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`
91 lines
2.4 KiB
C++
91 lines
2.4 KiB
C++
#include "Timer.h"
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#include <utility>
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#include "Check.h"
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#include "RtosCompat.h"
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namespace tt {
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void Timer::onCallback(TimerHandle_t hTimer) {
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auto* timer = static_cast<Timer*>(pvTimerGetTimerID(hTimer));
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if (timer != nullptr) {
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timer->callback(timer->callbackContext);
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}
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}
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static inline TimerHandle_t createTimer(Timer::Type type, void* timerId, TimerCallbackFunction_t callback) {
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assert(timerId != nullptr);
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assert(callback != nullptr);
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UBaseType_t reload;
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if (type == Timer::Type::Once) {
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reload = pdFALSE;
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} else {
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reload = pdTRUE;
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}
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return xTimerCreate(nullptr, portMAX_DELAY, (BaseType_t)reload, timerId, callback);
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}
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Timer::Timer(Type type, Callback callback, std::shared_ptr<void> callbackContext) :
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callback(callback),
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callbackContext(std::move(callbackContext)),
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handle(createTimer(type, this, onCallback))
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{
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assert(!TT_IS_ISR());
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assert(handle != nullptr);
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}
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Timer::~Timer() {
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assert(!TT_IS_ISR());
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}
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bool Timer::start(TickType_t interval) {
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assert(!TT_IS_ISR());
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assert(interval < portMAX_DELAY);
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return xTimerChangePeriod(handle.get(), interval, portMAX_DELAY) == pdPASS;
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}
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bool Timer::restart(TickType_t interval) {
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assert(!TT_IS_ISR());
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assert(interval < portMAX_DELAY);
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return xTimerChangePeriod(handle.get(), interval, portMAX_DELAY) == pdPASS &&
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xTimerReset(handle.get(), portMAX_DELAY) == pdPASS;
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}
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bool Timer::stop() {
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assert(!TT_IS_ISR());
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return xTimerStop(handle.get(), portMAX_DELAY) == pdPASS;
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}
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bool Timer::isRunning() {
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assert(!TT_IS_ISR());
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return xTimerIsTimerActive(handle.get()) == pdTRUE;
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}
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TickType_t Timer::getExpireTime() {
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assert(!TT_IS_ISR());
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return xTimerGetExpiryTime(handle.get());
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}
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bool Timer::setPendingCallback(PendingCallback callback, void* callbackContext, uint32_t callbackArg, TickType_t timeout) {
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if (TT_IS_ISR()) {
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assert(timeout == 0);
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return xTimerPendFunctionCallFromISR(callback, callbackContext, callbackArg, nullptr) == pdPASS;
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} else {
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return xTimerPendFunctionCall(callback, callbackContext, callbackArg, timeout) == pdPASS;
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}
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}
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void Timer::setThreadPriority(Thread::Priority priority) {
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assert(!TT_IS_ISR());
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TaskHandle_t task_handle = xTimerGetTimerDaemonTaskHandle();
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assert(task_handle); // Don't call this method before timer task start
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vTaskPrioritySet(task_handle, static_cast<UBaseType_t>(priority));
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}
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} // namespace
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