qpcpp/examples/posix-qv/dpp/bsp.cpp

//****************************************************************************
// Product: DPP example, POSIX-QV
// Last Updated for Version: 6.3.2
// Date of the Last Update:  2018-06-16
//
//                    Q u a n t u m     L e a P s
//                    ---------------------------
//                    innovating embedded systems
//
// Copyright (C) 2002-2018 Quantum Leaps, LLC. All rights reserved.
//
// This program is open source software: you can redistribute it and/or
// modify it under the terms of the GNU General Public License as published
// by the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// Alternatively, this program may be distributed and modified under the
// terms of Quantum Leaps commercial licenses, which expressly supersede
// the GNU General Public License and are specifically designed for
// licensees interested in retaining the proprietary status of their code.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
// Contact information:
// https://www.state-machine.com
// mailto:info@state-machine.com
//****************************************************************************
#include "qpcpp.h"
#include "dpp.h"
#include "bsp.h"

#include <stdlib.h>
#include <stdio.h>
#include <string.h>  // for memcpy() and memset()
#include <sys/select.h>
#include <termios.h>
#include <unistd.h>

Q_DEFINE_THIS_FILE

//****************************************************************************
namespace DPP {

// Local objects -------------------------------------------------------------
static uint32_t l_rnd; // random seed

#ifdef Q_SPY
    enum {
        PHILO_STAT = QP::QS_USER
    };
    static uint8_t const l_clock_tick = 0U;
#endif

//............................................................................
void BSP::init(int argc, char **argv) {
    printf("Dining Philosopher Problem example"
           "\nQP %s\n"
           "Press p to pause the forks\n"
           "Press s to serve the forks\n"
           "Press ESC to quit...\n",
           QP::versionStr);

    BSP::randomSeed(1234U);

    Q_ALLEGE(QS_INIT(argc > 1 ? argv[1] : (void *)0));
    QS_OBJ_DICTIONARY(&l_clock_tick); // must be called *after* QF::init()
    QS_USR_DICTIONARY(PHILO_STAT);

    // setup the QS filters...
    QS_FILTER_ON(QP::QS_SM_RECORDS); // state machine records
    QS_FILTER_ON(QP::QS_UA_RECORDS); // all usedr records
    //QS_FILTER_ON(QP::QS_MUTEX_LOCK);
    //QS_FILTER_ON(QP::QS_MUTEX_UNLOCK);
}
//............................................................................
void BSP::terminate(int16_t result) {
    (void)result;
    QP::QF::stop();
}
//............................................................................
void BSP::displayPhilStat(uint8_t n, char const *stat) {
    printf("Philosopher %2d is %s\n", (int)n, stat);

    QS_BEGIN(PHILO_STAT, AO_Philo[n]) // application-specific record begin
        QS_U8(1, n);  // Philosopher number
        QS_STR(stat); // Philosopher status
    QS_END()
}
//............................................................................
void BSP::displayPaused(uint8_t paused) {
    printf("Paused is %s\n", paused ? "ON" : "OFF");
}
//............................................................................
uint32_t BSP::random(void) { // a very cheap pseudo-random-number generator
    // "Super-Duper" Linear Congruential Generator (LCG)
    // LCG(2^32, 3*7*11*13*23, 0, seed)
    //
    l_rnd = l_rnd * (3U*7U*11U*13U*23U);
    return l_rnd >> 8;
}
//............................................................................
void BSP::randomSeed(uint32_t seed) {
    l_rnd = seed;
}

} // namespace DPP


//****************************************************************************

namespace QP {

static struct termios l_tsav; // structure with saved terminal attributes

//............................................................................
void QF::onStartup(void) { // QS startup callback
    struct termios tio;    // modified terminal attributes

    tcgetattr(0, &l_tsav); // save the current terminal attributes
    tcgetattr(0, &tio);    // obtain the current terminal attributes
    tio.c_lflag &= ~(ICANON | ECHO); // disable the canonical mode & echo
    tcsetattr(0, TCSANOW, &tio); // set the new attributes

    QF_setTickRate(DPP::BSP::TICKS_PER_SEC, 30); // desired tick rate/prio
}
//............................................................................
void QF::onCleanup(void) {  // cleanup callback
    printf("\nBye! Bye!\n");
    tcsetattr(0, TCSANOW, &l_tsav); // restore the saved terminal attributes
    QS_EXIT();  // perfomr the QS cleanup
}
//............................................................................
void QF_onClockTick(void) {

