amiro-apps / middleware / apps_urtosal.c @ e66111dc
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| 1 | 6d4ba740 | Thomas Schöpping | /*
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| 2 | AMiRo-Apps is a collection of applications for the Autonomous Mini Robot (AMiRo) platform.
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| 3 | Copyright (C) 2018..2020 Thomas Schöpping et al.
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| 4 | |||
| 5 | This program is free software: you can redistribute it and/or modify
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| 6 | it under the terms of the GNU General Public License as published by
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| 7 | the Free Software Foundation, either version 3 of the License, or
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| 8 | (at your option) any later version.
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| 9 | |||
| 10 | This program is distributed in the hope that it will be useful,
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| 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 13 | GNU General Public License for more details.
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| 14 | |||
| 15 | You should have received a copy of the GNU General Public License
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| 16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 17 | */
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| 18 | |||
| 19 | #include <urtware.h> |
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| 20 | |||
| 21 | /*============================================================================*/
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| 22 | /* DEPENDENCIES */
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| 23 | /*============================================================================*/
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| 24 | |||
| 25 | /*============================================================================*/
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| 26 | /* DEBUG */
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| 27 | /*============================================================================*/
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| 28 | |||
| 29 | /*============================================================================*/
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| 30 | /* MUTEX */
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| 31 | /*============================================================================*/
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| 32 | |||
| 33 | /*============================================================================*/
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| 34 | /* CONDITION VARIABLE */
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| 35 | /*============================================================================*/
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| 36 | |||
| 37 | 880a8dde | Thomas Schöpping | #if (URT_CFG_OSAL_CONDVAR_TIMEOUT == true) || defined(__DOXYGEN__) |
| 38 | 6d4ba740 | Thomas Schöpping | /**
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| 39 | * @details Due to limitations of ChibiOS, the 'mutex' argument is ignored in
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| 40 | * this implementation. Instead, the mutex, which was locked by the
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| 41 | * calling thread most recently is used.
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| 42 | * In debug builds, however, the argument is still checked to be
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| 43 | * identical to implicitely selected mutex.
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| 44 | */
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| 45 | urt_osCondvarWaitStatus_t urtCondvarWait(urt_osCondvar_t* condvar, urt_osMutex_t* mutex, urt_delay_t timeout) |
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| 46 | {
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| 47 | aosDbgCheck(condvar != NULL);
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| 48 | aosDbgCheck(mutex != NULL);
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| 49 | aosDbgCheck(chMtxGetNextMutexX() == mutex); // due to limitation of ChibiOS
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| 50 | |||
| 51 | (void)mutex;
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| 52 | |||
| 53 | switch (chCondWaitTimeout(condvar, timeout)) {
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| 54 | case MSG_OK:
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| 55 | return URT_CONDVAR_WAITSTATUS_SIGNAL;
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| 56 | case MSG_RESET:
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| 57 | return URT_CONDVAR_WAITSTATUS_BROADCAST;
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| 58 | case MSG_TIMEOUT:
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| 59 | return URT_CONDVAR_WAITSTATUS_TIMEOUT;
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| 60 | default:
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| 61 | chSysHalt(__func__); |
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| 62 | return URT_CONDVAR_WAITSTATUS_TIMEOUT;
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| 63 | } |
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| 64 | } |
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| 65 | 880a8dde | Thomas Schöpping | #else
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| 66 | urt_osCondvarWaitStatus_t urtCondvarWait(urt_osCondvar_t* condvar, urt_osMutex_t* mutex) |
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| 67 | {
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| 68 | aosDbgCheck(condvar != NULL);
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| 69 | aosDbgCheck(mutex != NULL);
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| 70 | aosDbgCheck(chMtxGetNextMutexX() == mutex); // due to limitation of ChibiOS
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| 71 | |||
| 72 | (void)mutex;
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| 73 | |||
| 74 | switch (chCondWait(condvar)) {
