thread-lib.h File Reference

Thread Library. More...

#include <stdbool.h>
#include <pthread.h>
#include "MyRio.h"
#include "AIO.h"
#include "NiFpga.h"
#include "DIIRQ.h"
#include "TimerIRQ.h"
#include "io.h"
#include "setup.h"

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Data Structures
struct	ThreadResource
	Parameter for Threading Functions. More...

Macros
#define	BTI_US   5000u
	The timestep, in microseconds (us)
#define	BTI_MS   5u
	The timestep, in milliseconds (ms)
#define	BTI_S   0.005
	The timestep, in seconds (s)
#define	g   9.81
	Acceleration due to Gravity (m/s^2)
#define	PI   3.141592653549
	Pi.
#define	l   0.47
	Length of Rope (m)
#define	m_dt   2.092
	Mass of the double Trolley (kg)
#define	m_st   0.664
	Mass of the single Trolley (kg)
#define	m_p   0.765
	Mass of User (kg)
#define	START_THREAD(thread, function, resource)
	Starts a thread.
#define	REGISTER_TIMER(resource)    Irq_RegisterTimerIrq(&timer, &(resource.irq_context), BTI_US)
	Registers the global timer with a thread.
#define	STOP_THREAD(thread, resource)
	Stops a thread in this process.
#define	UNREGISTER_TIMER(resource)    Irq_UnregisterTimerIrq(&timer, resource.irq_context)
	Unregisters the global timer with a thread.
#define	TIMER_TRIGGER(irq_assert, resource)
#define	EXIT_THREAD()

Variables
NiFpga_Session	myrio_session
	The MyRio Session.

Detailed Description

Thread Library.

Author

Anti-Sway Team: Nguyen, Tri; Espinola, Malachi; Tevy, Vattanary; Hokenstad, Ethan; Neff, Callen

Version

0.1

Date

2024-06-03

Copyright

Copyright (c) 2024

Macro Definition Documentation

EXIT_THREAD

#define EXIT_THREAD

(

)

Value:

    pthread_exit(NULL); \
    return NULL

Kills a Thread

Postcondition

The thread associated with the function that calls this is now gone.

REGISTER_TIMER

#define REGISTER_TIMER

(

resource

)

Irq_RegisterTimerIrq(&timer, &(resource.irq_context), BTI_US)

Registers the global timer with a thread.

Registers the timer (global) with a particular thread (via its resource)

Parameters

resource

The ThreadResource associated with a thread

Precondition

No other thread is using the global timer

Postcondition

The thread associated with resource is now associated with the global timer

START_THREAD

#define START_THREAD	(		thread,
			function,
			resource )

Value:

    resource.irq_thread_rdy = true; \
    VERIFY(error, pthread_create(&thread, NULL, function, &resource))

Starts a thread.

Starts a new thread within this process.

Parameters

thread	The pthread_t ID variable to hold the thread's ID
function	The Thread Function to execute for the thread
resource	The ThreadResource to give the function

Precondition

An integer variable named error must be declared in this context

Postcondition

thread will contain the new PID (Process ID) of the thread

A new thread that runs function will now be running concurrently

Returns

EXIT_FAILURE upon failure to initialize the thread

STOP_THREAD

#define STOP_THREAD	(		thread,
			resource )

Value:

    resource.irq_thread_rdy = false; \
    VERIFY(error, pthread_join(thread, NULL))

Stops a thread in this process.

Signals a Thread using a ThreadResource object to stop

Parameters

thread	The pthread_t holding the ID of the thread to stop
resource	The ThreadResource associated with the thread

Returns

EXIT_FAUILURE upon failure

Precondition

The thread uses resource, and calls EXIT_THREAD() when resource.irq_thread_rdy is set to false

Postcondition

The thread associated with pthread_t is now done

TIMER_TRIGGER

#define TIMER_TRIGGER	(		irq_assert,
			resource )

Value:

    Irq_Wait(resource->irq_context, \
             TIMERIRQNO, \
             &irq_assert, \
             (NiFpga_Bool *) &(resource->irq_thread_rdy)); \
    NiFpga_WriteU32(myrio_session, IRQTIMERWRITE, BTI_US); \
    NiFpga_WriteBool(myrio_session, IRQTIMERSETTIME, NiFpga_True)

Waits for a timer trigger (at the appropriate time step)

Parameters

irq_assert	A uint32_t that shall hold the assertion code
resource	A pointer to a ThreadResource for the thread associated with the global timer

Postcondition

irq_assert will be non-zero iff the timer has waited for the standard time step (BTI_S/MS/US)

The timer will trigger after waiting for the standard time step (BTI_S/MS/US)

UNREGISTER_TIMER

#define UNREGISTER_TIMER

(

resource

)

Irq_UnregisterTimerIrq(&timer, resource.irq_context)

Unregisters the global timer with a thread.

Dissasociates a thread with a timer (via its resource)

Parameters

resource

The ThreadResource to disassociate the global timer with

Postcondition

The thread associated with resource is now disassociated with timer