AMiRo-OS

About & License

===============

AMiRo-Apps is a collection of applications and configurations for the Autonomous

Mini Robot (AMiRo) [1]. It is tightly coupled to the AMiRo-OS and uRtWare

projects, which provide a sophisticated operating system (based on ChibiOS) amd

a real-time middleware for embedded devices.

Copyright (C) 2018..2020  Thomas Schöpping et al.

(a complete list of all authors is given below)

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or (at

your option) any later version.

This program is distributed in the hope that it will be useful, but

WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU

General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

This research/work was supported by the Cluster of Excellence

Cognitive Interaction Technology 'CITEC' (EXC 277) at Bielefeld

University, which is funded by the German Research Foundation (DFG).

Authors:

-   Thomas Schöpping          <tschoepp[at]cit-ec.uni-bielefeld.de>

References:

[1] S. Herbrechtsmeier, T. Korthals, T. Schopping and U. Rückert, "AMiRo: A

    modular & customizable open-source mini robot platform," 2016 20th

    International Conference on System Theory, Control and Computing (ICSTCC),

    Sinaia, 2016, pp. 687-692.

--------------------------------------------------------------------------------

Contents

========

1.  Required Software

2.  Folder Structure

--------------------------------------------------------------------------------

1 Required Software

===================

Since AMiRo-Apps depends on the AMiRo-OS and µRtWare projects, both are included

as Git submodules. Use the provided ./setup.sh script to initialize those. When

AMiRo-OS is fully configured, there is no additional software required by

AMiRo-Apps. For further details about the initialization follow the instructions

in the script and refer to the README.md file of AMiRo-OS and µRtWare

respectively.

2 Folder Structure

==================

At its root, the AMiRo-Apps project has seven folders to distiquish between the

most fundamental parts:

2.1 `apps/`

-----------

This folder includes individual applications, which can used by

configigurations (see `configurations/`). Apps will usually be implemented

as nodes for the middleware and provide according interfaces via some message

type(s) (see `messagetypes/`).

2.2 `configurations/`

---------------------

Each configuration combines multiple apps and distributes them among any

supported modules. Furthermore, configurations may modify parameters for each

module individually. Finally, each configuration should come with a Makefile, so

a user can just use this to build and flash the whole setup.

For better understanding, have a look at this example:

-   module A: using apps 1, 2 and 3 with parameters X and Y.

-   module B: using apps 1 and 4 with parameter X.

-   module C: using apps 1, 5, 6 and 7 with parameters X and Z.

-   Makefile: setup and build everything.

Note that each configuration needs to explicitely support a module and that

there can never be an implicit default configuration.

2.3 `doc/`

----------

Any documentation related files are located in this directory.

2.4 `messagetypes/`

-------------------

Apps shoud take advantage of the middleware and thus implement nodes, which

communicate via messages and/or requests. Such messages/requests may have

payloads of arbitrary types, which can be defined in this folder.

2.5 `middleware/`

-----------------

This folder contains the µRtWare submodule and interface files.

2.6 `os/`

---------

This folder contains the AMiRo-OS submodule and interface files.

2.7 `tools/`

------------

Helpful tools can be found in this dirctory.

# Copyright (C) 2018..2020  Thomas Schöpping et al.                            #

# middleware selection

ifeq ($(CONFIG_MIDDLEWARE),)

  CONFIG_MIDDLEWARE := "µRtWare"

else ifneq ($(CONFIG_MIDDLEWARE),"µRtWare")

  $(error incompatible middleware selected: $(CONFIG_MIDDLEWARE))

endif

Copyright (C) 2018..2020  Thomas Schöpping et al.

#pragma message "Hello World! (.c)"

Copyright (C) 2018..2020  Thomas Schöpping et al.

