Mbed OS 文档翻译 之 参考（API（RTOS（Thread）））

Thread

                                                                        

                                                                               Thread 类层次结构

Thread 类允许定义，创建和控制并行任务。

       注意: 函数 main 是在系统初始化时启动的特殊线程函数。

Thread 类参考

rtos::Thread 类参考

公共类型
enum	State {   Inactive, Ready, Running, WaitingDelay,   WaitingJoin, WaitingThreadFlag, WaitingEventFlag, WaitingMutex,   WaitingSemaphore, WaitingMemoryPool, WaitingMessageGet, WaitingMessagePut,   WaitingInterval, WaitingOr, WaitingAnd, WaitingMailbox,   Deleted }

公共成员函数
	Thread (osPriority priority=osPriorityNormal, uint32_t stack_size=OS_STACK_SIZE, unsigned char *stack_mem=NULL, const char *name=NULL)
	Thread (uint32_t tz_module, osPriority priority=osPriorityNormal, uint32_t stack_size=OS_STACK_SIZE, unsigned char *stack_mem=NULL, const char *name=NULL)
	Thread (mbed::Callback< void()> task, osPriority priority=osPriorityNormal, uint32_t stack_size=OS_STACK_SIZE, unsigned char *stack_mem=NULL)
template<typename T >
	Thread (T *argument, void(T::*task)(), osPriority priority=osPriorityNormal, uint32_t stack_size=OS_STACK_SIZE, unsigned char *stack_mem=NULL)
template<typename T >
	Thread (T *argument, void(*task)(T *), osPriority priority=osPriorityNormal, uint32_t stack_size=OS_STACK_SIZE, unsigned char *stack_mem=NULL)
	Thread (void(*task)(void const *argument), void *argument=NULL, osPriority priority=osPriorityNormal, uint32_t stack_size=OS_STACK_SIZE, unsigned char *stack_mem=NULL)
osStatus	start (mbed::Callback< void()> task)
template<typename T , typename M >
osStatus	start (T *obj, M method)
osStatus	join ()
osStatus	terminate ()
osStatus	set_priority (osPriority priority)
osPriority	get_priority ()
int32_t	signal_set (int32_t signals)
State	get_state ()
uint32_t	stack_size ()
uint32_t	free_stack ()
uint32_t	used_stack ()
uint32_t	max_stack ()
const char *	get_name ()
virtual	~Thread ()

静态公共成员函数
static int32_t	signal_clr (int32_t signals)
static osEvent	signal_wait (int32_t signals, uint32_t millisec=osWaitForever)
static osStatus	wait (uint32_t millisec)
static osStatus	wait_until (uint64_t millisec)
static osStatus	yield ()
static osThreadId	gettid ()
static void	attach_idle_hook (void(*fptr)(void))
static void	attach_terminate_hook (void(*fptr)(osThreadId id))

