Diff: events/equeue/README.md

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+## The equeue library ##
+
+The equeue library is designed as a simple but powerful library for scheduling
+events on composable queues.
+
+``` c
+#include "equeue.h"
+#include <stdio.h>
+
+int main() {
+    // creates a queue with space for 32 basic events
+    equeue_t queue;
+    equeue_create(&queue, 32*EQUEUE_EVENT_SIZE);
+
+    // events can be simple callbacks
+    equeue_call(&queue, print, "called immediately");
+    equeue_call_in(&queue, 2000, print, "called in 2 seconds");
+    equeue_call_every(&queue, 1000, print, "called every 1 seconds");
+
+    // events are executed in equeue_dispatch
+    equeue_dispatch(&queue, 3000);
+
+    print("called after 3 seconds");
+
+    equeue_destroy(&queue);
+}
+```
+
+The equeue library can be used as a normal event loop, or it can be
+backgrounded on a single hardware timer or even another event loop. It
+is both thread and irq safe, and provides functions for easily composing
+multiple queues.
+
+The equeue library can act as a drop-in scheduler, provide synchronization
+between multiple threads, or just act as a mechanism for moving events
+out of interrupt contexts.
+
+## Documentation ##
+
+The in-depth documentation on specific functions can be found in
+[equeue.h](equeue.h).
+
+The core of the equeue library is the `equeue_t` type which represents a
+single event queue, and the `equeue_dispatch` function which runs the equeue,
+providing the context for executing events.
+
+On top of this, `equeue_call`, `equeue_call_in`, and `equeue_call_every`
+provide easy methods for posting events to execute in the context of the
+`equeue_dispatch` function.
+
+``` c
+#include "equeue.h"
+#include "game.h"
+
+equeue_t queue;
+struct game game;
+
+// button_isr may be in interrupt context
+void button_isr(void) {
+    equeue_call(&queue, game_button_update, &game);
+}
+
+// a simple user-interface framework
+int main() {
+    equeue_create(&queue, 4096);
+    game_create(&game);
+
+    // call game_screen_udpate at 60 Hz
+    equeue_call_every(&queue, 1000/60, game_screen_update, &game);
+
+    // dispatch forever
+    equeue_dispatch(&queue, -1);
+}
+```
+
+In addition to simple callbacks, an event can be manually allocated with
+`equeue_alloc` and posted with `equeue_post` to allow passing an arbitrary
+amount of context to the execution of the event. This memory is allocated out
+of the equeue's buffer, and dynamic memory can be completely avoided.
+
+The equeue allocator is designed to minimize jitter in interrupt contexts as
+well as avoid memory fragmentation on small devices. The allocator achieves
+both constant-runtime and zero-fragmentation for fixed-size events, however
+grows linearly as the quantity of differently-sized allocations increases.
+
+``` c
+#include "equeue.h"
+
+equeue_t queue;
+
+// arbitrary data can be moved to a different context
+int enet_consume(void *buffer, int size) {
+    if (size > 512) {
+        size = 512;
+    }
+
+    void *data = equeue_alloc(&queue, 512);
+    memcpy(data, buffer, size);
+    equeue_post(&queue, handle_data_elsewhere, data);
+
+    return size;
+}
+```
+
+Additionally, in-flight events can be cancelled with `equeue_cancel`. Events
+are given unique ids on post, allowing safe cancellation of expired events.
+
+``` c
+#include "equeue.h"
+
+equeue_t queue;
+int sonar_value;
+int sonar_timeout_id;
+
+void sonar_isr(int value) {
+    equeue_cancel(&queue, sonar_timeout_id);
+    sonar_value = value;
+}
+
+void sonar_timeout(void *) {
+    sonar_value = -1;
+}
+
+void sonar_read(void) {
+    sonar_timeout_id = equeue_call_in(&queue, 300, sonar_timeout, 0);
+    sonar_start();
+}
+```
+
+From an architectural standpoint, event queues easily align with module
+boundaries, where internal state can be implicitly synchronized through
+event dispatch.
+
+On platforms where multiple threads are unavailable, multiple modules
+can use independent event queues and still be composed through the
+`equeue_chain` function.
+
+``` c
+#include "equeue.h"
+
+// run a simultaneous localization and mapping loop in one queue
+struct slam {
+    equeue_t queue;
+};
+
+void slam_create(struct slam *s, equeue_t *target) {
+    equeue_create(&s->queue, 4096);
+    equeue_chain(&s->queue, target);
+    equeue_call_every(&s->queue, 100, slam_filter);
+}
+
+// run a sonar with it's own queue
+struct sonar {
+    equeue_t equeue;
+    struct slam *slam;
+};
+
+void sonar_create(struct sonar *s, equeue_t *target) {
+    equeue_create(&s->queue, 64);
+    equeue_chain(&s->queue, target);
+    equeue_call_in(&s->queue, 5, sonar_update, s);
+}
+
+// all of the above queues can be combined into a single thread of execution
+int main() {
+    equeue_t queue;
+    equeue_create(&queue, 1024);
+
+    struct sonar s1, s2, s3;
+    sonar_create(&s1, &queue);
+    sonar_create(&s2, &queue);
+    sonar_create(&s3, &queue);
+
+    struct slam slam;
+    slam_create(&slam, &queue);
+
+    // dispatches events from all of the modules
+    equeue_dispatch(&queue, -1);
+}
+```
+
+## Platform ##
+
+The equeue library has a minimal porting layer that is flexible depending
+on the requirements of the underlying platform. Platform specific declarations
+and more information can be found in [equeue_platform.h](equeue_platform.h).
+
+## Tests ##
+
+The equeue library uses a set of local tests based on the posix implementation.
+
+Runtime tests are located in [tests.c](tests/tests.c):
+
+``` bash
+make test
+```
+
+Profiling tests based on rdtsc are located in [prof.c](tests/prof.c):
+
+``` bash
+make prof
+```
+
+To make profiling results more tangible, the profiler also supports percentage
+comparison with previous runs:
+``` bash
+make prof | tee results.txt
+cat results.txt | make prof
+```
+