541 lines
14 KiB
C
541 lines
14 KiB
C
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/*
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* Copyright (c) 2014-2016, Freescale Semiconductor, Inc.
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* Copyright 2016-2023 NXP
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* Copyright 2021 ACRIOS Systems s.r.o.
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* All rights reserved.
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*
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*
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* SPDX-License-Identifier: BSD-3-Clause
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*/
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#ifndef __embedded_rpc__thread__
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#define __embedded_rpc__thread__
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#include "erpc_config_internal.h"
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#include <stdint.h>
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// Exclude the rest of the file if threading is disabled.
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#if !ERPC_THREADS_IS(NONE)
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#if ERPC_THREADS_IS(PTHREADS)
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#include <pthread.h>
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#elif ERPC_THREADS_IS(FREERTOS)
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#include "FreeRTOS.h"
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#include "semphr.h"
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#include "task.h"
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#elif ERPC_THREADS_IS(ZEPHYR)
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#include <zephyr/kernel.h>
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#elif ERPC_THREADS_IS(MBED)
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#if MBED_CONF_RTOS_PRESENT
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#include "rtos.h"
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#else
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#warning mbed-rpc: Threading is enabled but Mbed RTOS is not present!
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#endif
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#elif ERPC_THREADS_IS(WIN32)
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#include "windows.h"
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#elif ERPC_THREADS_IS(THREADX)
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#include "tx_api.h"
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#endif // ERPC_THREADS
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/*!
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* @addtogroup port_threads
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* @{
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* @file
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*/
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////////////////////////////////////////////////////////////////////////////////
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// Types
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////////////////////////////////////////////////////////////////////////////////
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//! @brief Thread function type.
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//!
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//! @param arg User provided argument that was passed into the start() method.
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typedef void (*thread_entry_t)(void *arg);
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////////////////////////////////////////////////////////////////////////////////
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// Declarations
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////////////////////////////////////////////////////////////////////////////////
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#if defined(__cplusplus)
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namespace erpc {
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/*!
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* @brief Simple thread class.
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*
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* @ingroup port_threads
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*/
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class Thread
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{
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public:
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//! @brief Unique identifier for a thread.
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typedef void *thread_id_t;
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#if ERPC_THREADS_IS(FREERTOS)
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typedef StackType_t *thread_stack_pointer;
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#else
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typedef void *thread_stack_pointer;
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#endif
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/*!
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* @brief Default constructor for use with the init() method.
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*
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* If this constructor is used, the init() method must be called before the thread can be
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* started.
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*
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* @param[in] name Optional name for the thread.
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*/
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Thread(const char *name = 0);
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/*!
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* @brief Constructor.
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*
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* This constructor fully initializes the thread object.
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*
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* @param[in] entry
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* @param[in] priority
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* @param[in] stackSize
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* @param[in] name Optional name for the thread.
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* @param[in] stackPtr Mandatory task stack pointer for static api usage.
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*/
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Thread(thread_entry_t entry, uint32_t priority = 0, uint32_t stackSize = 0, const char *name = 0,
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thread_stack_pointer stackPtr = NULL);
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/*!
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* @brief Destructor.
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*/
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virtual ~Thread(void);
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/*!
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* @brief This function sets name for thread.
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*
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* @param[in] name Name for thread.
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*/
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void setName(const char *name) { m_name = name; }
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/*!
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* @brief This function returns name of thread.
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*
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* @return Name of thread.
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*/
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const char *getName(void) const { return m_name; }
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/*!
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* @brief This function initializes thread.
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*
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* @param[in] entry Entry function.
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* @param[in] priority Task priority.
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* @param[in] stackSize Stack size.
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* @param[in] stackPtr Mandatory task stack pointer for static api usage.
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*/
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void init(thread_entry_t entry, uint32_t priority = 0, uint32_t stackSize = 0,
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thread_stack_pointer stackPtr = NULL);
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/*!
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* @brief This function starts thread execution.
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*
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* @param[in] arg Function argument.
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*/
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void start(void *arg = 0);
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/*!
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* @brief This function puts thread to sleep.
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*
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* @param[in] usecs Time for sleeping in [us].
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*/
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static void sleep(uint32_t usecs);
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/*!
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* @brief This function returns current thread id.
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*
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* @return Thread id.
