63 lines
1.6 KiB
C
63 lines
1.6 KiB
C
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/**
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* @file ThreadController.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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#include "ControllerBase.h"
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#include "ch.h"
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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 ControllerBase
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{
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private:
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THD_WORKING_AREA(m_threadstack, TStackSize);
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const tprio_t m_prio;
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/**
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* The OS can only call a function with a single void* param. We have
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* to convert back to an instance of ThreadController, and call the task to run.
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*/
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static void StaticThreadTaskAdapter(void* thread)
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{
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ThreadController* t = static_cast<ThreadController*>(thread);
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// Run our thread task
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t->ThreadTask();
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}
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protected:
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/**
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* Override this function to implement your controller's thread's behavior.
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*/
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virtual void ThreadTask() = 0;
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thread_t* m_thread;
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public:
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ThreadController(const char* name, tprio_t priority)
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: ControllerBase(name)
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, m_prio(priority)
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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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virtual void Start()
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{
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m_thread = chThdCreateStatic(m_threadstack, sizeof(m_threadstack), m_prio, StaticThreadTaskAdapter, this);
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m_thread->name = GetName();
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}
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};
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