/*..........................................................................*/
void QFsm_dispatch(QFsm *me, QEvent const *e) {
QStateHandler s = me->state; /* save the current state */
QS_INT_LOCK_KEY_
QState r = (*s)(me, e); /* call the event handler */
if (r == Q_RET_TRAN) { /* transition taken? */
QS_BEGIN_(QS_QEP_TRAN, QS_smObj_, me)
QS_TIME_(); /* time stamp */
QS_SIG_(e->sig); /* the signal of the event */
QS_OBJ_(me); /* this state machine object */
QS_FUN_(s); /* the source of the transition */
QS_FUN_(me->state); /* the new active state */
QS_END_()
(void)QEP_TRIG_(s, Q_EXIT_SIG); /* exit the source */
(void)QEP_TRIG_(me->state, Q_ENTRY_SIG); /* enter the target */
}
else { /* transition not taken */
#ifdef Q_SPY
if (r == Q_RET_HANDLED) {
QS_BEGIN_(QS_QEP_INTERN_TRAN, QS_smObj_, me)
QS_TIME_(); /* time stamp */
QS_SIG_(e->sig); /* the signal of the event */
QS_OBJ_(me); /* this state machine object */
QS_FUN_(s); /* the state that handled the event */
QS_END_()
}
else {
/* NOTE: disarm a timer (no harm in disarming an already disarmed timer) */
uint8_t QTimeEvt_disarm(QTimeEvt * const me) {
uint8_t wasArmed;
QF_CRIT_STAT_
QF_CRIT_ENTRY_();
if (me->ctr != (QTimeEvtCtr)0) { /* is the time evt running? */
wasArmed = (uint8_t)1;
QS_BEGIN_NOCRIT_(QS_QF_TIMEEVT_DISARM, QS_priv_.teObjFilter, me)
QS_TIME_(); /* timestamp */
QS_OBJ_(me); /* this time event object */
QS_OBJ_(me->act); /* the target AO */
QS_TEC_(me->ctr); /* the number of ticks */
QS_TEC_(me->interval); /* the interval */
QS_U8_((uint8_t)(me->super.refCtr_ & (uint8_t)0x7F));/*tick rate*/
QS_END_NOCRIT_()
me->ctr = (QTimeEvtCtr)0; /* schedule removal from the list */
}
else { /* the time event was already not running */
wasArmed = (uint8_t)0;
QS_BEGIN_NOCRIT_(QS_QF_TIMEEVT_DISARM_ATTEMPT,
QS_priv_.teObjFilter, me)
QS_TIME_(); /* timestamp */
QS_OBJ_(me); /* this time event object */
QS_OBJ_(me->act); /* the target AO */
QS_U8_((uint8_t)(me->super.refCtr_ & (uint8_t)0x7F));/*tick rate*/
QS_END_NOCRIT_()
}
QF_CRIT_EXIT_();
return wasArmed;
}
/* NOTE: disarm a timer (no harm in disarming an already disarmed timer) */
uint8_t QTimeEvt_disarm(QTimeEvt *me) {
uint8_t wasArmed;
QF_INT_LOCK_KEY_
QF_INT_LOCK_();
if (me->prev != (QTimeEvt *)0) { /* is the time event actually armed? */
wasArmed = (uint8_t)1;
if (me == QF_timeEvtListHead_) {
QF_timeEvtListHead_ = me->next;
}
else {
if (me->next != (QTimeEvt *)0) { /* not the last in the list? */
me->next->prev = me->prev;
}
me->prev->next = me->next;
}
me->prev = (QTimeEvt *)0; /* mark the time event as disarmed */
QS_BEGIN_NOLOCK_(QS_QF_TIMEEVT_DISARM, QS_teObj_, me)
QS_TIME_(); /* timestamp */
QS_OBJ_(me); /* this time event object */
QS_OBJ_(me->act); /* the active object */
QS_TEC_(me->ctr); /* the number of ticks */
QS_TEC_(me->interval); /* the interval */
QS_END_NOLOCK_()
}
void QF_tick(void) { /* see NOTE01 */
#else
void QF_tick(void const *sender) {
#endif
QTimeEvt *t;
QF_CRIT_STAT_
QF_CRIT_ENTRY_();
QS_BEGIN_NOCRIT_(QS_QF_TICK, (void *)0, (void *)0)
QS_TEC_((QTimeEvtCtr)(++QS_tickCtr_)); /* the tick counter */
QS_END_NOCRIT_()
t = QF_timeEvtListHead_;
while (t != (QTimeEvt *)0) {
--t->ctr;
if (t->ctr == (QTimeEvtCtr)0) { /* is time evt about to expire? */
if (t->interval != (QTimeEvtCtr)0) { /* is it periodic timeout? */
t->ctr = t->interval; /* rearm the time event */
}
else { /* one-shot timeout, disarm by removing it from the list */
if (t == QF_timeEvtListHead_) {
QF_timeEvtListHead_ = t->next;
}
else {
if (t->next != (QTimeEvt *)0) { /* not the last event? */
t->next->prev = t->prev;
}
t->prev->next = t->next;
}
t->prev = (QTimeEvt *)0; /* mark the event disarmed */
QS_BEGIN_NOCRIT_(QS_QF_TIMEEVT_AUTO_DISARM, QS_teObj_, t)
QS_OBJ_(t); /* this time event object */
QS_OBJ_(t->act); /* the active object */
QS_END_NOCRIT_()
}
QS_BEGIN_NOCRIT_(QS_QF_TIMEEVT_POST, QS_teObj_, t)
QS_TIME_(); /* timestamp */
QS_OBJ_(t); /* the time event object */
QS_SIG_(t->super.sig); /* signal of this time event */
QS_OBJ_(t->act); /* the active object */
QS_END_NOCRIT_()
QF_CRIT_EXIT_();/* exit crit. section before calling QF service */
/* QACTIVE_POST() asserts internally if the queue overflows */
QACTIVE_POST(t->act, &t->super, sender);
}
else {
static uint8_t volatile dummy;
QF_CRIT_EXIT_();
dummy = (uint8_t)0; /* execute a few instructions, see NOTE02 */
