Quantum Leaps
QP is an event-driven, RTOS-like, active object framework for microcontrollers, such as mbed. The QP framework provides thread-safe execution of active objects (concurrent state machines) and support both manual and automatic coding of UML statecharts in readable, production-quality C or C++. Automatic code generation of QP code is supported by the free QM modeling tool.
Dependents: qp_hangman qp_dpp qp_blinky
QP/C++ (Quantum Platform in C++) is a lightweight, open source active object (actor) framework for building responsive and modular real-time embedded applications as systems of asynchronous event-driven active objects (actors). The QP/C++ framework is a member of a larger family consisting of QP/C++, QP/C, and QP-nano frameworks, which are all strictly quality controlled, thoroughly documented, and available under GPLv3 with a special Exception for mbed (see http://www.state-machine.com/licensing/QP-mbed_GPL_Exception.txt).
The behavior of active objects is specified in QP/C++ by means of hierarchical state machines (UML statecharts). The framework supports manual coding of UML state machines in C++ as well as automatic code generation by means of the free QM modeling tool (http://www.state-machine.com/qm).
Please see the "QP/C++ Reference Manual" (http://www.state-machine.com/qpcpp) for more information.
Diff: qp.h
- Revision:
- 0:064c79e7311a
- Child:
- 4:156463fbfae6
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+++ b/qp.h Wed Feb 09 14:46:03 2011 +0000
@@ -0,0 +1,3314 @@
+//////////////////////////////////////////////////////////////////////////////
+// Product: QP/C++
+// Last Updated for QP ver: 4.1.06 (modified to fit in one file)
+// Date of the Last Update: Jan 26, 2011
+//
+// Q u a n t u m L e a P s
+// ---------------------------
+// innovating embedded systems
+//
+// Copyright (C) 2002-2011 Quantum Leaps, LLC. All rights reserved.
+//
+// This software may be distributed and modified under the terms of the GNU
+// General Public License version 2 (GPL) as published by the Free Software
+// Foundation and appearing in the file GPL.TXT included in the packaging of
+// this file. Please note that GPL Section 2[b] requires that all works based
+// on this software must also be made publicly available under the terms of
+// the GPL ("Copyleft").
+//
+// Alternatively, this software may be distributed and modified under the
+// terms of Quantum Leaps commercial licenses, which expressly supersede
+// the GPL and are specifically designed for licensees interested in
+// retaining the proprietary status of their code.
+//
+// Contact information:
+// Quantum Leaps Web site: http://www.quantum-leaps.com
+// e-mail: info@quantum-leaps.com
+//////////////////////////////////////////////////////////////////////////////
+#ifndef qp_h
+#define qp_h
+
+// "qevent.h" ================================================================
+/// \brief QEvent class and basic macros used by all QP components.
+///
+/// This header file must be included, perhaps indirectly, in all modules
+/// (*.cpp files) that use any component of QP/C++ (such as QEP, QF, or QK).
+
+//////////////////////////////////////////////////////////////////////////////
+/// \brief The current QP version number
+///
+/// \return version of the QP as a hex constant constant 0xXYZZ, where X is
+/// a 1-digit major version number, Y is a 1-digit minor version number, and
+/// ZZ is a 2-digit release number.
+#define QP_VERSION 0x4106
+
+#ifndef Q_ROM
+ /// \brief Macro to specify compiler-specific directive for placing a
+ /// constant object in ROM.
+ ///
+ /// Many compilers for Harvard-architecture MCUs provide non-stanard
+ /// extensions to support placement of objects in different memories.
+ /// In order to conserve the precious RAM, QP uses the Q_ROM macro for
+ /// all constant objects that can be allocated in ROM.
+ ///
+ /// To override the following empty definition, you need to define the
+ /// Q_ROM macro in the qep_port.h header file. Some examples of valid
+ /// Q_ROM macro definitions are: __code (IAR 8051 compiler), code (Keil
+ /// Cx51 compiler), PROGMEM (gcc for AVR), __flash (IAR for AVR).
+ #define Q_ROM
+#endif
+#ifndef Q_ROM_VAR // if NOT defined, provide the default definition
+ /// \brief Macro to specify compiler-specific directive for accessing a
+ /// constant object in ROM.
+ ///
+ /// Many compilers for MCUs provide different size pointers for
+ /// accessing objects in various memories. Constant objects allocated
+ /// in ROM (see #Q_ROM macro) often mandate the use of specific-size
+ /// pointers (e.g., far pointers) to get access to ROM objects. The
+ /// macro Q_ROM_VAR specifies the kind of the pointer to be used to access
+ /// the ROM objects.
+ ///
+ /// To override the following empty definition, you need to define the
+ /// Q_ROM_VAR macro in the qep_port.h header file. An example of valid
+ /// Q_ROM_VAR macro definition is: __far (Freescale HC(S)08 compiler).
+ #define Q_ROM_VAR
+#endif
+#ifndef Q_ROM_BYTE
+ /// \brief Macro to access a byte allocated in ROM
+ ///
+ /// Some compilers for Harvard-architecture MCUs, such as gcc for AVR, do
+ /// not generate correct code for accessing data allocated in the program
+ /// space (ROM). The workaround for such compilers is to explictly add
+ /// assembly code to access each data element allocated in the program
+ /// space. The macro Q_ROM_BYTE() retrieves a byte from the given ROM
+ /// address.
+ ///
+ /// The Q_ROM_BYTE() macro should be defined for the compilers that
+ /// cannot handle correctly data allocated in ROM (such as the gcc).
+ /// If the macro is left undefined, the default definition simply returns
+ /// the argument and lets the compiler generate the correct code.
+ #define Q_ROM_BYTE(rom_var_) (rom_var_)
+#endif
+
+#ifndef Q_SIGNAL_SIZE
+ /// \brief The size (in bytes) of the signal of an event. Valid values:
+ /// 1, 2, or 4; default 1
+ ///
+ /// This macro can be defined in the QEP port file (qep_port.h) to
+ /// configure the ::QSignal type. When the macro is not defined, the
+ /// default of 1 byte is chosen.
+ #define Q_SIGNAL_SIZE 1
+#endif
+#if (Q_SIGNAL_SIZE == 1)
+ /// \brief QSignal represents the signal of an event.
+ ///
+ /// The relationship between an event and a signal is as follows. A signal
+ /// in UML is the specification of an asynchronous stimulus that triggers
+ /// reactions [<A HREF="http://www.omg.org/docs/ptc/03-08-02.pdf">UML
+ /// document ptc/03-08-02</A>], and as such is an essential part of an
+ /// event. (The signal conveys the type of the occurrence-what happened?)
+ /// However, an event can also contain additional quantitative information
+ /// about the occurrence in form of event parameters. Please refer to the
+ /// document
+ /// <A HREF="http://www.quantum-leaps.com/devzone/Recipe_IntroHSM.pdf">
+ /// Brief Introduction to UML State Machines</A>) for more information
+ /// about state machine concepts.
+ typedef uint8_t QSignal;
+#elif (Q_SIGNAL_SIZE == 2)
+ typedef uint16_t QSignal;
+#elif (Q_SIGNAL_SIZE == 4)
+ typedef uint32_t QSignal;
+#else
+ #error "Q_SIGNAL_SIZE defined incorrectly, expected 1, 2, or 4"
+#endif
+
+//////////////////////////////////////////////////////////////////////////////
+/// \brief QEvent base class.
+///
+/// QEvent represents events without parameters and serves as the base class
+/// for derivation of events with parameters.
+///
+/// \note All data members of the QEvent class must remain public to keep it
+/// an AGGREGATE. Therefore, the attribute QEvent::dynamic_ cannot be
+/// declared private.
+///
+/// The following example illustrates how to add an event parameter by
+/// inheriting from the QEvent class.
+/// \include qep_qevent.cpp
+struct QEvent {
+ QSignal sig; ///< signal of the event instance
+ uint8_t dynamic_; ///< attributes of a dynamic event (0 for static event)
+};
+
+//////////////////////////////////////////////////////////////////////////////
+/// helper macro to calculate static dimension of a 1-dim array \a array_
+#define Q_DIM(array_) (sizeof(array_) / sizeof(array_[0]))
+
+// "qep.h" ===================================================================
+/// \brief QEP/C++ platform-independent public interface.
+///
+/// This header file must be included directly or indirectly
+/// in all modules (*.cpp files) that use QEP/C++.
+
+//////////////////////////////////////////////////////////////////////////////
+/// \brief Provides miscellaneous QEP services.
+class QEP {
+public:
+ /// \brief get the current QEP version number string
+ ///
+ /// \return version of the QEP as a constant 6-character string of the
+ /// form x.y.zz, where x is a 1-digit major version number, y is a
+ /// 1-digit minor version number, and zz is a 2-digit release number.
+ static char const Q_ROM * Q_ROM_VAR getVersion(void);
+};
+
+//////////////////////////////////////////////////////////////////////////////
+
+ /// \brief Type returned from a state-handler function
+typedef uint8_t QState;
+
+ /// \brief pointer to state-handler function
+typedef QState (*QStateHandler)(void *me, QEvent const *e);
+
+
+//////////////////////////////////////////////////////////////////////////////
+/// \brief Finite State Machine base class
+///
+/// QFsm represents a traditional non-hierarchical Finite State Machine (FSM)
+/// without state hierarchy, but with entry/exit actions.
+///
+/// QFsm is also a base structure for the ::QHsm class.
+///
+/// \note QFsm is not intended to be instantiated directly, but rather serves
+/// as the base class for derivation of state machines in the application
+/// code.
+///
+/// The following example illustrates how to derive a state machine class
+/// from QFsm.
+/// \include qep_qfsm.cpp
+class QFsm {
+protected:
+ QStateHandler m_state; ///< current active state (state-variable)
+
+public:
+ /// \brief virtual destructor
+ virtual ~QFsm();
+
+ /// \brief Performs the second step of FSM initialization by triggering
+ /// the top-most initial transition.
+ ///
+ /// The argument \a e is constant pointer to ::QEvent or a class
+ /// derived from ::QEvent.
+ ///
+ /// \note Must be called only ONCE before QFsm::dispatch()
+ ///
+ /// The following example illustrates how to initialize a FSM, and
+ /// dispatch events to it:
+ /// \include qep_qfsm_use.cpp
+ void init(QEvent const *e = (QEvent *)0);
+
+ /// \brief Dispatches an event to a FSM
+ ///
+ /// Processes one event at a time in Run-to-Completion (RTC) fashion.
+ /// The argument \a e is a constant pointer the ::QEvent or a
+ /// class derived from ::QEvent.
+ ///
+ /// \note Must be called after QFsm::init().
+ ///
+ /// \sa example for QFsm::init()
+ void dispatch(QEvent const *e);
+
+protected:
+
+ /// \brief Protected constructor of a FSM.
+ ///
+ /// Performs the first step of FSM initialization by assigning the
+ /// initial pseudostate to the currently active state of the state
+ /// machine.
+ ///
+ /// \note The constructor is protected to prevent direct instantiating
+ /// of QFsm objects. This class is intended for subclassing only.
+ ///
+ /// \sa The ::QFsm example illustrates how to use the QHsm constructor
+ /// in the constructor initializer list of the derived state machines.
+ QFsm(QStateHandler initial) : m_state(initial) {}
+};
+
+//////////////////////////////////////////////////////////////////////////////
+/// \brief Hierarchical State Machine base class
+///
+/// QHsm represents a Hierarchical Finite State Machine (HSM). QHsm derives
+/// from the ::QFsm class and extends the capabilities of a basic FSM
+/// with state hierarchy.
+///
+/// \note QHsm is not intended to be instantiated directly, but rather serves
+/// as the base structure for derivation of state machines in the application
+/// code.
+///
+/// The following example illustrates how to derive a state machine class
+/// from QHsm.
+/// \include qep_qhsm.cpp
+class QHsm {
+protected:
+ QStateHandler m_state; ///< current active state (state-variable)
+
+public:
+ /// \brief virtual destructor
+ virtual ~QHsm();
+
+ /// \brief Performs the second step of HSM initialization by triggering
+ /// the top-most initial transition.
+ ///
+ /// \param e constant pointer ::QEvent or a class derived from ::QEvent
+ /// \note Must be called only ONCE before QHsm::dispatch()
+ ///
+ /// The following example illustrates how to initialize a HSM, and
+ /// dispatch events to it:
+ /// \include qep_qhsm_use.cpp
+ void init(QEvent const *e = (QEvent *)0);
+
+ /// \brief Dispatches an event to a HSM
+ ///
+ /// Processes one event at a time in Run-to-Completion (RTC) fashion.
+ /// The argument \a e is a constant pointer the ::QEvent or a
+ /// class derived from ::QEvent.
+ ///
+ /// \note Must be called after QHsm::init().
+ ///
+ /// \sa example for QHsm::init()
+ void dispatch(QEvent const *e);
+
+ /// \brief Tests if a given state is part of the current active state
+ /// configuratioin
+ ///
+ /// \param state is a pointer to the state handler function, e.g.,
+ /// &QCalc::on.
+ uint8_t isIn(QStateHandler state);
+
+protected:
+
+ /// \brief Protected constructor of a HSM.
+ ///
+ /// Performs the first step of HSM initialization by assigning the
+ /// initial pseudostate to the currently active state of the state
+ /// machine.
+ ///
+ /// \note The constructor is protected to prevent direct instantiating
+ /// of QHsm objects. This class is intended for subclassing only.
+ ///
+ /// \sa The ::QHsm example illustrates how to use the QHsm constructor
+ /// in the constructor initializer list of the derived state machines.
+ /// \sa QFsm::QFsm()
+ QHsm(QStateHandler initial) : m_state(initial) {}
+
+ /// \brief the top-state.
+ ///
+ /// QHsm::top() is the ultimate root of state hierarchy in all HSMs
+ /// derived from ::QHsm. This state handler always returns (QSTATE)0,
+ /// which means that it "handles" all events.
+ ///
+ /// \sa Example of the QCalc::on() state handler.
+ static QState top(QHsm *me, QEvent const *e);
+};
+
+/// \brief Value returned by a non-hierarchical state-handler function when
+/// it ignores (does not handle) the event.
+#define Q_RET_IGNORED ((QState)1)
+
+/// \brief The macro returned from a non-hierarchical state-handler function
+/// when it ignores (does not handle) the event.
+///
+/// You call that macro after the return statement (return Q_IGNORED();)
+///
+/// \include qepn_qfsm.cpp
+#define Q_IGNORED() (Q_RET_IGNORED)
+
+/// \brief Value returned by a state-handler function when it handles
+/// the event.
+#define Q_RET_HANDLED ((QState)0)
+
+/// \brief Value returned by a state-handler function when it handles
+/// the event.
+///
+/// You call that macro after the return statement (return Q_HANDLED();)
+/// Q_HANDLED() can be used both in the FSMs and HSMs.
+///
+/// \include qepn_qfsm.cpp
+#define Q_HANDLED() (Q_RET_HANDLED)
+
+/// \brief Value returned by a state-handler function when it takes a
+/// regular state transition.
+#define Q_RET_TRAN ((QState)2)
+
+/// \brief Designates a target for an initial or regular transition.
+/// Q_TRAN() can be used both in the FSMs and HSMs.
+///
+/// \include qepn_qtran.cpp
+//lint -e960 -e1924 ignore MISRA Rule 42 (comma operator) and C-style cast
+#define Q_TRAN(target_) \
+ (me->m_state = (QStateHandler)(target_), Q_RET_TRAN)
+
+/// \brief Value returned by a state-handler function when it cannot
+/// handle the event.
+#define Q_RET_SUPER ((QState)3)
+
+/// \brief Designates the superstate of a given state in an HSM.
+///
+/// \include qep_qhsm.cpp
+//lint -e960 -e1924 ignore MISRA Rule 42 (comma operator) and C-style cast
+#define Q_SUPER(super_) \
+ (me->m_state = (QStateHandler)(super_), Q_RET_SUPER)
+
+//////////////////////////////////////////////////////////////////////////////
+/// \brief QEP reserved signals.
+enum QReservedSignals {
+ Q_ENTRY_SIG = 1, ///< signal for entry actions
+ Q_EXIT_SIG, ///< signal for exit actions
+ Q_INIT_SIG, ///< signal for nested initial transitions
+ Q_USER_SIG ///< signal to offset user signals
+};
+
+// "qequeue.h" ===============================================================
+/// \brief platform-independent event queue interface.
+///
+/// This header file must be included in all QF ports that use native QF
+/// event queue implementation. Also, this file is needed when the "raw"
+/// thread-safe queues are used for communication between active objects
+/// and non-framework entities, such as ISRs, device drivers, or legacy
+/// code.
+
+#ifndef QF_EQUEUE_CTR_SIZE
+
+ /// \brief The size (in bytes) of the ring-buffer counters used in the
+ /// native QF event queue implementation. Valid values: 1, 2, or 4;
+ /// default 1.
+ ///
+ /// This macro can be defined in the QF port file (qf_port.h) to
+ /// configure the ::QEQueueCtr type. Here the macro is not defined so the
+ /// default of 1 byte is chosen.
+ #define QF_EQUEUE_CTR_SIZE 1
+#endif
+#if (QF_EQUEUE_CTR_SIZE == 1)
+
+ /// \brief The data type to store the ring-buffer counters based on
+ /// the macro #QF_EQUEUE_CTR_SIZE.
+ ///
+ /// The dynamic range of this data type determines the maximum length
+ /// of the ring buffer managed by the native QF event queue.
+ typedef uint8_t QEQueueCtr;
+#elif (QF_EQUEUE_CTR_SIZE == 2)
+ typedef uint16_t QEQueueCtr;
+#elif (QF_EQUEUE_CTR_SIZE == 4)
+ typedef uint32_t QEQueueCtr;
+#else
+ #error "QF_EQUEUE_CTR_SIZE defined incorrectly, expected 1, 2, or 4"
+#endif
+
+
+//////////////////////////////////////////////////////////////////////////////
+/// \brief Native QF Event Queue class
+///
+/// This structure describes the native QF event queue, which can be used as
+/// the event queue for active objects, or as a simple "raw" event queue for
+/// thread-safe event passing among non-framework entities, such as ISRs,
+/// device drivers, or other third-party components.
+///
+/// The native QF event queue is configured by defining the macro
+/// #QF_EQUEUE_TYPE as ::QEQueue in the specific QF port header file.
