Add thread wrapper

app/CMakeLists.txt

@@ -18,6 +18,7 @@ target_sources(app
   src/SensorDataProcessor.hpp
   src/SensorSampler.cpp
   src/SensorSampler.hpp
+  src/ThreadWrapper.hpp
 )
 
 # The code below locates the git index file for this repository and adds it as a dependency for

app/src/FirmwareManager.cpp

@@ -1,9 +1,11 @@
 #include "FirmwareManager.hpp"
 #include <zephyr/kernel.h>
 
-void app::FirmwareManager::entryPoint(void *, void *, void *) {
-  while (true) {
-    printk("app::FirmwareManager::entryPoint - Running...\n");
+void app::FirmwareManager::init() {}
+
+void app::FirmwareManager::run() {
+  printk("app::FirmwareManager::run - Running...\n");
   k_sleep(K_SECONDS(5));
 }
-}
+
+void app::FirmwareManager::finalize() {}

app/src/FirmwareManager.hpp

@@ -1,14 +1,20 @@
 #ifndef FIRMWARE_MANAGER_HPP
 #define FIRMWARE_MANAGER_HPP
 
+#include "ThreadWrapper.hpp"
+
 namespace app {
 
-class FirmwareManager {
+class FirmwareManager : public ThreadWrapper<FirmwareManager> {
 public:
   FirmwareManager() = default;
   ~FirmwareManager() = default;
 
-  static void entryPoint(void *, void *, void *);
+  void init();
+
+  void run();
+
+  void finalize();
 
 private:
 };

app/src/SensorDataProcessor.cpp

@@ -1,9 +1,11 @@
 #include "SensorDataProcessor.hpp"
 #include <zephyr/kernel.h>
 
-void app::SensorDataProcessor::entryPoint(void *, void *, void *) {
-  while (true) {
-    printk("app::SensorDataProcessor::entryPoint - Running...\n");
+void app::SensorDataProcessor::init() {}
+
+void app::SensorDataProcessor::run() {
+  printk("app::SensorDataProcessor::run - Running...\n");
   k_sleep(K_SECONDS(5));
 }
-}
+
+void app::SensorDataProcessor::finalize() {}

app/src/SensorDataProcessor.hpp

@@ -1,15 +1,20 @@
 #ifndef SENSOR_DATA_PROCESSOR_HPP
 #define SENSOR_DATA_PROCESSOR_HPP
 
+#include "ThreadWrapper.hpp"
+
 namespace app {
 
-class SensorDataProcessor {
+class SensorDataProcessor : public ThreadWrapper<SensorDataProcessor> {
 public:
   SensorDataProcessor() = default;
   ~SensorDataProcessor() = default;
 
-  // Thread entry
-  static void entryPoint(void *, void *, void *);
+  void init();
+
+  void run();
+
+  void finalize();
 
 private:
 };

app/src/SensorSampler.cpp

@@ -1,9 +1,11 @@
 #include "SensorSampler.hpp"
 #include <zephyr/kernel.h>
 
-void app::SensorSampler::entryPoint(void *, void *, void *) {
-  while (true) {
-    printk("app::SensorSampler::entryPoint - Running...\n");
+void app::SensorSampler::init() {}
+
+void app::SensorSampler::run() {
+  printk("app::SensorSampler::run - Running...\n");
   k_sleep(K_SECONDS(5));
 }
-}
+
+void app::SensorSampler::finalize() {}

app/src/SensorSampler.hpp

@@ -1,15 +1,20 @@
 #ifndef SENSOR_SAMPLER_HPP
 #define SENSOR_SAMPLER_HPP
 
+#include "ThreadWrapper.hpp"
+
 namespace app {
 
-class SensorSampler {
+class SensorSampler : public ThreadWrapper<SensorSampler> {
 public:
   SensorSampler() = default;
   ~SensorSampler() = default;
 
-  // Thread entry
-  static void entryPoint(void *, void *, void *);
+  void init();
+
+  void run();
+
+  void finalize();
 
 private:
 };

app/src/ThreadWrapper.hpp

@@ -0,0 +1,36 @@
+#ifndef THREAD_WRAPPER_HPP
+#define THREAD_WRAPPER_HPP
+
+#include <cstddef>
+
+namespace app {
+
+template <typename ThreadType> class ThreadWrapper {
+public:
+  /**
+   * @brief Entry point to thread. Must define init(), run(), and finalize() for
+   * thread type.
+   *
+   */
+  inline static void entryPoint(void *, void *, void *) {
+    auto thread = ThreadType();
+    thread.init();
+
+    while (true) {
+      thread.run();
+      thread.incrementRunCount();
+    }
+
+    // NOTE: Maybe one day I'll add logic to be able to finalize a thread...
+    thread.finalize();
+  }
+
+private:
+  inline void incrementRunCount() { ++runCounter_; }
+
+  std::size_t runCounter_ = 0;
+};
+
+} // namespace app
+
+#endif