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amiro-apps / middleware / apps_urtosal.h @ 7e5fca2f

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/*
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AMiRo-Apps is a collection of applications for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2018..2020  Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program.  If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef APPS_URTOSAL_H
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#define APPS_URTOSAL_H
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/*============================================================================*/
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/* DEPENDENCIES                                                               */
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/*============================================================================*/
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#include <amiroos.h>
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/*============================================================================*/
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/* DEBUG                                                                      */
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/*============================================================================*/
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#define urtDebugAssert(condition)               aosDbgAssert(condition)
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/*============================================================================*/
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/* MUTEX                                                                      */
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/*============================================================================*/
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/**
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 * @brief   Mutex lock type.
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 */
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typedef mutex_t urt_osMutex_t;
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#define urtMutexInit(mutex)                     chMtxObjectInit(mutex)
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#define urtMutexLock(mutex)                     chMtxLock(mutex)
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#define urtMutexTryLock(mutex)                  chMtxTryLock(mutex)
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#define urtMutexUnlock(mutex)                   chMtxUnlock(mutex)
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/*============================================================================*/
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/* CONDITION VARIABLE                                                         */
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/*============================================================================*/
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/**
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 * @brief   Condition variable type.
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 */
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typedef condition_variable_t urt_osCondvar_t;
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#define urtCondvarInit(condvar)                 chCondObjectInit(condvar)
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#define urtCondvarSignal(condvar)               chCondSignal(condvar)
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#define urtCondvarBroadcast(condvar)            chCondBroadcast(condvar)
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/*============================================================================*/
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/* EVENTS                                                                     */
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/*============================================================================*/
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/**
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 * @brief   Type representing an event source object.
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 */
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typedef event_source_t urt_osEventSource_t;
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/**
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 * @brief   Type representing an event listener object.
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 */
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typedef event_listener_t urt_osEventListener_t;
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/**
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 * @brief   Type representing event masks.
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 * @details Event masks can be used to distinguish and filter events.
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 */
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typedef eventmask_t  urt_osEventMask_t;
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/**
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 * @brief   Type representing event flags.
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 * @details Event flags can be used to represent rudimentary metadata or to filter events.
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 */
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typedef eventflags_t urt_osEventFlags_t;
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/**
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 * @brief   Event mask, which is handled with highest priority.
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 */
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#define URT_EVENTMASK_MAXPRIO                   EVENT_MASK(0)
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/**
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 * @brief   Event mask to select all events,
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 */
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#define URT_EVENTMASK_ALL                       ALL_EVENTS
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#define urtEventSourceInit(source)              chEvtObjectInit(source)
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#define urtEventSourceBroadcast(source, flags)  chEvtBroadcastFlags(source, flags)
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#define urtEventListenerInit(listener)          (void)listener
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#define urtEventListenerGetFlags(listener)      (urt_osEventFlags_t)(listener->flags)
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#define urtEventListenerClearFlags(listener)    (urt_osEventFlags_t)chEvtGetAndClearFlags(listener)
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#define urtEventRegister(source, listener, mask, flags) chEvtRegisterMaskWithFlags(source, listener, mask, flags)
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#define urtEventUnregister(source, listener)    chEvtUnregister(source, listener)
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/**
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 * @brief    Event flags
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 */
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#define URT_EVENTFLAG_TERMINATE                 (urt_osEventFlags_t)1
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#define URT_EVENTFLAG_PROCEED                   (urt_osEventFlags_t)2
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/*============================================================================*/
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/* STREAMS                                                                    */
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/*============================================================================*/
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#define urtPrintf(fmt, ...)                     aosprintf(fmt, ##__VA_ARGS__)
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#define urtErrPrintf(fmt, ...)                  aosprintf(fmt, ##__VA_ARGS__)
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/*============================================================================*/
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/* TIME                                                                       */
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/*============================================================================*/
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/**
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 * @brief   The urt_osTime_t represents time at an arbitrary precision.
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 */
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typedef aos_timestamp_t urt_osTime_t;
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#define urtTime2Us(time)                      (*((urt_osTime_t*)time))
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#define urtTimeAddUs(time, offset)            (*((urt_osTime_t*)time) + offset)
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/*============================================================================*/
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/* THREAD                                                                     */
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/*============================================================================*/
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/**
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 * @brief   Thread object type.
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 */
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typedef thread_t urt_osThread_t;
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/**
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 * @brief   Thread priority data type.
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 */
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typedef tprio_t urt_osThreadPrio_t;
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/**
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 * @brief   Minimum thread priority.