}
QF_CRIT_ENTRY_(); /* enter crit. section again to advance the link */
t = t->next;
}
/* NOTE: the QK scheduler is entered and exited with interrupts DISABLED */
void QK_sched_(uint8_t p) {
uint8_t pin = QK_currPrio_; /* save the initial priority */
QActive *a;
#ifdef QK_TLS /* thread-local storage used? */
uint8_t pprev = pin;
#endif
do {
QEvt const *e;
a = QF_active_[p]; /* obtain the pointer to the AO */
QK_currPrio_ = p; /* this becomes the current task priority */
#ifdef QK_TLS /* thread-local storage used? */
if (p != pprev) { /* are we changing threads? */
QK_TLS(a); /* switch new thread-local storage */
pprev = p;
}
#endif
QS_BEGIN_NOCRIT_(QS_QK_SCHEDULE, QS_priv_.aoObjFilter, a)
QS_TIME_(); /* timestamp */
QS_U8_(p); /* the priority of the AO */
QS_U8_(pin); /* the preempted priority */
QS_END_NOCRIT_()
QF_INT_ENABLE(); /* unconditionally enable interrupts */
e = QActive_get_(a); /* get the next event for this AO */
QMSM_DISPATCH(&a->super, e); /* dispatch to the AO */
QF_gc(e); /* garbage collect the event, if necessary */
QF_INT_DISABLE(); /* disable interrupts */
#if (QF_MAX_ACTIVE <= 8) /* new highest-prio AO ready to run */
QPSet8_findMax(&QK_readySet_, p);
#else
QPSet64_findMax(&QK_readySet_, p);
#endif
if (p <= pin) { /* below the current preemption threshold? */
p = (uint8_t)0;
}
#ifndef QK_NO_MUTEX
else if (p <= QK_ceilingPrio_) { /* below the mutex ceiling? */
p = (uint8_t)0;
}
else {
/* empty */
}
#endif
} while (p != (uint8_t)0);
QK_currPrio_ = pin; /* restore the initial priority */
#ifdef QK_TLS /* thread-local storage used? */
if (pin != (uint8_t)0) { /* no extended context for the idle loop */
a = QF_active_[pin]; /* the pointer to the preempted AO */
QK_TLS(a); /* restore the original TLS */
}
#endif
}
/*..........................................................................*/
QEvt *QF_newX_(uint_t const evtSize,
uint_t const margin, enum_t const sig)
{
QEvt *e;
uint_t idx;
QS_CRIT_STAT_
/* find the pool index that fits the requested event size ... */
for (idx = (uint_t)0; idx < QF_maxPool_; ++idx) {
if (evtSize <= QF_EPOOL_EVENT_SIZE_(QF_pool_[idx])) {
break;
}
}
Q_ASSERT(idx < QF_maxPool_); /* cannot run out of registered pools */
QS_BEGIN_(QS_QF_NEW, (void *)0, (void *)0)
QS_TIME_(); /* timestamp */
QS_EVS_((QEvtSize)evtSize); /* the size of the event */
QS_SIG_((QSignal)sig); /* the signal of the event */
QS_END_()
QF_EPOOL_GET_(QF_pool_[idx], e, margin); /* get e -- platform-dependent */
if (e != (QEvt *)0) { /* was e allocated correctly? */
e->sig = (QSignal)sig; /* set signal for this event */
e->poolId_ = (uint8_t)(idx + (uint_t)1); /* store the pool ID */
e->refCtr_ = (uint8_t)0; /* set the reference counter to 0 */
}
else { /* event cannot be allocated */
Q_ASSERT(margin != (uint_t)0); /* must tollerate bad allocation */
}
return e; /* can't be NULL if we can't tollerate bad allocation */
}
/*..........................................................................*/
void QTimeEvt_arm_(QTimeEvt *me, QActive *act, QTimeEvtCtr nTicks) {
QF_CRIT_STAT_
Q_REQUIRE((nTicks > (QTimeEvtCtr)0) /* cannot arm a timer with 0 ticks */
&& (me->super.sig >= (QSignal)Q_USER_SIG) /* valid signal */
&& (me->prev == (QTimeEvt *)0) /* time evt must NOT be used */
&& (act != (QActive *)0)); /* active object must be provided */
me->ctr = nTicks;
me->prev = me; /* mark the timer in use */
me->act = act;
QF_CRIT_ENTRY_();
QS_BEGIN_NOCRIT_(QS_QF_TIMEEVT_ARM, QS_teObj_, me)
QS_TIME_(); /* timestamp */
QS_OBJ_(me); /* this time event object */
QS_OBJ_(act); /* the active object */
QS_TEC_(nTicks); /* the number of ticks */
QS_TEC_(me->interval); /* the interval */
QS_END_NOCRIT_()
me->next = QF_timeEvtListHead_;
if (QF_timeEvtListHead_ != (QTimeEvt *)0) {
QF_timeEvtListHead_->prev = me;
}
QF_timeEvtListHead_ = me;
QF_CRIT_EXIT_();
}
void QActive_postFIFO(QActive *me, QEvent const *e) {
#else
void QActive_postFIFO(QActive *me, QEvent const *e, void const *sender) {
#endif
QF_INT_LOCK_KEY_
QF_INT_LOCK_();
QS_BEGIN_NOLOCK_(QS_QF_ACTIVE_POST_FIFO, QS_aoObj_, me)
QS_TIME_(); /* timestamp */
QS_OBJ_(sender); /* the sender object */
QS_SIG_(e->sig); /* the signal of the event */
QS_OBJ_(me); /* this active object (recipient) */
QS_U8_(EVT_POOL_ID(e)); /* the pool Id of the event */
