线程管理类，封装 FreeRTOS 任务创建和调度 Thread management class encapsulating FreeRTOS task creation and scheduling More...

#include <thread.hpp>

Public Types
enum class	Priority : uint8_t { IDLE = 0 , LOW = LIBXR_PRIORITY_STEP * 1 , MEDIUM = LIBXR_PRIORITY_STEP * 2 , HIGH = LIBXR_PRIORITY_STEP * 3 , REALTIME = LIBXR_PRIORITY_STEP * 4 , NUMBER = 5 , IDLE , LOW , MEDIUM , HIGH , REALTIME , NUMBER , IDLE = 0 , LOW = 0 , MEDIUM = 0 , HIGH = 0 , REALTIME = 0 , NUMBER = 1 , IDLE = 0 , LOW = 0 , MEDIUM = 0 , HIGH = 0 , REALTIME = 0 , NUMBER = 1 , IDLE , LOW , MEDIUM , HIGH , REALTIME , NUMBER }
	线程优先级枚举 Enumeration for thread priorities More...

enum class	Priority : uint8_t { IDLE = 0 , LOW = LIBXR_PRIORITY_STEP * 1 , MEDIUM = LIBXR_PRIORITY_STEP * 2 , HIGH = LIBXR_PRIORITY_STEP * 3 , REALTIME = LIBXR_PRIORITY_STEP * 4 , NUMBER = 5 , IDLE , LOW , MEDIUM , HIGH , REALTIME , NUMBER , IDLE = 0 , LOW = 0 , MEDIUM = 0 , HIGH = 0 , REALTIME = 0 , NUMBER = 1 , IDLE = 0 , LOW = 0 , MEDIUM = 0 , HIGH = 0 , REALTIME = 0 , NUMBER = 1 , IDLE , LOW , MEDIUM , HIGH , REALTIME , NUMBER }
	线程优先级枚举 Enumeration for thread priorities More...

enum class	Priority { IDLE = 0 , LOW = LIBXR_PRIORITY_STEP * 1 , MEDIUM = LIBXR_PRIORITY_STEP * 2 , HIGH = LIBXR_PRIORITY_STEP * 3 , REALTIME = LIBXR_PRIORITY_STEP * 4 , NUMBER = 5 , IDLE , LOW , MEDIUM , HIGH , REALTIME , NUMBER , IDLE = 0 , LOW = 0 , MEDIUM = 0 , HIGH = 0 , REALTIME = 0 , NUMBER = 1 , IDLE = 0 , LOW = 0 , MEDIUM = 0 , HIGH = 0 , REALTIME = 0 , NUMBER = 1 , IDLE , LOW , MEDIUM , HIGH , REALTIME , NUMBER }
	线程优先级枚举 Enumeration for thread priorities More...

enum class	Priority { IDLE = 0 , LOW = LIBXR_PRIORITY_STEP * 1 , MEDIUM = LIBXR_PRIORITY_STEP * 2 , HIGH = LIBXR_PRIORITY_STEP * 3 , REALTIME = LIBXR_PRIORITY_STEP * 4 , NUMBER = 5 , IDLE , LOW , MEDIUM , HIGH , REALTIME , NUMBER , IDLE = 0 , LOW = 0 , MEDIUM = 0 , HIGH = 0 , REALTIME = 0 , NUMBER = 1 , IDLE = 0 , LOW = 0 , MEDIUM = 0 , HIGH = 0 , REALTIME = 0 , NUMBER = 1 , IDLE , LOW , MEDIUM , HIGH , REALTIME , NUMBER }
	线程优先级枚举 Enumeration for thread priorities More...

enum class	Priority : uint8_t { IDLE = 0 , LOW = LIBXR_PRIORITY_STEP * 1 , MEDIUM = LIBXR_PRIORITY_STEP * 2 , HIGH = LIBXR_PRIORITY_STEP * 3 , REALTIME = LIBXR_PRIORITY_STEP * 4 , NUMBER = 5 , IDLE , LOW , MEDIUM , HIGH , REALTIME , NUMBER , IDLE = 0 , LOW = 0 , MEDIUM = 0 , HIGH = 0 , REALTIME = 0 , NUMBER = 1 , IDLE = 0 , LOW = 0 , MEDIUM = 0 , HIGH = 0 , REALTIME = 0 , NUMBER = 1 , IDLE , LOW , MEDIUM , HIGH , REALTIME , NUMBER }
	线程优先级枚举 Enumeration for thread priorities More...

Public Member Functions
	Thread ()
	默认构造函数，初始化空线程 Default constructor initializing an empty thread

	Thread (libxr_thread_handle handle)
	通过 FreeRTOS 线程句柄创建线程对象 Constructor to create a thread object from a FreeRTOS thread handle

template<typename ArgType >
void	Create (ArgType arg, void(function)(ArgType arg), const char name, size_t stack_depth, Thread::Priority priority)
	创建新线程 Creates a new thread

	operator libxr_thread_handle ()
	线程对象转换为 FreeRTOS 线程句柄 Converts the thread object to a FreeRTOS thread handle

	Thread ()
	默认构造函数，初始化空线程 Default constructor initializing an empty thread

	Thread (libxr_thread_handle handle)
	通过 POSIX 线程句柄创建线程对象 Constructor to create a thread object from a POSIX thread handle

template<typename ArgType >
void	Create (ArgType arg, void(function)(ArgType arg), const char name, size_t stack_depth, Thread::Priority priority)
	创建新线程 Creates a new thread

	operator libxr_thread_handle ()
	线程对象转换为 POSIX 线程句柄 Converts the thread object to a POSIX thread handle

	Thread ()
	默认构造函数，初始化空线程对象 Default constructor initializing an empty thread object

