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46 lines
1003 B
46 lines
1003 B
2 years ago
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#pragma once
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#include <functional>
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#include "freertos/FreeRTOS.h"
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#include "freertos/portmacro.h"
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#include "freertos/queue.h"
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#include "tinyfsm.hpp"
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namespace events {
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typedef std::function<void(void)> WorkItem;
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class EventQueue {
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public:
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static EventQueue& GetInstance() {
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static EventQueue instance;
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return instance;
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}
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template <typename Event, typename... Machines>
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auto Dispatch(const Event& ev) -> void {
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WorkItem* item = new WorkItem(
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[=]() { tinyfsm::FsmList<Machines...>::template dispatch<Event>(ev); });
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xQueueSend(handle_, &item, portMAX_DELAY);
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}
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auto Service(TickType_t max_wait_time) -> bool;
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EventQueue(EventQueue const&) = delete;
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void operator=(EventQueue const&) = delete;
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private:
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EventQueue();
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QueueHandle_t handle_;
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};
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template <typename Event, typename... Machines>
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auto Dispatch(const Event& ev) -> void {
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EventQueue& queue = EventQueue::GetInstance();
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queue.Dispatch<Event, Machines...>(ev);
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}
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} // namespace events
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