rust modules

mission_rust/CMakeLists.txt

@@ -1,3 +1,5 @@
+#TODO can we get CMake to configure cmake --build --clean to run cargo clean?
+
 add_custom_target(
     mission_rust_internal
     COMMAND cargo build $<$<CONFIG:Release>:--release>

mission_rust/src/fsrc/mod.rs

@@ -0,0 +1,4 @@
+pub mod sif;
+pub mod queues;
+pub mod osal;
+pub mod tasks;

mission_rust/src/fsrc/osal/mod.rs

@@ -0,0 +1,25 @@
+type TaskFunction = unsafe extern "C" fn(*mut cty::c_void);
+
+extern "C" {
+    pub fn outbyte(c: cty::c_char);
+    //void *create_task(TaskFunction_t taskFunction, void *parameter, size_t stack_size)
+    pub fn create_task(
+        taskFunction: TaskFunction,
+        parameter: *const cty::c_void,
+        stack_size: cty::size_t,
+    ) -> *const cty::c_void;
+
+    pub fn get_task_name() -> *const core::ffi::c_uchar;
+
+    pub fn stop_it();
+
+    pub fn delete_task(handle: *const cty::c_void);
+
+    pub fn task_delay(milliseconds: cty::uint32_t);
+
+    //void *create_queue(size_t length, size_t element_size)
+    pub fn create_queue(length: cty::size_t, element_size: cty::size_t) -> *const cty::c_void;
+
+    pub fn queue_receive(queue: *const cty::c_void, message: *const cty::c_void) -> cty::uint8_t;
+    pub fn queue_send(queue: *const cty::c_void, message: *const cty::c_void) -> cty::uint8_t;
+}

mission_rust/src/fsrc/queues/mod.rs

@@ -0,0 +1,88 @@
+pub struct MessageQueue<T> {
+    queue_id: *const cty::c_void,
+    _unused: Option<T>, //need to constrain the queue to one message type for safety, but compiler needs that to be used
+}
+
+pub struct MessageQueueSender<T> {
+    queue_id: Option<*const cty::c_void>,
+    _unused: Option<T>, //need to constrain the sender to one message type for safety, but compiler needs that to be used
+}
+
+impl<T: Default> MessageQueue<T> {
+    pub fn new(depth: usize) -> Self {
+        let mut instance: Self;
+        unsafe {
+            instance = Self {
+                queue_id: 0 as *const cty::c_void,
+                _unused: None,
+            };
+            //TODO check cast of depth
+            instance.queue_id = crate::fsrc::osal::create_queue(depth, core::mem::size_of::<T>());
+
+            if instance.queue_id == 0 as *mut cty::c_void {
+                panic!("could not create Queue");
+            }
+            instance
+        }
+    }
+
+    pub fn get_sender(&self) -> MessageQueueSender<T> {
+        let instance: MessageQueueSender<T> = MessageQueueSender::<T> {
+            queue_id: Some(self.queue_id),
+            _unused: None,
+        };
+        instance
+    }
+
+    pub fn receive(&self) -> Result<T, ()> {
+        let mut message: T = T::default();
+        let res: cty::uint8_t;
+        unsafe {
+            //message = core::mem::MaybeUninit::zeroed().assume_init(); // We only return it if the queue received something
+            let message_pointer: *mut cty::c_void = &mut message as *mut _ as *mut cty::c_void;
+            res = crate::fsrc::osal::queue_receive(self.queue_id, message_pointer);
+        }
+        if res == 1 {
+            Ok(message)
+        } else {
+            Err(())
+        }
+    }
+}
+
+impl<T> MessageQueueSender<T> {
+    pub fn new() -> Self {
+        Self {
+            queue_id: None,
+            _unused: None,
+        }
+    }
+
+    pub fn send(&self, message: T) -> Result<(), ()> {
+        let queue_id = self.queue_id.expect("unitialized Message Queue");
+        let res: cty::uint8_t;
+        unsafe {
+            let message_pointer: *const cty::c_void = &message as *const _ as *const cty::c_void;
+            res = crate::fsrc::osal::queue_send(queue_id, message_pointer);
+        }
+        if res == 1 {
+            Ok(())
+        } else {
+            Err(())
+        }
+    }
+}
+
+#[derive(Clone, Copy)]
+pub struct GenericMessageData {
+    pub p1: u32,
+    pub p2: u32,
+}
+
+#[derive(Copy, Clone, Default)]
+pub enum Message {
+    OK,
+    #[default]
+    FAILED,
+    DATA(GenericMessageData),
+}

