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| author | Giovanni Di Sirio <gdisirio@gmail.com> | 2018-04-23 15:19:36 +0000 |
|---|---|---|
| committer | Giovanni Di Sirio <gdisirio@gmail.com> | 2018-04-23 15:19:36 +0000 |
| commit | 389d66c31a859a08c02b03565b50801bc93b592d (patch) | |
| tree | cad42d326e6c289fd30ba7066c92b2ece4521754 /os/various | |
| parent | e70b7f391dfae42a7262032dc959b235b21b5a3d (diff) | |
| download | ChibiOS-389d66c31a859a08c02b03565b50801bc93b592d.tar.gz ChibiOS-389d66c31a859a08c02b03565b50801bc93b592d.tar.bz2 ChibiOS-389d66c31a859a08c02b03565b50801bc93b592d.zip | |
More wrappers.
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11953 110e8d01-0319-4d1e-a829-52ad28d1bb01
Diffstat (limited to 'os/various')
| -rw-r--r-- | os/various/cpp_wrappers/ch.hpp | 323 |
1 files changed, 213 insertions, 110 deletions
diff --git a/os/various/cpp_wrappers/ch.hpp b/os/various/cpp_wrappers/ch.hpp index b38ce2df2..c15ca312a 100644 --- a/os/various/cpp_wrappers/ch.hpp +++ b/os/various/cpp_wrappers/ch.hpp @@ -379,6 +379,27 @@ namespace chibios_rt { #endif /* CH_CFG_NO_IDLE_THREAD == FALSE */
};
+ /*------------------------------------------------------------------------*
+ * chibios_rt::Scheduler *
+ *------------------------------------------------------------------------*/
+ /**
+ * @brief Class encapsulating thelow level scheduler functionalities.
+ */
+ class Scheduler {
+ public:
+ /**
+ * @brief Performs a reschedule if a higher priority thread is runnable.
+ * @details If a thread with a higher priority than the current thread is in
+ * the ready list then make the higher priority thread running.
+ *
+ * @sclass
+ */
+ static void rescheduleS(void) {
+
+ void chSchRescheduleS();
+ }
+ };
+
#if (CH_CFG_USE_MEMCORE == TRUE) || defined(__DOXYGEN__)
/*------------------------------------------------------------------------*
* chibios_rt::Core *
@@ -543,98 +564,6 @@ namespace chibios_rt { };
/*------------------------------------------------------------------------*
- * chibios_rt::ThreadStayPoint *
- *------------------------------------------------------------------------*/
- /**
- * @brief Thread suspension point class.
- * @details This class encapsulates a reference to a suspended thread.
- */
- class ThreadStayPoint {
- /**
- * @brief Pointer to the system thread.
- */
- thread_reference_t thread_ref;
-
- public:
- /**
- * @brief Thread stay point constructor.
- *
- * @init
- */
- ThreadStayPoint() {
-
- thread_ref = NULL;
- }
-
- /**
- * @brief Suspends the current thread on the stay point.
- * @details The suspended thread becomes the referenced thread. It is
- * possible to use this method only if the thread reference
- * was set to @p NULL.
- *
- * @return The incoming message.
- *
- * @sclass
- */
- msg_t suspendS(void) {
-
- return chThdSuspendS(&thread_ref);
- }
-
- /**
- * @brief Suspends the current thread on the stay point with timeout.
- * @details The suspended thread becomes the referenced thread. It is
- * possible to use this method only if the thread reference
- * was set to @p NULL.
- *
- *
- * @param[in] timeout the number of ticks before the operation timeouts,
- * the following special values are allowed:
- * - @a TIME_IMMEDIATE immediate timeout.
- * - @a TIME_INFINITE no timeout.
- * .
- * @return A message specifying how the invoking thread has
- * been released from the semaphore.
- * @retval MSG_OK if the binary semaphore has been successfully
- * taken.
- * @retval MSG_RESET if the binary semaphore has been reset using
- * @p bsemReset().
- * @retval MSG_TIMEOUT if the binary semaphore has not been signaled
- * or reset within the specified timeout.
- *
- * @sclass
- */
- msg_t suspendS(sysinterval_t timeout) {
-
- return chThdSuspendTimeoutS(&thread_ref, timeout);
- }
-
- /**
- * @brief Resumes the currently referenced thread, if any.
