From 2618dd27ad2071b41659ea26d2bf69ce35f2339f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Cl=C3=A9ment=20Foucher?= <cfoucher@laas.fr>
Date: Tue, 8 Mar 2022 10:34:17 +0000
Subject: [PATCH] Integrate Threading API in Scheduling module.
---
.../zephyr/public_api/Scheduling.cpp | 51 +++++++++++++++++--
.../zephyr/public_api/Scheduling.h | 46 ++++++++++++++---
2 files changed, 86 insertions(+), 11 deletions(-)
diff --git a/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.cpp b/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.cpp
index 5c92ce9..ed6186c 100644
--- a/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.cpp
+++ b/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.cpp
@@ -31,9 +31,20 @@
/////
-// Local variables
+// Static variables
-static const struct device* timer6 = NULL;
+const struct device* Scheduling::timer6 = NULL;
+
+const int Scheduling::DEFAULT_PRIORITY = 5;
+
+k_tid_t Scheduling::communicationThreadTid;
+k_tid_t Scheduling::applicationThreadTid;
+
+k_thread Scheduling::communicationThreadData;
+k_thread Scheduling::applicationThreadData;
+
+K_THREAD_STACK_DEFINE(communication_thread_stack, 512);
+K_THREAD_STACK_DEFINE(application_thread_stack, 512);
/////
@@ -42,10 +53,20 @@ static const struct device* timer6 = NULL;
Scheduling scheduling;
+/////
+// Private API
+
+void Scheduling::threadEntryPoint(void* thread_function_p, void*, void*)
+{
+ thread_function_t thread_function = (thread_function_t)thread_function_p;
+ thread_function();
+}
+
+
/////
// Public API
-void Scheduling::controlTaskInit(void (*periodic_task)(), uint32_t task_period_us)
+void Scheduling::startControlTask(void (*periodic_task)(), uint32_t task_period_us)
{
if (periodic_task != NULL)
{
@@ -58,10 +79,30 @@ void Scheduling::controlTaskInit(void (*periodic_task)(), uint32_t task_period_u
timer_cfg.timer_irq_t_usec = task_period_us;
timer_config(timer6, &timer_cfg);
+ timer_start(timer6);
}
}
-void Scheduling::controlTaskLaunch()
+void Scheduling::startCommunicationTask(thread_function_t routine, int priority)
+{
+ communicationThreadTid = k_thread_create(&communicationThreadData,
+ communication_thread_stack,
+ K_THREAD_STACK_SIZEOF(communication_thread_stack),
+ threadEntryPoint,
+ (void*)routine, NULL, NULL,
+ priority,
+ 0,
+ K_NO_WAIT);
+}
+
+void Scheduling::startApplicationTask(thread_function_t routine, int priority)
{
- timer_start(timer6);
+ applicationThreadTid = k_thread_create(&applicationThreadData,
+ application_thread_stack,
+ K_THREAD_STACK_SIZEOF(application_thread_stack),
+ threadEntryPoint,
+ (void*)routine, NULL, NULL,
+ priority,
+ 0,
+ K_NO_WAIT);
}
diff --git a/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.h b/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.h
index fd8e932..99b807c 100644
--- a/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.h
+++ b/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.h
@@ -28,17 +28,22 @@
#include <stdint.h>
+#include <zephyr.h>
+
+typedef void (*thread_function_t)();
/////
// Static class definition
class Scheduling
{
+private:
+ static void threadEntryPoint(void* thread_function_p, void*, void*);
+
public:
/**
- * @brief Library initialization function.
- * This function uses Timer 6 to execute the periodic
- * user task.
+ * @brief This function uses Timer 6 to execute the periodic user task.
+ * The task is immediately started.
*
* @param periodic_task Pointer to the void(void) function
* to be executed periodically.
@@ -47,12 +52,41 @@ public:
* Allowed range: 1 to 6553 µs.
* Value is ignored if first parameter is NULL.
*/
- void controlTaskInit(void (*periodic_task)(), uint32_t task_period_us);
+ static void startControlTask(void (*periodic_task)(), uint32_t task_period_us);
+
+ /**
+ * @brief Schedule the communication thread.
+ * The task is immediately started.
+ *
+ * @param routine Pointer to the void(void) function
+ * that will act as the thread main function.
+ * @param priority Priority of the thread. This
+ * parameter can be omitted and will take
+ * its default value.
+ */
+ static void startCommunicationTask(thread_function_t routine, int priority = DEFAULT_PRIORITY);
/**
- * @brief Begins the periodic run of the task.
+ * @brief Schedule the application thread.
+ * The task is immediately started.
+ *
+ * @param routine Pointer to the void(void) function
+ * that will act as the thread main function.
+ * @param priority Priority of the thread. This
+ * parameter can be omitted and will take
+ * its default value.
*/
- void controlTaskLaunch();
+ static void startApplicationTask(thread_function_t routine, int priority = DEFAULT_PRIORITY);
+
+private:
+ static const struct device* timer6;
+ static const int DEFAULT_PRIORITY;
+
+ static k_tid_t communicationThreadTid;
+ static k_tid_t applicationThreadTid;
+
+ static k_thread communicationThreadData;
+ static k_thread applicationThreadData;
};
--
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