QS_U8_(EVT_REF_CTR(e)); /* the ref count of the event */
QS_EQC_(0); /* number of free entries (unknown) */
QS_EQC_(0); /* min number of free entries (unknown) */
QS_END_NOLOCK_()
if (EVT_POOL_ID(e) != (uint8_t)0) { /* is it a pool event? */
EVT_INC_REF_CTR(e); /* increment the reference counter */
}
QF_INT_UNLOCK_();
Q_ALLEGE(OSQPost((OS_EVENT *)me->eQueue, (void *)e) == OS_NO_ERR);
}
/*..........................................................................*/
void QActive_unsubscribeAll(QActive const *me) {
uint8_t p = me->prio;
uint8_t i;
QSignal sig;
Q_REQUIRE(((uint8_t)0 < p) && (p <= (uint8_t)QF_MAX_ACTIVE)
&& (QF_active_[p] == me));
i = QF_div8Lkup[p];
for (sig = (QSignal)Q_USER_SIG; sig < QF_maxSignal_; ++sig) {
QF_CRIT_STAT_
QF_CRIT_ENTRY_();
if ((QF_PTR_AT_(QF_subscrList_, sig).bits[i]
& Q_ROM_BYTE(QF_pwr2Lkup[p])) != (uint8_t)0)
{
QS_BEGIN_NOCRIT_(QS_QF_ACTIVE_UNSUBSCRIBE, QS_aoObj_, me)
QS_TIME_(); /* timestamp */
QS_SIG_(sig); /* the signal of this event */
QS_OBJ_(me); /* this active object */
QS_END_NOCRIT_()
/* clear the priority bit */
QF_PTR_AT_(QF_subscrList_, sig).bits[i] &=
Q_ROM_BYTE(QF_invPwr2Lkup[p]);
}
QF_CRIT_EXIT_();
}
}
bool GuiQMActive::post_(QEvt const * const e, uint_fast16_t const /*margin*/,
void const * const sender)
#endif
{
QF_CRIT_STAT_
QF_CRIT_ENTRY_();
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
QS_2U8_(QF_EVT_POOL_ID_(e), /* the poolID of the event */
QF_EVT_REF_CTR_(e)); // the ref Ctr of the event
QS_EQC_(0); // number of free entries (not used)
QS_EQC_(0); // min number of free entries (not used)
QS_END_NOCRIT_()
// is it a dynamic event?
if (QF_EVT_POOL_ID_(e) != static_cast<uint8_t>(0)) {
QF_EVT_REF_CTR_INC_(e); // increment the reference counter
}
QF_CRIT_EXIT_();
// QCoreApplication::postEvent() is thread-safe per Qt documentation
QCoreApplication::postEvent(QApplication::instance(), new QP_Event(e));
return true;
}
//............................................................................
// NOTE: disarm a time evt (no harm in disarming an already disarmed time evt)
uint8_t QTimeEvt::disarm(void) {
uint8_t wasArmed;
QF_INT_LOCK_KEY_
QF_INT_LOCK_();
if (m_prev != (QTimeEvt *)0) { // is the time event actually armed?
wasArmed = (uint8_t)1;
if (this == QF_timeEvtListHead_) {
QF_timeEvtListHead_ = m_next;
}
else {
if (m_next != (QTimeEvt *)0) { // not the last in the list?
m_next->m_prev = m_prev;
}
m_prev->m_next = m_next;
}
m_prev = (QTimeEvt *)0; // mark the time event as disarmed
QS_BEGIN_NOLOCK_(QS_QF_TIMEEVT_DISARM, QS::teObj_, this)
QS_TIME_(); // timestamp
QS_OBJ_(this); // this time event object
QS_OBJ_(m_act); // the active object
QS_TEC_(m_ctr); // the number of ticks
QS_TEC_(m_interval); // the interval
QS_END_NOLOCK_()
}
/*..........................................................................*/
QEvt const *QActive_get_(QActive * const me) {
QEQueueCtr nFree;
QEvt const *e;
QF_CRIT_STAT_
QF_CRIT_ENTRY_();
QACTIVE_EQUEUE_WAIT_(me); /* wait for event to arrive directly */
e = me->eQueue.frontEvt; /* always remove event from the front location */
nFree= me->eQueue.nFree + (QEQueueCtr)1; /* get volatile into tmp */
me->eQueue.nFree = nFree; /* upate the number of free */
if (nFree <= me->eQueue.end) { /* any events in the ring buffer? */
/* remove event from the tail */
me->eQueue.frontEvt = QF_PTR_AT_(me->eQueue.ring, me->eQueue.tail);
if (me->eQueue.tail == (QEQueueCtr)0) { /* need to wrap the tail? */
me->eQueue.tail = me->eQueue.end; /* wrap around */
}
--me->eQueue.tail;
QS_BEGIN_NOCRIT_(QS_QF_ACTIVE_GET, QS_priv_.aoObjFilter, me)
QS_TIME_(); /* timestamp */
QS_SIG_(e->sig); /* the signal of this event */
QS_OBJ_(me); /* this active object */
QS_2U8_(e->poolId_, e->refCtr_); /* pool Id & ref Count */
QS_EQC_(nFree); /* number of free entries */
QS_END_NOCRIT_()
}
QP_BEGIN_
//Q_DEFINE_THIS_MODULE("qeq_get")
//............................................................................
QEvt const *QEQueue::get(void) {
QEvt const *e;
QF_CRIT_STAT_
QF_CRIT_ENTRY_();
if (m_frontEvt == null_evt) { // is the queue empty?
e = null_evt; // no event available at this time
}
else {
e = m_frontEvt;
if (m_nFree != m_end) { // any events in the the ring buffer?
m_frontEvt = QF_PTR_AT_(m_ring, m_tail); // remove from the tail
if (m_tail == static_cast<QEQueueCtr>(0)) { // need to wrap?
