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https://github.com/ByteWelder/Tactility.git
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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`
99 lines
2.8 KiB
C++
99 lines
2.8 KiB
C++
#pragma once
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#include "RtosCompatTimers.h"
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#include "Thread.h"
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#include <memory>
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namespace tt {
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class Timer {
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public:
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typedef void (*Callback)(std::shared_ptr<void> context);
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typedef void (*PendingCallback)(void* context, uint32_t arg);
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private:
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struct TimerHandleDeleter {
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void operator()(TimerHandle_t handleToDelete) {
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xTimerDelete(handleToDelete, portMAX_DELAY);
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}
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};
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Callback callback;
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std::shared_ptr<void> callbackContext;
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std::unique_ptr<std::remove_pointer_t<TimerHandle_t>, TimerHandleDeleter> handle;
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static void onCallback(TimerHandle_t hTimer);
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public:
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enum class Type {
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Once = 0, ///< One-shot timer.
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Periodic = 1 ///< Repeating timer.
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};
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enum class Priority{
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Normal, /**< Lower then other threads */
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Elevated, /**< Same as other threads */
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};
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/**
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* @param[in] type The timer type
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* @param[in] callback The callback function
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* @param callbackContext The callback context
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*/
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Timer(Type type, Callback callback, std::shared_ptr<void> callbackContext = nullptr);
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~Timer();
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/** Start timer
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* @warning This is asynchronous call, real operation will happen as soon as timer service process this request.
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* @param[in] interval The interval in ticks
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* @return success result
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*/
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bool start(TickType_t interval);
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/** Restart timer with previous timeout value
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* @warning This is asynchronous call, real operation will happen as soon as timer service process this request.
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* @param[in] interval The interval in ticks
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* @return success result
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*/
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bool restart(TickType_t interval);
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/** Stop timer
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* @warning This is asynchronous call, real operation will happen as soon as timer service process this request.
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* @return success result
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*/
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bool stop();
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/** Is timer running
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* @warning This cal may and will return obsolete timer state if timer commands are still in the queue. Please read FreeRTOS timer documentation first.
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* @return true when running
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*/
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bool isRunning();
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/** Get timer expire time
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* @return expire tick
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*/
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TickType_t getExpireTime();
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/**
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* Calls xTimerPendFunctionCall internally.
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* @param[in] callback the function to call
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* @param[in] callbackContext the first function argument
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* @param[in] callbackArg the second function argument
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* @param[in] timeout the function timeout (must set to 0 in ISR mode)
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* @return true on success
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*/
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bool setPendingCallback(PendingCallback callback, void* callbackContext, uint32_t callbackArg, TickType_t timeout);
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/** Set Timer thread priority
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* @param[in] priority The priority
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*/
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void setThreadPriority(Thread::Priority priority);
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};
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} // namespace
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