mirror of https://github.com/ArduPilot/ardupilot
109 lines
2.2 KiB
C
109 lines
2.2 KiB
C
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/*
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* Copyright (C) 2016 Intel Corporation. All rights reserved.
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <pthread.h>
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#include <inttypes.h>
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#include <stdlib.h>
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#include <AP_HAL/utility/functor.h>
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namespace QURT
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{
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/*
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* Interface abstracting threads
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*/
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class Thread
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{
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public:
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FUNCTOR_TYPEDEF(task_t, void);
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Thread(task_t t) : _task(t) { }
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virtual ~Thread() { }
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bool start(const char *name, int policy, int prio);
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bool is_current_thread();
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bool is_started() const
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{
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return _started;
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}
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size_t get_stack_usage();
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bool set_stack_size(size_t stack_size);
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void set_auto_free(bool auto_free)
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{
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_auto_free = auto_free;
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}
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virtual bool stop()
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{
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return false;
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}
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bool join();
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protected:
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static void *_run_trampoline(void *arg);
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/*
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* Run the task assigned in the constructor. May be overriden in case it's
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* preferred to use Thread as an interface or when user wants to aggregate
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* some initialization or teardown for the thread.
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*/
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virtual bool _run();
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void _poison_stack();
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task_t _task;
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bool _started = false;
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bool _should_exit = false;
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bool _auto_free = false;
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pthread_t _ctx = 0;
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struct stack_debug {
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uint32_t *start;
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uint32_t *end;
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} _stack_debug;
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size_t _stack_size = 0;
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};
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class PeriodicThread : public Thread
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{
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public:
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PeriodicThread(Thread::task_t t)
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: Thread(t)
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{ }
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bool set_rate(uint32_t rate_hz);
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bool stop() override;
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protected:
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bool _run() override;
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uint64_t _period_usec = 0;
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};
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}
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