127 lines
5.2 KiB
C++
127 lines
5.2 KiB
C++
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//we only compile for some boards
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#ifdef BOARD_TEST
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#include "GwExampleTask.h"
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#include "GwApi.h"
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#include <vector>
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/**
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* an init function that ist being called before other initializations from the core
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*/
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void exampleInit(GwApi *api){
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api->getLogger()->logDebug(GwLog::LOG,"example init running");
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}
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#define INVALID_COORD -99999
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class GetBoatDataRequest: public GwMessage{
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private:
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GwApi *api;
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public:
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double latitude;
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double longitude;
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GetBoatDataRequest(GwApi *api):GwMessage(F("boat data")){
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this->api=api;
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}
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virtual ~GetBoatDataRequest(){}
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protected:
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/**
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* this methos will be executed within the main thread
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* be sure not to make any time consuming or blocking operation
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*/
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virtual void processImpl(){
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//api->getLogger()->logDebug(GwLog::DEBUG,"boatData request from example task");
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/*access the values from boatData (see GwBoatData.h)
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by using getDataWithDefault it will return the given default value
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if there is no valid data available
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so be sure to use a value that never will be a valid one
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alternatively you can check using the isValid() method at each boatData item
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*/
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latitude=api->getBoatData()->Latitude->getDataWithDefault(INVALID_COORD);
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longitude=api->getBoatData()->Longitude->getDataWithDefault(INVALID_COORD);
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};
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};
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void exampleTask(GwApi *api){
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GwLog *logger=api->getLogger();
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//get some configuration data
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bool exampleSwitch=api->getConfig()->getConfigItem(
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api->getConfig()->exampleConfig,
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true)->asBoolean();
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//------
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//initialization goes here
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//------
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bool hasPosition=false;
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bool hasPosition2=false;
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LOG_DEBUG(GwLog::DEBUG,"example switch ist %s",exampleSwitch?"true":"false");
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GwApi::BoatValue *longitude=new GwApi::BoatValue(F("Longitude"));
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GwApi::BoatValue *latitude=new GwApi::BoatValue(F("Latitude"));
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GwApi::BoatValue *valueList[]={longitude,latitude};
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while(true){
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delay(1000);
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/*
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* getting values from the internal data store (boatData) requires some special handling
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* our tasks runs (potentially) at some time on a different core then the main code
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* and as the boatData has no synchronization (for performance reasons)
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* we must ensure to access it only from the main thread.
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* The pattern is to create a request object (a class that inherits from GwMessage -
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* GetBoatDataRequest above)
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* and to access the boatData in the processImpl method of this object.
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* Once the object is created we enqueue it into a request queue and wait for
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* the main thread to call the processImpl method (sendAndWait).
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* Afterwards we can use the data we have stored in the request.
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* As this request object can be accessed from different threads we must be careful
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* about it's lifetime.
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* The pattern below handles this correctly. We do not call delete on this object but
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* instead call the "unref" Method when we don't need it any more.
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*/
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GetBoatDataRequest *r=new GetBoatDataRequest(api);
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if (api->getQueue()->sendAndWait(r,10000) != GwRequestQueue::MSG_OK){
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r->unref(); //delete the request
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api->getLogger()->logDebug(GwLog::ERROR,"request not handled");
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continue;
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}
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if (r->latitude == INVALID_COORD || r->longitude == INVALID_COORD){
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if (hasPosition){
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if (exampleSwitch) logger->logDebug(GwLog::ERROR,"position lost...");
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hasPosition=false;
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}
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}
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else{
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//do something with the data we have from boatData
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if (! hasPosition){
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if (exampleSwitch) logger->logDebug(GwLog::LOG,"postion now available lat=%f, lon=%f",
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r->latitude,r->longitude);
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hasPosition=true;
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}
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}
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r->unref(); //delete the request
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/** second example with string based functions to access boatData
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This does not need the request handling approach
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Finally it only makes sense to use one of the versions - either with the request
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or with the ValueMap approach.
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**/
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//fetch the current values of the items that we have in itemNames
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api->getBoatDataValues(2,valueList);
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//check if the values are valid (i.e. the values we requested have been found in boatData)
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if (longitude->valid && latitude->valid){
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//both values are there - so we have a valid position
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if (! hasPosition2){
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//access to the values via iterator->second (iterator->first would be the name)
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if (exampleSwitch) LOG_DEBUG(GwLog::LOG,"(2)position availale lat=%f, lon=%f",
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latitude->value,longitude->value);
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hasPosition2=true;
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}
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}
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else{
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if (hasPosition2){
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if (exampleSwitch) LOG_DEBUG(GwLog::LOG,"(2)position lost");
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hasPosition2=false;
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}
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}
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}
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vTaskDelete(NULL);
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}
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#endif |