urtware / urt_osal.h @ b247db3f
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/*
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µRtWare is a lightweight publish/subscribe middleware for real-time
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applications. It was developed as part of the software habitat for the
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Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
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Copyright (C) 2018..2020 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef URT_OSAL_H
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#define URT_OSAL_H
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#include <urtware.h> |
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/*============================================================================*/
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/* VERSION */
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/*============================================================================*/
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/**
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* @brief The µRtWare operating system abstraction layer interface major version.
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* @note Changes of the major version imply incompatibilities.
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*/
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#define URT_OSAL_VERSION_MAJOR 0 |
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/**
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* @brief The µRtWare operating system abstraction layer interface minor version.
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* @note A higher minor version implies new functionalty, but all old interfaces are still available.
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*/
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#define URT_OSAL_VERSION_MINOR 1 |
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/*============================================================================*/
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/* DEPENDENCIES */
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/*============================================================================*/
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#include <stdint.h> |
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/*============================================================================*/
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/* DEBUG */
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/*============================================================================*/
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#if defined(__cplusplus)
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extern "C" { |
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#endif /* defined(__cplusplus) */ |
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#if !defined(urtDebugAssert) || defined(__DOXYGEN__)
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/**
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* @brief Assert function to check a given condition.
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*
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* @param[in] condition The condition to check.
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*/
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void urtDebugAssert(const bool condition); |
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#endif /* !defined(urtDebugAssert) */ |
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#if defined(__cplusplus)
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} |
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#endif /* defined(__cplusplus) */ |
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/*============================================================================*/
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/* MUTEX */
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/*============================================================================*/
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/*
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* The following type must be defined by the implementation:
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*
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* urt_osMutex_t
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* Type to represent a mutex lock object.
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* Is only used via pointers by the API.
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*/
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#if defined(__cplusplus)
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extern "C" { |
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#endif /* defined(__cplusplus) */ |
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#if !defined(urtMutexInit) || defined(__DOXYGEN__)
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/**
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* @brief Initialize a mutex lock object.
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*
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* @param[in] mutex Pointer to the mutex lock object to initialize.
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* Must not be NULL.
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*/
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void urtMutexInit(urt_osMutex_t* mutex);
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#endif /* !defined(urtMutexInit) */ |
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#if !defined(urtMutexLock) || defined(__DOXYGEN__)
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/**
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* @brief Lock a mutex lock.
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* @details The calling thread is blocked until the mutex lock could be acquired.
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*
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* @param[in] mutex Pointer to the mutex lock to acquire.
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* Must not be NULL.
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*/
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void urtMutexLock(urt_osMutex_t* mutex);
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#endif /* !defined(urtMutexLock) */ |
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#if !defined(urtMutexTryLock) || defined(__DOXYGEN__)
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/**
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* @brief Try to lock a mutex lock.
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* @details This function does not block but returns immediately.
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*
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* @param[in] mutex Pointer to the mutex lock to acquire.
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*
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* @return Indicator whether the lock was acquired.
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* @retval true The lock was acquired successfully.
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* @retval false The lock could not be acquired.
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*/
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bool urtMutexTryLock(urt_osMutex_t* mutex);
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#endif /* !defined(urtMutexTryLock) */ |
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#if !defined(urtMutexUnlock) || defined(__DOXYGEN__)
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/**
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* @brief Unlock an owned mutex lock.
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*
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* @param[in] mutex Pointer to the mutex lock to unlock.
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* Must not be NULL.
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*/
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void urtMutexUnlock(urt_osMutex_t* mutex);
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#endif /* !defined(urtMutexUnlock) */ |
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#if defined(__cplusplus)
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} |
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#endif /* defined(__cplusplus) */ |
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/*============================================================================*/
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/* CONDITION VARIABLE */
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/*============================================================================*/
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/*
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* The following type must be defined by the implementation:
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*
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* urt_osCondvar_t
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* Type to represent a condition variable object.
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* Is only used via pointers by the API.
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*/
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/**
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* @brief Status type of condition variables.
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*/
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typedef enum { |
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URT_CONDVAR_WAITSTATUS_SIGNAL = 1, /**< The condition variable has been signaled individually. */ |
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URT_CONDVAR_WAITSTATUS_BROADCAST = 2, /**< The condition variable has been signal via broadcast. */ |
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URT_CONDVAR_WAITSTATUS_TIMEOUT = 0, /**< Waiting for the condition variable timed out. */ |
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} urt_osCondvarWaitStatus_t; |
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#if defined(__cplusplus)
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extern "C" { |
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#endif /* defined(__cplusplus) */ |
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#if !defined(urtCondvarInit) || defined(__DOXYGEN__)
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/**
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* @brief Initialize a condition variable object.
