esp32-nmea2000-obp60/lib/usercode/GwUserCode.cpp

#include "GwUserCode.h"
#include "GwSynchronized.h"
#include <Arduino.h>
#include <vector>
#include <map>
//user task handling



std::vector<GwUserTask> userTasks;
std::vector<GwUserTask> initTasks;
GwUserCode::Capabilities userCapabilities;



class GwUserTaskDef{
    public:
        GwUserTaskDef(TaskFunction_t task,String name, int stackSize=2000){
            userTasks.push_back(GwUserTask(name,task,stackSize));
        }
        GwUserTaskDef(GwUserTaskFunction task,String name,int stackSize=2000){
            userTasks.push_back(GwUserTask(name,task,stackSize));
        }
};

class GwInitTask{
    public:
        GwInitTask(TaskFunction_t task, String name){
            initTasks.push_back(GwUserTask(name,task));
        }
        GwInitTask(GwUserTaskFunction task, String name){
            initTasks.push_back(GwUserTask(name,task));
        }
};
class GwUserCapability{
    public:
        GwUserCapability(String name,String value){
            userCapabilities[name]=value;  
        }
};
#define DECLARE_USERTASK(task) GwUserTaskDef __##task##__(task,#task);
#define DECLARE_USERTASK_PARAM(task,...) GwUserTaskDef __##task##__(task,#task,__VA_ARGS__);
#define DECLARE_INITFUNCTION(task) GwInitTask __Init##task##__(task,#task);
#define DECLARE_CAPABILITY(name,value) GwUserCapability __CAP##name##__(#name,#value);
#define DECLARE_STRING_CAPABILITY(name,value) GwUserCapability __CAP##name##__(#name,value); 
#include "GwApi.h"
#include "GwUserTasks.h"
class TaskApi : public GwApi
{
    GwApi *api;
    int sourceId;
    SemaphoreHandle_t *mainLock;

public:
    TaskApi(GwApi *api, int sourceId, SemaphoreHandle_t *mainLock)
    {
        this->sourceId = sourceId;
        this->api = api;
        this->mainLock=mainLock;
    }
    virtual GwRequestQueue *getQueue()
    {
        return api->getQueue();
    }
    virtual void sendN2kMessage(const tN2kMsg &msg,bool convert)
    {
        GWSYNCHRONIZED(mainLock);
        api->sendN2kMessage(msg,convert);
    }
    virtual void sendNMEA0183Message(const tNMEA0183Msg &msg, int sourceId, bool convert)
    {
        GWSYNCHRONIZED(mainLock);
        api->sendNMEA0183Message(msg, this->sourceId,convert);
    }
    virtual void sendNMEA0183Message(const tNMEA0183Msg &msg, bool convert)
    {
        GWSYNCHRONIZED(mainLock);
        api->sendNMEA0183Message(msg, this->sourceId,convert);
    }
    virtual int getSourceId()
    {
        return sourceId;
    };
    virtual GwConfigHandler *getConfig()
    {
        return api->getConfig();
    }
    virtual GwLog *getLogger()
    {
        return api->getLogger();
    }
    virtual GwBoatData *getBoatData()
    {
        return api->getBoatData();
    }
    virtual const char* getTalkerId(){
        return api->getTalkerId();
    }
    virtual void getBoatDataValues(int num,BoatValue **list){
        GWSYNCHRONIZED(mainLock);
        api->getBoatDataValues(num,list);
    }
    virtual void getStatus(Status &status){
        GWSYNCHRONIZED(mainLock);
        api->getStatus(status);
    }
    virtual ~TaskApi(){};
};

GwUserCode::GwUserCode(GwApi *api,SemaphoreHandle_t *mainLock){
    this->logger=api->getLogger();
    this->api=api;
    this->mainLock=mainLock;
}
void userTaskStart(void *p){
    GwUserTask *task=(GwUserTask*)p;
    if (task->isUserTask){
        task->usertask(task->api);
    }
    else{
        task->task(task->api);
    }
    delete task->api;
    task->api=NULL;
}
void GwUserCode::startAddOnTask(GwApi *api,GwUserTask *task,int sourceId,String name){
    task->api=new TaskApi(api,sourceId,mainLock);
    xTaskCreate(userTaskStart,name.c_str(),task->stackSize,task,3,NULL);
}
void GwUserCode::startUserTasks(int baseId){
    LOG_DEBUG(GwLog::DEBUG,"starting %d user tasks",userTasks.size());
    for (auto it=userTasks.begin();it != userTasks.end();it++){
        LOG_DEBUG(GwLog::LOG,"starting user task %s with id %d, stackSize %d",it->name.c_str(), baseId,it->stackSize);
        startAddOnTask(api,&(*it),baseId,it->name);
        baseId++;
    }
}
void GwUserCode::startInitTasks(int baseId){
    LOG_DEBUG(GwLog::DEBUG,"starting %d user init tasks",initTasks.size());
    for (auto it=initTasks.begin();it != initTasks.end();it++){
        LOG_DEBUG(GwLog::LOG,"starting user init task %s with id %d",it->name.c_str(),baseId);
        it->api=new TaskApi(api,baseId,mainLock);
        userTaskStart(&(*it));
        baseId++;
    }
}
void GwUserCode::startAddonTask(String name, TaskFunction_t task, int id){
    LOG_DEBUG(GwLog::LOG,"starting addon task %s with id %d",name.c_str(),id);
    GwUserTask *userTask=new GwUserTask(name,task); //memory leak - acceptable as only during startup
    startAddOnTask(api,userTask,id,userTask->name);
}

GwUserCode::Capabilities * GwUserCode::getCapabilities(){
    return &userCapabilities;
}