[0.29.0][r] timers support for std, glib dispatchers

feat: timers support for std, glib dispatchers
feat: interrupts safety for Arduino dispatcher

.github/workflows/auto_tag.yml

@@ -22,13 +22,13 @@ jobs:
           repo_dir: ${{ env.GITHUB_WORKSPACE }}
           commit_sha: ${{ github.event.workflow_run.head_sha }}
 
-  deploy-platformio-arduino:
+  create-release-tag:
     runs-on: ubuntu-latest
     needs: check-hsmcpp-version
 
     # only run for successful build after push event
     # avoid running this action on forks
-    if: ${{ (github.repository == 'igor-krechetov/hsmcpp') && (needs.check-hsmcpp-version.outputs.commit_version != '') && (needs.check-hsmcpp-version.outputs.commit_action == '[r]') && ((github.event.workflow_run == null) || ((github.event.workflow_run.conclusion == 'success') && (github.event.workflow_run.event == 'push'))) }}
+    if: ${{ (github.repository == 'igor-krechetov/hsmcpp') && (needs.check-hsmcpp-version.outputs.commit_version != '') && (needs.check-hsmcpp-version.outputs.commit_action == 'r') && ((github.event.workflow_run == null) || ((github.event.workflow_run.conclusion == 'success') && (github.event.workflow_run.event == 'push'))) }}
 
     steps:
       # need to checkout current repo because workflow is not related with push event

.github/workflows/deploy-platformio.yml

@@ -91,7 +91,7 @@ jobs:
 
       - name: Publish PlatformIO package
         # only publish release versions
-        if: ${{ needs.check-hsmcpp-version.outputs.commit_action == '[r]' }}
+        if: ${{ needs.check-hsmcpp-version.outputs.commit_action == 'r' }}
         env:
           PLATFORMIO_AUTH_TOKEN: ${{ secrets.PLATFORMIO_TOKEN }}
         run: |

.github/workflows/tests.yml

@@ -85,6 +85,7 @@ jobs:
           lcov -r ./coverage.info /usr/include/\* . -o ./coverage.info
           lcov -r ./coverage.info \*/build/\* . -o ./coverage.info
           lcov -r ./coverage.info \*/tests/\* . -o ./coverage.info
+          lcov -r ./coverage.info \*/gcc_64/include/QtCore/\* . -o ./coverage.info
 
       - name: Push test coverage to Coveralls
         uses: coverallsapp/github-action@master

CHANGELOG.md

@@ -1,6 +1,18 @@
 # Changelog
 All notable changes to project will be documented in this file.
 
+## [0.29.0] - 2023-02-03
+### Added
+- timers support for std, glib dispatchers
+- interrupts safety for Arduino dispatcher
+
+### Fixed
+- std dispatcher didn't wake up when events were emited from interrupts
+
+### Updated
+- CriticalSection was renamed into InterruptsFreeSection
+- added a new CriticalSection class
+
 ## [0.28.2] - 2023-02-02
 ### Fixed
 - applied clang format to all code

CMakeLists.txt

@@ -3,7 +3,7 @@
 cmake_minimum_required(VERSION 3.16)
 project(hsmcpp)
 
-set(PROJECT_VERSION "0.28.2")
+set(PROJECT_VERSION "0.29.0")
 set(PROJECT_DESCRIPTION "C++ library for hierarchical state machines / finite state machines. Provides a code-free visual approach for defining state machine logic using GUI editors with automatic code and diagram generation. Check out https://hsmcpp.readthedocs.io for detailed documentation.")
 set(CMAKE_VERBOSE_MAKEFILE OFF)
 
