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removed magic - added static to restrict exposure

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ti_mo
2026-06-05 00:34:06 +02:00
parent e3b9a7e4cf
commit bb0afd41a3
1 changed files with 26 additions and 18 deletions
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main.cpp
+26 -18
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@@ -9,6 +9,15 @@
#include "queue.h" #include "queue.h"
#include "semphr.h" #include "semphr.h"
#define BASE_TASK_PRIO 1
#define SERIAL_PROCESSOR_TASK_PRIO 2
#define COMMAND_HANDLER_TASK_PRIO 3
#define MAX_SERIAL_QUEUE_COUNT 16
#define COMMAND_HANDLER_TASK_COUNT 10
#define DEFAULT_TASK_STACK_SIZE 512
#define PING_COMMAND "ping" #define PING_COMMAND "ping"
#define PING_RESPONSE "PONG!" #define PING_RESPONSE "PONG!"
@@ -17,8 +26,9 @@
#define distilleCore(core) (1 << (core)) #define distilleCore(core) (1 << (core))
#define is_digit_char(num) (num >= '0' && num <= '9') #define is_digit_char(num) (num >= '0' && num <= '9')
QueueHandle_t serial_queue; static QueueHandle_t serial_queue;
QueueHandle_t command_handler_task_queue; static QueueHandle_t command_handler_task_queue;
static SemaphoreHandle_t serial_out_mutex;
typedef struct { typedef struct {
int id; int id;
@@ -26,8 +36,6 @@ typedef struct {
TaskHandle_t task_handle; TaskHandle_t task_handle;
} CommandTask; } CommandTask;
static SemaphoreHandle_t serial_out_mutex;
static void printf_sync(const char *fmt, ...){ static void printf_sync(const char *fmt, ...){
va_list args; va_list args;
va_start(args, fmt); va_start(args, fmt);
@@ -82,11 +90,11 @@ static void read_serial_line_task(void *params){
} }
} }
bool is_valid_command(const char *command){ static bool is_valid_command(const char *command){
return strstr(command, PING_COMMAND) == command; return strstr(command, PING_COMMAND) == command;
} }
void parse_command(CommandTask *dest, const char *command){ static void parse_command(CommandTask *dest, const char *command){
char *delim = strchr(command, ':'); char *delim = strchr(command, ':');
if(delim == nullptr || delim == command){ if(delim == nullptr || delim == command){
dest->id = -1; dest->id = -1;
@@ -108,12 +116,12 @@ void parse_command(CommandTask *dest, const char *command){
return; return;
} }
void clear_command_task(CommandTask *cmd_task){ static void clear_command_task(CommandTask *cmd_task){
cmd_task->id = -1; cmd_task->id = -1;
cmd_task->command[0] = '\0'; cmd_task->command[0] = '\0';
} }
void command_handler_task(void *params){ static void command_handler_task(void *params){
CommandTask *cmd_task = (CommandTask*)params; CommandTask *cmd_task = (CommandTask*)params;
while(true){ while(true){
@@ -183,8 +191,8 @@ extern "C" void vApplicationStackOverflowHook(TaskHandle_t task, char *task_name
} }
} }
void init_serial_queue(){ static void init_serial_queue(){
serial_queue = xQueueCreate(10, sizeof(char[64])); serial_queue = xQueueCreate(MAX_SERIAL_QUEUE_COUNT, sizeof(char[64]));
if (serial_queue == NULL) { if (serial_queue == NULL) {
printf("Failed to create serial queue\n"); printf("Failed to create serial queue\n");
while(true){ while(true){
@@ -193,8 +201,8 @@ void init_serial_queue(){
} }
} }
void init_command_handler(){ static void init_command_handler(){
command_handler_task_queue = xQueueCreate(10, sizeof(CommandTask*)); command_handler_task_queue = xQueueCreate(COMMAND_HANDLER_TASK_COUNT, sizeof(CommandTask*));
if (command_handler_task_queue == NULL) { if (command_handler_task_queue == NULL) {
printf("Failed to create command handler task queue\n"); printf("Failed to create command handler task queue\n");
while(true){ while(true){
@@ -202,7 +210,7 @@ void init_command_handler(){
} }
} }
for(int i = 0; i < 10; i++){ for(int i = 0; i < COMMAND_HANDLER_TASK_COUNT; i++){
CommandTask *cmd_task = (CommandTask*)malloc(sizeof(CommandTask)); CommandTask *cmd_task = (CommandTask*)malloc(sizeof(CommandTask));
if(cmd_task == nullptr){ if(cmd_task == nullptr){
printf("Failed to allocate memory for command task\n"); printf("Failed to allocate memory for command task\n");
@@ -211,7 +219,7 @@ void init_command_handler(){
} }
} }
if(xTaskCreateAffinitySet(command_handler_task, "CmdHandler", 512, cmd_task, 2, distilleCore(0), &cmd_task->task_handle) != pdPASS){ if(xTaskCreateAffinitySet(command_handler_task, "CmdHandler", DEFAULT_TASK_STACK_SIZE, cmd_task, COMMAND_HANDLER_TASK_PRIO, distilleCore(0), &cmd_task->task_handle) != pdPASS){
printf("Failed to create command handler task\n"); printf("Failed to create command handler task\n");
while(true){ while(true){
tight_loop_contents(); tight_loop_contents();
@@ -223,7 +231,7 @@ void init_command_handler(){
} }
} }
void init_serial_out_mutex(){ static void init_serial_out_mutex(){
serial_out_mutex = xSemaphoreCreateMutex(); serial_out_mutex = xSemaphoreCreateMutex();
if (serial_out_mutex == NULL) { if (serial_out_mutex == NULL) {
printf("Failed to create serial output mutex\n"); printf("Failed to create serial output mutex\n");
@@ -240,9 +248,9 @@ int main(){
init_command_handler(); init_command_handler();
init_serial_out_mutex(); init_serial_out_mutex();
xTaskCreateAffinitySet(led_task, "LED", 512, nullptr, 1, distilleCore(0), nullptr); xTaskCreateAffinitySet(led_task, "LED", DEFAULT_TASK_STACK_SIZE, nullptr, BASE_TASK_PRIO, distilleCore(0), nullptr);
xTaskCreateAffinitySet(serial_processing_task, "Serial Processing", 512, nullptr, 1, distilleCore(0), nullptr); xTaskCreateAffinitySet(serial_processing_task, "Serial Processing", DEFAULT_TASK_STACK_SIZE, nullptr, SERIAL_PROCESSOR_TASK_PRIO, distilleCore(1), nullptr);
xTaskCreateAffinitySet(read_serial_line_task, "Serial Receiver", 512, nullptr, 1, distilleCore(0), nullptr); xTaskCreateAffinitySet(read_serial_line_task, "Serial Receiver", DEFAULT_TASK_STACK_SIZE, nullptr, BASE_TASK_PRIO, distilleCore(0), nullptr);
vTaskStartScheduler(); vTaskStartScheduler();