Thread.cpp

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#include "Thread.hh"
#include "Cosa/Watchdog.hh"
#include "Cosa/Power.hh"
#include <alloca.h>

static void thread_delay(uint32_t ms)
{
  Nucleo::Thread::running()->delay(ms);
}

static void thread_yield()
{
  Nucleo::Thread::running()->yield();
}

static void thread_sleep(uint16_t s)
{
  Nucleo::Thread::running()->delay(s * 1000L);
}

using namespace Nucleo;

Head Thread::s_delayed;
Thread Thread::s_main;
Thread* Thread::s_running = &s_main;
size_t Thread::s_top = MAIN_STACK_MAX;

void
Thread::init(void* stack)
{
  UNUSED(stack);
  s_main.attach(this);
  if (setjmp(m_context)) while (1) run();
}

void
Thread::begin(Thread* thread, size_t size)
{
  if (thread != NULL) {
    void* stack = alloca(s_top);
    s_top += size;
    thread->init(stack);
  }
  else {
    ::delay = thread_delay;
    ::sleep = thread_sleep;
    ::yield = thread_yield;
  }
}

void
Thread::run()
{
  Thread* thread;
  if (!s_delayed.is_empty()) {
    uint32_t now = Watchdog::millis();
    while ((thread = (Thread*) s_delayed.succ()) != (Thread*) &s_delayed) {
      if (thread->m_expires > now) break;
      this->attach(thread);
    }
  }
  thread = (Thread*) succ();
  if (thread != this)
    resume(thread);
  else
    Power::sleep();
}

void
Thread::resume(Thread* thread)
{
  if (setjmp(m_context)) return;
  s_running = thread;
  longjmp(thread->m_context, 1);
}

void
Thread::enqueue(Head* queue, Thread* thread)
{
  if (thread == NULL)
    thread = (Thread*) succ();
  queue->attach(this);
  resume(thread);
}

void
Thread::dequeue(Head* queue, bool flag)
{
  if (UNLIKELY(queue->is_empty())) return;
  Thread* thread = (Thread*) queue->succ();
  if (flag) {
    attach(thread);
    resume(thread);
  }
  else {
    succ()->attach(thread);
  }
}

void
Thread::delay(uint32_t ms)
{
  m_expires = Watchdog::millis() + ms;
  Thread* thread = (Thread*) s_delayed.succ();
  while (thread != (Thread*) &s_delayed) {
    if (thread->m_expires > m_expires) break;
    thread = (Thread*) thread->succ();
  }
  enqueue((Head*) thread);
}

void
Thread::service()
{
  s_main.run();
}