More elegant fsl::Task implementation

components/fsl/ringbuffer.h

@@ -0,0 +1,245 @@
+/*
+ * ringbuffer.h
+ *
+ *  Created on: Sep 14, 2021
+ *      Author: Attila Body
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdbool.h>
+#include <FreeRTOS.h>
+#include <semphr.h>
+#include <task.h>
+
+namespace fsl {
+
+template<size_t capacity> class RingBuffer
+{
+public:
+    /**
+     * @brief Initializes the ring buffer internal structure with the corresponding parameters.
+     *        Provided only for convenience, the structure also can be initialized locally
+     */
+    RingBuffer(TaskHandle_t consumerTask,
+//            BaseType_t consumerNotifyIndex,
+            uint32_t consumerNotifyMask,
+            TaskHandle_t producerTask,
+//            BaseType_t producerNotifyIndex,
+            uint32_t producerNotifyMask);
+
+    /**
+     * @brief Copies data to the ring buffer (without committing it) The amount of the committed data in the buffer
+     *        should not exceed the size of the buffer.
+     * @param data Pointer to the data to copy
+     * @param len Length of the data to copy
+     */
+    void Put(uint8_t const *data_buffer, size_t len);
+
+
+    /**
+     * @brief Commits the data already placed into the buffer and notifies the consumer about it's availability
+     */
+    void Commit();
+
+
+    /**
+     * @brief Waits until all the data from the ring buffer gets consumed.
+     */
+    void Flush();
+
+
+    /**
+     * @brief Gets a pointer to the next chunk of committed data in the buffer without administering the consumption
+     *        of it. The caller should also call ringbuffer_RepostConsumption using the returned chunk length after
+     *        it finished processing the data.
+     * @param[in]  len_requested Length of the data requested from the buffer. The length of the actual data provided
+     *             might be actually smaller (because either reaching the end of the buffer or not enough data in the buffer).
+     * @param[out] data Receives 1a pointer to the first byte of the available data in the buffer
+     * @param[out] len Receives the length of the chunk available in the buffer. Will not exceed len_requested.
+     * @retval true if the buffer has more available data, false otherwise
+     * @remark The caller should wait for notification from the producer task (using m_producerNotifyIndex
+     *         and producer_notify_mask) before calling this function and consume the data
+     *         (also registering each consumption cycle) until this function returns false
+     */
+    bool GetChunk(size_t len_requested, uint8_t *&data, size_t &len);
+
+
+    /**
+     * @brief Marks the chunk returned by ringbuffer_GetChunk as available
+     * @param consumed The length of the chunk as returned by ringbuffer_GetChunk(..., len)
+     */
+    void ReportConsumption(size_t consumed);
+
+
+private:
+    size_t          m_head;                 //!< Write position
+    size_t          m_headShadow;           //!< Shadowed write position for collecting data before committing it
+    size_t          m_tail;                 //!< Read position
+    TaskHandle_t    m_consumerTask;         //!< Task handle of the consumer (to notify when data is available)
+    BaseType_t      m_consumerNotifyIndex;  //!< Notification index used for consumer notification
+    uint32_t        m_consumerNotifyMask;   //!< Notification data for the consumer
+    TaskHandle_t    m_producerTask;         //!< Task handle of the producer (to notify when available buffer space increased)
+    BaseType_t      m_producerNotifyIndex;  //!< Notification index used for producer notification
+    uint32_t        m_producerNotifyMask;   //!< Notification data for the producer
+
+    uint8_t         m_buffer[capacity];         //!< Pointer to the phisical memory bufer
+
+    static inline size_t used(size_t s, size_t h, size_t t)
+    {
+        return (((h) >= (t)) ? ((h) - (t)) : ((s) - (t) + (h)));
+    }
+
+    static inline size_t available(size_t s, size_t h, size_t t)
+    {
+        return ((s) - used(s, h, t));
+    }
+
+    void __ASSERT(bool pred)
+    {
+    }
+
+};
+
+template<size_t capacity> RingBuffer<capacity>::RingBuffer(
+        TaskHandle_t consumerTask,
+//        BaseType_t consumerNotifyIndex,
+        uint32_t consumerNotifyMask,
+        TaskHandle_t producerTask,
+//        BaseType_t producerNotifyIndex,
+        uint32_t producerNotifyMask)
+        : m_consumerTask(consumerTask)
+//        , m_consumerNotifyIndex(consumerNotifyIndex)
+        , m_consumerNotifyMask(consumerNotifyMask)
+        , m_producerTask(producerTask)
+//        , m_producerNotifyIndex(producerNotifyIndex)
+        , m_producerNotifyMask(producerNotifyMask)
+{}
+
+
+template<size_t capacity> void RingBuffer<capacity>::Put(uint8_t const *data_buffer, size_t len)
+{
+    uint16_t chunk1 = 0;
+    uint16_t chunk2 = 0;
+    uint16_t uncommitted = 0;
+    uncommitted = used(capacity, m_headShadow, m_head);
+
+    __ASSERT(uncommitted + len + 1 <= capacity);
+
+    if(xPortIsInsideInterrupt()) {
+        if(available(capacity, m_headShadow, m_tail) < len + 1) {
+            __ASSERT(false);
+            return;
+        }
+    } else {
+        while(available(capacity, m_headShadow, m_tail) < len + 1) {
+//            xTaskNotifyWaitIndexed(m_producerNotifyIndex, 0, m_producerNotifyMask, NULL, portMAX_DELAY);
+            xTaskNotifyWait(0, m_producerNotifyMask, NULL, portMAX_DELAY);
+        }
+    }
+
+    chunk1 = capacity - m_headShadow;
+    if(chunk1 >= len) {
+        chunk1 = len;
+    } else {
+        chunk2 = len - chunk1;
+    }
+
+    memcpy(m_buffer + m_headShadow, data_buffer, chunk1);
+    m_headShadow += chunk1;
+    if(m_headShadow == capacity) {
+        m_headShadow = 0;
+    }
+
+    if(chunk2) {
+        memcpy(m_buffer, data_buffer + chunk1, chunk2);
+        m_headShadow += chunk2;
+        if(m_headShadow == capacity) {
+            m_headShadow = 0;
+        }
+    }
+}
+
+
+template<size_t capacity> void RingBuffer<capacity>::Commit()
+{
+    uint16_t uncommitted = used(capacity, m_headShadow, m_head);
+
+    if(!uncommitted) {
+        return;
+    }
+
+    m_head = m_headShadow;
+
+    if(xPortIsInsideInterrupt()) {
+        BaseType_t woken_up = 0;
+//        xTaskNotifyIndexedFromISR(m_consumerTask, m_consumerNotifyIndex, m_consumerNotifyMask, eSetBits, &woken_up);
+        xTaskNotifyFromISR(m_consumerTask, m_consumerNotifyMask, eSetBits, &woken_up);
+        portYIELD_FROM_ISR(woken_up); // NOLINT(hicpp-no-assembler)
+    } else {
+//        xTaskNotifyIndexed(m_consumerTask, m_consumerNotifyIndex, m_consumerNotifyMask, eSetBits);
+        xTaskNotify(m_consumerTask, m_consumerNotifyMask, eSetBits);
+    }
+
+}
+
+
+template<size_t capacity> void RingBuffer<capacity>::Flush()
+{
+     while(m_head != m_tail) {
+        // TODO: Watchdog?
+//         xTaskNotifyWaitIndexed(m_producerNotifyIndex, 0, m_producerNotifyMask, NULL, portMAX_DELAY);
+         xTaskNotifyWait(0, m_producerNotifyMask, NULL, portMAX_DELAY);
+    }
+}
+
+
+template<size_t capacity> bool RingBuffer<capacity>::GetChunk(size_t len_requested, uint8_t *&data, size_t &len)
+{
+    size_t head = m_head;
+    size_t tail = m_tail;
+    size_t chunk_size = head >= tail ? head - tail : capacity - tail;
+    if(!chunk_size) {
+        len = 0;
+        return false;
+    }
+    if(chunk_size > len_requested) {
+        chunk_size = len_requested;
+    }
+    data = m_buffer + tail;
+    len = chunk_size;
+
+    tail += chunk_size;
+    if(tail == capacity) {
+        tail = 0;
+    }
+    return tail != head;
+}
+
+
+template<size_t capacity> void RingBuffer<capacity>::ReportConsumption(size_t consumed)
+{
+    if(!consumed) {
+        return;
+    }
+    m_tail += consumed;
+    if(m_tail == capacity) {
+        m_tail = 0;
+    }
+    if(m_producerTask) {
+        if(xPortIsInsideInterrupt()) {
+            BaseType_t woken_up = 0;
+//            xTaskNotifyIndexedFromISR(m_producerTask, m_producerNotifyIndex, m_producerNotifyMask, eSetBits, &woken_up);
+            xTaskNotifyFromISR(m_producerTask, m_producerNotifyMask, eSetBits, &woken_up);
+            portYIELD_FROM_ISR(woken_up); // NOLINT(hicpp-no-assembler)
+        } else {
+//            xTaskNotifyIndexed(m_producerTask, m_producerNotifyIndex, producerNotifyMask, eSetBits);
+            xTaskNotify(m_producerTask, m_producerNotifyMask, eSetBits);
+        }
+    }
+}
+
+}   // fsl

