Simple Blinky example for QP/C++, which demonstrates:
- Active object (Blinky) with state machine
- Board Support Package abstraction for portability
- BSP implementation for desktop OS (Windows, Linux, Mac)
- Platform-independent main() function
- make.bat batch file for Windows
Blinky constructor
: QActive(Q_STATE_CAST(&Mission::initial)),
m_timeEvt(this, TIMEOUT_SIG, 0U)
// arm the private time event to expire in 1/2s
// and periodically every 1/2 second
m_timeEvt.armX(BSP::TICKS_PER_SEC/2,
BSP::TICKS_PER_SEC/2);
(void)e; // unused parameter
Start CTD periodic FP command
initProfile();
startNegativeBuoyancy();
startSendFPTimer();
startPVController(FPMode);
printf("Entering RecoverySurfaceOps State");
Sleep(1000);
sendCR(4, true);
initMission();
Look for park depths
Look for anchor
initPlatform();
sendSampleCommands();
stopPVController();
startDepthController();
stopPVController();
Look for park depths
Look for anchor
stopSendFPTimer();
startCPMode();
startPVController(CPMode);
stopPVController();
#include "qpcpp.h" // QP/C++ framework API
#include "bsp.h" // Board Support Package interface
#include <Windows.h>
#include <stdio.h>
using namespace QP;
// ask QM to declare the Mission class ----------------------------------------
$declare${AOs::Mission}
// instantiate the Mission active object --------------------------------------
static Mission l_mission;
QActive * const AO_Mission = &l_mission;
// ask QM to define the Mission class (including the state machine) -----------
$define${AOs::Mission}
#ifndef BSP_H
#define BSP_H
// a very simple Board Support Package (BSP) -----========--------------------
class BSP {
public:
enum { TICKS_PER_SEC = 100 }; // numer of clock ticks in a second
static void init(void);
static void ledOff(void);
static void ledOn(void);
};
enum MissionSignals {
TIMEOUT_SIG = QP::Q_USER_SIG, // offset the first signal
IPDone_SIG,
IMDone_SIG,
GotPositionRec_SIG,
SBDBuiltRec_SIG,
SBDUploadedRec_SIG,
SO_TIMEOUT_Rec_SIG,
GotNewMissionRec_SIG,
RestartMission_SIG,
CheckDepthFNB_SIG,
StartDescend_SIG,
atSurfaceRecovery_SIG,
GotGo_SIG,
ProfileSampleInstr_SIG,
DescParkTIMEOUT_SIG,
ParkCheckDandT_SIG,
AtParkPt_SIG,
SampleInstr_SIG,
HitBottom_SIG,
ProfileDone_SIG,
DoneSampling_SIG,
AnchorOffBottom_SIG,
AnchorCheckDandT_SIG,
ProfileVelCtrlrStarted_SIG,
SO_SBDBuilt_SIG,
SO_SBDUploaded_SIG,
GotSOPosition_SIG,
SOGotNewMission_SIG,
Action1Done_SIG,
Action2Done_SIG,
SODone_SIG,
NeedToDescend_SIG,
FNB_CheckDepthTIMEOUT_SIG,
FoundNeutral_SIG,
FNBDescending_SIG,
StateTIMEOUT_SIG,
MAX_SIG
};
// active object(s) used in this application -------------------------------
extern QP::QActive * const AO_Mission; // opaque pointer to the Blinky AO
#endif // BSP_H
#include "qpcpp.h" // QP/C++ framework API
#include "bsp.h" // Board Support Package interface
#include <iostream> // for cout/cerr
#include <cstdlib> // for exit()
using namespace std;
using namespace QP;
void BSP::init(void) {
cout << "Simple Mission example\nQP/C++ version: "
<< QP_VERSION_STR
<< "\nPress Ctrl-C to quit..."
