text: /* mbed Microcontroller Library
   * Copyright (c) 2006-2012 ARM Limited
   *
   * Permission is hereby granted, free of charge, to any person obtaining a copy
   * of this software and associated documentation files (the "Software"), to deal
   * in the Software without restriction, including without limitation the rights
   * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
   * copies of the Software, and to permit persons to whom the Software is
   * furnished to do so, subject to the following conditions:
   *
   * The above copyright notice and this permission notice shall be included in
   * all copies or substantial portions of the Software.
   *
   * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
   * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
   * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
   * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
   * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
   * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
   * SOFTWARE.
   */
  #ifndef THREAD_H
  #define THREAD_H
  
  #include <stdint.h>
  #include "cmsis_os.h"
  #include "Callback.h"
  #include "toolchain.h"
  
  namespace rtos {
  
  /** The Thread class allow defining, creating, and controlling thread functions in the system. */
  class Thread {
  public:
      /** Allocate a new thread without starting execution
        @param   priority       initial priority of the thread function. (default: osPriorityNormal).
        @param   stack_size      stack size (in bytes) requirements for the thread function. (default: DEFAULT_STACK_SIZE).
        @param   stack_pointer  pointer to the stack area to be used by this thread (default: NULL).
      */
      Thread(osPriority priority=osPriorityNormal,
             uint32_t stack_size=DEFAULT_STACK_SIZE,
             unsigned char *stack_pointer=NULL) {
          constructor(priority, stack_size, stack_pointer);
      }
  
      /** Create a new thread, and start it executing the specified function.
        @param   task           function to be executed by this thread.
        @param   argument       pointer that is passed to the thread function as start argument. (default: NULL).
        @param   priority       initial priority of the thread function. (default: osPriorityNormal).
        @param   stack_size      stack size (in bytes) requirements for the thread function. (default: DEFAULT_STACK_SIZE).
        @param   stack_pointer  pointer to the stack area to be used by this thread (default: NULL).
        @deprecated
          Thread-spawning constructors hide errors and may lead to complex
          program state when a thread is declared.
  
          The explicit Thread::start member function should be used to spawn
          a thread.
      */
      MBED_DEPRECATED(
          "Thread-spawning constructors hide errors and may lead to complex "
          "program state when a thread is declared")
      Thread(mbed::Callback<void()> task,
             osPriority priority=osPriorityNormal,
             uint32_t stack_size=DEFAULT_STACK_SIZE,
             unsigned char *stack_pointer=NULL) {
          constructor(task, priority, stack_size, stack_pointer);
      }
  
      /** Create a new thread, and start it executing the specified function.
        @param   obj            argument to task.
        @param   method         function to be executed by this thread.
        @param   argument       pointer that is passed to the thread function as start argument. (default: NULL).
        @param   priority       initial priority of the thread function. (default: osPriorityNormal).
        @param   stack_size      stack size (in bytes) requirements for the thread function. (default: DEFAULT_STACK_SIZE).
        @param   stack_pointer  pointer to the stack area to be used by this thread (default: NULL).
        @deprecated
          Thread-spawning constructors hide errors and may lead to complex
          program state when a thread is declared.
  
          The explicit Thread::start member function should be used to spawn
          a thread.
      */
      template <typename T>
      MBED_DEPRECATED(
          "Thread-spawning constructors hide errors and may lead to complex "
          "program state when a thread is declared")
      Thread(T *obj, void (T::*method)(),
             osPriority priority=osPriorityNormal,
             uint32_t stack_size=DEFAULT_STACK_SIZE,
             unsigned char *stack_pointer=NULL) {
          constructor(mbed::Callback<void()>(obj, method),
                      priority, stack_size, stack_pointer);
      }
  
      /** Create a new thread, and start it executing the specified function.
        @param   obj            argument to task.
        @param   method         function to be executed by this thread.
        @param   argument       pointer that is passed to the thread function as start argument. (default: NULL).
        @param   priority       initial priority of the thread function. (default: osPriorityNormal).
        @param   stack_size      stack size (in bytes) requirements for the thread function. (default: DEFAULT_STACK_SIZE).
        @param   stack_pointer  pointer to the stack area to be used by this thread (default: NULL).
        @deprecated
          Thread-spawning constructors hide errors and may lead to complex
          program state when a thread is declared.
  
          The explicit Thread::start member function should be used to spawn
          a thread.
      */
      template <typename T>
      MBED_DEPRECATED(
          "Thread-spawning constructors hide errors and may lead to complex "
          "program state when a thread is declared")
      Thread(T *obj, void (*method)(T *),
             osPriority priority=osPriorityNormal,
             uint32_t stack_size=DEFAULT_STACK_SIZE,
             unsigned char *stack_pointer=NULL) {
          constructor(mbed::Callback<void()>(obj, method),
                      priority, stack_size, stack_pointer);
      }
  
      /** Create a new thread, and start it executing the specified function.
          Provided for backwards compatibility
        @param   task           function to be executed by this thread.
        @param   argument       pointer that is passed to the thread function as start argument. (default: NULL).
        @param   priority       initial priority of the thread function. (default: osPriorityNormal).
        @param   stack_size      stack size (in bytes) requirements for the thread function. (default: DEFAULT_STACK_SIZE).
        @param   stack_pointer  pointer to the stack area to be used by this thread (default: NULL).
        @deprecated
          Thread-spawning constructors hide errors and may lead to complex
          program state when a thread is declared.
  
