[examples] WIP Replace Protothreads with Fibers

modm-io · Nov 23, 2024 · 0392735 · 0392735
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diff --git a/examples/arduino_nano/color/main.cpp b/examples/arduino_nano/color/main.cpp
@@ -15,78 +15,66 @@
 
 using namespace modm::platform;
 
-class Sensorthread : public modm::pt::Protothread
+modm::Fiber fiber_blink([]
 {
-private:
-	modm::ShortTimeout timeout;
-
-	modm::tcs3472::Data data;
-	modm::Tcs3472<I2cMaster> sensor{data};
-	using TCS3472_INT = Board::D2;
-
-public:
-	bool
-	update()
+	LedD13::setOutput();
+	while (true)
 	{
-		PT_BEGIN();
+		LedD13::toggle();
+		modm::this_fiber::sleep_for(0.5s);
+	}
+});
 
-		TCS3472_INT::setInput(Gpio::InputType::PullUp);
+modm::tcs3472::Data data;
+modm::Tcs3472<I2cMaster> sensor{data};
+using TCS3472_INT = Board::D2;
+modm::Fiber fiber_sensor([]
+{
+	TCS3472_INT::setInput(Gpio::InputType::PullUp);
 
-		MODM_LOG_INFO << "Ping TCS34725" << modm::endl;
-		// ping the device until it responds
-		while (true)
-		{
-			// we wait until the task started
-			if (PT_CALL(sensor.ping())) { break; }
-			// otherwise, try again in 100ms
-			timeout.restart(100ms);
-			PT_WAIT_UNTIL(timeout.isExpired());
-		}
+	MODM_LOG_INFO << "Ping TCS34725" << modm::endl;
+	// ping the device until it responds
+	while (true)
+	{
+		// we wait until the task started
+		if (sensor.ping()) break;
+		// otherwise, try again in 100ms
+		modm::this_fiber::sleep_for(100ms);
+	}
 
-		MODM_LOG_INFO << "TCS34725 responded" << modm::endl;
+	MODM_LOG_INFO << "TCS34725 responded" << modm::endl;
 
-		PT_CALL(sensor.initialize(sensor.Enable_InterruptMode_Waittime));
-		PT_CALL(sensor.configure(modm::tcs3472::Gain::X16, modm::tcs3472::IntegrationTime::MSEC_2_4));
-		PT_CALL(sensor.setInterruptPersistenceFilter(modm::tcs3472::InterruptPersistence::CNT_20));
-		// Setup WaitTime to further slow down samplerate
-		PT_CALL(sensor.setWaitTime(modm::tcs3472::WaitTime::MSEC_2_4));
+	sensor.initialize(sensor.Enable_InterruptMode_Waittime);
+	sensor.configure(modm::tcs3472::Gain::X16, modm::tcs3472::IntegrationTime::MSEC_2_4);
+	sensor.setInterruptPersistenceFilter(modm::tcs3472::InterruptPersistence::CNT_20);
+	// Setup WaitTime to further slow down samplerate
+	sensor.setWaitTime(modm::tcs3472::WaitTime::MSEC_2_4);
 
-		// Dummy read required
-		PT_CALL(sensor.readColor());
-		// Fetch one sample ...
-		PT_CALL(sensor.readColor());
-		// ...and set the high threshold 20% above current clear
-		PT_CALL(sensor.setInterruptHighThreshold(data.getClear() * 1.2));
+	// Dummy read required
+	sensor.readColor();
+	// Fetch one sample ...
+	sensor.readColor();
+	// ...and set the high threshold 20% above current clear
+	sensor.setInterruptHighThreshold(data.getClear() * 1.2);
 