#ifndef HELLOWORLD_H

#define HELLOWORLD_H

#pragma message "Hello World! (.h)"

#endif /* HELLOWORLD_H */

# Copyright (C) 2018..2020  Thomas Schöpping et al.                            #

# list of available/supported modules

HelloWorldCONF_MODULES_DIR = $(HelloWorldCONF_DIR)/modules/

HelloWorldCONF_MODULES = $(patsubst $(HelloWorldCONF_MODULES_DIR)%/,%,$(sort $(dir $(wildcard $(HelloWorldCONF_MODULES_DIR)*/*))))

HelloWorldCONF_CLEANTRGS = $(HelloWorldCONF_MODULES:%=clean_%)

HelloWorldCONF_FLASHTRGS = $(HelloWorldCONF_MODULES:%=flash_%)

.PHONY: all $(HelloWorldCONF_MODULES) $(HelloWorldCONF_FLASHTRGS) clean $(HelloWorldCONF_CLEANTRGS)

	$(MAKE) -C $(HelloWorldCONF_MODULES_DIR)/$@

$(HelloWorldCONF_FLASHTRGS):

	$(MAKE) -C $(HelloWorldCONF_MODULES_DIR)/$(@:flash_%=%) flash

clean: $(HelloWorldCONF_CLEANTRGS)

$(HelloWorldCONF_CLEANTRGS):

	$(MAKE) -C $(HelloWorldCONF_MODULES_DIR)/$(@:clean_%=%) clean

Copyright (C) 2018..2020  Thomas Schöpping et al.

Copyright (C) 2018..2020  Thomas Schöpping et al.

#ifndef HELLOWORLD_URTWARECONF_H

#define HELLOWORLD_URTWARECONF_H

#define URTWARE_CFG_VERSION_MAJOR               0

#define URTWARE_CFG_VERSION_MINOR               1

#include <stdbool.h>

#define URT_CFG_DELAY_WIDTH                     32

/**

 * @brief   Width of the urt_nodestage_t data type.

 *

 * @details Possible values are 8, 16, 32, and 64 bits.

 */

#define URT_CFG_NODESTAGE_WIDTH                 16

/**

 * @brief   Debug enable flag.

 */

#define URT_CFG_DEBUG_ENABLED                   true

/**

 * @brief   Enable flag for the publish-subscribe system.

 */

#define URT_CFG_PUBSUB_ENABLED                  true

#define URT_CFG_PUBSUB_TOPICID_WIDTH            16

 * @brief   Flag to enable profiling of the publish-subscribe system.

 */

#define URT_CFG_PUBSUB_PROFILING                true

/**

 * @brief   Flag to enable deadline QoS for the publish-subscribe system.

 */

#define URT_CFG_PUBSUB_QOS_DEADLINECHECKS       true

/**

 * @brief   Flag to enable rate QoS for the publish-subscribe system.

 */

#define URT_CFG_PUBSUB_QOS_RATECHECKS           true

/**

 * @brief   Flag to enable jitter QoS for the publish-subscribe system

 */

#define URT_CFG_PUBSUB_QOS_JITTERCHECKS         true

/**

 * @brief   Enable flag for remote procedure calls.

 */

#define URT_CFG_RPC_ENABLED                     true

/**

 * @brief   Width of the urt_serviceid_t data type.

#define URT_CFG_RPC_SERVICEID_WIDTH             16

 * @brief   Flag to enable profiling of remote procedure calls.

 */

#define URT_CFG_RPC_PROFILING                   true

/**

 * @brief   Flag to enable deadline QoS for remote procedure calls.

 */

#define URT_CFG_RPC_QOS_DEADLINECHECKS          true

/**

 * @brief   Flag to enable jitter QoS for remote procedure calls.