	Thread (libxr_thread_handle handle)
	通过线程句柄创建线程对象 Constructor to create a thread object from a thread handle

template<typename ArgType >
void	Create (ArgType arg, void(function)(ArgType arg), const char name, size_t stack_depth, Thread::Priority priority)
	创建并执行新线程 Creates and executes a new thread

	operator libxr_thread_handle ()
	线程对象转换为线程句柄 Converts the thread object to a thread handle

	Thread ()
	默认构造函数，初始化空线程对象 Default constructor initializing an empty thread object

	Thread (libxr_thread_handle handle)
	通过线程句柄创建线程对象 Constructor to create a thread object from a thread handle

template<typename ArgType >
void	Create (ArgType arg, void(function)(ArgType arg), const char name, size_t stack_depth, Thread::Priority priority)
	创建并执行新线程 Creates and executes a new thread

	operator libxr_thread_handle ()
	线程对象转换为线程句柄 Converts the thread object to a thread handle

	Thread ()
	默认构造函数，初始化空线程 Default constructor initializing an empty thread

	Thread (libxr_thread_handle handle)
	通过 POSIX 线程句柄创建线程对象 Constructor to create a thread object from a POSIX thread handle

template<typename ArgType >
void	Create (ArgType arg, void(function)(ArgType arg), const char name, size_t stack_depth, Thread::Priority priority)
	创建新线程 Creates a new thread

	operator libxr_thread_handle ()
	线程对象转换为 POSIX 线程句柄 Converts the thread object to a POSIX thread handle

Static Public Member Functions
static Thread	Current (void)
	获取当前线程对象 Gets the current thread object

static uint32_t	GetTime ()
	获取当前系统时间（毫秒） Gets the current system time in milliseconds

static void	Sleep (uint32_t milliseconds)
	让线程进入休眠状态 Puts the thread to sleep

static void	SleepUntil (TimestampMS &last_waskup_time, uint32_t time_to_sleep)
	让线程休眠直到指定时间点 Puts the thread to sleep until a specified time

static void	Yield ()
	让出 CPU 以执行其他线程 Yields CPU execution to allow other threads to run

static Thread	Current (void)
	获取当前线程对象 Gets the current thread object

static uint32_t	GetTime ()
	获取当前系统时间（毫秒） Gets the current system time in milliseconds

static void	Sleep (uint32_t milliseconds)
	让线程进入休眠状态 Puts the thread to sleep

static void	SleepUntil (TimestampMS &last_waskup_time, uint32_t time_to_sleep)
	让线程休眠直到指定时间点 Puts the thread to sleep until a specified time

static void	Yield ()
	让出 CPU 以执行其他线程 Yields CPU execution to allow other threads to run

static Thread	Current (void)
	获取当前线程对象 Gets the current thread object

static uint32_t	GetTime ()
	获取当前系统时间（毫秒） Gets the current system time in milliseconds

static void	Sleep (uint32_t milliseconds)
	让线程进入休眠状态 Puts the thread to sleep

static void	SleepUntil (TimestampMS &last_waskup_time, uint32_t time_to_sleep)
	让线程休眠直到指定时间点 Puts the thread to sleep until a specified time

static void	Yield ()
	让出 CPU 以执行其他线程 Yields CPU execution to allow other threads to run

static Thread	Current (void)
	获取当前线程对象 Gets the current thread object

static uint32_t	GetTime ()
	获取当前系统时间（毫秒） Gets the current system time in milliseconds

static void	Sleep (uint32_t milliseconds)
	让线程进入休眠状态 Puts the thread to sleep

static void	SleepUntil (TimestampMS &last_waskup_time, uint32_t time_to_sleep)
	让线程休眠直到指定时间点 Puts the thread to sleep until a specified time

static void	Yield ()
	让出 CPU 以执行其他线程 Yields CPU execution to allow other threads to run

static Thread	Current (void)
	获取当前线程对象 Gets the current thread object

static uint32_t	GetTime ()
	获取当前系统时间（毫秒） Gets the current system time in milliseconds

static void	Sleep (uint32_t milliseconds)
	让线程进入休眠状态 Puts the thread to sleep

static void	SleepUntil (TimestampMS &last_waskup_time, uint32_t time_to_sleep)
	让线程休眠直到指定时间点 Puts the thread to sleep until a specified time

static void	Yield ()
	让出 CPU 以执行其他线程 Yields CPU execution to allow other threads to run

Private Attributes
libxr_thread_handle	thread_handle_
	FreeRTOS 线程句柄 FreeRTOS thread handle.

Detailed Description

线程管理类，封装 FreeRTOS 任务创建和调度 Thread management class encapsulating FreeRTOS task creation and scheduling

线程管理类，提供线程的创建、调度和时间管理功能 Thread management class that provides thread creation, scheduling, and time management

线程管理类，封装 POSIX 线程创建和调度 Thread management class encapsulating POSIX thread creation and scheduling

Definition at line 14 of file thread.hpp.

Member Enumeration Documentation

◆ Priority [1/5]

enum class LibXR::Thread::Priority : uint8_t

strong

线程优先级枚举 Enumeration for thread priorities

Enumerator
IDLE	空闲优先级 Idle priority
LOW	低优先级 Low priority
MEDIUM	中等优先级 Medium priority
HIGH	高优先级 High priority
REALTIME	实时优先级 Realtime priority
NUMBER	优先级数量 Number of priority levels
IDLE	空闲优先级 Idle priority
LOW	低优先级 Low priority
MEDIUM	中等优先级 Medium priority
HIGH	高优先级 High priority
REALTIME	实时优先级 Realtime priority
NUMBER	优先级数量 Number of priority levels
IDLE	空闲优先级 Idle priority
LOW	低优先级 Low priority
MEDIUM	中等优先级 Medium priority
HIGH	高优先级 High priority
REALTIME	实时优先级 Realtime priority
NUMBER	优先级数量 Number of priority levels
IDLE	空闲优先级 Idle priority
LOW	低优先级 Low priority
MEDIUM	中等优先级 Medium priority
HIGH	高优先级 High priority
REALTIME	实时优先级 Realtime priority
NUMBER	优先级数量 Number of priority levels
IDLE	空闲优先级 Idle priority
LOW	低优先级 Low priority
MEDIUM	中等优先级 Medium priority
HIGH	高优先级 High priority
REALTIME	实时优先级 Realtime priority
NUMBER	优先级数量 Number of priority levels

Definition at line 21 of file thread.hpp.