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*
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* @param[in] condvar Pointer to the object to initialize.
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* Must not be NULL.
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*/
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void urtCondvarInit(urt_osCondvar_t* condvar);
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#endif /* !defined(urtCondvarInit) */ |
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#if !defined(urtCondvarSignal) || defined(__DOXYGEN__)
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/**
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* @brief Signal a condition variable (wake one waiting thread).
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*
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* @param[in] condvar Pointer to the condition variable to signal.
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* Must not be NULL.
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*/
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void urtCondvarSignal(urt_osCondvar_t* condvar);
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#endif /* !defined(urtCondvarSignal) */ |
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#if !defined(urtCondvarBroadcast) || defined(__DOXYGEN__)
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/**
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* @brief Signal a condition variable via broadcast (wake all waiting threads).
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*
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* @param[in] condvar Pointer to the condition variable to signal via broadcast.
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* Must not be NULL.
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*/
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void urtCondvarBroadcast(urt_osCondvar_t* condvar);
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#endif /* !defined(urtCondvarBroadcast) */ |
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#if (!defined(urtCondvarWait) && (URT_CFG_OSAL_CONDVAR_TIMEOUT == true)) || defined(__DOXYGEN__) |
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/**
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* @brief Wait for a condition variable to be signaled or timeout.
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*
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* @param[in] condvar Pointer to the condition variabel to wait for.
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* Must not be NULL.
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* @param[in] mutex Pointer to the associated mutex lock.
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* Must not be NULL.
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* Mutex must be acquired when this function is called.
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* @param[in] timeout Timeout (in microseconds) when the function will return even without the condition variable being signaled.
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* Use URT_DELAY_INFINITE to deactivate timeout.
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* @return
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*/
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urt_osCondvarWaitStatus_t urtCondvarWait(urt_osCondvar_t* condvar, urt_osMutex_t* mutex, urt_delay_t timeout); |
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#else /* !defined(urtCondvarWait) && (URT_CFG_OSAL_CONDVAR_TIMEOUT == true) */ |
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urt_osCondvarWaitStatus_t urtCondvarWait(urt_osCondvar_t* condvar, urt_osMutex_t* mutex); |
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#endif /* !defined(urtCondvarWait) && (URT_CFG_OSAL_CONDVAR_TIMEOUT == true) */ |
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#if defined(__cplusplus)
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} |
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#endif /* defined(__cplusplus) */ |
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/*============================================================================*/
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/* EVENTS */
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/*============================================================================*/
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/*
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* The following types and constants must be defined by the implementation:
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*
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* urt_osEventSource_t
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* Type to represent an event source object.
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* Is only used via pointers by the API.
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*
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* urt_osEventListener_t
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* Type to represent an event listener object.
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* Is only used via pointers by the API.
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*
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* urt_osEventMask_t
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* Integer type to represent event masks.
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*
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* urt_osEventFlags_t
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* Integer type to represent event flags.
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*
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* URT_EVENTMASK_MAXPRIO
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* Constant of type urt_osEventMask_t to specify the event mask that is
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* handled with maximum priority.
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* This constant is typically either 0x0..1 (low values have high priority)
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* or 0x8..0 (high values have high priority).
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* A value of 0 indicates that priorities are not supported.
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*/
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/**
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* @brief Enum type to distinguish differnt variants how to wait for events.
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*/
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typedef enum { |
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URT_EVENT_WAIT_ONE = 0, /**< Wait for exactly one of the specified events. */ |
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URT_EVENT_WAIT_ANY = 1, /**< Wait for any (one or more) of the specified events. */ |
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URT_EVENT_WAIT_ALL = 2, /**< Wait for all of the specified events. */ |
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} urt_osEventWait_t; |
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#if defined(__cplusplus)
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extern "C" { |
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#endif /* defined(__cplusplus) */ |
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#if !defined(urtEventSourceInit) || defined(__DOXYGEN__)
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/**
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* @brief Initialize an event source object.
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*
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* @param[in] source Pointer to the event source object to initialize.
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* Must not be NULL.
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*/
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void urtEventSourceInit(urt_osEventSource_t* source);
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#endif /* !defined(urtEventSourceInit) */ |
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#if !defined(urtEventSourceBroadcast) || defined(__DOXYGEN__)
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/**
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* @brief Broadcast an event with specified flags.
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*
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* @param[in] source Pointer to the event source to broadcast the event.
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* Must not be NULL.
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* @param[in] flags Flags to be set at the recieveing listeners.
