qk.hpp

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//============================================================================
// QP/C++ Real-Time Embedded Framework (RTEF)
// Copyright (C) 2005 Quantum Leaps, LLC. All rights reserved.
//
// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-QL-commercial
//
// This software is dual-licensed under the terms of the open source GNU
// General Public License version 3 (or any later version), or alternatively,
// under the terms of one of the closed source Quantum Leaps commercial
// licenses.
//
// The terms of the open source GNU General Public License version 3
// can be found at: <www.gnu.org/licenses/gpl-3.0>
//
// The terms of the closed source Quantum Leaps commercial licenses
// can be found at: <www.state-machine.com/licensing>
//
// Redistributions in source code must retain this top-level comment block.
// Plagiarizing this software to sidestep the license obligations is illegal.
//
// Contact information:
// <www.state-machine.com>
// <info@state-machine.com>
//============================================================================
 
#ifndef QK_HPP
#define QK_HPP
 
#include "qequeue.hpp" // QK kernel uses the native QF event queue
#include "qmpool.hpp"  // QK kernel uses the native QF memory pool
#include "qpset.hpp"   // QK kernel uses the native QF priority set
 
 
//============================================================================
// QF configuration for QK -- data members of the QActive class...
 
// QK event-queue used for AOs
#define QF_EQUEUE_TYPE      QEQueue
 
// QK thread type used for AOs
// QK uses this member to store the private Thread-Local Storage pointer.
//
#define QF_THREAD_TYPE      void*
 
 
//============================================================================
namespace QP {
    class QActive; // forward declaration
} // namespace QP
 
extern "C" {
 
struct QK_Attr {
    std::uint8_t volatile actPrio;    
    std::uint8_t volatile nextPrio;   
    std::uint8_t volatile lockPrio;   
    std::uint8_t volatile lockHolder; 
    std::uint8_t volatile intNest;    
    QP::QPSet readySet; 
};
 
extern QK_Attr QK_attr_;
 
std::uint_fast8_t QK_sched_(void) noexcept;
 
// the currently executing AOs.
void QK_activate_(void) noexcept;
 
#ifdef QK_ON_CONTEXT_SW
 
    void QK_onContextSw(QP::QActive *prev, QP::QActive *next);
 
#endif // QK_ON_CONTEXT_SW
 
} // extern "C"
 
//============================================================================
namespace QP {
 
using QSchedStatus = std::uint_fast16_t;
 
//============================================================================
class QK {
public:
    // QK scheduler locking...
    static QSchedStatus schedLock(std::uint_fast8_t const ceiling) noexcept;
 
    static void schedUnlock(QSchedStatus const stat) noexcept;
 
    static void onIdle(void);
 
    static char const *getVersion(void) noexcept {
        return versionStr;
    }
};
 
} // namespace QP
 
//============================================================================
// interface used only inside QF, but not in applications
 
#ifdef QP_IMPL
 
    #ifndef QK_ISR_CONTEXT_
        // (ISR vs. thread).
        #define QK_ISR_CONTEXT_()  (QK_attr_.intNest != 0U)
    #endif // QK_ISR_CONTEXT_
 
    // QK-specific scheduler locking
    // that needs to be preserved to allow nesting of locks.
    //
    #define QF_SCHED_STAT_ QSchedStatus lockStat_;
 
    #define QF_SCHED_LOCK_(prio_) do {          \
        if (QK_ISR_CONTEXT_()) {                \
            lockStat_ = 0xFFU;                  \
        } else {                                \
            lockStat_ = QK::schedLock((prio_)); \
        }                                       \
    } while (false)
 
    #define QF_SCHED_UNLOCK_() do {     \
        if (lockStat_ != 0xFFU) {       \
            QK::schedUnlock(lockStat_); \
        }                               \
    } while (false)
 
    // QK-specific native event queue operations...
    #define QACTIVE_EQUEUE_WAIT_(me_) \
        Q_ASSERT_ID(110, (me_)->m_eQueue.m_frontEvt != nullptr)
 
    #define QACTIVE_EQUEUE_SIGNAL_(me_) do {                \
        QK_attr_.readySet.insert(                           \
            static_cast<std::uint_fast8_t>((me_)->m_prio)); \
        if (!QK_ISR_CONTEXT_()) {                           \
            if (QK_sched_() != 0U) {                        \
                QK_activate_();                             \
            }                                               \
        }                                                   \
    } while (false)
 
    // QK-specific 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_).m_blockSize)
    #define QF_EPOOL_GET_(p_, e_, m_, qs_id_) \
        ((e_) = static_cast<QEvt *>((p_).get((m_), (qs_id_))))
    #define QF_EPOOL_PUT_(p_, e_, qs_id_) ((p_).put((e_), (qs_id_)))
 
#endif // QP_IMPL
 
#endif // QK_HPP