- *
- * @param[in] msg the wakeup message
- *
- * @iclass
- */
- void resumeI(msg_t msg) {
-
- chThdResumeI(&thread_ref, msg);
- }
-
- /**
- * @brief Resumes the currently referenced thread, if any.
- *
- * @param[in] msg the wakeup message
- *
- * @sclass
- */
- void resumeS(msg_t msg) {
-
- chThdResumeS(&thread_ref, msg);
- }
- };
-
- /*------------------------------------------------------------------------*
* chibios_rt::ThreadReference *
*------------------------------------------------------------------------*/
/**
@@ -664,16 +593,6 @@ namespace chibios_rt { }
/**
- * @brief Stops the thread.
- * @note The implementation is left to descendant classes and is
- * optional.
- */
- virtual void stop(void) {
-
- chSysHalt("invoked unimplemented method stop()");
- }
-
- /**
* @brief Returns the reference state.
*
* @return The reference state.
@@ -731,9 +650,10 @@ namespace chibios_rt { * @api
*/
void release(void) {
-
- chThdRelease(thread_ref);
+ thread_t *tp = thread_ref;
thread_ref = NULL;
+
+ chThdRelease(tp);
}
#endif /* CH_CFG_USE_REGISTRY == TRUE */
@@ -769,9 +689,10 @@ namespace chibios_rt { * @api
*/
msg_t wait(void) {
-
- msg_t msg = chThdWait(thread_ref);
+ thread_t *tp = thread_ref;
thread_ref = NULL;
+
+ msg_t msg = chThdWait(tp);
return msg;
}
#endif /* CH_CFG_USE_WAITEXIT == TRUE */
@@ -817,14 +738,17 @@ namespace chibios_rt { /**
* @brief Releases the next message in queue with a reply.
+ * @post The reference is set to @p NULL.
*
* @param[in] msg the answer message
*
* @api
*/
void releaseMessage(msg_t msg) {
+ thread_t *tp = thread_ref;
+ thread_ref = NULL;
- chMsgRelease(thread_ref, msg);
+ chMsgRelease(tp, msg);
}
#endif /* CH_CFG_USE_MESSAGES == TRUE */
@@ -1148,15 +1072,17 @@ namespace chibios_rt { #if CH_CFG_USE_MESSAGES || defined(__DOXYGEN__)
/**
* @brief Waits for a message.
+ * @post On the returned reference it is mandatory to call
+ * @p releaseMessage() or the sender thread would be waiting
+ * undefinitely.
*
- * @return The sender thread.
+ * @return The sender thread reference.
*
* @api
*/
static ThreadReference waitMessage(void) {
- ThreadReference tr(chMsgWait());
- return tr;
+ return ThreadReference(chMsgWait());
}
#endif /* CH_CFG_USE_MESSAGES == TRUE */
@@ -1392,6 +1318,183 @@ namespace chibios_rt { }
};
+ /*------------------------------------------------------------------------*
+ * chibios_rt::ThreadStayPoint *
+ *------------------------------------------------------------------------*/
+ /**
+ * @brief Thread suspension point class.
+ * @details This class encapsulates a reference to a suspended thread.
+ */
+ class ThreadStayPoint {
+ /**
+ * @brief Pointer to the suspended thread.
+ */
+ thread_reference_t thread_ref;
+
+ public:
+ /**
+ * @brief Thread stay point constructor.
+ *
+ * @init
+ */
+ ThreadStayPoint() {
+
+ thread_ref = NULL;
+ }
+
+ /* Prohibit copy construction and assignment.*/
+ ThreadStayPoint(const ThreadStayPoint &) = delete;
+ ThreadStayPoint &operator=(const ThreadStayPoint &) = delete;
+
+ /**
+ * @brief Suspends the current thread on the stay point.
+ * @details The suspended thread becomes the referenced thread. It is
+ * possible to use this method only if the thread reference
+ * was set to @p NULL.
+ *
+ * @return The incoming message.
+ *
+ * @sclass
+ */
+ msg_t suspendS(void) {
+
+ return chThdSuspendS(&thread_ref);
+ }
+
+ /**
+ * @brief Suspends the current thread on the stay point with timeout.