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*/
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thread_id_t getThreadId(void) const
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{
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#if ERPC_THREADS_IS(PTHREADS)
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return reinterpret_cast<thread_id_t>(m_thread);
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#elif ERPC_THREADS_IS(FREERTOS)
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return reinterpret_cast<thread_id_t>(m_task);
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#elif ERPC_THREADS_IS(ZEPHYR)
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return reinterpret_cast<thread_id_t>(m_thread_id);
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#elif ERPC_THREADS_IS(MBED)
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return reinterpret_cast<thread_id_t>(m_thread->get_id());
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#elif ERPC_THREADS_IS(WIN32)
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return reinterpret_cast<thread_id_t>(m_thread);
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#elif ERPC_THREADS_IS(THREADX)
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return reinterpret_cast<thread_id_t>(m_thread.tx_thread_id);
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#endif
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}
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/*!
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* @brief This function returns thread id where function is called.
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*
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* @return Thread id.
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*/
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static thread_id_t getCurrentThreadId(void)
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{
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#if ERPC_THREADS_IS(PTHREADS)
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return reinterpret_cast<thread_id_t>(pthread_self());
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#elif ERPC_THREADS_IS(FREERTOS)
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return reinterpret_cast<thread_id_t>(xTaskGetCurrentTaskHandle());
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#elif ERPC_THREADS_IS(ZEPHYR)
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return reinterpret_cast<thread_id_t>(k_current_get());
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#elif ERPC_THREADS_IS(MBED)
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return reinterpret_cast<thread_id_t>(rtos::ThisThread::get_id());
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#elif ERPC_THREADS_IS(WIN32)
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return reinterpret_cast<thread_id_t>(GetCurrentThread());
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#elif ERPC_THREADS_IS(THREADX)
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return reinterpret_cast<thread_id_t>(tx_thread_identify());
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#endif
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}
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#if ERPC_THREADS_IS(ZEPHYR)
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/*!
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* @brief This function sets stack pointer for Zephyr task.
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*
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* @param[in] stack Stack pointer.
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*/
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void setStackPointer(k_thread_stack_t *stack) { m_stack = stack; }
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#endif
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/*!
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* @brief This function returns Thread instance where functions is called.
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*
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* @return Thread instance.
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*/
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static Thread *getCurrentThread(void);
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/*!
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* @brief Compare operator compares two threads.
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*
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* @param[in] o Thread instance.
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*
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* @retval true When threads are same.
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* @retval false When threads aren't same.
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*/
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bool operator==(Thread &o);
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protected:
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/*!
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* @brief This function execute entry function.
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*/
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virtual void threadEntryPoint(void);
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private:
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const char *m_name; /*!< Thread name. */
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thread_entry_t m_entry; /*!< Thread entry function. */
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void *m_arg; /*!< Entry parameter. */
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uint32_t m_stackSize; /*!< Stack size. */
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uint32_t m_priority; /*!< Task priority. */
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thread_stack_pointer m_stackPtr; /*!< Task pointer. */
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#if ERPC_THREADS_IS(PTHREADS)
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static pthread_key_t s_threadObjectKey; /*!< Thread key. */
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pthread_t m_thread; /*!< Current thread. */
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#elif ERPC_THREADS_IS(FREERTOS)
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TaskHandle_t m_task; /*!< Current task. */
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Thread *m_next; /*!< Pointer to next Thread. */
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static Thread *s_first; /*!< Pointer to first Thread. */
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#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_STATIC
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StaticTask_t m_staticTask; /*!< Hold static task data. */
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#endif
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#elif ERPC_THREADS_IS(ZEPHYR)
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struct k_thread m_thread; /*!< Current thread. */
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k_tid_t m_thread_id;
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k_thread_stack_t *m_stack; /*!< Pointer to stack. */
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#elif ERPC_THREADS_IS(MBED)
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rtos::Thread *m_thread; /*!< Underlying Thread instance */
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Thread *m_next; /*!< Pointer to next Thread. */
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static Thread *s_first; /*!< Pointer to first Thread. */
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#elif ERPC_THREADS_IS(WIN32)
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HANDLE m_thread;
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unsigned int m_thrdaddr;
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Thread *m_next; /*!< Pointer to next Thread. */
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static Thread *s_first; /*!< Pointer to first Thread. */
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static CRITICAL_SECTION m_critical_section;
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static BOOL m_critical_section_inited;
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#elif ERPC_THREADS_IS(THREADX)
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TX_THREAD m_thread; /*!< Underlying Thread instance */
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Thread *m_next; /*!< Pointer to next Thread. */
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static Thread *s_first; /*!< Pointer to first Thread. */
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#endif
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#if ERPC_THREADS_IS(PTHREADS)
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/*!
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* @brief This function execute threadEntryPoint function.
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*
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* @param[in] arg Thread to execute.
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*/
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static void *threadEntryPointStub(void *arg);
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#elif ERPC_THREADS_IS(FREERTOS)
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/*!
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* @brief This function execute threadEntryPoint function.
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*
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* @param[in] arg Thread to execute.
