thread.hpp

[詳解]

#pragma once
 
#include <cstdint>
#include <functional>
#include <memory>
#include <type_traits>
 
#include "cmsis_os2.h"
 
namespace tutrcos {
namespace core {
 
class Thread {
private:
  struct Deleter {
    void operator()(osThreadId_t thread_id) { osThreadTerminate(thread_id); }
  };
 
  using ThreadId =
      std::unique_ptr<std::remove_pointer_t<osThreadId_t>, Deleter>;
 
public:
  Thread(std::function<void()> &&func) : func_{std::move(func)} {
    osThreadAttr_t attr = {};
    attr.stack_size = STACK_SIZE;
    attr.priority = PRIORITY;
    thread_id_ = ThreadId{osThreadNew(func_internal, this, &attr)};
  }
 
  static inline void yield() { osThreadYield(); }
 
  static inline void delay(uint32_t ticks) { osDelay(ticks); }
 
  static inline void delay_until(uint32_t ticks) { osDelayUntil(ticks); }
 
  [[noreturn]] static inline void exit() { osThreadExit(); }
 
private:
  static constexpr uint32_t STACK_SIZE = 4096;
  static constexpr osPriority_t PRIORITY = osPriorityNormal;
 
  ThreadId thread_id_;
  std::function<void()> func_;
 
  static inline void func_internal(void *thread) {
    reinterpret_cast<tutrcos::core::Thread *>(thread)->func_();
    exit();
  }
};
 
} // namespace core
} // namespace tutrcos