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35 lines
692 B
C++
35 lines
692 B
C++
#pragma once
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#include "freertosinc.h"
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namespace concurrency {
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class Thread
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{
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protected:
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TaskHandle_t taskHandle = NULL;
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/**
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* set this to true to ask thread to cleanly exit asap
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*/
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volatile bool wantExit = false;
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public:
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void start(const char *name, size_t stackSize = 1024, uint32_t priority = tskIDLE_PRIORITY);
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virtual ~Thread() { vTaskDelete(taskHandle); }
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uint32_t getStackHighwaterMark() { return uxTaskGetStackHighWaterMark(taskHandle); }
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protected:
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/**
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* The method that will be called when start is called.
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*/
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virtual void doRun() = 0;
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private:
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static void callRun(void *_this);
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};
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} // namespace concurrency
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