m_tail = m_end; // wrap around
}
--m_tail;
++m_nFree; // one more free event in the ring buffer
QS_BEGIN_NOCRIT_(QS_QF_EQUEUE_GET, QS::eqObj_, this)
QS_TIME_(); // timestamp
QS_SIG_(e->sig); // the signal of this event
QS_OBJ_(this); // this queue object
QS_U8_(QF_EVT_POOL_ID_(e)); // the pool Id of the event
QS_U8_(QF_EVT_REF_CTR_(e)); // the ref count of the event
QS_EQC_(m_nFree); // number of free entries
QS_END_NOCRIT_()
}
else {
/*..........................................................................*/
QEvent const *QActive_get_(QActive *me) {
QEvent const *e;
QF_INT_LOCK_KEY_
QF_INT_LOCK_();
QACTIVE_EQUEUE_WAIT_(me); /* wait for event to arrive directly
^#defined as: Q_ASSERT((me_)->eQueue.frontEvt != (QEvent *)0) */
e = me->eQueue.frontEvt;
if (me->eQueue.nFree != me->eQueue.end) { /* any events in the buffer? */
/* remove event from the tail */
me->eQueue.frontEvt = me->eQueue.ring[me->eQueue.tail];
if (me->eQueue.tail == (QEQueueCtr)0) { /* need to wrap the tail? */
me->eQueue.tail = me->eQueue.end; /* wrap around */
}
--me->eQueue.tail;
++me->eQueue.nFree; /* one more free event in the ring buffer */
QS_BEGIN_NOLOCK_(QS_QF_ACTIVE_GET, QS_aoObj_, me)
QS_TIME_(); /* timestamp */
QS_SIG_(e->sig); /* the signal of this event */
QS_OBJ_(me); /* this active object */
QS_U8_(e->dynamic_); /* the dynamic attribute of the event */
QS_EQC_(me->eQueue.nFree); /* number of free entries */
QS_END_NOLOCK_()
}
//............................................................................
QEvent *QF::new_(uint16_t evtSize, QSignal sig) {
// find the pool id that fits the requested event size ...
uint8_t id = (uint8_t)0;
while (evtSize > QF_EPOOL_EVENT_SIZE_(QF_pool_[id])) {
++id;
Q_ASSERT(id < QF_maxPool_); // cannot run out of registered pools
}
QS_INT_LOCK_KEY_
QS_BEGIN_(QS_QF_NEW, (void *)0, (void *)0)
QS_TIME_(); // timestamp
QS_EVS_(evtSize); // the size of the event
QS_SIG_(sig); // the signal of the event
QS_END_()
QEvent *e;
QF_EPOOL_GET_(QF_pool_[id], e);
Q_ASSERT(e != (QEvent *)0); // pool must not run out of events
e->sig = sig; // set signal for this event
// store the dynamic attributes of the event:
// the pool ID and the reference counter == 0
e->dynamic_ = (uint8_t)((id + 1) << 6);
return e;
}
bool QMActive::post_(QEvt const * const e, uint_fast16_t const margin,
void const * const sender)
#endif
{
uint_fast16_t nFree;
bool status;
QF_CRIT_STAT_
QF_CRIT_ENTRY_();
nFree = static_cast<uint_fast16_t>(m_eQueue.maxMsg - m_eQueue.nofMsg);
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 & ref Count
QS_EQC_(static_cast<QEQueueCtr>(nFree)); // # free entries
QS_EQC_(static_cast<QEQueueCtr>(0)); // min # free (unknown)
QS_END_NOCRIT_()
if (e->poolId_ != static_cast<uint8_t>(0)) { // is it a pool event?
QF_EVT_REF_CTR_INC_(e); // increment the reference counter
}
// posting to the embOS mailbox must succeed, see NOTE3
Q_ALLEGE_ID(710,
OS_PutMailCond(&m_eQueue, static_cast<OS_CONST_PTR void *>(&e))
== static_cast<char>(0));
status = true; // return success
}
/*..........................................................................*/
void QFsm_init_(QFsm * const me, QEvt const * const e) {
QS_CRIT_STAT_
Q_REQUIRE((me->vptr != (QMsmVtbl const *)0) /* ctor must be executed */
&& (me->temp.fun != Q_STATE_CAST(0)) /* ctor must be executed */
&& (me->state.fun == Q_STATE_CAST(0)));/*init tran. NOT taken */
QS_BEGIN_(QS_QEP_STATE_INIT, QS_priv_.smObjFilter, me)
QS_OBJ_(me); /* this state machine object */
QS_FUN_(Q_STATE_CAST(0)); /* source state (not defined for a FSM) */
QS_FUN_(me->temp.fun); /* the target of the transition */
QS_END_()
/* execute the top-most initial transition */
Q_ALLEGE((*me->temp.fun)(me, e) == (QState)Q_RET_TRAN);/* must be taken */
(void)QEP_TRIG_(me->temp.fun, Q_ENTRY_SIG); /* enter the target */
me->state.fun = me->temp.fun; /* record the new active state */
QS_BEGIN_(QS_QEP_INIT_TRAN, QS_priv_.smObjFilter, me)
QS_TIME_(); /* time stamp */
QS_OBJ_(me); /* this state machine object */
QS_FUN_(me->state.fun); /* the new active state */
QS_END_()
}
//............................................................................
void QMsm::dispatch(QEvt const * const e) {
QMState const *s = m_state.obj; // store the current state
QMState const *t;
QState r = Q_RET_HANDLED;
QS_CRIT_STAT_
Q_REQUIRE(s != (QMState const *)0); // must be initialized
QS_BEGIN_(QS_QEP_DISPATCH, QS::priv_.smObjFilter, this)
QS_TIME_(); // time stamp
QS_SIG_(e->sig); // the signal of the event
QS_OBJ_(this); // this state machine object
QS_FUN_(s->stateHandler); // the current state handler
QS_END_()
for (t = s; t != static_cast<QMState const *>(0); t = t->parent) {
r = (*t->stateHandler)(this, e);
if (r != Q_RET_SUPER) {
if (r == Q_RET_UNHANDLED) { // unhandled due to a guard?