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*/
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void urtEventSourceBroadcast(urt_osEventSource_t* source, urt_osEventFlags_t flags);
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#endif /* !defined(urtEventSourceBroadcast) */ |
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#if !defined(urtEventListenerInit) || defined(__DOXYGEN__)
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/**
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* @brief Initialize an event listener object.
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* Must not be NULL.
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*
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* @param[in] listener Pointer to the event listener object to initialize.
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*/
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void urtEventListenerInit(urt_osEventListener_t* listener);
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#endif /* !defined(urtEventListenerInit) */ |
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#if !defined(urtEventListenerGetFlags) || defined(__DOXYGEN__)
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/**
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* @brief Retrieve the currently set flags of an event listener.
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* @details Flags are not cleared in the listener.
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*
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* @param[in] listener Pointer to the event listener to recieve the flags from.
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* Must not be NULL.
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*
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* @return Currently set flags.
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*/
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urt_osEventFlags_t urtEventListenerGetFlags(urt_osEventListener_t* listener); |
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#endif /* !defined(urtEventListenerGetFlags) */ |
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#if !defined(urtEventListenerClearFlags) || defined(__DOXYGEN__)
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/**
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* @brief Retrieve and clear the currently set flags from an event listener.
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*
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* @param[in] listener Pointer to the event listener to recieve the flags from.
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* Must not be NULL.
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*
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* @return The flags that had been set at the listener.
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*/
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urt_osEventFlags_t urtEventListenerClearFlags(urt_osEventListener_t* listener); |
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#endif /* !defined(urtEventListenerClearFlags) */ |
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#if !defined(urtEventRegister) || defined(__DOXYGEN__)
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/**
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* @brief Register an event source to a listener.
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*
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* @param[in] source Pointer to the event source to register.
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* Must not be NULL.
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* @param[in] listener Pointer to the event listener to register.
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* Must not be NULL.
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* @param[in] mask Mask to be set at the listening thread on an event.
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* @param[in] flags Flags to be set by default at the listener on an event,
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*/
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void urtEventRegister(urt_osEventSource_t* source, urt_osEventListener_t* listener, urt_osEventMask_t mask, urt_osEventFlags_t flags);
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#endif /* !defined(urtEventRegister) */ |
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#if !defined(urtEventUnregister) || defined(__DOXYGEN__)
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/**
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* @brief Unregister an associated event source and listener.
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*
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* @param[in] source Pointer to the event source to unregister.
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* Must not be NULL.
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* @param[in] listener Pointer to the event listener to unregister.
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* Must not be NULL.
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*/
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void urtEventUnregister(urt_osEventSource_t* source, urt_osEventListener_t* listener);
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#endif /* !defined(urtEventUnregister) */ |
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#if !defined(urtEventWait) || defined(__DOXYGEN__)
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/**
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* @brief Wait for one/any/all event(s) to be recieved or a timeout.
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*
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* @param[in] mask The mask of event to wait for.
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* @param[in] type Specificator whether to wait for exactly one, any combination or all of the specified mask flags.
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* @param[in] timeout Timeout when the function shall return even if no event was recieved.
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*
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* @return The recieved event mask.
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*/
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urt_osEventMask_t urtEventWait(urt_osEventMask_t mask, urt_osEventWait_t type, urt_delay_t timeout); |
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#endif /* !defined(urtEventWait) */ |
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#if defined(__cplusplus)
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} |
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#endif /* defined(__cplusplus) */ |
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/*============================================================================*/
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/* STREAMS */
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/*============================================================================*/
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#if defined(__cplusplus)
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extern "C" { |
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#endif /* defined(__cplusplus) */ |
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#if !defined(urtPrintf) || defined(__DOXYGEN__)
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/**
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* @brief Prints a formatted string to standard output.
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*
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* @param[in] fmt The formatted string to be printed.
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*
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* @return Number of characters printed.
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*/
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int urtPrintf(char* fmt, ...); |
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#endif /* !defined(urtPrintf) */ |
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#if !defined(urtErrPrintf) || defined(__DOXYGEN__)
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/**
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* @brief Prints a formatted string to error output.
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*
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* @param[in] fmt The formatted string to be printed.
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*
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* @return Number of characters printed.
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*/
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int urtErrPrintf(char* fmt, ...); |
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#endif /* !defined(urtErrPrintf) */ |
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#if defined(__cplusplus)
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} |
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#endif /* defined(__cplusplus) */ |
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/*============================================================================*/
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/* TIME */
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/*============================================================================*/
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/*
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* The following type must be defined by the implementation:
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*
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* urt_osTime_t
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* Type to represent a time object.
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* This type may be of any precision.
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* Is only used via pointers by the API.
