MotorControlModuleSDFM_TMS320F28388D/Projects/EFC_Application/main.cpp

/*
 *  Project: EFC_Application
 *
 *  FILE main.cpp
 *
 */
#include <stdlib.h>
#include <stddef.h>
#include <stdint.h>

#include <FreeRTOS.h>
#include <task.h>

/* -------------------------------------------------------------------------- */

#include <UMLibrary/common/Result.hh>

#include <UMLibrary/configuration/AddProcessor.hpp>
#include <UMLibrary/configuration/software/AppBuilder.hh>
#include <UMLibrary/configuration/software/AppInfo.hh>
#include <UMLibrary/configuration/software/ApplicationConfigurator.hh>
#include <UMLibrary/configuration/software/CreateToBuilder.hpp>

#include <UMLibrary/systemic/ValueManager.hpp>
#include <UMLibrary/systemic/SystemException.hh>
#include <UMLibrary/systemic/Scheduler.hpp>

/* -------------------------------------------------------------------------- */
#include <Platform/Config.h>

#include <Platform/core/init/init.hpp>

#include <Platform/memory/MemoryRegions.hpp>
#include <Platform/memory/RtosMemoryResource.hpp>
#include <Platform/memory/StaticMemoryResource.hpp>

#include <Platform/rtos/task/InitTask.hpp>
#include <Platform/rtos/task/MainTask.hpp>

#include <Platform/driver/ipc/Ipc.hpp> // TODO Перенести в setup

#include <Platform/application/config/ParamStorage.hpp>
#include <Platform/application/config/ParamUnpack.hpp>
#include <Platform/application/info/AppInfo.hpp>
#include <Platform/application/info/DeviceInfo.hpp>
#include <Platform/application/setup/AppConfigurator.hpp>
#include <Platform/application/setup/Environment.hpp>
#include <Platform/application/setup/PeriphConfigurator.hpp>
#include <Platform/application/setup/StatusHerald.hpp>
#include <Platform/application/setup/Service.hpp>
#include <Platform/application/setup/AppBuilder.hpp>

#include "Motor/Motor.h"

/* -------------------------------------------------------------------------- */
#ifdef CPU1
#include "autoconfig_cpu1.hh"
#else
#include "autoconfig_cpu2.hh"
#endif

#include "autoadd.hh"

/* -------------------------------------------------------------------------- */

#ifdef CPU1

#include "Platform/core/boot/CmBoot.hpp"
#include "Platform/core/boot/Cpu2Boot.hpp"

platform::core::CmBoot::Action handleCmBoot(platform::core::CmBoot::Status status, void* param);

platform::core::Cpu2Boot::Action handleCpu2Boot(platform::core::Cpu2Boot::Status status, void* param);

#endif // CPU1


/* -------------------------------------------------------------------------- */

platform::memory::RtosMemoryResource rtos_heap_mr(
    (HeapRegion) { RTOS_HEAP0_START, RTOS_HEAP0_SIZE }
);

platform::memory::StaticMemoryResource app_ls_heap_mr(
    (HeapRegion) { APP_HEAP0_START, APP_HEAP0_SIZE }
);

platform::memory::StaticMemoryResource app_gs_heap_mr(
    (HeapRegion) { APP_HEAP1_START, APP_HEAP1_SIZE }
);

/* -------------------------------------------------------------------------- */

static platform::rtos::InitTask init_task;
static platform::rtos::MainTask main_task;

/* -------------------------------------------------------------------------- */

static void app_builder_teardown() {
    platform::application::config::ParamStorage::drop();
    platform::application::info::AppInfo::drop();
    platform::application::info::DeviceInfo::drop();

//    platform::driver::Ipc::lock();
}

/*
 *  Инициализация ВСЕГО
 */
void platform::rtos::InitTask::process(void* param)
{
    std::srand(xTaskGetTickCount());

    {
        InitMotor();  ///< FIXME: инициализация от Секлюцкого
    }
    /* Чтение и разбор конфигурации */
    {
        using namespace platform::application;

