Line data    Source code

       1             : /*
       2             :  * Copyright (C) 2016  Intel Corporation. All rights reserved.
       3             :  *
       4             :  * This file is free software: you can redistribute it and/or modify it
       5             :  * under the terms of the GNU General Public License as published by the
       6             :  * Free Software Foundation, either version 3 of the License, or
       7             :  * (at your option) any later version.
       8             :  *
       9             :  * This file is distributed in the hope that it will be useful, but
      10             :  * WITHOUT ANY WARRANTY; without even the implied warranty of
      11             :  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
      12             :  * See the GNU General Public License for more details.
      13             :  *
      14             :  * You should have received a copy of the GNU General Public License along
      15             :  * with this program.  If not, see <http://www.gnu.org/licenses/>.
      16             :  */
      17             : #pragma once
      18             : 
      19             : #include <pthread.h>
      20             : #include <inttypes.h>
      21             : #include <stdlib.h>
      22             : 
      23             : #include <AP_HAL/utility/functor.h>
      24             : 
      25             : namespace Linux {
      26             : 
      27             : /*
      28             :  * Interface abstracting threads
      29             :  */
      30             : class Thread {
      31             : public:
      32             :     FUNCTOR_TYPEDEF(task_t, void);
      33             : 
      34         196 :     Thread(task_t t) : _task(t) { }
      35             : 
      36         196 :     virtual ~Thread() { }
      37             : 
      38             :     bool start(const char *name, int policy, int prio);
      39             : 
      40             :     bool is_current_thread();
      41             : 
      42           4 :     bool is_started() const { return _started; }
      43             : 
      44             :     size_t get_stack_usage();
      45             : 
      46             :     bool set_stack_size(size_t stack_size);
      47             : 
      48           0 :     void set_auto_free(bool auto_free) { _auto_free = auto_free; }
      49             : 
      50           0 :     virtual bool stop() { return false; }
      51             : 
      52             :     bool join();
      53             : 
      54             : protected:
      55             :     static void *_run_trampoline(void *arg);
      56             : 
      57             :     /*
      58             :      * Run the task assigned in the constructor. May be overriden in case it's
      59             :      * preferred to use Thread as an interface or when user wants to aggregate
      60             :      * some initialization or teardown for the thread.
      61             :      */
      62             :     virtual bool _run();
      63             : 
      64             :     void _poison_stack();
      65             : 
      66             :     task_t _task;
      67             :     bool _started = false;
      68             :     bool _should_exit = false;
      69             :     bool _auto_free = false;
      70             :     pthread_t _ctx = 0;
      71             : 
      72             :     struct stack_debug {
      73             :         uint32_t *start;
      74             :         uint32_t *end;
      75             :     } _stack_debug;
      76             : 
      77             :     size_t _stack_size = 0;
      78             : };
      79             : 
      80             : class PeriodicThread : public Thread {
      81             : public:
      82         193 :     PeriodicThread(Thread::task_t t)
      83         193 :         : Thread(t)
      84         193 :     { }
      85             : 
      86             :     bool set_rate(uint32_t rate_hz);
      87             : 
      88             :     bool stop() override;
      89             : 
      90             : protected:
      91             :     bool _run() override;
      92             : 
      93             :     uint64_t _period_usec = 0;
      94             : };
      95             : 
      96             : }