ESOS32
ESOSOn32-bitProcessors
include
esos_task.h
Go to the documentation of this file.
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/*
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* "Copyright (c) 2019 J. W. Bruce ("AUTHOR(S)")"
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* All rights reserved.
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* (J. W. Bruce, jwbruce_AT_tntech.edu, Tennessee Tech University)
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*
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* Permission to use, copy, modify, and distribute this software and its
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* documentation for any purpose, without fee, and without written agreement is
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* hereby granted, provided that the above copyright notice, the following
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* two paragraphs and the authors appear in all copies of this software.
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*
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* IN NO EVENT SHALL THE "AUTHORS" BE LIABLE TO ANY PARTY FOR
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* DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT
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* OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF THE "AUTHORS"
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* HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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* THE "AUTHORS" SPECIFICALLY DISCLAIMS ANY WARRANTIES,
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* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY
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* AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS
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* ON AN "AS IS" BASIS, AND THE "AUTHORS" HAS NO OBLIGATION TO
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* PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS."
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*
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* Please maintain this header in its entirety when copying/modifying
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* these files.
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*
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*
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*/
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/*
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* This file defines the macros and structures needed to implement the
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* ESOS cooperative mulitasking. It relies heavily on the PROTOTHREADS
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* library created by Adam Dunkels at SICS. The SICS notices are
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* found at the EOF.
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*/
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#ifndef __ESOS_TASK_H__
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#define __ESOS_TASK_H__
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#include "lc.h"
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#include "
esos_mail.h
"
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struct
stTask
{
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lc_t lc;
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uint8_t flags;
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uint8_t (*pfn) (
struct
stTask
*pst_Task);
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uint32_t u32_savedTick;
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uint32_t u32_waitLen;
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uint16_t u16_taskID;
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MAILBOX
* pst_Mailbox;
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};
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typedef
struct
stTask
*
ESOS_TASK_HANDLE
;
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/******************************
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** create a typedef to represent pointers to ESOS
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** user task functions
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*******************************/
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// typedef uint8_t (*pfn_ESOS_USER_TASK)(struct stTask *pst_Task);
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//#define __MAKE_UINT16_TASK_ID(pfn) esos_taskname_hash_u16( (pfn), sizeof((pfn)) )
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//#define ESOS_DOES_TASK_HAVE_ID(pfn,taskID) ((taskID)==__MAKE_UINT16_TASK_ID((pfn)))
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/* Task "return" values. Used by scheduler to determine what to do with task **/
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#define ESOS_TASK_WAITING 0
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#define ESOS_TASK_ENDED 3
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/* Task flag : task is waiting on ACK from other task reading mail */
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#define __TASK_MAILNACK_MASK ESOS_BIT5
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/* Task flag : task has mail needing to be read */
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#define __TASK_HASMAIL_MASK ESOS_BIT4
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/* Task flag : task has ended (hit ESOS_TASK_END) */
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#define __TASK_ENDED_MASK ESOS_BIT3
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/* Task flag : task has been flagged to be killed (will exit on next block/wait/yield) */
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#define __TASK_KILLED_MASK ESOS_BIT2
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/* Task flag : task is sleeping */
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#define __TASK_SLEEPING_MASK ESOS_BIT1
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/* Task flag : task is waiting */
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#define __TASK_WAITING_MASK ESOS_BIT0
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/* Task flag : task has been called by scheduler */
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#define __TASK_CALLED_MASK ESOS_BIT7
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/* some helper macros to manage Task states **/
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#define __ESOS_SET_TASK_SLEEPING_FLAG(TaskHandle) BIT_SET_MASK((TaskHandle)->flags, __TASK_SLEEPING_MASK)