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*/
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static void threadEntryPointStub(void *arg);
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#elif ERPC_THREADS_IS(ZEPHYR)
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/*!
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* @brief This function execute threadEntryPoint function.
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*
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* @param[in] arg1 Thread to execute.
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* @param[in] arg2
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* @param[in] arg3
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*/
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static void threadEntryPointStub(void *arg1, void *arg2, void *arg3);
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#elif ERPC_THREADS_IS(MBED)
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/*!
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* @brief This function execute threadEntryPoint function.
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*
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* @param[in] arg Thread to execute.
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*/
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static void threadEntryPointStub(void *arg);
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#elif ERPC_THREADS_IS(WIN32)
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/*!
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* @brief This function execute threadEntryPoint function.
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*
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* @param[in] arg Thread to execute.
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*/
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static unsigned WINAPI threadEntryPointStub(void *arg);
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#elif ERPC_THREADS_IS(THREADX)
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/*!
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* @brief This function execute threadEntryPoint function.
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*
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* @param[in] arg Thread to execute.
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*/
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static void threadEntryPointStub(ULONG arg);
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#endif
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private:
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/*!
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* @brief Copy constructor.
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*
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* @param[in] o Thread to copy.
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*/
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Thread(const Thread &o);
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/*!
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* @brief Assign operator.
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*
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* @param[in] o Thread to assign.
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*/
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Thread &operator=(const Thread &o);
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};
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/*!
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* @brief Mutex.
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*
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* If the OS supports it, the mutex will be recursive.
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*
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* @ingroup port_threads
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*/
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class Mutex
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{
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public:
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/*!
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* @brief
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*/
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class Guard
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{
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public:
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/*!
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* @brief Constructor.
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*
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* @param[in] mutex to lock.
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*/
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Guard(Mutex &mutex) : m_mutex(mutex) { (void)m_mutex.lock(); }
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/*!
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* @brief Destructor.
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*/
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~Guard(void) { (void)m_mutex.unlock(); }
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private:
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Mutex &m_mutex; /*!< Mutex to lock. */
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};
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||
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/*!
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* @brief Constructor.
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||
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*/
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Mutex(void);
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/*!
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* @brief Destructor.
|
||
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*/
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~Mutex(void);
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/*!
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* @brief This function try lock mutex.
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*
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* @retval true When mutex locked successfully.
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* @retval false When mutex didn't locked.
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||
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*/
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bool tryLock(void);
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||
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/*!
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* @brief This function lock mutex.
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||
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*
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* @retval true When mutex locked successfully.
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||
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* @retval false When mutex didn't locked.
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||
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*/
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bool lock(void);
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||
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/*!
|
||
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* @brief This function unlock mutex.
|
||
|
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*
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||
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* @retval true When mutex unlocked successfully.
|
||
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* @retval false When mutex didn't unlocked.
|
||
|
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*/
|
||
|
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bool unlock(void);
|
||
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#if ERPC_THREADS_IS(PTHREADS)
|
||
|
|
/*!
|
||
|
|
* @brief This function returns pointer to mutex.
|
||
|
|
*
|
||
|
|
* @return Pointer to mutex.
|
||
|
|
*/
|
||
|
|
pthread_mutex_t *getPtr(void) { return &m_mutex; }
|
||
|
|
#endif
|
||
|
|
|
||
|
|
private:
|
||
|
|
#if ERPC_THREADS_IS(PTHREADS)
|
||
|
|
pthread_mutex_t m_mutex; /*!< Mutex.*/
|
||
|
|
#elif ERPC_THREADS_IS(FREERTOS)
|
||
|
|
SemaphoreHandle_t m_mutex; /*!< Mutex.*/
|
||
|
|
StaticSemaphore_t m_staticQueue; /*!< Static queue. */
|
||
|
|
#elif ERPC_THREADS_IS(ZEPHYR)
|
||
|
|
struct k_mutex m_mutex; /*!< Mutex.*/
|
||
|
|
#elif ERPC_THREADS_IS(MBED)
|
||
|
|
rtos::Mutex *m_mutex; /*!< Mutex. */
|
||
|
|
#elif ERPC_THREADS_IS(WIN32)
|
||
|
|
HANDLE m_mutex;
|
||
|
|
#elif ERPC_THREADS_IS(THREADX)
|
||
|
|
TX_MUTEX m_mutex;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
private:
|
||
|
|
/*!
|
||
|
|
* @brief Copy constructor.
|
||
|
|
*
|
||
|
|
* @param[in] o Mutex to copy.
|
||
|
|
*/
|
||
|
|
Mutex(const Mutex &o);
|
||
|
|
/*!
