AMiRo-OS

/*

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 handled 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)

/**

 * @brief    Event flags

 */

#define URT_EVENTFLAG_TERMINATE                 (urt_osEventFlags_t)1

#define URT_EVENTFLAG_PROCEED                   (urt_osEventFlags_t)2

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

/* 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 */