    QF::TICK_X(0U, &DPP::l_clock_tick); // process time events at rate 0

    struct timeval timeout = { 0, 0 }; // timeout for select()
    fd_set con; // FD set representing the console
    FD_ZERO(&con);
    FD_SET(0, &con);
    // check if a console input is available, returns immediately
    if (0 != select(1, &con, 0, 0, &timeout)) { // any descriptor set?
        char ch;
        read(0, &ch, 1);
        if (ch == '\33') { // ESC pressed?
            DPP::BSP::terminate(0);
        }
        else if (ch == 'p') {
            QF::PUBLISH(Q_NEW(QEvt, DPP::PAUSE_SIG), &DPP::l_clock_tick);
        }
        else if (ch == 's') {
            QF::PUBLISH(Q_NEW(QEvt, DPP::SERVE_SIG), &DPP::l_clock_tick);
        }
    }
}
//............................................................................
extern "C" void Q_onAssert(char const * const module, int loc) {
    //
    // NOTE: add here your application-specific error handling
    //
    printf("Assertion failed in %s:%d", module, loc);
    QS_ASSERTION(module, loc, 10000U); // report assertion to QS
    exit(-1);
}

//============================================================================
#ifdef Q_SPY

// NOTE:
// The QS target-resident component is implemented in two different ways:
// 1. Output to the TCP/IP socket, which requires a separate QSPY host
//    application running; or
// 2. Direct linking with the QSPY host application to perform direct output
//    to the console from the running application. (This option requires
//    the QSPY source code, which is part of the QTools collection).
//
// The two options are selected by the following QS_IMPL_OPTION macro.
// Please set the value of this macro to either 1 or 2:
//
#define QS_IMPL_OPTION 1

//----------------------------------------------------------------------------
#if (QS_IMPL_OPTION == 1)

// 1. Output to the TCP/IP socket, which requires a separate QSPY host
//    application running. This option does not link to the QSPY code.

#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <netdb.h>
#include <errno.h>
#include <time.h>

#define QS_TX_SIZE    (4*1024)
#define QS_RX_SIZE    1024
#define QS_IMEOUT_MS  100
#define INVALID_SOCKET -1

// local variables ...........................................................
static void *idleThread(void *par); // the expected P-Thread signature
static int l_sock = INVALID_SOCKET;
static uint8_t l_running;

//............................................................................
bool QS::onStartup(void const *arg) {
    static uint8_t qsBuf[QS_TX_SIZE];   // buffer for QS-TX channel
    static uint8_t qsRxBuf[QS_RX_SIZE]; // buffer for QS-RX channel
    char hostName[64];
    char const *src;
    char *dst;

    uint16_t port_local  = 51234; /* default local port */
    uint16_t port_remote = 6601;  /* default QSPY server port */
    int sockopt_bool;
    struct sockaddr_in sa_local;
    struct sockaddr_in sa_remote;
    struct hostent *host;

    initBuf(qsBuf, sizeof(qsBuf));
    rxInitBuf(qsRxBuf, sizeof(qsRxBuf));

    src = (arg != (void const *)0)
          ? (char const *)arg
          : "localhost";
    dst = hostName;
    while ((*src != '\0')
           && (*src != ':')
           && (dst < &hostName[sizeof(hostName)]))
    {
        *dst++ = *src++;
    }
    *dst = '\0';
    if (*src == ':') {
        port_remote = (uint16_t)strtoul(src + 1, NULL, 10);
    }

    printf("<TARGET> Connecting to QSPY on Host=%s:%d...\n",
           hostName, port_remote);

    l_sock = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP); /* TCP socket */
    if (l_sock == INVALID_SOCKET){
        printf("<TARGET> ERROR   cannot create client socket, errno=%d\n",
               errno);
        goto error;
    }

    /* configure the socket */
    sockopt_bool = 1;
    setsockopt(l_sock, SOL_SOCKET, SO_REUSEADDR,
               &sockopt_bool, sizeof(sockopt_bool));

    sockopt_bool = 0;
    setsockopt(l_sock, SOL_SOCKET, SO_LINGER,
               &sockopt_bool, sizeof(sockopt_bool));

    /* local address:port */
    memset(&sa_local, 0, sizeof(sa_local));
    sa_local.sin_family = AF_INET;
    sa_local.sin_port = htons(port_local);
    host = gethostbyname(""); /* local host */
    //sa_local.sin_addr.s_addr = inet_addr(
    //    inet_ntoa(*(struct in_addr *)*host->h_addr_list));
    //if (bind(l_sock, &sa_local, sizeof(sa_local)) == -1) {
    //    printf("<TARGET> Cannot bind to the local port Err=0x%08X\n",
    //           WSAGetLastError());
    //    /* no error */
    //}