+///
+/// The ::QEQueue structure contains only data members for managing an event
+/// queue, but does not contain the storage for the queue buffer, which must
+/// be provided externally during the queue initialization.
+///
+/// The event queue can store only event pointers, not the whole events. The
+/// internal implementation uses the standard ring-buffer plus one external
+/// location that optimizes the queue operation for the most frequent case
+/// of empty queue.
+///
+/// The ::QEQueue structure is used with two sets of functions. One set is for
+/// the active object event queue, which needs to block the active object
+/// task when the event queue is empty and unblock it when events are posted
+/// to the queue. The interface for the native active object event queue
+/// consists of the following functions: QActive::postFIFO_(),
+/// QActive::postLIFO_(), and QActive::get_(). Additionally the function
+/// QEQueue_init() is used to initialize the queue.
+///
+/// The other set of functions, uses this structure as a simple "raw" event
+/// queue to pass events between entities other than active objects, such as
+/// ISRs. The "raw" event queue is not capable of blocking on the get()
+/// operation, but is still thread-safe because it uses QF critical section
+/// to protect its integrity. The interface for the "raw" thread-safe queue
+/// consists of the following functions: QEQueue::postFIFO(),
+/// QEQueue::postLIFO(), and QEQueue::get(). Additionally the function
+/// QEQueue::init() is used to initialize the queue.
+///
+/// \note Most event queue operations (both the active object queues and
+/// the "raw" queues) internally use the QF critical section. You should be
+/// careful not to invoke those operations from other critical sections when
+/// nesting of critical sections is not supported.
+class QEQueue {
+private:
+
+ /// \brief pointer to event at the front of the queue
+ ///
+ /// All incoming and outgoing events pass through the m_frontEvt location.
+ /// When the queue is empty (which is most of the time), the extra
+ /// m_frontEvt location allows to bypass the ring buffer altogether,
+ /// greatly optimizing the performance of the queue. Only bursts of events
+ /// engage the ring buffer.
+ ///
+ /// The additional role of this attribute is to indicate the empty status
+ /// of the queue. The queue is empty if the m_frontEvt location is NULL.
+ QEvent const *m_frontEvt;
+
+ /// \brief pointer to the start of the ring buffer
+ QEvent const **m_ring;
+
+ /// \brief offset of the end of the ring buffer from the start of the
+ /// buffer m_ring
+ QEQueueCtr m_end;
+
+ /// \brief offset to where next event will be inserted into the buffer
+ QEQueueCtr m_head;
+
+ /// \brief offset of where next event will be extracted from the buffer
+ QEQueueCtr m_tail;
+
+ /// \brief number of free events in the ring buffer
+ QEQueueCtr m_nFree;
+
+ /// \brief minimum number of free events ever in the ring buffer.
+ ///
+ /// \note this attribute remembers the low-watermark of the ring buffer,
+ /// which provides a valuable information for sizing event queues.
+ /// \sa QF::getQueueMargin().
+ QEQueueCtr m_nMin;
+
+public:
+
+ /// \brief Initializes the native QF event queue
+ ///
+ /// The parameters are as follows: \a qSto[] is the ring buffer storage,
+ /// \a qLen is the length of the ring buffer in the units of event-
+ /// pointers.
+ ///
+ /// \note The actual capacity of the queue is qLen + 1, because of the
+ /// extra location fornEvt_.
+ void init(QEvent const *qSto[], QEQueueCtr qLen);
+
+ /// \brief "raw" thread-safe QF event queue implementation for the
+ /// First-In-First-Out (FIFO) event posting. You can call this function
+ /// from any task context or ISR context. Please note that this function
+ /// uses internally a critical section.
+ ///
+ /// \note The function raises an assertion if the native QF queue becomes
+ /// full and cannot accept the event.
+ ///
+ /// \sa QEQueue::postLIFO(), QEQueue::get()
+ void postFIFO(QEvent const *e);
+
+ /// \brief "raw" thread-safe QF event queue implementation for the
+ /// First-In-First-Out (FIFO) event posting. You can call this function
+ /// from any task context or ISR context. Please note that this function
+ /// uses internally a critical section.
+ ///
+ /// \note The function raises an assertion if the native QF queue becomes
+ /// full and cannot accept the event.
+ ///
+ /// \sa QEQueue::postLIFO(), QEQueue::get()
+ void postLIFO(QEvent const *e);
+
+ /// \brief "raw" thread-safe QF event queue implementation for the
+ /// Last-In-First-Out (LIFO) event posting.
+ ///
+ /// \note The LIFO policy should be used only with great caution because
+ /// it alters order of events in the queue.
+ /// \note The function raises an assertion if the native QF queue becomes
+ /// full and cannot accept the event. You can call this function from
+ /// any task context or ISR context. Please note that this function uses
+ /// internally a critical section.
+ ///
+ /// \sa QEQueue::postFIFO(), QEQueue::get()
+ QEvent const *get(void);
+
+ /// \brief "raw" thread-safe QF event queue operation for
+ /// obtaining the number of free entries still available in the queue.
+ ///
+ /// \note This operation needs to be used with caution because the
+ /// number of free entries can change unexpectedly. The main intent for
+ /// using this operation is in conjunction with event deferral. In this
+ /// case the queue is accessed only from a single thread (by a single AO),
+ /// so the number of free entries cannot change unexpectedly.
+ ///
+ /// \sa QActive::defer(), QActive::recall()
+ QEQueueCtr getNFree(void) const {
+ return m_nFree;
+ }
+
+private:
+ friend class QF;
+ friend class QActive;
+};
+
+// "qmpool.h" ================================================================
+/// \brief platform-independent memory pool interface.
+///
+/// This header file must be included in all QF ports that use native QF
+/// memory pool implementation.
+
+
+//////////////////////////////////////////////////////////////////////////////
+#ifndef QF_MPOOL_SIZ_SIZE
+ /// \brief macro to override the default ::QMPoolSize size.
+ /// Valid values 1, 2, or 4; default 2
+ #define QF_MPOOL_SIZ_SIZE 2
+#endif
+#if (QF_MPOOL_SIZ_SIZE == 1)
+
+ /// \brief The data type to store the block-size based on the macro
+ /// #QF_MPOOL_SIZ_SIZE.
+ ///
+ /// The dynamic range of this data type determines the maximum size
+ /// of blocks that can be managed by the native QF event pool.
+ typedef uint8_t QMPoolSize;
+#elif (QF_MPOOL_SIZ_SIZE == 2)
+
+ typedef uint16_t QMPoolSize;
+#elif (QF_MPOOL_SIZ_SIZE == 4)
+ typedef uint32_t QMPoolSize;
+#else
+ #error "QF_MPOOL_SIZ_SIZE defined incorrectly, expected 1, 2, or 4"
+#endif
+
+//////////////////////////////////////////////////////////////////////////////
+#ifndef QF_MPOOL_CTR_SIZE
+
+ /// \brief macro to override the default QMPoolCtr size.
+ /// Valid values 1, 2, or 4; default 2
+ #define QF_MPOOL_CTR_SIZE 2
+#endif
+#if (QF_MPOOL_CTR_SIZE == 1)
+
+ /// \brief The data type to store the block-counter based on the macro
+ /// #QF_MPOOL_CTR_SIZE.
+ ///
+ /// The dynamic range of this data type determines the maximum number
+ /// of blocks that can be stored in the pool.
+ typedef uint8_t QMPoolCtr;
+#elif (QF_MPOOL_CTR_SIZE == 2)
+ typedef uint16_t QMPoolCtr;
+#elif (QF_MPOOL_CTR_SIZE == 4)
+ typedef uint32_t QMPoolCtr;
+#else
+ #error "QF_MPOOL_CTR_SIZE defined incorrectly, expected 1, 2, or 4"
+#endif
+
+//////////////////////////////////////////////////////////////////////////////
+/// \brief Native QF memory pool class
+///
+/// This class describes the native QF memory pool, which can be used as
+/// the event pool for dynamic event allocation, or as a fast, deterministic
+/// fixed block-size heap for any other objects in your application.
+///
+/// The ::QMPool structure contains only data members for managing a memory
+/// pool, but does not contain the pool storage, which must be provided
+/// externally during the pool initialization.
+///
+/// The native QF event pool is configured by defining the macro
+/// #QF_EPOOL_TYPE_ as QEQueue in the specific QF port header file.
+class QMPool {
+private:
+
+ /// start of the memory managed by this memory pool
+ void *m_start;
+
+ /// end of the memory managed by this memory pool
+ void *m_end;
+
+ /// linked list of free blocks
+ void *m_free;
+
+ /// maximum block size (in bytes)
+ QMPoolSize m_blockSize;
+
+ /// total number of blocks
+ QMPoolCtr m_nTot;
+
+ /// number of free blocks remaining
+ QMPoolCtr m_nFree;
+
+ /// minimum number of free blocks ever present in this pool
+ ///
+ /// \note this attribute remembers the low watermark of the pool,
+ /// which provides a valuable information for sizing event pools.
+ /// \sa QF::getPoolMargin().
+ QMPoolCtr m_nMin;
+
+public:
+
+ /// \brief Initializes the native QF event pool
+ ///
+ /// The parameters are as follows: \a poolSto is the pool storage,
+ /// \a poolSize is the size of the pool storage in bytes, and
+ /// \a blockSize is the block size of this pool.
+ ///
+ /// The caller of this method must make sure that the \a poolSto pointer
+ /// is properly aligned. In particular, it must be possible to efficiently
+ /// store a pointer at the location pointed to by \a poolSto.
+ /// Internally, the QMPool::init() function rounds up the block size
+ /// \a blockSize so that it can fit an integer number of pointers.
+ /// This is done to achieve proper alignment of the blocks within the
+ /// pool.
+ ///
+ /// \note Due to the rounding of block size the actual capacity of the
+ /// pool might be less than (\a poolSize / \a blockSize). You can check
+ /// the capacity of the pool by calling the QF::getPoolMargin() function.
+ void init(void *poolSto, uint32_t poolSize, QMPoolSize blockSize);
+
+ /// \brief Obtains a memory block from a memory pool.
+ ///
+ /// The only parameter \a me is a pointer to the ::QMPool from which the
+ /// block is requested. The function returns a pointer to the allocated
+ /// memory block or NULL if no free blocks are available.
+ ///
+ /// A allocated block must be returned to the same pool from which it has
+ /// been allocated.
+ ///
+ /// This function can be called from any task level or ISR level.
+ ///
+ /// \note The memory pool \a me must be initialized before any events can
+ /// be requested from it. Also, the QMPool::get() function uses internally
+ /// a QF critical section, so you should be careful not to call it from
+ /// within a critical section when nesting of critical section is not
+ /// supported.
+ ///
+ /// \sa QMPool::put()
+ void *get(void);
+
+ /// \brief Returns a memory block back to a memory pool.
+ ///
+ ///
+ /// This function can be called from any task level or ISR level.
+ ///
+ /// \note The block must be allocated from the same memory pool to which
+ /// it is returned. The QMPool::put() function raises an assertion if the
+ /// returned pointer to the block points outside of the original memory
+ /// buffer managed by the memory pool. Also, the QMPool::put() function
+ /// uses internally a QF critical section, so you should be careful not
+ /// to call it from within a critical section when nesting of critical
+ /// section is not supported.
+ ///
+ /// \sa QMPool::get()
+ void put(void *b);
+
+ /// \brief return the fixed block-size of the blocks managed by this pool
+ QMPoolSize getBlockSize(void) const {
+ return m_blockSize;
+ }
+
+private:
+ friend class QF;
+};
+
+// "qpset.h" =================================================================
+/// \brief platform-independent priority sets of 8 or 64 elements.
+///
+/// This header file must be included in those QF ports that use the
+/// cooperative multitasking QF scheduler or the QK.
+
+ // external declarations of QF lookup tables used inline
+extern uint8_t const Q_ROM Q_ROM_VAR QF_log2Lkup[256];
+extern uint8_t const Q_ROM Q_ROM_VAR QF_pwr2Lkup[65];
+extern uint8_t const Q_ROM Q_ROM_VAR QF_invPwr2Lkup[65];
+extern uint8_t const Q_ROM Q_ROM_VAR QF_div8Lkup[65];
+
+//////////////////////////////////////////////////////////////////////////////
+/// \brief Priority Set of up to 8 elements for building various schedulers,
+/// but also useful as a general set of up to 8 elements of any kind.
+///
+/// The priority set represents the set of active objects that are ready to
+/// run and need to be considered by scheduling processing. The set is capable
+/// of storing up to 8 priority levels.
+class QPSet8 {
+protected:
+ //////////////////////////////////////////////////////////////////////////
+ /// \brief bimask representing elements of the set
+ uint8_t m_bits;
+
+public:
+
+ /// \brief the function evaluates to TRUE if the priority set is empty,
+ /// which means that no active objects are ready to run.
+ uint8_t isEmpty(void) volatile {
+ return (uint8_t)(m_bits == (uint8_t)0);
+ }
+
+ /// \brief the function evaluates to TRUE if the priority set has elements,
+ /// which means that some active objects are ready to run.
+ uint8_t notEmpty(void) volatile {
+ return (uint8_t)(m_bits != (uint8_t)0);
+ }
+
+ /// \brief the function evaluates to TRUE if the priority set has the
+ /// element \a n.
+ uint8_t hasElement(uint8_t n) volatile {
+ return (uint8_t)((m_bits & Q_ROM_BYTE(QF_pwr2Lkup[n])) != 0);
+ }
+
+ /// \brief insert element \a n into the set, n = 1..8
+ void insert(uint8_t n) volatile {
+ m_bits |= Q_ROM_BYTE(QF_pwr2Lkup[n]);
+ }
+
+ /// \brief remove element \a n from the set, n = 1..8
+ void remove(uint8_t n) volatile {
+ m_bits &= Q_ROM_BYTE(QF_invPwr2Lkup[n]);
+ }
+
+ /// \brief find the maximum element in the set,
+ /// \note returns zero if the set is empty
+ uint8_t findMax(void) volatile {
+ return Q_ROM_BYTE(QF_log2Lkup[m_bits]);
+ }
+
+ friend class QPSet64;
+};
+
+//////////////////////////////////////////////////////////////////////////////
+/// \brief Priority Set of up to 64 elements for building various schedulers,
+/// but also useful as a general set of up to 64 elements of any kind.
+///
+/// The priority set represents the set of active objects that are ready to
+/// run and need to be considered by scheduling processing. The set is capable
+/// of storing up to 64 priority levels.
+///
+/// The priority set allows to build cooperative multitasking schedulers
+/// to manage up to 64 tasks. It is also used in the Quantum Kernel (QK)
+/// preemptive scheduler.
+///
+/// The inherited 8-bit set is used as the 8-elemtn set of of 8-bit subsets
+/// Each bit in the super.bits set represents a subset (8-elements)
+/// as follows: \n
+/// bit 0 in this->m_bits is 1 when subset[0] is not empty \n
+/// bit 1 in this->m_bits is 1 when subset[1] is not empty \n
+/// bit 2 in this->m_bits is 1 when subset[2] is not empty \n
+/// bit 3 in this->m_bits is 1 when subset[3] is not empty \n
+/// bit 4 in this->m_bits is 1 when subset[4] is not empty \n
+/// bit 5 in this->m_bits is 1 when subset[5] is not empty \n
+/// bit 6 in this->m_bits is 1 when subset[6] is not empty \n
+/// bit 7 in this->m_bits is 1 when subset[7] is not empty \n
+class QPSet64 : public QPSet8 {
+
+ /// \brief subsets representing elements in the set as follows: \n
+ /// m_subset[0] represent elements 1..8 \n
+ /// m_subset[1] represent elements 9..16 \n
+ /// m_subset[2] represent elements 17..24 \n
+ /// m_subset[3] represent elements 25..32 \n
+ /// m_subset[4] represent elements 33..40 \n
+ /// m_subset[5] represent elements 41..48 \n
+ /// m_subset[6] represent elements 49..56 \n
+ /// m_subset[7] represent elements 57..64 \n
+ QPSet8 m_subset[8];
+
+public:
+
+ /// \brief the function evaluates to TRUE if the priority set has the
+ /// element \a n.
+ uint8_t hasElement(uint8_t n) volatile {
+ return m_subset[Q_ROM_BYTE(QF_div8Lkup[n])].QPSet8::hasElement(n);
+ }
+
+ /// \brief insert element \a n into the set, n = 1..64
+ void insert(uint8_t n) volatile {
+ QPSet8::insert(Q_ROM_BYTE(QF_div8Lkup[n]) + 1);
+ m_subset[Q_ROM_BYTE(QF_div8Lkup[n])].QPSet8::insert(n);
+ }
+
+ /// \brief remove element \a n from the set, n = 1..64
+ void remove(uint8_t n) volatile {
+ if ((m_subset[Q_ROM_BYTE(QF_div8Lkup[n])].m_bits
+ &= Q_ROM_BYTE(QF_invPwr2Lkup[n])) == (uint8_t)0)
+ {
+ QPSet8::remove(Q_ROM_BYTE(QF_div8Lkup[n]) + 1);
+ }
+ }
+
+ /// \brief find the maximum element in the set,
+ /// \note returns zero if the set is empty
+ uint8_t findMax(void) volatile {
+ if (m_bits != (uint8_t)0) {
+ uint8_t n = (uint8_t)(Q_ROM_BYTE(QF_log2Lkup[m_bits]) - 1);
+ return (uint8_t)(Q_ROM_BYTE(QF_log2Lkup[m_subset[n].m_bits])
+ + (n << 3));
+ }
+ else {
+ return (uint8_t)0;
+ }
+ }
+};
+
+
+//////////////////////////////////////////////////////////////////////////////
+// Kernel selection based on QK_PREEMPTIVE
+//
+#ifdef QK_PREEMPTIVE
+
+/// \brief This macro defines the type of the event queue used for the
+/// active objects.
+///
+/// \note This is just an example of the macro definition. Typically, you need
+/// to define it in the specific QF port file (qf_port.h). In case of QK,
+/// which always depends on the native QF queue, this macro is defined at the
+/// level of the platform-independent interface qk.h.
