/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
2011,2012,2013 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
ChibiOS/RT is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS/RT is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see
* The priority is internally set to the minimum system value so
* that this thread is executed only if there are no other ready
* threads in the system.
*
* @param[in] p the thread parameter, unused in this scenario
*/
void _idle_thread(void *p) {
(void)p;
chRegSetThreadName("idle");
while (TRUE) {
port_wait_for_interrupt();
IDLE_LOOP_HOOK();
}
}
#endif /* CH_NO_IDLE_THREAD */
/**
* @brief ChibiOS/RT initialization.
* @details After executing this function the current instructions stream
* becomes the main thread.
* @pre Interrupts must be still disabled when @p chSysInit() is invoked
* and are internally enabled.
* @post The main thread is created with priority @p NORMALPRIO.
* @note This function has special, architecture-dependent, requirements,
* see the notes into the various port reference manuals.
*
* @special
*/
void chSysInit(void) {
static Thread mainthread;
#if CH_DBG_ENABLE_STACK_CHECK
extern stkalign_t __main_thread_stack_base__;
#endif
port_init();
_scheduler_init();
_vt_init();
#if CH_USE_MEMCORE
_core_init();
#endif
#if CH_USE_HEAP
_heap_init();
#endif
#if CH_DBG_ENABLE_TRACE
_trace_init();
#endif
/* Now this instructions flow becomes the main thread.*/
setcurrp(_thread_init(&mainthread, NORMALPRIO));
currp->p_state = THD_STATE_CURRENT;
#if CH_DBG_ENABLE_STACK_CHECK
/* This is a special case because the main thread Thread structure is not
adjacent to its stack area.*/
currp->p_stklimit = &__main_thread_stack_base__;
#endif
chSysEnable();
/* Note, &ch_debug points to the string "main" if the registry is
active, else the parameter is ignored.*/
chRegSetThreadName((const char *)&ch_debug);
#if !CH_NO_IDLE_THREAD
/* This thread has the lowest priority in the system, its role is just to
serve interrupts in its context while keeping the lowest energy saving
mode compatible with the system status.*/
chThdCreateStatic(_idle_thread_wa, sizeof(_idle_thread_wa), IDLEPRIO,
(tfunc_t)_idle_thread, NULL);
#endif
}
/**
* @brief Handles time ticks for round robin preemption and timer increments.
* @details Decrements the remaining time quantum of the running thread
* and preempts it when the quantum is used up. Increments system
* time and manages the timers.
* @note The frequency of the timer determines the system tick granularity
* and, together with the @p CH_TIME_QUANTUM macro, the round robin
* interval.
*
* @iclass
*/
void chSysTimerHandlerI(void) {
chDbgCheckClassI();
#if CH_TIME_QUANTUM > 0
/* Running thread has not used up quantum yet? */
if (currp->p_preempt > 0)
/* Decrement remaining quantum.*/
currp->p_preempt--;
#endif
#if CH_DBG_THREADS_PROFILING
currp->p_time++;
#endif
chVTDoTickI();
#if defined(SYSTEM_TICK_EVENT_HOOK)
SYSTEM_TICK_EVENT_HOOK();
#endif
}
/** @} */
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// Copyright 2005, Google Inc.
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above
// copyright notice, this list of conditions and the following disclaimer
// in the documentation and/or other materials provided with the
// distribution.
// * Neither the name of Google Inc. nor the names of its
// contributors may be used to endorse or promote products derived from
// this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// A sample program demonstrating using Google C++ testing framework.
//
// Author: wan@google.com (Zhanyong Wan)
#ifndef GTEST_SAMPLES_SAMPLE3_INL_H_
#define GTEST_SAMPLES_SAMPLE3_INL_H_
#include <stddef.h>
// Queue is a simple queue implemented as a singled-linked list.
//
// The element type must support copy constructor.
template <typename E> // E is the element type
class Queue;
// QueueNode is a node in a Queue, which consists of an element of
// type E and a pointer to the next node.
template <typename E> // E is the element type
class QueueNode {
friend class Queue<E>;
public:
// Gets the element in this node.
const E& element() const { return element_; }
// Gets the next node in the queue.
QueueNode* next() { return next_; }
const QueueNode* next() const { return next_; }
private:
// Creates a node with a given element value. The next pointer is
// set to NULL.
explicit QueueNode(const E& an_element) : element_(an_element), next_(NULL) {}
// We disable the default assignment operator and copy c'tor.
const QueueNode& operator = (const QueueNode&);
QueueNode(const QueueNode&);
E element_;
QueueNode* next_;
};
template <typename E> // E is the element type.
class Queue {
public:
// Creates an empty queue.
Queue() : head_(NULL), last_(NULL), size_(0) {}
// D'tor. Clears the queue.
~Queue() { Clear(); }
// Clears the queue.
void Clear() {
if (size_ > 0) {
// 1. Deletes every node.
QueueNode<E>* node = head_;
QueueNode<E>* next = node->next();
for (; ;) {
delete node;
node = next;
if (node == NULL) break;
next = node->next();
}
// 2. Resets the member variables.
head_ = last_ = NULL;
size_ = 0;
}
}
// Gets the number of elements.
size_t Size() const { return size_; }
// Gets the first element of the queue, or NULL if the queue is empty.
QueueNode<E>* Head() { return head_; }
const QueueNode<E>* Head() const { return head_; }
// Gets the last element of the queue, or NULL if the queue is empty.
QueueNode<E>* Last() { return last_; }
const QueueNode<E>* Last() const { return last_; }
// Adds an element to the end of the queue. A copy of the element is
// created using the copy constructor, and then stored in the queue.
// Changes made to the element in the queue doesn't affect the source
// object, and vice versa.
void Enqueue(const E& element) {
QueueNode<E>* new_node = new QueueNode<E>(element);
if (size_ == 0) {
head_ = last_ = new_node;
size_ = 1;
} else {
last_->next_ = new_node;
last_ = new_node;
size_++;
}
}
// Removes the head of the queue and returns it. Returns NULL if
// the queue is empty.
E* Dequeue() {
if (size_ == 0) {
return NULL;
}
const QueueNode<E>* const old_head = head_;
head_ = head_->next_;
size_--;
if (size_ == 0) {
last_ = NULL;
}
E* element = new E(old_head->element());
delete old_head;
return element;
}
// Applies a function/functor on each element of the queue, and
// returns the result in a new queue. The original queue is not
// affected.
template <typename F>
Queue* Map(F function) const {
Queue* new_queue = new Queue();
for (const QueueNode<E>* node = head_; node != NULL; node = node->next_) {
new_queue->Enqueue(function(node->element()));
}
return new_queue;
}
private:
QueueNode<E>* head_; // The first node of the queue.
QueueNode<E>* last_; // The last node of the queue.
size_t size_; // The number of elements in the queue.
// We disallow copying a queue.
Queue(const Queue&);
const Queue& operator = (const Queue&);
};
#endif // GTEST_SAMPLES_SAMPLE3_INL_H_