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/**
* \file
* \brief Thread class header
*
* \author Copyright (C) 2014-2016 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_THREAD_HPP_
#define INCLUDE_DISTORTOS_THREAD_HPP_
#include "distortos/distortosConfiguration.h"
#include "distortos/SchedulingPolicy.hpp"
#include "distortos/SignalSet.hpp"
#include "distortos/ThreadState.hpp"
#include <csignal>
namespace distortos
{
/**
* \brief Thread class is a pure abstract interface for threads
*
* \ingroup threads
*/
class Thread
{
public:
/**
* \brief Thread's destructor
*/
virtual ~Thread() = 0;
#ifdef CONFIG_THREAD_DETACH_ENABLE
/**
* \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;
* - ENOTSUP - this thread cannot be detached;
*/
virtual int detach() = 0;
#endif // def CONFIG_THREAD_DETACH_ENABLE
/**
* \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;
*
* \ingroup signals
*/
virtual int generateSignal(uint8_t signalNumber) = 0;
/**
* \return effective priority of thread
*/
virtual uint8_t getEffectivePriority() const = 0;
/**
* \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
*/
virtual SignalSet getPendingSignalSet() const = 0;
/**
* \return priority of thread
*/
virtual uint8_t getPriority() const = 0;
/**
* \return scheduling policy of the thread
*/
virtual SchedulingPolicy getSchedulingPolicy() const = 0;
/**
* \return current state of thread
*/
virtual ThreadState getState() const = 0;
/**
* \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,
* - ...
*
* \ingroup synchronization
*/
virtual int join() = 0;
/**
* \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;
*
* \ingroup signals
*/
virtual int queueSignal(uint8_t signalNumber, sigval value) = 0;
/**
* \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.
*/
virtual void setPriority(uint8_t priority, bool alwaysBehind = {}) = 0;
/**
* param [in] schedulingPolicy is the new scheduling policy of the thread
*/
virtual void setSchedulingPolicy(SchedulingPolicy schedulingPolicy) = 0;
/**
* \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;
* - error codes returned by scheduler::Scheduler::add();
*/
virtual int start() = 0;
};
} // namespace distortos
#endif // INCLUDE_DISTORTOS_THREAD_HPP_
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