Add am_ao_get_own_prio()

Author: adel-mamin

libs/ao/ao.c

@@ -286,6 +286,8 @@ void am_ao_state_ctor(const struct am_ao_state_cfg *cfg) {
     me->crit_exit = cfg->crit_exit;
     me->on_idle = cfg->on_idle;
 
+    me->running_ao_prio = AM_AO_PRIO_INVALID;
+
     struct am_event_state_cfg cfg_event = {
         .crit_enter = cfg->crit_enter,
         .crit_exit = cfg->crit_exit,

libs/ao/ao.h

@@ -100,6 +100,8 @@ struct am_ao_state_cfg {
 #define AM_AO_NUM_MAX 64
 #endif
 
+/** Invalid AO priority */
+#define AM_AO_PRIO_INVALID -1
 /** The minimum AO priority level. */
 #define AM_AO_PRIO_MIN 0
 /** The maximum AO priority level. */
@@ -496,6 +498,13 @@ void am_ao_wait_start_all(void);
  */
 int am_ao_get_cnt(void);
 
+/**
+ * Get active object own priority level.
+ *
+ * @return the priority level
+ */
+int am_ao_get_own_prio(void);
+
 #ifdef __cplusplus
 }
 #endif

libs/ao/cooperative/port.c

@@ -47,7 +47,9 @@ bool am_ao_run_all(void) {
         for (int i = 0; i < AM_COUNTOF(me->aos); ++i) {
             struct am_ao *ao = me->aos[i];
             if (ao && ao->hsm_init_pend) {
+                me->running_ao_prio = ao->prio;
                 am_hsm_init(&ao->hsm, ao->init_event);
+                me->running_ao_prio = AM_AO_PRIO_INVALID;
                 ao->hsm_init_pend = false;
             }
         }
@@ -88,7 +90,11 @@ bool am_ao_run_all(void) {
         }
         me->debug(ao, e);
         AM_ATOMIC_STORE_N(&ao->last_event, e->id);
+        me->running_ao_prio = ao->prio;
+
         am_hsm_dispatch(&ao->hsm, e);
+
+        me->running_ao_prio = AM_AO_PRIO_INVALID;
         AM_ATOMIC_STORE_N(&ao->last_event, AM_EVT_INVALID);
         am_event_free(&e);
 
@@ -184,3 +190,9 @@ void am_ao_notify(const struct am_ao *ao) {
 }
 
 void am_ao_wait_start_all(void) {}
+
+int am_ao_get_own_prio(void) {
+    const struct am_ao_state *me = &am_ao_state_;
+    AM_ASSERT(AM_AO_PRIO_INVALID != me->running_ao_prio);
+    return me->running_ao_prio;
+}

libs/ao/preemptive/port.c

@@ -170,3 +170,16 @@ void am_ao_wait_start_all(void) {
     am_pal_mutex_lock(me->startup_mutex);
     am_pal_mutex_unlock(me->startup_mutex);
 }
+
+int am_ao_get_own_prio(void) {
+    int task_id = am_pal_task_get_own_id();
+    AM_ASSERT(AM_PAL_TASK_ID_MAIN != task_id);
+    struct am_ao_state *me = &am_ao_state_;
+    for (int i = 0; i < AM_COUNTOF(me->aos); ++i) {
+        struct am_ao *ao = me->aos[i];
+        if (ao && ao->task_id == task_id) {
+            return ao->prio;
+        }
+    }
+    AM_ASSERT(0);
+}

libs/ao/state.h

@@ -65,6 +65,12 @@ struct am_ao_state {
     /** Exit critical section. */
     void (*crit_exit)(void);
 
+    /**
+     * The priority of the currently running AO.
+     * Only valid for cooperative AO builds.
+     */
+    int running_ao_prio;
+
     /**
      * there is a pending am_ao_task() call to be done from
      * am_ao_run_all() function

libs/ao/tests/minimal.c

@@ -59,6 +59,7 @@ static struct loopback_test {
 static int loopback_proc(struct loopback *me, const struct am_event *event) {
     switch (event->id) {
     case AM_EVT_MIN:
+        AM_ASSERT(am_ao_get_own_prio() == (AM_AO_PRIO_MAX - 1));
         am_ao_post_fifo(&m_loopback_test.ao, event);
         return AM_HSM_HANDLED();
     default:
@@ -69,6 +70,7 @@ static int loopback_proc(struct loopback *me, const struct am_event *event) {
 
 static int loopback_init(struct loopback *me, const struct am_event *event) {
     (void)event;
+    AM_ASSERT(am_ao_get_own_prio() == (AM_AO_PRIO_MAX - 1));
     return AM_HSM_TRAN(loopback_proc);
 }
 
@@ -77,6 +79,7 @@ static int loopback_test_proc(
 ) {
     switch (event->id) {
     case AM_EVT_MIN:
+        AM_ASSERT(am_ao_get_own_prio() == AM_AO_PRIO_MAX);
         ++me->cnt;
         if (100 == me->cnt) {
             exit(0);
@@ -93,6 +96,7 @@ static int loopback_test_init(
     struct loopback_test *me, const struct am_event *event
 ) {
     (void)event;
+    AM_ASSERT(am_ao_get_own_prio() == AM_AO_PRIO_MAX);
     am_ao_post_fifo(&m_loopback.ao, &m_min_event);
     return AM_HSM_TRAN(loopback_test_proc);
 }