+#define QF_EQUEUE_TYPE QEQueue
+
+#if defined(QK_TLS) || defined(QK_EXT_SAVE)
+ /// \brief This macro defines the type of the OS-Object used for blocking
+ /// the native QF event queue when the queue is empty
+ ///
+ /// In QK, the OS object is used to hold the per-thread flags, which might
+ /// be used, for example, to rembember the thread attributes (e.g.,
+ /// if the thread uses a floating point co-processor). The OS object value
+ /// is set on per-thread basis in QActive::start(). Later, the extended
+ /// context switch macros (QK_EXT_SAVE() and QK_EXT_RESTORE()) might use
+ /// the per-thread flags to determine what kind of extended context switch
+ /// this particular thread needs (e.g., the thread might not be using the
+ /// coprocessor or might be using a different one).
+ #define QF_OS_OBJECT_TYPE uint8_t
+
+ /// \brief This macro defines the type of the thread handle used for the
+ /// active objects.
+ ///
+ /// The thread type in QK is the pointer to the thread-local storage (TLS)
+ /// This thread-local storage can be set on per-thread basis in
+ /// QActive::start(). Later, the QK scheduler, passes the pointer to the
+ /// thread-local storage to the macro #QK_TLS.
+ #define QF_THREAD_TYPE void *
+#endif /* QK_TLS || QK_EXT_SAVE */
+
+#if (QF_MAX_ACTIVE <= 8)
+ extern QPSet8 volatile QK_readySet_; ///< ready set of QK
+#else
+ extern QPSet64 volatile QK_readySet_; ///< ready set of QK
+#endif
+
+extern uint8_t volatile QK_currPrio_; ///< current task/interrupt priority
+extern uint8_t volatile QK_intNest_; ///< interrupt nesting level
+
+// QK active object queue implementation .....................................
+
+/// \brief Platform-dependent macro defining how QF should block the calling
+/// task when the QF native queue is empty
+///
+/// \note This is just an example of #QACTIVE_EQUEUE_WAIT_ for the QK-port
+/// of QF. QK never activates a task that has no events to process, so in this
+/// case the macro asserts that the queue is not empty. In other QF ports you
+// need to define the macro appropriately for the underlying kernel/OS you're
+/// using.
+#define QACTIVE_EQUEUE_WAIT_(me_) \
+ Q_ASSERT((me_)->m_eQueue.m_frontEvt != (QEvent *)0)
+
+/// \brief Platform-dependent macro defining how QF should signal the
+/// active object task that an event has just arrived.
+///
+/// The macro is necessary only when the native QF event queue is used.
+/// The signaling of task involves unblocking the task if it is blocked.
+///
+/// \note #QACTIVE_EQUEUE_SIGNAL_ is called from a critical section.
+/// It might leave the critical section internally, but must restore
+/// the critical section before exiting to the caller.
+///
+/// \note This is just an example of #QACTIVE_EQUEUE_SIGNAL_ for the QK-port
+/// of QF. In other QF ports you need to define the macro appropriately for
+/// the underlying kernel/OS you're using.
+#define QACTIVE_EQUEUE_SIGNAL_(me_) \
+ QK_readySet_.insert((me_)->m_prio); \
+ if (QK_intNest_ == (uint8_t)0) { \
+ QK_SCHEDULE_(); \
+ } else ((void)0)
+
+/// \brief Platform-dependent macro defining the action QF should take
+/// when the native QF event queue becomes empty.
+///
+/// \note #QACTIVE_EQUEUE_ONEMPTY_ is called from a critical section.
+/// It should not leave the critical section.
+///
+/// \note This is just an example of #QACTIVE_EQUEUE_ONEMPTY_ for the QK-port
+/// of QF. In other QF ports you need to define the macro appropriately for
+/// the underlying kernel/OS you're using.
+#define QACTIVE_EQUEUE_ONEMPTY_(me_) \
+ QK_readySet_.remove((me_)->m_prio)
+
+// QK event pool operations ..................................................
+
+/// \brief This macro defines the type of the event pool used in this QF port.
+///
+/// \note This is just an example of the macro definition. Typically, you need
+/// to define it in the specific QF port file (qf_port.h). In case of QK,
+/// which always depends on the native QF memory pool, this macro is defined
+/// at the level of the platform-independent interface qk.h.
+#define QF_EPOOL_TYPE_ QMPool
+
+/// \brief Platform-dependent macro defining the event pool initialization
+///
+/// \note This is just an example of #QF_EPOOL_INIT_ for the QK-port of QF.
+/// In other QF ports you need to define the macro appropriately for the
+/// underlying kernel/OS you're using.
+#define QF_EPOOL_INIT_(p_, poolSto_, poolSize_, evtSize_) \
+ (p_).init(poolSto_, poolSize_, evtSize_)
+
+/// \brief Platform-dependent macro defining how QF should obtain the
+/// event pool block-size
+///
+/// \note This is just an example of #QF_EPOOL_EVENT_SIZE_ for the QK-port
+/// of QF. In other QF ports you need to define the macro appropriately for
+/// the underlying kernel/OS you're using.
+#define QF_EPOOL_EVENT_SIZE_(p_) ((p_).getBlockSize())
+
+/// \brief Platform-dependent macro defining how QF should obtain an event
+/// \a e_ from the event pool \a p_
+///
+/// \note This is just an example of #QF_EPOOL_GET_ for the QK-port of QF.
+/// In other QF ports you need to define the macro appropriately for the
+/// underlying kernel/OS you're using.
+#define QF_EPOOL_GET_(p_, e_) ((e_) = (QEvent *)(p_).get())
+
+/// \brief Platform-dependent macro defining how QF should return an event
+/// \a e_ to the event pool \a p_
+///
+/// \note This is just an example of #QF_EPOOL_PUT_ for the QK-port of QF.
+/// In other QF ports you need to define the macro appropriately for the
+/// underlying kernel/OS you're using.
+#define QF_EPOOL_PUT_(p_, e_) ((p_).put(e_))
+
+#ifndef QK_NO_MUTEX
+ //////////////////////////////////////////////////////////////////////////
+ /// \brief QK Mutex type.
+ ///
+ /// QMutex represents the priority-ceiling mutex available in QK.
+ /// \sa QK::mutexLock()
+ /// \sa QK::mutexUnlock()
+ typedef uint8_t QMutex;
+#endif // QK_NO_MUTEX
+
+//////////////////////////////////////////////////////////////////////////////
+/// \brief QK services.
+///
+/// This class groups together QK services. It has only static members and
+/// should not be instantiated.
+///
+// \note The QK scheduler, QK priority, QK ready set, etc. belong conceptually
+/// to the QK class (as static class members). However, to avoid C++ potential
+/// name-mangling problems in assembly language, these elements are defined
+/// outside of the QK class and use the extern "C" linkage specification.
+///
+class QK {
+public:
+
+ /// \brief get the current QK version number string
+ ///
+ /// \return version of the QK as a constant 6-character string of the
+ /// form x.y.zz, where x is a 1-digit major version number, y is a
+ /// 1-digit minor version number, and zz is a 2-digit release number.
+ ///
+ /// \sa QK::getPortVersion()
+ static char const Q_ROM * Q_ROM_VAR getVersion(void);
+
+ /// \brief Returns the QK-port version.
+ ///
+ /// This function returns constant version string in the format x.y.zz,
+ /// where x (one digit) is the major version, y (one digit) is the minor
+ /// version, and zz (two digits) is the maintenance release version.
+ /// An example of the QK-port version string is "1.1.03".
+ ///
+ /// \sa QK::getVersion()
+ static char const Q_ROM * Q_ROM_VAR getPortVersion(void);
+
+ /// \brief QK idle callback (customized in BSPs for QK)
+ ///
+ /// QK::onIdle() is called continously by the QK idle loop. This callback
+ /// gives the application an opportunity to enter a power-saving CPU mode,
+ /// or perform some other idle processing.
+ ///
+ /// \note QK::onIdle() is invoked with interrupts unlocked and must also
+ /// return with interrupts unlocked.
+ ///
+ /// \sa QF::onIdle()
+ static void onIdle(void);
+
+#ifndef QK_NO_MUTEX
+
+ /// \brief QK priority-ceiling mutex lock
+ ///
+ /// Lock the QK scheduler up to the priority level \a prioCeiling.
+ ///
+ // \note This function should be always paired with QK::mutexUnlock().
+ /// The code between QK::mutexLock() and QK::mutexUnlock() should be
+ /// kept to the minimum.
+ ///
+ /// \include qk_mux.cpp
+ static QMutex mutexLock(uint8_t prioCeiling);
+
+ /// \brief QK priority-ceiling mutex unlock
+ ///
+ /// \note This function should be always paired with QK::mutexLock().
+ /// The code between QK::mutexLock() and QK::mutexUnlock() should be
+ /// kept to the minimum.
+ ///
+ /// \include qk_mux.cpp
+ static void mutexUnlock(QMutex mutex);
+
+#endif // QK_NO_MUTEX
+
+};
+
+extern "C" {
+
+/// \brief QK initialization
+///
+/// QK_init() is called from QF_init() in qk.cpp. This function is
+/// defined in the QK ports.
+void QK_init(void);
+
+// QK scheduler and extended scheduler
+#ifndef QF_INT_KEY_TYPE
+ void QK_schedule_(void); // QK scheduler
+ void QK_scheduleExt_(void); // QK extended scheduler
+
+ #define QK_SCHEDULE_() QK_schedule_()
+#else
+
+ /// \brief The QK scheduler
+ ///
+ /// \note The QK scheduler must be always called with the interrupts
+ /// locked and unlocks interrupts internally.
+ ///
+ /// The signature of QK_schedule_() depends on the policy of locking and
+ /// unlocking interrupts. When the interrupt lock key is not used
+ /// (#QF_INT_KEY_TYPE undefined), the signature is as follows: \n
+ /// void QK_schedule_(void); \n
+ ///
+ /// However, when the interrupt key lock is used (#QF_INT_KEY_TYPE
+ /// defined), the signature is different: \n
+ /// void QK_schedule_(QF_INT_KEY_TYPE intLockKey); \n
+ ///
+ /// For the internal use, these differences are hidden by the macro
+ /// #QK_SCHEDULE_.
+ void QK_schedule_(QF_INT_KEY_TYPE intLockKey);
+
+ /// \brief The QK extended scheduler for interrupt context
+ ///
+ /// \note The QK extended exscheduler must be always called with the
+ /// interrupts locked and unlocks interrupts internally.
+ ///
+ /// The signature of QK_scheduleExt_() depends on the policy of locking
+ /// and unlocking interrupts. When the interrupt lock key is not used
+ /// (#QF_INT_KEY_TYPE undefined), the signature is as follows: \n
+ /// void QK_scheduleExt_(void); \n
+ ///
+ /// However, when the interrupt key lock is used (#QF_INT_KEY_TYPE
+ /// defined), the signature is different: \n
+ /// void QK_scheduleExt_(QF_INT_KEY_TYPE intLockKey); \n
+ void QK_scheduleExt_(QF_INT_KEY_TYPE intLockKey); // QK extended scheduler
+
+ /// #QF_INT_KEY_TYPE is defined, this internal macro invokes
+ /// QK_schedule_() passing the key variable as the parameter. Otherwise
+ /// QK_schedule_() is invoked without parameters.
+ /// \sa #QK_INT_LOCK, #QK_INT_UNLOCK
+ #define QK_SCHEDULE_() QK_schedule_(intLockKey_)
+
+#endif
+} // extern "C"
+
+#else // QK_PREEMPTIVE
+
+// "qvanilla.h" ==============================================================
+#define QF_EQUEUE_TYPE QEQueue
+ // native event queue operations
+#define QACTIVE_EQUEUE_WAIT_(me_) \
+ Q_ASSERT((me_)->m_eQueue.m_frontEvt != (QEvent *)0)
+
+#define QACTIVE_EQUEUE_SIGNAL_(me_) \
+ QF_readySet_.insert((me_)->m_prio)
+
+#define QACTIVE_EQUEUE_ONEMPTY_(me_) \
+ QF_readySet_.remove((me_)->m_prio)
+
+ // native QF event pool operations
+#define QF_EPOOL_TYPE_ QMPool
+#define QF_EPOOL_INIT_(p_, poolSto_, poolSize_, evtSize_) \
+ (p_).init(poolSto_, poolSize_, evtSize_)
+#define QF_EPOOL_EVENT_SIZE_(p_) ((p_).getBlockSize())
+#define QF_EPOOL_GET_(p_, e_) ((e_) = (QEvent *)(p_).get())
+#define QF_EPOOL_PUT_(p_, e_) ((p_).put(e_))
+
+#if (QF_MAX_ACTIVE <= 8)
+ extern QPSet8 volatile QF_readySet_; ///< QF-ready set of active objects
+#else
+ extern QPSet64 volatile QF_readySet_; ///< QF-ready set of active objects
+#endif
+
+#endif // QK_PREEMPTIVE
+
+
+// qf.h (QF platform-independent public interface) ===========================
+//////////////////////////////////////////////////////////////////////////////
+#if (QF_MAX_ACTIVE < 1) || (63 < QF_MAX_ACTIVE)
+ #error "QF_MAX_ACTIVE not defined or out of range. Valid range is 1..63"
+#endif
+
+//////////////////////////////////////////////////////////////////////////////
+#ifndef QF_EVENT_SIZ_SIZE
+
+ /// \brief Default value of the macro configurable value in qf_port.h
+ #define QF_EVENT_SIZ_SIZE 2
+#endif
+#if (QF_EVENT_SIZ_SIZE == 1)
+
+ /// \brief The data type to store the block-size defined based on
+ /// the macro #QF_EVENT_SIZ_SIZE.
+ ///
+ /// The dynamic range of this data type determines the maximum block
+ /// size that can be managed by the pool.
+ typedef uint8_t QEventSize;
+#elif (QF_EVENT_SIZ_SIZE == 2)
+ typedef uint16_t QEventSize;
+#elif (QF_EVENT_SIZ_SIZE == 4)
+ typedef uint32_t QEventSize;
+#else
+ #error "QF_EVENT_SIZ_SIZE defined incorrectly, expected 1, 2, or 4"
+#endif
+
+
+//////////////////////////////////////////////////////////////////////////////
+#ifndef QF_ACTIVE_SUPER_
+
+ //////////////////////////////////////////////////////////////////////////
+ /// \brief The macro defining the base class for QActive.
+ ///
+ /// By default, the ::QActive class is derived from ::QHsm. However,
+ /// if the macro QF_ACTIVE_SUPER_ is defined, QActive is derived from
+ /// QF_ACTIVE_SUPER_.
+ ///
+ /// Clients might choose, for example, to define QF_ACTIVE_SUPER_ as QFsm
+ /// to avoid the 1-2KB overhead of the hierarchical event processor.
+ ///
+ /// Clients might also choose to define QF_ACTIVE_SUPER_ as their own
+ /// completely customized class that has nothing to do with QHsm or QFsm.
+ /// The QF_ACTIVE_SUPER_ class must provide member functions init() and
+ /// dispatch(), consistent with the signatures of QHsm and QFsm. But
+ /// the implementatin of these functions is completely open.
+ #define QF_ACTIVE_SUPER_ QHsm
+
+ /// \brief The argument of the base class' constructor.
+ #define QF_ACTIVE_STATE_ QStateHandler
+
+#endif
+
+class QEQueue; // forward declaration
+
+
+/// \brief Base class for derivation of application-level active object
+/// classes.
+///
+/// QActive is the base class for derivation of active objects. Active objects
+/// in QF are encapsulated tasks (each embedding a state machine and an event
+/// queue) that communicate with one another asynchronously by sending and
+/// receiving events. Within an active object, events are processed
+/// sequentially in a run-to-completion (RTC) fashion, while QF encapsulates
+/// all the details of thread-safe event exchange and queuing.
+///
+/// \note QActive is not intended to be instantiated directly, but rather
+/// serves as the base class for derivation of active objects in the
+/// application code.
+///
+/// The following example illustrates how to derive an active object from
+/// QActive.
+/// \include qf_qactive.cpp
+///
+/// \sa #QF_ACTIVE_SUPER_ defines the base class for QActive
+class QActive : public QF_ACTIVE_SUPER_ {
+private:
+
+ /// \brief OS-dependent event-queue type.
+ ///
+ /// The type of the queue depends on the underlying operating system or
+ /// a kernel. Many kernels support "message queues" that can be adapted
+ /// to deliver QF events to the active object. Alternatively, QF provides
+ /// a native event queue implementation that can be used as well.
+ ///
+ /// The native QF event queue is configured by defining the macro
+ /// #QF_EQUEUE_TYPE as ::QEQueue.
+ QF_EQUEUE_TYPE m_eQueue;
+
+public:
+#ifdef QF_OS_OBJECT_TYPE
+ /// \brief OS-dependent per-thread object.
+ ///
+ /// This data might be used in various ways, depending on the QF port.
+ /// In some ports m_osObject is used to block the calling thread when
+ /// the native QF queue is empty. In other QF ports the OS-dependent
+ /// object might be used differently.
+ QF_OS_OBJECT_TYPE m_osObject;
+#endif
+
+#ifdef QF_THREAD_TYPE
+ /// \brief OS-dependent representation of the thread of the active
+ /// object.
+ ///
+ /// This data might be used in various ways, depending on the QF port.
+ /// In some ports m_thread is used store the thread handle. In other ports
+ /// m_thread can be the pointer to the Thread-Local-Storage (TLS).
+ QF_THREAD_TYPE m_thread;
+#endif
+
+ /// \brief QF priority associated with the active object.
+ /// \sa QActive::start()
+ uint8_t m_prio;
+
+ /// \brief The Boolean loop variable determining if the thread routine
+ /// of the active object is running.
+ ///
+ /// This flag is only used with the traditional loop-structured thread
+ /// routines. Clearing this flag breaks out of the thread loop, which is
+ /// often the cleanest way to terminate the thread. The following example
+ /// illustrates the thread routine for Win32:
+ /// \include qf_run.cpp
+ uint8_t m_running;
+
+public:
+
+ /// \brief Starts execution of an active object and registers the object
+ /// with the framework.
+ ///
+ /// The function takes six arguments.
+ /// \a prio is the priority of the active object. QF allows you to start
+ /// up to 63 active objects, each one having a unique priority number
+ /// between 1 and 63 inclusive, where higher numerical values correspond
+ /// to higher priority (urgency) of the active object relative to the
+ /// others.
+ /// \a qSto[] and \a qLen arguments are the storage and size of the event
+ /// queue used by this active object.