mission_rust/src/fsrc/sif.rs

@@ -0,0 +1,35 @@
+pub struct Outbytes {}
+
+use core::fmt::{Error, Write};
+
+impl Write for Outbytes {
+    fn write_str(&mut self, s: &str) -> Result<(), Error> {
+        for c in s.as_bytes() {
+            unsafe {
+                crate::fsrc::osal::outbyte(*c);
+            }
+        }
+        Ok(())
+    }
+}
+
+#[macro_export]
+macro_rules! sifln {
+    ($(,)?) => (
+        let mut stdout = Outbytes {};
+        writeln!(stdout);
+    );
+    ($($arg:tt)*) => (
+        let mut stdout = crate::fsrc::sif::Outbytes {};
+        let _alwaysok = writeln!(stdout, $($arg)*);
+    );
+}
+
+#[macro_export]
+macro_rules! sif {
+    ($($arg:tt)*) => (
+        let mut stdout = crate::fsrc::sif::Outbytes {};
+        let _alwaysok = write!(stdout, $($arg)*);
+    );
+}
+

mission_rust/src/fsrc/tasks/mod.rs

@@ -0,0 +1,102 @@
+#[no_mangle]
+extern "C" fn task_entry(task_object: *mut cty::c_void) {
+    let task: &mut dyn TaskIF;
+    unsafe {
+        let pointer = task_object as *mut PeriodicTask;
+        task = &mut *pointer;
+    }
+    task.run();
+}
+
+pub trait ExecutableObjectIF {
+    fn perform(&mut self);
+}
+
+pub trait TaskIF {
+    fn run(&mut self);
+    fn get_stack_size(&self) -> cty::size_t;
+    fn set_handle(&mut self, task_handle: *const cty::c_void);
+    fn get_handle(&self) -> *const cty::c_void;
+}
+
+pub struct PeriodicTask<'a> {
+    pub stack_size: cty::size_t, //TODO generic type and safety
+    pub task_handle: *const cty::c_void,
+    pub period: usize,
+    pub task_objects: &'a mut [&'a mut dyn ExecutableObjectIF],
+}
+
+impl<'a> PeriodicTask<'a> {
+    pub fn new(
+        objects: &'a mut [&'a mut dyn ExecutableObjectIF],
+        stack_size: usize,
+        period: usize,
+    ) -> PeriodicTask<'a> {
+        let instance: PeriodicTask<'a> = Self {
+            stack_size: stack_size,
+            task_handle: 0 as *const cty::c_void,
+            period: period,
+            task_objects: objects,
+        };
+        instance
+    }
+}
+
+impl<'a> TaskIF for PeriodicTask<'a> {
+    fn run(&mut self) {
+        loop {
+            for object in self.task_objects.iter_mut() {
+                object.perform();
+            }
+            //TODO make this exact
+            unsafe {
+                crate::fsrc::osal::task_delay(self.period as cty::uint32_t); //TODO type of delay should be generic but safe (cap to max in C)
+            }
+        }
+    }
+    fn get_stack_size(&self) -> cty::size_t {
+        self.stack_size
+    }
+    fn set_handle(&mut self, task_handle: *const cty::c_void) {
+        self.task_handle = task_handle;
+    }
+    fn get_handle(&self) -> *const cty::c_void {
+        self.task_handle
+    }
+}
+
+pub struct TaskExecutor<'a> {
+    pub tasks: &'a mut [&'a mut dyn TaskIF],
+}
+
+impl<'a> TaskExecutor<'a> {
+    pub fn run_tasks(&mut self) {
+        for task in self.tasks.iter_mut() {
+            // we give away a raw pointer, to be called by an OS task
+            // while this is generally very broken, we use a reference tied
+            // to our own lifetime and destroy the task when we get dropped
+            // this way, the reference is guaranteed to be valid over our
+            // lifetime while the task is deleted at the end of our lifetime
+            let task_pointer: *const cty::c_void = *task as *mut _ as *const cty::c_void; //TODO this does work without the "*" in front of the task -> Why??
+            let handle;
+            unsafe {
+                handle = crate::fsrc::osal::create_task(task_entry, task_pointer, task.get_stack_size());
+            }
+            if handle == 0 as *mut cty::c_void {
+                panic!("could not create Task");
+            } else {
+                task.set_handle(handle);
+            }
+        }
+    }
+}
+
+impl<'a> Drop for TaskExecutor<'a> {
+    fn drop(&mut self) {
+        for task in self.tasks.iter_mut() {
+            unsafe {
+                crate::fsrc::osal::delete_task(task.get_handle());
+            }
+        }
+    }
+}

mission_rust/src/lib.rs

@@ -4,38 +4,23 @@
 //TODO os errors in API calls
 //TODO look into a pattern for late initialized stuff, currently using Option (can we make it compile time safe?)
 