#define URT_CFG_RPC_QOS_JITTERCHECKS            true

#endif /* HELLOWORLD_URTWARECONF_H */

################################################################################

# AMiRo-Apps is a collection of applications for the Autonomous Mini Robot     #

# (AMiRo) platform.                                                            #

# Copyright (C) 2018..2020  Thomas Schöpping et al.                            #

#                                                                              #

# This program is free software: you can redistribute it and/or modify         #

# it under the terms of the GNU General Public License as published by         #

# the Free Software Foundation, either version 3 of the License, or            #

# (at your option) any later version.                                          #

#                                                                              #

# This program is distributed in the hope that it will be useful,              #

# but WITHOUT ANY WARRANTY; without even the implied warranty of               #

# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the                #

# GNU General Public License for more details.                                 #

#                                                                              #

# You should have received a copy of the GNU General Public License            #

# along with this program.  If not, see <http://www.gnu.org/licenses/>.        #

#                                                                              #

# This research/work was supported by the Cluster of Excellence Cognitive      #

# Interaction Technology 'CITEC' (EXC 277) at Bielefeld University, which is   #

# funded by the German Research Foundation (DFG).                              #

################################################################################

################################################################################

# Build global options                                                         #

# NOTE: Can be overridden externally.                                          #

#                                                                              #

# Compiler options here.

ifeq ($(USE_OPT),)

  USE_OPT = -O2 -fomit-frame-pointer -falign-functions=16 -fstack-usage

  export USE_OPT

endif

# C specific options here (added to USE_OPT).

ifeq ($(USE_COPT),)

  USE_COPT = -std=c11

  export USE_COPT

endif

# C++ specific options here (added to USE_OPT).

ifeq ($(USE_CPPOPT),)

  USE_CPPOPT = -fno-rtti -std=c++17

  export USE_CPPOPT

endif

# Enable this if you want the linker to remove unused code and data

ifeq ($(USE_LINK_GC),)

  USE_LINK_GC = yes

 export USE_LINK_GC

endif

# Linker extra options here.

ifeq ($(USE_LDOPT),)

  USE_LDOPT =

  export USE_LDOPT

endif

# Enable this if you want link time optimizations (LTO)

ifeq ($(USE_LTO),)

  USE_LTO = yes

  export USE_LTO

endif

# If enabled, this option allows to compile the application in THUMB mode.

ifeq ($(USE_THUMB),)

  USE_THUMB = yes

  export USE_THUMB

endif

# Enable this if you want to see the full log while compiling.

ifeq ($(USE_VERBOSE_COMPILE),)

  USE_VERBOSE_COMPILE = no

  export USE_VERBOSE_COMPILE

endif

#                                                                              #

# Build global options                                                         #

################################################################################

################################################################################

# Sources and paths                                                            #

#                                                                              #

# environment setup

include ../modules.mk

# include apps

include $(APPS_DIR)/HelloWorld/HelloWorld.mk

# middleware setup

include $(MIDDLEWARE_DIR)/middleware.mk

# C sources

APPS_CSRC += $(HelloWorldAPP_CSRC) \

             $(MIDDLEWARE_CSRC)

# C++ sources

APPS_CPPSRC += $(HelloWorldAPP_CPPSRC) \

               $(MIDDLEWARE_CPPSRC)

# include directories for configurations

APPS_INC += $(realpath .) \

            $(HelloWorldAPP_INC) \

            $(MIDDLEWARE_INC)

#                                                                              #

# Sources and paths                                                            #

################################################################################

################################################################################

# Start of user section                                                        #

#                                                                              #

# List all user defines here

UDEFS +=

export UDEFS

# List all ASM defines here

UADEFS +=

export UADEFS

# List all user directories here

UINCDIR +=

export UINCDIR

# List all directories to look for user libraries here

ULIBDIR +=

export ULIBDIR

# List all user libraries here

ULIBS +=

export ULIBS

#                                                                              #

# End of user defines                                                          #

################################################################################

################################################################################

# Start of targets section                                                     #

# 

# set the build directory

ifeq ($(BUILDDIR),)

  BUILDDIR = $(realpath .)/build

endif

export BUILDDIR

# call Makefile from OS

all:

	$(MAKE) -C $(OS_DIR)/AMiRo-OS/modules/NUCLEO-L476RG/

clean:

	$(MAKE) -C $(OS_DIR)/AMiRo-OS/modules/NUCLEO-L476RG/ clean

flash:

	$(MAKE) -C $(OS_DIR)/AMiRo-OS/modules/NUCLEO-L476RG/ flash

#                                                                              #

# End of targets section                                                       #

################################################################################

/*

AMiRo-Apps is a collection of applications for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2018..2020  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#ifndef MAININCLUDES_HPP