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 */
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#define URT_THREAD_PRIO_LOW_MIN                 AOS_THD_LOWPRIO_MIN
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/**
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 * @brief   Maximum thread priority for low priority class threads.
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 */
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#define URT_THREAD_PRIO_LOW_MAX                 AOS_THD_LOWPRIO_MAX
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/**
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 * @brief   Minimum thread priority for normal priority class threads.
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 */
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#define URT_THREAD_PRIO_NORMAL_MIN              AOS_THD_NORMALPRIO_MIN
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/**
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 * @brief   Maximum thread priority for normal priority class threads.
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 */
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#define URT_THREAD_PRIO_NORMAL_MAX              AOS_THD_NORMALPRIO_MAX
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/**
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 * @brief   Minimum thread priority for high priority class threads.
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 */
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#define URT_THREAD_PRIO_HIGH_MIN                AOS_THD_HIGHPRIO_MIN
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/**
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 * @brief   Maximum thread priority for high priority class threads.
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 */
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#define URT_THREAD_PRIO_HIGH_MAX                AOS_THD_HIGHPRIO_MAX
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/**
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 * @brief   Minimum thread priority for real-time class threads.
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 */
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#define URT_THREAD_PRIO_RT_MIN                  AOS_THD_RTPRIO_MIN
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/**
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 * @brief   maximum thread priority for real-time class threads.
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 */
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#define URT_THREAD_PRIO_RT_MAX                  AOS_THD_RTPRIO_MAX
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/**
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 * @brief   Maximum number of seconds a thread can sleep.
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 */
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#define URT_THREAD_SLEEP_MAX                    (float)AOS_THD_MAX_SLEEP_S
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/**
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 * @brief   Maximum number of seconds a thread can sleep.
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 */
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#define URT_THREAD_SSLEEP_MAX                   (unsigned int)AOS_THD_MAX_SLEEP_S
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/**
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 * @brief   Maximum number of milliseconds a thread can sleep.
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 */
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#define URT_THREAD_MSLEEP_MAX                   (unsigned int)AOS_THD_MAX_SLEEP_MS
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/**
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 * @brief   Maximum number of microseconds a thread can sleep.
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 */
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#define URT_THREAD_USLEEP_MAX                   (urt_delay_t)AOS_THD_MAX_SLEEP_US
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/**
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 * @brief   Macro function to layout a thread memory.
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 * @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).
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 *          The layout in memory as well as the metadata may differ between kernels and event hardware ports.
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 *
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 * @param[in]   varname     The name of the resulting buffer variable.
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 * @param[in]   stacksize   The size of the thread's stack.
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 */
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#define URT_THREAD_MEMORY(varname, stacksize)   THD_WORKING_AREA(varname, stacksize)
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#define urtThreadStart(thread)                  chThdStart(thread)
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#define urtThreadYield()                        chThdYield()
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#define urtThreadGetPriority()                  chThdGetPriorityX()
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#define urtThreadSetPriority(prio) {                                              \
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  aosDbgCheck(prio >= URT_THREAD_PRIO_LOW_MIN && prio <= URT_THREAD_PRIO_RT_MAX)  \
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  chThdSetPriority(prio);                                                         \
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}
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#define urtThreadSleep(seconds)                 aosThdSleep(seconds)
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#define urtThreadSSleep(seconds)                aosThdSSleep(seconds)
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#define urtThreadMSleep(seconds)                aosThdMSleep(seconds)
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#define urtThreadUSleep(seconds)                aosThdUSleep(seconds)
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#define urtThreadSleepUntil(time)               aosThdSleepUntil(time)
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#define urtThreadExit()                         chThdExit(MSG_OK)
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#define urtThreadShouldTerminate()              chThdShouldTerminateX()
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#define urtThreadJoin(thread)                   (void)chThdWait(thread)
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#define urtThreadGetSelf()                      chThdGetSelfX()
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#define urtThreadGetChildren(thread)            (thread->children)
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#define urtThreadGetSibling(thread)             (thread->sibling)
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#define urtThreadGetParent(thread)              (thread->parent)
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/*============================================================================*/
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/* TIMER                                                                      */
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/*============================================================================*/
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/**
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 * @brief   Timer object type.
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 */
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typedef aos_timer_t urt_osTimer_t;
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#define urtTimerInit(timer)                     aosTimerInit(timer)
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#define urtTimerReset(timer)                    aosTimerReset(timer)
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#define urtTimerIsArmeed(timer)                 aosTimerIsArmed(timer)
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#endif /* APPS_URTOSAL_H */