Add back task features in a simplified way
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b7951f2211
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173e16eb2e
84
srv/task.c
84
srv/task.c
@ -10,36 +10,50 @@
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#include "task.h"
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#include "error.h"
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#include "../drv/stk.h"
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//--local definitions-----------------------------------------------------------
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#define MAX_TASK_NB 10
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static bool execute_task(struct Task* restrict task, uint8_t triggers);
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static void callback_stk(void);
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static void callback_rtc(void);
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//--local variables-------------------------------------------------------------
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static struct Task task_list[MAX_TASK_NB];
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static uint8_t task_nb;
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static volatile bool stk_irq;
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static volatile bool rtc_irq;
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static volatile uint32_t timestamp;
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//--public functions------------------------------------------------------------
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void task_schedule(uint32_t elapsed_ms)
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void task_start_scheduler(void)
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{
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for (uint8_t i = 0; i < task_nb; ++i) {
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if (task_list[i].function != nullptr) {
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stk_configure(1000, callback_stk);
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//TODO: configure RTC
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if (task_list[i].state.is_active
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|| task_list[i].state.delay <= 0) {
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task_list[i].function(&task_list[i].state);
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if (task_list[i].state.count == _TASK_COUNT_EXIT) {
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task_list[i].function = nullptr;
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}
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} else {
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task_list[i].state.delay -= elapsed_ms;
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}
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while (true) {
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uint8_t triggers = stk_irq << 0 | rtc_irq << 1;
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stk_irq = false;
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rtc_irq = false;
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bool stk_needed = false;
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for (uint8_t i = 0; i < task_nb; ++i) {
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stk_needed |= execute_task(&task_list[i], triggers);
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}
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if (stk_needed) {
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stk_start();
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__asm("wfi");
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} else {
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stk_stop();
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//TODO: enter deep sleep
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}
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}
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}
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@ -50,9 +64,8 @@ void task_start(TaskFunction function)
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if (task_list[i].function == nullptr) {
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task_list[i].function = function;
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task_list[i].state.delay = 0;
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task_list[i].state.timestamp = 0;
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task_list[i].state.count = 0;
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task_list[i].state.is_active = false;
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++task_nb;
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return;
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@ -66,8 +79,8 @@ void task_stop(TaskFunction function)
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{
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for (uint8_t i = 0; i < task_nb; ++i) {
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if (task_list[i].function == function) {
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task_list[i].state.count = _TASK_COUNT_CLEANUP & 0x7F;
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task_list[i].function(&task_list[i].state);
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task_list[i].state.count = _TASK_COUNT_CLEANUP & 0x1F;
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task_list[i].function(&task_list[i].state, timestamp);
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task_list[i].function = nullptr;
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return;
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@ -88,3 +101,42 @@ bool task_is_running(TaskFunction function)
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return false;
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}
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//--local functions-------------------------------------------------------------
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static bool execute_task(struct Task* restrict task, uint8_t triggers)
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{
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if (task->function != nullptr) {
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if (task->state.trigger == TASK_TRIGGER_ANY) {
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task->function(&task->state, timestamp);
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} else {
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if ((task->state.trigger & triggers) != 0) {
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if (task->state.timestamp <= timestamp) {
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task->state.timestamp = 0;
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}
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if ((task->state.timestamp == 0) ||
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task->state.timeout_mode) {
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task->function(&task->state,
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timestamp);
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}
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}
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}
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return (task->state.trigger & TASK_TRIGGER_STK) != 0;
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}
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return false;
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}
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static void callback_stk(void)
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{
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stk_irq = true;
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++timestamp;
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}
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static void callback_rtc(void)
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{
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rtc_irq = true;
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}
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84
srv/task.h
84
srv/task.h
@ -17,13 +17,21 @@
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//--type definitions------------------------------------------------------------
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struct TaskState {
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int32_t delay;
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uint8_t count:7;
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uint8_t is_active:1;
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enum TaskTrigger {
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TASK_TRIGGER_ANY,
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TASK_TRIGGER_STK,
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TASK_TRIGGER_RTC,
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TASK_TRIGGER_BOTH,
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};
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typedef void(*TaskFunction)(struct TaskState*);
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struct TaskState {
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uint32_t timestamp;
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uint8_t count:5;
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enum TaskTrigger trigger:2;
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uint8_t timeout_mode:1;
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};
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typedef void(*TaskFunction)(struct TaskState*, uint32_t);
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struct Task {
