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Dependencies:   NaturalTinyShell_ice libmDot-12Sept mbed-rtos mbed

Fork of ICE by Erick

src/ConfigurationHandler/ConfigurationHandler.cpp@1:057d8fc6cb2f, 2016-09-01 (annotated)

Committer:
jmarkel44
Date:
Thu Sep 01 19:42:11 2016 +0000
Revision:
1:057d8fc6cb2f
Parent:
0:65cfa4873284
Child:
2:da28f21b72a1
args working

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jmarkel44 0:65cfa4873284 1 /******************************************************************************
jmarkel44 0:65cfa4873284 2 *
jmarkel44 0:65cfa4873284 3 * File: ConfigurationHandler.cpp
jmarkel44 0:65cfa4873284 4 * Desciption: source for the ICE Configuration Handler
jmarkel44 0:65cfa4873284 5 *
jmarkel44 0:65cfa4873284 6 *****************************************************************************/
jmarkel44 0:65cfa4873284 7 #include <stdio.h>
jmarkel44 0:65cfa4873284 8 #include "global.h"
jmarkel44 0:65cfa4873284 9 #include "rtos.h"
jmarkel44 0:65cfa4873284 10 #include "ConfigurationHandler.h"
jmarkel44 0:65cfa4873284 11 #include <map>
jmarkel44 0:65cfa4873284 12 #include <string>
jmarkel44 0:65cfa4873284 13
jmarkel44 0:65cfa4873284 14 using namespace std;
jmarkel44 0:65cfa4873284 15
jmarkel44 0:65cfa4873284 16 extern osThreadId mainThreadId;
jmarkel44 0:65cfa4873284 17
jmarkel44 0:65cfa4873284 18 // local functions
jmarkel44 0:65cfa4873284 19 static void loadPersistentControls( void );
jmarkel44 0:65cfa4873284 20 static void createHandler ( const Message_t * );
jmarkel44 0:65cfa4873284 21 static void modifyHandler ( const Message_t * );
jmarkel44 0:65cfa4873284 22 static void destroyHandler( const Message_t * );
jmarkel44 0:65cfa4873284 23 static void displayThreadTable( void );
jmarkel44 0:65cfa4873284 24
jmarkel44 0:65cfa4873284 25 // control spawners
jmarkel44 0:65cfa4873284 26 static Thread* spawnNewTimerControl( const char * );
jmarkel44 0:65cfa4873284 27 static Thread* spawnNewPIDControl( const char * );
jmarkel44 0:65cfa4873284 28 static Thread* spawnNewSetpointControl( const char * );
jmarkel44 0:65cfa4873284 29 static Thread* spawnNewCompositeControl(const char *);
jmarkel44 0:65cfa4873284 30 static Thread* spawnNewManualControl(const char *);
jmarkel44 0:65cfa4873284 31
jmarkel44 0:65cfa4873284 32 // control thread table
jmarkel44 0:65cfa4873284 33 typedef map<string, Thread *> StringThreadMap;
jmarkel44 0:65cfa4873284 34 static StringThreadMap threadTable;
jmarkel44 0:65cfa4873284 35
jmarkel44 0:65cfa4873284 36 /*****************************************************************************
jmarkel44 0:65cfa4873284 37 * Function: ConfigurationHandler
jmarkel44 0:65cfa4873284 38 * Description: entry point for the configuration handler
jmarkel44 0:65cfa4873284 39 *
jmarkel44 0:65cfa4873284 40 * @param (IN) args (user-defined arguments)
jmarkel44 0:65cfa4873284 41 * @return none
jmarkel44 0:65cfa4873284 42 *****************************************************************************/
jmarkel44 0:65cfa4873284 43 void ConfigurationHandler(void const *args)
jmarkel44 0:65cfa4873284 44 {
jmarkel44 0:65cfa4873284 45 int rc;
jmarkel44 0:65cfa4873284 46 printf("\r%s is started...\n", __func__);
jmarkel44 0:65cfa4873284 47
jmarkel44 0:65cfa4873284 48 //loadPersistentControls();
jmarkel44 0:65cfa4873284 49
jmarkel44 0:65cfa4873284 50 osSignalSet(mainThreadId, sig_continue);
jmarkel44 0:65cfa4873284 51
jmarkel44 0:65cfa4873284 52 while (true) {