    /* remote hostName:port (QSPY server socket) */
    host = gethostbyname(hostName);
    if (host == NULL) {
        printf("<TARGET> ERROR   cannot resolve host Name=%s:%d,errno=%d\n",
               hostName, port_remote, errno);
        goto error;
    }
    memset(&sa_remote, 0, sizeof(sa_remote));
    sa_remote.sin_family = AF_INET;
    memcpy(&sa_remote.sin_addr, host->h_addr, host->h_length);
    sa_remote.sin_port = htons(port_remote);

    /* try to connect to the QSPY server */
    if (connect(l_sock, (struct sockaddr *)&sa_remote, sizeof(sa_remote))
        == -1)
    {
        printf("<TARGET> ERROR   cannot connect to QSPY on Host="
               "%s:%d,errno=%d\n", hostName, port_remote, errno);
        goto error;
    }

    printf("<TARGET> Connected  to QSPY on Host=%s:%d\n",
           hostName, port_remote);

    pthread_attr_t attr;
    struct sched_param param;
    pthread_t idle;

    // SCHED_FIFO corresponds to real-time preemptive priority-based
    // scheduler.
    // NOTE: This scheduling policy requires the superuser priviledges

    pthread_attr_init(&attr);
    pthread_attr_setschedpolicy(&attr, SCHED_FIFO);
    param.sched_priority = sched_get_priority_min(SCHED_FIFO);

    pthread_attr_setschedparam(&attr, &param);
    pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);

    if (pthread_create(&idle, &attr, &idleThread, 0) != 0) {
        // Creating the p-thread with the SCHED_FIFO policy failed.
        // Most probably this application has no superuser privileges,
        // so we just fall back to the default SCHED_OTHER policy
        // and priority 0.
        pthread_attr_setschedpolicy(&attr, SCHED_OTHER);
        param.sched_priority = 0;
        pthread_attr_setschedparam(&attr, &param);
        if (pthread_create(&idle, &attr, &idleThread, 0) == 0) {
            return false;
        }
    }
    pthread_attr_destroy(&attr);

    return true;  // success

error:
    return false; // failure
}
//............................................................................
void QS::onCleanup(void) {
    l_running = (uint8_t)0;
    if (l_sock != INVALID_SOCKET) {
        close(l_sock);
        l_sock = INVALID_SOCKET;
    }
    //printf("<TARGET> Disconnected from QSPY via TCP/IP\n");
}
//............................................................................
void QS::onFlush(void) {
    if (l_sock != INVALID_SOCKET) {  // socket initialized?
        uint16_t nBytes = QS_TX_SIZE;
        uint8_t const *data;
        while ((data = getBlock(&nBytes)) != (uint8_t *)0) {
            send(l_sock, (char const *)data, nBytes, 0);
            nBytes = QS_TX_SIZE;
        }
    }
}
//............................................................................
static void *idleThread(void *par) { // the expected P-Thread signature
    fd_set readSet;
    FD_ZERO(&readSet);

    (void)par; /* unused parameter */
    l_running = (uint8_t)1;
    while (l_running) {
        static struct timeval timeout = {
            (long)0, (long)(QS_IMEOUT_MS * 1000)
        };
        int nrec;
        uint16_t nBytes;
        uint8_t const *block;

        FD_SET(l_sock, &readSet);   /* the socket */

        /* selective, timed blocking on the TCP/IP socket... */
        timeout.tv_usec = (long)(QS_IMEOUT_MS * 1000);
        nrec = select(l_sock + 1, &readSet,
                      (fd_set *)0, (fd_set *)0, &timeout);
        if (nrec < 0) {
            printf("    <CONS> ERROR    select() errno=%d\n", errno);
            QS::onCleanup();
            exit(-2);
        }
        else if (nrec > 0) {
            if (FD_ISSET(l_sock, &readSet)) { /* socket ready to read? */
                uint8_t buf[QS_RX_SIZE];
                int status = recv(l_sock, (char *)buf, (int)sizeof(buf), 0);
                while (status > 0) { /* any data received? */
                    uint8_t *pb;
                    int i = (int)QS::rxGetNfree();
                    if (i > status) {
                        i = status;
                    }
                    status -= i;
                    /* reorder the received bytes into QS-RX buffer */
                    for (pb = &buf[0]; i > 0; --i, ++pb) {
                        QS::rxPut(*pb);
                    }
                    QS::rxParse(); /* parse all n-bytes of data */
                }
            }
        }

        nBytes = QS_TX_SIZE;
        //QF_CRIT_ENTRY(dummy);
        block = QS::getBlock(&nBytes);
        //QF_CRIT_EXIT(dummy);

        if (block != (uint8_t *)0) {
            send(l_sock, (char const *)block, nBytes, 0);
        }
    }

    return 0; // return success
}

//----------------------------------------------------------------------------
#elif (QS_IMPL_OPTION == 2)

// 2. Direct linking with the QSPY host application to perform direct output
//    to the console from the running application. (This option requires
//    the QSPY source code, which is part of the QTools collection).