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| 75 | case MSG_OK:
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| 76 | return URT_CONDVAR_WAITSTATUS_SIGNAL;
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| 77 | case MSG_RESET:
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| 78 | return URT_CONDVAR_WAITSTATUS_BROADCAST;
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| 79 | default:
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| 80 | chSysHalt(__func__); |
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| 81 | return URT_CONDVAR_WAITSTATUS_TIMEOUT;
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| 82 | } |
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| 83 | } |
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| 84 | #endif
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| 85 | 6d4ba740 | Thomas Schöpping | |
| 86 | /*============================================================================*/
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| 87 | /* EVENTS */
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| 88 | /*============================================================================*/
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| 89 | |||
| 90 | urt_osEventMask_t urtEventWait(urt_osEventMask_t mask, urt_osEventWait_t type, urt_delay_t timeout) |
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| 91 | {
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| 92 | switch (type) {
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| 93 | case URT_EVENT_WAIT_ONE:
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| 94 | return chEvtWaitOneTimeout(mask, timeout);
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| 95 | case URT_EVENT_WAIT_ANY:
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| 96 | return chEvtWaitAnyTimeout(mask, timeout);
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| 97 | case URT_EVENT_WAIT_ALL:
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| 98 | return chEvtWaitAllTimeout(mask, timeout);
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| 99 | default:
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| 100 | return 0; |
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| 101 | } |
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| 102 | } |
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| 103 | |||
| 104 | /*============================================================================*/
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| 105 | /* STREAMS */
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| 106 | /*============================================================================*/
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| 107 | |||
| 108 | /*============================================================================*/
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| 109 | /* TIME */
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| 110 | /*============================================================================*/
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| 111 | |||
| 112 | urt_osTime_t urtTimeNow(void)
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| 113 | {
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| 114 | urt_osTime_t time; |
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| 115 | aosSysGetUptime(&time); |
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| 116 | return time;
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| 117 | } |
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| 118 | |||
| 119 | /*============================================================================*/
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| 120 | /* THREAD */
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| 121 | /*============================================================================*/
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| 122 | |||
| 123 | urt_osThread_t* urtThreadInit(void* memory, size_t size, urt_osThreadPrio_t prio, urt_osThreadFunction_t func, void* arg) |
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| 124 | {
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| 125 | aosDbgCheck(memory != NULL);
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| 126 | aosDbgCheck(size != 0);
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| 127 | aosDbgCheck(prio >= URT_THREAD_PRIO_LOW_MIN && prio <= URT_THREAD_PRIO_RT_MAX); |
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| 128 | aosDbgCheck(func != NULL);
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| 129 | |||
| 130 | const thread_descriptor_t descriptor = {
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| 131 | /* name */ "", |
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| 132 | /* pointer to working area base */ (stkalign_t*)memory,
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| 133 | 557c9c87 | Svenja | /* end of the working area */ &((stkalign_t*)memory)[/*size*/ 512 / sizeof(stkalign_t)], |
| 134 | 6d4ba740 | Thomas Schöpping | /* thread priority */ prio,
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| 135 | /* thread function pointer */ func,
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| 136 | /* thread argument */ arg,
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| 137 | /* pointer to the parent thread */ chThdGetSelfX(),
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| 138 | }; |
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| 139 | |||
| 140 | a33cec74 | skenneweg | /* urtPrintf("memory: 0x%08X\n", memory);
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| 141 | 557c9c87 | Svenja | urtPrintf("size: %u\n", size);
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| 142 | urtPrintf("prio: %u\n", prio);
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| 143 | urtPrintf("func: 0x%08X\n", func);
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| 144 | urtPrintf("arg: 0x%08X\n", arg);
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| 145 | urtPrintf("parent: 0x%08X\n", chThdGetSelfX());
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| 146 | a33cec74 | skenneweg | urtThreadMSleep(10); */
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| 147 | 6479c731 | skenneweg | |
| 148 | a33cec74 | skenneweg | return chThdCreateSuspended(&descriptor);
