mirror of https://github.com/FOME-Tech/fome-fw.git
55 lines
1.1 KiB
C++
55 lines
1.1 KiB
C++
/**
|
|
* @file thread_controller.h
|
|
*
|
|
* @date Jan 5, 2019
|
|
* @author Matthew Kennedy, (c) 2019
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
/**
|
|
* @brief A base class for a controller that requires its own thread.
|
|
*
|
|
* Inherit from ThreadController. Implement ThreadTask with the logic required for your thread.
|
|
* The template parameter specifies the size of the stack used for the thread. (because we have to
|
|
* allocate the stack at compile time, it has to be a template parameter instead of a normal parameter)
|
|
*/
|
|
template <int TStackSize>
|
|
class ThreadController : public chibios_rt::BaseStaticThread<TStackSize>
|
|
{
|
|
private:
|
|
const tprio_t m_prio;
|
|
bool m_started = false;
|
|
|
|
protected:
|
|
// Override this function to implement your controller's thread's behavior.
|
|
virtual void ThreadTask() = 0;
|
|
|
|
void main() override {
|
|
this->setName(m_name);
|
|
|
|
ThreadTask();
|
|
}
|
|
|
|
const char* const m_name;
|
|
|
|
public:
|
|
ThreadController(const char* name, tprio_t priority)
|
|
: m_prio(priority)
|
|
, m_name(name)
|
|
{
|
|
}
|
|
|
|
/**
|
|
* @brief Start the thread.
|
|
*/
|
|
void start()
|
|
{
|
|
if (!m_started)
|
|
{
|
|
m_started = true;
|
|
chibios_rt::BaseStaticThread<TStackSize>::start(m_prio);
|
|
}
|
|
}
|
|
};
|