-		while (true)
+	while (true)
+	{
+		sensor.reloadInterrupt();
+		modm::this_fiber::poll([]{ return not TCS3472_INT::read(); });
+		if (sensor.readColor())
 		{
-			PT_CALL(sensor.reloadInterrupt());
-			PT_WAIT_UNTIL(TCS3472_INT::read() == false);
-			if (PT_CALL(sensor.readColor()))
-			{
-				const auto rgb = data.getColor();
-				MODM_LOG_INFO << "RGB: " << rgb << "\tHSV: " << modm::color::Hsv(rgb) << modm::endl;
-			}
+			const auto rgb = data.getColor();
+			MODM_LOG_INFO << "RGB: " << rgb << "\tHSV: " << modm::color::Hsv(rgb) << modm::endl;
 		}
-
-		PT_END();
 	}
-};
-
-Sensorthread sensorthread;
+});
 
 int
 main()
 {
 	Board::initialize();
 	I2cMaster::initialize<Board::SystemClock, 100_kHz>();
 
-	LedD13::setOutput();
-	modm::ShortPeriodicTimer heartbeat(500ms);
-
-	while (true)
-	{
-		sensorthread.update();
-		if (heartbeat.execute()) Board::LedD13::toggle();
-	}
+	modm::fiber::Scheduler::run();
+	return 0;
 }
diff --git a/examples/arduino_nano/color/project.xml b/examples/arduino_nano/color/project.xml
@@ -5,8 +5,7 @@
   </options>
   <modules>
     <module>modm:build:scons</module>
-    <module>modm:processing:protothread</module>
-    <module>modm:processing:timer</module>
+    <module>modm:processing:fiber</module>
     <module>modm:platform:i2c</module>
     <module>modm:driver:tcs3472</module>
   </modules>

diff --git a/examples/avr/fiber/main.cpp b/examples/avr/fiber/main.cpp
@@ -1,5 +1,7 @@
 /*
- * Copyright (c) 2020, Erik Henriksson
+ * Copyright (c) 2010-2011, Fabian Greif
+ * Copyright (c) 2012-2013, 2015-2017, Niklas Hauser
+ * Copyright (c) 2014, Sascha Schade
  *
  * This file is part of the modm project.
  *
@@ -9,86 +11,57 @@
  */
 // ----------------------------------------------------------------------------
 
-#include <modm/board.hpp>
-#include <modm/debug/logger.hpp>
+#include <modm/platform.hpp>
+#include <modm/architecture/interface/interrupt.hpp>
 #include <modm/processing.hpp>
 
-using namespace Board;
+using namespace modm::platform;
 using namespace std::chrono_literals;
 
-constexpr uint32_t cycles = 100'000;
-volatile uint32_t f1counter = 0, f2counter = 0;
-uint32_t total_counter=0;
+using LedGreen = GpioOutputB0;
+using LedRed = GpioOutputB1;
 
-void
-fiber_function1()
+modm::Fiber fiber_green([]
 {
-	MODM_LOG_INFO << MODM_FILE_INFO << modm::endl;
-	while (++f1counter < cycles) { modm::this_fiber::yield(); total_counter++; }
-}
-
-void
-fiber_function2(uint32_t cyc)
-{
-	MODM_LOG_INFO << MODM_FILE_INFO << modm::endl;
-	while (++f2counter < cyc) { modm::this_fiber::yield(); total_counter++; }
-}
+	LedGreen::setOutput();
+	LedGreen::set();
 
-struct Test
-{
-	void
-	fiber_function3()
+	while (true)
 	{
-		MODM_LOG_INFO << MODM_FILE_INFO << modm::endl;
-		while (++f3counter < cycles) { modm::this_fiber::yield(); total_counter++; }
+		LedGreen::set();
+		modm::this_fiber::sleep_for(100ms);
+
+		LedGreen::reset();
+		modm::this_fiber::sleep_for(600ms);
 	}
+});
+
+modm::Fiber fiber_red([]
+{
+	LedRed::setOutput();
+	LedRed::set();
 
-	void
-	fiber_function4(uint32_t cyc)
+	while (true)
 	{
-		MODM_LOG_INFO << MODM_FILE_INFO << modm::endl;
-		while (++f4counter < cyc) { modm::this_fiber::yield(); total_counter++; }
-	}
+		LedRed::set();
+		modm::this_fiber::sleep_for(200ms);
+
+		LedRed::reset();
+		modm::this_fiber::sleep_for(300ms);
 
