Various fixes.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11972 110e8d01-0319-4d1e-a829-52ad28d1bb01

1 files changed, 61 insertions, 23 deletions

diff --git a/os/various/cpp_wrappers/ch.hpp b/os/various/cpp_wrappers/ch.hpp
index b1f939de3..4ffa7e537 100644
--- a/os/various/cpp_wrappers/ch.hpp
+++ b/os/various/cpp_wrappers/ch.hpp
@@ -1312,8 +1312,8 @@ namespace chibios_rt {
    * chibios_rt::BaseStaticThread                                           *

    *------------------------------------------------------------------------*/

   /**

-   * @brief   Static threads template class.

-   * @details This class introduces static working area allocation.

+   * @brief   Static threads template base class.

+   * @details This class introduces static working area instantiation.

    *

    * @param N               the working area size for the thread class

    */

@@ -1324,18 +1324,7 @@ namespace chibios_rt {
 

   public:

     /**

-     * @brief   Thread constructor.

-     * @details The thread object is initialized but the thread is not

-     *          started here.

-     *

-     * @init

-     */

-    BaseStaticThread(void) : BaseThread() {

-

-    }

-

-    /**

-     * @brief   Creates and starts a system thread.

+     * @brief   Starts a static thread.

      *

      * @param[in] prio          thread priority

      * @return                  A reference to the created thread with

@@ -1352,6 +1341,15 @@ namespace chibios_rt {
   };

 

   /*------------------------------------------------------------------------*

+   * chibios_rt::BaseDynamicThread                                          *

+   *------------------------------------------------------------------------*/

+  /**

+   * @brief   Dynamic threads base class.

+   */

+  class BaseDynamicThread : public BaseThread {

+  };

+

+  /*------------------------------------------------------------------------*

    * chibios_rt::ThreadStayPoint                                            *

    *------------------------------------------------------------------------*/

   /**

@@ -1463,7 +1461,7 @@ namespace chibios_rt {
    * @brief     Threads queue class.

    * @details   This class encapsulates a queue of threads.

    */

-  class ThreadsQueue : SynchronizationObject {

+  class ThreadsQueue : public SynchronizationObject {

     /**

      * @brief   Pointer to the system thread.

      */

@@ -1544,7 +1542,7 @@ namespace chibios_rt {
   /**

    * @brief   Class encapsulating a semaphore.

    */

-  class CounterSemaphore : SynchronizationObject {

+  class CounterSemaphore : public SynchronizationObject {

     /**

      * @brief   Embedded @p semaphore_t structure.

      */

@@ -1771,7 +1769,7 @@ namespace chibios_rt {
   /**

    * @brief   Class encapsulating a binary semaphore.

    */

-  class BinarySemaphore : SynchronizationObject {

+  class BinarySemaphore : public SynchronizationObject {

     /**

      * @brief   Embedded @p binary_semaphore_t structure.

      */

@@ -1957,7 +1955,7 @@ namespace chibios_rt {
   /**

    * @brief   Class encapsulating a mutex.

    */

-  class Mutex : SynchronizationObject {

+  class Mutex : public SynchronizationObject {

     /**

      * @brief   Embedded @p mutex_t structure.

      */

@@ -2134,7 +2132,7 @@ namespace chibios_rt {
    * @brief   Template class to be used for implementing a monitor.

    */

   template <unsigned N>

-  class Monitor: Mutex {

+  class Monitor: protected Mutex {

     condition_variable_t condvars[N];

 

   protected:

@@ -2780,7 +2778,7 @@ namespace chibios_rt {
    * chibios_rt::MemoryPool                                                 *

    *------------------------------------------------------------------------*/

   /**

-   * @brief   Class encapsulating a mailbox.

+   * @brief   Class encapsulating a memory pool.

    */

   class MemoryPool {

     /**

@@ -2923,13 +2921,11 @@ namespace chibios_rt {
    */

   template<class T, size_t N>

   class ObjectsPool : public MemoryPool {

-  private:

     /* The buffer is declared as an array of pointers to void for two

        reasons:

        1) The objects must be properly aligned to hold a pointer as

           first field.

-       2) There is no need to invoke constructors for object that are

-          into the pool.*/

+       2) Objects are dirtied when loaded in the pool.*/

     void *pool_buf[(N * sizeof (T)) / sizeof (void *)];

 

   public:

@@ -2943,6 +2939,48 @@ namespace chibios_rt {
       loadArray(pool_buf, N);

     }

   };

+

+  /*------------------------------------------------------------------------*

+   * chibios_rt::ThreadsPool                                                *

+   *------------------------------------------------------------------------*/

+  /**

+   * @brief   Template class encapsulating a pool of threads.

+   */

+  template<size_t S, size_t N>

+  class ThreadsPool : public BaseDynamicThread {

+    THD_WORKING_AREA(working_areas, S)[N];

+    MemoryPool threads_pool;

+

+  public:

+    /**

+     * @brief   ThreadsPool constructor.

+     *

+     * @init

+     */

+    ThreadsPool(void) : threads_pool(THD_WORKING_AREA_SIZE(S)) {

+

+      threads_pool.loadArray(working_areas, N);

+    }

+

+    /**

+     * @brief   Starts a dynamic thread from the pool.

+     *

+     * @param[in] prio          thread priority

+     * @return                  A reference to the created thread with

+     *                          reference counter set to one.

+     *

+     * @api

+     */

+    ThreadReference start(tprio_t prio) override {

+      void _thd_start(void *arg);

+

+      return ThreadReference(chThdCreateFromMemoryPool(&threads_pool.pool,

+                                                       "",

+                                                       prio,

+                                                       _thd_start,

+                                                       this));

+     }

+   };

 #endif /* CH_CFG_USE_MEMPOOLS == TRUE */

 

 #if (CH_CFG_USE_HEAP == TRUE) || defined(__DOXYGEN__)