AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2018  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 <hal.h>

#include <hal_can.h>

#include <hal_can_lld.h>

#include <aos_rtcan.h>

#include <aos_thread.h>

#include <chthreads.h>

#define True 1

#define False 0

#define NRT 1111111

#define HRT 0000000

/*

 * @brief transmit Message over CAN

 */

msg_t rtcan_transmit(CANDriver *canp, canmbx_t mailbox, const CANTxFrame *ctfp){

    // call cantransmit, needed params driver, mailbox and tx frame

    msg_t transmit = canTransmitTimeout(canp,mailbox,ctfp,TIME_IMMEDIATE);

    return transmit;

}

/*

 * @brief receive Message over CAN

 */

msg_t rtcan_receive(CANDriver *canp, canmbx_t mailbox,CANRxFrame *crfp){

    // call lld cantransmit, needed params driver, mailbox and rx frame

    return canReceiveTimeout(canp,mailbox,crfp,TIME_IMMEDIATE);

}

// Handling Message Queues

bool enqueueMsg(uint8_t *payload, uint8_t msgType, systime_t deadline){

    return false;

}

bool pushRTCanMsgSorted(rtcan_msg_t *msg,msgqueue_t* msgqueue){

    return false;

}

/*

 * @brief push Message to its Queue, based on type of Message

 */

void pushRTCanMsg(rtcan_msg_t *msg,msgqueue_t* msgqueue){

  if(msg != NULL){

    if(msgqueueEmpty(msgqueue)){

        msgqueue->head = msg;

        msgqueue->tail= msg;

        msg->next = msg;

        return;

    }

    //todo special case handling

    if(msgqueue->tail != NULL){

      if(msg->msgType == 10){

          if(pushRTCanMsgSorted(msg,msgqueue) == true){

              return;

          };

      }

      msgqueue->tail->next = msg;

      msg->next = msg;

      msgqueue->tail = msg;

      msgqueue->size++;

    }

  }

}

/*

 * @brief dequeue Message from Queue

 */

rtcan_msg_t* popRTCanMsg(msgqueue_t* msgqueue){

    if(!msgqueueEmpty(msgqueue)){

        return msgqueue->head;

    }

    return NULL;

}

/**

 * @brief schedule rtcan messages into mailboxes

 */

void schedule(){

}

/** empty or clear?*/

int msgqueueEmpty(msgqueue_t* mqueue){

    if(mqueue == NULL){

        return True;

    }

    return False;

}

//TODO: ISR

//TODO: Params