|
||
|
|
* @brief Copy constructor.
|
||
|
|
*
|
||
|
|
* @param[in] o Mutex to copy.
|
||
|
|
*/
|
||
|
|
Mutex &operator=(const Mutex &o);
|
||
|
|
};
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @brief Simple semaphore class.
|
||
|
|
*
|
||
|
|
* @ingroup port_threads
|
||
|
|
*/
|
||
|
|
class Semaphore
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
/*!
|
||
|
|
* @brief Variable for semaphore to wait forever.
|
||
|
|
*/
|
||
|
|
static const uint32_t kWaitForever = 0xffffffffu;
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @brief Constructor.
|
||
|
|
*
|
||
|
|
* @param[in] count Semaphore number.
|
||
|
|
*/
|
||
|
|
Semaphore(int count = 0);
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @brief Destructor.
|
||
|
|
*/
|
||
|
|
~Semaphore(void);
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @brief This function puts semaphore.
|
||
|
|
*/
|
||
|
|
void put(void);
|
||
|
|
|
||
|
|
#if ERPC_THREADS_IS(FREERTOS)
|
||
|
|
/*!
|
||
|
|
* @brief This function puts semaphore from interrupt.
|
||
|
|
*/
|
||
|
|
void putFromISR(void);
|
||
|
|
#endif // ERPC_HAS_FREERTOS
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @brief This function get semaphore.
|
||
|
|
*
|
||
|
|
* @param[in] timeoutUsecs Time how long can wait for getting semaphore in [us].
|
||
|
|
*
|
||
|
|
* @retval true When semaphore got successfully.
|
||
|
|
* @retval false When failed getting semaphore or if timeout expired.
|
||
|
|
*/
|
||
|
|
bool get(uint32_t timeoutUsecs = kWaitForever);
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @brief This function returns semaphore count number.
|
||
|
|
*
|
||
|
|
* @return Semaphore count number.
|
||
|
|
*/
|
||
|
|
int getCount(void) const;
|
||
|
|
|
||
|
|
private:
|
||
|
|
#if ERPC_THREADS_IS(PTHREADS)
|
||
|
|
int m_count; /*!< Semaphore count number. */
|
||
|
|
pthread_cond_t m_cond; /*!< Condition variable. Allows threads to suspend execution and relinquish the processors
|
||
|
|
until some predicate on shared data is satisfied. */
|
||
|
|
Mutex m_mutex; /*!< Mutext. */
|
||
|
|
#elif ERPC_THREADS_IS(FREERTOS)
|
||
|
|
SemaphoreHandle_t m_sem; /*!< Semaphore. */
|
||
|
|
StaticSemaphore_t m_staticQueue; /*!< Static queue. */
|
||
|
|
#elif ERPC_THREADS_IS(ZEPHYR)
|
||
|
|
struct k_sem m_sem; /*!< Semaphore. */
|
||
|
|
#elif ERPC_THREADS_IS(MBED)
|
||
|
|
rtos::Semaphore *m_sem; /*!< Semaphore. */
|
||
|
|
int m_count; /*!< Semaphore count number. */
|
||
|
|
#elif ERPC_THREADS_IS(WIN32)
|
||
|
|
Mutex m_mutex; /*!< Mutext. */
|
||
|
|
int m_count;
|
||
|
|
HANDLE m_sem;
|
||
|
|
#elif ERPC_THREADS_IS(THREADX)
|
||
|
|
TX_SEMAPHORE m_sem; /*!< Semaphore. */
|
||
|
|
#endif
|
||
|
|
|
||
|
|
private:
|
||
|
|
/*!
|
||
|
|
* @brief Copy constructor.
|
||
|
|
*
|
||
|
|
* @param[in] o Semaphore to copy.
|
||
|
|
*/
|
||
|
|
Semaphore(const Semaphore &o);
|
||
|
|
/*!
|
||
|
|
* @brief Copy constructor.
|
||
|
|
*
|
||
|
|
* @param[in] o Semaphore to copy.
|
||
|
|
*/
|
||
|
|
Semaphore &operator=(const Semaphore &o);
|
||
|
|
};
|
||
|
|
|
||
|
|
} // namespace erpc
|
||
|
|
|
||
|
|
#endif // defined(__cplusplus)
|
||
|
|
|
||
|
|
/*! @} */
|
||
|
|
|
||
|
|
#endif // ERPC_THREADS
|
||
|
|
|
||
|
|
#endif // defined(__embedded_rpc__thread__)
|
||
|
|
////////////////////////////////////////////////////////////////////////////////
|
||
|
|
// EOF
|
||
|
|
////////////////////////////////////////////////////////////////////////////////
|