#define MAININCLUDES_HPP

#include <urtware.h>

#endif /* MAININCLUDES_HPP */

/*

AMiRo-Apps is a collection of applications for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2018..2020  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#ifndef OSCONF_H

#define OSCONF_H

#include <HelloWorld_osconf.h>

#define OS_CFG_TESTS_ENABLE                     false

#define OS_CFG_SSSP_ENABLE                      false

#endif /* OSCONF_H */

/*

AMiRo-Apps is a collection of applications for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2018..2020  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#ifndef URTWARECONF_H

#define URTWARECONF_H

#include <HelloWorld_urtwareconf.h>

#endif /* URTWARECONF_H */

# Copyright (C) 2018..2020  Thomas Schöpping et al.                            #

# include paths

APPS_INC += $(APPCONFIG_MODULES_DIR)

# C source files

APPS_CSRC +=

# Copyright (C) 2018..2020  Thomas Schöpping et al.                            #

# aboslute path to the middleware directory

MIDDLEWARE_DIR := $(APPSCONFIG_DIR)/../middleware

Copyright (C) 2018..2020  Thomas Schöpping et al.

/*

AMiRo-Apps is a collection of applications for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2018..2020  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#include <urtware.h>

/*============================================================================*/

/* DEPENDENCIES                                                               */

/*============================================================================*/

/*============================================================================*/

/* DEBUG                                                                      */

/*============================================================================*/

/*============================================================================*/

/* MUTEX                                                                      */

/*============================================================================*/

/*============================================================================*/

/* CONDITION VARIABLE                                                         */

/*============================================================================*/

/**

 * @details Due to limitations of ChibiOS, the 'mutex' argument is ignored in

 *          this implementation. Instead, the mutex, which was locked by the

 *          calling thread most recently is used.

 *          In debug builds, however, the argument is still checked to be

 *          identical to implicitely selected mutex.

 */

urt_osCondvarWaitStatus_t urtCondvarWait(urt_osCondvar_t* condvar, urt_osMutex_t* mutex, urt_delay_t timeout)

{

  aosDbgCheck(condvar != NULL);

  aosDbgCheck(mutex != NULL);

  aosDbgCheck(chMtxGetNextMutexX() == mutex); // due to limitation of ChibiOS

  (void)mutex;

  switch (chCondWaitTimeout(condvar, timeout)) {

    case MSG_OK:

      return URT_CONDVAR_WAITSTATUS_SIGNAL;

    case MSG_RESET:

      return URT_CONDVAR_WAITSTATUS_BROADCAST;

    case MSG_TIMEOUT:

      return URT_CONDVAR_WAITSTATUS_TIMEOUT;

    default:

      chSysHalt(__func__);

      return URT_CONDVAR_WAITSTATUS_TIMEOUT;

  }

}

/*============================================================================*/

/* EVENTS                                                                     */

/*============================================================================*/

urt_osEventMask_t urtEventWait(urt_osEventMask_t mask, urt_osEventWait_t type, urt_delay_t timeout)

{

  switch (type) {

    case URT_EVENT_WAIT_ONE:

      return chEvtWaitOneTimeout(mask, timeout);

    case URT_EVENT_WAIT_ANY:

      return chEvtWaitAnyTimeout(mask, timeout);

    case URT_EVENT_WAIT_ALL:

      return chEvtWaitAllTimeout(mask, timeout);

    default:

      return 0;

  }

}

/*============================================================================*/

/* STREAMS                                                                    */

/*============================================================================*/

/*============================================================================*/

/* TIME                                                                       */

/*============================================================================*/

urt_osTime_t urtTimeNow(void)

{

  urt_osTime_t time;

  aosSysGetUptime(&time);

  return time;

}

/*============================================================================*/

/* THREAD                                                                     */

/*============================================================================*/

urt_osThread_t* urtThreadInit(void* memory, size_t size, urt_osThreadPrio_t prio, urt_osThreadFunction_t func, void* arg)