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*/
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#if defined(__cplusplus)
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extern "C" { |
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#endif /* defined(__cplusplus) */ |
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#if !defined(urtTime2Us) || defined(__DOXYGEN__)
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/**
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* @brief Convert an OS time to microsecond value.
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*
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* @param[in] t The time to convert.
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* Must not be NULL
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*
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* @return The equivalent time in microseconds.
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*/
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uint64_t urtTime2Us(urt_osTime_t* t); |
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#endif /* !defined(urtTime2Us) */ |
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#if !defined(urtTimeNow) || defined(__DOXYGEN__)
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/**
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* @brief Get the current system time.
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*
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* @return Current system time as provide by the operating system.
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*/
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urt_osTime_t urtTimeNow(void);
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#endif /* !defined(urtTimeNow) */ |
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#if !defined(urtTimeAddUs) || defined(__DOXYGEN__)
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/**
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* @brief Add microseconds to a specified system time.
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*
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* @param[in] time Pointer to the time value to be incremented.
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* Must not be NULL.
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* @param[in] offset Amount of microseconds to add.
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*/
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void urtTimeAddUs(urt_osTime_t* time, urt_delay_t offset);
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#endif /* !defined(urtTimeAddUs) */ |
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#if defined(__cplusplus)
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} |
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#endif /* defined(__cplusplus) */ |
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/*============================================================================*/
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/* THREAD */
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/*============================================================================*/
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/*
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* The following types, constants and macros must be defined by the
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* implementation:
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*
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* urt_osThread_t
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* Type to represent an thread object.
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* Is only used via pointers by the API.
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*
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* urt_osThreadPrio_t
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* Integer type to represent thread priorities.
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*
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* URT_THREAD_PRIO_LOW_MIN
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* Constant of type urt_osThreadPrio_t, specifying the minimum priority for
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* low-priority threads.
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* Must be greater than the idle thread priority.
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*
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* URT_THREAD_PRIO_LOW_MAX
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* Constant of type urt_osThreadPrio_t, specifying the maximum priority for
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* low-priority threads.
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* Must be greater or equal URT_THREAD_PRIO_LOW_MIN.
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*
|
| 465 |
* URT_THREAD_PRIO_NORMAL_MIN
|
| 466 |
* Constant of type urt_osThreadPrio_t, specifying the minimum priority for
|
| 467 |
* normal-priority threads.
|
| 468 |
* Must be greater than URT_THREAD_PRIO_LOW_MAX.
|
| 469 |
*
|
| 470 |
* URT_THREAD_PRIO_NORMAL_MAX
|
| 471 |
* Constant of type urt_osThreadPrio_t, specifying the maximum priority for
|
| 472 |
* normal-priority threads.
|
| 473 |
* Must be greater or equal URT_THREAD_PRIO_NORMAL_MIN.
|
| 474 |
*
|
| 475 |
* URT_THREAD_PRIO_HIGH_MIN
|
| 476 |
* Constant of type urt_osThreadPrio_t, specifying the minimum priority for
|
| 477 |
* high-priority threads.
|
| 478 |
* Must be greater than URT_THREAD_PRIO_NORMAL_MAX.
|
| 479 |
*
|
| 480 |
* URT_THREAD_PRIO_HIGH_MAX
|
| 481 |
* Constant of type urt_osThreadPrio_t, specifying the maximum priority for
|
| 482 |
* high-priority threads.
|
| 483 |
* Must be greater or equal URT_THREAD_PRIO_HIGH_MIN.
|
| 484 |
*
|
| 485 |
* URT_THREAD_PRIO_RT_MIN
|
| 486 |
* Constant of type urt_osThreadPrio_t, specifying the minimum priority for
|
| 487 |
* real-time threads.
|
| 488 |
* Must be greater than URT_THREAD_PRIO_HIGH_MAX.
|
| 489 |
*
|
| 490 |
* URT_THREAD_PRIO_RT_MAX
|
| 491 |
* Constant of type urt_osThreadPrio_t, specifying the maximum priority for
|
| 492 |
* real-time threads.
|
| 493 |
* Must be greater or equal URT_THREAD_PRIO_HIGH_MIN but lower than the
|
| 494 |
* control/root thread priority.
|
| 495 |
*
|
| 496 |
* URT_THREAD_SLEEP_MAX
|
| 497 |
* Constant of type float specifying the maximum time (in seconds) a thread
|
| 498 |
* may sleep via the urtThreadSleep() function.
|
| 499 |
*
|
| 500 |
* URT_THREAD_SSLEEP_MAX
|
| 501 |
* Constant of type urt_delay_t specifying the maximum number of seconds a
|
| 502 |
* thread may sleep via the urtThreadSSleep() function.
