Add thread-safe (-ish) console output

Core/Src/main.c

@@ -94,7 +94,7 @@ int main(void)
   MX_DMA_Init();
   MX_USART2_UART_Init();
   /* USER CODE BEGIN 2 */
-  // app_main();
+
   /* USER CODE END 2 */
 
   /* Call init function for freertos objects (in cmsis_os2.c) */

components/app/CMakeLists.txt

@@ -1,6 +1,7 @@
 add_library(app STATIC
     src/app.cpp
     src/irq_bridge.cpp
+    src/thread_safe_console_output.cpp
 )
 
 target_include_directories(app PUBLIC

components/app/inc/app.h

@@ -7,34 +7,50 @@
 
 #pragma once
 
+#include <FreeRTOS.h>
 #include <inttypes.h>
+#include <portmacro.h>
 
 #ifdef __cplusplus
 #include <f4ll/console_handler.h>
+#include <task.h>
+#include <thread_safe_console_output.h>
 
-class app : public f4ll::initialized_singleton<app>
+class app : public f4ll::initialized_singleton<app>, f4ll::console_handler::iconsole_input
 {
     friend class f4ll::initialized_singleton<app>;
 
 private:
-    app();
+    app(void const *param);
 
 public:
     __attribute__((noreturn)) void main();
+    void input_available(f4ll::console_handler::size_type len) override;
 
 private:
+    static void cli_task_dispatch(void *param) { static_cast<app *>(param)->cli_task(); }
+    __attribute__((noreturn)) void cli_task();
+    static constexpr size_t const CLI_TASK_STACK_LEN = 128;
+    StackType_t m_cli_task_stack[CLI_TASK_STACK_LEN];
+    StaticTask_t m_cli_task_buffer;
+    TaskHandle_t m_cli_task_handle;
+
     f4ll::console_handler &m_con;
     static constexpr size_t const TXBUF_LEN = 128;
     static constexpr size_t const RXBUF_LEN = 32;
     uint8_t m_tx_buf_mem[TXBUF_LEN];
     uint8_t m_rx_buf_mem[RXBUF_LEN];
+
+    thread_safe_console_output m_safe_conout;
+
+    void queue_ts();
 };
 
 extern "C" {
-#endif
+#endif //   __cplusplus
 
 void app_main(void const *param) __attribute__((noreturn));
 
 #ifdef __cplusplus
 } //	extern "C" {
-#endif //	__cplusplus
+#endif //   __cplusplus

components/app/inc/thread_safe_console_output.h

@@ -0,0 +1,23 @@
+#pragma once
+
+#include <f4ll/console_handler.h>
+
+#include <FreeRTOS.h>
+#include <semphr.h>
+
+class thread_safe_console_output
+{
+public:
+    using size_type = f4ll::console_handler::size_type;
+    thread_safe_console_output(f4ll::console_handler &console);
+
+    void print(char const *s);
+    void flush();
+    size_type append(char const *s);
+
+private:
+    f4ll::console_handler &m_con;
+
+    SemaphoreHandle_t m_sem;
+    StaticSemaphore_t m_sem_buf;
+};

components/app/src/app.cpp

@@ -5,11 +5,15 @@
  *      Author: abody
  */
 #include <main.h>
+#include <projdefs.h>
+
+#include <cmsis_os.h>
 
 #include <FreeRTOS.h>
 #include <task.h>
 
 #include <f4ll/console_handler.h>
+#include <f4ll/str_util.h>
 
 #include <stdlib.h>
 #include <string.h>
@@ -18,24 +22,64 @@
 
 void app_main(void const *param)
 {
-    (void)param;
-    app::init().main();
+
+    app::init(param).main();
 }
 
-app::app()
+app::app(void const *param)
     : m_con(
           f4ll::console_handler::init(
               USART2, DMA1, LL_DMA_STREAM_5, LL_DMA_STREAM_6, m_rx_buf_mem, sizeof(m_rx_buf_mem), m_tx_buf_mem, sizeof(m_tx_buf_mem),
-              nullptr))
+              nullptr)),
+      m_safe_conout(m_con)
+
 {
+    (void)param;
 }
 
 void app::main()
 {
-    m_con.print("-------------------------------------------\n");
+    m_cli_task_handle = xTaskCreateStatic(
+        cli_task_dispatch, "CLI_task", CLI_TASK_STACK_LEN, this, osPriorityAboveNormal, m_cli_task_stack, &m_cli_task_buffer);
+
+    queue_ts();
+    m_safe_conout.print("-------------------------------------------\n");
     while (true) {
-        m_con.print("Hello woooooooooooooooooooooooooooooooorld!\n");
+        queue_ts();
+        m_safe_conout.print("Hello woooooooooooooooooooooooooooooooorld!\n");
         vTaskDelay(pdMS_TO_TICKS(500));
         LL_GPIO_TogglePin(LD2_GPIO_Port, LD2_Pin);
     }
+}
+
+void app::input_available(f4ll::console_handler::size_type len)
+{
+    // TODO: trigger a semaphore here and do the processing from a task. This is running in interrupt context
+    f4ll::iringbuffer &rb = f4ll::console_handler::instance().get_rx_buffer();
+    f4ll::console_handler::size_type chunk_len = 0;
+    uint8_t const *chunk = nullptr;
+    bool more = false;
+    do {
+        more = rb.get_chunk(chunk, chunk_len);
+        if (chunk_len) {
+            rb.consumed(chunk_len);
+        }
+    } while (more);
+}
+
+void app::cli_task()
+{
+    while (1) {
+        vTaskDelay(pdMS_TO_TICKS(10000));
+        queue_ts();
+        m_safe_conout.print(">>> TICK <<<\n");
+    }
+}
+
+void app::queue_ts()
+{
+    char ts_buf[12];
+    uitodec(ts_buf, xTaskGetTickCount());
+    m_safe_conout.append(ts_buf);
+    m_safe_conout.append(" ");
 }

components/app/src/thread_safe_console_output.cpp

@@ -0,0 +1,34 @@
+#include <f4ll/console_handler.h>
+
+#include <FreeRTOS.h>
+#include <portmacro.h>
+
+#include <thread_safe_console_output.h>
+
+thread_safe_console_output::thread_safe_console_output(f4ll::console_handler &con)
+    : m_con(con),
+      m_sem(xSemaphoreCreateMutexStatic(&m_sem_buf))
+{
+}
+
+thread_safe_console_output::size_type thread_safe_console_output::append(char const *s)
+{
+    xSemaphoreTake(m_sem, portMAX_DELAY);
+    auto ret = m_con.append(s);
+    xSemaphoreGive(m_sem);
+    return ret;
+}
+
+void thread_safe_console_output::flush()
+{
+    xSemaphoreTake(m_sem, portMAX_DELAY);
+    m_con.flush();
+    xSemaphoreGive(m_sem);
+}
+
+void thread_safe_console_output::print(const char *s)
+{
+    xSemaphoreTake(m_sem, portMAX_DELAY);
+    m_con.print(s);
+    xSemaphoreGive(m_sem);
+}