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Diffstat (limited to 'include/distortos/DynamicThread.hpp')
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diff --git a/include/distortos/DynamicThread.hpp b/include/distortos/DynamicThread.hpp new file mode 100644 index 0000000..4d7550a --- /dev/null +++ b/include/distortos/DynamicThread.hpp @@ -0,0 +1,373 @@ +/** + * \file + * \brief DynamicThread class header + * + * \author Copyright (C) 2015-2016 Kamil Szczygiel http://www.distortec.com http://www.freddiechopin.info + * + * \par License + * This Source Code Form is subject to the terms of the Mozilla Public License, v. 2.0. If a copy of the MPL was not + * distributed with this file, You can obtain one at http://mozilla.org/MPL/2.0/. + */ + +#ifndef INCLUDE_DISTORTOS_DYNAMICTHREAD_HPP_ +#define INCLUDE_DISTORTOS_DYNAMICTHREAD_HPP_ + +#include "distortos/internal/scheduler/DynamicThreadBase.hpp" + +namespace distortos +{ + +/// \addtogroup threads +/// \{ + +/** + * \brief DynamicThread class is a type-erased interface for thread that has dynamic storage for bounded function, stack + * and internal DynamicSignalsReceiver object. + */ + +#ifdef CONFIG_THREAD_DETACH_ENABLE + +class DynamicThread : public Thread +{ +public: + + /** + * \brief DynamicThread's constructor + * + * \tparam Function is the function that will be executed in separate thread + * \tparam Args are the arguments for \a Function + * + * \param [in] stackSize is the size of stack, bytes + * \param [in] canReceiveSignals selects whether reception of signals is enabled (true) or disabled (false) for this + * thread + * \param [in] queuedSignals is the max number of queued signals for this thread, relevant only if + * \a canReceiveSignals == true, 0 to disable queuing of signals for this thread + * \param [in] signalActions is the max number of different SignalAction objects for this thread, relevant only if + * \a canReceiveSignals == true, 0 to disable catching of signals for this thread + * \param [in] priority is the thread's priority, 0 - lowest, UINT8_MAX - highest + * \param [in] schedulingPolicy is the scheduling policy of the thread + * \param [in] function is a function that will be executed in separate thread + * \param [in] args are arguments for \a function + */ + + template<typename Function, typename... Args> + DynamicThread(size_t stackSize, bool canReceiveSignals, size_t queuedSignals, size_t signalActions, + uint8_t priority, SchedulingPolicy schedulingPolicy, Function&& function, Args&&... args); + + /** + * \brief DynamicThread's constructor + * + * \tparam Function is the function that will be executed in separate thread + * \tparam Args are the arguments for \a Function + * + * \param [in] parameters is a DynamicThreadParameters struct with thread parameters + * \param [in] function is a function that will be executed in separate thread + * \param [in] args are arguments for \a function + */ + + template<typename Function, typename... Args> + DynamicThread(const DynamicThreadParameters parameters, Function&& function, Args&&... args) : + DynamicThread{parameters.stackSize, parameters.canReceiveSignals, parameters.queuedSignals, + parameters.signalActions, parameters.priority, parameters.schedulingPolicy, + std::forward<Function>(function), std::forward<Args>(args)...} + { + + } + + /** + * \brief DynamicThread's destructor + */ + + ~DynamicThread() override; + + /** + * \brief Detaches the thread. + * + * Similar to std::thread::detach() - http://en.cppreference.com/w/cpp/thread/thread/detach + * Similar to POSIX pthread_detach() - http://pubs.opengroup.org/onlinepubs/9699919799/functions/pthread_detach.html + * + * Detaches the executing thread from the Thread object, allowing execution to continue independently. All resources + * allocated for the thread will be deallocated when the thread terminates. + * + * \return 0 on success, error code otherwise: + * - EINVAL - this thread is already detached; + */ + + int detach() override; + + /** + * \brief Generates signal for thread. + * + * Similar to pthread_kill() - http://pubs.opengroup.org/onlinepubs/9699919799/functions/pthread_kill.html + * + * Adds the signalNumber to set of pending signals. If this thread is currently waiting for this signal, it will be + * unblocked. + * + * \param [in] signalNumber is the signal that will be generated, [0; 31] + * + * \return 0 on success, error code otherwise: + * - EINVAL - \a signalNumber value is invalid; + * - ENOTSUP - reception of signals is disabled for this thread; + * - EINVAL - internal thread object was detached; + * + * \ingroup signals + */ + + int generateSignal(uint8_t signalNumber) override; + + /** + * \return effective priority of thread + */ + + uint8_t getEffectivePriority() const override; + + /** + * \brief Gets set of currently pending signals. + * + * Similar to sigpending() - http://pubs.opengroup.org/onlinepubs/9699919799/functions/sigpending.html + * + * This function shall return the set of signals that are blocked from delivery and are pending on the thread. + * + * \return set of currently pending signals + * + * \ingroup signals + */ + + SignalSet getPendingSignalSet() const override; + + /** + * \return priority of thread + */ + + uint8_t getPriority() const override; + + /** + * \return scheduling policy of the thread + */ + + SchedulingPolicy getSchedulingPolicy() const override; + + /** + * \return current state of thread + */ + + ThreadState getState() const override; + + /** + * \brief Waits for thread termination. + * + * Similar to std::thread::join() - http://en.cppreference.com/w/cpp/thread/thread/join + * Similar to POSIX pthread_join() - http://pubs.opengroup.org/onlinepubs/9699919799/functions/pthread_join.html + * + * Blocks current thread until this thread finishes its execution. The results of multiple simultaneous calls to + * join() on the same target thread are undefined. + * + * \return 0 on success, error code otherwise: + * - EDEADLK - deadlock condition was detected, + * - EINVAL - this thread is not joinable, + * - EINVAL - internal thread object was detached; + * - ... + * + * \ingroup synchronization + */ + + int join() override; + + /** + * \brief Queues signal for thread. + * + * Similar to sigqueue() - http://pubs.opengroup.org/onlinepubs/9699919799/functions/sigqueue.html + * + * Adds the signalNumber and signal value (sigval union) to queue of SignalInformation objects. If this thread is + * currently waiting for this signal, it will be unblocked. + * + * \param [in] signalNumber is the signal that will be queued, [0; 31] + * \param [in] value is the signal value + * + * \return 0 on success, error code otherwise: + * - EAGAIN - no resources are available to queue the signal, maximal number of signals is already queued in + * associated queue of SignalInformation objects; + * - EINVAL - \a signalNumber value is invalid; + * - ENOTSUP - reception or queuing of signals are disabled for this thread; + * - EINVAL - internal thread object was detached; + * + * \ingroup signals + */ + + int queueSignal(uint8_t signalNumber, sigval value) override; + + /** + * \brief Changes priority of thread. + * + * If the priority really changes, the position in the thread list is adjusted and context switch may be requested. + * + * \param [in] priority is the new priority of thread + * \param [in] alwaysBehind selects the method of ordering when lowering the priority + * - false - the thread is moved to the head of the group of threads with the new priority (default), + * - true - the thread is moved to the tail of the group of threads with the new priority. + */ + + void setPriority(uint8_t priority, bool alwaysBehind = {}) override; + + /** + * param [in] schedulingPolicy is the new scheduling policy of the thread + */ + + void setSchedulingPolicy(SchedulingPolicy schedulingPolicy) override; + + /** + * \brief Starts the thread. + * + * This operation can be performed on threads in "New" state only. + * + * \return 0 on success, error code otherwise: + * - EINVAL - thread is already started; + * - EINVAL - internal thread object was detached; + * - error codes returned by scheduler::Scheduler::add(); + */ + + int start() override; + + DynamicThread(const DynamicThread&) = delete; + DynamicThread(DynamicThread&&) = default; + const DynamicThread& operator=(const DynamicThread&) = delete; + DynamicThread& operator=(DynamicThread&&) = delete; + +private: + + /// internal thread object + std::unique_ptr<internal::DynamicThreadBase> detachableThread_; +}; + +#else // !def CONFIG_THREAD_DETACH_ENABLE + +class DynamicThread : public internal::DynamicThreadBase +{ +public: + + using internal::DynamicThreadBase::DynamicThreadBase; +}; + +#endif // !def CONFIG_THREAD_DETACH_ENABLE + +/** + * \brief Helper factory function to make DynamicThread object + * + * \tparam Function is the function that will be executed + * \tparam Args are the arguments for \a Function + * + * \param [in] stackSize is the size of stack, bytes + * \param [in] canReceiveSignals selects whether reception of signals is enabled (true) or disabled (false) for this + * thread + * \param [in] queuedSignals is the max number of queued signals for this thread, relevant only if + * \a canReceiveSignals == true, 0 to disable queuing of signals for this thread + * \param [in] signalActions is the max number of different SignalAction objects for this thread, relevant only if + * \a canReceiveSignals == true, 0 to disable catching of signals for this thread + * \param [in] priority is the thread's priority, 0 - lowest, UINT8_MAX - highest + * \param [in] schedulingPolicy is the scheduling policy of the thread + * \param [in] function is a function that will be executed in separate thread + * \param [in] args are arguments for \a function + * + * \return DynamicThread object + */ + +template<typename Function, typename... Args> +DynamicThread makeDynamicThread(const size_t stackSize, const bool canReceiveSignals, const size_t queuedSignals, + const size_t signalActions, const uint8_t priority, const SchedulingPolicy schedulingPolicy, + Function&& function, Args&&... args) +{ + return {stackSize, canReceiveSignals, queuedSignals, signalActions, priority, schedulingPolicy, + std::forward<Function>(function), std::forward<Args>(args)...}; +} + +/** + * \brief Helper factory function to make DynamicThread object + * + * \tparam Function is the function that will be executed + * \tparam Args are the arguments for \a Function + * + * \param [in] parameters is a DynamicThreadParameters struct with thread parameters + * \param [in] function is a function that will be executed in separate thread + * \param [in] args are arguments for \a function + * + * \return DynamicThread object + */ + +template<typename Function, typename... Args> +DynamicThread makeDynamicThread(const DynamicThreadParameters parameters, Function&& function, Args&&... args) +{ + return {parameters, std::forward<Function>(function), std::forward<Args>(args)...}; +} + +/** + * \brief Helper factory function to make and start DynamicThread object + * + * \tparam Function is the function that will be executed + * \tparam Args are the arguments for \a Function + * + * \param [in] stackSize is the size of stack, bytes + * \param [in] canReceiveSignals selects whether reception of signals is enabled (true) or disabled (false) for this + * thread + * \param [in] queuedSignals is the max number of queued signals for this thread, relevant only if + * \a canReceiveSignals == true, 0 to disable queuing of signals for this thread + * \param [in] signalActions is the max number of different SignalAction objects for this thread, relevant only if + * \a canReceiveSignals == true, 0 to disable catching of signals for this thread + * \param [in] priority is the thread's priority, 0 - lowest, UINT8_MAX - highest + * \param [in] schedulingPolicy is the scheduling policy of the thread + * \param [in] function is a function that will be executed in separate thread + * \param [in] args are arguments for \a function + * + * \return DynamicThread object + */ + +template<typename Function, typename... Args> +DynamicThread makeAndStartDynamicThread(const size_t stackSize, const bool canReceiveSignals, + const size_t queuedSignals, const size_t signalActions, const uint8_t priority, + const SchedulingPolicy schedulingPolicy, Function&& function, Args&&... args) +{ + auto thread = makeDynamicThread(stackSize, canReceiveSignals, queuedSignals, signalActions, priority, + schedulingPolicy, std::forward<Function>(function), std::forward<Args>(args)...); + thread.start(); /// \todo make sure this never fails + return thread; +} + +/** + * \brief Helper factory function to make and start DynamicThread object + * + * \tparam Function is the function that will be executed + * \tparam Args are the arguments for \a Function + * + * \param [in] parameters is a DynamicThreadParameters struct with thread parameters + * \param [in] function is a function that will be executed in separate thread + * \param [in] args are arguments for \a function + * + * \return DynamicThread object + */ + +template<typename Function, typename... Args> +DynamicThread makeAndStartDynamicThread(const DynamicThreadParameters parameters, Function&& function, Args&&... args) +{ + auto thread = makeDynamicThread(parameters, std::forward<Function>(function), std::forward<Args>(args)...); + thread.start(); /// \todo make sure this never fails + return thread; +} + +/// \} + +#ifdef CONFIG_THREAD_DETACH_ENABLE + +template<typename Function, typename... Args> +DynamicThread::DynamicThread(const size_t stackSize, const bool canReceiveSignals, const size_t queuedSignals, + const size_t signalActions, const uint8_t priority, const SchedulingPolicy schedulingPolicy, + Function&& function, Args&&... args) : + detachableThread_{new internal::DynamicThreadBase{stackSize, canReceiveSignals, queuedSignals, signalActions, + priority, schedulingPolicy, *this, std::forward<Function>(function), std::forward<Args>(args)...}} +{ + +} + +#endif // def CONFIG_THREAD_DETACH_ENABLE + +} // namespace distortos + +#endif // INCLUDE_DISTORTOS_DYNAMICTHREAD_HPP_ |