ActiveObject.h

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/* Copyright (c) 2015-2016 Skyward Experimental Rocketry
 * Authors: Federico Terraneo, Matteo Piazzolla
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
#pragma once
 
#include <diagnostic/SkywardStack.h>
#include <miosix.h>
 
#include <atomic>
 
namespace Boardcore
{
 
class ActiveObject
{
public:
    ActiveObject(unsigned int stacksize    = miosix::STACK_DEFAULT_FOR_PTHREAD,
                 miosix::Priority priority = miosix::MAIN_PRIORITY);
 
    virtual ~ActiveObject() {};
 
    virtual bool start();
 
    virtual void stop();
 
    bool isRunning();
 
protected:
    virtual void run() = 0;
 
    bool shouldStop();
 
    miosix::Thread* thread = nullptr;  
 
    std::atomic<bool> stopFlag{false};
    std::atomic<bool> running{false};
 
private:
    static void threadLauncher(void* arg);
 
    unsigned int stackSize;
    miosix::Priority priority;
};
 
inline ActiveObject::ActiveObject(unsigned int stacksize,
                                  miosix::Priority priority)
    : stackSize(skywardStack(stacksize)), priority(priority)
{
}
 
inline bool ActiveObject::start()
{
    if (!running)
    {
        stopFlag = false;
        running  = true;
 
        thread = miosix::Thread::create(threadLauncher, stackSize, priority,
                                        reinterpret_cast<void*>(this),
                                        miosix::Thread::JOINABLE);
 
        if (thread == nullptr)
            running = false;
 
        return running;
    }
 
    return false;
}
 
inline void ActiveObject::stop()
{
    if (isRunning())
    {
        stopFlag = true;
        thread->join();
    }
}
 
inline bool ActiveObject::isRunning() { return running; }
 
inline bool ActiveObject::shouldStop() { return stopFlag; }
 
inline void ActiveObject::threadLauncher(void* arg)
{
    reinterpret_cast<ActiveObject*>(arg)->run();
 
    // When the run function ends, update the status
    reinterpret_cast<ActiveObject*>(arg)->running  = false;
    reinterpret_cast<ActiveObject*>(arg)->stopFlag = false;
}
 
}  // namespace Boardcore