LibXR::Signal Class Reference

信号处理类，用于线程间的信号传递和同步。 Signal handling class for inter-thread signaling and synchronization. More...

#include <signal.hpp>

Static Public Member Functions
static ErrorCode	Action (Thread &thread, int signal)
	触发目标线程的信号处理操作。 Triggers a signal action on the target thread.
static ErrorCode	ActionFromCallback (Thread &thread, int signal, bool in_isr)
	在回调环境中触发目标线程的信号处理操作。 Triggers a signal action on the target thread from a callback environment.
static ErrorCode	Wait (int signal, uint32_t timeout=UINT32_MAX)
	等待指定信号的到来。 Waits for the specified signal.

Detailed Description

信号处理类，用于线程间的信号传递和同步。 Signal handling class for inter-thread signaling and synchronization.

该类提供信号的发送、回调环境中的信号发送以及线程等待信号的功能， 主要用于线程间的通信和同步。 This class provides functionalities for sending signals, sending signals from a callback environment, and waiting for signals, primarily used for inter-thread communication and synchronization.

Definition at line 19 of file signal.hpp.

Member Function Documentation

Action()

ErrorCode Signal::Action ( Thread &  thread, int  signal  )

static

触发目标线程的信号处理操作。 Triggers a signal action on the target thread.

该函数用于向指定线程 thread 发送信号 signal， 使其执行相应的信号处理逻辑。 This function sends the signal signal to the specified thread thread, triggering its corresponding signal handling logic.

Parameters

thread	目标线程对象。 The target thread object.
signal	需要触发的信号。 The signal to be triggered.

Returns

返回 ErrorCode，指示操作是否成功。 Returns an ErrorCode indicating whether the operation was successful.

Definition at line 7 of file signal.cpp.

                                                   {
  if (xTaskNotify(libxr_thread_handle(thread), 1 << signal, eSetBits) ==
      pdPASS) {
    return ErrorCode::OK;
  } else {
    return ErrorCode::FAILED;
  }
}

ActionFromCallback()

ErrorCode Signal::ActionFromCallback ( Thread &  thread, int  signal, bool  in_isr  )

static

在回调环境中触发目标线程的信号处理操作。 Triggers a signal action on the target thread from a callback environment.

该函数适用于中断或回调环境，可安全地向指定线程 thread 发送信号 signal。 This function is designed for use in an interrupt or callback environment, safely sending the signal signal to the specified thread thread.

Parameters

thread	目标线程对象。 The target thread object.
signal	需要触发的信号。 The signal to be triggered.
in_isr	指示是否在中断上下文中调用。 Indicates whether the function is called within an interrupt service routine.

Returns

返回 ErrorCode，指示操作是否成功。 Returns an ErrorCode indicating whether the operation was successful.

Definition at line 16 of file signal.cpp.

                                                                            {
  if (in_isr) {
    BaseType_t px_higher_priority_task_woken = 0;
    BaseType_t ans =
        xTaskNotifyFromISR(libxr_thread_handle(thread), 1 << signal, eSetBits,
                           &px_higher_priority_task_woken);
    if (px_higher_priority_task_woken != pdFALSE) {
      portYIELD();  // NOLINT
    }
    if (ans == pdPASS) {
      return ErrorCode::OK;
    } else {
      return ErrorCode::FAILED;
    }
  } else {
    return Action(thread, signal);
  }
}

Wait()

ErrorCode Signal::Wait ( int  signal, uint32_t  timeout = UINT32_MAX  )

static

等待指定信号的到来。 Waits for the specified signal.

该函数阻塞调用线程，直到接收到 signal 或者超时。 This function blocks the calling thread until it receives signal or times out.

Parameters

signal	等待的信号编号。 The signal number to wait for.
timeout	等待超时时间（默认为 UINT32_MAX，表示无限等待）。 The timeout duration (default is UINT32_MAX, meaning infinite wait).

Returns

返回 ErrorCode，指示操作是否成功。 Returns an ErrorCode indicating whether the operation was successful.

Definition at line 35 of file signal.cpp.

                                                   {
  ASSERT(signal >= 0 && signal < 32);
 
  uint32_t value = 0;
  xTaskNotifyAndQuery(xTaskGetCurrentTaskHandle(), 0, eNoAction, &value);
 
  const uint32_t SIG_BIT = 1 << signal;
 
  if ((value & SIG_BIT) == SIG_BIT) {
    value &= ~SIG_BIT;
    xTaskNotify(xTaskGetCurrentTaskHandle(), value, eSetValueWithOverwrite);
    return ErrorCode::OK;
  } else {
    if (timeout == 0) {
      return ErrorCode::TIMEOUT;
    }
  }
 
  uint32_t current_time = xTaskGetTickCount();
 
  while (xTaskNotifyWait(0, SIG_BIT, &value, timeout) == pdPASS) {
    if ((value & SIG_BIT) == SIG_BIT) {
      return ErrorCode::OK;
    }
 
    uint32_t now = xTaskGetTickCount();
 
    if (now - current_time >= timeout) {
      return ErrorCode::TIMEOUT;
    }
 
    timeout -= now - current_time;
  }
 
  return ErrorCode::FAILED;
}

---

The documentation for this class was generated from the following files:

• src/system/signal.hpp
• system/FreeRTOS/signal.cpp
• system/Linux/signal.cpp
• system/None/signal.cpp
• system/WebAsm/signal.cpp
• system/Webots/signal.cpp