From e079c2e0e9c9f1a8f08ba2f50f14c2fb4b6780b3 Mon Sep 17 00:00:00 2001
From: Christopher Haster <chaster@utexas.edu>
Date: Wed, 1 Jun 2016 12:11:05 -0500
Subject: [PATCH] Added support for Callback to Thread lifetime

---
 rtos/rtos/Thread.cpp | 26 +++++++++++---------------
 rtos/rtos/Thread.h   | 20 +++++++++++++++++---
 2 files changed, 28 insertions(+), 18 deletions(-)

diff --git a/rtos/rtos/Thread.cpp b/rtos/rtos/Thread.cpp
index bf125bc450..f9694bd6f6 100644
--- a/rtos/rtos/Thread.cpp
+++ b/rtos/rtos/Thread.cpp
@@ -32,9 +32,11 @@ extern "C" P_TCB rt_tid2ptcb(osThreadId thread_id);
 
 namespace rtos {
 
-Thread::Thread(osPriority priority,
-        uint32_t stack_size, unsigned char *stack_pointer):
-        _tid(0), _dynamic_stack(stack_pointer == NULL) {
+void Thread::constructor(osPriority priority,
+        uint32_t stack_size, unsigned char *stack_pointer) {
+    _tid = 0;
+    _dynamic_stack = (stack_pointer == NULL);
+
 #if defined(__MBED_CMSIS_RTOS_CA9) || defined(__MBED_CMSIS_RTOS_CM)
     _thread_def.tpriority = priority;
     _thread_def.stacksize = stack_size;
@@ -44,16 +46,9 @@ Thread::Thread(osPriority priority,
 
 void Thread::constructor(Callback<void()> task,
         osPriority priority, uint32_t stack_size, unsigned char *stack_pointer) {
-    _tid = 0;
-    _dynamic_stack = (stack_pointer == NULL);
+    constructor(priority, stack_size, stack_pointer);
 
-    _task = task;
-#if defined(__MBED_CMSIS_RTOS_CA9) || defined(__MBED_CMSIS_RTOS_CM)
-    _thread_def.tpriority = priority;
-    _thread_def.stacksize = stack_size;
-    _thread_def.stack_pointer = (uint32_t*)stack_pointer;
-#endif
-    switch (start((void (*)(const void *))Callback<void()>::thunk, &_task)) {
+    switch (start(task)) {
         case osErrorResource:
             error("OS ran out of threads!\n");
             break;
@@ -67,13 +62,13 @@ void Thread::constructor(Callback<void()> task,
     }
 }
 
-osStatus Thread::start(void (*task)(void const *argument), void *argument) {
-    if (_tid != NULL) {
+osStatus Thread::start(Callback<void()> task) {
+    if (_tid != 0) {
         return osErrorParameter;
     }
 
 #if defined(__MBED_CMSIS_RTOS_CA9) || defined(__MBED_CMSIS_RTOS_CM)
-    _thread_def.pthread = task;
+    _thread_def.pthread = (void (*)(const void *))Callback<void()>::thunk;
     if (_thread_def.stack_pointer == NULL) {
         _thread_def.stack_pointer = new uint32_t[_thread_def.stacksize/sizeof(uint32_t)];
         if (_thread_def.stack_pointer == NULL)
@@ -85,6 +80,7 @@ osStatus Thread::start(void (*task)(void const *argument), void *argument) {
         _thread_def.stack_pointer[i] = 0xE25A2EA5;
     }
 #endif
+    _task = task;
     _tid = osThreadCreate(&_thread_def, &_task);
     if (_tid == NULL) {
         if (_dynamic_stack) delete[] (_thread_def.stack_pointer);
diff --git a/rtos/rtos/Thread.h b/rtos/rtos/Thread.h
index 243640e884..93880117ff 100644
--- a/rtos/rtos/Thread.h
+++ b/rtos/rtos/Thread.h
@@ -38,7 +38,9 @@ public:
     */
     Thread(osPriority priority=osPriorityNormal,
            uint32_t stack_size=DEFAULT_STACK_SIZE,
-           unsigned char *stack_pointer=NULL);
+           unsigned char *stack_pointer=NULL) {
+        constructor(priority, stack_size, stack_pointer);
+    }
 
     /** Create a new thread, and start it executing the specified function.
       @param   task           function to be executed by this thread.
@@ -106,10 +108,19 @@ public:
 
     /** Starts a thread executing the specified function.
       @param   task           function to be executed by this thread.
-      @param   argument       pointer that is passed to the thread function as start argument. (default: NULL).
       @return  status code that indicates the execution status of the function.
     */
-    osStatus start(void (*task)(void const *argument), void *argument=NULL);
+    osStatus start(mbed::Callback<void()> task);
+
+    /** Starts a thread executing the specified function.
+      @param   obj            argument to task
+      @param   method         function to be executed by this thread.
+      @return  status code that indicates the execution status of the function.
+    */
+    template <typename T, typename M>
+    osStatus start(T *obj, M method) {
+        return start(mbed::Callback<void()>(obj, method));
+    }
 
     /** Wait for thread to terminate
       @return  status code that indicates the execution status of the function.
@@ -220,6 +231,9 @@ public:
 private:
     // Required to share definitions without
     // delegated constructors
+    void constructor(osPriority priority=osPriorityNormal,
+                     uint32_t stack_size=DEFAULT_STACK_SIZE,
+                     unsigned char *stack_pointer=NULL);
     void constructor(mbed::Callback<void()> task,
                      osPriority priority=osPriorityNormal,
                      uint32_t stack_size=DEFAULT_STACK_SIZE,