jmarkel44 0:65cfa4873284 53 // wait for a message from a data handler
jmarkel44 0:65cfa4873284 54 osEvent evt = MailBox.get();
jmarkel44 0:65cfa4873284 55 if (evt.status == osEventMail) {
jmarkel44 0:65cfa4873284 56 Message_t *msg = (Message_t*)evt.value.p;
jmarkel44 0:65cfa4873284 57 switch (msg->action) {
jmarkel44 0:65cfa4873284 58 case ACTION_CREATE:
jmarkel44 0:65cfa4873284 59 createHandler(msg);
jmarkel44 0:65cfa4873284 60 break;
jmarkel44 0:65cfa4873284 61 case ACTION_MODIFY:
jmarkel44 0:65cfa4873284 62 modifyHandler(msg);
jmarkel44 0:65cfa4873284 63 break;
jmarkel44 0:65cfa4873284 64 case ACTION_DESTROY:
jmarkel44 0:65cfa4873284 65 destroyHandler(msg);
jmarkel44 0:65cfa4873284 66 break;
jmarkel44 0:65cfa4873284 67 default:
jmarkel44 0:65cfa4873284 68 printf("\r\n%s: ERROR\n", __FUNCTION__);
jmarkel44 0:65cfa4873284 69 rc = -1;
jmarkel44 0:65cfa4873284 70 break;
jmarkel44 0:65cfa4873284 71 }
jmarkel44 0:65cfa4873284 72
jmarkel44 0:65cfa4873284 73 if ( rc != 0 ) {
jmarkel44 0:65cfa4873284 74 // do something
jmarkel44 0:65cfa4873284 75 }
jmarkel44 0:65cfa4873284 76
jmarkel44 0:65cfa4873284 77 // free the allocated memory for the message
jmarkel44 0:65cfa4873284 78 MailBox.free(msg);
jmarkel44 0:65cfa4873284 79 }
jmarkel44 0:65cfa4873284 80 }
jmarkel44 0:65cfa4873284 81 }
jmarkel44 0:65cfa4873284 82
jmarkel44 0:65cfa4873284 83 /*****************************************************************************
jmarkel44 0:65cfa4873284 84 * Function: ConfigurationHandler_DisplayThreads
jmarkel44 0:65cfa4873284 85 * Description: Display list of active threads
jmarkel44 0:65cfa4873284 86 *
jmarkel44 0:65cfa4873284 87 * @param none
jmarkel44 0:65cfa4873284 88 * @return none
jmarkel44 0:65cfa4873284 89 *****************************************************************************/
jmarkel44 0:65cfa4873284 90 void ConfigurationHandler_DisplayThreads(void)
jmarkel44 0:65cfa4873284 91 {
jmarkel44 0:65cfa4873284 92 displayThreadTable();
jmarkel44 0:65cfa4873284 93 }
jmarkel44 0:65cfa4873284 94 /*****************************************************************************
jmarkel44 0:65cfa4873284 95 * Function: loadPersistentControls
jmarkel44 0:65cfa4873284 96 * Description: Create a new control thread
jmarkel44 0:65cfa4873284 97 *
jmarkel44 0:65cfa4873284 98 * @param (IN) msg (parsed message data from the cloud)
jmarkel44 0:65cfa4873284 99 * @return none
jmarkel44 0:65cfa4873284 100 *****************************************************************************/
jmarkel44 0:65cfa4873284 101 static void loadPersistentControls(void)
jmarkel44 0:65cfa4873284 102 {
jmarkel44 0:65cfa4873284 103 printf("\r%s no-op\n", __func__);
jmarkel44 0:65cfa4873284 104 }
jmarkel44 0:65cfa4873284 105
jmarkel44 0:65cfa4873284 106 /*****************************************************************************
jmarkel44 0:65cfa4873284 107 * Function: createHandler
jmarkel44 0:65cfa4873284 108 * Description: Create a new control thread
jmarkel44 0:65cfa4873284 109 *
jmarkel44 0:65cfa4873284 110 * @param (IN) msg (parsed message data from the cloud)
jmarkel44 0:65cfa4873284 111 * @return none
jmarkel44 0:65cfa4873284 112 *****************************************************************************/
jmarkel44 0:65cfa4873284 113 static void createHandler(const Message_t *msg)
jmarkel44 0:65cfa4873284 114 {
jmarkel44 0:65cfa4873284 115 printf("\r\n%s: invoked with %s [%u]\n",
jmarkel44 0:65cfa4873284 116 __func__, msg->controlFile, msg->control);