  {
    IDLE = 0,                            
    LOW = LIBXR_PRIORITY_STEP * 1,       
    MEDIUM = LIBXR_PRIORITY_STEP * 2,    
    HIGH = LIBXR_PRIORITY_STEP * 3,      
    REALTIME = LIBXR_PRIORITY_STEP * 4,  
    NUMBER = 5                           
  };

◆ Priority [2/5]

enum class LibXR::Thread::Priority : uint8_t

strong

线程优先级枚举 Enumeration for thread priorities

Enumerator
IDLE	空闲优先级 Idle priority
LOW	低优先级 Low priority
MEDIUM	中等优先级 Medium priority
HIGH	高优先级 High priority
REALTIME	实时优先级 Realtime priority
NUMBER	优先级数量 Number of priority levels
IDLE	空闲优先级 Idle priority
LOW	低优先级 Low priority
MEDIUM	中等优先级 Medium priority
HIGH	高优先级 High priority
REALTIME	实时优先级 Realtime priority
NUMBER	优先级数量 Number of priority levels
IDLE	空闲优先级 Idle priority
LOW	低优先级 Low priority
MEDIUM	中等优先级 Medium priority
HIGH	高优先级 High priority
REALTIME	实时优先级 Realtime priority
NUMBER	优先级数量 Number of priority levels
IDLE	空闲优先级 Idle priority
LOW	低优先级 Low priority
MEDIUM	中等优先级 Medium priority
HIGH	高优先级 High priority
REALTIME	实时优先级 Realtime priority
NUMBER	优先级数量 Number of priority levels
IDLE	空闲优先级 Idle priority
LOW	低优先级 Low priority
MEDIUM	中等优先级 Medium priority
HIGH	高优先级 High priority
REALTIME	实时优先级 Realtime priority
NUMBER	优先级数量 Number of priority levels

Definition at line 20 of file thread.hpp.

  {
    IDLE,      
    LOW,       
    MEDIUM,    
    HIGH,      
    REALTIME,  
    NUMBER,    
  };

◆ Priority [3/5]

enum class LibXR::Thread::Priority

strong

线程优先级枚举 Enumeration for thread priorities

Enumerator
IDLE	空闲优先级 Idle priority
LOW	低优先级 Low priority
MEDIUM	中等优先级 Medium priority
HIGH	高优先级 High priority
REALTIME	实时优先级 Realtime priority
NUMBER	优先级数量 Number of priority levels
IDLE	空闲优先级 Idle priority
LOW	低优先级 Low priority
MEDIUM	中等优先级 Medium priority
HIGH	高优先级 High priority
REALTIME	实时优先级 Realtime priority
NUMBER	优先级数量 Number of priority levels
IDLE	空闲优先级 Idle priority
LOW	低优先级 Low priority
MEDIUM	中等优先级 Medium priority
HIGH	高优先级 High priority
REALTIME	实时优先级 Realtime priority
NUMBER	优先级数量 Number of priority levels
IDLE	空闲优先级 Idle priority
LOW	低优先级 Low priority
MEDIUM	中等优先级 Medium priority
HIGH	高优先级 High priority
REALTIME	实时优先级 Realtime priority
NUMBER	优先级数量 Number of priority levels
IDLE	空闲优先级 Idle priority
LOW	低优先级 Low priority
MEDIUM	中等优先级 Medium priority
HIGH	高优先级 High priority
REALTIME	实时优先级 Realtime priority
NUMBER	优先级数量 Number of priority levels

Definition at line 22 of file thread.hpp.

  {
    IDLE = 0,      
    LOW = 0,       
    MEDIUM = 0,    
    HIGH = 0,      
    REALTIME = 0,  
    NUMBER = 1,    
  };

◆ Priority [4/5]

enum class LibXR::Thread::Priority

strong

线程优先级枚举 Enumeration for thread priorities

Enumerator
IDLE	空闲优先级 Idle priority
LOW	低优先级 Low priority
MEDIUM	中等优先级 Medium priority
HIGH	高优先级 High priority
REALTIME	实时优先级 Realtime priority
NUMBER	优先级数量 Number of priority levels
IDLE	空闲优先级 Idle priority
LOW	低优先级 Low priority
MEDIUM	中等优先级 Medium priority
HIGH	高优先级 High priority
REALTIME	实时优先级 Realtime priority
NUMBER	优先级数量 Number of priority levels
IDLE	空闲优先级 Idle priority
LOW	低优先级 Low priority
MEDIUM	中等优先级 Medium priority
HIGH	高优先级 High priority
REALTIME	实时优先级 Realtime priority
NUMBER	优先级数量 Number of priority levels
IDLE	空闲优先级 Idle priority
LOW	低优先级 Low priority
MEDIUM	中等优先级 Medium priority
HIGH	高优先级 High priority
REALTIME	实时优先级 Realtime priority
NUMBER	优先级数量 Number of priority levels
IDLE	空闲优先级 Idle priority
LOW	低优先级 Low priority
MEDIUM	中等优先级 Medium priority
HIGH	高优先级 High priority
REALTIME	实时优先级 Realtime priority
NUMBER	优先级数量 Number of priority levels

Definition at line 22 of file thread.hpp.