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TaskFunction function;
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@ -33,10 +41,12 @@ struct Task {
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//--functions-------------------------------------------------------------------
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#define TASK(fct_name) void fct_name(struct TaskState* restrict __task_state)
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#define TASK(fct_name) void fct_name(struct TaskState* restrict __task_state, \
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uint32_t __task_time)
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#define TASK_ENTRY \
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_TASK_COUNT_INIT; \
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(void*) __task_time; \
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switch (__task_state->count) {
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#define TASK_CLEANUP \
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@ -45,19 +55,22 @@ struct Task {
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#define TASK_EXIT \
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} \
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__task_state->count = _TASK_COUNT_EXIT; \
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__task_state->count = _TASK_COUNT_EXIT & 0x1F; \
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return;
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#define TASK_TIMEOUT
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#define TASK_TIMEOUT (__task_state->timeout == 0)
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#define TASK_YIELD() _TASK_YIELD(_TASK_COUNT_INCR)
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#define TASK_SLEEP(delay_ms) _TASK_SLEEP(delay_ms, _TASK_COUNT_INCR)
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#define TASK_PAUSE(delay_ms) _TASK_PAUSE(delay_ms, _TASK_COUNT_INCR)
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#define TASK_SLEEP(delay_s) _TASK_SLEEP(delay_s, _TASK_COUNT_INCR)
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#define TASK_YIELD_UNTIL(cond) _TASK_YIELD_UNTIL(cond, _TASK_COUNT_INCR)
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#define TASK_SLEEP_UNTIL(cond, delay_ms) \
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_TASK_SLEEP_UNTIL(cond, delay_ms, _TASK_COUNT_INCR)
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#define TASK_PAUSE_UNTIL(cond, delay_ms) \
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_TASK_PAUSE_UNTIL(cond, delay_ms, _TASK_COUNT_INCR)
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#define TASK_SLEEP_UNTIL(cond, delay_s) \
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_TASK_SLEEP_UNTIL(cond, delay_s, _TASK_COUNT_INCR)
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#define TASK_EXECUTE(task) _TASK_EXECUTE(task, _TASK_COUNT_INCR)
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void task_schedule(uint32_t elapsed_ms);
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void task_start_scheduler(void);
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void task_declare();
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@ -70,19 +83,30 @@ bool task_is_running(TaskFunction task);
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#define _TASK_COUNT_INIT enum { TASK_COUNTER_BASE = __COUNTER__ }
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#define _TASK_COUNT_INCR (uint8_t)(__COUNTER__ - TASK_COUNTER_BASE - 1)
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#define _TASK_COUNT_EXIT (UINT8_MAX & 0x7F)
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#define _TASK_COUNT_EXIT (UINT8_MAX & 0x3F)
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#define _TASK_COUNT_CLEANUP (UINT8_MAX - 1)
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#define _TASK_YIELD(count_val) do { \
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__task_state->count = count_val; \
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__task_state->trigger = TASK_TRIGGER_ANY; \
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return; \
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case (count_val): \
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/* fall through */ \
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} while (0)
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#define _TASK_SLEEP(delay_ms, count_val) do { \
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#define _TASK_PAUSE(delay_ms, count_val) do { \
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__task_state->count = count_val; \
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__task_state->delay = delay_ms; \
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__task_state->timestamp = __task_time + delay_ms; \
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__task_state->trigger = TASK_TRIGGER_STK; \
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return; \
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case (count_val): \
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/* fall through */ \
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} while (0)
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#define _TASK_SLEEP(delay_s, count_val) do { \
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__task_state->count = count_val; \
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__task_state->timestamp = __task_time + delay_s * 1000; \
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__task_state->trigger = TASK_TRIGGER_RTC; \
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return; \
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case (count_val): \
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/* fall through */ \
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@ -90,6 +114,7 @@ bool task_is_running(TaskFunction task);
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#define _TASK_YIELD_UNTIL(cond, count_val) do { \
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__task_state->count = count_val; \
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__task_state->trigger = TASK_TRIGGER_ANY; \
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case (count_val): \
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if (!(cond)) { \
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return; \
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@ -97,20 +122,39 @@ bool task_is_running(TaskFunction task);
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/* fall through */ \
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} while (0)
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#define _TASK_SLEEP_UNTIL(cond, delay_ms, count_val) do { \
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#define _TASK_PAUSE_UNTIL(cond, delay_ms, count_val) do { \
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__task_state->count = count_val; \
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__task_state->delay = delay_ms; \
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__task_state->is_active = true; \
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__task_state->timestamp = __task_time + delay_ms; \
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__task_state->trigger = TASK_TRIGGER_STK; \
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__task_state->timeout_mode = true; \
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} \
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case (count_val): \
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if (!(cond) && __task_state->delay >= 0) { \
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if (!(cond) && __task_state->timestamp != 0) { \
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return; \
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} else { \
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__task_state->timeout_mode = false; \
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} \
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/* fall through */ \
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} while (0)
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#define _TASK_SLEEP_UNTIL(cond, delay_s, count_val) do { \
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__task_state->count = count_val; \
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__task_state->timestamp = __taks_time + delay_s * 1000; \
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__task_state->trigger = TASK_TRIGGER_RTC; \
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__task_state->timeout_mode = true; \
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} \
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case (count_val): \
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if (!(cond) && __task_state->timestamp != 0) { \
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return; \
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} else { \
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__task_state->timeout_mode = false; \
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} \
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__task_state->is_active = false; \
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/* fall through */ \
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} while (0)
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#define _TASK_EXECUTE(task, count_val) do { \
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__task_state->count = count_val; \
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__task_state->trigger = TASK_TRIGGER_ANY; \
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task_start(Task task); \
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return; \
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case (count_val): \
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