+ /// \a stkSto and \a stkSize are the stack storage and size in bytes.
+ /// Please note that a per-active object stack is used only when the
+ /// underlying OS requies it. If the stack is not required, or the
+ /// underlying OS allocates the stack internally, the \a stkSto should be
+ /// NULL and/or \a stkSize should be 0.
+ /// \a ie is an optional initialization event that can be used to pass
+ /// additional startup data to the active object. (Pass NULL if your
+ /// active object does not expect the initialization event).
+ ///
+ /// \note This function is strongly OS-dependent and must be defined in
+ /// the QF port to a particular platform.
+ ///
+ /// The following example shows starting of the Philosopher object when a
+ /// per-task stack is required:
+ /// \include qf_start.cpp
+ void start(uint8_t prio,
+ QEvent const *qSto[], uint32_t qLen,
+ void *stkSto = (void *)0, uint32_t stkSize = 0,
+ QEvent const *ie = (QEvent *)0);
+
+ /// \brief Posts an event \a e directly to the event queue of the acitve
+ /// object \a me using the First-In-First-Out (FIFO) policy.
+ ///
+ /// Direct event posting is the simplest asynchronous communication method
+ /// available in QF. The following example illustrates how the Philosopher
+ /// active obejct posts directly the HUNGRY event to the Table active
+ /// object. \include qf_post.cpp
+ ///
+ /// \note The producer of the event (Philosopher in this case) must only
+ /// "know" the recipient (Table) by a generic (QActive *QDPP_table)
+ /// pointer, but the specific definition of the Table class is not
+ /// required.
+ ///
+ /// \note Direct event posting should not be confused with direct event
+ /// dispatching. In contrast to asynchronous event posting through event
+ /// queues, direct event dispatching is synchronous. Direct event
+ /// dispatching occurs when you call QHsm::dispatch(), or QFsm::dispatch()
+ /// function.
+ void postFIFO(QEvent const *e);
+
+ /// \brief Posts an event directly to the event queue of the active object
+ /// \a me using the Last-In-First-Out (LIFO) policy.
+ ///
+ /// \note The LIFO policy should be used only with great caution because
+ /// it alters order of events in the queue.
+ /// \sa QActive::postFIFO()
+ void postLIFO(QEvent const *e);
+
+ /// \brief Traditional loop-structured thread routine for an active object
+ ///
+ /// This function is only used when QF is ported to a traditional
+ /// RTOS/Kernel. QActive::run() is structured as a typical endless loop,
+ /// which blocks on the event queue get() operation of an active object.
+ /// When an event becomes available, it's dispatched to the active
+ /// object's state machine and after this recycled with QF::gc().
+ /// The loop might optionally use the QActive::m_running flag to terminate
+ /// and cause QActive::run() to return which is often the cleanest way to
+ /// terminate the thread.
+ void run(void);
+
+ /// \brief Get an event from the event queue of an active object.
+ ///
+ /// This function is used internally by a QF port to extract events from
+ /// the event queue of an active object. This function depends on the
+ /// event queue implementation and is sometimes implemented in the QF port
+ /// (qf_port.cpp file). Depending on the underlying OS or kernel, the
+ /// function might block the calling thread when no events are available.
+ ///
+ /// \note QActive::get_() is public because it often needs to be called
+ /// from thread-run routines with difficult to foresee signature (so
+ /// declaring friendship with such function(s) is not possible.)
+ ///
+ /// \sa QActive::postFIFO(), QActive::postLIFO()
+ QEvent const *get_(void);
+
+protected:
+
+ /// \brief protected constructor
+ ///
+ /// Performs the first step of active object initialization by assigning
+ /// the initial pseudostate to the currently active state of the state
+ /// machine.
+ ///
+ /// \note The constructor is protected to prevent direct instantiation
+ /// of QActive objects. This class is intended only for derivation
+ /// (abstract class).
+ QActive(QF_ACTIVE_STATE_ initial) : QF_ACTIVE_SUPER_(initial) {
+ }
+
+ /// \brief Stops execution of an active object and removes it from the
+ /// framework's supervision.
+ ///
+ /// The preferred way of calling this function is from within the active
+ /// object that needs to stop (that's why this function is protected).
+ /// In other words, an active object should stop itself rather than being
+ /// stopped by some other entity. This policy works best, because only
+ /// the active object itself "knows" when it has reached the appropriate
+ /// state for the shutdown.
+ ///
+ /// \note This function is strongly OS-dependent and should be defined in
+ /// the QF port to a particular platform. This function is optional in
+ /// embedded systems where active objects never need to be stopped.
+ void stop(void);
+
+ /// \brief Subscribes for delivery of signal \a sig to the active object
+ ///
+ /// This function is part of the Publish-Subscribe event delivery
+ /// mechanism available in QF. Subscribing to an event means that the
+ /// framework will start posting all published events with a given signal
+ /// \a sig to the event queue of the active object.
+ ///
+ /// The following example shows how the Table active object subscribes
+ /// to three signals in the initial transition:
+ /// \include qf_subscribe.cpp
+ ///
+ /// \sa QF::publish(), QActive::unsubscribe(), and
+ /// QActive::unsubscribeAll()
+ void subscribe(QSignal sig) const;
+
+ /// \brief Un-subscribes from the delivery of signal \a sig to the
+ /// active object.
+ ///
+ /// This function is part of the Publish-Subscribe event delivery
+ /// mechanism available in QF. Un-subscribing from an event means that
+ /// the framework will stop posting published events with a given signal
+ /// \a sig to the event queue of the active object.
+ ///
+ /// \note Due to the latency of event queues, an active object should NOT
+ /// assume that a given signal \a sig will never be dispatched to the
+ /// state machine of the active object after un-subscribing from that
+ /// signal. The event might be already in the queue, or just about to be
+ /// posted and the un-subscribe operation will not flush such events.
+ ///
+ /// \note Un-subscribing from a signal that has never been subscribed in
+ /// the first place is considered an error and QF will rise an assertion.
+ ///
+ /// \sa QF::publish(), QActive::subscribe(), and QActive::unsubscribeAll()
+ void unsubscribe(QSignal sig) const;
+
+ /// \brief Defer an event to a given separate event queue.
+ ///
+ /// This function is part of the event deferral support. An active object
+ /// uses this function to defer an event \a e to the QF-supported native
+ /// event queue \a eq. QF correctly accounts for another outstanding
+ /// reference to the event and will not recycle the event at the end of
+ /// the RTC step. Later, the active object might recall one event at a
+ /// time from the event queue.
+ ///
+ /// An active object can use multiple event queues to defer events of
+ /// different kinds.
+ ///
+ /// \sa QActive::recall(), QEQueue
+ void defer(QEQueue *eq, QEvent const *e);
+
+ /// \brief Recall a deferred event from a given event queue.
+ ///
+ /// This function is part of the event deferral support. An active object
+ /// uses this function to recall a deferred event from a given QF
+ /// event queue. Recalling an event means that it is removed from the
+ /// deferred event queue \a eq and posted (LIFO) to the event queue of
+ /// the active object.
+ ///
+ /// QActive::recall() returns the pointer to the recalled event to the
+ /// caller. The function returns NULL if no event has been recalled.
+ ///
+ /// An active object can use multiple event queues to defer events of
+ /// different kinds.
+ ///
+ /// \sa QActive::defer(), QEQueue, QActive::postLIFO()
+ QEvent const *recall(QEQueue *eq);
+
+public:
+ /// \brief Un-subscribes from the delivery of all signals to the active
+ /// object.
+ ///
+ /// This function is part of the Publish-Subscribe event delivery
+ /// mechanism available in QF. Un-subscribing from all events means that
+ /// the framework will stop posting any published events to the event
+ /// queue of the active object.
+ ///
+ /// \note Due to the latency of event queues, an active object should NOT
+ /// assume that no events will ever be dispatched to the state machine of
+ /// the active object after un-subscribing from all events.
+ /// The events might be already in the queue, or just about to be posted
+ /// and the un-subscribe operation will not flush such events. Also, the
+ /// alternative event-delivery mechanisms, such as direct event posting or
+ /// time events, can be still delivered to the event queue of the active
+ /// object.
+ ///
+ /// \sa QF::publish(), QActive::subscribe(), and QActive::unsubscribe()
+ void unsubscribeAll(void) const;
+
+private:
+
+ friend class QF;
+ friend class QTimeEvt;
+ #ifndef QF_INT_KEY_TYPE
+ friend void QK_schedule_(void);
+ friend void QK_scheduleExt_(void);
+ #else
+ friend void QK_schedule_(QF_INT_KEY_TYPE intLockKey);
+ friend void QK_scheduleExt_(QF_INT_KEY_TYPE intLockKey);
+ #endif
+};
+
+
+//////////////////////////////////////////////////////////////////////////////
+#ifndef QF_TIMEEVT_CTR_SIZE
+ /// \brief macro to override the default QTimeEvtCtr size.
+ /// Valid values 1, 2, or 4; default 2
+ #define QF_TIMEEVT_CTR_SIZE 2
+#endif
+#if (QF_TIMEEVT_CTR_SIZE == 1)
+
+ /// \brief type of the Time Event counter, which determines the dynamic
+ /// range of the time delays measured in clock ticks.
+ ///
+ /// This typedef is configurable via the preprocessor switch
+ /// #QF_TIMEEVT_CTR_SIZE. The other possible values of this type are
+ /// as follows: \n
+ /// uint8_t when (QF_TIMEEVT_CTR_SIZE == 1), and \n
+ /// uint32_t when (QF_TIMEEVT_CTR_SIZE == 4).
+ typedef uint8_t QTimeEvtCtr;
+#elif (QF_TIMEEVT_CTR_SIZE == 2)
+ typedef uint16_t QTimeEvtCtr;
+#elif (QF_TIMEEVT_CTR_SIZE == 4)
+ typedef uint32_t QTimeEvtCtr;
+#else
+ #error "QF_TIMEEVT_CTR_SIZE defined incorrectly, expected 1, 2, or 4"
+#endif
+
+//////////////////////////////////////////////////////////////////////////////
+/// \brief Time Event class
+///
+/// Time events are special QF events equipped with the notion of time
+/// passage. The basic usage model of the time events is as follows. An
+/// active object allocates one or more QTimeEvt objects (provides the
+/// storage for them). When the active object needs to arrange for a timeout,
+/// it arms one of its time events to fire either just once (one-shot) or
+/// periodically. Each time event times out independently from the others,
+/// so a QF application can make multiple parallel timeout requests (from the
+/// same or different active objects). When QF detects that the appropriate
+/// moment has arrived, it inserts the time event directly into the
+/// recipient's event queue. The recipient then processes the time event just
+/// like any other event.
+///
+/// Time events, as any other QF events derive from the ::QEvent base
+/// class. Typically, you will use a time event as-is, but you can also
+/// further derive more specialized time events from it by adding some more
+/// data members and/or specialized functions that operate on the specialized
+/// time events.
+///
+/// Internally, the armed time events are organized into a bi-directional
+/// linked list. This linked list is scanned in every invocation of the
+/// QF::tick() function. Only armed (timing out) time events are in the list,
+/// so only armed time events consume CPU cycles.
+///
+/// \note QF manages the time events in the function QF::tick(), which
+/// must be called periodically, preferably from the clock tick ISR.
+/// \note In this version of QF QTimeEvt objects should be allocated
+/// statically rather than dynamically from event pools. Currently, QF will
+/// not correctly recycle the dynamically allocated Time Events.
+class QTimeEvt : public QEvent {
+private:
+
+ //// link to the previous time event in the list
+ QTimeEvt *m_prev;
+
+ /// link to the next time event in the list
+ QTimeEvt *m_next;
+
+ /// the active object that receives the time events.
+ QActive *m_act;
+
+ /// the internal down-counter of the time event. The down-counter
+ /// is decremented by 1 in every QF_tick() invocation. The time event
+ /// fires (gets posted or published) when the down-counter reaches zero.
+ QTimeEvtCtr m_ctr;
+
+ /// the interval for the periodic time event (zero for the one-shot
+ /// time event). The value of the interval is re-loaded to the internal
+ /// down-counter when the time event expires, so that the time event
+ /// keeps timing out periodically.
+ QTimeEvtCtr m_interval;
+
+public:
+
+ /// \brief The Time Event constructor.
+ ///
+ /// The most important initialization performed in the constructor is
+ /// assigning a signal to the Time Event. You can reuse the Time Event
+ /// any number of times, but you cannot change the signal.
+ /// This is because pointers to Time Events might still be held in event
+ /// queues and changing signal could to hard-to-detect errors.
+ ///
+ /// The following example shows the use of QTimeEvt::QTimeEvt()
+ /// constructor in the constructor initializer list of the Philosopher
+ /// active object constructor that owns the time event
+ /// \include qf_ctor.cpp
+ QTimeEvt(QSignal s);
+
+ /// \brief Arm a one-shot time event for direct event posting.
+ ///
+ /// Arms a time event to fire in \a nTicks clock ticks (one-shot time
+ /// event). The time event gets directly posted (using the FIFO policy)
+ /// into the event queue of the active object \a act.
+ ///
+ /// After posting, the time event gets automatically disarmed and can be
+ /// reused for a one-shot or periodic timeout requests.
+ ///
+ /// A one-shot time event can be disarmed at any time by calling the
+ /// QTimeEvt::disarm() function. Also, a one-shot time event can be
+ /// re-armed to fire in a different number of clock ticks by calling the
+ /// QTimeEvt::rearm() function.
+ ///
+ /// The following example shows how to arm a one-shot time event from a
+ /// state machine of an active object:
+ /// \include qf_state.cpp
+ void postIn(QActive *act, QTimeEvtCtr nTicks) {
+ m_interval = (uint16_t)0;
+ arm_(act, nTicks);
+ }
+
+ /// \brief Arm a periodic time event for direct event posting.
+ ///
+ /// Arms a time event to fire every \a nTicks clock ticks (periodic time
+ /// event). The time event gets directly posted (using the FIFO policy)
+ /// into the event queue of the active object \a act.
+ ///
+ /// After posting, the time event gets automatically re-armed to fire
+ /// again in the specified \a nTicks clock ticks.
+ ///
+ /// A periodic time event can be disarmed only by calling the
+ /// QTimeEvt::disarm() function. After disarming, the time event can be
+ /// reused for a one-shot or periodic timeout requests.
+ ///
+ /// \note An attempt to reuse (arm again) a running periodic time event
+ /// raises an assertion.
+ ///
+ /// Also, a periodic time event can be re-armed to shorten or extend the
+ /// current period by calling the QTimeEvt_rearm() function. After
+ /// adjusting the current period, the periodic time event goes back
+ /// timing out at the original rate.
+ void postEvery(QActive *act, QTimeEvtCtr nTicks) {
+ m_interval = nTicks;
+ arm_(act, nTicks);
+ }
+
+ /// \brief Disarm a time event.
+ ///
+ /// The time event gets disarmed and can be reused. The function
+ /// returns 1 (TRUE) if the time event was truly disarmed, that is, it
+ /// was running. The return of 0 (FALSE) means that the time event was
+ /// not truly disarmed because it was not running. The FALSE return is
+ /// only possible for one-shot time events that have been automatically
+ /// disarmed upon expiration. In this case the FALSE return means that
+ /// the time event has already been posted or published and should be
+ /// expected in the active object's state machine.
+ uint8_t disarm(void);
+
+ /// \brief Rearm a time event.
+ ///
+ /// The time event gets rearmed with a new number of clock ticks
+ /// \a nTicks. This facility can be used to prevent a one-shot time event
+ /// from expiring (e.g., a watchdog time event), or to adjusts the
+ /// current period of a periodic time event. Rearming a periodic timer
+ /// leaves the interval unchanged and is a convenient method to adjust the
+ /// phasing of the periodic time event.
+ ///
+ /// The function returns 1 (TRUE) if the time event was running as it
+ /// was re-armed. The return of 0 (FALSE) means that the time event was
+ /// not truly rearmed because it was not running. The FALSE return is only
+ /// possible for one-shot time events that have been automatically
+ /// disarmed upon expiration. In this case the FALSE return means that
+ /// the time event has already been posted or published and should be
+ /// expected in the active object's state machine.
+ uint8_t rearm(QTimeEvtCtr nTicks);
+
+ // for backwards compatibility
+
+ /// \brief Arm a one-shot time event for direct event posting (obsolete).
+ ///
+ /// This facility is now obsolete, please use \sa QTimeEvt::postIn().
+ void fireIn(QActive *act, QTimeEvtCtr nTicks) {
+ postIn(act, nTicks);
+ }
+
+ /// \brief Arm a periodic time event for direct event posting (obsolete).
+ ///
+ /// This facility is now obsolete, please use \sa QTimeEvt::postEvery().
+ void fireEvery(QActive *act, QTimeEvtCtr nTicks) {
+ postEvery(act, nTicks);
+ }
+
+private:
+
+ /// \brief Arm a time event (internal function to be used through macros
+ /// only).
+ ///
+ /// \sa QTimeEvt::postIn(), QTimeEvt::postEvery(),
+ /// \sa QTimeEvt::publishIn(), QTimeEvt::publishEvery()
+ void arm_(QActive *act, QTimeEvtCtr nTicks);
+
+ friend class QF;
+};
+
+
+#if (QF_MAX_ACTIVE > 63)
+ #error "QF_MAX_ACTIVE exceeds 63"
+#endif
+
+//////////////////////////////////////////////////////////////////////////////
+/// \brief Subscriber List class
+///
+/// This data type represents a set of active objects that subscribe to
+/// a given signal. The set is represented as an array of bits, where each
+/// bit corresponds to the unique priority of an active object.
+class QSubscrList {
+private:
+
+ /// An array of bits representing subscriber active objects. Each bit
+ /// in the array corresponds to the unique priority of the active object.
+ /// The size of the array is determined of the maximum number of active
+ /// objects in the application configured by the #QF_MAX_ACTIVE macro.
+ /// For example, an active object of priority p is a subscriber if the
+ /// following is true: ((m_bits[QF_div8Lkup[p]] & QF_pwr2Lkup[p]) != 0)
+ ///
+ /// \sa QF::psInit(), QF_div8Lkup, QF_pwr2Lkup, #QF_MAX_ACTIVE
+ uint8_t m_bits[((QF_MAX_ACTIVE - 1) / 8) + 1];
+
+ friend class QF;
+ friend class QActive;
+};
+
+//////////////////////////////////////////////////////////////////////////////
+/// \brief QF services.
