Merge pull request #1802 from theotherjimmy/callback-rtos

Adopt Callback class in rtos Threads

rtos/rtos/Thread.cpp

@@ -21,7 +21,7 @@
  */
 #include "Thread.h"
 
-#include "mbed_error.h"
+#include "mbed.h"
 #include "rtos_idle.h"
 
 // rt_tid2ptcb is an internal function which we exposed to get TCB for thread id
@@ -32,9 +32,11 @@ extern "C" P_TCB rt_tid2ptcb(osThreadId thread_id);
 
 namespace rtos {
 
-Thread::Thread(osPriority priority,
+void Thread::constructor(osPriority priority,
-        uint32_t stack_size, unsigned char *stack_pointer):
+        uint32_t stack_size, unsigned char *stack_pointer) {
-        _tid(0), _dynamic_stack(stack_pointer == NULL) {
+    _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;
@@ -42,15 +44,11 @@ Thread::Thread(osPriority priority,
 #endif
 }
 
-Thread::Thread(void (*task)(void const *argument), void *argument,
+void Thread::constructor(Callback<void()> task,
-        osPriority priority, uint32_t stack_size, unsigned char *stack_pointer):
+        osPriority priority, uint32_t stack_size, unsigned char *stack_pointer) {
-        _tid(0), _dynamic_stack(stack_pointer == NULL) {
+    constructor(priority, stack_size, stack_pointer);
-#if defined(__MBED_CMSIS_RTOS_CA9) || defined(__MBED_CMSIS_RTOS_CM)
+
-    _thread_def.tpriority = priority;
+    switch (start(task)) {
-    _thread_def.stacksize = stack_size;
-    _thread_def.stack_pointer = (uint32_t*)stack_pointer;
-#endif
-    switch (start(task, argument)) {
         case osErrorResource:
             error("OS ran out of threads!\n");
             break;
@@ -64,13 +62,13 @@ Thread::Thread(void (*task)(void const *argument), void *argument,
     }
 }
 
-osStatus Thread::start(void (*task)(void const *argument), void *argument) {
+osStatus Thread::start(Callback<void()> task) {
-    if (_tid != NULL) {
+    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)
@@ -82,7 +80,8 @@ osStatus Thread::start(void (*task)(void const *argument), void *argument) {
         _thread_def.stack_pointer[i] = 0xE25A2EA5;
     }
 #endif
-    _tid = osThreadCreate(&_thread_def, argument);
+    _task = task;
+    _tid = osThreadCreate(&_thread_def, &_task);
     if (_tid == NULL) {
         if (_dynamic_stack) delete[] (_thread_def.stack_pointer);
         return osErrorResource;

rtos/rtos/Thread.h

@@ -24,6 +24,7 @@
 
 #include <stdint.h>
 #include "cmsis_os.h"
+#include "Callback.h"
 
 namespace rtos {
 
@@ -37,7 +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.
@@ -46,17 +49,78 @@ public:
       @param   stack_size      stack size (in bytes) requirements for the thread function. (default: DEFAULT_STACK_SIZE).
       @param   stack_pointer  pointer to the stack area to be used by this thread (default: NULL).
     */
+    Thread(mbed::Callback<void()> task,
+           osPriority priority=osPriorityNormal,
+           uint32_t stack_size=DEFAULT_STACK_SIZE,
+           unsigned char *stack_pointer=NULL) {
+        constructor(task, priority, stack_size, stack_pointer);
+    }
+
+    /** Create a new thread, and start it executing the specified function.
+      @param   obj            argument to task.
+      @param   method         function to be executed by this thread.
+      @param   argument       pointer that is passed to the thread function as start argument. (default: NULL).
+      @param   priority       initial priority of the thread function. (default: osPriorityNormal).
+      @param   stack_size      stack size (in bytes) requirements for the thread function. (default: DEFAULT_STACK_SIZE).
+      @param   stack_pointer  pointer to the stack area to be used by this thread (default: NULL).
+    */
+    template <typename T>
+    Thread(T *obj, void (T::*method)(),
+           osPriority priority=osPriorityNormal,
+           uint32_t stack_size=DEFAULT_STACK_SIZE,
+           unsigned char *stack_pointer=NULL) {
+        constructor(mbed::Callback<void()>(obj, method),
+                    priority, stack_size, stack_pointer);
+    }
+
+    /** Create a new thread, and start it executing the specified function.
+      @param   obj            argument to task.
+      @param   method         function to be executed by this thread.
+      @param   argument       pointer that is passed to the thread function as start argument. (default: NULL).
+      @param   priority       initial priority of the thread function. (default: osPriorityNormal).
+      @param   stack_size      stack size (in bytes) requirements for the thread function. (default: DEFAULT_STACK_SIZE).
+      @param   stack_pointer  pointer to the stack area to be used by this thread (default: NULL).
+    */
+    template <typename T>
+    Thread(T *obj, void (*method)(T *),
+           osPriority priority=osPriorityNormal,
+           uint32_t stack_size=DEFAULT_STACK_SIZE,
+           unsigned char *stack_pointer=NULL) {
+        constructor(mbed::Callback<void()>(obj, method),
+                    priority, stack_size, stack_pointer);
+    }
+
+    /** Create a new thread, and start it executing the specified function.
+        Provided for backwards compatibility
+      @param   task           function to be executed by this thread.
+      @param   argument       pointer that is passed to the thread function as start argument. (default: NULL).
+      @param   priority       initial priority of the thread function. (default: osPriorityNormal).
+      @param   stack_size      stack size (in bytes) requirements for the thread function. (default: DEFAULT_STACK_SIZE).
+      @param   stack_pointer  pointer to the stack area to be used by this thread (default: NULL).
+    */
     Thread(void (*task)(void const *argument), void *argument=NULL,
            osPriority priority=osPriorityNormal,
            uint32_t stack_size=DEFAULT_STACK_SIZE,
-           unsigned char *stack_pointer=NULL);
+           unsigned char *stack_pointer=NULL) {
+        constructor(mbed::Callback<void()>(argument, (void (*)(void *))task),
+                    priority, stack_size, stack_pointer);
+    }
 
     /** 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.
@@ -165,6 +229,17 @@ public:
     virtual ~Thread();
 
 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,
+                     unsigned char *stack_pointer=NULL);
+
+    mbed::Callback<void()> _task;
     osThreadId _tid;
     osThreadDef_t _thread_def;
     bool _dynamic_stack;