Add firmware abstraction that simplifies periodic/event-driven task simulation (#7)

Author: dgobalak

CMakeLists.txt

@@ -15,6 +15,10 @@ add_subdirectory(sim)
 add_subdirectory(libs/freertos)
 add_subdirectory(libs/sutsim/c)
 
+if (SUTSIM_ENABLE_TASK_CONFIG STREQUAL "ON")
+    add_subdirectory(libs/task_config)
+endif()
+
 foreach(FIRMWARE_DIR ${SUTSIM_FIRMWARE_DIRS})
     add_subdirectory(${FIRMWARE_DIR})
 endforeach()

examples/CMakeLists.txt

@@ -7,5 +7,6 @@ set(SUTSIM_FIRMWARE_DIRS
     ${CMAKE_CURRENT_SOURCE_DIR}/src
 )
 set(SUTSIM_FIRMWARE_FREERTOS_CONFIG_PATH ${CMAKE_CURRENT_SOURCE_DIR}/src)
+set(SUTSIM_ENABLE_TASK_CONFIG ON)
 
-add_subdirectory(.. build)
+add_subdirectory(.. build)

examples/src/CMakeLists.txt

@@ -1,8 +1,9 @@
 # Build the firmware as a shared library for dynamic loading
 
 set(SOURCES
-    firmware.c
-    rtos_app_hooks.c
+    sutsim_hooks.c
+    app_task_config.c
+    app_temperature.c
     temperature_sensor.c
 )
 
@@ -16,9 +17,10 @@ target_include_directories(firmware PRIVATE ${INCLUDE_DIRS})
 target_link_libraries(firmware
     freertos_with_port
     sutsim
+    task_config
 )
 
-# Set output directory for firmware shared libraries (to test/sim_artifacts)
+# Set output directory for firmware shared libraries
 set_target_properties(firmware PROPERTIES
     LIBRARY_OUTPUT_DIRECTORY ${SUTSIM_TEST_DIR}/sim_artifacts
 )

examples/src/app_task_config.c

@@ -0,0 +1,28 @@
+#include "task_config.h"
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <stddef.h>
+
+extern void taskFunction_readTemperature_init_100Hz(void);
+extern void taskFunction_readTemperature_run_100Hz(void);
+extern void taskFunction_processTemperature_eventDriven(void);
+
+static taskConfig_S task_config[] = {
+    {
+        .type = TASK_TYPE_PERIODIC,
+        .period_ms = 10,
+        .task_init_func = taskFunction_readTemperature_init_100Hz,
+        .task_run_func = taskFunction_readTemperature_run_100Hz,
+    },
+    {
+        .type = TASK_TYPE_EVENT_DRIVEN,
+        .task_init_func = NULL,
+        .task_run_func = taskFunction_processTemperature_eventDriven,
+    }
+};
+
+taskConfigList_S task_config_list = {
+    .task_config = task_config,
+    .task_count = sizeof(task_config) / sizeof(taskConfig_S),
+};

examples/src/app_temperature.c

@@ -0,0 +1,49 @@
+#include "temperature_sensor.h"
+
+#include "FreeRTOS.h"
+#include "queue.h"
+
+#include <stdio.h>
+#include <stdint.h>
+
+/* DEFINES */
+#define APP_TEMPERATURES_QUEUE_LENGTH    10
+#define APP_TEMPERATURES_QUEUE_ITEM_SIZE sizeof(float)
+
+/* TYPEDEFS */
+typedef struct {
+    QueueHandle_t temperature_queue;
+    StaticQueue_t temperature_queueBuffer;
+    uint8_t       temperature_queueStorageArea[APP_TEMPERATURES_QUEUE_LENGTH * APP_TEMPERATURES_QUEUE_ITEM_SIZE];
+} app_temperatures_S;
+
+/* PRIVATE VARIABLES */
+static app_temperatures_S app_temperatures = {0};
+
+/* PUBLIC FUNCTIONS */
+// Init function to be called before tasks are created
+void app_temperature_init(void) {
+    app_temperatures.temperature_queue = xQueueCreateStatic(APP_TEMPERATURES_QUEUE_LENGTH, APP_TEMPERATURES_QUEUE_ITEM_SIZE, app_temperatures.temperature_queueStorageArea, &app_temperatures.temperature_queueBuffer);
+}
+
+// Temperature reading task (periodic)
+void taskFunction_readTemperature_init_100Hz(void) {
+    (void)temperature_sensor_init();
+}
+
+void taskFunction_readTemperature_run_100Hz(void) {
+    float t = 0.0f;
+    if (temperature_sensor_readCelsius(&t) == TEMPERATURE_SENSOR_SUCCESS) {
+        (void)xQueueSend(app_temperatures.temperature_queue, &t, 0);
+    }
+}
+
+// Temperature processing task (event-driven)
+void taskFunction_processTemperature_eventDriven(void) {
+    float t = 0.0f;
+
+    // Note: Non-zero block time does not work in sim
+    if (xQueueReceive(app_temperatures.temperature_queue, &t, 0U) == pdTRUE) {
+        printf("Firmware: Current temperature is %.2f°C\n", t);
+    }
+}

examples/src/firmware.c

@@ -0,0 +1,41 @@
+#include "sutsim.h"
+#include "task_config.h"
+
+#include <stdio.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+// Hooks defined by application
+extern void app_temperature_init(void);
+
+void sut_init_hook(void) {
+    // Module initialization
+    app_temperature_init();
+    
+    // Task initialization
+    task_executeAllInit();
+}
+
+void sut_tick_hook(void) {
+    // Assume tick rate is 1kHz
+    static uint32_t tickCounter = 0;
+
+    task_executeAll(tickCounter);
+
+    tickCounter = (tickCounter + 1) % 1000;
+}
+
+void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,
+                                    StackType_t ** ppxIdleTaskStackBuffer,
+                                    configSTACK_DEPTH_TYPE * puxIdleTaskStackSize )
+{
+    static StaticTask_t xIdleTaskTCB;
+    static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ];
+
+    *ppxIdleTaskTCBBuffer = &( xIdleTaskTCB );
+    *ppxIdleTaskStackBuffer = &( uxIdleTaskStack[ 0 ] );
+    *puxIdleTaskStackSize = configMINIMAL_STACK_SIZE;
+}

examples/src/rtos_app_hooks.c

@@ -9,10 +9,10 @@ def test_data_types():
     # Initialize the simulator
     simulator.initSim("device", firmware_lib_path)
 
+    # Set the temperature sensor data and verify it was set correctly
     simulator.setSutDataFloat("device.temperature_sensor.temperature", 100.0)
-
-    for _ in range(20):
+    simulator.getSutDataFloat("device.temperature_sensor.temperature") == 100.0
+    
+    for _ in range(25):
         simulator.runTick()
-
-    # # Get the temperature
-    assert simulator.getSutDataFloat("device.temperature_sensor.temperature") == 100.0
+    

examples/src/sutsim_hooks.c

@@ -0,0 +1,7 @@
+add_library(task_config STATIC
+    task_config.c
+)
+
+target_include_directories(task_config PUBLIC
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)