/*..........................................................................*/
void QActive_start(QActive *me, uint8_t prio,
QEvent const *qSto[], uint32_t qLen,
void *stkSto, uint32_t stkSize,
QEvent const *ie)
{
int err;
me->eQueue = xQueueCreate( qLen , sizeof(QEvent*) );
Q_ASSERT(me->eQueue != (void *)0); /* queue created */
me->prio = prio; /* save the QF priority */
QF_add_(me); /* make QF aware of this active object */
QF_ACTIVE_INIT_(&me->super, ie); /* execute initial transition */
QS_FLUSH(); /* flush the trace buffer to the host */
// vTaskDelay( 0x32 );
/* task is represented by its unique priority */
// me->thread = (uint8_t)(QF_MAX_ACTIVE - me->prio); /* map to OSprio. */
err= xTaskCreate( task_function, task_name[task_idx] , 0x100 * 3, me,tskIDLE_PRIORITY+me->prio, &me->thread);
Q_ASSERT(me->thread != (xTaskHandle) NULL );
task_idx++;
}
/*..........................................................................*/
void QActive_start(QActive *me, uint8_t prio,
QEvent const *qSto[], uint32_t qLen,
void *stkSto, uint32_t stkSize,
QEvent const *ie)
{
INT8U err;
me->eQueue = OSQCreate((void **)qSto, qLen);
Q_ASSERT(me->eQueue != (OS_EVENT *)0); /* uC/OS-II queue created */
me->prio = prio; /* save the QF priority */
QF_add_(me); /* make QF aware of this active object */
QF_ACTIVE_INIT_(&me->super, ie); /* execute initial transition */
QS_FLUSH(); /* flush the trace buffer to the host */
/* uC/OS task is represented by its unique priority */
me->thread = (uint8_t)(QF_MAX_ACTIVE - me->prio); /* map to uC/OS prio. */
err = OSTaskCreateExt(&task_function, /* the task function */
me, /* the 'pdata' parameter */
&(((OS_STK *)stkSto)[(stkSize / sizeof(OS_STK)) - 1]), /* ptos */
me->thread, /* uC/OS-II task priority */
me->thread, /* task id */
(OS_STK *)stkSto, /* pbos */
stkSize/sizeof(OS_STK), /* size of the stack in OS_STK units */
(void *)0, /* pext */
(INT16U)OS_TASK_OPT_STK_CLR); /* opt */
Q_ASSERT(err == OS_NO_ERR); /* uC/OS-II task created */
}
/*..........................................................................*/
void QF_run(void) {
uint8_t p;
QActive *a;
QEvent const *e;
QF_INT_LOCK_KEY_
QF_onStartup(); /* startup callback */
for (;;) { /* the background loop */
QF_INT_LOCK_();
#if (QF_MAX_ACTIVE <= 8)
if (QPSet8_notEmpty(&QF_readySet_)) {
QPSet8_findMax(&QF_readySet_, p);
#else
if (QPSet64_notEmpty(&QF_readySet_)) {
QPSet64_findMax(&QF_readySet_, p);
#endif
a = QF_active_[p];
QF_INT_UNLOCK_();
e = QActive_get_(a); /* get the next event for this AO */
QF_ACTIVE_DISPATCH_(&a->super, e); /* dispatch to the AO */
QF_gc(e); /* determine if event is garbage and collect it if so */
}
else {
#ifndef QF_INT_KEY_TYPE
QF_onIdle(); /* see NOTE01 */
#else
QF_onIdle(intLockKey_); /* see NOTE01 */
#endif /* QF_INT_KEY_TYPE */
}
}
}
/*..........................................................................*/
void QActive_start(QActive *me, uint8_t prio,
QEvent const *qSto[], uint32_t qLen,
void *stkSto, uint32_t stkSize,
QEvent const *ie)
{
Q_REQUIRE(((uint8_t)0 < prio) && (prio <= (uint8_t)QF_MAX_ACTIVE)
&& (stkSto == (void *)0)); /* does not need per-actor stack */
(void)stkSize; /* avoid the "unused parameter" compiler warning */
QEQueue_init(&me->eQueue, qSto, (QEQueueCtr)qLen);/* initialize QEQueue */
me->prio = prio; /* set the QF priority of this active object */
