adding freeRtos API from different project

2024-11-16 15:50:59 +01:00
parent 49b3b46ffe
commit deccb3186c
14 changed files with 1061 additions and 0 deletions
@@ -0,0 +1,119 @@
+/**
+ * @file fullDemo.cpp
+ * @author Gustice
+ * @brief Coherent demonstration of FreeRTOS-Abstraction in small environment
+ * @copyright Copyright (c) 2024
+ */
+
+
+#include "esp_log.h"
+#include "esp_timer.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "sdkconfig.h"
+#include <stdio.h>
+
+constexpr int StackSize = 1024;
+constexpr int LED = 2;
+
+#define TerminalPrint(format, ...) ESP_LOGI("main", format, __VA_ARGS__)
+
+#include "Mutex.hpp"
+#include "Queue.hpp"
+#include "Semaphore.hpp"
+#include "Task.hpp"
+#include <string>
+
+using namespace fos;
+using namespace std::literals::string_view_literals;
+
+constexpr int WAIT = 1000;
+
+/// @brief Arbitrary definition for message type (to be used as queue template parameter)
+struct TxMsg {
+    TxMsg(uint32_t c, std::string m) : cnt(c), message(m){};
+    uint32_t cnt;
+    std::string message;
+};
+
+/// @brief Global semaphore for blink tasks
+Semaphore blinkSem;
+
+void setupLedPin();
+void toggleLedPin();
+
+/// @brief Parameterless task entry for generation of blink signals
+/// @note uses global semaphore
+void TaskBlinkProvider() {
+    TerminalPrint("starting blink provider task");
+    while (true) {
+        Task::delayMs(WAIT); // wait
+        blinkSem.give();     // then signal a blink event
+    }
+}
+
+/// @brief Parameterless task entry for execution of blink signals
+/// @note uses global semaphore
+void TaskBlink() {
+    TerminalPrint("starting blink execution task");
+    setupLedPin();
+    while (true) {
+        blinkSem.take();    // wait for blink event signal
+        toggleLedPin();     // execute blink event
+        Task::delayMs(100); // wait
+        toggleLedPin();     // execute blink event
+        TerminalPrint("Blink tick");
+    }
+}
+
+/// @brief Parametrized task entry for message provider (generates message object)
+/// @param queue reference to appropriate queue
+void MessageProvider(Queue<TxMsg> &queue) {
+    uint32_t cnt{};
+    while (true) {
+        auto e = std::make_unique<TxMsg>(cnt++, "tick");
+        queue.enqueue(std::move(e));
+        Task::delayMs(WAIT);
+    }
+}
+
+/// @brief Parametrized task entry for message consumer (sends message over UART)
+/// @param queue reference to appropriate queue
+void MessageConsumer(Queue<TxMsg> &queue) {
+    while (true) {
+        auto msg = queue.dequeue(); // Wait with infinit timeout, guaranteed to succeed
+        TerminalPrint("Message: %s %lu", msg->message.c_str(), msg->cnt);
+    }
+}
+
+void setupTasks() {
+    /// @note: All definitions as static instances to not be destructed after loosing scope
+    static Queue<TxMsg> txQueue(8);
+    static Task blinkerTask(TaskBlink, "BlinkExec", StackSize);
+    static Task blinkeProviderTask(TaskBlinkProvider, "BlinkFlags", StackSize);
+
+    static TaskT<Queue<TxMsg> &> tickerTask(MessageProvider, txQueue, "Tick", StackSize);
+    static TaskT<Queue<TxMsg> &> senderTask(MessageConsumer, txQueue, "Sender", StackSize);
+}
+
+
+extern "C" { // This switch allows the ROS C-implementation to find this main
+void app_main(void);
+}
+
+void app_main() {
+    void setupTasks();
+
+    while (true) {
+        ESP_LOGI("main", "healt tick");
+        vTaskDelay(1000 / portTICK_PERIOD_MS);
+    }
+}
+
+void setupLedPin() {
+    // no Buildin-led on XIAO C3
+}
+void toggleLedPin() {
+    // no Buildin-led on XIAO C3
+}
+