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Diffstat (limited to 'include/distortos/internal/scheduler/DynamicThreadBase.hpp')
| -rw-r--r-- | include/distortos/internal/scheduler/DynamicThreadBase.hpp | 231 |
1 files changed, 231 insertions, 0 deletions
diff --git a/include/distortos/internal/scheduler/DynamicThreadBase.hpp b/include/distortos/internal/scheduler/DynamicThreadBase.hpp new file mode 100644 index 0000000..5ca3ff8 --- /dev/null +++ b/include/distortos/internal/scheduler/DynamicThreadBase.hpp @@ -0,0 +1,231 @@ +/** + * \file + * \brief DynamicThreadBase 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_INTERNAL_SCHEDULER_DYNAMICTHREADBASE_HPP_ +#define INCLUDE_DISTORTOS_INTERNAL_SCHEDULER_DYNAMICTHREADBASE_HPP_ + +#include "distortos/DynamicSignalsReceiver.hpp" +#include "distortos/DynamicThreadParameters.hpp" +#include "distortos/ThreadCommon.hpp" + +#include "distortos/internal/memory/storageDeleter.hpp" + +namespace distortos +{ + +#ifdef CONFIG_THREAD_DETACH_ENABLE + +class DynamicThread; + +#endif // def CONFIG_THREAD_DETACH_ENABLE + +namespace internal +{ + +/** + * \brief DynamicThreadBase class is a type-erased interface for thread that has dynamic storage for bounded function, + * stack and internal DynamicSignalsReceiver object. + * + * If thread detachment is enabled (CONFIG_THREAD_DETACH_ENABLE is defined) then this class is dynamically allocated by + * DynamicThread - which allows it to be "detached". Otherwise - if thread detachment is disabled + * (CONFIG_THREAD_DETACH_ENABLE is not defined) - DynamicThread just inherits from this class. + */ + +class DynamicThreadBase : public ThreadCommon +{ +public: + +#ifdef CONFIG_THREAD_DETACH_ENABLE + + /** + * \brief DynamicThreadBase'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] owner is a reference to owner DynamicThread object + * \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> + DynamicThreadBase(size_t stackSize, bool canReceiveSignals, size_t queuedSignals, size_t signalActions, + uint8_t priority, SchedulingPolicy schedulingPolicy, DynamicThread& owner, Function&& function, + Args&&... args); + + /** + * \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; + +#else // !def CONFIG_THREAD_DETACH_ENABLE + + /** + * \brief DynamicThreadBase'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> + DynamicThreadBase(size_t stackSize, bool canReceiveSignals, size_t queuedSignals, size_t signalActions, + uint8_t priority, SchedulingPolicy schedulingPolicy, Function&& function, Args&&... args); + + /** + * \brief DynamicThreadBase'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> + DynamicThreadBase(const DynamicThreadParameters parameters, Function&& function, Args&&... args) : + DynamicThreadBase{parameters.stackSize, parameters.canReceiveSignals, parameters.queuedSignals, + parameters.signalActions, parameters.priority, parameters.schedulingPolicy, + std::forward<Function>(function), std::forward<Args>(args)...} + { + + } + +#endif // !def CONFIG_THREAD_DETACH_ENABLE + + DynamicThreadBase(const DynamicThreadBase&) = delete; + DynamicThreadBase(DynamicThreadBase&&) = default; + const DynamicThreadBase& operator=(const DynamicThreadBase&) = delete; + DynamicThreadBase& operator=(DynamicThreadBase&&) = delete; + +protected: + +#ifdef CONFIG_THREAD_DETACH_ENABLE + + /** + * \brief Pre-termination hook function of thread + * + * If thread is detached, locks object used for deferred deletion. + * + * \param [in] thread is a reference to Thread object, this must be DynamicThreadBase! + */ + + static void preTerminationHook(Thread& thread); + + /** + * \brief Termination hook function of thread + * + * Calls ThreadCommon::terminationHook() and - if thread is detached - schedules itself for deferred deletion. + * + * \param [in] thread is a reference to Thread object, this must be DynamicThreadBase! + */ + + static void terminationHook(Thread& thread); + +#endif // def CONFIG_THREAD_DETACH_ENABLE + +private: + + /** + * \brief Thread's "run" function. + * + * Executes bound function object. + * + * \param [in] thread is a reference to Thread object, this must be DynamicThreadBase! + */ + + static void run(Thread& thread); + + /// internal DynamicSignalsReceiver object + DynamicSignalsReceiver dynamicSignalsReceiver_; + + /// bound function object + std::function<void()> boundFunction_; + +#ifdef CONFIG_THREAD_DETACH_ENABLE + + /// pointer to owner DynamicThread object, nullptr if thread is detached + DynamicThread* owner_; + +#endif // def CONFIG_THREAD_DETACH_ENABLE +}; + +#ifdef CONFIG_THREAD_DETACH_ENABLE + +template<typename Function, typename... Args> +DynamicThreadBase::DynamicThreadBase(const size_t stackSize, const bool canReceiveSignals, const size_t queuedSignals, + const size_t signalActions, const uint8_t priority, const SchedulingPolicy schedulingPolicy, + DynamicThread& owner, Function&& function, Args&&... args) : + ThreadCommon{{{new uint8_t[stackSize], storageDeleter<uint8_t>}, stackSize, *this, run, + preTerminationHook, terminationHook}, priority, schedulingPolicy, nullptr, + canReceiveSignals == true ? &dynamicSignalsReceiver_ : nullptr}, + dynamicSignalsReceiver_{canReceiveSignals == true ? queuedSignals : 0, + canReceiveSignals == true ? signalActions : 0}, + boundFunction_{std::bind(std::forward<Function>(function), std::forward<Args>(args)...)}, + owner_{&owner} +{ + +} + +#else // !def CONFIG_THREAD_DETACH_ENABLE + +template<typename Function, typename... Args> +DynamicThreadBase::DynamicThreadBase(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) : + ThreadCommon{{{new uint8_t[stackSize], storageDeleter<uint8_t>}, stackSize, *this, run, nullptr, + terminationHook}, priority, schedulingPolicy, nullptr, + canReceiveSignals == true ? &dynamicSignalsReceiver_ : nullptr}, + dynamicSignalsReceiver_{canReceiveSignals == true ? queuedSignals : 0, + canReceiveSignals == true ? signalActions : 0}, + boundFunction_{std::bind(std::forward<Function>(function), std::forward<Args>(args)...)} +{ + +} + +#endif // !def CONFIG_THREAD_DETACH_ENABLE + +} // namespace internal + +} // namespace distortos + +#endif // INCLUDE_DISTORTOS_INTERNAL_SCHEDULER_DYNAMICTHREADBASE_HPP_ |