<< endl; // print QP version
}
void BSP::ledOff(void) { cout << "LED OFF" << endl; }
void BSP::ledOn(void) { cout << "LED ON" << endl; }
// callback functions needed by the framework --------------------------------
void QF::onStartup(void) {}
void QP::QF::onCleanup(void) {}
void QP::QF_onClockTick(void) {
QF::TICK_X(0U, 0); // QF clock tick processing for rate 0
}
void Q_onAssert(char const * const module, int loc) {
cerr << "Assertion failed in " << module << ":" << loc << endl;
exit(-1);
}
#include "qpcpp.h" // QP/C++ framework API
#include "bsp.h" // Board Support Package interface
#include "sbe41CTD.h"
using namespace QP;
// the main function ---------------------------------------------------------
int main() {
QF::init(); // initialize the framework
BSP::init(); // initialize the BSP
// start the Mission active object
static QEvt const *mission_queueSto[10]; // event queue buffer for Mission
AO_Mission->start(1U, // priority of the active object
mission_queueSto, // event queue buffer
Q_DIM(mission_queueSto), // the length of the buffer
(void *)0, 0U); // private stack (not used on the desktop)
return QF::run(); // let the framework run the application
}
# Makefile for building QP/C application on Windows and POSIX hosts
#
# examples of invoking this Makefile:
# building configurations: Debug (default), Release, and Spy
# make
# make CONF=rel
# make CONF=spy
# make clean # cleanup the build
# make CONF=spy clean # cleanup the build
#
# NOTE:
# To use this Makefile on Windows, you will need the GNU make utility, which
# is included in the QTools collection for Windows, see:
# http://sourceforge.net/projects/qpc/files/QTools/
#
#-----------------------------------------------------------------------------
# project name:
#
PROJECT := mission
#-----------------------------------------------------------------------------
# project directories:
#
# list of all source directories used by this project
VPATH := . \
# list of all include directories needed by this project
INCLUDES := -I. \
# location of the QP/C framework (if not provided in an env. variable)
ifeq ($(QPCPP),)
QPCPP := ../../..
endif
#-----------------------------------------------------------------------------
# project files:
#
# C source files...
C_SRCS :=
# C++ source files...
CPP_SRCS := \
Mission.cpp \
bsp.cpp \
main.cpp
LIB_DIRS :=
LIBS :=
# defines...
# QP_API_VERSION controls the QP API compatibility; 9999 means the latest API
DEFINES := -DQP_API_VERSION=9999
ifeq (,$(CONF))
CONF := dbg
endif
#-----------------------------------------------------------------------------
# add QP/C++ framework (depends on the OS this Makefile runs on):
#
ifeq ($(OS),Windows_NT)
# NOTE:
# For Windows hosts, you can choose:
# - the single-threaded QP/C++ port (win32-qv) or
# - the multithreaded QP/C++ port (win32).
#
QP_PORT_DIR := $(QPCPP)/ports/win32-qv
#QP_PORT_DIR := $(QPCPP)/ports/win32
LIB_DIRS += -L$(QP_PORT_DIR)/$(CONF)
LIBS += -lqp -lws2_32
else
# NOTE:
# For POSIX hosts (Linux, MacOS), you can choose:
# - the single-threaded QP/C++ port (win32-qv) or
# - the multithreaded QP/C++ port (win32).
#
QP_PORT_DIR := $(QPCPP)/ports/posix-qv
#QP_PORT_DIR := $(QPCPP)/ports/posix
CPP_SRCS += \
qep_hsm.cpp \
qep_msm.cpp \
qf_act.cpp \
qf_actq.cpp \
qf_defer.cpp \
qf_dyn.cpp \
qf_mem.cpp \
qf_ps.cpp \
qf_qact.cpp \
qf_qeq.cpp \
qf_qmact.cpp \
qf_time.cpp \
qf_port.cpp
QS_SRCS := \
qs.cpp \
qs_64bit.cpp \
qs_rx.cpp \
qs_fp.cpp \
qs_port.cpp
LIBS += -lpthread
endif
#============================================================================
# Typically you should not need to change anything below this line
VPATH += $(QPCPP)/src/qf $(QP_PORT_DIR)
INCLUDES += -I$(QPCPP)/include -I$(QPCPP)/src -I$(QP_PORT_DIR)
#-----------------------------------------------------------------------------
# GNU toolset:
#
# NOTE:
# GNU toolset (MinGW) is included in the QTools collection for Windows, see:
# http://sourceforge.net/projects/qpc/files/QTools/
# It is assumed that %QTOOLS%\bin directory is added to the PATH
#
CC := gcc
CPP := g++
#LINK := gcc # for C programs
LINK := g++ # for C++ programs
#-----------------------------------------------------------------------------
# basic utilities (depends on the OS this Makefile runs on):
#
ifeq ($(OS),Windows_NT)
MKDIR := mkdir
RM := rm
TARGET_EXT := .exe
else ifeq ($(OSTYPE),cygwin)
MKDIR := mkdir -p
RM := rm -f
TARGET_EXT := .exe
else
MKDIR := mkdir -p
RM := rm -f
TARGET_EXT :=
endif
#-----------------------------------------------------------------------------
# build configurations...
ifeq (rel, $(CONF)) # Release configuration ..................................