  {
    IDLE = 0,      
    LOW = 0,       
    MEDIUM = 0,    
    HIGH = 0,      
    REALTIME = 0,  
    NUMBER = 1,    
  };

◆ Priority [5/5]

enum class LibXR::Thread::Priority : uint8_t

strong

线程优先级枚举 Enumeration for thread priorities

Enumerator
IDLE	空闲优先级 Idle priority
LOW	低优先级 Low priority
MEDIUM	中等优先级 Medium priority
HIGH	高优先级 High priority
REALTIME	实时优先级 Realtime priority
NUMBER	优先级数量 Number of priority levels
IDLE	空闲优先级 Idle priority
LOW	低优先级 Low priority
MEDIUM	中等优先级 Medium priority
HIGH	高优先级 High priority
REALTIME	实时优先级 Realtime priority
NUMBER	优先级数量 Number of priority levels
IDLE	空闲优先级 Idle priority
LOW	低优先级 Low priority
MEDIUM	中等优先级 Medium priority
HIGH	高优先级 High priority
REALTIME	实时优先级 Realtime priority
NUMBER	优先级数量 Number of priority levels
IDLE	空闲优先级 Idle priority
LOW	低优先级 Low priority
MEDIUM	中等优先级 Medium priority
HIGH	高优先级 High priority
REALTIME	实时优先级 Realtime priority
NUMBER	优先级数量 Number of priority levels
IDLE	空闲优先级 Idle priority
LOW	低优先级 Low priority
MEDIUM	中等优先级 Medium priority
HIGH	高优先级 High priority
REALTIME	实时优先级 Realtime priority
NUMBER	优先级数量 Number of priority levels

Definition at line 21 of file thread.hpp.

  {
    IDLE,      
    LOW,       
    MEDIUM,    
    HIGH,      
    REALTIME,  
    NUMBER,    
  };

Constructor & Destructor Documentation

◆ Thread() [1/10]

LibXR::Thread::Thread ( )

inline

默认构造函数，初始化空线程 Default constructor initializing an empty thread

Definition at line 35 of file thread.hpp.

35{};

◆ Thread() [2/10]

LibXR::Thread::Thread ( libxr_thread_handle handle )

inline

通过 FreeRTOS 线程句柄创建线程对象 Constructor to create a thread object from a FreeRTOS thread handle

Parameters

handle FreeRTOS 线程句柄 FreeRTOS thread handle

Definition at line 42 of file thread.hpp.

42: thread_handle_(handle) {};

LibXR::Thread::thread_handle_

libxr_thread_handle thread_handle_

FreeRTOS 线程句柄 FreeRTOS thread handle.

Definition thread.hpp:136

◆ Thread() [3/10]

LibXR::Thread::Thread ( )

inline

默认构造函数，初始化空线程 Default constructor initializing an empty thread

Definition at line 34 of file thread.hpp.

34{};

◆ Thread() [4/10]

LibXR::Thread::Thread ( libxr_thread_handle handle )

inline

通过 POSIX 线程句柄创建线程对象 Constructor to create a thread object from a POSIX thread handle

Parameters

handle POSIX 线程句柄 POSIX thread handle

Definition at line 41 of file thread.hpp.

41: thread_handle_(handle) {};

◆ Thread() [5/10]

LibXR::Thread::Thread ( )

inline

默认构造函数，初始化空线程对象 Default constructor initializing an empty thread object

Definition at line 36 of file thread.hpp.

36{};

◆ Thread() [6/10]

LibXR::Thread::Thread ( libxr_thread_handle handle )

inline

通过线程句柄创建线程对象 Constructor to create a thread object from a thread handle

Parameters

handle 线程句柄 Thread handle

Definition at line 43 of file thread.hpp.

43: thread_handle_(handle) {};

◆ Thread() [7/10]

LibXR::Thread::Thread ( )

inline

默认构造函数，初始化空线程对象 Default constructor initializing an empty thread object

Definition at line 36 of file thread.hpp.

36{};

◆ Thread() [8/10]

LibXR::Thread::Thread ( libxr_thread_handle handle )

inline

通过线程句柄创建线程对象 Constructor to create a thread object from a thread handle

Parameters

handle 线程句柄 Thread handle

Definition at line 43 of file thread.hpp.

43: thread_handle_(handle) {};

◆ Thread() [9/10]

LibXR::Thread::Thread ( )

inline

默认构造函数，初始化空线程 Default constructor initializing an empty thread

Definition at line 35 of file thread.hpp.

35{};

◆ Thread() [10/10]

LibXR::Thread::Thread ( libxr_thread_handle handle )

inline

通过 POSIX 线程句柄创建线程对象 Constructor to create a thread object from a POSIX thread handle

Parameters

handle POSIX 线程句柄 POSIX thread handle

Definition at line 42 of file thread.hpp.

42: thread_handle_(handle) {};

Member Function Documentation

◆ Create() [1/5]

template<typename ArgType >

void LibXR::Thread::Create	(	ArgType	arg,
		void(*)(ArgType arg)	function,
		const char *	name,
		size_t	stack_depth,
		Thread::Priority	priority
	)

inline

创建新线程 Creates a new thread

Template Parameters

ArgType 线程函数的参数类型 The type of argument for the thread function

Parameters

arg	线程函数的参数 Argument for the thread function
function	线程执行的函数 Function executed by the thread
name	线程名称 Thread name
stack_depth	线程栈大小（字节） Stack size of the thread (bytes)
priority	线程优先级 Thread priority

该方法基于 FreeRTOS xTaskCreate() 创建新线程，执行 function 并传递 arg 作为参数。线程优先级 priority 必须符合 FreeRTOS 配置的 configMAX_PRIORITIES 约束。

This method creates a new thread using FreeRTOS xTaskCreate(), executing function with arg as the argument. The thread priority priority must adhere to FreeRTOS configuration constraints defined by configMAX_PRIORITIES.