-#[macro_export]
+mod fsrc;
-macro_rules! sifln {
-    ($(,)?) => (
-        let mut stdout = Outbytes {};
-        writeln!(stdout);
-    );
-    ($($arg:tt)*) => (
-        let mut stdout = Outbytes {};
-        let _alwaysok = writeln!(stdout, $($arg)*);
-    );
-}
-
-#[macro_export]
-macro_rules! sif {
-    ($($arg:tt)*) => (
-        let mut stdout = Outbytes {};
-        let _alwaysok = write!(stdout, $($arg)*);
-    );
-}
 
 use core::mem::size_of;
 use core::panic::PanicInfo;
+use core::fmt::Write;
+
+use fsrc::*;
 
 #[panic_handler]
 fn panic(panic: &PanicInfo<'_>) -> ! {
     unsafe {
-        stop_it();
+        osal::stop_it();
     }
     // TODO: Make this unicode-safe
     sif!("In Task \"");
     unsafe {
-        let task_name = get_task_name();
+        let task_name = osal::get_task_name();
         let mut offset = 0;
         while *task_name.offset(offset) != 0 {
             sif!("{}", *task_name.offset(offset) as char);
@@ -48,31 +33,7 @@ fn panic(panic: &PanicInfo<'_>) -> ! {
     loop {}
 }
 
-type TaskFunction = unsafe extern "C" fn(*mut cty::c_void);
 
-extern "C" {
-    fn outbyte(c: cty::c_char);
-    //void *create_task(TaskFunction_t taskFunction, void *parameter, size_t stack_size)
-    fn create_task(
-        taskFunction: TaskFunction,
-        parameter: *const cty::c_void,
-        stack_size: cty::size_t,
-    ) -> *const cty::c_void;
-
-    fn get_task_name() -> *const core::ffi::c_uchar;
-
-    fn stop_it();
-
-    fn delete_task(handle: *const cty::c_void);
-
-    fn task_delay(milliseconds: cty::uint32_t);
-
-    //void *create_queue(size_t length, size_t element_size)
-    fn create_queue(length: cty::size_t, element_size: cty::size_t) -> *const cty::c_void;
-
-    fn queue_receive(queue: *const cty::c_void, message: *const cty::c_void) -> cty::uint8_t;
-    fn queue_send(queue: *const cty::c_void, message: *const cty::c_void) -> cty::uint8_t;
-}
 
 #[no_mangle]
 extern "C" fn rust_main() {
@@ -81,137 +42,35 @@ extern "C" fn rust_main() {
     sifln!("Mission done");
 }
 
