686f7cce83
FreeRTOS handles were stored plainly and they were deleted in the destructor of classes. This meant that if a class were to be copied, the destructor would be called twice on the same handles and lead to double-free. Seha on Discord suggested to fix this by using `std::unique_ptr` with a custom deletion function. The changes affect: - Thread - Semaphore - Mutex - StreamBuffer - Timer - MessageQueue - EventFlag Thread changes: - Removal of the hack with the `Data` struct - Thread's main body is now just a private static function inside the class. - The C functions were relocated to static class members PubSub changes: - Refactored pubsub into class - Renamed files to `PubSub` instead of `Pubsub` - `PubSubSubscription` is now a private inner struct and `PubSub` only exposes `SubscriptionHandle` Lockable, ScopedLockable, Mutex: - Added `lock()` method that locks indefinitely - Remove deprecated `acquire()` and `release()` methods - Removed `TtWaitForever` in favour of `portMAX_DELAY`
89 lines
2.2 KiB
C++
89 lines
2.2 KiB
C++
#pragma once
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#ifdef ESP_PLATFORM
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#include "freertos/FreeRTOS.h"
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#else
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#include "FreeRTOS.h"
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#endif
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namespace tt::kernel {
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/** Recognized platform types */
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typedef enum {
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PlatformEsp,
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PlatformSimulator
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} Platform;
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/** Check if kernel is running
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* @return true if the FreeRTOS kernel is running, false otherwise
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*/
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bool isRunning();
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/** Lock kernel, pause process scheduling
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* @warning don't call from ISR context
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* @return true on success
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*/
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bool lock();
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/** Unlock kernel, resume process scheduling
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* @warning don't call from ISR context
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* @return true on success
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*/
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bool unlock();
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/** Restore kernel lock state
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* @warning don't call from ISR context
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* @param[in] lock The lock state
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* @return true on success
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*/
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bool restoreLock(bool lock);
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/** Get kernel systick frequency
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* @return systick counts per second
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*/
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uint32_t getTickFrequency();
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TickType_t getTicks();
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/** Delay execution
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* @warning don't call from ISR context
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* Also keep in mind delay is aliased to scheduler timer intervals.
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* @param[in] ticks The ticks count to pause
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*/
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void delayTicks(TickType_t ticks);
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/** Delay until tick
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* @warning don't call from ISR context
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* @param[in] ticks The tick until which kerel should delay task execution
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* @return true on success
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*/
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bool delayUntilTick(TickType_t tick);
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/** Convert milliseconds to ticks
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*
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* @param[in] milliSeconds time in milliseconds
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* @return time in ticks
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*/
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TickType_t millisToTicks(uint32_t milliSeconds);
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/** Delay in milliseconds
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* This method uses kernel ticks on the inside, which causes delay to be aliased to scheduler timer intervals.
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* Real wait time will be between X+ milliseconds.
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* Special value: 0, will cause task yield.
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* Also if used when kernel is not running will fall back to delayMicros()
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* @warning don't call from ISR context
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* @param[in] milliSeconds milliseconds to wait
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*/
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void delayMillis(uint32_t milliSeconds);
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/** Delay in microseconds
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* Implemented using Cortex DWT counter. Blocking and non aliased.
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* @param[in] microSeconds microseconds to wait
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*/
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void delayMicros(uint32_t microSeconds);
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/** @return the platform that Tactility currently is running on. */
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Platform getPlatform();
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} // namespace
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