Definition at line 64 of file thread.hpp.

  {
    ASSERT(configMAX_PRIORITIES >= 6);
 
    class ThreadBlock
    {
     public:
      ThreadBlock(typeof(function) fun, ArgType arg) : fun_(fun), arg_(arg) {}
 
      static void Port(void *arg)
      {
        ThreadBlock *block = static_cast<ThreadBlock *>(arg);
        block->fun_(block->arg_);
      }
 
      typeof(function) fun_;
      ArgType arg_;
    };
 
    auto block = new ThreadBlock(function, arg);
 
    auto ans = xTaskCreate(block->Port, name, stack_depth, block,
                           static_cast<uint32_t>(priority), &(this->thread_handle_));
    UNUSED(ans);
    UNUSED(block);
    ASSERT(ans == pdPASS);
  }

◆ Create() [2/5]

template<typename ArgType >

void LibXR::Thread::Create	(	ArgType	arg,
		void(*)(ArgType arg)	function,
		const char *	name,
		size_t	stack_depth,
		Thread::Priority	priority
	)

inline

创建新线程 Creates a new thread

Template Parameters

ArgType 线程函数的参数类型 The type of argument for the thread function

Parameters

arg	线程函数的参数 Argument for the thread function
function	线程执行的函数 Function executed by the thread
name	线程名称 Thread name
stack_depth	线程栈大小（字节） Stack size of the thread (bytes)
priority	线程优先级 Thread priority

该方法基于 POSIX pthread_create() 创建新线程，执行 function 并传递 arg 作为参数。线程栈大小 stack_depth 需要进行调整以符合 POSIX 线程的栈管理方式。如果系统支持 SCHED_RR 调度策略，则设置线程优先级。

This method creates a new thread using POSIX pthread_create(), executing function with arg as the argument. The stack_depth needs adjustment for POSIX thread stack management. If the system supports SCHED_RR scheduling, thread priority is set accordingly.

线程数据封装类 Thread data encapsulation class

构造函数，存储线程相关数据 Constructor to store thread-related data

Parameters

fun	线程执行的函数 Function executed by the thread
arg	线程参数 Thread argument
name	线程名称 Thread name

线程入口函数，执行用户定义的线程函数 Thread entry function that executes the user-defined function

Parameters

arg	线程参数 Thread argument

Returns: 返回值始终为 nullptr The return value is always nullptr

< 线程执行的函数 Function executed by the thread

< 线程函数的参数 Argument passed to the thread function

< 线程名称 Thread name

Definition at line 64 of file thread.hpp.

  {
    pthread_attr_t attr;
    pthread_attr_init(&attr);
 
    // 线程栈大小设定，确保不小于 1
    if (stack_depth > 256)
    {
      pthread_attr_setstacksize(&attr, stack_depth / 1024 * 4);
    }
    else
    {
      pthread_attr_setstacksize(&attr, 1);
    }
 
    class ThreadBlock
    {
     public:
      ThreadBlock(typeof(function) fun, ArgType arg, const char *name)
          : fun_(fun),
            arg_(arg),
            name_(reinterpret_cast<char *>(malloc(strlen(name) + 1)))
      {
        strcpy(name_, name);
      }
 
      static void *Port(void *arg)
      {
        ThreadBlock *block = static_cast<ThreadBlock *>(arg);
        volatile const char *thread_name = block->name_;
        block->fun_(block->arg_);
 
        UNUSED(thread_name);
        return static_cast<void *>(nullptr);
      }
 
      typeof(function) fun_;  
      ArgType arg_;           
      char *name_;            
    };
 
    auto block = new ThreadBlock(function, arg, name);
 
    // 优先尝试设置 SCHED_FIFO 和线程优先级
    int min_priority = sched_get_priority_min(SCHED_FIFO);
    int max_priority = sched_get_priority_max(SCHED_FIFO);
    bool scheduling_set = false;
 
    if (max_priority - min_priority >= static_cast<int>(Priority::REALTIME))
    {
      pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
      pthread_attr_setschedpolicy(&attr, SCHED_FIFO);
 
      struct sched_param sp;
      memset(&sp, 0, sizeof(sp));
      sp.sched_priority = min_priority + static_cast<int>(priority);
 
      if (pthread_attr_setschedparam(&attr, &sp) == 0)
      {
        scheduling_set = true;
      }
      else
      {
        XR_LOG_WARN("Failed to set thread priority. Falling back to default policy.");
        pthread_attr_setschedpolicy(&attr, SCHED_OTHER);
        pthread_attr_setinheritsched(&attr, PTHREAD_INHERIT_SCHED);
      }
    }
    else
    {
      XR_LOG_WARN(
          "SCHED_FIFO not supported or insufficient range. Using default policy.");
      pthread_attr_setinheritsched(&attr, PTHREAD_INHERIT_SCHED);
    }
 
    // 创建线程
    if (auto ans = pthread_create(&this->thread_handle_, &attr, block->Port, block) != 0)
    {
      XR_LOG_WARN("Failed to create thread: %s (%s), Falling back to default policy.",
                  name, strerror(ans));
      pthread_attr_setschedpolicy(&attr, SCHED_OTHER);
      pthread_attr_setinheritsched(&attr, PTHREAD_INHERIT_SCHED);
      if (auto ans =
              pthread_create(&this->thread_handle_, &attr, block->Port, block) != 0)
      {
        XR_LOG_ERROR("Failed to create thread: %s (%s)", ans);
      }
    }
 
    pthread_attr_destroy(&attr);
  }

◆ Create() [3/5]

template<typename ArgType >

void LibXR::Thread::Create	(	ArgType	arg,
		void(*)(ArgType arg)	function,
		const char *	name,
		size_t	stack_depth,
		Thread::Priority	priority
	)

inline

创建并执行新线程 Creates and executes a new thread

Template Parameters

ArgType 线程函数的参数类型 The type of argument for the thread function

Parameters

arg	线程函数的参数 Argument for the thread function
function	线程执行的函数 Function executed by the thread
name	线程名称（未使用） Thread name (unused)
stack_depth	线程栈大小（未使用） Stack size of the thread (unused)
priority	线程优先级（未使用） Thread priority (unused)

此函数是一个简化版本的线程创建，仅执行 function(arg)，并且只允许创建一次。由于 name、stack_depth 和 priority 未实际使用，主要用于测试或占位用途。

This function is a simplified version of thread creation, executing only function(arg), and it ensures that the thread is created only once. The parameters name, stack_depth, and priority are unused and mainly serve as placeholders or for testing purposes.

