Othread.hpp

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#ifndef OTHREAD_HPP
#define OTHREAD_HPP
 
#include <functional>
#include <chrono>
 
#ifdef ONE_MOTOR_LINUX
#include <thread>
#else
#include <zephyr/kernel.h>
#endif
 
namespace OneMotor::Thread
{
        template <typename Rep, typename Period>
        void sleep_for(const std::chrono::duration<Rep, Period>& duration) noexcept
        {
#ifdef ONE_MOTOR_LINUX
                std::this_thread::sleep_for(duration);
#else
                auto us = std::chrono::duration_cast<std::chrono::microseconds>(duration).count();
                k_usleep(us);
 
#endif
        }

        class Othread
        {
        public:
                using ThreadFunc = std::function<void()>;

#ifdef ONE_MOTOR_LINUX
                explicit Othread(const ThreadFunc& func) noexcept;
#else
                explicit Othread(ThreadFunc func) noexcept;
#endif

                Othread() noexcept;

                ~Othread();
 
                Othread(const Othread&) = delete;
                Othread(Othread&&) = delete;
                Othread& operator=(const Othread&) = delete;
                Othread& operator=(Othread&&) = delete;

#ifdef ONE_MOTOR_LINUX
                bool start(const ThreadFunc& func) noexcept;
#else
                bool start(ThreadFunc& func) noexcept;
#endif
 

                bool join() noexcept;

                bool detach() noexcept;

                [[nodiscard]] bool joinable() const noexcept;
 
        private:
                bool started{false}; 
                bool joined{false}; 
                bool detached{false}; 
#ifdef ONE_MOTOR_LINUX
                ThreadFunc thread_func{nullptr}; 
                std::thread native_handle{}; 
#else
                static constexpr size_t StackSize = 1024;
                K_KERNEL_STACK_MEMBER(stack_mem, StackSize);
                mutable k_thread k_thread_handle{};
                k_tid_t k_tid{};
                ThreadFunc func_;
#endif
        };
}
 
#endif //OTHREAD_HPP