+///
+/// This class groups together QF services. It has only static members and
+/// should not be instantiated.
+class QF {
+public:
+
+ /// \brief QF initialization.
+ ///
+ /// This function initializes QF and must be called exactly once before
+ /// any other QF function.
+ static void init(void);
+
+ /// \brief Publish-subscribe initialization.
+ ///
+ /// This function initializes the publish-subscribe facilities of QF and
+ /// must be called exactly once before any subscriptions/publications
+ /// occur in the application. The arguments are as follows: \a subscrSto
+ /// is a pointer to the array of subscriber-lists. \a maxSignal is the
+ /// dimension of this array and at the same time the maximum signal that
+ /// can be published or subscribed.
+ ///
+ /// The array of subscriber-lists is indexed by signals and provides
+ /// mapping between the signals and subscirber-lists. The subscriber-
+ /// lists are bitmasks of type ::QSubscrList, each bit in the bitmask
+ /// corresponding to the unique priority of an active object. The size
+ /// of the ::QSubscrList bitmask depends on the value of the
+ /// #QF_MAX_ACTIVE macro.
+ ///
+ /// \note The publish-subscribe facilities are optional, meaning that
+ /// you might choose not to use publish-subscribe. In that case calling
+ /// QF::psInit() and using up memory for the subscriber-lists is
+ /// unnecessary.
+ ///
+ /// \sa ::QSubscrList
+ ///
+ /// The following example shows the typical initialization sequence of
+ /// QF: \include qf_main.cpp
+ static void psInit(QSubscrList *subscrSto, QSignal maxSignal);
+
+ /// \brief Event pool initialization for dynamic allocation of events.
+ ///
+ /// This function initializes one event pool at a time and must be called
+ /// exactly once for each event pool before the pool can be used.
+ /// The arguments are as follows: \a poolSto is a pointer to the memory
+ /// block for the events. \a poolSize is the size of the memory block in
+ /// bytes. \a evtSize is the block-size of the pool in bytes, which
+ /// determines the maximum size of events that can be allocated from the
+ /// pool.
+ ///
+ /// You might initialize one, two, and up to three event pools by making
+ /// one, two, or three calls to the QF_poolInit() function. However,
+ /// for the simplicity of the internal implementation, you must initialize
+ /// event pools in the ascending order of the event size.
+ ///
+ /// Many RTOSes provide fixed block-size heaps, a.k.a. memory pools that
+ /// can be used for QF event pools. In case such support is missing, QF
+ /// provides a native QF event pool implementation. The macro
+ /// #QF_EPOOL_TYPE_ determines the type of event pool used by a
+ /// particular QF port. See class ::QMPool for more information.
+ ///
+ /// \note The actual number of events available in the pool might be
+ /// actually less than (\a poolSize / \a evtSize) due to the internal
+ /// alignment of the blocks that the pool might perform. You can always
+ /// check the capacity of the pool by calling QF::getPoolMargin().
+ ///
+ /// \note The dynamic allocation of events is optional, meaning that you
+ /// might choose not to use dynamic events. In that case calling
+ /// QF::poolInit() and using up memory for the memory blocks is
+ /// unnecessary.
+ ///
+ /// \sa QF initialization example for QF::init()
+ static void poolInit(void *poolSto, uint32_t poolSize,
+ QEventSize evtSize);
+
+ /// \brief Transfers control to QF to run the application.
+ ///
+ /// QF::run() is typically called from your startup code after you
+ /// initialize the QF and start at least one active object with
+ /// QActive::start(). Also, QF::start() call must precede the transfer
+ /// of control to QF::run(), but some QF ports might call QF::start()
+ /// from QF::run(). QF::run() typically never returns to the caller.
+ ///
+ /// \note This function is strongly platform-dependent and is not
+ /// implemented in the QF, but either in the QF port or in the
+ /// Board Support Package (BSP) for the given application. All QF ports
+ /// must implement QF::run().
+ ///
+ /// \note When the Quantum Kernel (QK) is used as the underlying real-time
+ /// kernel for the QF, all platfrom dependencies are handled in the QK, so
+ /// no porting of QF is necessary. In other words, you only need to
+ /// recompile the QF platform-independent code with the compiler for your
+ /// platform, but you don't need to provide any platform-specific
+ /// implementation (so, no qf_port.cpp file is necessary). Moreover, QK
+ /// implements the function QF::run() in a platform-independent way,
+ /// in the modile qk.cpp.
+ static void run(void);
+
+ /// \brief Startup QF callback.
+ ///
+ /// The timeline for calling QF::onStartup() depends on the particular
+ /// QF port. In most cases, QF::onStartup() is called from QF::run(),
+ /// right before starting any multitasking kernel or the background loop.
+ static void onStartup(void);
+
+ /// \brief Cleanup QF callback.
+ ///
+ /// QF::onCleanup() is called in some QF ports before QF returns to the
+ /// underlying operating system or RTOS.
+ ///
+ /// This function is strongly platform-specific and is not implemented in
+ /// the QF but either in the QF port or in the Board Support Package (BSP)
+ /// for the given application. Some QF ports might not require
+ /// implementing QF::onCleanup() at all, because many embedded
+ /// applications don't have anything to exit to.
+ ///
+ /// \sa QF::init() and QF::stop()
+ static void onCleanup(void);
+
+#ifndef QF_INT_KEY_TYPE
+ static void onIdle(void); // interrupt lock key NOT defined
+
+#else
+
+ /// \brief QF idle callback (customized in BSPs for QF)
+ ///
+ /// QF::onIdle() is called by the non-preemptive scheduler built into QF
+ /// when the framework detects that no events are available for active
+ /// objects (the idle condition). This callback gives the application an
+ /// opportunity to enter a power-saving CPU mode, or perform some other
+ /// idle processing (such as Q-Spy output).
+ ///
+ /// \note QF::onIdle() is invoked with interrupts LOCKED because the idle
+ /// condition can be asynchronously changed at any time by an interrupt.
+ /// QF::onIdle() MUST unlock the interrupts internally, but not before
+ /// putting the CPU into the low-power mode. (Ideally, unlocking
+ /// interrupts and low-power mode should happen atomically). At the very
+ /// least, the function MUST unlock interrupts, otherwise interrups will
+ /// be locked permanently.
+ ///
+ /// \note QF::onIdle() is only used by the non-preemptive scheduler built
+ /// into QF in the "bare metal" port, and is NOT used in any other ports.
+ /// When QF is combined with QK, the QK idle loop calls a different
+ /// function QK::onIdle(), with different semantics than QF::onIdle().
+ /// When QF is combined with a 3rd-party RTOS or kernel, the idle
+ /// processing mechanism of the RTOS or kernal is used instead of
+ /// QF::onIdle().
+ static void onIdle(QF_INT_KEY_TYPE intLockKey); // int. lock key defined
+
+#endif // QF_INT_KEY_TYPE
+
+ /// \brief Function invoked by the application layer to stop the QF
+ /// application and return control to the OS/Kernel.
+ ///
+ /// This function stops the QF application. After calling this function,
+ /// QF attempts to gracefully stop the application. This graceful
+ /// shutdown might take some time to complete. The typical use of this
+ /// funcition is for terminating the QF application to return back to the
+ /// operating system or for handling fatal errors that require shutting
+ /// down (and possibly re-setting) the system.
+ ///
+ /// This function is strongly platform-specific and is not implemented in
+ /// the QF but either in the QF port or in the Board Support Package (BSP)
+ /// for the given application. Some QF ports might not require
+ /// implementing QF::stop() at all, because many embedded application
+ /// don't have anything to exit to.
+ ///
+ /// \sa QF::stop() and QF::onCleanup()
+ static void stop(void);
+
+ /// \brief Publish event to the framework.
+ ///
+ /// This function posts (using the FIFO policy) the event \a e it to ALL
+ /// active object that have subscribed to the signal \a e->sig.
+ /// This function is designed to be callable from any part of the system,
+ /// including ISRs, device drivers, and active objects.
+ ///
+ /// In the general case, event publishing requires multi-casting the
+ /// event to multiple subscribers. This happens in the caller's thread
+ /// with the scheduler locked to prevent preemptions during the multi-
+ /// casting process. (Please note that the interrupts are not locked.)
+ static void publish(QEvent const *e);
+
+ /// \brief Processes all armed time events at every clock tick.
+ ///
+ /// This function must be called periodically from a time-tick ISR or from
+ /// the highest-priority task so that QF can manage the timeout events.
+ ///
+ /// \note The QF::tick() function is not reentrant meaning that it must
+ /// run to completion before it is called again. Also, QF::tick() assumes
+ /// that it never will get preempted by a task, which is always the case
+ /// when it is called from an ISR or the highest-priority task.
+ ///
+ /// \sa ::QTimeEvt.
+ ///
+ /// The following example illustrates the call to QF::tick():
+ /// \include qf_tick.cpp
+ static void tick(void);
+
+ /// \brief Returns the QF version.
+ ///
+ /// This function returns constant version string in the format x.y.zz,
+ /// where x (one digit) is the major version, y (one digit) is the minor
+ /// version, and zz (two digits) is the maintenance release version.
+ /// An example of the version string is "3.1.03".
+ ///
+ /// The following example illustrates the usage of this function:
+ /// \include qf_version.cpp
+ static char const Q_ROM * Q_ROM_VAR getVersion(void);
+
+ /// \brief Returns the QF-port version.
+ ///
+ /// This function returns constant version string in the format x.y.zz,
+ /// where x (one digit) is the major version, y (one digit) is the minor
+ /// version, and zz (two digits) is the maintenance release version.
+ /// An example of the QF-port version string is "1.1.03".
+ ///
+ /// \sa QF::getVersion()
+ static char const Q_ROM * Q_ROM_VAR getPortVersion(void);
+
+ /// \brief This function returns the margin of the given event pool.
+ ///
+ /// This function returns the margin of the given event pool \a poolId,
+ /// where poolId is the ID of the pool initialized by the call to
+ /// QF::poolInit(). The poolId of the first initialized pool is 1, the
+ /// second 2, and so on.
+ ///
+ /// The returned pool margin is the minimal number of free blocks
+ /// encountered in the given pool since system startup.
+ ///
+ /// \note Requesting the margin of an un-initialized pool raises an
+ /// assertion in the QF.
+ static uint32_t getPoolMargin(uint8_t poolId);
+
+ /// \brief This function returns the margin of the given event queue.
+ ///
+ /// This function returns the margin of the given event queue of an active
+ /// object with priority \a prio. (QF priorities start with 1 and go up to
+ /// #QF_MAX_ACTIVE.) The margin is the minimal number of free events
+ /// encountered in the given queue since system startup.
+ ///
+ /// \note QF::getQueueMargin() is available only when the native QF event
+ /// queue implementation is used. Requesting the queue margin of an unused
+ /// priority level raises an assertion in the QF. (A priority level
+ /// becomes used in QF after the call to the QF::add_() function.)
+ static uint32_t getQueueMargin(uint8_t prio);
+
+ /// \brief Internal QF implementation of the dynamic event allocator.
+ ///
+ /// \note The application code should not call this function directly.
+ /// Please use the macro #Q_NEW.
+ static QEvent *new_(uint16_t evtSize, QSignal sig);
+
+ /// \brief Allocate a dynamic event.
+ ///
+ /// This macro returns an event pointer cast to the type \a evtT_. The
+ /// event is initialized with the signal \a sig. Internally, the macro
+ /// calls the internal QF function QF::new_(), which always returns a
+ /// valid event pointer.
+ ///
+ /// \note The internal QF function QF::new_() raises an assertion when
+ /// the allocation of the event turns out to be impossible due to event
+ /// pool depletion, or incorrect (too big) size of the requested event.
+ ///
+ /// The following example illustrates dynamic allocation of an event:
+ /// \include qf_post.cpp
+ #define Q_NEW(evtT_, sig_) ((evtT_ *)QF::new_(sizeof(evtT_), (sig_)))
+
+ /// \brief Recycle a dynamic event.
+ ///
+ /// This function implements a simple garbage collector for the dynamic
+ /// events. Only dynamic events are candidates for recycling. (A dynamic
+ /// event is one that is allocated from an event pool, which is
+ /// determined as non-zero e->attrQF__ attribute.) Next, the function
+ /// decrements the reference counter of the event, and recycles the event
+ /// only if the counter drops to zero (meaning that no more references
+ /// are outstanding for this event). The dynamic event is recycled by
+ /// returning it to the pool from which it was originally allocated.
+ /// The pool-of-origin information is stored in the upper 2-MSBs of the
+ /// e->attrQF__ attribute.)
+ ///
+ /// \note QF invokes the garbage collector at all appropriate contexts,
+ /// when an event can become garbage (automatic garbage collection),
+ /// so the application code should have NO need to call QF::gc() directly.
+ /// The QF::gc() function is exposed only for special cases when your
+ /// application sends dynamic events to the "raw" thread-safe queues
+ /// (see ::QEQueue). Such queues are processed outside of QF and the
+ /// automatic garbage collection CANNOT be performed for these events.
+ /// In this case you need to call QF::gc() explicitly.
+ static void gc(QEvent const *e);
+
+ /// \brief array of registered active objects
+ ///
+ /// \note Not to be used by Clients directly, only in ports of QF
+ static QActive *active_[];
+
+private: // functions to be used in QF ports only
+
+ /// \brief Register an active object to be managed by the framework
+ ///
+ /// This function should not be called by the application directly, only
+ /// through the function QActive::start(). The priority of the active
+ /// object \a a should be set before calling this function.
+ ///
+ /// \note This function raises an assertion if the priority of the active
+ /// object exceeds the maximum value #QF_MAX_ACTIVE. Also, this function
+ /// raises an assertion if the priority of the active object is already in
+ /// use. (QF requires each active object to have a UNIQUE priority.)
+ static void add_(QActive *a);
+
+public:
+ /// \brief Remove the active object from the framework.
+ ///
+ /// This function should not be called by the application directly, only
+ /// inside the QF port. The priority level occupied by the active object
+ /// is freed-up and can be reused for another active object.
+ ///
+ /// The active object that is removed from the framework can no longer
+ /// participate in the publish-subscribe event exchange.
+ ///
+ /// \note This function raises an assertion if the priority of the active
+ /// object exceeds the maximum value #QF_MAX_ACTIVE or is not used.
+ static void remove_(QActive const *a);
+
+ friend class QActive;
+};
+
+//////////////////////////////////////////////////////////////////////////////
+// useful lookup tables
+
+/// \brief Lookup table for (log2(n) + 1), where n is the index
+/// into the table.
+///
+/// This lookup delivers the 1-based number of the most significant 1-bit
+/// of a byte.
+///
+/// \note Index range n = 0..255. The first index (n == 0) should never
+/// be used.
+///
+extern uint8_t const Q_ROM Q_ROM_VAR QF_log2Lkup[256];
+
+/// \brief Lookup table for (1 << ((n-1) % 8)), where n is the index
+/// into the table.
+///
+/// \note Index range n = 0..64. The first index (n == 0) should never
+/// be used.
+extern uint8_t const Q_ROM Q_ROM_VAR QF_pwr2Lkup[65];
+
+/// \brief Lookup table for ~(1 << ((n-1) % 8)), where n is the index
+/// into the table.
+///
+/// \note Index range n = 0..64. The first index (n == 0) should never
+/// be used.
+extern uint8_t const Q_ROM Q_ROM_VAR QF_invPwr2Lkup[65];
+
+/// \brief Lookup table for (n-1)/8
+///
+/// \note Index range n = 0..64. The first index (n == 0) should never
+/// be used.
+extern uint8_t const Q_ROM Q_ROM_VAR QF_div8Lkup[65];
+
+//////////////////////////////////////////////////////////////////////////////
+// QS software tracing
+#ifdef Q_SPY
+
+// qs.h ======================================================================
+//////////////////////////////////////////////////////////////////////////////
+
+/// \brief Quantum Spy record types.
+///
+/// This enumeration specifies the record types used in the QP components.
+/// You can specify your own record types starting from ::QS_USER offset.
+/// Currently, the maximum of all records cannot exceed 256.
