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/* |
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* @file test_periodic_thread_controller.cpp |
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* |
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* May 14, 2021 |
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* @author Andrey Belomutskiy, (c) 2012-2021 |
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*/ |
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#include "pch.h" |
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#include "periodic_thread_controller.h" |
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#include <thread> |
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class TestPeriodicController : public PeriodicController<111> { |
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public: |
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TestPeriodicController() : PeriodicController("test") { } |
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private: |
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void PeriodicTask(efitick_t nowNt) override { |
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UNUSED(nowNt); |
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} |
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}; |
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static TestPeriodicController instance; |
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systime_t chVTGetSystemTime(void) { |
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return getTimeNowUs(); |
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} |
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systime_t chThdSleepUntilWindowed(systime_t prev, systime_t next) { |
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return 0; |
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} |
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bool chThdShouldTerminateX(void) { |
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return false; |
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} |
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class taskq { |
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public: |
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// int trigger(taskq &tq); |
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// mutex mtx; |
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}; |
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void func_wrapper(taskq &tq) { |
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} |
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thread_t *chThdCreateStatic(void *wsp, size_t size, |
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tprio_t prio, tfunc_t funcp, void *arg) { |
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taskq insta; |
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taskq &tq = insta; |
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/** |
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* I do not understand what's going on here. Do allocate thread on stack and that would crash once method is over? |
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* how do we dynamically create new std::thread? |
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*/ |
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std::thread thr(func_wrapper, std::ref(tq)); |
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thread_t *thread = new thread_t(); |
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thread->funcp = funcp; |
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thread->arg = arg; |
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return thread; |
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} |
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/* this test was comented on 2021 for this error: |
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* ../firmware/controllers/system/thread_controller.h:53:29: error: no match for ‘operator=’ (operand types are ‘chibios_rt::ThreadReference’ and ‘void’) |
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* ref = chibios_rt::BaseStaticThread<TStackSize>::start(m_prio); |
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*/ |
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TEST(system, periodic) { |
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// instance.Start(); |
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} |
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