forked from ROMEO/obsw
working on queues
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15478854f5
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1c3ba9e20f
@ -2,27 +2,40 @@
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#include "semphr.h"
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#include "task.h"
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#define NUMBER_OF_TASKS 1
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/**
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* Task descriptors
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*/
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#define NUMBER_OF_TASKS 100
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SemaphoreHandle_t taskMutex = NULL;
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StaticSemaphore_t taskMutexDescriptor;
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size_t nextFreeTaskDescriptor = 0;
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StaticTask_t taskDescriptors[NUMBER_OF_TASKS];
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/**
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* Queue descriptors
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*/
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#define NUMBER_OF_QUEUES 300
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SemaphoreHandle_t queueMutex = NULL;
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StaticSemaphore_t queueMutexDescriptor;
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size_t nextFreeQueueDescriptor = 0;
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StaticQueue_t queueDescriptors[NUMBER_OF_QUEUES];
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// TODO check and return
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void initFreeRTOSHelper() {
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taskMutex = xSemaphoreCreateRecursiveMutexStatic(&taskMutexDescriptor);
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queueMutex = xSemaphoreCreateRecursiveMutexStatic(&queueMutexDescriptor);
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}
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const char * getTaskName() {
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const char * get_task_name() {
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return pcTaskGetName( NULL );
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}
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void stopIt() {
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void stop_it() {
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taskENTER_CRITICAL();
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}
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// TODO return some error code?
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void *createTask(TaskFunction_t taskFunction, void *parameter, void *buffer,
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void *create_task(TaskFunction_t taskFunction, void *parameter, void *buffer,
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size_t buffersize) {
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if (xSemaphoreTakeRecursive(taskMutex, portMAX_DELAY) != pdTRUE) {
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return NULL;
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@ -46,3 +59,18 @@ void *createTask(TaskFunction_t taskFunction, void *parameter, void *buffer,
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void task_delay(uint32_t milliseconds) {
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vTaskDelay(pdMS_TO_TICKS(milliseconds));
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}
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void * create_queue(size_t length, size_t element_size, uint8_t * buffer) {
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if (xSemaphoreTakeRecursive(queueMutex, portMAX_DELAY) != pdTRUE) {
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return NULL;
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}
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// we hold the queue mutex and are now allowed to access the taskDescriptors
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if (nextFreeQueueDescriptor >=
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sizeof(queueDescriptors) / sizeof(*queueDescriptors)) {
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return NULL;
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}
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QueueHandle_t newQueue = xQueueCreateStatic(length, element_size, buffer, queueDescriptors + nextFreeQueueDescriptor);
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nextFreeQueueDescriptor++;
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xSemaphoreGiveRecursive(queueMutex);
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return newQueue;
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}
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@ -1,5 +1,7 @@
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#![no_std]
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//TODO look into using core::ffi (some types do not seem to work)
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#[macro_export]
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macro_rules! sifln {
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($(,)?) => (
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@ -25,12 +27,12 @@ use core::panic::PanicInfo;
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#[panic_handler]
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fn panic(panic: &PanicInfo<'_>) -> ! {
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unsafe {
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stopIt();
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stop_it();
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}
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// TODO: Make this unicode-safe
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sif!("In Task \"");
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unsafe {
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let task_name = getTaskName();
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let task_name = get_task_name();
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let mut offset = 0;
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while *task_name.offset(offset) != 0 {
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sif!("{}", *task_name.offset(offset) as char);
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@ -48,24 +50,32 @@ type TaskFunction = unsafe extern "C" fn(*mut cty::c_void);
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extern "C" {
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fn outbyte(c: cty::c_char);
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fn createTask(
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fn create_task(
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taskFunction: TaskFunction,
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parameter: *mut cty::c_void,
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buffer: *mut cty::c_void,
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buffersize: cty::size_t,
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) -> *const cty::c_void;
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fn getTaskName() -> *const cty::c_char;
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fn stopIt();
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fn get_task_name() -> *const core::ffi::c_uchar;
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fn stop_it();
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//TODO wrap os agnostic
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fn vTaskDelete(handle: *const cty::c_void);
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fn task_delay(milliseconds: cty::uint32_t);
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fn create_queue(
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length: cty::size_t,
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element_size: cty::size_t,
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buffer: *mut cty::c_void,
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) -> *const cty::c_void;
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}
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#[no_mangle]
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extern "C" fn rust_main() {
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sifln!("Rust startup");
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sifln!("Rust startup 🚀");
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mission();
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sifln!("Mission done");
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@ -119,8 +129,9 @@ impl<'a, const STACKSIZE: usize> PeriodicTask<'a, STACKSIZE> {
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let runner_pointer: *mut cty::c_void = &mut instance.runner as *mut _ as *mut cty::c_void;
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let stack_pointer: *mut cty::c_void = &mut instance.stack as *mut _ as *mut cty::c_void;
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unsafe {
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instance.task = createTask(task_entry, runner_pointer, stack_pointer, STACKSIZE);
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instance.task = create_task(task_entry, runner_pointer, stack_pointer, STACKSIZE);
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}
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let a: core::ffi::c_char;
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if instance.task == 0 as *mut cty::c_void {
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panic!("could not create Task");
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}
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@ -146,6 +157,45 @@ impl ExecutableObjectIF for Handler {
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}
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}
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struct MessageQueue<T, const LENGTH: usize> {
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queueId: *const cty::c_void,
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buffer: [T; LENGTH],
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}
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struct MessageQueueSender<T> {
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queueId: *const cty::c_void,
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}
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impl<T: Copy, const LENGTH: usize> MessageQueue<T, LENGTH> {
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fn new() -> Self {
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unsafe {
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let mut instance = Self {
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queueId: 0 as *const cty::c_void,
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buffer: [core::mem::MaybeUninit::zeroed().assume_init();LENGTH]
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};
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let buffer_pointer: *mut cty::c_void =
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&mut instance.buffer as *mut _ as *mut cty::c_void;
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instance.queueId = create_queue(LENGTH, core::mem::size_of::<T>(), buffer_pointer);
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if instance.queueId == 0 as *mut cty::c_void {
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panic!("could not create Queue");
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}
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instance
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}
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}
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fn getSender(self) -> MessageQueueSender<T> {
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let instance:MessageQueueSender<T> = MessageQueueSender::<T>{queueId: self.queueId};
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instance
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}
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}
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impl<T> MessageQueueSender<T> {
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fn send(message: T) {
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}
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}
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struct Outbytes {}
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use core::fmt::{Error, Write};
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