-	volatile uint32_t f3counter{0};
-	volatile uint32_t f4counter{0};
-} test;
+		LedRed::set();
+		modm::this_fiber::sleep_for(200ms);
 
-modm::Fiber<> fiber1(fiber_function1);
-modm::Fiber<> fiber2(+[](){ fiber_function2(cycles); });
-modm::Fiber<> fiber3(+[](){ test.fiber_function3(); });
-modm::Fiber<> fiber4([cyc=uint32_t(cycles)]() mutable { cyc++; test.fiber_function4(cyc); });
+		LedRed::reset();
+		modm::this_fiber::sleep_for(1s);
+	}
+});
 
-// ATmega2560@16MHz: 239996 yields in 2492668us, 96280 yields per second, 10386ns per yield
 int
 main()
 {
-	Board::initialize();
-	Board::LedD13::setOutput();
-	MODM_LOG_INFO << "Starting fiber modm::yield benchmark..." << modm::endl;
-	MODM_LOG_INFO.flush();
-
-	fiber1.stack_watermark();
-	fiber2.stack_watermark();
-	fiber3.stack_watermark();
-	fiber4.stack_watermark();
+	SystemClock::enable();
+	enableInterrupts();
 
-	const modm::PreciseTimestamp start = modm::PreciseClock::now();
 	modm::fiber::Scheduler::run();
-	const auto diff = (modm::PreciseClock::now() - start);
-
-	MODM_LOG_INFO << "Benchmark done!" << modm::endl;
-	MODM_LOG_INFO << "Executed " << total_counter << " yields in " << diff << modm::endl;
-	MODM_LOG_INFO << uint32_t((total_counter * 1'000'000ull) / std::chrono::microseconds(diff).count());
-	MODM_LOG_INFO << " yields per second, ";
-	MODM_LOG_INFO << uint32_t(std::chrono::nanoseconds(diff).count() / total_counter);
-	MODM_LOG_INFO << "ns per yield" << modm::endl;
-
-	MODM_LOG_INFO << "Stack usage 1 = " << fiber1.stack_usage() << modm::endl;
-	MODM_LOG_INFO << "Stack usage 2 = " << fiber2.stack_usage() << modm::endl;
-	MODM_LOG_INFO << "Stack usage 3 = " << fiber3.stack_usage() << modm::endl;
-	MODM_LOG_INFO << "Stack usage 4 = " << fiber4.stack_usage() << modm::endl;
-
-	while(1) ;
-	return 0;
 }
diff --git a/examples/avr/fiber/project.xml b/examples/avr/fiber/project.xml
@@ -1,12 +1,14 @@
 <library>
-  <extends>modm:mega-2560-pro</extends>
-  <!-- <extends>modm:arduino-nano</extends> -->
   <options>
+    <option name="modm:target">atmega644-20au</option>
+    <option name="modm:platform:core:f_cpu">14.7456M</option>
     <option name="modm:build:build.path">../../../build/avr/fiber</option>
   </options>
   <modules>
-    <module>modm:build:scons</module>
-    <module>modm:processing:timer</module>
+    <module>modm:platform:core</module>
+    <module>modm:platform:clock</module>
+    <module>modm:platform:gpio</module>
     <module>modm:processing:fiber</module>
+    <module>modm:build:scons</module>
   </modules>
 </library>
diff --git a/examples/avr/fiber_benchmark/main.cpp b/examples/avr/fiber_benchmark/main.cpp
@@ -0,0 +1,94 @@
+/*
+ * Copyright (c) 2020, Erik Henriksson
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/board.hpp>
+#include <modm/debug/logger.hpp>
+#include <modm/processing.hpp>
+
+using namespace Board;
+using namespace std::chrono_literals;
+
