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