Timer::startFromIsr()
+{
+  BaseType_t was_awoken = false;
+  const BaseType_t success = xTimerStartFromISR(timer_, &was_awoken);
+
+  return {success != pdFAIL, was_awoken};
+}
+
+std::pair<bool, BaseType_t> Timer::stopFromIsr()
+{
+  BaseType_t was_awoken = false;
+  const BaseType_t success = xTimerStopFromISR(timer_, &was_awoken);
+
+  return {success != pdFAIL, was_awoken};
+}
+
+void Timer::timeoutHandler_(TimerHandle_t timer)
+{
+  void* source = pvTimerGetTimerID(timer);
+
+  if (!source)
+    return;
+
+  static_cast<Timer*>(source)->signal_->emit(TimeoutSignal{});
+}
+
+}// namespace Threads

Utility/Inc/utility_staticpointer.hpp

@@ -27,14 +27,24 @@ struct StaticPointer
     return *(new (storage) value_type(std::forward<Args>(args)...));
   }
 
-  value_type& operator*() const
+  const value_type& operator*() const
   {
-    return reinterpret_cast<T*>(storage);
+    return *reinterpret_cast<T*>(storage);
   }
 
-  value_type* operator->() const noexcept
+  value_type& operator*()
   {
-    return reinterpret_cast<T*>(storage);
+    return *reinterpret_cast<T*>(storage);
+  }
+
+  value_type* operator->() noexcept
+  {
+    return reinterpret_cast<value_type*>(storage);
+  }
+
+  const value_type* operator->() const noexcept
+  {
+    return reinterpret_cast<value_type*>(storage);
   }
 
   constexpr explicit operator bool() const