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