int/main.c

   1 #include <stdbool.h>
   2 #include <stdint.h>
   3 #include <stdlib.h>
   4 #include <string.h>
   5
   6 #ifdef STM
   7 #else
   8 #include <stdio.h>
   9 #endif
  10
  11 #include "interpret.h"
  12 #include "mTaskSymbols.h"
  13 #include "sds.h"
  14 #include "task.h"
  15 #include "interface.h"
  16
  17 #define MSG_GET_TASK 't'
  18 #define MSG_DEL_TASK 'd'
  19 #define MSG_SDS_SPEC 's'
  20 #define MSG_SDS_UPD 'u'
  21
  22 void read_message(void)
  23 {
  24         //Find next task
  25         if(input_available()){
  26                 uint8_t c = read_byte();
  27                 debug("Receiving input: %c %02x\n", c, c);
  28                 switch(c){
  29                 case MSG_SDS_SPEC:
  30                         debug("Receiving an sds");
  31                         sds_register();
  32                         break;
  33                 case MSG_SDS_UPD:
  34                         debug("Receiving an sds update");
  35                         //TODO do something with the return value
  36                         sds_update();
  37                         break;
  38                 case MSG_DEL_TASK:
  39                         debug("Receiving a delete task request");
  40                         task_delete();
  41                         break;
  42                 case MSG_GET_TASK:
  43                         debug("Receiving a task");
  44         //              write_dpin(0, true);
  45                         task_register();
  46         //              write_dpin(0, false);
  47                         break;
  48                 case '\0':
  49                         break;
  50                 case '\n':
  51                         break;
  52                 default:
  53                         debug("Unknown message: %X", 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         }
  83 }
  84
  85 #ifdef STM
  86 int main(void){
  87 #else
  88 int main(int argc, char *argv[]){
  89         gargc = argc;
  90         gargv = argv;
  91 #endif
  92
  93         //Initialize systems
  94         setup();
  95         sds_init();
  96         task_init();
  97         //debug("booting up");
  98         while(true){
  99                 //Check for newetasks
 100 //              debug("loop");
 101                 loop();
 102                 delay(50);
 103         }
 104         return 0;
 105 }