LibrePilot/flight/Modules/CallbackTest/callbacktest.c

/**
 ******************************************************************************
 *
 * @file       callbacktest.c
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @brief      Example module to be used as a template for actual modules.
 *             Event callback version.
 *
 * @see        The GNU Public License (GPL) Version 3
 *
 *****************************************************************************/
/*
 * 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, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

/**
 *
 * This is a test suite to test the callback scheduler,
 * including its forward scheduling ability
 *
 */

#include "openpilot.h"

// Private constants
#define STACK_SIZE configMINIMAL_STACK_SIZE
#define CALLBACK_PRIORITY CALLBACK_PRIORITY_LOW
#define TASK_PRIORITY (tskIDLE_PRIORITY+1)
// Private types

//#define DEBUGPRINT(...) fprintf (stderr, __VA_ARGS__)
#define DEBUGPRINT(...) xSemaphoreTakeRecursive(mutex, portMAX_DELAY); fprintf(stderr, __VA_ARGS__ ); xSemaphoreGiveRecursive(mutex);

static xSemaphoreHandle mutex;

// Private variables
static DelayedCallbackInfo *cbinfo[10];

static volatile int32_t counter[10]={0};

static void DelayedCb0();
static void DelayedCb1();
static void DelayedCb2();
static void DelayedCb3();
static void DelayedCb4();
static void DelayedCb5();
static void DelayedCb6();
/**
 * Initialise the module, called on startup.
 * \returns 0 on success or -1 if initialisation failed
 */
int32_t CallbackTestInitialize()
{

	mutex = xSemaphoreCreateRecursiveMutex();

	cbinfo[0] = DelayedCallbackCreate(&DelayedCb0,CALLBACK_PRIORITY_LOW,tskIDLE_PRIORITY+2,STACK_SIZE);
	cbinfo[1] = DelayedCallbackCreate(&DelayedCb1,CALLBACK_PRIORITY_LOW,tskIDLE_PRIORITY+2,STACK_SIZE);
	cbinfo[2] = DelayedCallbackCreate(&DelayedCb2,CALLBACK_PRIORITY_CRITICAL,tskIDLE_PRIORITY+2,STACK_SIZE);
	cbinfo[3] = DelayedCallbackCreate(&DelayedCb3,CALLBACK_PRIORITY_CRITICAL,tskIDLE_PRIORITY+2,STACK_SIZE);
	cbinfo[4] = DelayedCallbackCreate(&DelayedCb4,CALLBACK_PRIORITY_LOW,tskIDLE_PRIORITY+2,STACK_SIZE);
	cbinfo[5] = DelayedCallbackCreate(&DelayedCb5,CALLBACK_PRIORITY_LOW,tskIDLE_PRIORITY+2,STACK_SIZE);
	cbinfo[6] = DelayedCallbackCreate(&DelayedCb6,CALLBACK_PRIORITY_LOW,tskIDLE_PRIORITY+20,STACK_SIZE);

	
	return 0;
}
int32_t CallbackTestStart() {
	
	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
	DelayedCallbackDispatch(cbinfo[3]);
	DelayedCallbackDispatch(cbinfo[2]);
	DelayedCallbackDispatch(cbinfo[1]);
	DelayedCallbackDispatch(cbinfo[0]);
	// different callback priorities within a taskpriority
	DelayedCallbackSchedule(cbinfo[4],30000,CALLBACK_UPDATEMODE_NONE);
	DelayedCallbackSchedule(cbinfo[4],5000,CALLBACK_UPDATEMODE_OVERRIDE);
	DelayedCallbackSchedule(cbinfo[4],4000,CALLBACK_UPDATEMODE_SOONER);
	DelayedCallbackSchedule(cbinfo[4],10000,CALLBACK_UPDATEMODE_SOONER);
	DelayedCallbackSchedule(cbinfo[4],1000,CALLBACK_UPDATEMODE_LATER);
	DelayedCallbackSchedule(cbinfo[4],4800,CALLBACK_UPDATEMODE_LATER);
	DelayedCallbackSchedule(cbinfo[4],48000,CALLBACK_UPDATEMODE_NONE);
	// should be at 4.8 seconds after this, allowing for exactly 9 prints of the following
	DelayedCallbackSchedule(cbinfo[5],500,CALLBACK_UPDATEMODE_NONE);
	// delayed counter with 500 ms
	DelayedCallbackDispatch(cbinfo[6]);
	// high task prio
	xSemaphoreGiveRecursive(mutex);
	return 0;
}

static void DelayedCb0() {
	DEBUGPRINT("delayed counter low prio 0 updated: %i\n",counter[0]);
	if (++counter[0]<10) DelayedCallbackDispatch(cbinfo[0]);
}
static void DelayedCb1() {
	DEBUGPRINT("delayed counter low prio 1 updated: %i\n",counter[1]);
	if (++counter[1]<10) DelayedCallbackDispatch(cbinfo[1]);
}
static void DelayedCb2() {
	DEBUGPRINT("delayed counter high prio 2 updated: %i\n",counter[2]);
	if (++counter[2]<10) DelayedCallbackDispatch(cbinfo[2]);
}
static void DelayedCb3() {
	DEBUGPRINT("delayed counter high prio 3 updated: %i\n",counter[3]);
	if (++counter[3]<10) DelayedCallbackDispatch(cbinfo[3]);
}
static void DelayedCb4() {
	DEBUGPRINT("delayed scheduled callback 4 reached!\n");
	exit(0);
}
static void DelayedCb5() {
	DEBUGPRINT("delayed scheduled counter 5 updated: %i\n",counter[5]);
	if (++counter[5]<10) DelayedCallbackSchedule(cbinfo[5],500,CALLBACK_UPDATEMODE_NONE);
	// it will likely only reach 8 due to cb4 aborting the run
}
static void DelayedCb6() {
	DEBUGPRINT("delayed counter 6 (high task prio) updated: %i\n",counter[6]);
	if (++counter[6]<10) DelayedCallbackDispatch(cbinfo[6]);
}