QS_BEGIN_(QS_QEP_UNHANDLED, QS::priv_.smObjFilter, this)
QS_SIG_(e->sig); // the signal of the event
QS_OBJ_(this); // this state machine object
QS_FUN_(t->stateHandler); // the current state
QS_END_()
}
else {
break; // event handled--break out of the loop
}
}
bool QActive_post_(QActive * const me, QEvt const * const e,
uint_fast16_t const margin, void const * const sender)
#endif /* Q_SPY */
{
uint_fast16_t nFree;
bool status;
QF_CRIT_STAT_
QF_CRIT_ENTRY_();
nFree = (uint_fast16_t)(me->eQueue.maxMsg - me->eQueue.nofMsg);
if (nFree > margin) {
QS_BEGIN_NOCRIT_(QS_QF_ACTIVE_POST_FIFO, QS_priv_.aoObjFilter, me)
QS_TIME_(); /* timestamp */
QS_OBJ_(sender); /* the sender object */
QS_SIG_(e->sig); /* the signal of the event */
QS_OBJ_(me); /* this active object (recipient) */
QS_2U8_(e->poolId_, e->refCtr_); /* pool Id & ref Count */
QS_EQC_((QEQueueCtr)nFree); /* # free entries available */
QS_EQC_((QEQueueCtr)0); /* min # free entries (unknown) */
QS_END_NOCRIT_()
if (e->poolId_ != (uint8_t)0) { /* is it a pool event? */
QF_EVT_REF_CTR_INC_(e); /* increment the reference counter */
}
/* posting to the embOS mailbox must succeed, see NOTE3 */
Q_ALLEGE(OS_PutMailCond(&me->eQueue, (OS_CONST_PTR void *)&e)
== (char)0);
status = true; /* return success */
}
/*..........................................................................*/
QEvent const *QEQueue_get(QEQueue *me) {
QEvent const *e;
QF_INT_LOCK_KEY_
QF_INT_LOCK_();
if (me->frontEvt == (QEvent *)0) { /* is the queue empty? */
e = (QEvent const *)0; /* no event available at this time */
}
else { /* the queue is not empty */
e = me->frontEvt;
if (me->nFree != me->end) { /* any events in the ring buffer? */
me->frontEvt = me->ring[me->tail]; /* remove from the tail */
if (me->tail == (QEQueueCtr)0) { /* need to wrap the tail? */
me->tail = me->end; /* wrap around */
}
--me->tail;
++me->nFree; /* one more free event in the ring buffer */
QS_BEGIN_NOLOCK_(QS_QF_EQUEUE_GET, QS_eqObj_, me)
QS_TIME_(); /* timestamp */
QS_SIG_(e->sig); /* the signal of this event */
QS_OBJ_(me); /* this queue object */
QS_U8_(e->dynamic_); /* the dynamic attribute of the event */
QS_EQC_(me->nFree); /* number of free entries */
QS_END_NOLOCK_()
}
else {
/*..........................................................................*/
uint8_t QTimeEvt_rearm(QTimeEvt * const me, QTimeEvtCtr const nTicks) {
uint8_t isArmed;
QF_CRIT_STAT_
Q_REQUIRE((nTicks != (QTimeEvtCtr)0) /* cannot arm a timer with 0 ticks */
&& (me->act != (QActive *)0) /* active object must be valid */
&& (me->super.sig >= (QSignal)Q_USER_SIG)); /* valid signal */
QF_CRIT_ENTRY_();
if (me->ctr == (QTimeEvtCtr)0) { /* is the time evt disarmed? */
isArmed = (uint8_t)0;
if (QF_EVT_REF_CTR_(&me->super) == (uint8_t)0) { /* not linked? */
me->next = QF_timeEvtListHead_;
QF_timeEvtListHead_ = me;
QF_EVT_REF_CTR_INC_(&me->super); /* mark as linked */
}
}
else { /* the time event is armed */
isArmed = (uint8_t)1;
}
me->ctr = nTicks; /* re-load the tick counter (shift the phasing) */
QS_BEGIN_NOCRIT_(QS_QF_TIMEEVT_REARM, QS_teObj_, me)
QS_TIME_(); /* timestamp */
QS_OBJ_(me); /* this time event object */
QS_OBJ_(me->act); /* the active object */
QS_TEC_(me->ctr); /* the number of ticks */
QS_TEC_(me->interval); /* the interval */
QS_U8_(isArmed); /* was the timer armed? */
QS_END_NOCRIT_()
QF_CRIT_EXIT_();
return isArmed;
}
/*..........................................................................*/
QEvent const *QEQueue_get(QEQueue *me) {
QEvent const *e;
QF_CRIT_STAT_
QF_CRIT_ENTRY_();
if (me->frontEvt == (QEvent *)0) { /* is the queue empty? */
e = (QEvent *)0; /* no event available at this time */
}
else { /* the queue is not empty */
e = me->frontEvt;
if (me->nFree != me->end) { /* any events in the ring buffer? */
me->frontEvt = QF_PTR_AT_(me->ring, me->tail); /* get from tail */
if (me->tail == (QEQueueCtr)0) { /* need to wrap the tail? */
me->tail = me->end; /* wrap around */
}
--me->tail;
++me->nFree; /* one more free event in the ring buffer */
QS_BEGIN_NOCRIT_(QS_QF_EQUEUE_GET, QS_eqObj_, me)
QS_TIME_(); /* timestamp */
QS_SIG_(e->sig); /* the signal of this event */
QS_OBJ_(me); /* this queue object */
QS_U8_(QF_EVT_POOL_ID_(e)); /* the pool Id of the event */
QS_U8_(QF_EVT_REF_CTR_(e)); /* the ref count of the event */
QS_EQC_(me->nFree); /* number of free entries */
QS_END_NOCRIT_()
}
else {
//****************************************************************************
/// @description
/// This function is part of the Publish-Subscribe event delivery mechanism
/// available in QF. Un-subscribing from all events means that the framework
/// will stop posting any published events to the event queue of the active
/// object.
///
/// @note Due to the latency of event queues, an active object should NOT
/// assume that no events will ever be dispatched to the state machine of
/// the active object after un-subscribing from all events.
/// The events might be already in the queue, or just about to be posted
/// and the un-subscribe operation will not flush such events. Also, the
/// alternative event-delivery mechanisms, such as direct event posting or
/// time events, can be still delivered to the event queue of the active
/// object.