{

  aosDbgCheck(memory != NULL);

  aosDbgCheck(size != 0);

  aosDbgCheck(prio >= URT_THREAD_PRIO_LOW_MIN && prio <= URT_THREAD_PRIO_RT_MAX);

  aosDbgCheck(func != NULL);

  const thread_descriptor_t descriptor = {

    /* name                         */ "",

    /* pointer to working area base */ (stkalign_t*)memory,

    /* end of the working area      */ &((stkalign_t*)memory)[size / sizeof(stkalign_t)],

    /* thread priority              */ prio,

    /* thread function pointer      */ func,

    /* thread argument              */ arg,

    /* pointer to the parent thread */ chThdGetSelfX(),

  };

  return chThdCreateSuspended(&descriptor);

}

void urtThreadTerminate(urt_osThread_t* thread, urt_osThreadTerminateSignal_t sig)

{

  aosDbgCheck(thread != NULL);

  switch (sig) {

    case URT_THREAD_TERMINATE_REQUEST:

      chThdTerminate(thread);

      return;

    case URT_THREAD_TERMINATE_KILL:

      /*

       * TODO: implement kill functionality

       */

      chThdTerminate(thread);

      return;

  }

}

urt_osThreadState_t urtThreadGetState(urt_osThread_t* thread)

{

  aosDbgCheck(thread != NULL);

  switch (thread->state) {

    case CH_STATE_CURRENT:

      return URT_THREAD_STATE_RUNNING;

    case CH_STATE_READY:

      return URT_THREAD_STATE_READY;

    case CH_STATE_SLEEPING:

      return URT_THREAD_STATE_SLEEPING;

    case CH_STATE_WTSTART:

    case CH_STATE_SUSPENDED:

      return URT_THREAD_STATE_SUSPENDED;

    case CH_STATE_FINAL:

      return URT_THREAD_STATE_TERMINATED;

    case CH_STATE_QUEUED:

    case CH_STATE_WTSEM:

    case CH_STATE_WTMTX:

    case CH_STATE_WTCOND:

    case CH_STATE_WTEXIT:

    case CH_STATE_WTOREVT:

    case CH_STATE_WTANDEVT:

    case CH_STATE_SNDMSGQ:

    case CH_STATE_SNDMSG:

    case CH_STATE_WTMSG:

    default:

      return URT_THREAD_STATE_WAITING;

  }

}

/*============================================================================*/

/* TIMER                                                                      */

/*============================================================================*/

void urtTimerSet(urt_osTimer_t* timer, urt_delay_t delay, urt_osTimerCallback_t callback, void* cbparams)

{

  aosDbgCheck(timer != NULL);

  aosDbgCheck(callback != NULL);

  if (sizeof(urt_delay_t) > sizeof(aos_interval_t)) {

    aosTimerSetLongInterval(timer, (aos_longinterval_t)delay, callback, cbparams);

  } else {

    aosTimerSetInterval(timer, delay, callback, cbparams);

  }

  return;

}

void urtTimerSetPeriodic(urt_osTimer_t* timer, urt_delay_t period, urt_osTimerCallback_t callback, void* cbparams)

{

  aosDbgCheck(timer != NULL);

  aosDbgCheck(callback != NULL);

  if (sizeof(urt_delay_t) > sizeof(aos_interval_t)) {

    aosTimerPeriodicLongInterval(timer, (aos_longinterval_t)period, callback, cbparams);

  } else {

    aosTimerPeriodicInterval(timer, period, callback, cbparams);

  }

  return;

}

/*

AMiRo-Apps is a collection of applications for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2018..2020  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#ifndef APPS_URTOSAL_H

#define APPS_URTOSAL_H

/*============================================================================*/

/* DEPENDENCIES                                                               */

/*============================================================================*/

#include <amiroos.h>

/*============================================================================*/

/* DEBUG                                                                      */

/*============================================================================*/

#define urtDebugAssert(condition)               aosDbgAssert(condition)

/*============================================================================*/

/* MUTEX                                                                      */

/*============================================================================*/

/**

 * @brief   Mutex lock type.

