91 lines
2.6 KiB
C++
91 lines
2.6 KiB
C++
#ifndef FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_
|
|
#define FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_
|
|
|
|
#include <pthread.h>
|
|
#include <signal.h>
|
|
#include <unistd.h>
|
|
|
|
#include <cstdlib>
|
|
|
|
#include "../../returnvalues/returnvalue.h"
|
|
|
|
enum SchedulingPolicy { REGULAR, RR };
|
|
struct PosixThreadArgs {
|
|
SchedulingPolicy policy = SchedulingPolicy::REGULAR;
|
|
};
|
|
|
|
class PosixThread {
|
|
public:
|
|
static constexpr uint8_t PTHREAD_MAX_NAMELEN = 16;
|
|
PosixThread(const char* name_, SchedulingPolicy schedPolicy, 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);
|
|
|
|
void setSchedPolicy(SchedulingPolicy policy);
|
|
|
|
/**
|
|
* @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();
|
|
|
|
/**
|
|
* @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 fnc_ Function which will be executed by the thread.
|
|
* @param arg_
|
|
* argument of the taskEntryPoint function, needs to be this pointer
|
|
* of derived class
|
|
*/
|
|
void createTask(void* (*fnc_)(void*), void* arg_);
|
|
|
|
/**
|
|
* 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;
|
|
|
|
private:
|
|
char name[PTHREAD_MAX_NAMELEN];
|
|
SchedulingPolicy schedPolicy;
|
|
int priority;
|
|
size_t stackSize = 0;
|
|
|
|
static constexpr const char* CLASS_NAME = "PosixThread";
|
|
};
|
|
|
|
#endif /* FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_ */
|