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mbed-os/rtos/Thread.h

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/* mbed Microcontroller Library
* Copyright (c) 2006-2012 ARM Limited
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
#ifndef THREAD_H
#define THREAD_H
#include <stdint.h>
#include "cmsis_os.h"
#include "platform/Callback.h"
#include "platform/mbed_toolchain.h"
#include "rtos/Semaphore.h"
#include "rtos/Mutex.h"
namespace rtos {
/** \addtogroup rtos */
/** @{*/
/** The Thread class allow defining, creating, and controlling thread functions in the system.
*
* Example:
* @code
* #include "mbed.h"
* #include "rtos.h"
*
* Thread thread;
* DigitalOut led1(LED1);
* volatile bool running = true;
*
* // Blink function toggles the led in a long running loop
* void blink(DigitalOut *led) {
* while (running) {
* *led = !*led;
* wait(1);
* }
* }
*
* // Spawns a thread to run blink for 5 seconds
* int main() {
* thread.start(callback(blink, &led1));
* wait(5);
* running = false;
* thread.join();
* }
* @endcode
*/
class Thread {
public:
/** Allocate a new thread without starting execution
@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(osPriority priority=osPriorityNormal,
uint32_t stack_size=DEFAULT_STACK_SIZE,
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.
@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).
@deprecated
Thread-spawning constructors hide errors. Replaced by thread.start(task).
@code
Thread thread(priority, stack_size, stack_pointer);
osStatus status = thread.start(task);
if (status != osOK) {
error("oh no!");
}
@endcode
*/
MBED_DEPRECATED_SINCE("mbed-os-5.1",
"Thread-spawning constructors hide errors. "
"Replaced by thread.start(task).")
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).
@deprecated
Thread-spawning constructors hide errors. Replaced by thread.start(callback(task, argument)).
@code
Thread thread(priority, stack_size, stack_pointer);
osStatus status = thread.start(callback(task, argument));
if (status != osOK) {
error("oh no!");
}
@endcode
*/
template <typename T>
MBED_DEPRECATED_SINCE("mbed-os-5.1",
"Thread-spawning constructors hide errors. "
"Replaced by thread.start(callback(task, argument)).")
Thread(T *argument, void (T::*task)(),
osPriority priority=osPriorityNormal,
uint32_t stack_size=DEFAULT_STACK_SIZE,
unsigned char *stack_pointer=NULL) {
constructor(mbed::callback(task, argument),
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).
@deprecated
Thread-spawning constructors hide errors. Replaced by thread.start(callback(task, argument)).
@code
Thread thread(priority, stack_size, stack_pointer);
osStatus status = thread.start(callback(task, argument));
if (status != osOK) {
error("oh no!");
}
@endcode
*/
template <typename T>
MBED_DEPRECATED_SINCE("mbed-os-5.1",
"Thread-spawning constructors hide errors. "
"Replaced by thread.start(callback(task, argument)).")
Thread(T *argument, void (*task)(T *),
osPriority priority=osPriorityNormal,
uint32_t stack_size=DEFAULT_STACK_SIZE,
unsigned char *stack_pointer=NULL) {
constructor(mbed::callback(task, argument),
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).
@deprecated
Thread-spawning constructors hide errors. Replaced by thread.start(callback(task, argument)).
@code
Thread thread(priority, stack_size, stack_pointer);
osStatus status = thread.start(callback(task, argument));
if (status != osOK) {
error("oh no!");
}
@endcode
*/
MBED_DEPRECATED_SINCE("mbed-os-5.1",
"Thread-spawning constructors hide errors. "
"Replaced by thread.start(callback(task, argument)).")
Thread(void (*task)(void const *argument), void *argument=NULL,
osPriority priority=osPriorityNormal,
uint32_t stack_size=DEFAULT_STACK_SIZE,
unsigned char *stack_pointer=NULL) {
constructor(mbed::callback((void (*)(void *))task, argument),
priority, stack_size, stack_pointer);
}
/** Starts a thread executing the specified function.
@param task function to be executed by this thread.
@return status code that indicates the execution status of the function.
@note a thread can only be started once
*/
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.
