ardupilot/libraries/AP_HAL_Linux/Thread.h

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
* Copyright (C) 2016 Intel Corporation. All rights reserved.
*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <pthread.h>
#include <inttypes.h>
#include <stdlib.h>
#include <AP_HAL/utility/functor.h>
namespace Linux {
/*
* Interface abstracting threads
*/
class Thread {
public:
FUNCTOR_TYPEDEF(task_t, void);
Thread(task_t t) : _task(t) { }
virtual ~Thread() { }
bool start(const char *name, int policy, int prio);
bool is_current_thread();
bool is_started() const { return _started; }
size_t get_stack_usage();
bool set_stack_size(size_t stack_size);
protected:
static void *_run_trampoline(void *arg);
/*
* Run the task assigned in the constructor. May be overriden in case it's
* preferred to use Thread as an interface or when user wants to aggregate
* some initialization or teardown for the thread.
*/
virtual bool _run();
void _poison_stack();
task_t _task;
bool _started;
pthread_t _ctx;
struct stack_debug {
uint32_t *start;
uint32_t *end;
} _stack_debug;
size_t _stack_size;
};
class PeriodicThread : public Thread {
public:
PeriodicThread(Thread::task_t t)
: Thread(t)
{ }
bool set_rate(uint32_t rate_hz);
protected:
bool _run() override;
uint64_t _period_usec;
};
}