#include "qspy.h"

//............................................................................
static void *idleThread(void *par); // the expected P-Thread signature
static uint8_t l_running;

//............................................................................
bool QS::onStartup(void const */*arg*/) {
    static uint8_t qsBuf[4*1024]; // 4K buffer for Quantum Spy
    initBuf(qsBuf, sizeof(qsBuf));

    QSPY_config(QP_VERSION,         // version
                QS_OBJ_PTR_SIZE,    // objPtrSize
                QS_FUN_PTR_SIZE,    // funPtrSize
                QS_TIME_SIZE,       // tstampSize
                Q_SIGNAL_SIZE,      // sigSize,
                QF_EVENT_SIZ_SIZE,  // evtSize
                QF_EQUEUE_CTR_SIZE, // queueCtrSize
                QF_MPOOL_CTR_SIZE,  // poolCtrSize
                QF_MPOOL_SIZ_SIZE,  // poolBlkSize
                QF_TIMEEVT_CTR_SIZE,// tevtCtrSize
                (void *)0,          // matFile,
                (void *)0,
                (QSPY_CustParseFun)0); // customized parser function

    pthread_attr_t attr;
    struct sched_param param;
    pthread_t idle;

    // SCHED_FIFO corresponds to real-time preemptive priority-based
    // scheduler.
    // NOTE: This scheduling policy requires the superuser priviledges

    pthread_attr_init(&attr);
    pthread_attr_setschedpolicy(&attr, SCHED_FIFO);
    param.sched_priority = sched_get_priority_min(SCHED_FIFO);

    pthread_attr_setschedparam(&attr, &param);
    pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);

    if (pthread_create(&idle, &attr, &idleThread, 0) != 0) {
        // Creating the p-thread with the SCHED_FIFO policy failed.
        // Most probably this application has no superuser privileges,
        // so we just fall back to the default SCHED_OTHER policy
        // and priority 0.
        pthread_attr_setschedpolicy(&attr, SCHED_OTHER);
        param.sched_priority = 0;
        pthread_attr_setschedparam(&attr, &param);
        if (pthread_create(&idle, &attr, &idleThread, 0) == 0) {
            return false;
        }
    }
    pthread_attr_destroy(&attr);

    return true;
}
//............................................................................
void QS::onCleanup(void) {
    l_running = (uint8_t)0;
    QSPY_stop();
}
//............................................................................
void QS::onFlush(void) {
    uint16_t nBytes = 1024U;
    uint8_t const *block;
    while ((block = getBlock(&nBytes)) != (uint8_t *)0) {
        QSPY_parse(block, nBytes);
        nBytes = 1024U;
    }
}
//............................................................................
void QSPY_onPrintLn(void) {
    fputs(QSPY_line, stdout);
    fputc('\n', stdout);
}
//............................................................................
static void *idleThread(void *par) { // the expected P-Thread signature
    (void)par;

    l_running = (uint8_t)1;
    while (l_running) {
        uint16_t nBytes = 256U;
        uint8_t const *block;
        struct timeval timeout = { 0, 10000 }; // timeout for select()

        QF_CRIT_ENTRY(dummy);
        block = QS::getBlock(&nBytes);
        QF_CRIT_EXIT(dummy);

        if (block != (uint8_t *)0) {
            QSPY_parse(block, nBytes);
        }
        select(0, 0, 0, 0, &timeout);   // sleep for a while
    }
    return 0; // return success
}

#else
#error Incorrect value of the QS_IMPL_OPTION macro
#endif // QS_IMPL_OPTION

//............................................................................
QSTimeCtr QS::onGetTime(void) {
    return (QSTimeCtr)clock(); // see NOTE01
}
//............................................................................
void QS::onReset(void) {
    onCleanup();
    exit(0);
}
//............................................................................
//! callback function to execute a user command (to be implemented in BSP)
void QS::onCommand(uint8_t cmdId, uint32_t param1,
                   uint32_t param2, uint32_t param3)
{
    (void)cmdId;  // unused parameter
    (void)param1; // unused parameter
    (void)param2; // unused parameter
    (void)param3; // unused parameter
    //TBD
}

//****************************************************************************
// NOTE01:
// clock() is the most portable facility, but might not provide the desired
// granularity. Other, less-portable alternatives are clock_gettime(),
// rdtsc(), or gettimeofday().
//

#endif // Q_SPY
//----------------------------------------------------------------------------

} // namespace QP