@deprecated
The start function does not support cv-qualifiers. Replaced by start(callback(obj, method)).
*/
template <typename T, typename M>
MBED_DEPRECATED_SINCE("mbed-os-5.1",
"The start function does not support cv-qualifiers. "
"Replaced by thread.start(callback(obj, method)).")
osStatus start(T *obj, M method) {
return start(mbed::callback(obj, method));
}
/** Wait for thread to terminate
@return status code that indicates the execution status of the function.
@note not callable from interrupt
*/
osStatus join();
/** Terminate execution of a thread and remove it from Active Threads
@return status code that indicates the execution status of the function.
*/
osStatus terminate();
/** Set priority of an active thread
@param priority new priority value for the thread function.
@return status code that indicates the execution status of the function.
*/
osStatus set_priority(osPriority priority);
/** Get priority of an active thread
@return current priority value of the thread function.
*/
osPriority get_priority();
/** Set the specified Signal Flags of an active thread.
@param signals specifies the signal flags of the thread that should be set.
@return previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
*/
int32_t signal_set(int32_t signals);
/** Clears the specified Signal Flags of an active thread.
@param signals specifies the signal flags of the thread that should be cleared.
@return resultant signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
*/
int32_t signal_clr(int32_t signals);
/** State of the Thread */
enum State {
Inactive, /**< Not created */
Ready, /**< Ready to run */
Running, /**< Running */
WaitingDelay, /**< Waiting for a delay to occur */
WaitingInterval, /**< Waiting for an interval to occur */
WaitingOr, /**< Waiting for one event in a set to occur */
WaitingAnd, /**< Waiting for multiple events in a set to occur */
WaitingSemaphore, /**< Waiting for a semaphore event to occur */
WaitingMailbox, /**< Waiting for a mailbox event to occur */
WaitingMutex, /**< Waiting for a mutex event to occur */
/* Not in sync with RTX below here */
Deleted, /**< The task has been deleted */
};
/** State of this Thread
@return the State of this Thread
*/
State get_state();
/** Get the total stack memory size for this Thread
@return the total stack memory size in bytes
*/
uint32_t stack_size();
/** Get the currently unused stack memory for this Thread
@return the currently unused stack memory in bytes
*/
uint32_t free_stack();
/** Get the currently used stack memory for this Thread
@return the currently used stack memory in bytes
*/
uint32_t used_stack();
/** Get the maximum stack memory usage to date for this Thread
@return the maximum stack memory usage to date in bytes
*/
uint32_t max_stack();
/** Wait for one or more Signal Flags to become signaled for the current RUNNING thread.
@param signals wait until all specified signal flags set or 0 for any single signal flag.
@param millisec timeout value or 0 in case of no time-out. (default: osWaitForever).
@return event flag information or error code.
@note not callable from interrupt
*/
static osEvent signal_wait(int32_t signals, uint32_t millisec=osWaitForever);
/** Wait for a specified time period in millisec:
@param millisec time delay value
@return status code that indicates the execution status of the function.
@note not callable from interrupt
*/
static osStatus wait(uint32_t millisec);
/** Pass control to next thread that is in state READY.
@return status code that indicates the execution status of the function.
@note not callable from interrupt
*/
static osStatus yield();
/** Get the thread id of the current running thread.
@return thread ID for reference by other functions or NULL in case of error.
*/
static osThreadId gettid();
/** Attach a function to be called by the RTOS idle task
@param fptr pointer to the function to be called
*/
static void attach_idle_hook(void (*fptr)(void));
/** Attach a function to be called when a task is killed
@param fptr pointer to the function to be called
*/
static void attach_terminate_hook(void (*fptr)(osThreadId id));
virtual ~Thread();
private:
/* disallow copy constructor and assignment operators */
Thread(const Thread&);
Thread& operator=(const Thread&);
// 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);
static void _thunk(const void * thread_ptr);
mbed::Callback<void()> _task;
osThreadId _tid;
osThreadDef_t _thread_def;
Semaphore _join_sem;
Mutex _mutex;
bool _dynamic_stack;
bool _finished;
};
}
#endif
/** @}*/
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