/// Priority values.
typedef enum {
  osPriorityNone          =  0,         ///< No priority (not initialized).
  osPriorityIdle          =  1,         ///< Reserved for Idle thread.
  osPriorityLow           =  8,         ///< Priority: low
  osPriorityLow1          =  8+1,       ///< Priority: low + 1
  osPriorityLow2          =  8+2,       ///< Priority: low + 2
  osPriorityLow3          =  8+3,       ///< Priority: low + 3
  osPriorityLow4          =  8+4,       ///< Priority: low + 4
  osPriorityLow5          =  8+5,       ///< Priority: low + 5
  osPriorityLow6          =  8+6,       ///< Priority: low + 6
  osPriorityLow7          =  8+7,       ///< Priority: low + 7
  osPriorityBelowNormal   = 16,         ///< Priority: below normal
  osPriorityBelowNormal1  = 16+1,       ///< Priority: below normal + 1
  osPriorityBelowNormal2  = 16+2,       ///< Priority: below normal + 2
  osPriorityBelowNormal3  = 16+3,       ///< Priority: below normal + 3
  osPriorityBelowNormal4  = 16+4,       ///< Priority: below normal + 4
  osPriorityBelowNormal5  = 16+5,       ///< Priority: below normal + 5
  osPriorityBelowNormal6  = 16+6,       ///< Priority: below normal + 6
  osPriorityBelowNormal7  = 16+7,       ///< Priority: below normal + 7
  osPriorityNormal        = 24,         ///< Priority: normal
  osPriorityNormal1       = 24+1,       ///< Priority: normal + 1
  osPriorityNormal2       = 24+2,       ///< Priority: normal + 2
  osPriorityNormal3       = 24+3,       ///< Priority: normal + 3
  osPriorityNormal4       = 24+4,       ///< Priority: normal + 4
  osPriorityNormal5       = 24+5,       ///< Priority: normal + 5
  osPriorityNormal6       = 24+6,       ///< Priority: normal + 6
  osPriorityNormal7       = 24+7,       ///< Priority: normal + 7
  osPriorityAboveNormal   = 32,         ///< Priority: above normal
  osPriorityAboveNormal1  = 32+1,       ///< Priority: above normal + 1
  osPriorityAboveNormal2  = 32+2,       ///< Priority: above normal + 2
  osPriorityAboveNormal3  = 32+3,       ///< Priority: above normal + 3
  osPriorityAboveNormal4  = 32+4,       ///< Priority: above normal + 4
  osPriorityAboveNormal5  = 32+5,       ///< Priority: above normal + 5
  osPriorityAboveNormal6  = 32+6,       ///< Priority: above normal + 6
  osPriorityAboveNormal7  = 32+7,       ///< Priority: above normal + 7
  osPriorityHigh          = 40,         ///< Priority: high
  osPriorityHigh1         = 40+1,       ///< Priority: high + 1
  osPriorityHigh2         = 40+2,       ///< Priority: high + 2
  osPriorityHigh3         = 40+3,       ///< Priority: high + 3
  osPriorityHigh4         = 40+4,       ///< Priority: high + 4
  osPriorityHigh5         = 40+5,       ///< Priority: high + 5
  osPriorityHigh6         = 40+6,       ///< Priority: high + 6
  osPriorityHigh7         = 40+7,       ///< Priority: high + 7
  osPriorityRealtime      = 48,         ///< Priority: realtime
  osPriorityRealtime1     = 48+1,       ///< Priority: realtime + 1
  osPriorityRealtime2     = 48+2,       ///< Priority: realtime + 2
  osPriorityRealtime3     = 48+3,       ///< Priority: realtime + 3
  osPriorityRealtime4     = 48+4,       ///< Priority: realtime + 4
  osPriorityRealtime5     = 48+5,       ///< Priority: realtime + 5
  osPriorityRealtime6     = 48+6,       ///< Priority: realtime + 6
  osPriorityRealtime7     = 48+7,       ///< Priority: realtime + 7
  osPriorityISR           = 56,         ///< Reserved for ISR deferred thread.
  osPriorityError         = -1,         ///< System cannot determine priority or illegal priority.
  osPriorityReserved      = 0x7FFFFFFF  ///< Prevents enum down-size compiler optimization.
} osPriority_t;

Thread 示例

下面的代码使用两个单独的线程来闪烁两个 LED。第一个线程自动创建并执行 main 函数；第二个线程是在 main 中明确创建的。

main.cpp                                                                                                                                              导入到 Mbed IDE

#include "mbed.h"
 
DigitalOut led1(LED1);
DigitalOut led2(LED2);
Thread thread;
 
void led2_thread() {
    while (true) {
        led2 = !led2;
        wait(1);
    }
}
 
int main() {
    thread.start(led2_thread);
    
    while (true) {
        led1 = !led1;
        wait(0.5);
    }
}

Thread 回调示例

Callback API 提供了一种将参数传递给生成线程的便捷方法。

main.cpp                                                                                                                                              导入到 Mbed IDE

#include "mbed.h"

Thread thread;
DigitalOut led1(LED1);
volatile bool running = true;

// Blink function toggles the led in a long running loop
void blink(DigitalOut *led) {
    while (running) {
        *led = !*led;
        wait(1);
    }
}

// Spawns a thread to run blink for 5 seconds
int main() {
    thread.start(callback(blink, &led1));
    wait(5);
    running = false;
    thread.join();
}