jmarkel44 1:057d8fc6cb2f 117
jmarkel44 0:65cfa4873284 118 switch (msg->control) {
jmarkel44 0:65cfa4873284 119 case CONTROL_TIMER: {
jmarkel44 0:65cfa4873284 120 Thread *t = spawnNewTimerControl(msg->controlFile);
jmarkel44 0:65cfa4873284 121 threadTable[msg->controlFile] = t;
jmarkel44 0:65cfa4873284 122 break;
jmarkel44 0:65cfa4873284 123 }
jmarkel44 0:65cfa4873284 124 case CONTROL_PID: {
jmarkel44 0:65cfa4873284 125 Thread *t = spawnNewPIDControl(msg->controlFile);
jmarkel44 0:65cfa4873284 126 threadTable[msg->controlFile] = t;
jmarkel44 0:65cfa4873284 127 break;
jmarkel44 0:65cfa4873284 128 }
jmarkel44 0:65cfa4873284 129 case CONTROL_SETPOINT: {
jmarkel44 0:65cfa4873284 130 Thread *t = spawnNewSetpointControl(msg->controlFile);
jmarkel44 0:65cfa4873284 131 threadTable[msg->controlFile] = t;
jmarkel44 0:65cfa4873284 132 break;
jmarkel44 0:65cfa4873284 133 }
jmarkel44 0:65cfa4873284 134 case CONTROL_COMPOSITE: {
jmarkel44 0:65cfa4873284 135 Thread *t = spawnNewCompositeControl(msg->controlFile);
jmarkel44 0:65cfa4873284 136 threadTable[msg->controlFile] = t;
jmarkel44 0:65cfa4873284 137 break;
jmarkel44 0:65cfa4873284 138 }
jmarkel44 0:65cfa4873284 139 case CONTROL_MANUAL: {
jmarkel44 0:65cfa4873284 140 Thread *t = spawnNewManualControl(msg->controlFile);
jmarkel44 0:65cfa4873284 141 threadTable[msg->controlFile] = t;
jmarkel44 0:65cfa4873284 142 break;
jmarkel44 0:65cfa4873284 143 }
jmarkel44 0:65cfa4873284 144 default:
jmarkel44 0:65cfa4873284 145 printf("%s: unkown control type (%u)", __func__, msg->control);
jmarkel44 0:65cfa4873284 146 break;
jmarkel44 0:65cfa4873284 147 }
jmarkel44 0:65cfa4873284 148 }
jmarkel44 0:65cfa4873284 149
jmarkel44 0:65cfa4873284 150 /*****************************************************************************
jmarkel44 0:65cfa4873284 151 * Function: modifyHandler
jmarkel44 0:65cfa4873284 152 * Description: modify an existing control thread
jmarkel44 0:65cfa4873284 153 *
jmarkel44 0:65cfa4873284 154 * @param (IN) args (user-defined arguments)
jmarkel44 0:65cfa4873284 155 * @return none
jmarkel44 0:65cfa4873284 156 *****************************************************************************/
jmarkel44 0:65cfa4873284 157 static void modifyHandler(const Message_t *msg)
jmarkel44 0:65cfa4873284 158 {
jmarkel44 0:65cfa4873284 159 // STUBBED
jmarkel44 0:65cfa4873284 160 printf("\r\n%s: invoked with %s\n", __FUNCTION__, msg->controlFile);
jmarkel44 0:65cfa4873284 161 }
jmarkel44 0:65cfa4873284 162
jmarkel44 0:65cfa4873284 163 /*****************************************************************************
jmarkel44 0:65cfa4873284 164 * Function: destroyHandler
jmarkel44 0:65cfa4873284 165 * Description: detroy an existing control thread
jmarkel44 0:65cfa4873284 166 *
jmarkel44 0:65cfa4873284 167 * @param (IN) args (user-defined arguments)
jmarkel44 0:65cfa4873284 168 * @return none
jmarkel44 0:65cfa4873284 169 *****************************************************************************/
jmarkel44 0:65cfa4873284 170 static void destroyHandler(const Message_t *msg)
jmarkel44 0:65cfa4873284 171 {
jmarkel44 0:65cfa4873284 172 printf("\r\n%s: invoked with %s\n", __FUNCTION__, msg->controlFile);
jmarkel44 0:65cfa4873284 173
jmarkel44 0:65cfa4873284 174 StringThreadMap::iterator pos;
jmarkel44 0:65cfa4873284 175
jmarkel44 0:65cfa4873284 176 // find the control thread, terminate it, then delete the entry
jmarkel44 0:65cfa4873284 177 // from the thread table.