@@ -76,7 +76,8 @@ set (LIBRARY_SRC ${HSM_SRC_ROOT}/hsm.cpp
                  ${HSM_SRC_ROOT}/logging.cpp
                  ${HSM_SRC_ROOT}/HsmEventDispatcherBase.cpp
                  ${HSM_SRC_ROOT}/os/common/LockGuard.cpp
-                 ${HSM_SRC_ROOT}/os/common/UniqueLock.cpp)
+                 ${HSM_SRC_ROOT}/os/common/UniqueLock.cpp
+                 ${HSM_SRC_ROOT}/os/common/CriticalSection.cpp)
 
 set (LIBRARY_HEADERS ${HSM_INCLUDES_ROOT}/hsm.hpp
                      ${HSM_INCLUDES_ROOT}/HsmEventDispatcherBase.hpp
@@ -85,12 +86,15 @@ set (LIBRARY_HEADERS ${HSM_INCLUDES_ROOT}/hsm.hpp
                      ${HSM_INCLUDES_ROOT}/variant.hpp
                      ${HSM_INCLUDES_ROOT}/os/ConditionVariable.hpp
                      ${HSM_INCLUDES_ROOT}/os/CriticalSection.hpp
+                     ${HSM_INCLUDES_ROOT}/os/InterruptsFreeSection.hpp
                      ${HSM_INCLUDES_ROOT}/os/LockGuard.hpp
                      ${HSM_INCLUDES_ROOT}/os/Mutex.hpp
                      ${HSM_INCLUDES_ROOT}/os/os.hpp
                      ${HSM_INCLUDES_ROOT}/os/UniqueLock.hpp
                      ${HSM_INCLUDES_ROOT}/os/common/LockGuard.hpp
-                     ${HSM_INCLUDES_ROOT}/os/common/UniqueLock.hpp)
+                     ${HSM_INCLUDES_ROOT}/os/common/UniqueLock.hpp
+                     ${HSM_INCLUDES_ROOT}/os/common/CriticalSection.hpp
+                     ${HSM_INCLUDES_ROOT}/os/common/InterruptsFreeSection.hpp)
 
