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Adopt Callback class in rtos Threads #1802

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Jun 2, 2016
Merged

Adopt Callback class in rtos Threads #1802

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0180125
Adopt Callback class in rtos Threads
geky May 15, 2016
e079c2e
Added support for Callback to Thread lifetime
geky Jun 1, 2016
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33 changes: 16 additions & 17 deletions rtos/rtos/Thread.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -32,25 +32,23 @@ 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;
_thread_def.stack_pointer = (uint32_t*)stack_pointer;
#endif
}

Thread::Thread(void (*task)(void const *argument), void *argument,
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;
_thread_def.stack_pointer = (uint32_t*)stack_pointer;
#endif
switch (start(task, argument)) {
void Thread::constructor(Callback<void()> task,
osPriority priority, uint32_t stack_size, unsigned char *stack_pointer) {
constructor(priority, stack_size, stack_pointer);

switch (start(task)) {
case osErrorResource:
error("OS ran out of threads!\n");
break;
Expand All @@ -64,13 +62,13 @@ Thread::Thread(void (*task)(void const *argument), void *argument,
}
}

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)
Expand All @@ -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;
Expand Down
83 changes: 79 additions & 4 deletions rtos/rtos/Thread.h
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@

#include <stdint.h>
#include "cmsis_os.h"
#include "Callback.h"

namespace rtos {

Expand All @@ -37,7 +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.
Expand All @@ -46,17 +49,78 @@ class Thread {
@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.
Expand Down Expand Up @@ -165,6 +229,17 @@ class Thread {
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;
Expand Down