///
/// @sa QP::QF::publish_(), QP::QMActive::subscribe(), and
/// QP::QMActive::unsubscribe()
///
void QMActive::unsubscribeAll(void) const {
uint_fast8_t const p = m_prio;
Q_REQUIRE_ID(500, (static_cast<uint_fast8_t>(0) < p)
&& (p <= static_cast<uint_fast8_t>(QF_MAX_ACTIVE))
&& (QF::active_[p] == this));
uint_fast8_t const i =
static_cast<uint_fast8_t>(QF_div8Lkup[p]);
enum_t sig;
for (sig = Q_USER_SIG; sig < QF_maxSignal_; ++sig) {
QF_CRIT_STAT_
QF_CRIT_ENTRY_();
if ((QF_PTR_AT_(QF_subscrList_, sig).m_bits[i]
& QF_pwr2Lkup[p]) != static_cast<uint8_t>(0))
{
QS_BEGIN_NOCRIT_(QS_QF_ACTIVE_UNSUBSCRIBE,
QS::priv_.aoObjFilter, this)
QS_TIME_(); // timestamp
QS_SIG_(sig); // the signal of this event
QS_OBJ_(this); // this active object
QS_END_NOCRIT_()
// clear the priority bit
QF_PTR_AT_(QF_subscrList_, sig).m_bits[i] &= QF_invPwr2Lkup[p];
}
QF_CRIT_EXIT_();
}
}
//****************************************************************************
/// @description
/// This function implements a simple garbage collector for dynamic events.
/// Only dynamic events are candidates for recycling. (A dynamic event is one
/// that is allocated from an event pool, which is determined as non-zero
/// e->poolId_ attribute.) Next, the function decrements the reference counter
/// of the event (e->refCtr_), and recycles the event only if the counter
/// drops to zero (meaning that no more references are outstanding for this
/// event). The dynamic event is recycled by returning it to the pool from
/// which it was originally allocated.
///
/// @param[in] e pointer to the event to recycle
///
/// @note
/// QF invokes the garbage collector at all appropriate contexts, when
/// an event can become garbage (automatic garbage collection), so the
/// application code should have no need to call QP::QF::gc() directly.
/// The QP::QF::gc() function is exposed only for special cases when your
/// application sends dynamic events to the "raw" thread-safe queues
/// (see QP::QEQueue). Such queues are processed outside of QF and the
/// automatic garbage collection is **NOT** performed for these events.
/// In this case you need to call QP::QF::gc() explicitly.
///
void QF::gc(QEvt const * const e) {
// is it a dynamic event?
if (QF_EVT_POOL_ID_(e) != static_cast<uint8_t>(0)) {
QF_CRIT_STAT_
QF_CRIT_ENTRY_();
// isn't this the last reference?
if (e->refCtr_ > static_cast<uint8_t>(1)) {
QF_EVT_REF_CTR_DEC_(e); // decrement the ref counter
QS_BEGIN_NOCRIT_(QS_QF_GC_ATTEMPT,
static_cast<void *>(0), static_cast<void *>(0))
QS_TIME_(); // timestamp
QS_SIG_(e->sig); // the signal of the event
QS_2U8_(e->poolId_, e->refCtr_);// pool Id & refCtr of the evt
QS_END_NOCRIT_()
QF_CRIT_EXIT_();
}
// this is the last reference to this event, recycle it
else {
uint_fast8_t idx = static_cast<uint_fast8_t>(e->poolId_)
- static_cast<uint_fast8_t>(1);
QS_BEGIN_NOCRIT_(QS_QF_GC,
static_cast<void *>(0), static_cast<void *>(0))
QS_TIME_(); // timestamp
QS_SIG_(e->sig); // the signal of the event
QS_2U8_(e->poolId_, e->refCtr_);// pool Id & refCtr of the evt
QS_END_NOCRIT_()
QF_CRIT_EXIT_();
// pool ID must be in range
Q_ASSERT_ID(410, idx < QF_maxPool_);
#ifdef Q_EVT_VIRTUAL
// explicitly exectute the destructor'
// NOTE: casting 'const' away is legitimate,
// because it's a pool event
QF_EVT_CONST_CAST_(e)->~QEvt(); // xtor,
#endif
// cast 'const' away, which is OK, because it's a pool event
QF_EPOOL_PUT_(QF_pool_[idx], QF_EVT_CONST_CAST_(e));
}
}
}
void QF_publish_(QEvt const * const e, void const * const sender)
#endif
{
QF_CRIT_STAT_
/* make sure that the published signal is within the configured range */
Q_REQUIRE(e->sig < (QSignal)QF_maxSignal_);
QF_CRIT_ENTRY_();
QS_BEGIN_NOCRIT_(QS_QF_PUBLISH, (void *)0, (void *)0)
QS_TIME_(); /* the timestamp */
QS_OBJ_(sender); /* the sender object */
QS_SIG_(e->sig); /* the signal of the event */
QS_2U8_(e->poolId_, e->refCtr_);/* pool Id & ref Count of the event */
QS_END_NOCRIT_()
if (e->poolId_ != (uint8_t)0) { /* is it a dynamic event? */
QF_EVT_REF_CTR_INC_(e); /* increment reference counter, NOTE01 */
}
QF_CRIT_EXIT_();
#if (QF_MAX_ACTIVE <= 8)
{
uint8_t tmp = QF_subscrList_[e->sig].bits[0];