|
| 503 |
*
|
| 504 |
* URT_THREAD_MSLEEP_MAX
|
| 505 |
* Constant of type urt_delay_t specifying the maximum number of milliseconds
|
| 506 |
* a thread may sleep via the urtThreadMSleep() function.
|
| 507 |
*
|
| 508 |
* URT_THREAD_USLEEP_MAX
|
| 509 |
* Constant of type urt_delay_t specifying the maximum number of microseconds
|
| 510 |
* a thread may sleep via the urtThreadUSleep() function.
|
| 511 |
*
|
| 512 |
* URT_THREAD_MEMORY(varname, stacksize)
|
| 513 |
* Macro function to staically allocate a variable 'varname', which holds all
|
| 514 |
* memory required to hold a thread object with the specified stacksize.
|
| 515 |
*/
|
| 516 |
|
| 517 |
/**
|
| 518 |
* @brief Enum type for various thread states.
|
| 519 |
*/
|
| 520 |
typedef enum { |
| 521 |
URT_THREAD_STATE_INACTIVE = 0, /**< The thread has not been started yet. */ |
| 522 |
URT_THREAD_STATE_RUNNING = 1, /**< The thread is currently being executed on a CPU. */ |
| 523 |
URT_THREAD_STATE_READY = 2, /**< The thread is ready to be scheduled for execution. */ |
| 524 |
URT_THREAD_STATE_SLEEPING = 3, /**< The thread is currently sleeping for a defined amount of time. */ |
| 525 |
URT_THREAD_STATE_SUSPENDED = 4, /**< Execution of the thread has been suspended. */ |
| 526 |
URT_THREAD_STATE_WAITING = 5, /**< The thread is currently waiting for an event. */ |
| 527 |
URT_THREAD_STATE_TERMINATED = 6, /**< The thread has been terminated. */ |
| 528 |
} urt_osThreadState_t; |
| 529 |
|
| 530 |
/**
|
| 531 |
* @brief Enum type for various termination signals.
|
| 532 |
*/
|
| 533 |
typedef enum { |
| 534 |
URT_THREAD_TERMINATE_REQUEST = 15, /**< Request a thread to terminate in a cooperative manner. */ |
| 535 |
URT_THREAD_TERMINATE_KILL = 9, /**< Terminate a thread in a non-cooperative manner (force). */ |
| 536 |
} urt_osThreadTerminateSignal_t; |
| 537 |
|
| 538 |
/**
|
| 539 |
* @brief Thread function.
|
| 540 |
*
|
| 541 |
* @param[in] arg Pointer to optional arguments.
|
| 542 |
* May be NULL.
|
| 543 |
*/
|
| 544 |
typedef void (*urt_osThreadFunction_t)(void* arg); |
| 545 |
|
| 546 |
#if defined(__cplusplus)
|
| 547 |
extern "C" { |
| 548 |
#endif /* defined(__cplusplus) */ |
| 549 |
|
| 550 |
#if !defined(urtThreadInit) || defined(__DOXYGEN__)
|
| 551 |
/**
|
| 552 |
* @brief Initialize a thread object.
|
| 553 |
* @details The new thread becomes a child of the calling thread.
|
| 554 |
*
|
| 555 |
* @param[in] memory Pointer to the memory where to create the thread object.
|
| 556 |
* Must not be NULL.
|
| 557 |
* @param[in] size Size of the memory.
|
| 558 |
* @param[in] prio Initial priority of the thread.
|
| 559 |
* @param[in] func Pointer to the thread function the thread shall execute.
|
| 560 |
* Must not be NULL.
|
| 561 |
* @param[in] arg Pointer to optional function arguments.
|
| 562 |
* May be NULL.
|
| 563 |
*
|
| 564 |
* @return Pointer to the created thread object.
|
| 565 |
*/
|
| 566 |
urt_osThread_t* urtThreadInit(void* memory, size_t size, urt_osThreadPrio_t prio, urt_osThreadFunction_t func, void* arg); |
| 567 |
#endif /* !defined(urtThreadInit) */ |
| 568 |
|
| 569 |
#if !defined(urtThreadStart) || defined(__DOXYGEN__)
|
| 570 |
/**
|
| 571 |
* @brief Start execution of a thread.
|
| 572 |
*
|
| 573 |
* @param[in] thread Pointer to the thread to start.
|
| 574 |
* Must not be NULL.
|
| 575 |
*/
|
| 576 |
void urtThreadStart(urt_osThread_t* thread);
|
| 577 |
#endif /* !defined(urtThreadStart) */ |
| 578 |
|
| 579 |
#if !defined(urtThreadYield) || defined(__DOXYGEN__)
|
| 580 |
/**
|
| 581 |
* @brief Yield execution of the calling thread.