+ * @details The suspended thread becomes the referenced thread. It is
+ * possible to use this method only if the thread reference
+ * was set to @p NULL.
+ *
+ *
+ * @param[in] timeout the number of ticks before the operation timeouts,
+ * the following special values are allowed:
+ * - @a TIME_IMMEDIATE immediate timeout.
+ * - @a TIME_INFINITE no timeout.
+ * .
+ * @return A message specifying how the invoking thread has
+ * been released from the semaphore.
+ * @retval MSG_OK if the binary semaphore has been successfully
+ * taken.
+ * @retval MSG_RESET if the binary semaphore has been reset using
+ * @p bsemReset().
+ * @retval MSG_TIMEOUT if the binary semaphore has not been signaled
+ * or reset within the specified timeout.
+ *
+ * @sclass
+ */
+ msg_t suspendS(sysinterval_t timeout) {
+
+ return chThdSuspendTimeoutS(&thread_ref, timeout);
+ }
+
+ /**
+ * @brief Resumes the currently referenced thread, if any.
+ *
+ * @param[in] msg the wakeup message
+ *
+ * @iclass
+ */
+ void resumeI(msg_t msg) {
+
+ chThdResumeI(&thread_ref, msg);
+ }
+
+ /**
+ * @brief Resumes the currently referenced thread, if any.
+ *
+ * @param[in] msg the wakeup message
+ *
+ * @sclass
+ */
+ void resumeS(msg_t msg) {
+
+ chThdResumeS(&thread_ref, msg);
+ }
+ };
+
+ /*------------------------------------------------------------------------*
+ * chibios_rt::ThreadsQueue *
+ *------------------------------------------------------------------------*/
+ /**
+ * @brief Threads queue class.
+ * @details This class encapsulates a queue of threads.
+ */
+ class ThreadsQueue {
+ /**
+ * @brief Pointer to the system thread.
+ */
+ threads_queue_t threads_queue;
+
+ public:
+ /**
+ * @brief Threads queue constructor.
+ *
+ * @init
+ */
+ ThreadsQueue() {
+
+ chThdQueueObjectInit(&threads_queue);
+ }
+
+ /* Prohibit copy construction and assignment.*/
+ ThreadsQueue(const ThreadsQueue &) = delete;
+ ThreadsQueue &operator=(const ThreadsQueue &) = delete;
+
+ /**
+ * @brief Enqueues the caller thread on a threads queue object.
+ * @details The caller thread is enqueued and put to sleep until it is
+ * dequeued or the specified timeouts expires.
+ *
+ * @param[in] timeout the timeout in system ticks, the special values are
+ * handled as follow:
+ * - @a TIME_INFINITE the thread enters an infinite sleep
+ * state.
+ * - @a TIME_IMMEDIATE the thread is not enqueued and
+ * the function returns @p MSG_TIMEOUT as if a timeout
+ * occurred.
+ * .
+ * @return The message from @p osalQueueWakeupOneI() or
+ * @p osalQueueWakeupAllI() functions.
+ * @retval MSG_TIMEOUT if the thread has not been dequeued within the
+ * specified timeout or if the function has been
+ * invoked with @p TIME_IMMEDIATE as timeout
+ * specification.
+ *
+ * @sclass
+ */
+ msg_t enqueueSelfS(sysinterval_t timeout) {
+
+ return chThdEnqueueTimeoutS(&threads_queue, timeout);
+ }
+
+ /**
+ * @brief Dequeues and wakes up one thread from the threads queue object,
+ * if any.
+ *
+ * @param[in] msg the message code
+ *
+ * @iclass
+ */
+ void dequeueNextI(msg_t msg) {
+
+ chThdDequeueNextI(&threads_queue, msg);
+ }
+
+ /**
+ * @brief Dequeues and wakes up all threads from the threads queue object.
+ *
+ * @param[in] msg the message code
+ *
+ * @iclass
+ */
+ void chdequeueAllI(msg_t msg) {
+
+ chThdDequeueAllI(&threads_queue, msg);
+ }
+};
+
#if (CH_CFG_USE_SEMAPHORES == TRUE) || defined(__DOXYGEN__)
/*------------------------------------------------------------------------*
* chibios_rt::CounterSemaphore *
|