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#define __ESOS_CLEAR_TASK_SLEEPING_FLAG(TaskHandle) BIT_CLEAR_MASK((TaskHandle)->flags, __TASK_SLEEPING_MASK)
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#define __ESOS_SET_TASK_KILLED_FLAG(TaskHandle) BIT_SET_MASK((TaskHandle)->flags, __TASK_KILLED_MASK)
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#define __ESOS_CLEAR_TASK_KILLED_FLAG(TaskHandle) BIT_CLEAR_MASK((TaskHandle)->flags, __TASK_KILLED_MASK)
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#define __ESOS_SET_TASK_WAITING_FLAG(TaskHandle) BIT_SET_MASK((TaskHandle)->flags, __TASK_WAITING_MASK)
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#define __ESOS_CLEAR_TASK_WAITING_FLAG(TaskHandle) BIT_CLEAR_MASK((TaskHandle)->flags, __TASK_WAITING_MASK)
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#define __ESOS_SET_TASK_CALLED_FLAG(TaskHandle) BIT_SET_MASK((TaskHandle)->flags, __TASK_CALLED_MASK)
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#define __ESOS_CLEAR_TASK_CALLED_FLAG(TaskHandle) BIT_CLEAR_MASK((TaskHandle)->flags, __TASK_CALLED_MASK)
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#define __ESOS_IS_TASK_CALLED(TaskHandle) IS_BIT_SET_MASK((TaskHandle)->flags, __TASK_CALLED_MASK)
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#define __ESOS_SET_TASK_ENDED_FLAG(TaskHandle) BIT_SET_MASK((TaskHandle)->flags, __TASK_ENDED_MASK)
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#define __ESOS_CLEAR_TASK_ENDED_FLAG(TaskHandle) BIT_CLEAR_MASK((TaskHandle)->flags, __TASK_ENDED_MASK)
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/* mailbox task flags */
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#define __ESOS_SET_TASK_HASMAIL_FLAG(TaskHandle) BIT_SET_MASK((TaskHandle)->flags, __TASK_HASMAIL_MASK)
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#define __ESOS_CLEAR_TASK_HASMAIL_FLAG(TaskHandle) BIT_CLEAR_MASK((TaskHandle)->flags, __TASK_HASMAIL_MASK)
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#define __ESOS_SET_TASK_MAILNACK_FLAG(TaskHandle) BIT_SET_MASK((TaskHandle)->flags, __TASK_MAILNACK_MASK)
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#define __ESOS_CLEAR_TASK_MAILNACK_FLAG(TaskHandle) BIT_CLEAR_MASK((TaskHandle)->flags, __TASK_MAILNACK_MASK)
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#define __ESOS_INIT_TASK(TaskHandle) \
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LC_INIT((TaskHandle)->lc);
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#define ESOS_IS_TASK_INITED(TaskHandle) LC_IS_INITED((TaskHandle)->lc)
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#define ESOS_IS_TASK_SLEEPING(TaskHandle) IS_BIT_SET_MASK((TaskHandle)->flags, __TASK_SLEEPING_MASK)
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#define ESOS_IS_TASK_KILLED(TaskHandle) IS_BIT_SET_MASK((TaskHandle)->flags, __TASK_KILLED_MASK)
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#define ESOS_IS_TASK_WAITING(TaskHandle) IS_BIT_SET_MASK((TaskHandle)->flags, __TASK_WAITING_MASK)
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#define ESOS_IS_TASK_ENDED(TaskHandle) IS_BIT_SET_MASK((TaskHandle)->flags, __TASK_ENDED_MASK)
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#define ESOS_USER_TASK(taskname) uint8_t taskname(ESOS_TASK_HANDLE __pstSelf)
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#define ESOS_CHILD_TASK(taskname, ...) uint8_t taskname(ESOS_TASK_HANDLE __pstSelf, ##__VA_ARGS__)
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#define ESOS_TASK_BEGIN() \
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{ __ESOS_SET_TASK_CALLED_FLAG(__pstSelf); \
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LC_RESUME(__pstSelf->lc)
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#define ESOS_TASK_END() \
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LC_END(__pstSelf->lc); \
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__pstSelf->flags = __TASK_ENDED_MASK; \
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__ESOS_INIT_TASK(__pstSelf); \
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return ESOS_TASK_ENDED; }
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#define ESOS_TASK_GET_TASK_HANDLE() __pstSelf
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#define ESOS_SCHEDULE_TASK(pfnThread) ( (pfnThread) < ESOS_TASK_ENDED )
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#define ESOS_TASK_WAIT_UNTIL(condition) \
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do { \
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LC_SET(__pstSelf->lc); \
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if(ESOS_IS_TASK_KILLED(__pstSelf)) { \
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__pstSelf->flags = __TASK_KILLED_MASK; \
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return ESOS_TASK_ENDED; \
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} \
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if((condition)) { \
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__ESOS_CLEAR_TASK_WAITING_FLAG(__pstSelf); \
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} \
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else { \
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__ESOS_SET_TASK_WAITING_FLAG(__pstSelf); \
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} \
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if(ESOS_IS_TASK_WAITING(__pstSelf)) { \
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return ESOS_TASK_WAITING; \
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} \
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} while(0)
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#define ESOS_TASK_WAIT_WHILE(cond) ESOS_TASK_WAIT_UNTIL(!(cond))
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#define ESOS_TASK_WAIT_TICKS(u32_duration) \
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do { \
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__pstSelf->u32_savedTick = esos_GetSystemTick(); \
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__pstSelf->u32_waitLen = (u32_duration); \
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ESOS_TASK_WAIT_UNTIL(__esos_hasTickDurationPassed(__pstSelf->u32_savedTick, __pstSelf->u32_waitLen) ); \
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} while(0);
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/* helper function to spawn child tasks */
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#define __ESOS_TASK_SPAWN(pstChild, fcnCallWithArgs) \
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do { \
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__ESOS_INIT_TASK((pstChild)); \
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ESOS_TASK_WAIT_THREAD((fcnCallWithArgs)); \
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} while(0)