+/// \sa QS::filterOn()/#QS_FILTER_ON and QS::filterOff()/#QS_FILTER_OFF
+enum QSpyRecords {
+ // QEP records
+ QS_QEP_STATE_EMPTY,
+ QS_QEP_STATE_ENTRY, ///< a state was entered
+ QS_QEP_STATE_EXIT, ///< a state was exited
+ QS_QEP_STATE_INIT, ///< an intial transition was taken in a state
+ QS_QEP_INIT_TRAN, ///< the top-most initial transition was taken
+ QS_QEP_INTERN_TRAN, ///< an internal transition was taken
+ QS_QEP_TRAN, ///< a regular transition was taken
+ QS_QEP_IGNORED, ///< an event was ignored (silently discarded)
+ QS_QEP_DISPATCH, ///< an event was dispatched (begin of RTC step)
+ QS_QEP_RESERVED0,
+
+ // QF records
+ QS_QF_ACTIVE_ADD, ///< an AO has been added to QF (started)
+ QS_QF_ACTIVE_REMOVE, ///< an AO has been removed from QF (stopped)
+ QS_QF_ACTIVE_SUBSCRIBE, ///< an AO subscribed to an event
+ QS_QF_ACTIVE_UNSUBSCRIBE, ///< an AO unsubscribed to an event
+ QS_QF_ACTIVE_POST_FIFO, ///< an event was posted (FIFO) directly to an AO
+ QS_QF_ACTIVE_POST_LIFO, ///< an event was posted (LIFO) directly to an AO
+ QS_QF_ACTIVE_GET, ///< an AO got an event and its queue is still not empty
+ QS_QF_ACTIVE_GET_LAST, ///< an AO got an event and its queue is empty
+ QS_QF_EQUEUE_INIT, ///< an event queue was initialized
+ QS_QF_EQUEUE_POST_FIFO, ///< an event was posted (FIFO) to a raw queue
+ QS_QF_EQUEUE_POST_LIFO, ///< an event was posted (LIFO) to a raw queue
+ QS_QF_EQUEUE_GET, ///< get an event and queue still not empty
+ QS_QF_EQUEUE_GET_LAST, ///< get the last event from the queue
+ QS_QF_MPOOL_INIT, ///< a memory pool was initialized
+ QS_QF_MPOOL_GET, ///< a memory block was removed from a memory pool
+ QS_QF_MPOOL_PUT, ///< a memory block was returned to a memory pool
+ QS_QF_PUBLISH, ///< an event was truly published to some subscribers
+ QS_QF_RESERVED8,
+ QS_QF_NEW, ///< new event creation
+ QS_QF_GC_ATTEMPT, ///< garbage collection attempt
+ QS_QF_GC, ///< garbage collection
+ QS_QF_TICK, ///< QF::tick() was called
+ QS_QF_TIMEEVT_ARM, ///< a time event was armed
+ QS_QF_TIMEEVT_AUTO_DISARM, ///< a time event expired and was disarmed
+ QS_QF_TIMEEVT_DISARM_ATTEMPT,///< an attempt to disarmed a disarmed tevent
+ QS_QF_TIMEEVT_DISARM, ///< true disarming of an armed time event
+ QS_QF_TIMEEVT_REARM, ///< rearming of a time event
+ QS_QF_TIMEEVT_POST, ///< a time event posted itself directly to an AO
+ QS_QF_RESERVED7,
+ QS_QF_INT_LOCK, ///< interrupts were locked
+ QS_QF_INT_UNLOCK, ///< interrupts were unlocked
+ QS_QF_ISR_ENTRY, ///< an ISR was entered
+ QS_QF_ISR_EXIT, ///< an ISR was exited
+ QS_QF_RESERVED6,
+ QS_QF_RESERVED5,
+ QS_QF_RESERVED4,
+ QS_QF_RESERVED3,
+ QS_QF_RESERVED2,
+ QS_QF_RESERVED1,
+ QS_QF_RESERVED0,
+
+ // QK records
+ QS_QK_MUTEX_LOCK, ///< the QK mutex was locked
+ QS_QK_MUTEX_UNLOCK, ///< the QK mutex was unlocked
+ QS_QK_SCHEDULE, ///< the QK scheduler scheduled a new task to execute
+ QS_QK_RESERVED6,
+ QS_QK_RESERVED5,
+ QS_QK_RESERVED4,
+ QS_QK_RESERVED3,
+ QS_QK_RESERVED2,
+ QS_QK_RESERVED1,
+ QS_QK_RESERVED0,
+
+ // Miscellaneous QS records
+ QS_SIG_DICTIONARY, ///< signal dictionary entry
+ QS_OBJ_DICTIONARY, ///< object dictionary entry
+ QS_FUN_DICTIONARY, ///< function dictionary entry
+ QS_ASSERT, ///< assertion fired in the code
+ QS_RESERVED5,
+ QS_RESERVED4,
+ QS_RESERVED3,
+ QS_RESERVED2,
+ QS_RESERVED1,
+ QS_RESERVED0,
+
+ // User records
+ QS_USER ///< the first record available for user QS records
+};
+
+/// \brief Specification of all QS records for the QS::filterOn() and
+/// QS::filterOff()
+#define QS_ALL_RECORDS ((uint8_t)0xFF)
+
+/// \brief Constant representing End-Of-Data condition returned from the
+/// QS::getByte() function.
+#define QS_EOD ((uint16_t)0xFFFF)
+
+
+#ifndef QS_TIME_SIZE
+
+ /// \brief The size (in bytes) of the QS time stamp. Valid values: 1, 2,
+ /// or 4; default 4.
+ ///
+ /// This macro can be defined in the QS port file (qs_port.h) to
+ /// configure the ::QSTimeCtr type. Here the macro is not defined so the
+ /// default of 4 byte is chosen.
+ #define QS_TIME_SIZE 4
+#endif
+#if (QS_TIME_SIZE == 1)
+ typedef uint8_t QSTimeCtr;
+ #define QS_TIME_() QS::u8_(QS::onGetTime())
+#elif (QS_TIME_SIZE == 2)
+ typedef uint16_t QSTimeCtr;
+ #define QS_TIME_() QS::u16_(QS::onGetTime())
+#elif (QS_TIME_SIZE == 4)
+
+ /// \brief The type of the QS time stamp
+ ///
+ /// This type determines the dynamic range of QS time stamps
+ typedef uint32_t QSTimeCtr;
+
+ /// \brief Internal macro to output time stamp to the QS record
+ #define QS_TIME_() QS::u32_(QS::onGetTime())
+#else
+ #error "QS_TIME_SIZE defined incorrectly, expected 1, 2, or 4"
+#endif
+
+#ifndef Q_ROM // provide the default if Q_ROM NOT defined
+ #define Q_ROM
+#endif
+#ifndef Q_ROM_VAR // provide the default if Q_ROM_VAR NOT defined
+ #define Q_ROM_VAR
+#endif
+#ifndef Q_ROM_BYTE // provide the default if Q_ROM_BYTE NOT defined
+ #define Q_ROM_BYTE(rom_var_) (rom_var_)
+#endif
+
+
+/// \brief Quantum Spy logging facilities
+///
+/// This class groups together QS services. It has only static members and
+/// should not be instantiated.
+class QS {
+public:
+
+ /// \brief Get the current version of QS
+ ///
+ /// \return version of the QS as a constant 6-character string of the form
+ /// x.y.zz, where x is a 1-digit major version number, y is a 1-digit
+ /// minor version number, and zz is a 2-digit release number.
+ static char const Q_ROM * Q_ROM_VAR getVersion(void);
+
+ /// \brief Initialize the QS data buffer.
+ ///
+ /// This function should be called from QS_init() to provide QS with the
+ /// data buffer. The first argument \a sto[] is the address of the memory
+ /// block, and the second argument \a stoSize is the size of this block
+ /// in bytes. Currently the size of the QS buffer cannot exceed 64KB.
+ ///
+ /// QS can work with quite small data buffers, but you will start losing
+ /// data if the buffer is too small for the bursts of logging activity.
+ /// The right size of the buffer depends on the data production rate and
+ /// the data output rate. QS offers flexible filtering to reduce the data
+ /// production rate.
+ ///
+ /// \note If the data output rate cannot keep up with the production rate,
+ /// QS will start overwriting the older data with newer data. This is
+ /// consistent with the "last-is-best" QS policy. The record sequence
+ /// counters and checksums on each record allow to easily detect data
+ /// loss.
+ static void initBuf(uint8_t sto[], uint32_t stoSize);
+
+ /// \brief Turn the global Filter on for a given record type \a rec.
+ ///
+ /// This function sets up the QS filter to enable the record type \a rec.
+ /// The argument #QS_ALL_RECORDS specifies to filter-on all records.
+ /// This function should be called indirectly through the macro
+ /// #QS_FILTER_ON.
+ ///
+ /// \note Filtering based on the record-type is only the first layer of
+ /// filtering. The second layer is based on the object-type. Both filter
+ /// layers must be enabled for the QS record to be inserted into the QS
+ /// buffer.
+ /// \sa QS_filterOff(), #QS_FILTER_SM_OBJ, #QS_FILTER_AO_OBJ,
+ /// #QS_FILTER_MP_OBJ, #QS_FILTER_EQ_OBJ, and #QS_FILTER_TE_OBJ.
+ static void filterOn(uint8_t rec);
+
+ /// \brief Turn the global Filter off for a given record type \a rec.
+ ///
+ /// This function sets up the QS filter to disable the record type \a rec.
+ /// The argument #QS_ALL_RECORDS specifies to suppress all records.
+ /// This function should be called indirectly through the macro
+ /// #QS_FILTER_OFF.
+ ///
+ /// \note Filtering records based on the record-type is only the first
+ /// layer of filtering. The second layer is based on the object-type.
+ /// Both filter layers must be enabled for the QS record to be inserted
+ /// into the QS buffer.
+ /// \sa
+ static void filterOff(uint8_t rec);
+
+ /// \brief Mark the begin of a QS record \a rec
+ ///
+ /// This function must be called at the beginning of each QS record.
+ /// This function should be called indirectly through the macro #QS_BEGIN,
+ /// or #QS_BEGIN_NOLOCK, depending if it's called in a normal code or from
+ /// a critical section.
+ static void begin(uint8_t rec);
+
+ /// \brief Mark the end of a QS record \a rec
+ ///
+ /// This function must be called at the end of each QS record.
+ /// This function should be called indirectly through the macro #QS_END,
+ /// or #QS_END_NOLOCK, depending if it's called in a normal code or from
+ /// a critical section.
+ static void end(void);
+
+ // unformatted data elements output ......................................
+
+ /// \brief output uint8_t data element without format information
+ /// \note This function is only to be used through macros, never in the
+ /// client code directly.
+ static void u8_(uint8_t d);
+
+ /// \brief Output uint16_t data element without format information
+ /// \note This function is only to be used through macros, never in the
+ /// client code directly.
+ static void u16_(uint16_t d);
+
+ /// \brief Output uint32_t data element without format information
+ /// \note This function is only to be used through macros, never in the
+ /// client code directly.
+ static void u32_(uint32_t d);
+
+ /// \brief Output zero-terminated ASCII string element without format
+ /// information
+ /// \note This function is only to be used through macros, never in the
+ /// client code directly.
+ static void str_(char const *s);
+
+ /// \brief Output zero-terminated ASCII string element allocated in ROM
+ /// without format information
+ /// \note This function is only to be used through macros, never in the
+ /// client code directly.
+ static void str_ROM_(char const Q_ROM * Q_ROM_VAR s);
+
+ // formatted data elements output ........................................
+
+ /// \brief Output uint8_t data element with format information
+ /// \note This function is only to be used through macros, never in the
+ /// client code directly.
+ static void u8(uint8_t format, uint8_t d);
+
+ /// \brief output uint16_t data element with format information
+ /// \note This function is only to be used through macros, never in the
+ /// client code directly.
+ static void u16(uint8_t format, uint16_t d);
+
+ /// \brief Output uint32_t data element with format information
+ /// \note This function is only to be used through macros, never in the
+ /// client code directly.
+ static void u32(uint8_t format, uint32_t d);
+
+ /// \brief Output 32-bit floating point data element with format
+ /// information
+ /// \note This function is only to be used through macros, never in the
+ /// client code directly.
+ static void f32(uint8_t format, float d);
+
+ /// \brief Output 64-bit floating point data element with format
+ /// information
+ /// \note This function is only to be used through macros, never in the
+ /// client code directly.
+ static void f64(uint8_t format, double d);
+
+ /// \brief Output zero-terminated ASCII string element with format
+ /// information
+ /// \note This function is only to be used through macros, never in the
+ /// client code directly.
+ static void str(char const *s);
+
+ /// \brief Output zero-terminated ASCII string element allocated in ROM
+ /// with format information
+ /// \note This function is only to be used through macros, never in the
+ /// client code directly.
+ static void str_ROM(char const Q_ROM * Q_ROM_VAR s);
+
+ /// \brief Output memory block of up to 255-bytes with format information
+ /// \note This function is only to be used through macros, never in the
+ /// client code directly.
+ static void mem(uint8_t const *blk, uint8_t size);
+
+ // QS buffer access ......................................................
+
+ /// \brief Byte-oriented interface to the QS data buffer.
+ ///
+ /// This function delivers one byte at a time from the QS data buffer.
+ /// The function returns the byte in the least-significant 8-bits of the
+ /// 16-bit return value if the byte is available. If no more data is
+ /// available at the time, the function returns QS_EOD (End-Of-Data).
+ ///
+ /// \note QS::getByte() is NOT protected with a critical section.
+ static uint16_t getByte(void);
+
+ /// \brief Block-oriented interface to the QS data buffer.
+ ///
+ /// This function delivers a contiguous block of data from the QS data
+ /// buffer. The function returns the pointer to the beginning of the
+ /// block, and writes the number of bytes in the block to the location
+ /// pointed to by \a pNbytes. The argument \a pNbytes is also used as
+ /// input to provide the maximum size of the data block that the caller
+ /// can accept.
+ ///
+ /// If no bytes are available in the QS buffer when the function is
+ /// called, the function returns a NULL pointer and sets the value
+ /// pointed to by \a pNbytes to zero.
+ ///
+ /// \note Only the NULL return from QS::getBlock() indicates that the QS
+ /// buffer is empty at the time of the call. The non-NULL return often
+ /// means that the block is at the end of the buffer and you need to call
+ /// QS::getBlock() again to obtain the rest of the data that "wrapped
+ /// around" to the beginning of the QS data buffer.
+ ///
+ /// \note QS::getBlock() is NOT protected with a critical section.
+ static uint8_t const *getBlock(uint16_t *pNbytes);
+
+// platform-dependent callback functions, need to be implemented by clients
+public:
+
+ // platform-specific callback functions, need to be implemented by clients
+ /// \brief Callback to startup the QS facility
+ ///
+ /// This is a platform-dependent "callback" function invoked through the
+ /// macro #QS_INIT. You need to implement this function in your
+ /// application. At a minimum, the function must configure the QS buffer
+ /// by calling QS::initBuf(). Typically, you will also want to open/
+ /// configure the QS output channel, such as a serial port, or a file.
+ /// The void* argument \a arg can be used to pass parameter(s) needed to
+ /// configure the output channel.
+ ///
+ /// The function returns TRUE (1) if the QS initialization was successful,
+ /// or FALSE (0) if it failed.
+ ///
+ /// The following example illustrates an implementation of QS_onStartup():
+ /// \include qs_startup.cpp
+ static uint8_t onStartup(void const *arg);
+
+ /// \brief Callback to cleanup the QS facility
+ ///
+ /// This is a platform-dependent "callback" function invoked through the
+ /// macro #QS_EXIT. You need to implement this function in your
+ /// application. The main purpose of this function is to close the QS
+ /// output channel, if necessary.
+ static void onCleanup(void);
+
+ /// \brief Callback to flush the QS trace data to the host
+ ///
+ /// This is a platform-dependent "callback" function to flush the QS
+ /// trace buffer to the host. The function typically busy-waits until all
+ /// the data in the buffer is sent to the host. This is acceptable only
+ /// in the initial transient.
+ static void onFlush(void);
+
+ /// \brief Callback to obtain a timestamp for a QS record.
+ ///
+ /// This is a platform-dependent "callback" function invoked from the
+ /// macro #QS_TIME_ to add the time stamp to the QS record.
+ ///
+ /// \note Some of the pre-defined QS records from QP do not output the
+ /// time stamp. However, ALL user records do output the time stamp.
+ /// \note QS::onGetTime() is called in a critical section and should not
+ /// unlock interrupts.
+ ///
+ /// The following example shows using a system call to implement QS
+ /// time stamping:
+ /// \include qs_onGetTime.cpp
+ static QSTimeCtr onGetTime(void);
+
+// Global and Local QS filters ...............................................
+public:
+ static uint8_t glbFilter_[32]; ///< global on/off QS filter
+ static void const *smObj_; ///< state machine for QEP local filter
+ static void const *aoObj_; ///< active object for QF/QK local filter
+ static void const *mpObj_; ///< event pool for QF local filter
+ static void const *eqObj_; ///< raw queue for QF local filter
+ static void const *teObj_; ///< time event for QF local filter
+ static void const *apObj_;///< generic object Application QF local filter
+
+// Miscallaneous .............................................................
+public:
+ /// tick counter for the QS_QF_TICK record
+ static QSTimeCtr volatile tickCtr_;
+};
+
+
+//////////////////////////////////////////////////////////////////////////////
+// Macros for adding QS instrumentation to the client code
+
+/// \brief Initialize the QS facility.
+///
+/// This macro provides an indirection layer to invoke the QS initialization
+/// routine if #Q_SPY is defined, or do nothing if #Q_SPY is not defined.
+/// \sa QS::onStartup(), example of setting up a QS filter in #QS_FILTER_IN
+#define QS_INIT(arg_) QS::onStartup(arg_)
+
+/// \brief Cleanup the QS facility.
+///
+/// This macro provides an indirection layer to invoke the QS cleanup
+/// routine if #Q_SPY is defined, or do nothing if #Q_SPY is not defined.
+/// \sa QS::onCleanup()
+#define QS_EXIT() QS::onCleanup()
+
+/// \brief Global Filter ON for a given record type \a rec.
+///
+/// This macro provides an indirection layer to call QS::filterOn() if #Q_SPY
+/// is defined, or do nothing if #Q_SPY is not defined.
+///
+/// The following example shows how to use QS filters:
+/// \include qs_filter.cpp
+#define QS_FILTER_ON(rec_) QS::filterOn(rec_)
+
+/// \brief Global filter OFF for a given record type \a rec.
+///
+/// This macro provides an indirection layer to call QS::filterOff() if #Q_SPY
+/// is defined, or do nothing if #Q_SPY is not defined.
+///
+/// \sa Example of using QS filters in #QS_FILTER_ON documentation
+#define QS_FILTER_OFF(rec_) QS::filterOff(rec_)
+
+/// \brief Local Filter for a given state machine object \a obj_.
+///
+/// This macro sets up the state machine object local filter if #Q_SPY is
+/// defined, or does nothing if #Q_SPY is not defined. The argument \a obj_
+/// is the pointer to the state machine object that you want to monitor.
+///
+/// The state machine object filter allows you to filter QS records pertaining
+/// only to a given state machine object. With this filter disabled, QS will
+/// output records from all state machines in your application. The object
+/// filter is disabled by setting the state machine pointer to NULL.
+///
+/// The state machine filter affects the following QS records:
+/// ::QS_QEP_STATE_ENTRY, ::QS_QEP_STATE_EXIT, ::QS_QEP_STATE_INIT,
+/// ::QS_QEP_INIT_TRAN, ::QS_QEP_INTERN_TRAN, ::QS_QEP_TRAN,
+/// and ::QS_QEP_IGNORED.
+///
+/// \note Because active objects are state machines at the same time,
+/// the state machine filter (#QS_FILTER_SM_OBJ) pertains to active
+/// objects as well. However, the state machine filter is more general,
+/// because it can be used only for state machines that are not active
+/// objects, such as "Orthogonal Components".
+///
+/// \sa Example of using QS filters in #QS_FILTER_ON documentation
+#define QS_FILTER_SM_OBJ(obj_) (QS::smObj_ = (obj_))
+
+/// \brief Local Filter for a given active object \a obj_.
+///
+/// This macro sets up the active object local filter if #Q_SPY is defined,
+/// or does nothing if #Q_SPY is not defined. The argument \a obj_ is the
+/// pointer to the active object that you want to monitor.
