SharedObjectP SharedObjectHandler::getOSGSharedObject(
const TChar *szName)
{
SharedObjectP returnValue = NULL;
tstring tmpString;
#ifndef WIN32
tmpString.append(OSGT("lib"));
tmpString.append(szName);
tmpString.append(PluginExt );
#else
tmpString.append(szName);
#ifdef OSG_DEBUG
# ifdef OSG_DEBUGRT
tmpString.append(OSGT("D"));
# else
tmpString.append(OSGT("RN"));
# endif
#else
# ifdef OSG_DEBUGRT
tmpString.append(OSGT("DO"));
# endif
#endif
tmpString.append(OSGT(".dll"));
#endif
returnValue = getSharedObject(tmpString.c_str());
return returnValue;
}
orient_process (uint8_t priority) : scheduler_task("process", 2048, priority)
{
qid = getSharedObject(shared_SensorQueueId);
/* Initialize GPIO1[0] to control LED9 */
LPC_GPIO1->FIODIR |= BITS(0);
/* Turn off LED initially */
LPC_GPIO1->FIOPIN |= BITS(0);
}
bool producer::run(void *p)
{
/**
* Note that we produce the data as fast as possible. It is the queue size
* that limits our production. When the queue is full, our task will sleep
* because it can no longer queue additional data due to MAX_DELAY block time.
*/
int data = AS.getX();
QueueHandle_t qh = getSharedObject(shared_SensorQueue);
return xQueueSend(qh, &data, portMAX_DELAY);
}
bool consumer::run(void *p)
{
int data = 0;
/* We should never block here by using portMAX_DELAY because the producer should
* produce all the time. In fact, it is waiting for us to pull an item from the
* queue and it is already "sleeping" until the queue space is available.
*/
xQueueReceive(getSharedObject(shared_SensorQueue), &data, portMAX_DELAY);
printf("Acceleration sensor X-Axis: %i\n", data);
return true;
}
bool queue_rx::run(void *p)
{
int sample = 0;
QueueHandle_t queue_handle = getSharedObject("my_queue");
if (!queue_handle) {
return false;
}
if (xQueueReceive(queue_handle, &sample, portMAX_DELAY)) {
printf("Got %i from queue", sample);
}
return true;
}
bool SharedObjectHandler::initialize(void)
{
SharedObjectP pAppHandle = getSharedObject(NULL);
for(UInt32 i = 0; i < _vLoadedNames.size(); ++i)
{
FLOG(("Preloaded %s %p\n", _vLoadedNames[i].c_str(), pAppHandle));
_mSharedObjects[_vLoadedNames[i]] = pAppHandle;
OSG::addRef(pAppHandle);
}
_vLoadedNames.clear();
return true;
}
bool queue_tx::run(void *p)
{
// Send only 10 samples, then suspend both tasks.
static int sample = 0;
// Get the pointer of the "ex_qrx" task
scheduler_task *qrx_task = getTaskPtrByName("ex_qrx");
QueueHandle_t queue_handle = getSharedObject("my_queue");
if (!qrx_task || !queue_handle) {
return false;
}
// Suspend the other task and ourselves after 10 samples
if (++sample > 10) {
qrx_task->suspend();
suspend();
}
// Send to "my_queue" our integer
return xQueueSend(queue_handle, &sample, 2000);
}
bool terminalTask::taskEntry()
{
/* remoteTask() creates shared object in its init(), so we can get it now */
xSemaphoreHandle learn_sem = getSharedObject("learn_sem");
CommandProcessor &cp = mCmdProc;
// System information handlers
cp.addHandler(taskListHandler, "info", "Task/CPU Info. Use 'info 200' to get CPU during 200ms");
cp.addHandler(memInfoHandler, "meminfo", "See memory info");
cp.addHandler(healthHandler, "health", "Output system health");
cp.addHandler(timeHandler, "time", "'time' to view time. 'time set MM DD YYYY HH MM SS Wday' to set time");
// File I/O handlers:
cp.addHandler(catHandler, "cat", "Read a file. Ex: 'cat 0:file.txt' or "
"'cat 0:file.txt -noprint' to test if file can be read");
cp.addHandler(cpHandler, "cp", "Copy files from/to Flash/SD Card. Ex: 'cp 0:file.txt 1:file.txt'");
cp.addHandler(dcpHandler, "dcp", "Copy all files of a directory to another directory. Ex: 'dcp 0:src 1:dst'");
cp.addHandler(lsHandler, "ls", "Use 'ls 0:' for Flash, or 'ls 1:' for SD Card");
cp.addHandler(mkdirHandler, "mkdir", "Create a directory. Ex: 'mkdir test'");
cp.addHandler(mvHandler, "mv", "Rename a file. Ex: 'rm 0:file.txt 0:new.txt'");
cp.addHandler(newFileHandler,"nf", "Write a new file. Ex: 'nf <file.txt>");
cp.addHandler(rmHandler, "rm", "Remove a file. Ex: 'rm 0:file.txt'");
// Misc. handlers
cp.addHandler(i2cIoHandler, "i2c", "'i2c read 0x01 0x02' : Reads device 0x01, and register 0x02\n"
"'i2c write 0x01 0x02 0x03' : Writes device 0x01, reg 0x02, data 0x03\n"
"'i2c discover' : Discover I2C devices");
cp.addHandler(storageHandler, "storage", "Parameters: 'format sd', 'format flash', 'mount sd', 'mount flash'");
cp.addHandler(rebootHandler, "reboot", "Reboots the system");
cp.addHandler(logHandler, "log", "'log <hello>' to log info. 'log flush' to flush logs");
cp.addHandler(learnIrHandler, "learn", "Begin to learn IR codes for numbers 0-9", learn_sem);
cp.addHandler(wirelessHandler, "wireless", "Use 'wireless' to see the nested commands");
cp.addHandler(producerTask, "producerTask","Parameters: 'suspend', 'resume'");
/* Firmware upgrade handlers
* Please read "netload_readme.txt" at ref_and_datasheets directory.
*/
CMD_HANDLER_FUNC(getFileHandler);
CMD_HANDLER_FUNC(flashProgHandler);
cp.addHandler(getFileHandler, "file", "Get a file using netload.exe or by using the following protocol:\n"
"Write buffer: buffer <offset> <num bytes> ...\n"
"Write buffer to file: commit <filename> <file offset> <num bytes from buffer>");
cp.addHandler(flashProgHandler, "flash", "'flash <filename>' Will flash CPU with this new binary file");
#if (ENABLE_TELEMETRY)
cp.addHandler(telemetryHandler, "telemetry", "Outputs registered telemetry: "
"'telemetry save' : Saves disk tel\n"
"'telemetry <comp. name> <name> <value>' to set a telemetry variable\n"
"'telemetry get <comp. name> <name>' to get variable value\n");
#endif
// Initialize Interrupt driven version of getchar & putchar
Uart0& uart0 = Uart0::getInstance();
bool success = uart0.init(38400, 32, UART0_TXQ_SIZE);
uart0.setReady(true);
sys_set_inchar_func(uart0.getcharIntrDriven);
sys_set_outchar_func(uart0.putcharIntrDriven);
/* Add UART0 to command input/output */
addCommandChannel(&uart0, true);
#if TERMINAL_USE_NRF_WIRELESS
{
NordicStream& nrf = NordicStream::getInstance();
nrf.setReady(true);
addCommandChannel(&nrf, false);
}
#endif
#if ENABLE_TELEMETRY
/* Telemetry should be registered at this point, so initialize the binary
* telemetry space that we periodically check to save data to disk
*/
tlm_component *disk = tlm_component_get_by_name(DISK_TLM_NAME);
mDiskTlmSize = tlm_binary_get_size_one(disk);
mpBinaryDiskTlm = new char[mDiskTlmSize];
if (success) {
success = (NULL != mpBinaryDiskTlm);
}
/* Now update our copy of disk telemetry */
tlm_binary_get_one(disk, mpBinaryDiskTlm);
#endif
/* Display "help" command on UART0 */
STR_ON_STACK(help, 8);
help = "help";
mCmdProc.handleCommand(help, uart0);
return success;
}