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| 149 | 6d4ba740 | Thomas Schöpping | } |
| 150 | |||
| 151 | void urtThreadTerminate(urt_osThread_t* thread, urt_osThreadTerminateSignal_t sig)
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| 152 | {
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| 153 | aosDbgCheck(thread != NULL);
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| 154 | |||
| 155 | switch (sig) {
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| 156 | case URT_THREAD_TERMINATE_REQUEST:
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| 157 | chThdTerminate(thread); |
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| 158 | return;
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| 159 | case URT_THREAD_TERMINATE_KILL:
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| 160 | /*
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| 161 | * TODO: implement kill functionality
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| 162 | */
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| 163 | chThdTerminate(thread); |
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| 164 | return;
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| 165 | } |
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| 166 | } |
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| 167 | |||
| 168 | urt_osThreadState_t urtThreadGetState(urt_osThread_t* thread) |
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| 169 | {
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| 170 | aosDbgCheck(thread != NULL);
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| 171 | |||
| 172 | switch (thread->state) {
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| 173 | case CH_STATE_CURRENT:
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| 174 | return URT_THREAD_STATE_RUNNING;
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| 175 | case CH_STATE_READY:
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| 176 | return URT_THREAD_STATE_READY;
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| 177 | case CH_STATE_SLEEPING:
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| 178 | return URT_THREAD_STATE_SLEEPING;
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| 179 | case CH_STATE_WTSTART:
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| 180 | case CH_STATE_SUSPENDED:
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| 181 | return URT_THREAD_STATE_SUSPENDED;
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| 182 | case CH_STATE_FINAL:
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| 183 | return URT_THREAD_STATE_TERMINATED;
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| 184 | case CH_STATE_QUEUED:
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| 185 | case CH_STATE_WTSEM:
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| 186 | case CH_STATE_WTMTX:
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| 187 | case CH_STATE_WTCOND:
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| 188 | case CH_STATE_WTEXIT:
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| 189 | case CH_STATE_WTOREVT:
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| 190 | case CH_STATE_WTANDEVT:
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| 191 | case CH_STATE_SNDMSGQ:
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| 192 | case CH_STATE_SNDMSG:
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| 193 | case CH_STATE_WTMSG:
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| 194 | default:
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| 195 | return URT_THREAD_STATE_WAITING;
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| 196 | } |
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| 197 | } |
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| 198 | |||
| 199 | /*============================================================================*/
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| 200 | /* TIMER */
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| 201 | /*============================================================================*/
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| 202 | |||
| 203 | void urtTimerSet(urt_osTimer_t* timer, urt_delay_t delay, urt_osTimerCallback_t callback, void* cbparams) |
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| 204 | {
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| 205 | aosDbgCheck(timer != NULL);
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| 206 | aosDbgCheck(callback != NULL);
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| 207 | |||
| 208 | if (sizeof(urt_delay_t) > sizeof(aos_interval_t)) { |
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| 209 | aosTimerSetLongInterval(timer, (aos_longinterval_t)delay, callback, cbparams); |
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| 210 | } else {
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| 211 | aosTimerSetInterval(timer, delay, callback, cbparams); |
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| 212 | } |
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| 213 | return;
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| 214 | } |
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| 215 | |||
| 216 | void urtTimerSetPeriodic(urt_osTimer_t* timer, urt_delay_t period, urt_osTimerCallback_t callback, void* cbparams) |
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| 217 | {
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| 218 | aosDbgCheck(timer != NULL);
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| 219 | aosDbgCheck(callback != NULL);
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| 220 | |||
| 221 | if (sizeof(urt_delay_t) > sizeof(aos_interval_t)) { |
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| 222 | aosTimerPeriodicLongInterval(timer, (aos_longinterval_t)period, callback, cbparams); |
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| 223 | } else {
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| 224 | aosTimerPeriodicInterval(timer, period, callback, cbparams); |
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| 225 | } |
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| 226 | return;
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| 227 | } |