A base class for a controller that requires its own thread. More...

#include <thread_controller.h>

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Public Member Functions
	ThreadController (const char *name, tprio_t priority)

void	start ()
	Start the thread.

void	stop ()
	Request thread termination and waits for termination.

Protected Member Functions
virtual void	ThreadTask ()=0

void	main () override

Protected Attributes
const char *const	m_name

Private Attributes
const tprio_t	m_prio

bool	m_started = false

chibios_rt::ThreadReference	ref

Detailed Description

template<int TStackSize>
class ThreadController< TStackSize >

A base class for a controller that requires its own thread.

Inherit from ThreadController. Implement ThreadTask with the logic required for your thread. The template parameter specifies the size of the stack used for the thread. (because we have to allocate the stack at compile time, it has to be a template parameter instead of a normal parameter)

Definition at line 18 of file thread_controller.h.

Constructor & Destructor Documentation

◆ ThreadController()

template<int TStackSize>

ThreadController< TStackSize >::ThreadController	(	const char *	name,
		tprio_t	priority
	)

inline

Definition at line 39 of file thread_controller.h.

        : m_prio(priority)
        , m_name(name)
    {
    }

Member Function Documentation

◆ main()

template<int TStackSize>

void ThreadController< TStackSize >::main ( )

inlineoverrideprotected

Definition at line 30 of file thread_controller.h.

                         {
        this->setName(m_name);
 
        ThreadTask();
    }

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◆ start()

template<int TStackSize>

void ThreadController< TStackSize >::start ( )

inline

Start the thread.

Definition at line 50 of file thread_controller.h.

    {
        if (!m_started)
        {
            m_started = true;
            ref = chibios_rt::BaseStaticThread<TStackSize>::start(m_prio);
        }
    }

Referenced by initUsbMsd().

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◆ stop()

template<int TStackSize>

void ThreadController< TStackSize >::stop ( )

inline

Request thread termination and waits for termination.

Thread should periadicaly execute something like: if (chThdShouldTerminateX()) chThdExit((msg_t)0x0);

Definition at line 66 of file thread_controller.h.

    {
        if (m_started) {
            /* Asking for thread termination.*/
            ref.requestTerminate();
 
            /* Waiting for termination, releasing the reference.*/
            ref.wait();
 
            m_started = false;
        }
    }