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// Copyright 2020 The Pigweed Authors
//
// Licensed under the Apache License, Version 2.0 (the "License"); you may not
// use this file except in compliance with the License. You may obtain a copy of
// the License at
//
// https://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
// WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
// License for the specific language governing permissions and limitations under
// the License.
#pragma once
#include "FreeRTOS.h"
#include "pw_assert/assert.h"
#include "pw_thread/thread.h"
#include "pw_thread_freertos/config.h"
#include "pw_thread_freertos/context.h"
#include "task.h"
namespace pw::thread::freertos {
// pw::thread::Options for FreeRTOS.
//
// Example usage:
//
// // Uses the default stack size and priority, but specifies a custom name.
// pw::thread::Thread example_thread(
// pw::thread::freertos::Options()
// .set_name("example_thread"),
// example_thread_function);
//
// // Provides the name, priority, and pre-allocated context.
// pw::thread::Thread static_example_thread(
// pw::thread::freertos::Options()
// .set_name("static_example_thread")
// .set_priority(kFooPriority)
// .set_static_context(static_example_thread_context),
// example_thread_function);
//
class Options : public thread::Options {
public:
constexpr Options() = default;
constexpr Options(const Options&) = default;
constexpr Options(Options&& other) = default;
// Sets the name for the FreeRTOS task, note that this will be truncated
// based on configMAX_TASK_NAME_LEN.
// This is deep copied by FreeRTOS into the task's task control block (TCB).
constexpr Options& set_name(const char* name) {
name_ = name;
return *this;
}
// Sets the priority for the FreeRTOS task. This must be a value between
// 0 to PW_THREAD_FREERTOS_CONFIG_MAXIMUM_PRIORITY. Higher priority
// values have a higher priority.
//
// Note that the idle task priority, tskIDLE_PRIORITY, is fixed to 0.
// See the FreeRTOS documentation on the idle task for more details.
//
// Precondition: This must be <= PW_THREAD_FREERTOS_CONFIG_MAXIMUM_PRIORITY.
constexpr Options& set_priority(UBaseType_t priority) {
PW_DASSERT(priority <= config::kMaximumPriority);
priority_ = priority;
return *this;
}
#if PW_THREAD_FREERTOS_CONFIG_DYNAMIC_ALLOCATION_ENABLED
// Set the stack size of dynamic thread allocations.
//
// Precondition: size_words must be >= configMINIMAL_STACK_SIZE
constexpr Options& set_stack_size(size_t size_words) {
PW_DASSERT(size_words >= config::kMinimumStackSizeWords);
stack_size_words_ = size_words;
return *this;
}
#endif // PW_THREAD_FREERTOS_CONFIG_DYNAMIC_ALLOCATION_ENABLED
// Set the pre-allocated context (all memory needed to run a thread), see the
// pw::thread::freertos::StaticContext for more detail.
constexpr Options& set_static_context(StaticContext& context) {
context_ = &context;
return *this;
}
private:
friend thread::Thread;
// FreeRTOS requires a valid name when asserts are enabled,
// configMAX_TASK_NAME_LEN may be as small as one character.
static constexpr char kDefaultName[] = "pw::Thread";
const char* name() const { return name_; }
UBaseType_t priority() const { return priority_; }
#if PW_THREAD_FREERTOS_CONFIG_DYNAMIC_ALLOCATION_ENABLED
size_t stack_size_words() const { return stack_size_words_; }
#endif // PW_THREAD_FREERTOS_CONFIG_DYNAMIC_ALLOCATION_ENABLED
StaticContext* static_context() const { return context_; }
const char* name_ = kDefaultName;
UBaseType_t priority_ = config::kDefaultPriority;
#if PW_THREAD_FREERTOS_CONFIG_DYNAMIC_ALLOCATION_ENABLED
size_t stack_size_words_ = config::kDefaultStackSizeWords;
#endif // PW_THREAD_FREERTOS_CONFIG_DYNAMIC_ALLOCATION_ENABLED
StaticContext* context_ = nullptr;
};
} // namespace pw::thread::freertos
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