-#[no_mangle]
-extern "C" fn task_entry(task_object: *mut cty::c_void) {
-    let task: &mut dyn TaskIF;
-    unsafe {
-        let pointer = task_object as *mut PeriodicTask;
-        task = &mut *pointer;
-    }
-    task.run();
-}
-
-trait ExecutableObjectIF {
-    fn perform(&mut self);
-}
-
-trait TaskIF {
-    fn run(&mut self);
-    fn get_stack_size(&self) -> cty::size_t;
-    fn set_handle(&mut self, task_handle: *const cty::c_void);
-    fn get_handle(&self) -> *const cty::c_void;
-}
-
-struct PeriodicTask<'a> {
-    stack_size: cty::size_t, //TODO generic type and safety
-    task_handle: *const cty::c_void,
-    period: usize,
-    task_objects: &'a mut [&'a mut dyn ExecutableObjectIF],
-}
-
-impl<'a> PeriodicTask<'a> {
-    fn new(
-        objects: &'a mut [&'a mut dyn ExecutableObjectIF],
-        stack_size: usize,
-        period: usize,
-    ) -> PeriodicTask<'a> {
-        let instance: PeriodicTask<'a> = Self {
-            stack_size: stack_size,
-            task_handle: 0 as *const cty::c_void,
-            period: period,
-            task_objects: objects,
-        };
-        instance
-    }
-}
-
-impl<'a> TaskIF for PeriodicTask<'a> {
-    fn run(&mut self) {
-        loop {
-            for object in self.task_objects.iter_mut() {
-                object.perform();
-            }
-            //TODO make this exact
-            unsafe {
-                task_delay(self.period as cty::uint32_t); //TODO type of delay should be generic but safe (cap to max in C)
-            }
-        }
-    }
-    fn get_stack_size(&self) -> cty::size_t {
-        self.stack_size
-    }
-    fn set_handle(&mut self, task_handle: *const cty::c_void) {
-        self.task_handle = task_handle;
-    }
-    fn get_handle(&self) -> *const cty::c_void {
-        self.task_handle
-    }
-}
-
-struct TaskExecutor<'a> {
-    tasks: &'a mut [&'a mut dyn TaskIF],
-}
-
-impl<'a> TaskExecutor<'a> {
-    fn run_tasks(&mut self) {
-        for task in self.tasks.iter_mut() {
-            // we give away a raw pointer, to be called by an OS task
-            // while this is generally very broken, we use a reference tied
-            // to our own lifetime and destroy the task when we get dropped
-            // this way, the reference is guaranteed to be valid over our
-            // lifetime while the task is deleted at the end of our lifetime
-            let task_pointer: *const cty::c_void = *task as *mut _ as *const cty::c_void; //TODO this does work without the "*" in front of the task -> Why??
-            let handle;
-            unsafe {
-                handle = create_task(task_entry, task_pointer, task.get_stack_size());
-            }
-            if handle == 0 as *mut cty::c_void {
-                panic!("could not create Task");
-            } else {
-                task.set_handle(handle);
-            }
-        }
-    }
-}
-
-impl<'a> Drop for TaskExecutor<'a> {
-    fn drop(&mut self) {
-        for task in self.tasks.iter_mut() {
-            unsafe {
-                delete_task(task.get_handle());
-            }
-        }
-    }
-}
 
 struct Handler {
     id: u32,
-    command_queue: MessageQueue<Message>,
+    command_queue: queues::MessageQueue<queues::Message>,
 }
 
 struct HandlerSender {
     id: u32,
     cycle: u8,
-    other_handler: MessageQueueSender<Message>,
+    other_handler: queues::MessageQueueSender<queues::Message>,
 }
 
 impl Handler {
-    fn handle_message(&self, message: Message) {
+    fn handle_message(&self, message: queues::Message) {
         match message {
-            Message::OK => {
+            queues::Message::OK => {
                 sifln!("OK");
             }
-            Message::FAILED => {
+            queues::Message::FAILED => {
                 sifln!("FAILED");
             }
-            Message::DATA(data) => {
+            queues::Message::DATA(data) => {
                 sifln!("p1: {}, p2 {}", data.p1, data.p2);
             }
         }
     }
 }
 
-impl ExecutableObjectIF for Handler {
+impl tasks::ExecutableObjectIF for Handler {
     fn perform(&mut self) {
         sifln!("Handler {} performs", self.id);
         let result = self.command_queue.receive();
@@ -224,20 +83,20 @@ impl ExecutableObjectIF for Handler {
     }
 }
 
-impl ExecutableObjectIF for HandlerSender {
+impl tasks::ExecutableObjectIF for HandlerSender {
     fn perform(&mut self) {
         sifln!("HandlerSender {} performs step {}", self.id, self.cycle);
         match self.cycle {
             0 => {
-                let _ = self.other_handler.send(Message::OK);
+                let _ = self.other_handler.send(queues::Message::OK);
             }
             1 => {
-                let _ = self.other_handler.send(Message::FAILED);
+                let _ = self.other_handler.send(queues::Message::FAILED);
             }
             2 => {
                 let _ = self
                     .other_handler
-                    .send(Message::DATA(GenericMessageData { p1: 13, p2: 2 }));
+                    .send(queues::Message::DATA(queues::GenericMessageData { p1: 13, p2: 2 }));
             }
             _ => (),
         }
@@ -245,129 +104,27 @@ impl ExecutableObjectIF for HandlerSender {
     }
 }
 
