mirror of https://github.com/rusefi/rusefi.git
77 lines
1.6 KiB
C++
77 lines
1.6 KiB
C++
/**
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* @file thread_controller.h
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*
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* @date Jan 5, 2019
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* @author Matthew Kennedy, (c) 2019
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*/
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#pragma once
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/**
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* @brief A base class for a controller that requires its own thread.
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*
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* Inherit from ThreadController. Implement ThreadTask with the logic required for your thread.
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* The template parameter specifies the size of the stack used for the thread. (because we have to
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* allocate the stack at compile time, it has to be a template parameter instead of a normal parameter)
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*/
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template <int TStackSize>
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class ThreadController : public chibios_rt::BaseStaticThread<TStackSize>
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{
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private:
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const tprio_t m_prio;
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/* TODO: use ref instead of m_started */
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bool m_started = false;
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chibios_rt::ThreadReference ref;
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protected:
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// Override this function to implement your controller's thread's behavior.
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virtual void ThreadTask() = 0;
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void main() override {
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this->setName(m_name);
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ThreadTask();
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}
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const char* const m_name;
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public:
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ThreadController(const char* name, tprio_t priority)
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: m_prio(priority)
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, m_name(name)
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{
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}
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/**
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* @brief Start the thread.
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*/
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void start()
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{
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if (!m_started)
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{
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m_started = true;
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ref = chibios_rt::BaseStaticThread<TStackSize>::start(m_prio);
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}
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}
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/**
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* @brief Request thread termination and waits for termination
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*
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* Thread should periadicaly execute something like:
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* if (chThdShouldTerminateX())
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* chThdExit((msg_t)0x0);
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*/
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void stop()
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{
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if (m_started) {
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/* Asking for thread termination.*/
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ref.requestTerminate();
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/* Waiting for termination, releasing the reference.*/
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ref.wait();
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m_started = false;
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}
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}
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};
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