Completed Terminal.ino example; Added more class descriptions; Added Task::parent field; Added Task::getTerminal() and Task::getStream()

Author: mikeaustin

Arduino/libraries/Nexus_OS/Nexus_OS/Nexus_Message.h

@@ -4,12 +4,24 @@
 
 namespace Nexus {
 
+    /**
+
+    Proviedes run time type information , used by messages and events
+
+    */
+
     template<typename Type>
     struct TypeInfo {
 
         static void *GetType() { return reinterpret_cast<void *>(&GetType); }
 
     };
+
+    /**
+
+    An encapsulated option data type, passed to tasks via messages
+
+    */
 
     class Event {
 
@@ -26,6 +38,12 @@ namespace Nexus {
 
     };
 
+    /*
+
+    Used to synchronously send data between tasks or the scheduler
+
+    */
+
     class Message {
 
       public:

Arduino/libraries/Nexus_OS/Nexus_OS/Nexus_Scheduler.h

@@ -24,8 +24,9 @@ namespace Nexus {
             _coros = coro;
         }
 
-        void addTask(Task *task)
+        void addTask(Task *task, Task *parent = NULL)
         {
+            task->_parent = parent;
             task->_next = _tasks;
 
             _tasks = task;

Arduino/libraries/Nexus_OS/Nexus_OS/Nexus_Task.cpp

@@ -11,4 +11,19 @@ namespace Nexus {
         Scheduler.send(*this, message);
     }
 
+    Terminal *Task::getTerminal()
+    {
+        for (Task *task = Scheduler.getTasks(); task != NULL; task = task->getParent())
+        {
+            if (task->getParent() == NULL) return static_cast<Terminal *>(task);
+        }
+
+        return NULL;
+    }
+
+    Stream& Task::getStream()
+    {
+        return getTerminal()->getStream();
+    }
+
 }

Arduino/libraries/Nexus_OS/Nexus_OS/Nexus_Task.h

@@ -6,7 +6,11 @@
 #define __Nexus_Task__
 
 #include <Arduino.h>
-#include <limits.h>
+#include <stdint.h>
+
+#ifndef INT32_MAX
+#define INT32_MAX 0x7FFFFFFF
+#endif
 
 #define MERGE_LINE(line) label_##line
 #define LABEL_LINE(line) MERGE_LINE(line)
@@ -18,7 +22,7 @@
 #define task_enter        coro_enter
 #define task_sleep(msecs) _timeout = millis() + msecs; _sleep = true; coro_yield()
 #define task_yield()      _timeout = 0; _sleep = false; coro_yield()
-#define task_wait()       _timeout = LONG_MAX; _sleep = false; coro_yield()
+#define task_wait()       _timeout = INT32_MAX; _sleep = false; coro_yield()
 #define task_wait4(msecs)       _timeout = millis() + msecs; _sleep = false; coro_yield()
 #define task_exit         coro_exit
 
@@ -48,6 +52,7 @@ namespace Nexus {
 
         void *_context;
         Coro *_next;
+        Coro *_parent;
 
     };
 
@@ -73,6 +78,8 @@ namespace Nexus {
 
     */
 
+    class Terminal;
+
     class Task : public Coro {
 
       public:
@@ -85,7 +92,11 @@ namespace Nexus {
 
         void send(const Message& message);
 
-        Task* getNext() { return static_cast<Task*>(Coro::getNext()); }
+        Task* getNext() { return static_cast<Task *>(Coro::getNext()); }
+        Task* getParent() { return static_cast<Task *>(Coro::getNext()); }
+
+        Terminal *getTerminal();
+        Stream& getStream();
 
       protected:
 

Arduino/libraries/Nexus_OS/Nexus_OS/Nexus_Terminal.h

@@ -16,11 +16,11 @@ namespace Nexus {
 
         enum Key
         {
-            None = 256, KeyEnter, KeyDelete, KeyEscape,
-            KeyUp, KeyDown, KeyLeft, KeyRight
+            KeyEnter = 10, KeyDelete = 8, KeyEscape = 27,
+            KeyUp = 30, KeyDown = 31, KeyLeft = 28, KeyRight = 29
         };
 