jmarkel44 0:65cfa4873284 178 pos = threadTable.find(msg->controlFile);
jmarkel44 0:65cfa4873284 179 if ( pos != threadTable.end() ) {
jmarkel44 0:65cfa4873284 180 Thread *t = pos->second;
jmarkel44 0:65cfa4873284 181 t->terminate();
jmarkel44 0:65cfa4873284 182 // perform cleanup
jmarkel44 0:65cfa4873284 183 delete t;
jmarkel44 0:65cfa4873284 184 // remove the entry from the map
jmarkel44 0:65cfa4873284 185 threadTable.erase(pos);
jmarkel44 0:65cfa4873284 186 }
jmarkel44 0:65cfa4873284 187 }
jmarkel44 0:65cfa4873284 188
jmarkel44 1:057d8fc6cb2f 189 static Thread *spawnNewTimerControl( const char *controlFile)
jmarkel44 0:65cfa4873284 190 {
jmarkel44 1:057d8fc6cb2f 191 // TODO: Be sure to free these args when the thread dies
jmarkel44 1:057d8fc6cb2f 192 Args_t *args = (Args_t*)malloc(sizeof(Args_t));
jmarkel44 1:057d8fc6cb2f 193
jmarkel44 1:057d8fc6cb2f 194 strncpy(args->controlFile, controlFile, sizeof(args->controlFile));
jmarkel44 1:057d8fc6cb2f 195 args->reserved = 0;
jmarkel44 1:057d8fc6cb2f 196
jmarkel44 1:057d8fc6cb2f 197 Thread *t = new Thread(TimerControl, (void *)args);
jmarkel44 0:65cfa4873284 198 return t;
jmarkel44 0:65cfa4873284 199 }
jmarkel44 0:65cfa4873284 200 static Thread* spawnNewPIDControl( const char *controlFile )
jmarkel44 0:65cfa4873284 201 {
jmarkel44 1:057d8fc6cb2f 202 Args_t *args = (Args_t *)malloc(sizeof(Args_t));
jmarkel44 1:057d8fc6cb2f 203
jmarkel44 1:057d8fc6cb2f 204 strncpy(args->controlFile, controlFile, sizeof(args->controlFile));
jmarkel44 1:057d8fc6cb2f 205 args->reserved = 0;
jmarkel44 1:057d8fc6cb2f 206
jmarkel44 1:057d8fc6cb2f 207 Thread *t = new Thread(PIDControl, (void *)args);
jmarkel44 0:65cfa4873284 208 return t;
jmarkel44 0:65cfa4873284 209 }
jmarkel44 0:65cfa4873284 210
jmarkel44 0:65cfa4873284 211 static Thread* spawnNewSetpointControl( const char *controlFile )
jmarkel44 0:65cfa4873284 212 {
jmarkel44 1:057d8fc6cb2f 213 Args_t *args = (Args_t *)malloc(sizeof(Args_t));
jmarkel44 1:057d8fc6cb2f 214
jmarkel44 1:057d8fc6cb2f 215 strncpy(args->controlFile, controlFile, sizeof(args->controlFile));
jmarkel44 1:057d8fc6cb2f 216 args->reserved = 0;
jmarkel44 1:057d8fc6cb2f 217
jmarkel44 1:057d8fc6cb2f 218 Thread *t = new Thread(SetpointControl, (void *)args);
jmarkel44 0:65cfa4873284 219 return t;
jmarkel44 0:65cfa4873284 220 }
jmarkel44 0:65cfa4873284 221
jmarkel44 1:057d8fc6cb2f 222 static Thread* spawnNewCompositeControl(const char *controlFile)
jmarkel44 0:65cfa4873284 223 {
jmarkel44 1:057d8fc6cb2f 224 Args_t *args = (Args_t *)malloc(sizeof(Args_t));
jmarkel44 1:057d8fc6cb2f 225
jmarkel44 1:057d8fc6cb2f 226 strncpy(args->controlFile, controlFile, sizeof(args->controlFile));
jmarkel44 1:057d8fc6cb2f 227 args->reserved = 0;
jmarkel44 1:057d8fc6cb2f 228
jmarkel44 1:057d8fc6cb2f 229 Thread *t = new Thread(CompositeControl, (void *)args);
jmarkel44 0:65cfa4873284 230 return t;
jmarkel44 0:65cfa4873284 231 }
jmarkel44 1:057d8fc6cb2f 232