Definition at line 65 of file thread.hpp.

  {
    UNUSED(name);
    UNUSED(stack_depth);
    UNUSED(priority);
 
    static bool created = false;
    ASSERT(created == false);
    created = true;
    UNUSED(created);
 
    function(arg);
  }

◆ Create() [4/5]

template<typename ArgType >

void LibXR::Thread::Create	(	ArgType	arg,
		void(*)(ArgType arg)	function,
		const char *	name,
		size_t	stack_depth,
		Thread::Priority	priority
	)

inline

创建并执行新线程 Creates and executes a new thread

Template Parameters

ArgType 线程函数的参数类型 The type of argument for the thread function

Parameters

arg	线程函数的参数 Argument for the thread function
function	线程执行的函数 Function executed by the thread
name	线程名称（未使用） Thread name (unused)
stack_depth	线程栈大小（未使用） Stack size of the thread (unused)
priority	线程优先级（未使用） Thread priority (unused)

此函数是一个简化版本的线程创建，仅执行 function(arg)，并且只允许创建一次。由于 name、stack_depth 和 priority 未实际使用，主要用于测试或占位用途。

This function is a simplified version of thread creation, executing only function(arg), and it ensures that the thread is created only once. The parameters name, stack_depth, and priority are unused and mainly serve as placeholders or for testing purposes.

Definition at line 65 of file thread.hpp.

  {
    UNUSED(name);
    UNUSED(stack_depth);
    UNUSED(priority);
 
    static bool created = false;
    ASSERT(created == false);
    created = true;
    UNUSED(created);
 
    function(arg);
  }

◆ Create() [5/5]

template<typename ArgType >

void LibXR::Thread::Create	(	ArgType	arg,
		void(*)(ArgType arg)	function,
		const char *	name,
		size_t	stack_depth,
		Thread::Priority	priority
	)

inline

创建新线程 Creates a new thread

Template Parameters

ArgType 线程函数的参数类型 The type of argument for the thread function

Parameters

arg	线程函数的参数 Argument for the thread function
function	线程执行的函数 Function executed by the thread
name	线程名称 Thread name
stack_depth	线程栈大小（字节） Stack size of the thread (bytes)
priority	线程优先级 Thread priority

该方法基于 POSIX pthread_create() 创建新线程，执行 function 并传递 arg 作为参数。线程栈大小 stack_depth 需要进行调整以符合 POSIX 线程的栈管理方式。如果系统支持 SCHED_RR 调度策略，则设置线程优先级。

This method creates a new thread using POSIX pthread_create(), executing function with arg as the argument. The stack_depth needs adjustment for POSIX thread stack management. If the system supports SCHED_RR scheduling, thread priority is set accordingly.

线程数据封装类 Thread data encapsulation class

构造函数，存储线程相关数据 Constructor to store thread-related data

Parameters

fun	线程执行的函数 Function executed by the thread
arg	线程参数 Thread argument
name	线程名称 Thread name

线程入口函数，执行用户定义的线程函数 Thread entry function that executes the user-defined function

Parameters

arg	线程参数 Thread argument

Returns: 返回值始终为 nullptr The return value is always nullptr

< 线程执行的函数 Function executed by the thread

< 线程函数的参数 Argument passed to the thread function

< 线程名称 Thread name

Definition at line 65 of file thread.hpp.

  {
    pthread_attr_t attr;
    pthread_attr_init(&attr);
 
    // 线程栈大小设定，确保不小于 1
    if (stack_depth > 256)
    {
      pthread_attr_setstacksize(&attr, stack_depth / 1024 * 4);
    }
    else
    {
      pthread_attr_setstacksize(&attr, 1);
    }
 
    class ThreadBlock
    {
     public:
      ThreadBlock(typeof(function) fun, ArgType arg, const char *name)
          : fun_(fun),
            arg_(arg),
            name_(reinterpret_cast<char *>(malloc(strlen(name) + 1)))
      {
        strcpy(name_, name);
      }
 
      static void *Port(void *arg)
      {
        ThreadBlock *block = static_cast<ThreadBlock *>(arg);
        volatile const char *thread_name = block->name_;
        block->fun_(block->arg_);
 
        UNUSED(thread_name);
        return static_cast<void *>(nullptr);
      }
 
      typeof(function) fun_;  
      ArgType arg_;           
      char *name_;            
    };
 
    auto block = new ThreadBlock(function, arg, name);
 