          The explicit Thread::start member function should be used to spawn
          a thread.
      */
      MBED_DEPRECATED(
          "Thread-spawning constructors hide errors and may lead to complex "
          "program state when a thread is declared")
      Thread(void (*task)(void const *argument), void *argument=NULL,
             osPriority priority=osPriorityNormal,
             uint32_t stack_size=DEFAULT_STACK_SIZE,
             unsigned char *stack_pointer=NULL) {
          constructor(mbed::Callback<void()>(argument, (void (*)(void *))task),
                      priority, stack_size, stack_pointer);
      }
  
      /** Starts a thread executing the specified function.
        @param   task           function to be executed by this thread.
        @return  status code that indicates the execution status of the function.
      */
      osStatus start(mbed::Callback<void()> task);
  
      /** Starts a thread executing the specified function.
        @param   obj            argument to task
        @param   method         function to be executed by this thread.
        @return  status code that indicates the execution status of the function.
      */
      template <typename T, typename M>
      osStatus start(T *obj, M method) {
          return start(mbed::Callback<void()>(obj, method));
      }
  
      /** Wait for thread to terminate
        @return  status code that indicates the execution status of the function.
        @note not callable from interrupt
      */
      osStatus join();
  
      /** Terminate execution of a thread and remove it from Active Threads
        @return  status code that indicates the execution status of the function.
      */
      osStatus terminate();
  
      /** Set priority of an active thread
        @param   priority  new priority value for the thread function.
        @return  status code that indicates the execution status of the function.
      */
      osStatus set_priority(osPriority priority);
  
      /** Get priority of an active thread
        @return  current priority value of the thread function.
      */
      osPriority get_priority();
  
      /** Set the specified Signal Flags of an active thread.
        @param   signals  specifies the signal flags of the thread that should be set.
        @return  previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
      */
      int32_t signal_set(int32_t signals);
  
      /** Clears the specified Signal Flags of an active thread.
        @param   signals  specifies the signal flags of the thread that should be cleared.
        @return  resultant signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
      */
      int32_t signal_clr(int32_t signals);
  
      /** State of the Thread */
      enum State {
          Inactive,           /**< Not created or terminated */
          Ready,              /**< Ready to run */
          Running,            /**< Running */
          WaitingDelay,       /**< Waiting for a delay to occur */
          WaitingInterval,    /**< Waiting for an interval to occur */
          WaitingOr,          /**< Waiting for one event in a set to occur */
          WaitingAnd,         /**< Waiting for multiple events in a set to occur */
          WaitingSemaphore,   /**< Waiting for a semaphore event to occur */
          WaitingMailbox,     /**< Waiting for a mailbox event to occur */
          WaitingMutex,       /**< Waiting for a mutex event to occur */
      };
  
      /** State of this Thread
        @return  the State of this Thread
      */
      State get_state();
      
      /** Get the total stack memory size for this Thread
        @return  the total stack memory size in bytes
      */
      uint32_t stack_size();
      
      /** Get the currently unused stack memory for this Thread
        @return  the currently unused stack memory in bytes
      */
      uint32_t free_stack();
      
      /** Get the currently used stack memory for this Thread
        @return  the currently used stack memory in bytes
      */
      uint32_t used_stack();
      
      /** Get the maximum stack memory usage to date for this Thread
        @return  the maximum stack memory usage to date in bytes
      */
      uint32_t max_stack();
  
      /** Wait for one or more Signal Flags to become signaled for the current RUNNING thread.
        @param   signals   wait until all specified signal flags set or 0 for any single signal flag.
        @param   millisec  timeout value or 0 in case of no time-out. (default: osWaitForever).
        @return  event flag information or error code.
        @note not callable from interrupt
      */
      static osEvent signal_wait(int32_t signals, uint32_t millisec=osWaitForever);
  
      /** Wait for a specified time period in millisec:
        @param   millisec  time delay value
        @return  status code that indicates the execution status of the function.
        @note not callable from interrupt
      */
      static osStatus wait(uint32_t millisec);
  
      /** Pass control to next thread that is in state READY.
        @return  status code that indicates the execution status of the function.
        @note not callable from interrupt
      */
      static osStatus yield();
  
      /** Get the thread id of the current running thread.
        @return  thread ID for reference by other functions or NULL in case of error.
      */
      static osThreadId gettid();
      
      /** Attach a function to be called by the RTOS idle task
        @param   fptr  pointer to the function to be called
      */
      static void attach_idle_hook(void (*fptr)(void));
  
      virtual ~Thread();
  
  private:
      // Required to share definitions without
      // delegated constructors
      void constructor(osPriority priority=osPriorityNormal,
                       uint32_t stack_size=DEFAULT_STACK_SIZE,
                       unsigned char *stack_pointer=NULL);
      void constructor(mbed::Callback<void()> task,
                       osPriority priority=osPriorityNormal,
                       uint32_t stack_size=DEFAULT_STACK_SIZE,
                       unsigned char *stack_pointer=NULL);
  
      mbed::Callback<void()> _task;
      osThreadId _tid;
      osThreadDef_t _thread_def;
      bool _dynamic_stack;
  };
  
  }
  #endif
  