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90 lines
3.1 KiB
C
90 lines
3.1 KiB
C
/*****************************************************************************
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* Active Object pattern implementation based on uC/OS-II (uC/AO)
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*
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* Q u a n t u m L e a P s
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* ------------------------
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* Modern Embedded Software
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*
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* Copyright (C) 2020 Quantum Leaps, LLC. All rights reserved.
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*
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* SPDX-License-Identifier: APACHE-2.0
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*
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* This software is distributed by Quantum Leaps, LLC under the terms of
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* Apache License Version 2.0, which is the same license used for uC/OS-II RTOS.
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* The text of the license is available at: www.apache.org/licenses/LICENSE-2.0.
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*
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* Contact information:
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* <www.state-machine.com>
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* <info@state-machine.com>
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*****************************************************************************/
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#ifndef UC_AO_H
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#define UC_AO_H
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#include "ucos_ii.h" /* uC/OS-II API, port and compile-time configuration */
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#include "qassert.h" /* embedded-systems-friendly assertions (DbC) */
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/*---------------------------------------------------------------------------*/
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/* Event facilities... */
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typedef uint16_t Signal; /* event signal */
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enum ReservedSignals {
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INIT_SIG, /* dispatched to AO before entering event-loop */
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ENTRY_SIG, /* for triggering the entry action in a state */
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EXIT_SIG, /* for triggering the exit action from a state */
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USER_SIG /* first signal available to the users */
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};
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/* Event base class */
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typedef struct {
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Signal sig; /* event signal */
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/* event parameters added in subclasses of Event */
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} Event;
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/*---------------------------------------------------------------------------*/
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/* Actvie Object facilities... */
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typedef struct Active Active; /* forward declaration */
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typedef void (*DispatchHandler)(Active * const me, Event const * const e);
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/* Active Object base class */
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struct Active {
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INT8U thread; /* private thread (the unique uC/OS-II task priority) */
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OS_EVENT *queue; /* private message queue */
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DispatchHandler dispatch; /* pointer to the dispatch() function */
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/* active object data added in subclasses of Active */
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};
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void Active_ctor(Active * const me, DispatchHandler dispatch);
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void Active_start(Active * const me,
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uint8_t prio, /* priority (1-based) */
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Event **queueSto,
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uint32_t queueLen,
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void *stackSto,
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uint32_t stackSize,
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uint16_t opt);
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void Active_post(Active * const me, Event const * const e);
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/*---------------------------------------------------------------------------*/
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/* Time Event facilities... */
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/* Time Event class */
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typedef struct {
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Event super; /* inherit Event */
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Active *act; /* the AO that requested this TimeEvent */
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uint32_t timeout; /* timeout counter; 0 means not armed */
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uint32_t interval; /* interval for periodic TimeEvent, 0 means one-shot */
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} TimeEvent;
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void TimeEvent_ctor(TimeEvent * const me, Signal sig, Active *act);
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void TimeEvent_arm(TimeEvent * const me, uint32_t timeout, uint32_t interval);
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void TimeEvent_disarm(TimeEvent * const me);
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/* static (i.e., class-wide) operation */
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void TimeEvent_tick(void);
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#endif /* UC_AO_H */
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