+///
+/// The active object filter allows you to filter QS records pertaining
+/// only to a given active object. With this filter disabled, QS will
+/// output records from all active objects in your application. The object
+/// filter is disabled by setting the active object pointer \a obj_ to NULL.
+///
+/// The active object filter affects the following QS records:
+/// ::QS_QF_ACTIVE_ADD, ::QS_QF_ACTIVE_REMOVE, ::QS_QF_ACTIVE_SUBSCRIBE,
+/// ::QS_QF_ACTIVE_UNSUBSCRIBE, ::QS_QF_ACTIVE_POST_FIFO,
+/// ::QS_QF_ACTIVE_POST_LIFO, ::QS_QF_ACTIVE_GET, and ::QS_QF_ACTIVE_GET_LAST.
+///
+/// \sa Example of using QS filters in #QS_FILTER_ON documentation
+#define QS_FILTER_AO_OBJ(obj_) (QS::aoObj_ = (obj_))
+
+/// \brief Local Filter for a given memory pool object \a obj_.
+///
+/// This macro sets up the memory pool object local filter if #Q_SPY is
+/// defined, or does nothing if #Q_SPY is not defined. The argument \a obj_
+/// is the pointer to the memory buffer used during the initialization of the
+/// event pool with QF::poolInit().
+///
+/// The memory pool filter allows you to filter QS records pertaining
+/// only to a given memory pool. With this filter disabled, QS will
+/// output records from all memory pools in your application. The object
+/// filter is disabled by setting the memory pool pointer \a obj_ to NULL.
+///
+/// The memory pool filter affects the following QS records:
+/// ::QS_QF_MPOOL_INIT, ::QS_QF_MPOOL_GET, and ::QS_QF_MPOOL_PUT.
+///
+/// \sa Example of using QS filters in #QS_FILTER_ON documentation
+#define QS_FILTER_MP_OBJ(obj_) (QS::mpObj_ = (obj_))
+
+/// \brief Filter for a given event queue object \a obj_.
+///
+/// This macro sets up the event queue object filter if #Q_SPY is defined,
+/// or does nothing if #Q_SPY is not defined. The argument \a obj_ is the
+/// pointer to the "raw" thread-safe queue object you want to monitor.
+///
+/// The event queue filter allows you to filter QS records pertaining
+/// only to a given event queue. With this filter disabled, QS will
+/// output records from all event queues in your application. The object
+/// filter is disabled by setting the event queue pointer \a obj_ to NULL.
+///
+/// The event queue filter affects the following QS records:
+/// ::QS_QF_EQUEUE_INIT, ::QS_QF_EQUEUE_POST_FIFO, ::QS_QF_EQUEUE_POST_LIFO,
+/// ::QS_QF_EQUEUE_GET, and ::QS_QF_EQUEUE_GET_LAST.
+///
+/// \sa Example of using QS filters in #QS_FILTER_IN documentation
+#define QS_FILTER_EQ_OBJ(obj_) (QS::eqObj_ = (obj_))
+
+/// \brief Local Filter for a given time event object \a obj_.
+///
+/// This macro sets up the time event object local filter if #Q_SPY is
+/// defined, or does nothing if #Q_SPY is not defined. The argument \a obj_
+/// is the pointer to the time event object you want to monitor.
+///
+/// The time event filter allows you to filter QS records pertaining
+/// only to a given time event. With this filter disabled, QS will
+/// output records from all time events in your application. The object
+/// filter is disabled by setting the time event pointer \a obj_ to NULL.
+///
+/// The time event filter affects the following QS records:
+/// ::QS_QF_TIMEEVT_ARM, ::QS_QF_TIMEEVT_AUTO_DISARM,
+/// ::QS_QF_TIMEEVT_DISARM_ATTEMPT, ::QS_QF_TIMEEVT_DISARM,
+/// ::QS_QF_TIMEEVT_REARM, ::QS_QF_TIMEEVT_POST, and ::QS_QF_TIMEEVT_PUBLISH.
+///
+/// \sa Example of using QS filters in #QS_FILTER_ON documentation
+#define QS_FILTER_TE_OBJ(obj_) (QS::teObj_ = (obj_))
+
+/// \brief Local Filter for a generic application object \a obj_.
+///
+/// This macro sets up the local application object filter if #Q_SPY is
+/// defined, or does nothing if #Q_SPY is not defined. The argument \a obj_
+/// is the pointer to the application object you want to monitor.
+///
+/// The application object filter allows you to filter QS records pertaining
+/// only to a given application object. With this filter disabled, QS will
+/// output records from all application-records enabled by the global filter.
+/// The local filter is disabled by setting the time event pointer \a obj_
+/// to NULL.
+///
+/// \sa Example of using QS filters in #QS_FILTER_ON documentation
+#define QS_FILTER_AP_OBJ(obj_) (QS_apObj_ = (obj_))
+
+
+//////////////////////////////////////////////////////////////////////////////
+// Macros to generate user QS records
+
+/// \brief Begin a QS user record without locking interrupts.
+#define QS_BEGIN_NOLOCK(rec_, obj_) \
+ if (((QS::glbFilter_[(uint8_t)(rec_) >> 3U] \
+ & (1U << ((uint8_t)(rec_) & 7U))) != 0) \
+ && ((QS::apObj_ == (void *)0) || (QS::apObj_ == (obj_)))) \
+ { \
+ QS::begin((uint8_t)(rec_)); \
+ QS_TIME_();
+
+/// \brief End a QS user record without locking interrupts.
+#define QS_END_NOLOCK() \
+ QS_END_NOLOCK_()
+
+ // QS-specific interrupt locking/unlocking
+#ifndef QF_INT_KEY_TYPE
+ /// \brief This is an internal macro for defining the interrupt lock key.
+ ///
+ /// The purpose of this macro is to enable writing the same code for the
+ /// case when interrupt key is defined and when it is not. If the macro
+ /// #QS_INT_KEY_TYPE is defined, this internal macro provides the
+ /// definition of the lock key variable. Otherwise this macro is empty.
+ /// \sa #QS_INT_KEY_TYPE, #QF_INT_KEY_TYPE
+ #define QS_INT_LOCK_KEY_
+
+ /// \brief This is an internal macro for locking interrupts.
+ ///
+ /// The purpose of this macro is to enable writing the same code for the
+ /// case when interrupt key is defined and when it is not. If the macro
+ /// #QS_INT_KEY_TYPE is defined, this internal macro invokes #QS_INT_LOCK
+ /// passing the key variable as the parameter. Otherwise #QS_INT_LOCK
+ /// is invoked with a dummy parameter.
+ /// \sa #QS_INT_LOCK, #QF_INT_LOCK, #QK_INT_LOCK
+ #define QS_INT_LOCK_() QF_INT_LOCK(ignore_)
+
+ /// \brief This is an internal macro for unlocking interrupts.
+ ///
+ /// The purpose of this macro is to enable writing the same code for the
+ /// case when interrupt key is defined and when it is not. If the macro
+ /// #QS_INT_KEY_TYPE is defined, this internal macro invokes
+ /// #QS_INT_UNLOCK passing the key variable as the parameter. Otherwise
+ /// #QS_INT_UNLOCK is invoked with a dummy parameter.
+ /// \sa #QS_INT_UNLOCK, #QF_INT_UNLOCK, #QK_INT_UNLOCK
+ #define QS_INT_UNLOCK_() QF_INT_UNLOCK(ignore_)
+#else
+ #define QS_INT_LOCK_KEY_ QF_INT_KEY_TYPE intLockKey_;
+ #define QS_INT_LOCK_() QF_INT_LOCK(intLockKey_)
+ #define QS_INT_UNLOCK_() QF_INT_UNLOCK(intLockKey_)
+#endif
+
+/// \brief Begin a user QS record with locking interrupts.
+///
+/// The following example shows how to build a user QS record using the
+/// macros #QS_BEGIN, #QS_END, and the formatted output macros: #QS_U8 and
+/// #QS_STR.
+/// \include qs_user.cpp
+/// \note Must always be used in pair with #QS_END
+#define QS_BEGIN(rec_, obj_) \
+ if (((QS::glbFilter_[(uint8_t)(rec_) >> 3U] \
+ & (1U << ((uint8_t)(rec_) & 7U))) != 0U) \
+ && ((QS::apObj_ == (void *)0) || (QS::apObj_ == (obj_)))) \
+ { \
+ QS_INT_LOCK_KEY_ \
+ QS_INT_LOCK_(); \
+ QS::begin((uint8_t)(rec_)); \
+ QS_TIME_();
+
+/// \brief End a QS record with locking interrupts.
+/// \sa example for #QS_BEGIN
+/// \note Must always be used in pair with #QS_BEGIN
+#define QS_END() \
+ QS_END_()
+
+
+//////////////////////////////////////////////////////////////////////////////
+// Macros for use inside other macros or internally in the QP code
+
+/// \brief Internal QS macro to begin a QS record with locking the interrupts.
+/// \note This macro is intended to use only inside QP components and NOT
+/// at the application level. \sa #QS_BEGIN
+#define QS_BEGIN_(rec_, objFilter_, obj_) \
+ if (((QS::glbFilter_[(uint8_t)(rec_) >> 3U] \
+ & (1U << ((uint8_t)(rec_) & 7U))) != 0U) \
+ && (((objFilter_) == (void *)0) || ((objFilter_) == (obj_)))) \
+ { \
+ QS_INT_LOCK_(); \
+ QS::begin((uint8_t)(rec_));
+
+/// \brief Internal QS macro to end a QS record with locking the interrupts.
+/// \note This macro is intended to use only inside QP components and NOT
+/// at the application level. \sa #QS_END
+#define QS_END_() \
+ QS::end(); \
+ QS_INT_UNLOCK_(); \
+ }
+
+/// \brief Internal QS macro to begin a QS record without locking the
+/// interrupts.
+/// \note This macro is intended to use only inside QP components and NOT
+/// at the application level. \sa #QS_BEGIN_NOLOCK
+#define QS_BEGIN_NOLOCK_(rec_, objFilter_, obj_) \
+ if (((QS::glbFilter_[(uint8_t)(rec_) >> 3U] \
+ & (1U << ((uint8_t)(rec_) & 7U))) != 0U) \
+ && (((objFilter_) == (void *)0) || ((objFilter_) == (obj_)))) \
+ { \
+ QS::begin((uint8_t)(rec_));
+
+/// \brief Internal QS macro to end a QS record without locking
+/// the interrupts.
+/// \note This macro is intended to use only inside QP components and NOT
+/// at the application level. \sa #QS_END_NOLOCK
+#define QS_END_NOLOCK_() \
+ QS::end(); \
+ }
+
+/// \brief Internal QS macro to output an unformatted uint8_t data element
+#define QS_U8_(data_) QS::u8_(data_)
+
+/// \brief Internal QS macro to output an unformatted uint16_t data element
+#define QS_U16_(data_) QS::u16_(data_)
+
+/// \brief Internal QS macro to output an unformatted uint32_t data element
+#define QS_U32_(data_) QS::u32_(data_)
+
+
+#if (QS_OBJ_PTR_SIZE == 1)
+ #define QS_OBJ_(obj_) QS::u8_((uint8_t)(obj_))
+#elif (QS_OBJ_PTR_SIZE == 2)
+ #define QS_OBJ_(obj_) QS::u16_((uint16_t)(obj_))
+#elif (QS_OBJ_PTR_SIZE == 4)
+ #define QS_OBJ_(obj_) QS::u32_((uint32_t)(obj_))
+#else
+
+ /// \brief Internal QS macro to output an unformatted object pointer
+ /// data element
+ /// \note the size of the pointer depends on the macro #QS_OBJ_PTR_SIZE.
+ /// If the size is not defined the size of pointer is assumed 4-bytes.
+ #define QS_OBJ_(obj_) QS::u32_((uint32_t)(obj_))
+#endif
+
+
+#if (QS_FUN_PTR_SIZE == 1)
+ #define QS_FUN_(fun_) QS::u8_((uint8_t)(fun_))
+#elif (QS_FUN_PTR_SIZE == 2)
+ #define QS_FUN_(fun_) QS::u16_((uint16_t)(fun_))
+#elif (QS_FUN_PTR_SIZE == 4)
+ #define QS_FUN_(fun_) QS::u32_((uint32_t)(fun_))
+#else
+
+ /// \brief Internal QS macro to output an unformatted function pointer
+ /// data element
+ /// \note the size of the pointer depends on the macro #QS_FUN_PTR_SIZE.
+ /// If the size is not defined the size of pointer is assumed 4-bytes.
+ #define QS_FUN_(fun_) QS::u32_((uint32_t)(fun_))
+#endif
+
+/// \brief Internal QS macro to output a zero-terminated ASCII string
+/// data element
+#define QS_STR_(msg_) QS::str_(msg_)
+
+/// \brief Internal QS macro to output a zero-terminated ASCII string
+/// allocated in ROM data element
+#define QS_STR_ROM_(msg_) QS::str_ROM_(msg_)
+
+//////////////////////////////////////////////////////////////////////////////
+// Macros for use in the client code
+
+/// \brief Enumerates data formats recognized by QS
+///
+/// QS uses this enumeration is used only internally for the formatted user
+/// data elements.
+enum QSType {
+ QS_I8_T, ///< signed 8-bit integer format
+ QS_U8_T, ///< unsigned 8-bit integer format
+ QS_I16_T, ///< signed 16-bit integer format
+ QS_U16_T, ///< unsigned 16-bit integer format
+ QS_I32_T, ///< signed 32-bit integer format
+ QS_U32_T, ///< unsigned 32-bit integer format
+ QS_F32_T, ///< 32-bit floating point format
+ QS_F64_T, ///< 64-bit floating point format
+ QS_STR_T, ///< zero-terminated ASCII string format
+ QS_MEM_T, ///< up to 255-bytes memory block format
+ QS_SIG_T, ///< event signal format
+ QS_OBJ_T, ///< object pointer format
+ QS_FUN_T ///< function pointer format
+};
+
+/// \brief Output formatted int8_t to the QS record
+#define QS_I8(width_, data_) \
+ QS::u8((uint8_t)(((width_) << 4)) | QS_I8_T, (data_))
+
+/// \brief Output formatted uint8_t to the QS record
+#define QS_U8(width_, data_) \
+ QS::u8((uint8_t)(((width_) << 4)) | QS_U8_T, (data_))
+
+/// \brief Output formatted int16_t to the QS record
+#define QS_I16(width_, data_) \
+ QS::u16((uint8_t)(((width_) << 4)) | QS_I16_T, (data_))
+
+/// \brief Output formatted uint16_t to the QS record
+#define QS_U16(width_, data_) \
+ QS::u16((uint8_t)(((width_) << 4)) | QS_U16_T, (data_))
+
+/// \brief Output formatted int32_t to the QS record
+#define QS_I32(width_, data_) \
+ QS::u32((uint8_t)(((width_) << 4)) | QS_I32_T, (data_))
+
+/// \brief Output formatted uint32_t to the QS record
+#define QS_U32(width_, data_) \
+ QS::u32((uint8_t)(((width_) << 4)) | QS_U32_T, (data_))
+
+/// \brief Output formatted 32-bit floating point number to the QS record
+#define QS_F32(width_, data_) \
+ QS::f32((uint8_t)(((width_) << 4)) | QS_F32_T, (data_))
+
+/// \brief Output formatted 64-bit floating point number to the QS record
+#define QS_F64(width_, data_) \
+ QS::f64((uint8_t)(((width_) << 4)) | QS_F64_T, (data_))
+
+/// \brief Output formatted zero-terminated ASCII string to the QS record
+#define QS_STR(str_) QS::str(str_)
+
+/// \brief Output formatted zero-terminated ASCII string from ROM
+/// to the QS record
+#define QS_STR_ROM(str_) QS::str_ROM(str_)
+
+/// \brief Output formatted memory block of up to 255 bytes to the QS
+/// record
+#define QS_MEM(mem_, size_) QS::mem((mem_), (size_))
+
+
+#if (QS_OBJ_PTR_SIZE == 1)
+ #define QS_OBJ(obj_) QS::u8(QS_OBJ_T, (uint8_t)(obj_))
+#elif (QS_OBJ_PTR_SIZE == 2)
+ #define QS_OBJ(obj_) QS::u16(QS_OBJ_T, (uint16_t)(obj_))
+#elif (QS_OBJ_PTR_SIZE == 4)
+ #define QS_OBJ(obj_) QS::u32(QS_OBJ_T, (uint32_t)(obj_))
+#else
+ /// \brief Output formatted object pointer to the QS record
+ #define QS_OBJ(obj_) QS::u32(QS_OBJ_T, (uint32_t)(obj_))
+#endif
+
+
+#if (QS_FUN_PTR_SIZE == 1)
+ #define QS_FUN(fun_) QS::u8(QS_FUN_T, (uint8_t)(fun_))
+#elif (QS_FUN_PTR_SIZE == 2)
+ #define QS_FUN(fun_) QS::u16(QS_FUN_T, (uint16_t)(fun_))
+#elif (QS_FUN_PTR_SIZE == 4)
+ #define QS_FUN(fun_) QS::u32(QS_FUN_T, (uint32_t)(fun_))
+#else
+ /// \brief Output formatted function pointer to the QS record
+ #define QS_FUN(fun_) QS::u32(QS_FUN_T, (uint32_t)(fun_))
+#endif
+
+
+/// \brief Output signal dictionary record
+///
+/// A signal dictionary record associates the numerical value of the signal
+/// and the binary address of the state machine that consumes that signal
+/// with the human-readable name of the signal.
+///
+/// Providing a signal dictionary QS record can vastly improve readability of
+/// the QS log, because instead of dealing with cryptic machine addresses the
+/// QSpy host utility can display human-readable names.
+///
+/// A signal dictionary entry is associated with both the signal value \a sig_
+/// and the state machine \a obj_, because signals are required to be unique
+/// only within a given state machine and therefore the same numerical values
+/// can represent different signals in different state machines.
+///
+/// For the "global" signals that have the same meaning in all state machines
+/// (such as globally published signals), you can specify a signal dictionary
+/// entry with the \a obj_ parameter set to NULL.