        /* Таблицы инициализаторов конфигурации */
        {
            const bool app_info_init =
                info::AppInfo::init(rtos_heap_mr, PROJECT_CAP_APP_INFO_RECORDS);

            if (!app_info_init) std::abort();

            const bool dev_info_init =
                info::DeviceInfo::init(rtos_heap_mr, PROJECT_CAP_DEVICE_INFO_RECORDS);

            if (!dev_info_init) std::abort();
        }

        /* Получение и распаковка таблицы параметров конфигурации */
        {
            /*
            // TODO Аппаратный доступ к хранилищу настроек IMemoryAccess

            auto param_storage_init =
                config::ParamStorage::init(config_file, sram_heap_mr);

            if (param_storage_init.isErr()) std::abort();

            auto& param_storage = *param_storage_init.unwrap();

            auto param_unpack_init =
                config::ParamUnpack(param_storage, info::AppInfo(), info::DeviceInfo()).unpack();

            if (param_unpack_init.isErr()) std::abort();
            */
        }
    }

    /** Создание окружения времени выполнения */

    configuration::Environment* environment = nullptr;

    {
        using namespace platform::application;
        using namespace configuration;

        /** Параметры платформы */
        const EnvironmentCapacity env_capacity = {
            .signals_capacity       = PROJECT_NUM_SIGNALS,
            .statuses_capacity      = PROJECT_NUM_STATUSES,
            .resources_capacity     = PROJECT_NUM_OBJECTS,
            .num_of_param_providers = PROJECT_NUM_PARPROVIDERS,
            .num_of_scheduler       = PROJECT_NUM_PROCSCHEDULERS,
        };

        /** Ресурсы памяти */
        std::pmr::memory_resource& object_mr    = app_gs_heap_mr;
        std::pmr::memory_resource& data_mr      = app_gs_heap_mr;
        std::pmr::memory_resource& setup_mr     = app_ls_heap_mr;

        /** Обработчик ошибок */
        static char exc_data_buffer[PROJECT_EXCEPTION_DATA_BUFFER_SIZE];

        systemic::ExceptionHandler exception_handler(exc_data_buffer, sizeof(exc_data_buffer));

        /** Глобальный объект окружения */
        Result< Environment*, setup::EnvironmentError >
        environment_setup =
            setup::Environmnet(
                app_gs_heap_mr,   /* env_mr */
                app_gs_heap_mr,   /* table_mr */
                app_gs_heap_mr,   /* local_mr */
                object_mr,
                data_mr,
                setup_mr,
                systemic::ResourceHolder::getDefault(),
                systemic::ValueManager<bool>::getDefault(),
                systemic::ValueManager<float>::getDefault(),
                exception_handler,
                env_capacity
            );

        environment = environment_setup.unwrap();

        environment->platform_info = &setup::StatusHerald::platformInfo;
    }

    /** Инстанцирование базовых ресурсов */
    {
        using namespace platform::application;

        /** Планировщик приложения */
        {
            typedef systemic::Scheduler< PROJECT_APP_SCHEDULER_ID > AppProcessor;

            configuration::addProcessor< AppProcessor >(
                1. / (float) PROJECT_APP_SCHEDULER_FREQ,
                PROJECT_APP_SCHEDULER_NUM_PROCESS,
                *environment,
                app_ls_heap_mr,
                app_ls_heap_mr
            );
        }

        /** Межпроцессорное взаимодействие */
        {
            platform::driver::Ipc::init();
        }

        /** Сервисный обмен */
        {
            Result< void, setup::ServiceError >
            service_setup = setup::Service(app_ls_heap_mr);

            if (service_setup.isErr()) std::abort();
        }
    }

    /** Сборка платформенных инициализаторов */
    {
        using namespace platform::application;
        using namespace configuration::software;

        /* Создание фабрики инициализаторов */
        Result< periph::PeriphConfigurator*, setup::PeriphConfiguratorError >
        configurator_setup =
            setup::PeriphConfigurator(
                app_ls_heap_mr,
                app_ls_heap_mr,
                ::platform::application::periph::periph_initializer_list_size
            );

        periph::PeriphConfigurator& configurator = *configurator_setup.unwrap();