    // 优先尝试设置 SCHED_FIFO 和线程优先级
    int min_priority = sched_get_priority_min(SCHED_FIFO);
    int max_priority = sched_get_priority_max(SCHED_FIFO);
    bool scheduling_set = false;
 
    if (max_priority - min_priority >= static_cast<int>(Priority::REALTIME))
    {
      pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
      pthread_attr_setschedpolicy(&attr, SCHED_FIFO);
 
      struct sched_param sp;
      memset(&sp, 0, sizeof(sp));
      sp.sched_priority = min_priority + static_cast<int>(priority);
 
      if (pthread_attr_setschedparam(&attr, &sp) == 0)
      {
        scheduling_set = true;
      }
      else
      {
        XR_LOG_WARN("Failed to set thread priority. Falling back to default policy.");
        pthread_attr_setschedpolicy(&attr, SCHED_OTHER);
        pthread_attr_setinheritsched(&attr, PTHREAD_INHERIT_SCHED);
      }
    }
    else
    {
      XR_LOG_WARN(
          "SCHED_FIFO not supported or insufficient range. Using default policy.");
      pthread_attr_setinheritsched(&attr, PTHREAD_INHERIT_SCHED);
    }
 
    // 创建线程
    if (auto ans = pthread_create(&this->thread_handle_, &attr, block->Port, block) != 0)
    {
      XR_LOG_WARN("Failed to create thread: %s (%s), Falling back to default policy.",
                  name, strerror(ans));
      pthread_attr_setschedpolicy(&attr, SCHED_OTHER);
      pthread_attr_setinheritsched(&attr, PTHREAD_INHERIT_SCHED);
      if (auto ans =
              pthread_create(&this->thread_handle_, &attr, block->Port, block) != 0)
      {
        XR_LOG_ERROR("Failed to create thread: %s (%s)", ans);
      }
    }
 
    pthread_attr_destroy(&attr);
  }

◆ Current() [1/5]

Thread Thread::Current ( void )

static

获取当前线程对象 Gets the current thread object

Returns: 当前线程对象 The current thread object

Definition at line 7 of file thread.cpp.

7{ return Thread(xTaskGetCurrentTaskHandle()); }

LibXR::Thread::Thread

Thread()

默认构造函数，初始化空线程 Default constructor initializing an empty thread

Definition thread.hpp:35

◆ Current() [2/5]

static Thread LibXR::Thread::Current ( void )

static

获取当前线程对象 Gets the current thread object

Returns: 当前线程对象 The current thread object

◆ Current() [3/5]

static Thread LibXR::Thread::Current ( void )

static

获取当前线程对象 Gets the current thread object

Returns: 当前线程对象 The current thread object

◆ Current() [4/5]

static Thread LibXR::Thread::Current ( void )

static

获取当前线程对象 Gets the current thread object

Returns: 当前线程对象 The current thread object

◆ Current() [5/5]

static Thread LibXR::Thread::Current ( void )

static

获取当前线程对象 Gets the current thread object

Returns: 当前线程对象 The current thread object

◆ GetTime() [1/5]

uint32_t Thread::GetTime ( )

static

获取当前系统时间（毫秒） Gets the current system time in milliseconds

Returns: 当前时间（毫秒） Current time in milliseconds

Definition at line 16 of file thread.cpp.

16{ return xTaskGetTickCount(); }

◆ GetTime() [2/5]

static uint32_t LibXR::Thread::GetTime ( )

static

获取当前系统时间（毫秒） Gets the current system time in milliseconds

Returns: 当前时间（毫秒） Current time in milliseconds

◆ GetTime() [3/5]

static uint32_t LibXR::Thread::GetTime ( )

static

获取当前系统时间（毫秒） Gets the current system time in milliseconds

Returns: 当前时间（毫秒） Current time in milliseconds

◆ GetTime() [4/5]

static uint32_t LibXR::Thread::GetTime ( )

static

获取当前系统时间（毫秒） Gets the current system time in milliseconds

Returns: 当前时间（毫秒） Current time in milliseconds

◆ GetTime() [5/5]

static uint32_t LibXR::Thread::GetTime ( )

static

获取当前系统时间（毫秒） Gets the current system time in milliseconds

Returns: 当前时间（毫秒） Current time in milliseconds

◆ operator libxr_thread_handle() [1/5]

LibXR::Thread::operator libxr_thread_handle ( )

inline

线程对象转换为 FreeRTOS 线程句柄 Converts the thread object to a FreeRTOS thread handle

Returns: FreeRTOS 线程句柄 FreeRTOS thread handle

Definition at line 133 of file thread.hpp.

133{ return thread_handle_; }

◆ operator libxr_thread_handle() [2/5]

LibXR::Thread::operator libxr_thread_handle ( )

inline

线程对象转换为 POSIX 线程句柄 Converts the thread object to a POSIX thread handle

Returns: POSIX 线程句柄 POSIX thread handle

Definition at line 215 of file thread.hpp.

215{ return thread_handle_; }

◆ operator libxr_thread_handle() [3/5]

LibXR::Thread::operator libxr_thread_handle ( )

inline

线程对象转换为线程句柄 Converts the thread object to a thread handle

Returns: 线程句柄 Thread handle

Definition at line 120 of file thread.hpp.

120{ return thread_handle_; }

◆ operator libxr_thread_handle() [4/5]

LibXR::Thread::operator libxr_thread_handle ( )

inline

线程对象转换为线程句柄 Converts the thread object to a thread handle

Returns: 线程句柄 Thread handle

Definition at line 120 of file thread.hpp.

120{ return thread_handle_; }

◆ operator libxr_thread_handle() [5/5]

LibXR::Thread::operator libxr_thread_handle ( )

inline

线程对象转换为 POSIX 线程句柄 Converts the thread object to a POSIX thread handle

Returns: POSIX 线程句柄 POSIX thread handle

Definition at line 216 of file thread.hpp.

216{ return thread_handle_; }

◆ Sleep() [1/5]

void Thread::Sleep ( uint32_t milliseconds )

static

让线程进入休眠状态 Puts the thread to sleep

Parameters

milliseconds 休眠时间（毫秒） Sleep duration in milliseconds

Definition at line 9 of file thread.cpp.