+///
+/// The following example shows the definition of signal dictionary entries
+/// in the initial transition of the Table active object. Please note that
+/// signals HUNGRY_SIG and DONE_SIG are associated with the Table state
+/// machine only ("me" \a obj_ pointer). The EAT_SIG signal, on the other
+/// hand, is global (0 \a obj_ pointer):
+/// \include qs_sigDic.cpp
+///
+/// \note The QSpy log utility must capture the signal dictionary record
+/// in order to use the human-readable information. You need to connect to
+/// the target before the dictionary entries have been transmitted.
+///
+/// The following QSpy log example shows the signal dictionary records
+/// generated from the Table initial transition and subsequent records that
+/// show human-readable names of the signals:
+/// \include qs_sigLog.txt
+///
+/// The following QSpy log example shows the same sequence of records, but
+/// with dictionary records removed. The human-readable signal names are not
+/// available.
+/// \include qs_sigLog0.txt
+#define QS_SIG_DICTIONARY(sig_, obj_) \
+ if (((QS::glbFilter_[(uint8_t)QS_SIG_DICTIONARY >> 3U] \
+ & (1U << ((uint8_t)QS_SIG_DICTIONARY & 7U))) != 0U)) \
+ { \
+ static char const Q_ROM Q_ROM_VAR sig_name__[] = #sig_; \
+ QS_INT_LOCK_KEY_ \
+ QS_INT_LOCK_(); \
+ QS::begin((uint8_t)QS_SIG_DICTIONARY); \
+ QS_SIG_(sig_); \
+ QS_OBJ_(obj_); \
+ QS_STR_ROM_(sig_name__); \
+ QS::end(); \
+ QS_INT_UNLOCK_(); \
+ QS::onFlush(); \
+ } else ((void)0)
+
+/// \brief Output object dictionary record
+///
+/// An object dictionary record associates the binary address of an object
+/// in the target's memory with the human-readable name of the object.
+///
+/// Providing an object dictionary QS record can vastly improve readability of
+/// the QS log, because instead of dealing with cryptic machine addresses the
+/// QSpy host utility can display human-readable object names.
+///
+/// The following example shows the definition of object dictionary entry
+/// for the Table active object:
+/// \include qs_objDic.cpp
+#define QS_OBJ_DICTIONARY(obj_) \
+ if (((QS::glbFilter_[(uint8_t)QS_OBJ_DICTIONARY >> 3U] \
+ & (1U << ((uint8_t)QS_OBJ_DICTIONARY & 7U))) != 0U)) \
+ { \
+ static char const Q_ROM Q_ROM_VAR obj_name__[] = #obj_; \
+ QS_INT_LOCK_KEY_ \
+ QS_INT_LOCK_(); \
+ QS::begin((uint8_t)QS_OBJ_DICTIONARY); \
+ QS_OBJ_(obj_); \
+ QS_STR_ROM_(obj_name__); \
+ QS::end(); \
+ QS_INT_UNLOCK_(); \
+ QS::onFlush(); \
+ } else ((void)0)
+
+/// \brief Output function dictionary record
+///
+/// A function dictionary record associates the binary address of a function
+/// in the target's memory with the human-readable name of the function.
+///
+/// Providing a function dictionary QS record can vastly improve readability
+/// of the QS log, because instead of dealing with cryptic machine addresses
+/// the QSpy host utility can display human-readable function names.
+///
+/// The example from #QS_SIG_DICTIONARY shows the definition of a function
+/// dictionary.
+#define QS_FUN_DICTIONARY(fun_) \
+ if (((QS::glbFilter_[(uint8_t)QS_FUN_DICTIONARY >> 3U] \
+ & (1U << ((uint8_t)QS_FUN_DICTIONARY & 7U))) != 0U)) \
+ { \
+ static char const Q_ROM Q_ROM_VAR fun_name__[] = #fun_; \
+ QS_INT_LOCK_KEY_ \
+ QS_INT_LOCK_(); \
+ QS::begin((uint8_t)QS_FUN_DICTIONARY); \
+ QS_FUN_(fun_); \
+ QS_STR_ROM_(fun_name__); \
+ QS::end(); \
+ QS_INT_UNLOCK_(); \
+ QS::onFlush(); \
+ } else ((void)0)
+
+/// \brief Flush the QS trace data to the host
+///
+/// This macro invokes the QS::flush() platform-dependent callback function
+/// to flush the QS trace buffer to the host. The function typically
+/// busy-waits until all the data in the buffer is sent to the host.
+/// This is acceptable only in the initial transient.
+#define QS_FLUSH() QS::onFlush()
+
+
+/// \brief Output the interrupt lock record
+#define QF_QS_INT_LOCK() \
+ QS_BEGIN_NOLOCK_(QS_QF_INT_LOCK, (void *)0, (void *)0); \
+ QS_TIME_(); \
+ QS_U8_((uint8_t)(++QF_intLockNest_)); \
+ QS_END_NOLOCK_()
+
+/// \brief Output the interrupt unlock record
+#define QF_QS_INT_UNLOCK() \
+ QS_BEGIN_NOLOCK_(QS_QF_INT_UNLOCK, (void *)0, (void *)0); \
+ QS_TIME_(); \
+ QS_U8_((uint8_t)(QF_intLockNest_--)); \
+ QS_END_NOLOCK_()
+
+/// \brief Output the interrupt entry record
+#define QF_QS_ISR_ENTRY(isrnest_, prio_) \
+ QS_BEGIN_NOLOCK_(QS_QF_ISR_ENTRY, (void *)0, (void *)0); \
+ QS_TIME_(); \
+ QS_U8_(isrnest_); \
+ QS_U8_(prio_); \
+ QS_END_NOLOCK_()
+
+/// \brief Output the interrupt exit record
+#define QF_QS_ISR_EXIT(isrnest_, prio_) \
+ QS_BEGIN_NOLOCK_(QS_QF_ISR_EXIT, (void *)0, (void *)0); \
+ QS_TIME_(); \
+ QS_U8_(isrnest_); \
+ QS_U8_(prio_); \
+ QS_END_NOLOCK_()
+
+/// \brief Execute an action that is only necessary for QS output
+#define QF_QS_ACTION(act_) (act_)
+
+/// \brief interrupt-lock nesting level
+///
+/// \note Not to be used by Clients directly, only in ports of QF
+extern uint8_t QF_intLockNest_;
+
+// from "qep.h" --------------------------------------------------------------
+ #if (Q_SIGNAL_SIZE == 1)
+
+ /// \brief Internal QS macro to output an unformatted event signal
+ /// data element
+ /// \note the size of the pointer depends on the macro #Q_SIGNAL_SIZE.
+ #define QS_SIG_(sig_) QS::u8_(sig_)
+ #elif (Q_SIGNAL_SIZE == 2)
+ #define QS_SIG_(sig_) QS::u16_(sig_)
+ #elif (Q_SIGNAL_SIZE == 4)
+ #define QS_SIG_(sig_) QS::u32_(sig_)
+ #endif
+
+// from "qf.h" ---------------------------------------------------------------
+ #if (QF_EQUEUE_CTR_SIZE == 1)
+
+ /// \brief Internal QS macro to output an unformatted event queue
+ /// counter data element
+ /// \note the counter size depends on the macro #QF_EQUEUE_CTR_SIZE.
+ #define QS_EQC_(ctr_) QS::u8_(ctr_)
+ #elif (QF_EQUEUE_CTR_SIZE == 2)
+ #define QS_EQC_(ctr_) QS::u16_(ctr_)
+ #elif (QF_EQUEUE_CTR_SIZE == 4)
+ #define QS_EQC_(ctr_) QS::u32_(ctr_)
+ #else
+ #error "QF_EQUEUE_CTR_SIZE not defined"
+ #endif
+
+
+ #if (QF_EVENT_SIZ_SIZE == 1)
+
+ /// \brief Internal QS macro to output an unformatted event size
+ /// data element
+ /// \note the event size depends on the macro #QF_EVENT_SIZ_SIZE.
+ #define QS_EVS_(size_) QS::u8_(size_)
+ #elif (QF_EVENT_SIZ_SIZE == 2)
+ #define QS_EVS_(size_) QS::u16_(size_)
+ #elif (QF_EVENT_SIZ_SIZE == 4)
+ #define QS_EVS_(size_) QS::u32_(size_)
+ #endif
+
+
+ #if (QF_MPOOL_SIZ_SIZE == 1)
+
+ /// \brief Internal QS macro to output an unformatted memory pool
+ /// block-size data element
+ /// \note the block-size depends on the macro #QF_MPOOL_SIZ_SIZE.
+ #define QS_MPS_(size_) QS::u8_(size_)
+ #elif (QF_MPOOL_SIZ_SIZE == 2)
+ #define QS_MPS_(size_) QS::u16_(size_)
+ #elif (QF_MPOOL_SIZ_SIZE == 4)
+ #define QS_MPS_(size_) QS::u32_(size_)
+ #endif
+
+ #if (QF_MPOOL_CTR_SIZE == 1)
+
+ /// \brief Internal QS macro to output an unformatted memory pool
+ /// block-counter data element
+ /// \note the counter size depends on the macro #QF_MPOOL_CTR_SIZE.
+ #define QS_MPC_(ctr_) QS::u8_(ctr_)
+ #elif (QF_MPOOL_CTR_SIZE == 2)
+ #define QS_MPC_(ctr_) QS::u16_(ctr_)
+ #elif (QF_MPOOL_CTR_SIZE == 4)
+ #define QS_MPC_(ctr_) QS::u32_(ctr_)
+ #endif
+
+
+ #if (QF_TIMEEVT_CTR_SIZE == 1)
+
+ /// \brief Internal QS macro to output an unformatted time event
+ /// tick-counter data element
+ /// \note the counter size depends on the macro #QF_TIMEEVT_CTR_SIZE.
+ #define QS_TEC_(ctr_) QS::u8_(ctr_)
+ #elif (QF_TIMEEVT_CTR_SIZE == 2)
+ #define QS_TEC_(ctr_) QS::u16_(ctr_)
+ #elif (QF_TIMEEVT_CTR_SIZE == 4)
+ #define QS_TEC_(ctr_) QS::u32_(ctr_)
+ #endif
+
+#else // Q_SPY
+
+// qs_dummy.h ================================================================
+
+#define QS_INIT(arg_) ((uint8_t)1)
+#define QS_EXIT() ((void)0)
+#define QS_DUMP() ((void)0)
+#define QS_FILTER_ON(rec_) ((void)0)
+#define QS_FILTER_OFF(rec_) ((void)0)
+#define QS_FILTER_SM_OBJ(obj_) ((void)0)
+#define QS_FILTER_AO_OBJ(obj_) ((void)0)
+#define QS_FILTER_MP_OBJ(obj_) ((void)0)
+#define QS_FILTER_EQ_OBJ(obj_) ((void)0)
+#define QS_FILTER_TE_OBJ(obj_) ((void)0)
+#define QS_FILTER_AP_OBJ(obj_) ((void)0)
+
+#define QS_GET_BYTE(pByte_) ((uint16_t)0xFFFF)
+#define QS_GET_BLOCK(pSize_) ((uint8_t *)0)
+
+#define QS_BEGIN(rec_, obj_) if (0) {
+#define QS_END() }
+#define QS_BEGIN_NOLOCK(rec_, obj_) if (0) {
+#define QS_END_NOLOCK() }
+
+#define QS_I8(width_, data_) ((void)0)
+#define QS_U8(width_, data_) ((void)0)
+#define QS_I16(width_, data_) ((void)0)
+#define QS_U16(width_, data_) ((void)0)
+#define QS_I32(width_, data_) ((void)0)
+#define QS_U32(width_, data_) ((void)0)
+#define QS_F32(width_, data_) ((void)0)
+#define QS_F64(width_, data_) ((void)0)
+#define QS_STR(str_) ((void)0)
+#define QS_STR_ROM(str_) ((void)0)
+#define QS_MEM(mem_, size_) ((void)0)
+#define QS_SIG(sig_, obj_) ((void)0)
+#define QS_OBJ(obj_) ((void)0)
+#define QS_FUN(fun_) ((void)0)
+
+#define QS_SIG_DICTIONARY(sig_, obj_) ((void)0)
+#define QS_OBJ_DICTIONARY(obj_) ((void)0)
+#define QS_FUN_DICTIONARY(fun_) ((void)0)
+#define QS_FLUSH() ((void)0)
+
+// internal QS macros used only in the QP components .........................
+#define QS_INT_LOCK_KEY_
+#define QS_BEGIN_(rec_, refObj_, obj_) if (0) {
+#define QS_END_() }
+#define QS_BEGIN_NOLOCK_(rec_, refObj_, obj_) if (0) {
+#define QS_END_NOLOCK_() }
+#define QS_U8_(data_) ((void)0)
+#define QS_U16_(data_) ((void)0)
+#define QS_U32_(data_) ((void)0)
+#define QS_TIME_() ((void)0)
+#define QS_SIG_(sig_) ((void)0)
+#define QS_EVS_(size_) ((void)0)
+#define QS_OBJ_(obj_) ((void)0)
+#define QS_FUN_(fun_) ((void)0)
+#define QS_EQC_(ctr_) ((void)0)
+#define QS_MPC_(ctr_) ((void)0)
+#define QS_MPS_(size_) ((void)0)
+#define QS_TEC_(ctr_) ((void)0)
+
+#define QF_QS_INT_LOCK() ((void)0)
+#define QF_QS_INT_UNLOCK() ((void)0)
+#define QF_QS_ISR_ENTRY(isrnest_, prio_) ((void)0)
+#define QF_QS_ISR_EXIT(isrnest_, prio_) ((void)0)
+#define QF_QS_ACTION(act_) ((void)0)
+
+#endif // Q_SPY
+
+//////////////////////////////////////////////////////////////////////////////
+/**
+* \brief Customizable QP assertions.
+*
+* Defines customizable and memory-efficient assertions applicable to
+* embedded systems. This header file can be used in C, C++, and mixed C/C++
+* programs.
+*
+* \note The preprocessor switch Q_NASSERT disables checking assertions.
+* In particular macros \ref Q_ASSERT, \ref Q_REQUIRE, \ref Q_ENSURE,
+* \ref Q_INVARIANT, and \ref Q_ERROR do NOT evaluate the test condition
+* passed as the argument to these macros. One notable exception is the
+* macro \ref Q_ALLEGE, that still evaluates the test condition, but does
+* not report assertion failures when the switch Q_NASSERT is defined.
+*/
+#ifdef Q_NASSERT /* Q_NASSERT defined--assertion checking disabled */
+
+ #define Q_DEFINE_THIS_FILE
+ #define Q_DEFINE_THIS_MODULE(name_)
+ #define Q_ASSERT(test_) ((void)0)
+ #define Q_ALLEGE(test_) ((void)(test_))
+ #define Q_ERROR() ((void)0)
+
+#else /* Q_NASSERT not defined--assertion checking enabled */
+
+ #ifdef __cplusplus
+ extern "C" {
+ #endif
+
+ /** callback invoked in case the condition passed to \ref Q_ASSERT,
+ * \ref Q_REQUIRE, \ref Q_ENSURE, \ref Q_ERROR, or \ref Q_ALLEGE
+ * evaluates to FALSE.
+ *
+ * \param file file name where the assertion failed
+ * \param line line number at which the assertion failed
+ */
+ /*lint -sem(Q_onAssert, r_no) Q_onAssert() never returns */
+ void Q_onAssert(char const Q_ROM * const Q_ROM_VAR file, int line);
+
+ #ifdef __cplusplus
+ }
+ #endif
+
+ /** Place this macro at the top of each C/C++ module to define the file
+ * name string using __FILE__ (NOTE: __FILE__ might contain lengthy path
+ * name). This file name will be used in reporting assertions in this file.
+ */
+ #define Q_DEFINE_THIS_FILE \
+ static char const Q_ROM Q_ROM_VAR l_this_file[] = __FILE__;
+
+ /** Place this macro at the top of each C/C++ module to define the module
+ * name as the argument \a name_. This file name will be used in reporting
+ * assertions in this file.
+ */
+ #define Q_DEFINE_THIS_MODULE(name_) \
+ static char const Q_ROM Q_ROM_VAR l_this_file[] = #name_;
+
+ /** General purpose assertion that makes sure the \a test_ argument is
+ * TRUE. Calls the Q_onAssert() callback if the \a test_ evaluates
+ * to FALSE.
+ * \note the \a test_ is NOT evaluated if assertions are
+ * disabled with the Q_NASSERT switch.
+ */
+ #define Q_ASSERT(test_) \
+ if (test_) { \
+ } \
+ else (Q_onAssert(l_this_file, __LINE__))
+
+ /** General purpose assertion that ALWAYS evaluates the \a test_
+ * argument and calls the Q_onAssert() callback if the \a test_
+ * evaluates to FALSE.
+ * \note the \a test_ argument IS always evaluated even when assertions are
+ * disabled with the Q_NASSERT macro. When the Q_NASSERT macro is
+ * defined, the Q_onAssert() callback is NOT called, even if the
+ * \a test_ evaluates to FALSE.
+ */
+ #define Q_ALLEGE(test_) Q_ASSERT(test_)
+
+ /** Assertion that always calls the Q_onAssert() callback if
+ * ever executed.
+ * \note can be disabled with the Q_NASSERT switch.
+ */
+ #define Q_ERROR() \
+ (Q_onAssert(l_this_file, __LINE__))
+
+#endif /* Q_NASSERT */
+
+/** Assertion that checks for a precondition. This macro is equivalent to
+* \ref Q_ASSERT, except the name provides a better documentation of the
+* intention of this assertion.
+*/
+#define Q_REQUIRE(test_) Q_ASSERT(test_)
+
+/** Assertion that checks for a postcondition. This macro is equivalent to
+* \ref Q_ASSERT, except the name provides a better documentation of the
+* intention of this assertion.
+*/
+#define Q_ENSURE(test_) Q_ASSERT(test_)
+
+/** Assertion that checks for an invariant. This macro is equivalent to
+* \ref Q_ASSERT, except the name provides a better documentation of the
+* intention of this assertion.
+*/
+#define Q_INVARIANT(test_) Q_ASSERT(test_)
+
+/** Compile-time assertion exploits the fact that in C/C++ a dimension of
+* an array cannot be negative. The following declaration causes a compilation
+* error if the compile-time expression (\a test_) is not TRUE. The assertion
+* has no runtime side effects.
+*/
+#define Q_ASSERT_COMPILE(test_) \
+ extern char Q_assert_compile[(test_) ? 1 : -1]
+
+#endif // qp_h