thread_controller.h

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/**
 *  @file thread_controller.h
 * 
 *  @date Jan 5, 2019
 *  @author Matthew Kennedy, (c) 2019
 */
 
#pragma once
 
/**
 * @brief 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)
 */
template <int TStackSize>
class ThreadController : public chibios_rt::BaseStaticThread<TStackSize>
{
private:
    const tprio_t m_prio;
    /* TODO: use ref instead of m_started */
    bool m_started = false;
    chibios_rt::ThreadReference ref;
 
protected:
    // Override this function to implement your controller's thread's behavior.
    virtual void ThreadTask() = 0;
 
    void main() override {
        this->setName(m_name);
 
        ThreadTask();
    }
 
    const char* const m_name;
 
public:
    ThreadController(const char* name, tprio_t priority)
        : m_prio(priority)
        , m_name(name)
    {
    }
 
    using chibios_rt::BaseStaticThread<TStackSize>::start;
 
    /**
     * @brief Start the thread.
     */
    void start()
    {
        if (!m_started)
        {
            m_started = true;
            ref = chibios_rt::BaseStaticThread<TStackSize>::start(m_prio);
        }
    }
 
    /**
     * @brief Request thread termination and waits for termination
     *
     * Thread should periadicaly execute something like:
     * if (chThdShouldTerminateX())
     *      chThdExit((msg_t)0x0);
     */
    void stop()
    {
        if (m_started) {
            /* Asking for thread termination.*/
            ref.requestTerminate();
 
            /* Waiting for termination, releasing the reference.*/
            ref.wait();
 
            m_started = false;
        }
    }
};