while (tmp != (uint8_t)0) {
uint8_t p = QF_LOG2(tmp);
tmp &= Q_ROM_BYTE(QF_invPwr2Lkup[p]); /* clear subscriber bit */
Q_ASSERT(QF_active_[p] != (QActive *)0); /* must be registered */
/* QACTIVE_POST() asserts internally if the queue overflows */
QACTIVE_POST(QF_active_[p], e, sender);
}
}
#else
{
uint_t i = (uint_t)Q_DIM(QF_subscrList_[0].bits);
do { /* go through all bytes in the subscription list */
uint8_t tmp;
--i;
tmp = QF_PTR_AT_(QF_subscrList_, e->sig).bits[i];
while (tmp != (uint8_t)0) {
uint8_t p = QF_LOG2(tmp);
tmp &= Q_ROM_BYTE(QF_invPwr2Lkup[p]);/*clear subscriber bit */
p = (uint8_t)(p + (uint8_t)(i << 3));/* adjust the priority */
Q_ASSERT(QF_active_[p] != (QActive *)0);/*must be registered*/
/* QACTIVE_POST() asserts internally if the queue overflows */
QACTIVE_POST(QF_active_[p], e, sender);
}
} while (i != (uint_t)0);
}
#endif
QF_gc(e); /* run the garbage collector, see NOTE01 */
}
/*..........................................................................*/
void QF_tick(void) { /* see NOTE01 */
QTimeEvt *t;
QF_INT_LOCK_KEY_
QF_INT_LOCK_();
QS_BEGIN_NOLOCK_(QS_QF_TICK, (void *)0, (void *)0)
QS_TEC_(++QS_tickCtr_); /* the tick counter */
QS_END_NOLOCK_()
t = QF_timeEvtListHead_;
while (t != (QTimeEvt *)0) {
--t->ctr;
if (t->ctr == (QTimeEvtCtr)0) { /* is time evt about to expire? */
if (t->interval != (QTimeEvtCtr)0) { /* is it periodic timeout? */
t->ctr = t->interval; /* rearm the time event */
}
else { /* one-shot timeout, disarm by removing it from the list */
if (t == QF_timeEvtListHead_) {
QF_timeEvtListHead_ = t->next;
}
else {
if (t->next != (QTimeEvt *)0) { /* not the last event? */
t->next->prev = t->prev;
}
t->prev->next = t->next;
}
t->prev = (QTimeEvt *)0; /* mark the event disarmed */
QS_BEGIN_NOLOCK_(QS_QF_TIMEEVT_AUTO_DISARM, QS_teObj_, t)
QS_OBJ_(t); /* this time event object */
QS_OBJ_(t->act); /* the active object */
QS_END_NOLOCK_()
}
QS_BEGIN_NOLOCK_(QS_QF_TIMEEVT_POST, QS_teObj_, t)
QS_TIME_(); /* timestamp */
QS_OBJ_(t); /* the time event object */
QS_SIG_(t->super.sig); /* signal of this time event */
QS_OBJ_(t->act); /* the active object */
QS_END_NOLOCK_()
QF_INT_UNLOCK_();/* unlock interrupts before calling QF service */
/* postFIFO() asserts internally that the event was accepted */
QActive_postFIFO(t->act, (QEvent *)t);
}
else {
static uint8_t volatile dummy;
QF_INT_UNLOCK_();
dummy = (uint8_t)0; /* execute a few instructions, see NOTE02 */
}
QF_INT_LOCK_(); /* lock interrupts again to advance the link */
t = t->next;
}
/*..........................................................................*/
QEvent const *QActive_get_(QActive *me) {
QEvent const *e;
QF_INT_LOCK_KEY_
QF_INT_LOCK_();
QACTIVE_OSOBJECT_WAIT_(me); /* wait for event to arrive directly */
e = me->eQueue__.frontEvt__;
if (me->eQueue__.nUsed__ != (QEQueueCtr)0) {/*any events in the buffer? */
/* remove from the tail */
me->eQueue__.frontEvt__ = me->eQueue__.ring__[me->eQueue__.tail__];
++me->eQueue__.tail__;
if (me->eQueue__.tail__ == me->eQueue__.end__) { /* wrap around? */
me->eQueue__.tail__ = (QEQueueCtr)0; /* wrap the tail */
}
--me->eQueue__.nUsed__; /* one less event in the ring buffer */
QS_BEGIN_NOLOCK_(QS_QF_ACTIVE_GET, QS_aoObj_, me);
QS_TIME_(); /* timestamp */
QS_SIG_(e->sig); /* the signal of this event */
QS_OBJ_(me); /* this active object */
QS_U8_(e->attrQF__); /* the QF attribute of the event */
QS_EQC_(me->eQueue__.nUsed__); /* number of used entries */
QS_END_NOLOCK_();
}
else {
me->eQueue__.frontEvt__ = (QEvent const *)0; /* queue becomes empty */
QACTIVE_OSOBJECT_ONIDLE_(me);
QS_BEGIN_NOLOCK_(QS_QF_ACTIVE_GET_LAST, QS_aoObj_, me);
QS_TIME_(); /* timestamp */
QS_SIG_(e->sig); /* the signal of this event */
QS_OBJ_(me); /* this active object */
QS_U8_(e->attrQF__); /* the QF attribute of the event */
QS_END_NOLOCK_();
}
QF_INT_UNLOCK_();
return e;
}
//............................................................................
void QF::gc(QEvt const * const e) {
if (QF_EVT_POOL_ID_(e) != u8_0) { // is it a dynamic event?
QF_CRIT_STAT_
QF_CRIT_ENTRY_();
if (QF_EVT_REF_CTR_(e) > u8_1) { // isn't this the last reference?
