cpp-rotor-light/examples/NUCLEO-H743ZI2/ping-pong-poll.cpp

// SPDX-License-Identifier: MIT
// SPDX-FileCopyrightText: 2022 korifey

#include "gpio.h"
#include "main.h"

#include "rotor-light.hpp"

extern "C" void SystemClock_Config(void);

extern "C" int64_t get_current_time(void);

namespace rl = rotor_light;

namespace message {
struct Ping : rl::Message {
  using Message::Message;
  static constexpr auto type_id = __LINE__;
  rl::MessageTypeId get_type_id() const override { return type_id; }
};

struct Pong : rl::Message {
  using Message::Message;
  static constexpr auto type_id = __LINE__;
  rl::MessageTypeId get_type_id() const override { return type_id; }
};
} // namespace message

struct Pinger : rl::Actor<2> {
  using Parent = Actor<2>;

  void initialize() override {
    subscribe(&Pinger::on_pong);
    Parent::initialize();
  }

  void advance_start() override {
    Parent::advance_start();
    ping();
  }

  void ping() { send<message::Ping>(0, ponger_id); }

  void on_pong(message::Pong &) {
    LL_GPIO_TogglePin(LD1_GPIO_Port, LD1_Pin);
    add_event(
        500, [](void *data) { static_cast<Pinger *>(data)->ping(); }, this);
  }

  rl::ActorId ponger_id;
};

struct Ponger : rl::Actor<2> {
  using Parent = Actor<2>;

  void initialize() override {
    subscribe(&Ponger::on_ping);
    Parent::initialize();
  }
  void on_ping(message::Ping &) {
    LL_GPIO_TogglePin(LD2_GPIO_Port, LD2_Pin);
    add_event(
        200, [](void *data) { static_cast<Ponger *>(data)->reply(); }, this);
  }
  void reply() { send<message::Pong>(0, pinger_id); }
  rl::ActorId pinger_id;
};

using Supervisor =
    rl::Supervisor<rl::SupervisorBase::min_handlers_amount, Pinger, Ponger>;
using Storage = rl::traits::MessageStorage<rl::message::ChangeState,
                                           rl::message::ChangeStateAck,
                                           message::Ping, message::Pong>;
using Queue = rl::Queue<Storage, 5>; /* upto 5 messages in 1 queue */
using Planner = rl::Planner<2>;      /* upto 1 time event */

int main(int, char **) {

  /* Reset of all peripherals, Initializes the Flash interface and the Systick.
   */
  LL_APB4_GRP1_EnableClock(LL_APB4_GRP1_PERIPH_SYSCFG);

  /* System interrupt init*/
  NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_4);
  /* Update the time base */

  /* Configure the system clock */
  SystemClock_Config();
  MX_GPIO_Init();
  SysTick_Config(SystemCoreClock / 1000);

  /* allocate */
  Queue queue;
  Planner planner;
  rl::Context context{&queue, &planner, &get_current_time};
  Supervisor sup;

  /* setup */
  sup.bind(context);
  auto pinger = sup.get_child<0>();
  auto ponger = sup.get_child<1>();
  pinger->ponger_id = ponger->get_id();
  ponger->pinger_id = pinger->get_id();
  /* let it polls timer */
  sup.start(true);

  /* main cycle */
  sup.process();
  return 0;
}