DynamicThreadBase.hpp

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#ifndef INCLUDE_DISTORTOS_INTERNAL_SCHEDULER_DYNAMICTHREADBASE_HPP_
#define INCLUDE_DISTORTOS_INTERNAL_SCHEDULER_DYNAMICTHREADBASE_HPP_

#include "distortos/DynamicSignalsReceiver.hpp"
#include "distortos/DynamicThreadParameters.hpp"

#include "distortos/internal/memory/storageDeleter.hpp"

#include "distortos/internal/scheduler/ThreadCommon.hpp"

#include <functional>

namespace distortos
{

#if DISTORTOS_THREAD_DETACH_ENABLE == 1

class DynamicThread;

#endif  // DISTORTOS_THREAD_DETACH_ENABLE == 1

namespace internal
{

class DynamicThreadBase : public ThreadCommon
{
public:

#if DISTORTOS_THREAD_DETACH_ENABLE == 1

    template<typename Function, typename... Args>
    DynamicThreadBase(size_t stackSize, bool canReceiveSignals, size_t queuedSignals, size_t signalActions,
            uint8_t priority, SchedulingPolicy schedulingPolicy, DynamicThread& owner, Function&& function,
            Args&&... args);

#else   // DISTORTOS_THREAD_DETACH_ENABLE != 1

    template<typename Function, typename... Args>
    DynamicThreadBase(size_t stackSize, bool canReceiveSignals, size_t queuedSignals, size_t signalActions,
            uint8_t priority, SchedulingPolicy schedulingPolicy, Function&& function, Args&&... args);

    template<typename Function, typename... Args>
    DynamicThreadBase(const DynamicThreadParameters parameters, Function&& function, Args&&... args) :
            DynamicThreadBase{parameters.stackSize, parameters.canReceiveSignals, parameters.queuedSignals,
                    parameters.signalActions, parameters.priority, parameters.schedulingPolicy,
                    std::forward<Function>(function), std::forward<Args>(args)...}
    {

    }

#endif  // DISTORTOS_THREAD_DETACH_ENABLE != 1

#if DISTORTOS_THREAD_DETACH_ENABLE == 1

    int detach() override;

#endif  // DISTORTOS_THREAD_DETACH_ENABLE == 1

    int start()
    {
        return ThreadCommon::startInternal();
    }

    DynamicThreadBase(const DynamicThreadBase&) = delete;
    DynamicThreadBase(DynamicThreadBase&&) = default;
    const DynamicThreadBase& operator=(const DynamicThreadBase&) = delete;
    DynamicThreadBase& operator=(DynamicThreadBase&&) = delete;

protected:

#if DISTORTOS_THREAD_DETACH_ENABLE == 1

    void exit0Hook() override;

    void exit1Hook() override;

#endif  // DISTORTOS_THREAD_DETACH_ENABLE == 1

    void run() override;

private:

    static Stack makeStack(const size_t stackSize)
    {
        static_assert(alignof(max_align_t) >= DISTORTOS_ARCHITECTURE_STACK_ALIGNMENT,
                "Alignment of dynamically allocated memory is too low!");

        const auto adjustedStackSize = (stackSize + DISTORTOS_ARCHITECTURE_STACK_ALIGNMENT - 1) /
                DISTORTOS_ARCHITECTURE_STACK_ALIGNMENT * DISTORTOS_ARCHITECTURE_STACK_ALIGNMENT;
        return {{new uint8_t[adjustedStackSize + stackGuardSize], storageDeleter<uint8_t>},
                adjustedStackSize + stackGuardSize};
    }

#if DISTORTOS_SIGNALS_ENABLE == 1

    DynamicSignalsReceiver dynamicSignalsReceiver_;

#endif  // DISTORTOS_SIGNALS_ENABLE == 1

    std::function<void()> boundFunction_;

#if DISTORTOS_THREAD_DETACH_ENABLE == 1

    DynamicThread* owner_;

#endif  // DISTORTOS_THREAD_DETACH_ENABLE == 1
};

#if DISTORTOS_SIGNALS_ENABLE == 1 && DISTORTOS_THREAD_DETACH_ENABLE == 1

template<typename Function, typename... Args>
DynamicThreadBase::DynamicThreadBase(const size_t stackSize, const bool canReceiveSignals, const size_t queuedSignals,
        const size_t signalActions, const uint8_t priority, const SchedulingPolicy schedulingPolicy,
        DynamicThread& owner, Function&& function, Args&&... args) :
                ThreadCommon{makeStack(stackSize), priority, schedulingPolicy, nullptr,
                        canReceiveSignals == true ? &dynamicSignalsReceiver_ : nullptr},
                dynamicSignalsReceiver_{canReceiveSignals == true ? queuedSignals : 0,
                        canReceiveSignals == true ? signalActions : 0},
                boundFunction_{std::bind(std::forward<Function>(function), std::forward<Args>(args)...)},
                owner_{&owner}
{

}

#elif DISTORTOS_SIGNALS_ENABLE == 1 && DISTORTOS_THREAD_DETACH_ENABLE != 1

template<typename Function, typename... Args>
DynamicThreadBase::DynamicThreadBase(const size_t stackSize, const bool canReceiveSignals, const size_t queuedSignals,
        const size_t signalActions, const uint8_t priority, const SchedulingPolicy schedulingPolicy,
        Function&& function, Args&&... args) :
                ThreadCommon{makeStack(stackSize), priority, schedulingPolicy, nullptr,
                        canReceiveSignals == true ? &dynamicSignalsReceiver_ : nullptr},
                dynamicSignalsReceiver_{canReceiveSignals == true ? queuedSignals : 0,
                        canReceiveSignals == true ? signalActions : 0},
                boundFunction_{std::bind(std::forward<Function>(function), std::forward<Args>(args)...)}
{

}

#elif DISTORTOS_SIGNALS_ENABLE != 1 && DISTORTOS_THREAD_DETACH_ENABLE == 1

template<typename Function, typename... Args>
DynamicThreadBase::DynamicThreadBase(const size_t stackSize, bool, size_t, size_t, const uint8_t priority,
        const SchedulingPolicy schedulingPolicy, DynamicThread& owner, Function&& function, Args&&... args) :
                ThreadCommon{makeStack(stackSize), priority, schedulingPolicy, nullptr, nullptr},
                boundFunction_{std::bind(std::forward<Function>(function), std::forward<Args>(args)...)},
                owner_{&owner}
{

}

#else   // DISTORTOS_SIGNALS_ENABLE != 1 && DISTORTOS_THREAD_DETACH_ENABLE != 1

template<typename Function, typename... Args>
DynamicThreadBase::DynamicThreadBase(const size_t stackSize, bool, size_t, size_t, const uint8_t priority,
        const SchedulingPolicy schedulingPolicy, Function&& function, Args&&... args) :
                ThreadCommon{makeStack(stackSize), priority, schedulingPolicy, nullptr, nullptr},
                boundFunction_{std::bind(std::forward<Function>(function), std::forward<Args>(args)...)}
{

}

#endif  // DISTORTOS_SIGNALS_ENABLE != 1 && DISTORTOS_THREAD_DETACH_ENABLE != 1

}   // namespace internal

}   // namespace distortos

#endif  // INCLUDE_DISTORTOS_INTERNAL_SCHEDULER_DYNAMICTHREADBASE_HPP_