-struct MessageQueue<T> {
-    queue_id: *const cty::c_void,
-    _unused: Option<T>, //need to constrain the queue to one message type for safety, but compiler needs that to be used
-}
-
-struct MessageQueueSender<T> {
-    queue_id: Option<*const cty::c_void>,
-    _unused: Option<T>, //need to constrain the sender to one message type for safety, but compiler needs that to be used
-}
-
-impl<T: Default> MessageQueue<T> {
-    fn new(depth: usize) -> Self {
-        let mut instance: Self;
-        unsafe {
-            instance = Self {
-                queue_id: 0 as *const cty::c_void,
-                _unused: None,
-            };
-            //TODO check cast of depth
-            instance.queue_id = create_queue(depth, core::mem::size_of::<T>());
-
-            if instance.queue_id == 0 as *mut cty::c_void {
-                panic!("could not create Queue");
-            }
-            instance
-        }
-    }
-
-    fn get_sender(&self) -> MessageQueueSender<T> {
-        let instance: MessageQueueSender<T> = MessageQueueSender::<T> {
-            queue_id: Some(self.queue_id),
-            _unused: None,
-        };
-        instance
-    }
-
-    fn receive(&self) -> Result<T, ()> {
-        let mut message: T = T::default();
-        let res: cty::uint8_t;
-        unsafe {
-            //message = core::mem::MaybeUninit::zeroed().assume_init(); // We only return it if the queue received something
-            let message_pointer: *mut cty::c_void = &mut message as *mut _ as *mut cty::c_void;
-            res = queue_receive(self.queue_id, message_pointer);
-        }
-        if res == 1 {
-            Ok(message)
-        } else {
-            Err(())
-        }
-    }
-}
-
-impl<T> MessageQueueSender<T> {
-    fn new() -> Self {
-        Self {
-            queue_id: None,
-            _unused: None,
-        }
-    }
-
-    fn send(&self, message: T) -> Result<(), ()> {
-        let queue_id = self.queue_id.expect("unitialized Message Queue");
-        let res: cty::uint8_t;
-        unsafe {
-            let message_pointer: *const cty::c_void = &message as *const _ as *const cty::c_void;
-            res = queue_send(queue_id, message_pointer);
-        }
-        if res == 1 {
-            Ok(())
-        } else {
-            Err(())
-        }
-    }
-}
-
-#[derive(Clone, Copy)]
-struct GenericMessageData {
-    p1: u32,
-    p2: u32,
-}
-
-#[derive(Copy, Clone, Default)]
-enum Message {
-    OK,
-    #[default]
-    FAILED,
-    DATA(GenericMessageData),
-}
-
-struct Outbytes {}
-
-use core::fmt::{Error, Write};
-impl Write for Outbytes {
-    fn write_str(&mut self, s: &str) -> Result<(), Error> {
-        for c in s.as_bytes() {
-            unsafe {
-                outbyte(*c);
-            }
-        }
-        Ok(())
-    }
-}
 
 fn mission() {
     sifln!("Mission enter");
 
     let mut h1 = Handler {
         id: 1,
-        command_queue: MessageQueue::new(5),
+        command_queue: queues::MessageQueue::new(5),
     };
     let mut h2 = HandlerSender {
         id: 2,
         cycle: 0,
-        other_handler: MessageQueueSender::<Message>::new(),
+        other_handler: queues::MessageQueueSender::<queues::Message>::new(),
     };
 
     h2.other_handler = h1.command_queue.get_sender();
 
-    let array: &mut [&mut dyn ExecutableObjectIF] = &mut [&mut h1];
+    let array: &mut [&mut dyn tasks::ExecutableObjectIF] = &mut [&mut h1];
 
-    let mut t1 = PeriodicTask::new(array, 512, 200);
+    let mut t1 = tasks::PeriodicTask::new(array, 512, 200);
 
-    let mut t2: PeriodicTask = PeriodicTask {
+    let mut t2: tasks::PeriodicTask = tasks::PeriodicTask {
         task_objects: &mut [&mut h2],
         stack_size: 512,
         period: 400,
@@ -376,9 +133,9 @@ fn mission() {
 
     let _i = 1;
 
-    sifln!("sizeof {}, pointer struct {:p}, pointer element {:p}, next element{:p}", size_of::<PeriodicTask>(), &t2, t2.task_objects, &_i);
+    sifln!("sizeof {}, pointer struct {:p}, pointer element {:p}, next element{:p}", size_of::<tasks::PeriodicTask>(), &t2, t2.task_objects, &_i);
 
-    let mut task_executor = TaskExecutor {
+    let mut task_executor = tasks::TaskExecutor {
         tasks: &mut [&mut t1, &mut t2],
     };
 
@@ -388,12 +145,12 @@ fn mission() {
 
     sifln!("Mission delay");
     unsafe {
-        task_delay(2000);
+        osal::task_delay(2000);
     }
     sifln!("executor dropped");
     drop(task_executor);
     unsafe {
-        task_delay(2000);
+        osal::task_delay(2000);
     }
     sifln!("Mission delay done");
 }