QF_EVT_REF_CTR_DEC_(e); // decrement the ref counter
QS_BEGIN_NOCRIT_(QS_QF_GC_ATTEMPT, null_void, null_void)
QS_TIME_(); // timestamp
QS_SIG_(e->sig); // the signal of the event
QS_U8_(QF_EVT_POOL_ID_(e)); // the pool Id of the event
QS_U8_(QF_EVT_REF_CTR_(e)); // the ref count of the event
QS_END_NOCRIT_()
QF_CRIT_EXIT_();
}
else { // this is the last reference to this event, recycle it
uint8_t idx = static_cast<uint8_t>(QF_EVT_POOL_ID_(e) - u8_1);
QS_BEGIN_NOCRIT_(QS_QF_GC, null_void, null_void)
QS_TIME_(); // timestamp
QS_SIG_(e->sig); // the signal of the event
QS_U8_(QF_EVT_POOL_ID_(e)); // the pool Id of the event
QS_U8_(QF_EVT_REF_CTR_(e)); // the ref count of the event
QS_END_NOCRIT_()
QF_CRIT_EXIT_();
Q_ASSERT(idx < QF_maxPool_);
#ifdef Q_EVT_VIRTUAL
QF_EVT_CONST_CAST_(e)->~QEvt(); // xtor, cast 'const' away,
// which is legitimate, because it's a pool event
#endif
// cast 'const' away, which is OK, because it's a pool event
QF_EPOOL_PUT_(QF_pool_[idx], QF_EVT_CONST_CAST_(e));
}
}
}
//****************************************************************************
//! obtain a message from the private message queue (block if no messages)
void const *QXThread::queueGet(uint_fast16_t const nTicks,
uint_fast8_t const tickRate)
{
QEQueueCtr nFree;
QEvt const *e;
QF_CRIT_STAT_
QF_CRIT_ENTRY_();
QXThread *thr = static_cast<QXThread *>(QXK_attr_.curr);
Q_REQUIRE_ID(900, (!QXK_ISR_CONTEXT_()) /* can't block inside an ISR */
/* this must be a "naked" thread (no state) */
&& (thr->m_state.act == (QActionHandler)0));
// is the queue empty? -- block and wait for event(s)
if (thr->m_eQueue.m_frontEvt == static_cast<QEvt *>(0)) {
thr->m_temp.obj = reinterpret_cast<QMState const *>(&thr->m_eQueue);
thr->teArm_(static_cast<enum_t>(QXK_QUEUE_SIG), nTicks, tickRate);
QXK_attr_.readySet.remove(thr->m_prio);
QXK_sched_();
QF_CRIT_EXIT_();
QF_CRIT_EXIT_NOP();
QF_CRIT_ENTRY_();
}
// is the queue not empty?
if (thr->m_eQueue.m_frontEvt != static_cast<QEvt *>(0)) {
e = thr->m_eQueue.m_frontEvt; // always remove from the front
// volatile into tmp
nFree= thr->m_eQueue.m_nFree + static_cast<QEQueueCtr>(1);
thr->m_eQueue.m_nFree = nFree; // update the number of free
// any events in the ring buffer?
if (nFree <= thr->m_eQueue.m_end) {
// remove event from the tail
thr->m_eQueue.m_frontEvt =
QF_PTR_AT_(thr->m_eQueue.m_ring, thr->m_eQueue.m_tail);
if (thr->m_eQueue.m_tail == static_cast<QEQueueCtr>(0)) {
thr->m_eQueue.m_tail = thr->m_eQueue.m_end; // wrap
}
--thr->m_eQueue.m_tail;
QS_BEGIN_NOCRIT_(QP::QS_QF_ACTIVE_GET, QP::QS::priv_.aoObjFilter,
thr)
QS_TIME_(); // timestamp
QS_SIG_(e->sig); // the signal of this event
QS_OBJ_(&thr); // this active object
QS_2U8_(e->poolId_, e->refCtr_); // pool Id & ref Count
QS_EQC_(nFree); // number of free entries
QS_END_NOCRIT_()
}
/**
* \description
* Arms a time event to fire in a specified number of clock ticks and with
* a specified interval. If the interval is zero, the time event is armed for
* one shot ('one-shot' time event). The time event gets directly posted
* (using the FIFO policy) into the event queue of the host active object.
*
* \arguments
* \arg[in,out] \c me pointer (see \ref derivation)
* \arg[in] \c nTicks number of clock ticks (at the associated rate)
* to rearm the time event with.
* \arg[in] \c interval interval (in clock ticks) for periodic time event.
*
* \note After posting, a one-shot time event gets automatically disarmed
* while a periodic time event (interval != 0) is automatically re-armed.
*
* \note A time event can be disarmed at any time by calling the
* QTimeEvt_disarm() function. Also, a time event can be re-armed to fire
* in a different number of clock ticks by calling the QTimeEvt_rearm()
* function.
*
* \usage
* The following example shows how to arm a one-shot time event from a state
* machine of an active object:
* \include qf_state.c
*/
void QTimeEvt_armX(QTimeEvt * const me,
QTimeEvtCtr const nTicks, QTimeEvtCtr const interval)
{
uint_fast8_t tickRate = (uint_fast8_t)me->super.refCtr_
& (uint_fast8_t)0x7F;
QTimeEvtCtr ctr = me->ctr;
QF_CRIT_STAT_
/** \pre the host AO must be valid, time evnet must be disarmed,
* number of clock ticks cannot be zero, and the signal must be valid.
*/
Q_REQUIRE_ID(100, (me->act != (void *)0)
&& (ctr == (QTimeEvtCtr)0)
&& (nTicks != (QTimeEvtCtr)0)
&& (tickRate < (uint_fast8_t)QF_MAX_TICK_RATE)
&& (me->super.sig >= (QSignal)Q_USER_SIG));
QF_CRIT_ENTRY_();
me->ctr = nTicks;
me->interval = interval;
/* is the time event unlinked?
* NOTE: For the duration of a single clock tick of the specified tick
* rate a time event can be disarmed and yet still linked into the list,
* because un-linking is performed exclusively in the QF_tickX() function.
*/
if ((me->super.refCtr_ & (uint8_t)0x80) == (uint8_t)0) {
me->super.refCtr_ |= (uint8_t)0x80; /* mark as linked */
/* The time event is initially inserted into the separate
* "freshly armed" link list based on QF_timeEvtHead_[tickRate].act.
* Only later, inside the QF_tickX() function, the "freshly armed"
* list is appended to the main list of armed time events based on
* QF_timeEvtHead_[tickRate].next. Again, this is to keep any
* changes to the main list exclusively inside the QF_tickX()
* function.
*/
me->next = (QTimeEvt *)QF_timeEvtHead_[tickRate].act;
QF_timeEvtHead_[tickRate].act = me;
}
QS_BEGIN_NOCRIT_(QS_QF_TIMEEVT_ARM, QS_priv_.teObjFilter, me)
QS_TIME_(); /* timestamp */
QS_OBJ_(me); /* this time event object */
QS_OBJ_(me->act); /* the active object */
QS_TEC_(nTicks); /* the number of ticks */
QS_TEC_(interval); /* the interval */
QS_U8_((uint8_t)tickRate); /* tick rate */
QS_END_NOCRIT_()
QF_CRIT_EXIT_();
}