-        KeyEvent(int key = None) : key(key) { }
+        KeyEvent(int key = 0) : key(key) { }
 
         int key;
 
@@ -31,36 +31,47 @@ namespace Nexus {
       public:
 
         Terminal(Stream& stream) : Task(&TaskHelper<Terminal>::run, F("Terminal")),
-          _stream(stream)
+          _stream(stream), _task(NULL)
         { }
 
+        void setForegroundTask(Task *foregroundTask)
+        {
+            _task = foregroundTask;
+        }
+
+        Stream& getStream() { return _stream; }
+
         void run(const Message& message)
         {
-            //StreamEvent streamEvent;
+            int c, key;
 
             task_enter;
 
             for (;;)
             {
-                int key;
-
                 task_wait();
 
-                int c = _stream.read();
+                c = _stream.read();
+
+                if (c == 13) continue;
 
+                if (c == 10)
+                {
+                    key = KeyEvent::KeyEnter;
+                }
                 if (c == 27)
                 {
                     task_wait4(10);
 
                     if (message.get<StreamEvent>())
                     {
-                        int c = _stream.read();
+                        c = _stream.read();
 
                         if (c == '[')
                         {
                             task_wait();
 
-                            int c = _stream.read();
+                            c = _stream.read();
 
                             switch (c)
                             {
@@ -75,8 +86,7 @@ namespace Nexus {
                 }
                 else key = c;
 
-                Serial.println(key);
-                Message(KeyEvent(key));
+                if (_task) _task->send(Message(KeyEvent(key)));
             }
 
             task_exit;

Arduino/libraries/Nexus_OS/examples/Terminal/Terminal.ino

@@ -6,14 +6,16 @@
 
 using namespace Nexus;
 
-class Blink : public Task {
+class Client : public Task {
 
   public:
 
-    Blink() : Task(&TaskHelper<Blink>::run, F("Blink")) { }
+    Client() : Task(&TaskHelper<Client>::run, F("Client")) { }
 
     void run(const Message& message)
     {
+        KeyEvent keyEvent;
+
         task_enter;
 
         pinMode(13, OUTPUT);
@@ -22,43 +24,54 @@ class Blink : public Task {
         {
             task_wait();
 
+            if (keyEvent = message.get<KeyEvent>())
+            {
+                switch (keyEvent.key)
+                {
+                    case KeyEvent::KeyEscape: getStream().print(F("<ESC>")); break;
+                    case KeyEvent::KeyUp:     getStream().print(F("<UP>")); break;
+                    case KeyEvent::KeyDown:   getStream().print(F("<DOWN>")); break;
+                    case KeyEvent::KeyLeft:   getStream().print(F("<LEFT>")); break;
+                    case KeyEvent::KeyRight:  getStream().print(F("<RIGHT>")); break;
+                    default:                  getStream().print((char)keyEvent.key);
+                }
+            }
         }
 
         task_exit;
     }
 
-  private:
-
-    uint8_t i;
-
 };
 
-Terminal terminal(Serial);
-//Blink blink;
+Terminal console(Serial);
 
 namespace {
 
     void stream(Coro& coro, const Message& message)
     {
         if (Serial.available() > 0)
         {
-            terminal.send(Message(StreamEvent(Serial)));
+            console.send(Message(StreamEvent(Serial)));
         }
     }
 
 }
 
 Coro messenger = Coro(&stream);
+Client client = Client();
 
 void setup()
 {
     Serial.begin(9600);
 
-    Serial.println("Arduino OS 0.1 | 2015 Mike Austin");
+    Serial.println(F("Type. And try the arrow keys and escape."));
 
     Scheduler.addCoro(&messenger);
-    //Scheduler.addTask(&blink);
-    Scheduler.addTask(&terminal);
+
+    Scheduler.addTask(&console, NULL);
+    Scheduler.addTask(&client, &console);
+
+    console.setForegroundTask(&client);
 }
 
 void loop()