One Framework 0.1.0
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Macro.hpp
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1#ifndef OF_LIB_NODE_MACRO_HPP
2#define OF_LIB_NODE_MACRO_HPP
3
4#include <zephyr/sys/iterable_sections.h>
5#include <OF/utils/CCM.h>
6
7#include "Node.hpp"
8#include "Descriptor.hpp"
9#include "Topic.hpp"
10
11
12#define ONE_NODE_REGISTER(UserClass) \
13 static_assert(NodeConcept<UserClass>, \
14 "Your Node must define a full Meta struct and implement init, run and cleanup function! See 'NodeConcept' for more detail. ' " \
15 ); \
16 /* stack definition */ \
17 K_THREAD_STACK_DEFINE(_stack_##UserClass, UserClass::Meta::stack_size); \
18 /* thread data */ \
19 static struct k_thread _thread_data_##UserClass;\
20 /* launcher */ \
21 static void _launcher_##UserClass(void) { \
22 UserClass::start_impl(&_thread_data_##UserClass, _stack_##UserClass); \
23 } \
24 /* register it into global linker section */ \
25 STRUCT_SECTION_ITERABLE(node_desc, _desc_##UserClass) ={ \
26 .name = UserClass::Meta::name, \
27 .thread_id_ptr = &UserClass::tid_storage, \
28 .start_func = &_launcher_##UserClass \
29 }
30
31#define ONE_TOPIC_REGISTER(Type, VarName, TopicNameStr) \
32 \
33 /* CCM Topic instance and reference */ \
34 OF_CCM_ATTR static OF::Topic<Type> _topic_instance_##VarName; \
35 OF::Topic<Type>& VarName = _topic_instance_##VarName;\
36 /* register it into global linker section */ \
37 STRUCT_SECTION_ITERABLE(topic_desc, _topic_desc_##VarName) = { \
38 .name = TopicNameStr, \
39 .topic_instance = &_topic_instance_##VarName, \
40 .type_size = sizeof(Type),\
41 .print_func = OF::Topic<Type>::print_stub \
42 };
43
44
45#endif //OF_LIB_NODE_MACRO_HPP