//////////////////////////////////////////////////////////////////////////////
// Product: QF/C++ port to ThreadX
// Last updated for version 5.3.0
// Last updated on 2014-05-09
//
// Q u a n t u m L e a P s
// ---------------------------
// innovating embedded systems
//
// Copyright (C) Quantum Leaps, www.state-machine.com.
//
// 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 .
//
// Contact information:
// Web: www.state-machine.com
// Email: info@state-machine.com
//////////////////////////////////////////////////////////////////////////////
#define QP_IMPL // this is QP implementation
#include "qf_port.h" // QF port
#include "qf_pkg.h"
#ifdef Q_SPY // QS software tracing enabled?
#include "qs_port.h" // include QS port
#else
#include "qs_dummy.h" // disable the QS software tracing
#endif // Q_SPY
#include "qassert.h"
namespace QP {
Q_DEFINE_THIS_MODULE("qf_port")
// Local objects -------------------------------------------------------------
//............................................................................
void QF::init(void) {
}
//............................................................................
int_t QF::run(void) {
onStartup(); // the startup callback
return static_cast(0); // return success
}
//............................................................................
void QF::stop(void) {
onCleanup(); // the cleanup callback
}
//............................................................................
void QF::thread_(QActive *act) {
// event loop of the active object thread
act->m_osObject = true; // enable the thread event-loop
while (act->m_osObject) {
QEvt const *e = act->get_(); // wait for event
act->dispatch(e); // dispatch to the active object's state machine
gc(e); // check if the event is garbage, and collect it if so
}
remove_(act);
Q_ALLEGE(tx_queue_delete(&act->m_eQueue) == TX_SUCCESS); // cleanup queue
Q_ALLEGE(tx_thread_delete(&act->m_thread) == TX_SUCCESS);// cleanup thread
}
//............................................................................
extern "C" void thread_function(ULONG thread_input) { // ThreadX signature
QF::thread_(reinterpret_cast(thread_input));
}
//............................................................................
void QActive::start(uint_fast8_t prio,
QEvt const *qSto[], uint_fast16_t qLen,
void *stkSto, uint_fast16_t stkSize,
QEvt const *ie)
{
// allege that the ThreadX queue is created successfully
Q_ALLEGE(tx_queue_create(&m_eQueue,
"Q",
TX_1_ULONG,
static_cast(qSto),
static_cast(qLen * sizeof(ULONG)))
== TX_SUCCESS);
m_prio = prio; // save the QF priority
QF::add_(this); // make QF aware of this active object
init(ie); // execute initial transition
QS_FLUSH(); // flush the trace buffer to the host
// convert QF priority to the ThreadX priority
UINT tx_prio = QF_TX_PRIO_OFFSET + QF_MAX_ACTIVE - prio;
Q_ALLEGE(tx_thread_create(&m_thread, // ThreadX thread control block
"AO", // thread name
&thread_function, // thread function
reinterpret_cast(this), // thread input
stkSto, // stack start
stkSize, // stack size in bytes
tx_prio, // ThreadX priority
tx_prio, //preemption threshold disabled (same as priority)
TX_NO_TIME_SLICE,
TX_AUTO_START)
== TX_SUCCESS);
m_osObject = true; // indicate that the thread is running
}
//............................................................................
void QActive::stop(void) {
m_osObject = false; // stop the thread loop
}
//............................................................................
#ifndef Q_SPY
bool QActive::post_(QEvt const * const e, uint_fast16_t const margin)
#else
bool QActive::post_(QEvt const * const e, uint_fast16_t const margin,
void const * const sender)
#endif
{
bool status;
QF_CRIT_STAT_
QF_CRIT_ENTRY_();
uint_fast16_t nFree =
static_cast(m_eQueue.tx_queue_available_storage);
if (nFree > margin) {
QS_BEGIN_NOCRIT_(QS_QF_ACTIVE_POST_FIFO, QS::priv_.aoObjFilter, this)
QS_TIME_(); // timestamp
QS_OBJ_(sender); // the sender object
QS_SIG_(e->sig); // the signal of the event
QS_OBJ_(this); // this active object (recipient)
QS_2U8_(e->poolId_, e->refCtr_); // pool Id & refCtr of the evt
QS_EQC_(static_cast(nFree)); // # free entries available
QS_EQC_(static_cast(0)); // min # free entries (unknown)
QS_END_NOCRIT_()
// is it a pool event?
if (QF_EVT_POOL_ID_(e) != static_cast(0)) {
QF_EVT_REF_CTR_INC_(e); // increment the reference counter
}
QEvt const *ep = const_cast(e);
Q_ALLEGE(tx_queue_send(&m_eQueue, static_cast(&ep), TX_NO_WAIT)
== TX_SUCCESS);
status = true;
}
else {
// can tolerate dropping evts?
Q_ASSERT(margin != static_cast(0));
QS_BEGIN_NOCRIT_(QS_QF_ACTIVE_POST_ATTEMPT, QS::priv_.aoObjFilter, this)
QS_TIME_(); // timestamp
QS_OBJ_(sender); // the sender object
QS_SIG_(e->sig); // the signal of the event
QS_OBJ_(this); // this active object (recipient)
QS_2U8_(e->poolId_, e->refCtr_); // pool Id & refCtr of the evt
QS_EQC_(static_cast(nFree)); // # free entries available
QS_EQC_(static_cast(0)); // min # free entries (unknown)
QS_END_NOCRIT_()
status = false; // return failure
}
QF_CRIT_EXIT_();
return status;
}
//............................................................................
void QActive::postLIFO(QEvt const * const e) {
QF_CRIT_STAT_
QF_CRIT_ENTRY_();
QS_BEGIN_NOCRIT_(QS_QF_ACTIVE_POST_LIFO, QS::priv_.aoObjFilter, this)
QS_TIME_(); // timestamp
QS_SIG_(e->sig); // the signal of this event
QS_OBJ_(this); // this active object
QS_2U8_(e->poolId_, e->refCtr_); // pool Id & refCtr of the evt
// # free entries available
QS_EQC_(static_cast(m_eQueue.tx_queue_available_storage));
QS_EQC_(static_cast(0)); // min # free entries (unknown)
QS_END_NOCRIT_()
// is it a pool event?
if (QF_EVT_POOL_ID_(e) != static_cast(0)) {
QF_EVT_REF_CTR_INC_(e); // increment the reference counter
}
// LIFO posting must succeed, see NOTE1
QEvt const *ep = const_cast(e);
Q_ALLEGE(tx_queue_front_send(&m_eQueue, static_cast(&ep),
TX_NO_WAIT) == TX_SUCCESS);
QF_CRIT_EXIT_();
}
//............................................................................
QEvt const *QActive::get_(void) {
QEvt const *e;
Q_ALLEGE(tx_queue_receive(&m_eQueue, (VOID *)&e, TX_WAIT_FOREVER)
== TX_SUCCESS);
QS_CRIT_STAT_
QS_BEGIN_(QS_QF_ACTIVE_GET, QS::priv_.aoObjFilter, this)
QS_TIME_(); // timestamp
QS_SIG_(e->sig); // the signal of this event
QS_OBJ_(this); // this active object
QS_2U8_(e->poolId_, e->refCtr_); // pool Id & refCtr of the evt
QS_EQC_(static_cast(0)); // min # free entries (unknown)
QS_END_()
return e;
}
} // namespace QP