|
| 582 |
*/
|
| 583 |
void urtThreadYield(void); |
| 584 |
#endif /* !defined(urtThreadYield) */ |
| 585 |
|
| 586 |
#if !defined(urtThreadGetPriority) || defined(__DOXYGEN__)
|
| 587 |
/**
|
| 588 |
* @brief Retrieve the current priority of the calling thread.
|
| 589 |
*
|
| 590 |
* @return Current priority.
|
| 591 |
*/
|
| 592 |
urt_osThreadPrio_t urtThreadGetPriority(void);
|
| 593 |
#endif /* !defined(urtThreadGetPriority) */ |
| 594 |
|
| 595 |
#if !defined(urtThreadSetPriority) || defined(__DOXYGEN__)
|
| 596 |
/**
|
| 597 |
* @brief Set the priority of the calling thread.
|
| 598 |
*
|
| 599 |
* @param[in] prio The new priority to set.
|
| 600 |
*/
|
| 601 |
void urtThreadSetPriority(urt_osThreadPrio_t prio);
|
| 602 |
#endif /* !defined(urtThreadSetPriority) */ |
| 603 |
|
| 604 |
#if !defined(urtThreadSleep) || defined(__DOXYGEN__)
|
| 605 |
/**
|
| 606 |
* @brief The calling thread sleeps for the given amount of time.
|
| 607 |
*
|
| 608 |
* @param[in] seconds Time in seconds to sleep.
|
| 609 |
* Must not be greater than URT_THREAD_SLEEP_MAX.
|
| 610 |
*/
|
| 611 |
void urtThreadSleep(float seconds); |
| 612 |
#endif /* !defined(urtThreadSleep) */ |
| 613 |
|
| 614 |
#if !defined(urtThreadSSleep) || defined(__DOXYGEN__)
|
| 615 |
/**
|
| 616 |
* @brief The calling thread sleeps for the given amount of seconds.
|
| 617 |
*
|
| 618 |
* @param[in] seconds Time in seconds to sleep.
|
| 619 |
* Must not be greater than URT_THREAD_SSLEP_MAX.
|
| 620 |
*/
|
| 621 |
void urtThreadSSleep(unsigned int seconds); |
| 622 |
#endif /* !defined(urtThreadSSleep) */ |
| 623 |
|
| 624 |
#if !defined(urtThreadMSleep) || defined(__DOXYGEN__)
|
| 625 |
/**
|
| 626 |
* @brief The calling thread sleeps for the given amount of milliseconds.
|
| 627 |
*
|
| 628 |
* @param[in] milliseconds Time in milliseconds to sleep.
|
| 629 |
* Must not be greater than URT_THREAD_MSLEP_MAX.
|
| 630 |
*/
|
| 631 |
void urtThreadMSleep(unsigned int milliseconds); |
| 632 |
#endif /* !defined(urtThreadMSleep) */ |
| 633 |
|
| 634 |
#if !defined(urtThreadUSleep) || defined(__DOXYGEN__)
|
| 635 |
/**
|
| 636 |
* @brief The calling thread sleeps for the gven amount of microseconds.
|
| 637 |
*
|
| 638 |
* @param[in] microseconds Time in microseconds to sleep.
|
| 639 |
* Must not be greater than URT_THREAD_USLEP_MAX.
|
| 640 |
*/
|
| 641 |
void urtThreadUSleep(urt_delay_t microseconds);
|
| 642 |
#endif /* !defined(urtThreadUSleep) */ |
| 643 |
|
| 644 |
#if !defined(urtThreadSleepUntil) || defined(__DOXYGEN__)
|
| 645 |
/**
|
| 646 |
* @brief The calling thread sleeps until the given point in time.
|
| 647 |
*
|
| 648 |
* @param[in] time Time when the thread shall wake up.
|
| 649 |
* If the current is already beyond the argument, the thread will not sleep at all.
|
| 650 |
*/
|
| 651 |
void urtThreadSleepUntil(urt_osTime_t time);
|
| 652 |
#endif /* !defined(urtThreadSleepUntil) */ |
| 653 |
|
| 654 |
#if !defined(urtThreadExit) || defined(__DOXYGEN__)
|
| 655 |
/**
|
| 656 |
* @brief The calling thread stops execution and terminates.
|
| 657 |
*/
|
| 658 |
void urtThreadExit(void); |
| 659 |
#endif /* !defined(urtThreadExit) */ |
| 660 |
|
| 661 |
#if !defined(urtThreadTerminate) || defined(__DOXYGEN__)
|
| 662 |
/**
|
| 663 |
* @brief Send a termination signal to a thread.