 set(FILES_SCXML2GEN ${CMAKE_CURRENT_SOURCE_DIR}/tools/scxml2gen/scxml2gen.py
                     ${CMAKE_CURRENT_SOURCE_DIR}/tools/scxml2gen/template.cpp
@@ -102,33 +106,32 @@ set(FILES_SCXML2GEN ${CMAKE_CURRENT_SOURCE_DIR}/tools/scxml2gen/scxml2gen.py
 if (HSMBUILD_PLATFORM STREQUAL "freertos")
     set (LIBRARY_SRC ${LIBRARY_SRC} ${HSM_SRC_ROOT}/os/freertos/Mutex.cpp
                                     ${HSM_SRC_ROOT}/os/freertos/ConditionVariable.cpp
-                                    ${HSM_SRC_ROOT}/os/freertos/CriticalSection.cpp
+                                    ${HSM_SRC_ROOT}/os/freertos/InterruptsFreeSection.cpp
                                     ${HSM_SRC_ROOT}/os/freertos/FreeRtosPort.cpp
                                     ${HSM_SRC_ROOT}/HsmEventDispatcherFreeRTOS.cpp)
     set (LIBRARY_HEADERS ${LIBRARY_HEADERS} ${HSM_INCLUDES_ROOT}/os/freertos/ConditionVariable.hpp
-                                            ${HSM_INCLUDES_ROOT}/os/freertos/CriticalSection.hpp
+                                            ${HSM_INCLUDES_ROOT}/os/freertos/InterruptsFreeSection.hpp
                                             ${HSM_INCLUDES_ROOT}/os/freertos/FreeRTOSConfig.h
                                             ${HSM_INCLUDES_ROOT}/os/freertos/FreeRtosPort.hpp
                                             ${HSM_INCLUDES_ROOT}/os/freertos/Mutex.hpp
                                             ${HSM_INCLUDES_ROOT}/HsmEventDispatcherFreeRTOS.hpp)
 elseif (HSMBUILD_PLATFORM STREQUAL "arduino")
     set (LIBRARY_SRC ${LIBRARY_SRC} ${HSM_SRC_ROOT}/os/arduino/ConditionVariable.cpp
-                                    ${HSM_SRC_ROOT}/os/arduino/CriticalSection.cpp
+                                    ${HSM_SRC_ROOT}/os/arduino/InterruptsFreeSection.cpp
                                     ${HSM_SRC_ROOT}/HsmEventDispatcherArduino.cpp)
     set (LIBRARY_HEADERS ${LIBRARY_HEADERS} ${HSM_INCLUDES_ROOT}/os/arduino/ConditionVariable.hpp
                                             ${HSM_INCLUDES_ROOT}/os/arduino/Mutex.hpp
                                             ${HSM_INCLUDES_ROOT}/HsmEventDispatcherArduino.hpp)
 elseif (HSMBUILD_PLATFORM STREQUAL "posix")
-    set (LIBRARY_SRC ${LIBRARY_SRC} ${HSM_SRC_ROOT}/os/posix/CriticalSection.cpp
+    set (LIBRARY_SRC ${LIBRARY_SRC} ${HSM_SRC_ROOT}/os/posix/InterruptsFreeSection.cpp
                                     ${HSM_SRC_ROOT}/os/stl/ConditionVariable.cpp)
-    set (LIBRARY_HEADERS ${LIBRARY_HEADERS} ${HSM_INCLUDES_ROOT}/os/posix/CriticalSection.hpp
+    set (LIBRARY_HEADERS ${LIBRARY_HEADERS} ${HSM_INCLUDES_ROOT}/os/posix/InterruptsFreeSection.hpp
                                             ${HSM_INCLUDES_ROOT}/os/stl/ConditionVariable.hpp
                                             ${HSM_INCLUDES_ROOT}/os/stl/Mutex.hpp)
 elseif (HSMBUILD_PLATFORM STREQUAL "windows")
-    set (LIBRARY_SRC ${LIBRARY_SRC} ${HSM_SRC_ROOT}/os/windows/CriticalSection.cpp
+    set (LIBRARY_SRC ${LIBRARY_SRC} ${HSM_SRC_ROOT}/os/windows/InterruptsFreeSection.cpp
                                     ${HSM_SRC_ROOT}/os/stl/ConditionVariable.cpp)
-    set (LIBRARY_HEADERS ${LIBRARY_HEADERS} ${HSM_INCLUDES_ROOT}/os/common/CriticalSection.hpp
-                                            ${HSM_INCLUDES_ROOT}/os/stl/ConditionVariable.hpp
+    set (LIBRARY_HEADERS ${LIBRARY_HEADERS} ${HSM_INCLUDES_ROOT}/os/stl/ConditionVariable.hpp
                                             ${HSM_INCLUDES_ROOT}/os/stl/Mutex.hpp)
 else()
     message(FATAL_ERROR "Unsupported HSMBUILD_PLATFORM=${HSMBUILD_PLATFORM}")
@@ -218,8 +221,6 @@ elseif (HSMBUILD_TARGET STREQUAL "library")
     # Build Dispatchers
     include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/dispatchers.cmake)
 
-    message("------ HSMCPP_STD_LIB=${HSMCPP_STD_LIB}")
-
     # =============================================
     # Build Examples and Tests
     if (HSMBUILD_EXAMPLES)

README.md

@@ -1,5 +1,5 @@
 [![MIT License](https://img.shields.io/badge/license-MIT-blue.svg)](https://github.com/igor-krechetov/hsmcpp/blob/main/LICENSE)
-[![Changelog](https://img.shields.io/badge/changelog-v0.28.2-green.svg)](https://github.com/igor-krechetov/hsmcpp/blob/main/CHANGELOG.md)
+[![Changelog](https://img.shields.io/badge/changelog-v0.29.0-green.svg)](https://github.com/igor-krechetov/hsmcpp/blob/main/CHANGELOG.md)
 [![Documentation Status](https://readthedocs.org/projects/hsmcpp/badge/?version=latest)](https://hsmcpp.readthedocs.io/en/latest/?badge=latest)
 [![PlatformIO Registry](https://badges.registry.platformio.org/packages/igor-krechetov/library/hsmcpp.svg)](https://registry.platformio.org/libraries/igor-krechetov/hsmcpp)
 

