diff options
| -rw-r--r-- | os/various/cpp_wrappers/ch.hpp | 84 |
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__)
|