+constexpr uint32_t cycles = 100'000;
+volatile uint32_t f1counter = 0, f2counter = 0;
+uint32_t total_counter=0;
+
+void
+fiber_function1()
+{
+	MODM_LOG_INFO << MODM_FILE_INFO << modm::endl;
+	while (++f1counter < cycles) { modm::this_fiber::yield(); total_counter++; }
+}
+
+void
+fiber_function2(uint32_t cyc)
+{
+	MODM_LOG_INFO << MODM_FILE_INFO << modm::endl;
+	while (++f2counter < cyc) { modm::this_fiber::yield(); total_counter++; }
+}
+
+struct Test
+{
+	void
+	fiber_function3()
+	{
+		MODM_LOG_INFO << MODM_FILE_INFO << modm::endl;
+		while (++f3counter < cycles) { modm::this_fiber::yield(); total_counter++; }
+	}
+
+	void
+	fiber_function4(uint32_t cyc)
+	{
+		MODM_LOG_INFO << MODM_FILE_INFO << modm::endl;
+		while (++f4counter < cyc) { modm::this_fiber::yield(); total_counter++; }
+	}
+
+	volatile uint32_t f3counter{0};
+	volatile uint32_t f4counter{0};
+} test;
+
+modm::Fiber<> fiber1(fiber_function1);
+modm::Fiber<> fiber2(+[](){ fiber_function2(cycles); });
+modm::Fiber<> fiber3(+[](){ test.fiber_function3(); });
+modm::Fiber<> fiber4([cyc=uint32_t(cycles)]() mutable { cyc++; test.fiber_function4(cyc); });
+
+// ATmega2560@16MHz: 239996 yields in 2492668us, 96280 yields per second, 10386ns per yield
+int
+main()
+{
+	Board::initialize();
+	Board::LedD13::setOutput();
+	MODM_LOG_INFO << "Starting fiber modm::yield benchmark..." << modm::endl;
+	MODM_LOG_INFO.flush();
+
+	fiber1.stack_watermark();
+	fiber2.stack_watermark();
+	fiber3.stack_watermark();
+	fiber4.stack_watermark();
+
+	const modm::PreciseTimestamp start = modm::PreciseClock::now();
+	modm::fiber::Scheduler::run();
+	const auto diff = (modm::PreciseClock::now() - start);
+
+	MODM_LOG_INFO << "Benchmark done!" << modm::endl;
+	MODM_LOG_INFO << "Executed " << total_counter << " yields in " << diff << modm::endl;
+	MODM_LOG_INFO << uint32_t((total_counter * 1'000'000ull) / std::chrono::microseconds(diff).count());
+	MODM_LOG_INFO << " yields per second, ";
+	MODM_LOG_INFO << uint32_t(std::chrono::nanoseconds(diff).count() / total_counter);
+	MODM_LOG_INFO << "ns per yield" << modm::endl;
+
+	MODM_LOG_INFO << "Stack usage 1 = " << fiber1.stack_usage() << modm::endl;
+	MODM_LOG_INFO << "Stack usage 2 = " << fiber2.stack_usage() << modm::endl;
+	MODM_LOG_INFO << "Stack usage 3 = " << fiber3.stack_usage() << modm::endl;
+	MODM_LOG_INFO << "Stack usage 4 = " << fiber4.stack_usage() << modm::endl;
+
+	while(1) ;
+	return 0;
+}
diff --git a/examples/avr/fiber_benchmark/project.xml b/examples/avr/fiber_benchmark/project.xml
@@ -0,0 +1,12 @@
+<library>
+  <extends>modm:mega-2560-pro</extends>
+  <!-- <extends>modm:arduino-nano</extends> -->
+  <options>
+    <option name="modm:build:build.path">../../../build/avr/fiber_benchmark</option>
+  </options>
+  <modules>
+    <module>modm:build:scons</module>
+    <module>modm:processing:timer</module>
+    <module>modm:processing:fiber</module>
+  </modules>
+</library>