components/fsl/task.h

@@ -16,17 +16,26 @@ namespace fsl {
 
 template<typename T, uint32_t stackSize> class Task {
 public:
-	Task(UBaseType_t priority) : m_priority(priority) {}
+	Task(UBaseType_t priority, void (T::*fp)()) : m_priority(priority), m_fp(fp) {}
 	void Start(SemaphoreHandle_t doneSem = nullptr, bool waitForInit = false) {
-		m_handle = xTaskCreateStatic(T::TaskFn, getName(), sizeof(m_stack)/sizeof(m_stack[0]),
+		m_handle = xTaskCreateStatic(staticBridge, getName(), sizeof(m_stack)/sizeof(m_stack[0]),
 				this, m_priority, m_stack, &m_tcb);
 	}
 	virtual ~Task() {};
 	virtual char const * getName() = 0;
 
 private:
+    static void staticBridge(void *taskObj) {
+        reinterpret_cast<Task<T, stackSize>*>(taskObj)->taskBridge();
+    }
+
+    void taskBridge() {
+        (static_cast<T*>(this)->*m_fp)();
+    }
+
 	TaskHandle_t m_handle;
 	UBaseType_t m_priority;
+    void (T::*m_fp)();
 	StaticTask_t m_tcb;
 	StackType_t m_stack[stackSize];
 };