jmarkel44 0:65cfa4873284 233 static Thread* spawnNewManualControl(const char *controlFile)
jmarkel44 0:65cfa4873284 234 {
jmarkel44 1:057d8fc6cb2f 235 Args_t *args = (Args_t *)malloc(sizeof(Args_t));
jmarkel44 1:057d8fc6cb2f 236
jmarkel44 1:057d8fc6cb2f 237 strncpy(args->controlFile, controlFile, sizeof(args->controlFile));
jmarkel44 1:057d8fc6cb2f 238 args->reserved = 0;
jmarkel44 1:057d8fc6cb2f 239
jmarkel44 1:057d8fc6cb2f 240 Thread *t = new Thread(ManualControl, (void *)args);
jmarkel44 0:65cfa4873284 241 return t;
jmarkel44 0:65cfa4873284 242 }
jmarkel44 0:65cfa4873284 243
jmarkel44 0:65cfa4873284 244 /*****************************************************************************
jmarkel44 0:65cfa4873284 245 * Function: displayThreadTable
jmarkel44 0:65cfa4873284 246 * Description: display the elements in the thread table
jmarkel44 0:65cfa4873284 247 *
jmarkel44 0:65cfa4873284 248 * @param (IN) controlFile: file which to control fome
jmarkel44 0:65cfa4873284 249 * @return osThreadId
jmarkel44 0:65cfa4873284 250 *****************************************************************************/
jmarkel44 0:65cfa4873284 251 static void displayThreadTable(void)
jmarkel44 0:65cfa4873284 252 {
jmarkel44 0:65cfa4873284 253 StringThreadMap::iterator pos;
jmarkel44 0:65cfa4873284 254
jmarkel44 0:65cfa4873284 255 // this must exactly match the OS thread states in Thread.h
jmarkel44 0:65cfa4873284 256 const char *stateMapper[] = { "Inactive",
jmarkel44 0:65cfa4873284 257 "Ready",
jmarkel44 0:65cfa4873284 258 "Running",
jmarkel44 0:65cfa4873284 259 "WaitingDelay",
jmarkel44 0:65cfa4873284 260 "WaitingInterval",
jmarkel44 0:65cfa4873284 261 "WaitingOr",
jmarkel44 0:65cfa4873284 262 "WaitingAnd",
jmarkel44 0:65cfa4873284 263 "WaitingSemaphore",
jmarkel44 0:65cfa4873284 264 "WaitingMailbox",
jmarkel44 0:65cfa4873284 265 "WaitingMutex",
jmarkel44 0:65cfa4873284 266 "Deleted"
jmarkel44 0:65cfa4873284 267 };
jmarkel44 0:65cfa4873284 268
jmarkel44 0:65cfa4873284 269 if ( threadTable.size() == 0 ) {
jmarkel44 0:65cfa4873284 270 printf("\r\nThere are currently no active control threads\r\n");
jmarkel44 0:65cfa4873284 271 return;
jmarkel44 0:65cfa4873284 272 }
jmarkel44 0:65cfa4873284 273
jmarkel44 0:65cfa4873284 274 printf("\rControl Thread Table\n");
jmarkel44 0:65cfa4873284 275 for ( pos = threadTable.begin(); pos != threadTable.end(); ++pos ) {
jmarkel44 0:65cfa4873284 276 Thread *t = (Thread *)pos->second;
jmarkel44 0:65cfa4873284 277 printf("\r[%32s]->\tpri=%u\tstate=%s\tstack_size=%u\tfree=%u\tused=%u\tmax=%u\r\n",
jmarkel44 0:65cfa4873284 278 pos->first.c_str(),
jmarkel44 0:65cfa4873284 279 t->get_priority(),
jmarkel44 0:65cfa4873284 280 stateMapper[t->get_state()],
jmarkel44 0:65cfa4873284 281 t->stack_size(),
jmarkel44 0:65cfa4873284 282 t->free_stack(),
jmarkel44 0:65cfa4873284 283 t->used_stack(),
jmarkel44 0:65cfa4873284 284 t->max_stack());
jmarkel44 0:65cfa4873284 285 }
jmarkel44 0:65cfa4873284 286 }
jmarkel44 0:65cfa4873284 287