        /* Регистрация инициализаторов */
        ::platform::application::periph::add(configurator);

        /* Сборка инициализаторов */
        info::DeviceInfo::Initializers initializers = info::DeviceInfo::getInitializers();

        info::DeviceInfo::InitializerIterator initializer_iter = initializers.begin();

        for (; initializer_iter != initializers.end(); ++initializer_iter) {
            info::DeviceInfo::InitializerInfo initializer_info = *initializer_iter;

            if (!configurator.build(initializer_info, *environment)) std::abort();
        }
    }

    /* Сборка библиотечных инициализаторов */
    {
        using namespace platform::application;
        using namespace configuration::software;

        /* Создание фабрики инициализаторов */
        Result< ApplicationConfigurator*, setup::AppConfiguratorError >
        configurator_setup =
            setup::AppConfigurator(
                app_ls_heap_mr,
                app_ls_heap_mr,
                ::application::info::application_initializer_list_size
            );

        ApplicationConfigurator& configurator = *configurator_setup.unwrap();

        /* Создание процедуры сборки инициализаторов */
        const size_t build_items_num = info::AppInfo::getInitializers().getSize();

        Result< AppBuilder*, setup::AppBuilderError >
        app_builder_setup =
            setup::AppBuilder(
                app_ls_heap_mr,
                build_items_num,
                *environment,
                PROJECT_APP_SCHEDULER_ID,
                app_builder_teardown
            );

        AppBuilder& app_builder = *app_builder_setup.unwrap();

        /* Регистрация инициализаторов */
        ::application::autoadd(configurator);

        /* Добавление инициализаторов в список сборки */
        info::AppInfo::Initializers initializers = info::AppInfo::getInitializers();

        info::AppInfo::InitializerIterator initializer_iter = initializers.begin();

        for (; initializer_iter != initializers.end(); ++initializer_iter) {
            CreateToBuilder(configurator, app_builder)(*initializer_iter);
        }
    }

#ifdef CPU1
    platform::core::Cpu2Boot::boot(handleCpu2Boot, NULL);
    platform::core::CmBoot::boot(handleCmBoot, NULL);
#endif // CPU1


    /* Запуск основного потока */
    main_task.handle = xTaskCreateStatic(
        main_task.func,
        main_task.name,
        main_task.depth,
        NULL,
        main_task.prio,
        main_task.stack,
        &main_task.desc
    );

    if (main_task.handle == nullptr) std::abort();

    vTaskDelete(nullptr);
}

void platform::rtos::MainTask::process(void* param) {
    for (;;) {
        TickType_t timestamp = xTaskGetTickCount();

        try {
            systemic::Scheduler< PROJECT_APP_SCHEDULER_ID >::runOnce();
        } catch(std::exception& e) { }

        vTaskDelayUntil(&timestamp, pdMS_TO_TICKS(1));
    }
}

std::pmr::memory_resource* default_mr = &app_ls_heap_mr;

/*
 *
 *              Main
 *
 */
int main(void) {
    if (!platform::core::init()) std::abort();

    const BaseType_t init_task_status =
        xTaskCreate(
            init_task.func,
            init_task.name,
            init_task.depth,
            NULL,
            init_task.prio,
            &init_task.handle
        );

    if (init_task_status != pdPASS) std::abort();

    vTaskStartScheduler();

    return 0;
}

#ifdef CPU1

platform::core::Cpu2Boot::Action handleCpu2Boot(platform::core::Cpu2Boot::Status status, void* param) {
    using namespace platform::core;

    return
    (status == Cpu2Boot::StatusOk)
        ? Cpu2Boot::ActionNone
        : Cpu2Boot::ActionResetDevice;
}

platform::core::CmBoot::Action handleCmBoot(platform::core::CmBoot::Status status, void* param) {
    using namespace platform::core;

    return
    (status == platform::core::CmBoot::StatusOk)
        ? CmBoot::ActionNone
        : CmBoot::ActionResetDevice;
}

#endif // CPU1