9{ vTaskDelay(milliseconds); }

◆ Sleep() [2/5]

static void LibXR::Thread::Sleep ( uint32_t milliseconds )

static

让线程进入休眠状态 Puts the thread to sleep

Parameters

milliseconds 休眠时间（毫秒） Sleep duration in milliseconds

◆ Sleep() [3/5]

static void LibXR::Thread::Sleep ( uint32_t milliseconds )

static

让线程进入休眠状态 Puts the thread to sleep

Parameters

milliseconds 休眠时间（毫秒） Sleep duration in milliseconds

◆ Sleep() [4/5]

static void LibXR::Thread::Sleep ( uint32_t milliseconds )

static

让线程进入休眠状态 Puts the thread to sleep

Parameters

milliseconds 休眠时间（毫秒） Sleep duration in milliseconds

◆ Sleep() [5/5]

static void LibXR::Thread::Sleep ( uint32_t milliseconds )

static

让线程进入休眠状态 Puts the thread to sleep

Parameters

milliseconds 休眠时间（毫秒） Sleep duration in milliseconds

◆ SleepUntil() [1/5]

void Thread::SleepUntil	(	TimestampMS &	last_waskup_time,
		uint32_t	time_to_sleep
	)

static

让线程休眠直到指定时间点 Puts the thread to sleep until a specified time

Parameters

last_waskup_time	上次唤醒时间 Last wake-up time
time_to_sleep	休眠时长（毫秒） Sleep duration in milliseconds

Definition at line 11 of file thread.cpp.

                                                                             {
  vTaskDelayUntil(reinterpret_cast<uint32_t *>(&last_waskup_time),
                  time_to_sleep);
}

◆ SleepUntil() [2/5]

static void LibXR::Thread::SleepUntil	(	TimestampMS &	last_waskup_time,
		uint32_t	time_to_sleep
	)

static

让线程休眠直到指定时间点 Puts the thread to sleep until a specified time

Parameters

last_waskup_time	上次唤醒时间 Last wake-up time
time_to_sleep	休眠时长（毫秒） Sleep duration in milliseconds

◆ SleepUntil() [3/5]

static void LibXR::Thread::SleepUntil	(	TimestampMS &	last_waskup_time,
		uint32_t	time_to_sleep
	)

static

让线程休眠直到指定时间点 Puts the thread to sleep until a specified time

Parameters

last_waskup_time	上次唤醒时间 Last wake-up time
time_to_sleep	休眠时长（毫秒） Sleep duration in milliseconds

◆ SleepUntil() [4/5]

static void LibXR::Thread::SleepUntil	(	TimestampMS &	last_waskup_time,
		uint32_t	time_to_sleep
	)

static

让线程休眠直到指定时间点 Puts the thread to sleep until a specified time

Parameters

last_waskup_time	上次唤醒时间 Last wake-up time
time_to_sleep	休眠时长（毫秒） Sleep duration in milliseconds

◆ SleepUntil() [5/5]

static void LibXR::Thread::SleepUntil	(	TimestampMS &	last_waskup_time,
		uint32_t	time_to_sleep
	)

static

让线程休眠直到指定时间点 Puts the thread to sleep until a specified time

Parameters

last_waskup_time	上次唤醒时间 Last wake-up time
time_to_sleep	休眠时长（毫秒） Sleep duration in milliseconds

◆ Yield()

void Thread::Yield ( )

static

让出 CPU 以执行其他线程 Yields CPU execution to allow other threads to run

Definition at line 18 of file thread.cpp.

18{ portYIELD(); } // NOLINT

Field Documentation

◆ thread_handle_

libxr_thread_handle LibXR::Thread::thread_handle_

private

FreeRTOS 线程句柄 FreeRTOS thread handle.

线程句柄 Thread handle

POSIX 线程句柄 POSIX thread handle.

Definition at line 136 of file thread.hpp.

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

system/FreeRTOS/thread.hpp
system/Linux/thread.hpp
system/None/thread.hpp
system/WebAsm/thread.hpp
system/Webots/thread.hpp
system/FreeRTOS/thread.cpp
system/Linux/thread.cpp
system/None/thread.cpp
system/WebAsm/thread.cpp
system/Webots/thread.cpp

Public Types

Public Member Functions

Static Public Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ Priority [1/5]

◆ Priority [2/5]

◆ Priority [3/5]

◆ Priority [4/5]

◆ Priority [5/5]

Constructor & Destructor Documentation

◆ Thread() [1/10]

◆ Thread() [2/10]

◆ Thread() [3/10]

◆ Thread() [4/10]

◆ Thread() [5/10]

◆ Thread() [6/10]

◆ Thread() [7/10]

◆ Thread() [8/10]

◆ Thread() [9/10]

◆ Thread() [10/10]

Member Function Documentation

◆ Create() [1/5]

◆ Create() [2/5]

◆ Create() [3/5]

◆ Create() [4/5]

◆ Create() [5/5]

◆ Current() [1/5]

◆ Current() [2/5]

◆ Current() [3/5]

◆ Current() [4/5]

◆ Current() [5/5]

◆ GetTime() [1/5]

◆ GetTime() [2/5]

◆ GetTime() [3/5]

◆ GetTime() [4/5]

◆ GetTime() [5/5]

◆ operator libxr_thread_handle() [1/5]

◆ operator libxr_thread_handle() [2/5]

◆ operator libxr_thread_handle() [3/5]

◆ operator libxr_thread_handle() [4/5]

◆ operator libxr_thread_handle() [5/5]

◆ Sleep() [1/5]

◆ Sleep() [2/5]

◆ Sleep() [3/5]

◆ Sleep() [4/5]

◆ Sleep() [5/5]

◆ SleepUntil() [1/5]

◆ SleepUntil() [2/5]

◆ SleepUntil() [3/5]

◆ SleepUntil() [4/5]

◆ SleepUntil() [5/5]

◆ Yield()

Field Documentation

◆ thread_handle_