Added support for Callback to Thread lifetime

ARMmbed · Jun 1, 2016 · e079c2e · e079c2e
1 parent 0180125
commit e079c2e
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Showing 2 changed files with 28 additions and 18 deletions.
diff --git 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
@@ -38,7 +38,9 @@ class Thread {
  */
  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 @@ class Thread {
 
  /** 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 @@ class 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,