int/main.c

   1 #include <stdbool.h>
   2 #include <stdint.h>
   3 #include <stdlib.h>
   4 #include <string.h>
   5
   6 #ifndef STM
   7 #include <stdio.h>
   8 #endif
   9
  10 #include "interpret.h"
  11 #include "mTaskSymbols.h"
  12 #include "sds.h"
  13 #include "task.h"
  14 #include "interface.h"
  15
  16 #define MSG_GET_TASK 't'
  17 #define MSG_DEL_TASK 'd'
  18 #define MSG_SDS_SPEC 's'
  19 #define MSG_SDS_UPD 'u'
  20
  21 void read_message(void)
  22 {
  23         //Find next task
  24         if(input_available()){
  25                 uint8_t c = read_byte();
  26                 debug("Receiving input: %c\n", c);
  27                 switch(c){
  28                 case MSG_SDS_SPEC:
  29                         debug("Receiving an sds");
  30                         sds_register();
  31                         break;
  32                 case MSG_SDS_UPD:
  33                         debug("Receiving an sds update");
  34                         //TODO do something with the return value
  35                         sds_update();
  36                         break;
  37                 case MSG_DEL_TASK:
  38                         debug("Receiving a delete task request");
  39                         task_delete();
  40                         break;
  41                 case MSG_GET_TASK:
  42                         debug("Receiving a task");
  43         //              write_dpin(0, true);
  44                         task_register();
  45         //              write_dpin(0, false);
  46                         break;
  47                 case '\0':
  48                         break;
  49                 case '\n':
  50                         break;
  51                 default:
  52                         debug("Unknown message: %X", c);
  53                         debugi(c);
  54                 }
  55         }
  56 }
  57
  58 void loop(void)
  59 {
  60         int ct;
  61         long cyclestart;
  62         struct task *curtask;
  63
  64         read_message();
  65
  66         //Run tasks
  67         cyclestart = millis();
  68         for(ct = 0; ct<MAXTASKS; ct++){
  69                 //See whether the task is even in use
  70                 if((curtask = task_get(ct)) == NULL){
  71 //                      debug("Task %d not implemented\n", ct);
  72                         continue;
  73                 }
  74                 //See whether the task interval has passed
  75                 if(cyclestart-curtask->lastrun < curtask->interval){
  76 //                      debug("Task %d not scheduled\n", ct);
  77                         continue;
  78                 }
  79                 debug("Current task to run: %d", ct);
  80                 run_task(curtask);
  81                 curtask->lastrun = cyclestart;
  82                 write_byte('\n');
  83         }
  84 }
  85
  86 #ifdef STM
  87 int main(void){
  88 #else
  89 int main(int argc, char *argv[]){
  90         gargc = argc;
  91         gargv = argv;
  92 #endif
  93
  94         //Initialize systems
  95         setup();
  96         sds_init();
  97         task_init();
  98
  99         debug("booting up");
 100         while(true){
 101                 //Check for newetasks
 102 //              debug("loop");
 103                 loop();
 104                 delay(100);
 105         }
 106         return 0;
 107 }