thread.hpp

[詳解]

#pragma once
 
#include <cstddef>
#include <cstdint>
#include <functional>
#include <memory>
#include <type_traits>
 
#include <cmsis_os2.h>
 
namespace halx::rtos {
 
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(void (*func)(void *), void *args, size_t stack_size,
         osPriority_t priority, uint32_t attr_bits = 0) {
    osThreadAttr_t attr{};
    attr.stack_size = stack_size;
    attr.priority = priority;
    attr.attr_bits = attr_bits;
    thread_id_ = ThreadId{osThreadNew(func, args, &attr)};
  }
 
  Thread(std::function<void()> &&func, size_t stack_size, osPriority_t priority,
         uint32_t attr_bits = 0)
      : func_{std::move(func)} {
    osThreadAttr_t attr{};
    attr.stack_size = stack_size;
    attr.priority = priority;
    attr.attr_bits = attr_bits;
    thread_id_ = ThreadId{osThreadNew(
        [](void *args) {
          auto func = reinterpret_cast<std::function<void()> *>(args);
          (*func)();
        },
        &func_, &attr)};
  }
 
  bool detach() { return osThreadDetach(thread_id_.get()) == osOK; }
 
  bool join() { return osThreadJoin(thread_id_.get()) == osOK; }
 
private:
  ThreadId thread_id_;
  std::function<void()> func_;
};
 
} // namespace halx::rtos