src/arch/freeRTOS/forte_thread.h

/************************************************************************************
 * Copyright (c) 2016 fortiss GmbH
 * All rights reserved. This program and the accompanying materials
 * are made available under the terms of the Eclipse Public License v1.0
 * which accompanies this distribution, and is available at
 * http://www.eclipse.org/legal/epl-v10.html
 *
 * Contributors:
 * Milan Vathoopan, Guru Chandrasekhara - initial API and implementation and/or initial documentation
 * Jose Cabral - Cleaning
 ************************************************************************************/

#ifndef SRC_ARCH_FREERTOS_THREAD_H_
#define SRC_ARCH_FREERTOS_THREAD_H_

#include "../datatype.h"
#include "../devlog.h"
#include "../../core/datatypes/forte_time.h"
#include "../threadbase.h"
#include "forte_sync.h"

extern "C" {
#include <FreeRTOS_Source/include/FreeRTOS.h>
#include <FreeRTOS_Source/include/task.h>
}

#define CThread     CFreeRTOSThread  //allows that doxygen can generate better documenation
class CFreeRTOSThread;

typedef CFreeRTOSThread *TFreeRTOSThreadPtr;

/**  \defgroup FreeRTOS-HAL FreeRTOS FORTE Hardware Abstraction Layer
 *\ingroup FORTE-HAL
 * \brief The FORTE-HAL implementation for the FreeRTOS operating system.
 *
 *
 */
/*! \ingroup FreeRTOS-HAL
 * \brief This class is a wrapper class the FreeRTOS multitasking support
 */

class CFreeRTOSThread : public forte::arch::CThreadBase<TaskHandle_t> {
  public:
    /*! \brief Constructor of the Thread class
     *
     *  Does all the necessary steps in order to get the thread running with the start()-method
     *  @param pa_nStackSize the Size of the stack the thread is allowed to use. this class will
     *         allocate the stack size in bytes from the heap
     */
    explicit CFreeRTOSThread(long paStackSize = configMINIMAL_STACK_SIZE);

    /*! \brief Stops and destroys thread.
     *
     *  Will stop the execution if running and destroy the thread including all system specific data.
     */
    virtual ~CFreeRTOSThread();

    //!Set the deadline of the thread.
    void setDeadline(const CIEC_TIME &paVal);

    /*! \brief Sleep the calling thread
     *
     * @param pa_miliSeconds The miliseconds for the thread to sleep
     */

    static void sleepThread(unsigned int paMilliSeconds);

  protected:

    void setPriority(int paPriority){
      DEVLOG_DEBUG(">>>>Thread: Set Priority: %d\n", paPriority);
      vTaskPrioritySet(getThreadHandle(), paPriority);
    }

  private:
    /*!\brief Function that is given to the system thread support that should be called for the thread.
     *
     * this function will call the run method of the thread instance.
     * FreeRTOS requirement that this has to static function! or it has to static_casted
     */
    static void threadFunction(void *paData);

    /*! \brief Creates a new thread.
     *
     *  With this function all the setup things for a new thread are done. The Thread created is initial
     *  suspended and with the start() method the execution of the code in the run() method is started.
     */
    virtual TThreadHandleType createThread(long paStackSize);

    static const int scmForteTaskPriority;

};


#endif /* SRC_ARCH_FREERTOS_THREAD_H_ */