QF_add_(me); /* make QF aware of this active object */
QF_ACTIVE_INIT_(&me->super, ie); /* execute initial transition */
QS_FLUSH(); /* flush the trace buffer to the host */
}
/*..........................................................................*/
void QActive_start(QActive *me, uint8_t prio,
QEvent const *qSto[], uint32_t qLen,
void *stkSto, uint32_t stkSize,
QEvent const *ie)
{
pthread_attr_t attr;
struct sched_param param;
Q_REQUIRE(stkSto == (void *)0); /* p-threads allocate stack internally */
QEQueue_init(&me->eQueue, qSto, (QEQueueCtr)qLen);
pthread_cond_init(&me->osObject, 0);
me->prio = prio;
QF_add_(me); /* make QF aware of this active object */
QF_ACTIVE_INIT_(&me->super, ie); /* execute the initial transition */
QS_FLUSH(); /* flush the trace buffer to the host */
pthread_attr_init(&attr);
/* SCHED_FIFO corresponds to real-time preemptive priority-based scheduler
* NOTE: This scheduling policy requires the superuser privileges
*/
pthread_attr_setschedpolicy(&attr, SCHED_FIFO);
/* see NOTE04 */
param.sched_priority = prio
+ (sched_get_priority_max(SCHED_FIFO)
- QF_MAX_ACTIVE - 3);
pthread_attr_setschedparam(&attr, ¶m);
pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);
if (pthread_create(&me->thread, &attr, &thread_routine, me) != 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, ¶m);
Q_ALLEGE(pthread_create(&me->thread, &attr, &thread_routine, me)== 0);
}
pthread_attr_destroy(&attr);
}
/*..........................................................................*/
void QActive_start(QActive *me, uint8_t prio,
QEvent const *qSto[], uint32_t qLen,
void *stkSto, uint32_t stkSize,
QEvent const *ie)
{
int p;
DWORD threadId;
Q_REQUIRE((stkSto == (void *)0) /* Windows allocates stack internally */
&& (stkSize != 0));
QEQueue_init(&me->eQueue, qSto, (QEQueueCtr)qLen);
me->osObject = CreateEvent(NULL, FALSE, FALSE, NULL);
me->prio = prio;
QF_add_(me); /* make QF aware of this active object */
QF_ACTIVE_INIT_(&me->super, ie); /* execute initial transition */
me->thread = CreateThread(NULL, stkSize,
&thread_function, me, 0, &threadId);
Q_ASSERT(me->thread != (HANDLE)0); /* thread must be created */
switch (me->prio) { /* remap QF priority to Win32 priority */
case 1:
p = THREAD_PRIORITY_IDLE;
break;
case 2:
p = THREAD_PRIORITY_LOWEST;
break;
case 3:
p = THREAD_PRIORITY_BELOW_NORMAL;
break;
case (QF_MAX_ACTIVE - 1):
p = THREAD_PRIORITY_ABOVE_NORMAL;
break;
case QF_MAX_ACTIVE:
p = THREAD_PRIORITY_HIGHEST;
break;
default:
p = THREAD_PRIORITY_NORMAL;
break;
}
SetThreadPriority(me->thread, p);
}
/*..........................................................................*/
void QActive_start(QActive *me, uint8_t prio,
QEvt const *qSto[], uint32_t qLen,
void *stkSto, uint32_t stkSize,
QEvt const *ie)
{
Q_REQUIRE(((uint8_t)0 < prio) && (prio <= (uint8_t)QF_MAX_ACTIVE));
QEQueue_init(&me->eQueue, qSto, (QEQueueCtr)qLen);
me->prio = prio;
QF_add_(me); /* make QF aware of this active object */
#if defined(QK_TLS) || defined(QK_EXT_SAVE)
me->osObject = (uint8_t)stkSize; /* osObject contains the thread flags */
me->thread = stkSto;/* contains the pointer to the thread-local storage */
#else
Q_ASSERT((stkSto == (void *)0) && (stkSize == (uint32_t)0));
#endif
QF_ACTIVE_INIT_(&me->super, ie); /* execute initial transition */
QS_FLUSH(); /* flush the trace buffer to the host */
}