 */

typedef mutex_t urt_osMutex_t;

#define urtMutexInit(mutex)                     chMtxObjectInit(mutex)

#define urtMutexLock(mutex)                     chMtxLock(mutex)

#define urtMutexTryLock(mutex)                  chMtxTryLock(mutex)

#define urtMutexUnlock(mutex)                   chMtxUnlock(mutex)

/*============================================================================*/

/* CONDITION VARIABLE                                                         */

/*============================================================================*/

/**

 * @brief   Condition variable type.

 */

typedef condition_variable_t urt_osCondvar_t;

#define urtCondvarInit(condvar)                 chCondObjectInit(condvar)

#define urtCondvarSignal(condvar)               chCondSignal(condvar)

#define urtCondvarBroadcast condvar)            chCondBroadcast(condvar)

/*============================================================================*/

/* EVENTS                                                                     */

/*============================================================================*/

/**

 * @brief   Type representing an event source object.

 */

typedef event_source_t urt_osEventSource_t;

/**

 * @brief   Type representing an event listener object.

 */

typedef event_listener_t urt_osEventListener_t;

/**

 * @brief   Type representing event masks.

 * @details Event masks can be used to distinguish and filter events.

 */

typedef eventmask_t urt_osEventMask_t;

/**

 * @brief   Type representing event flags.

 * @details Event flags can be used to represent rudimentary metadata or to filter events.

 */

typedef eventflags_t urt_osEventFlags_t;

/**

 * @brief   Event mask, which is handles with highest priority.

 */

#define URT_EVENTMASK_MAXPRIO                   EVENT_MASK(0)

#define urtEventSourceInit(source)              chEvtObjectInit(source)

#define urtEventSourceBroadcast(source, flags)  chEvtBroadcastFlags(source, flags)

#define urtEventListenerInit(listener)          (void)listener

#define urtEventListenerGetFlags(listener)      (urt_osEventFlags_t)(listener->flags)

#define urtEventListenerClearFlags(listener)    (urt_osEventFlags_t)chEvtGetAndClearFlags(listener)

#define urtEventRegister(source, listener, mask, flags) chEvtRegisterMaskWithFlags(source, listener, mask, flags)

#define urtEventUnregister(source, listener)    chEvtUnregister(source, listener)

/*============================================================================*/

/* STREAMS                                                                    */

/*============================================================================*/

#define urtPrintf(fmt, ...)                     aosprintf(fmt, ##__VA_ARGS__)

#define urtErrPrintf(fmt, ...)                  aosprintf(fmt, ##__VA_ARGS__)

/*============================================================================*/

/* TIME                                                                       */

/*============================================================================*/

/**

 * @brief   The urt_osTime_t represents time at an arbitrary precision.

 */

typedef aos_timestamp_t urt_osTime_t;

#define urtTime2Us(time)                      (*((urt_osTime_t*)time))

#define urtTimeAddUs(time, offset)            (*((urt_osTime_t*)time) + offset)

/*============================================================================*/

/* THREAD                                                                     */

/*============================================================================*/

/**

 * @brief   Thread object type.

 */

typedef thread_t urt_osThread_t;

/**

 * @brief   Thread priority data type.

 */

typedef tprio_t urt_osThreadPrio_t;

/**

 * @brief   Minimum thread priority.

 */

#define URT_THREAD_PRIO_LOW_MIN                 AOS_THD_LOWPRIO_MIN

/**

 * @brief   Maximum thread priority for low priority class threads.

 */

#define URT_THREAD_PRIO_LOW_MAX                 AOS_THD_LOWPRIO_MAX

/**

 * @brief   Minimum thread priority for normal priority class threads.

 */

#define URT_THREAD_PRIO_NORMAL_MIN              AOS_THD_NORMALPRIO_MIN

/**

 * @brief   Maximum thread priority for normal priority class threads.

 */

#define URT_THREAD_PRIO_NORMAL_MAX              AOS_THD_NORMALPRIO_MAX

/**

 * @brief   Minimum thread priority for high priority class threads.

 */

#define URT_THREAD_PRIO_HIGH_MIN                AOS_THD_HIGHPRIO_MIN

/**

 * @brief   Maximum thread priority for high priority class threads.

