kopia lustrzana https://github.com/meshtastic/firmware
96 wiersze
2.3 KiB
C++
96 wiersze
2.3 KiB
C++
#include <Arduino.h>
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#include "freertosinc.h"
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#ifdef HAS_FREE_RTOS
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class Thread
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{
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protected:
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TaskHandle_t taskHandle = NULL;
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/**
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* set this to true to ask thread to cleanly exit asap
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*/
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volatile bool wantExit = false;
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public:
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void start(const char *name, size_t stackSize = 1024, uint32_t priority = tskIDLE_PRIORITY);
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virtual ~Thread() { vTaskDelete(taskHandle); }
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uint32_t getStackHighwaterMark() { return uxTaskGetStackHighWaterMark(taskHandle); }
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protected:
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/**
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* The method that will be called when start is called.
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*/
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virtual void doRun() = 0;
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private:
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static void callRun(void *_this);
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};
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/**
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* This wraps threading (FreeRTOS for now) with a blocking API intended for efficiently converting onlyschool arduino loop() code.
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*
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* Use as a mixin base class for the classes you want to convert.
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*
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* https://www.freertos.org/RTOS_Task_Notification_As_Mailbox.html
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*/
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class WorkerThread : public Thread
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{
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protected:
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/**
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* A method that should block execution - either waiting ona queue/mutex or a "task notification"
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*/
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virtual void block() = 0;
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virtual void loop() = 0;
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/**
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* The method that will be called when start is called.
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*/
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virtual void doRun();
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};
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/**
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* A worker thread that waits on a freertos notification
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*/
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class NotifiedWorkerThread : public WorkerThread
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{
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public:
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/**
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* Notify this thread so it can run
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*/
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void notify(uint32_t v = 0, eNotifyAction action = eNoAction);
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/**
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* Notify from an ISR
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*
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* This must be inline or IRAM_ATTR on ESP32
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*/
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inline void notifyFromISR(BaseType_t *highPriWoken, uint32_t v = 0, eNotifyAction action = eNoAction)
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{
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xTaskNotifyFromISR(taskHandle, v, action, highPriWoken);
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}
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protected:
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/**
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* The notification that was most recently used to wake the thread. Read from loop()
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*/
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uint32_t notification = 0;
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/**
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* What notification bits should be cleared just after we read and return them in notification?
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*
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* Defaults to clear all of them.
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*/
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uint32_t clearOnRead = UINT32_MAX;
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/**
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* A method that should block execution - either waiting ona queue/mutex or a "task notification"
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*/
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virtual void block();
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};
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#endif |