BIN_DIR := build_rel
# gcc options:
CFLAGS = -c -O3 -fno-pie -std=c99 -pedantic -Wall -Wextra -W \
$(INCLUDES) $(DEFINES) -DNDEBUG
CPPFLAGS = -c -O3 -fno-pie -std=c++11 -pedantic -Wall -Wextra \
-fno-rtti -fno-exceptions \
$(INCLUDES) $(DEFINES) -DNDEBUG
else ifeq (spy, $(CONF)) # Spy configuration ................................
BIN_DIR := build_spy
CPP_SRCS += $(QS_SRCS)
VPATH += $(QPCPP)/src/qs
# gcc options:
CFLAGS = -c -g -O -fno-pie -std=c99 -pedantic -Wall -Wextra -W \
$(INCLUDES) $(DEFINES) -DQ_SPY
CPPFLAGS = -c -g -O -fno-pie -std=c++11 -pedantic -Wall -Wextra \
-fno-rtti -fno-exceptions \
$(INCLUDES) $(DEFINES) -DQ_SPY
else # default Debug configuration .........................................
BIN_DIR := build
# gcc options:
CFLAGS = -c -g -O -fno-pie -std=c99 -pedantic -Wall -Wextra -W \
$(INCLUDES) $(DEFINES)
CPPFLAGS = -c -g -O -fno-pie -std=c++11 -pedantic -Wall -Wextra \
-fno-rtti -fno-exceptions \
$(INCLUDES) $(DEFINES)
endif # .....................................................................
LINKFLAGS := -no-pie
#-----------------------------------------------------------------------------
C_OBJS := $(patsubst %.c,%.o, $(C_SRCS))
CPP_OBJS := $(patsubst %.cpp,%.o, $(CPP_SRCS))
TARGET_EXE := $(BIN_DIR)/$(PROJECT)$(TARGET_EXT)
C_OBJS_EXT := $(addprefix $(BIN_DIR)/, $(C_OBJS))
C_DEPS_EXT := $(patsubst %.o,%.d, $(C_OBJS_EXT))
CPP_OBJS_EXT := $(addprefix $(BIN_DIR)/, $(CPP_OBJS))
CPP_DEPS_EXT := $(patsubst %.o,%.d, $(CPP_OBJS_EXT))
# create $(BIN_DIR) if it does not exist
ifeq ("$(wildcard $(BIN_DIR))","")
$(shell $(MKDIR) $(BIN_DIR))
endif
#-----------------------------------------------------------------------------
# rules
#
all: $(TARGET_EXE)
$(TARGET_EXE) : $(C_OBJS_EXT) $(CPP_OBJS_EXT)
$(CPP) $(CPPFLAGS) $(QPCPP)/include/qstamp.cpp -o $(BIN_DIR)/qstamp.o
$(LINK) $(LINKFLAGS) $(LIB_DIRS) -o $@ $^ $(BIN_DIR)/qstamp.o $(LIBS)
$(BIN_DIR)/%.d : %.c
$(CC) -MM -MT $(@:.d=.o) $(CFLAGS) $< > $@
$(BIN_DIR)/%.d : %.cpp
$(CPP) -MM -MT $(@:.d=.o) $(CPPFLAGS) $< > $@
$(BIN_DIR)/%.o : %.c
$(CC) $(CFLAGS) $< -o $@
$(BIN_DIR)/%.o : %.cpp
$(CPP) $(CPPFLAGS) $< -o $@
.PHONY : clean show
# include dependency files only if our goal depends on their existence
ifneq ($(MAKECMDGOALS),clean)
ifneq ($(MAKECMDGOALS),show)
-include $(C_DEPS_EXT) $(CPP_DEPS_EXT)
endif
endif
.PHONY : clean show
clean :
-$(RM) $(BIN_DIR)/*.o \
$(BIN_DIR)/*.d \
$(TARGET_EXE)
show :
@echo PROJECT = $(PROJECT)
@echo TARGET_EXE = $(TARGET_EXE)
@echo VPATH = $(VPATH)
@echo C_SRCS = $(C_SRCS)
@echo CPP_SRCS = $(CPP_SRCS)
@echo C_DEPS_EXT = $(C_DEPS_EXT)
@echo C_OBJS_EXT = $(C_OBJS_EXT)
@echo C_DEPS_EXT = $(C_DEPS_EXT)
@echo CPP_DEPS_EXT = $(CPP_DEPS_EXT)
@echo CPP_OBJS_EXT = $(CPP_OBJS_EXT)
@echo LIB_DIRS = $(LIB_DIRS)
@echo LIBS = $(LIBS)
@echo DEFINES = $(DEFINES)