|
| 664 |
*
|
| 665 |
* @param[in] thread Thread to be signaled.
|
| 666 |
* Must not be NULL.
|
| 667 |
* @param[in] sig Type of termination.
|
| 668 |
*/
|
| 669 |
void urtThreadTerminate(urt_osThread_t* thread, urt_osThreadTerminateSignal_t sig);
|
| 670 |
#endif /* !defined(urtThreadTerminate) */ |
| 671 |
|
| 672 |
#if !defined(urtThreadJoin) || defined(__DOXYGEN__)
|
| 673 |
/**
|
| 674 |
* @brief Wait for a thread to terminate.
|
| 675 |
*
|
| 676 |
* @param[in] thread Pointer to the thread to wait for.
|
| 677 |
* Must not be NULL.
|
| 678 |
*/
|
| 679 |
void urtThreadJoin(urt_osThread_t* thread);
|
| 680 |
#endif /* !defined(urtThreadJoin) */ |
| 681 |
|
| 682 |
#if !defined(urtThreadGetState) || defined(__DOXYGEN__)
|
| 683 |
/**
|
| 684 |
* @brief Get the current execution status of a thread.
|
| 685 |
*
|
| 686 |
* @param[in] thread Pointer to the thread to get the status for.
|
| 687 |
* Must not be NULL.
|
| 688 |
*
|
| 689 |
* @return Execution status of the secified thread.
|
| 690 |
*/
|
| 691 |
urt_osThreadState_t urtThreadGetState(urt_osThread_t* thread); |
| 692 |
#endif /* !defined(urtThreadGetState) */ |
| 693 |
|
| 694 |
#if !defined(urtThreadGetSelf) || defined(__DOXYGEN__)
|
| 695 |
/**
|
| 696 |
* @brief Retrieve the thread object of the calling thread.
|
| 697 |
*
|
| 698 |
* @return Pointer to the thread that is currrently executed.
|
| 699 |
*/
|
| 700 |
urt_osThread_t* urtThreadGetSelf(void);
|
| 701 |
#endif /* !defined(urtThreadGetSelf) */ |
| 702 |
|
| 703 |
#if !defined(urtThreadGetChildren) || defined(__DOXYGEN__)
|
| 704 |
/**
|
| 705 |
* @brief Retrieve the first child of a thread.
|
| 706 |
*
|
| 707 |
* @param[in] thread Pointer to the thread to retrieve the child from.
|
| 708 |
* Must not be NULL.
|
| 709 |
*
|
| 710 |
* @return Pointer to the first child thread.
|
| 711 |
* May be NULL if the thread has no children.
|
| 712 |
*/
|
| 713 |
urt_osThread_t* urtThreadGetChildren(urt_osThread_t* thread); |
| 714 |
#endif /* !defined(urtThreadGetChildren) */ |
| 715 |
|
| 716 |
#if !defined(urtThreadGetSibling) || defined(__DOXYGEN__)
|
| 717 |
/**
|
| 718 |
* @brief Retrieve the next sibling of a thread.
|
| 719 |
*
|
| 720 |
* @param[in] thread Pointer to the thread to retrieve the sibling from.
|
| 721 |
*
|
| 722 |
* @return Pointer to the next sibling of the thread.
|
| 723 |
* May be NULL if the thread does not have any more siblings.
|
| 724 |
*/
|
| 725 |
urt_osThread_t* urtThreadGetSibling(urt_osThread_t* thread); |
| 726 |
#endif /* !defined(urtThreadGetSibling) */ |
| 727 |
|
| 728 |
#if !defined(urtThreadGetParent) || defined(__DOXYGEN__)
|
| 729 |
/**
|
| 730 |
* @brief Retrieve the parent of a thread.
|
| 731 |
*
|
| 732 |
* @param[in] thread Pointer to the thread to retrieve the parent from.
|
| 733 |
*
|
| 734 |
* @return Pointer to the parent thread.
|
| 735 |
* May be NULL if the specified thread is root.
|
| 736 |
*/
|
| 737 |
urt_osThread_t* urtThreadGetParent(urt_osThread_t* thread); |
| 738 |
#endif /* !defined(urtThreadGetParent) */ |
| 739 |
|
| 740 |
#if defined(__cplusplus)
|
| 741 |
} |
| 742 |
#endif /* defined(__cplusplus) */ |
| 743 |
|
| 744 |
/*============================================================================*/
|
| 745 |
/* TIMER */
|
| 746 |
/*============================================================================*/
|
| 747 |
|
| 748 |
/*
|
| 749 |
* The following type must be defined by the implementation:
|
| 750 |
*
|
| 751 |
* urt_osTimer_t
|
| 752 |
* Type to represent a timer object.
