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/**
* \file
* \brief ThreadCommon 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_THREADCOMMON_HPP_
#define INCLUDE_DISTORTOS_THREADCOMMON_HPP_
#include "distortos/internal/scheduler/ThreadControlBlock.hpp"
#include "distortos/Semaphore.hpp"
#include "distortos/Thread.hpp"
namespace distortos
{
/**
* \brief ThreadCommon class implements common functionality of threads
*
* \ingroup threads
*/
class ThreadCommon : public Thread
{
public:
/// unique_ptr (with deleter) to storage for stack
using StackStorageUniquePointer = architecture::Stack::StorageUniquePointer;
/**
* \brief ThreadCommon's constructor
*
* \param [in] stack is an rvalue reference to architecture::Stack object which will be adopted 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] threadGroupControlBlock is a pointer to internal::ThreadGroupControlBlock to which this object will
* be added, nullptr to inherit thread group from currently running thread
* \param [in] signalsReceiver is a pointer to SignalsReceiver object for this thread, nullptr to disable reception
* of signals for this thread
*/
ThreadCommon(architecture::Stack&& stack, uint8_t priority, SchedulingPolicy schedulingPolicy,
internal::ThreadGroupControlBlock* threadGroupControlBlock, SignalsReceiver* signalsReceiver);
/**
* \brief ThreadCommon's destructor
*/
~ThreadCommon() 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;
*
* \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,
* - ...
*
* \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;
*
* \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;
* - error codes returned by internal::Scheduler::add();
*/
int start() override;
ThreadCommon(const ThreadCommon&) = delete;
ThreadCommon(ThreadCommon&&) = default;
const ThreadCommon& operator=(const ThreadCommon&) = delete;
ThreadCommon& operator=(ThreadCommon&&) = delete;
protected:
/**
* \return reference to internal ThreadControlBlock object
*/
internal::ThreadControlBlock& getThreadControlBlock()
{
return threadControlBlock_;
}
/**
* \return const reference to internal ThreadControlBlock object
*/
const internal::ThreadControlBlock& getThreadControlBlock() const
{
return threadControlBlock_;
}
/**
* \brief Termination hook function of thread
*
* \param [in] thread is a reference to Thread object, this must be ThreadCommon!
*/
static void terminationHook(Thread& thread);
private:
/// internal ThreadControlBlock object
internal::ThreadControlBlock threadControlBlock_;
/// semaphore used by join()
Semaphore joinSemaphore_;
};
} // namespace distortos
#endif // INCLUDE_DISTORTOS_THREADCOMMON_HPP_
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