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#define ESOS_TASK_WAIT_THREAD(pfnChild, ...) ESOS_TASK_WAIT_WHILE(ESOS_SCHEDULE_TASK(pfnChild,##__VA_ARGS__ ))
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#define ESOS_TASK_SPAWN_AND_WAIT(pstChild, pfnChild, ...) \
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__ESOS_TASK_SPAWN((pstChild), (pfnChild)( (pstChild), ##__VA_ARGS__) )
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#define ESOS_ALLOCATE_CHILD_TASK(pstName) (pstName)=esos_GetFreeChildTaskStruct()
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/*
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do { \
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static ESOS_TASK_HANDLE pstName; \
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pstName=esos_GetFreeChildTaskStruct(); \
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} while(0)
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*/
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#define ESOS_TASK_SLEEP() \
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do { \
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__ESOS_SET_TASK_SLEEPING_FLAG(__pstSelf); \
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ESOS_TASK_WAIT_WHILE(ESOS_IS_TASK_SLEEPING(__pstSelf)); \
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} while(0)
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#define ESOS_TASK_RESTART() \
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do { \
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__pstSelf->flags = 0; \
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__ESOS_INIT_TASK(__pstSelf); \
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return ESOS_TASK_WAITING; \
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} while(0)
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#define ESOS_TASK_EXIT() \
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do { \
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__pstSelf->flags = __TASK_ENDED_MASK; \
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return ESOS_TASK_ENDED; \
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} while(0)
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#define ESOS_WAKE_TASK(TaskHandle) __ESOS_TASK_CLEAR_SLEEPING_FLAG((TaskHandle))
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#define ESOS_KILL_TASK(TaskHandle) __ESOS_TASK_SET_KILLED_FLAG((TaskHandle))
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#define ESOS_RESTART_TASK(TaskHandle) \
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do { \
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(TaskHandle)->flags = 0; \
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__ESOS_INIT_TASK((TaskHandle)); \
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} while(0)
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#define ESOS_TASK_YIELD() \
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do { \
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__ESOS_CLEAR_TASK_CALLED_FLAG(__pstSelf); \
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ESOS_TASK_WAIT_UNTIL(__ESOS_IS_TASK_CALLED(__pstSelf)); \
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} while(0)
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struct
stSemaphore
{
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int16_t i16_cnt;
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};
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/* Not using these with this definition of semaphores */
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// #define _SEMNAME_CAT( name, line ) name##line
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// #define _SEMNAME( name, line ) _SEMNAME_CAT( name, line )
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// #define SEMNAME( name ) _SEMNAME( name, __LINE__ )
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#define ESOS_SEMAPHORE(semaphoreName) struct stSemaphore (semaphoreName)
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#define ESOS_INIT_SEMAPHORE(semaphoreName, i16_val) (semaphoreName).i16_cnt=(i16_val)
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#define ESOS_TASK_WAIT_SEMAPHORE(semaphoreName, i16_val) \
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do { \
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ESOS_TASK_WAIT_UNTIL((semaphoreName).i16_cnt >= (i16_val) ); \
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(semaphoreName).i16_cnt -= (i16_val); \
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} while(0)
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#define ESOS_SIGNAL_SEMAPHORE(semaphoreName, i16_val) (semaphoreName).i16_cnt+=(i16_val)
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/* @} */
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#endif
/* __ESOS_TASK_H__ */
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/***********************************************************************
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*
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* MUCH OF THIS CODE IS BASED ON PROTOTHREADS BY ADAM DUNKELS
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* AT THE SWEDISH INSTITUTE OF COMPUTER SCIENCE
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*
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***********************************************************************
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*
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* Copyright (c) 2004-2005, Swedish Institute of Computer Science.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* 3. Neither the name of the Institute nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
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* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
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* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
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* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
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* SUCH DAMAGE.
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*
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* This file is part of the Contiki operating system.
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*
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* Author: Adam Dunkels <adam@sics.se>
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*
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*/
esos_mail.h
stSemaphore
Definition:
esos_task.h:604
__stMAILBOX
Definition:
esos_mail.h:60
ESOS_TASK_HANDLE
stTask
Definition:
esos_task.h:54
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