|
| 753 |
* Is only used via pointers by the API.
|
| 754 |
*/
|
| 755 |
|
| 756 |
/**
|
| 757 |
* @brief Timer callback function type.
|
| 758 |
* @details A timer executes a callback when its time ran out and it fires.
|
| 759 |
*
|
| 760 |
* @param[in] params Pointer to optional parameters for the callback function.
|
| 761 |
* May be NULL.
|
| 762 |
*/
|
| 763 |
typedef void (*urt_osTimerCallback_t)(void* parameter); |
| 764 |
|
| 765 |
#if defined(__cplusplus)
|
| 766 |
extern "C" { |
| 767 |
#endif /* defined(__cplusplus) */ |
| 768 |
|
| 769 |
#if !defined(urtTimerInit) || defined(__DOXYGEN__)
|
| 770 |
/**
|
| 771 |
* @brief Initialize a timer object.
|
| 772 |
*
|
| 773 |
* @param[in] timer Pointer to the timer object to initialize.
|
| 774 |
* Must not be NULL.
|
| 775 |
*/
|
| 776 |
void urtTimerInit(urt_osTimer_t* timer);
|
| 777 |
#endif /* !defined(urtTimerInit) */ |
| 778 |
|
| 779 |
#if !defined(urtTimerSet) || defined(__DOXYGEN__)
|
| 780 |
/**
|
| 781 |
* @brief Set a timer in single-shot mode.
|
| 782 |
*
|
| 783 |
* @param[in] timer Pointer to the timer to be armed.
|
| 784 |
* Must not be NULL.
|
| 785 |
* @param[in] delay Time after which the timer shall fire.
|
| 786 |
* @param[in] callback Pointer to the function to be called when the timer fires.
|
| 787 |
* Must not be NULL.
|
| 788 |
* @param[in] cbparams Optional parameters for the callback function.
|
| 789 |
* May be NULL.
|
| 790 |
*/
|
| 791 |
void urtTimerSet(urt_osTimer_t* timer, urt_delay_t delay, urt_osTimerCallback_t callback, void* cbparams); |
| 792 |
#endif /* !defined(urtTimerSet) */ |
| 793 |
|
| 794 |
#if !defined(urtTimerSetPeriodic) || defined(__DOXYGEN__)
|
| 795 |
/**
|
| 796 |
* @brief Set a timer in periodic mode.
|
| 797 |
*
|
| 798 |
* @param[in] timer Pointer to the timer to be armed.
|
| 799 |
* Must not be NULL.
|
| 800 |
* @param[in] period Time after which the timer shall fire periodically.
|
| 801 |
* @param[in] callback Pointer to the function to be called each time the timer fires.
|
| 802 |
* Must not be NULL.
|
| 803 |
* @param[in] cbparams Optional parameters for the callback function.
|
| 804 |
* May be NULL.
|
| 805 |
*/
|
| 806 |
void urtTimerSetPeriodic(urt_osTimer_t* timer, urt_delay_t period, urt_osTimerCallback_t callback, void* cbparams); |
| 807 |
#endif /* !defined(urtTimerSetPeriodic) */ |
| 808 |
|
| 809 |
#if !defined(urtTimerReset) || defined(__DOXYGEN__)
|
| 810 |
/**
|
| 811 |
* @brief Reset and disarm a timer.
|
| 812 |
*
|
| 813 |
* @param[in] timer Pointer to the timer to be reset.
|
| 814 |
* Must not be NULL.
|
| 815 |
*/
|
| 816 |
void urtTimerReset(urt_osTimer_t* timer);
|
| 817 |
#endif /* !defined(urtTimerReset) */ |
| 818 |
|
| 819 |
#if !defined(urtTimerIsArmed) || defined(__DOXYGEN__)
|
| 820 |
/**
|
| 821 |
* @brief Retrieve the current status of a timer.
|
| 822 |
*
|
| 823 |
* @param[in] timer Pointer to the timer to inspect.
|
| 824 |
* Must not be NULL.
|
| 825 |
*
|
| 826 |
* @return Flag, indicating whether or not the timer is currently armed.
|
| 827 |
*/
|
| 828 |
bool urtTimerIsArmed(urt_osTimer_t* timer);
|
| 829 |
#endif /* !defined(urtTimerIsArmed) */ |
| 830 |
|
| 831 |
#if defined(__cplusplus)
|
| 832 |
} |
| 833 |
#endif /* defined(__cplusplus) */ |
| 834 |
|
| 835 |
#endif /* URT_OSAL_H */ |