Adding Code for Linux

osal/linux/PosixThread.h

@@ -0,0 +1,74 @@
+#ifndef FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_
+#define FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_
+
+#include <pthread.h>
+#include <sched.h>
+#include <signal.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+
+class PosixThread {
+public:
+	PosixThread(const char* name_, int priority_, size_t stackSize_);
+	virtual ~PosixThread();
+	/**
+	 * Set the Thread to sleep state
+	 * @param ns Nanosecond sleep time
+	 * @return Returns Failed if sleep fails
+	 */
+	static ReturnValue_t sleep(uint64_t ns);
+	/**
+	 * @brief Function to suspend the task until SIGUSR1 was received
+	 *
+	 *  @details Will be called in the beginning to suspend execution until startTask() is called explicitly.
+	 */
+	void suspend();
+
+	/**
+	 * @brief Function to allow a other thread to start the thread again from suspend state
+	 *
+	 * @details Restarts the Thread after suspend call
+	 */
+	void resume();
+
+
+	/**
+	 * Delay function similar to FreeRtos delayUntil function
+	 *
+	 * @param prevoiusWakeTime_ms Needs the previous wake time and returns the next wakeup time
+	 * @param delayTime_ms Time period to delay
+	 *
+	 * @return False If deadline was missed; True if task was delayed
+	 */
+	static bool delayUntil(uint64_t* const prevoiusWakeTime_ms, const uint64_t delayTime_ms);
+
+	/**
+	 * Returns the current time in milliseconds from CLOCK_MONOTONIC
+	 *
+	 * @return current time in milliseconds from CLOCK_MONOTONIC
+	 */
+	static uint64_t getCurrentMonotonicTimeMs();
+
+protected:
+	pthread_t thread;
+
+	/**
+	 * @brief Function that has to be called by derived class because the derived class pointer has to be valid as argument
+	 * @details This function creates a pthread with the given parameters. As the function requires a pointer to the derived object
+	 * 			it has to be called after the this pointer of the derived object is valid. Sets the taskEntryPoint as
+	 * 			function to be called by new a thread.
+	 * @param name_ Name of the task
+	 * @param priority_ Priority of the task according to POSIX
+	 * @param stackSize_ Size of the stack attached to that task
+	 * @param arg_ argument of the taskEntryPoint function, needs to be this pointer of derived class
+	 */
+	void createTask(void* (*fnc_)(void*),void* arg_);
+
+private:
+	char name[10];
+	int priority;
+	size_t stackSize;
+};
+
+#endif /* FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_ */