 */

#define URT_THREAD_PRIO_HIGH_MAX                AOS_THD_HIGHPRIO_MAX

/**

 * @brief   Minimum thread priority for real-time class threads.

 */

#define URT_THREAD_PRIO_RT_MIN                  AOS_THD_RTPRIO_MIN

/**

 * @brief   maximum thread priority for real-time class threads.

 */

#define URT_THREAD_PRIO_RT_MAX                  AOS_THD_RTPRIO_MAX

/**

 * @brief   Maximum number of seconds a thread can sleep.

 */

#define URT_THREAD_SLEEP_MAX                    (float)AOS_THD_MAX_SLEEP_S

/**

 * @brief   Maximum number of seconds a thread can sleep.

 */

#define URT_THREAD_SSLEEP_MAX                   (unsigned int)AOS_THD_MAX_SLEEP_S

/**

 * @brief   Maximum number of milliseconds a thread can sleep.

 */

#define URT_THREAD_MSLEEP_MAX                   (unsigned int)AOS_THD_MAX_SLEEP_MS

/**

 * @brief   Maximum number of microseconds a thread can sleep.

 */

#define URT_THREAD_USLEEP_MAX                   (urt_delay_t)AOS_THD_MAX_SLEEP_US

/**

 * @brief   Macro function to layout a thread memory.

 * @details The overall memory required for a thread usually is a combination of the stack and some further data (i.e. the thread object itself).

 *          The layout in memory as well as the metadata may differ between kernels and event hardware ports.

 *

 * @param[in]   varname     The name of the resulting buffer variable.

 * @param[in]   stacksize   The size of the thread's stack.

 */

#define URT_THREAD_MEMORY(varname, stacksize)   THD_WORKING_AREA(varname, stacksize)

#define urtThreadStart(thread)                  chThdStart(thread)

#define urtThreadYield()                        chThdYield()

#define urtThreadGetPriority()                  chThdGetPriorityX()

#define urtThreadSetPriority(prio) {                                              \

  aosDbgCheck(prio >= URT_THREAD_PRIO_LOW_MIN && prio <= URT_THREAD_PRIO_RT_MAX)  \

  chThdSetPriority(prio);                                                         \

}

#define urtThreadSleep(seconds)                 aosThdSleep(seconds)

#define urtThreadSSleep(seconds)                aosThdSSleep(seconds)

#define urtThreadMSleep(seconds)                aosThdMSleep(seconds)

#define urtThreadUSleep(seconds)                aosThdUSleep(seconds)

#define urtThreadSleepUntil(time)               aosThdSleepUntil(time)

#define urtThreadExit()                         chThdExit(MSG_OK)

#define urtThreadJoin(thread)                   (void)chThdWait(thread)

#define urtThreadGetSelf()                      chThdGetSelfX()

#define urtThreadGetChildren(thread)            (thread->children)

#define urtThreadGetSibling(thread)             (thread->sibling)

#define urtThreadGetParent(thread)              (thread->parent)

/*============================================================================*/

/* TIMER                                                                      */

/*============================================================================*/

/**

 * @brief   Timer object type.

 */

typedef aos_timer_t urt_osTimer_t;

#define urtTimerInit(timer)                     aosTimerInit(timer)

#define urtTimerReset(timer)                    aosTimerReset(timer)

#define urtTimerIsArmeed(timer)                 aosTimerIsArmed(timer)

#endif /* APPS_URTOSAL_H */

# Copyright (C) 2018..2020  Thomas Schöpping et al.                            #

# middleware setup

ifeq ($(CONFIG_MIDDLEWARE),"µRtWare")

  $(info >>> MIDDLEWARE: µRtWare)

  include $(MIDDLEWARE_DIR)/uRtWare/Makefile

  # include paths

  MIDDLEWARE_INC = $(URTWARE_INC) \

                   $(MIDDLEWARE_DIR)

  # C source files

  MIDDLEWARE_CSRC = $(URTWARE_CSRC) \

                    $(MIDDLEWARE_DIR)/apps_urtosal.c