doc/diagrams/dispatchers/concurrent_signals.pu

@@ -0,0 +1,68 @@
+@startuml
+mode compact
+scale 1 as 120 pixels
+
+<style>
+    timingDiagram {
+        .thread1 {
+            BackgroundColor LightGreen
+        }
+        .thread2 {
+            BackgroundColor LightSalmon
+        }
+    }
+</style>
+
+concise "Thread 1" as T1 <<thread1>>
+concise "Dispatcher Thread" as DT <<thread2>>
+concise "Signal" as S <<thread1>>
+concise "Mutex" as M
+concise OS
+
+@0
+OS is "Block signals" #LightGreen
+T1 is emitEvent
+
+@+1
+T1 -> M: lock
+M is Locked #LightGreen
+
+@+1
+OS -> S: signal
+S is blocked #red
+
+@+1
+T1 -> M: unlock
+M is {-}
+
+@+1
+OS is {-}
+T1 is {-}
+T1 -> DT@+1: notify
+S is emitEvent
+M is Locked #LightSeaGreen
+
+@+1
+DT -> M@+1: lock
+DT is blocked #red
+OS is "Block signals" #LightSalmon
+
+@+1
+M is Locked #LightSalmon
+S is {-}
+DT is "Copy events"
+
+@+1
+
+
+@+1
+M is {-}
+
+@+1
+OS is {-}
+DT is "Call event handlers"
+
+@+2
+DT is {-}
+
+@enduml

doc/diagrams/dispatchers/concurrent_threads.pu

@@ -0,0 +1,51 @@
+@startuml
+mode compact
+scale 1 as 100 pixels
+
+<style>
+    timingDiagram {
+        .thread1 {
+            BackgroundColor LightGreen
+        }
+        .thread2 {
+            BackgroundColor LightSalmon
+        }
+    }
+</style>
+
+concise "Thread 1" as T1 <<thread1>>
+concise "Dispatcher Thread" as DT  <<thread2>>
+concise "Signal" as S
+concise "Mutex" as M
+
+@0
+M is Locked #LightGreen
+T1 is emitEvent
+
+@+1
+T1 -> DT@+1: notify
+M is {-}
+T1 is {-}
+
+@+1
+M is Locked #LightSalmon
+DT is "Copy events"
+
+@3
+T1 is blocked #red
+@+1
+T1 is emitEvent
+M is Locked #LightGreen
+@+1
+T1 -> DT: notify
+T1 is {-}
+M is {-}
+
+@4
+M is {-}
+DT is "Call event handlers"
+
+@+3
+DT is {-}
+
+@enduml

include/hsmcpp/HsmEventDispatcherArduino.hpp

@@ -13,20 +13,14 @@ namespace hsmcpp
 
 class HsmEventDispatcherArduino: public HsmEventDispatcherBase
 {
-    struct EnqueuedEventInfo
-    {
-        HandlerID_t handlerID;
-        EventID_t eventID;
-    };
-
     struct RunningTimerInfo
     {
-        unsigned long startedAt;// time when timer was started (ms)
-        unsigned long elapseAfter;// time when timer should elapse next time (ms)
+        unsigned long startedAt;// monotonic time when timer was started (ms)
+        unsigned long elapseAfter;// monotonic time when timer should elapse next time (ms)
     };
 
 public:
-    HsmEventDispatcherArduino(const size_t eventsCacheSize=32);
+    explicit HsmEventDispatcherArduino(const size_t eventsCacheSize = DISPATCHER_DEFAULT_EVENTS_CACHESIZE);
     virtual ~HsmEventDispatcherArduino();
 
     bool start() override;
@@ -37,6 +31,8 @@ class HsmEventDispatcherArduino: public HsmEventDispatcherBase
     void dispatchEvents();
 
 protected:
+    void notifyDispatcherAboutEvent() override;
+
     void startTimerImpl(const TimerID_t timerID, const unsigned int intervalMs, const bool isSingleShot) override;
     void stopTimerImpl(const TimerID_t timerID) override;
 
@@ -45,7 +41,6 @@ class HsmEventDispatcherArduino: public HsmEventDispatcherBase
 private:
     bool mStopDispatcher = false;
     std::map<TimerID_t, RunningTimerInfo> mRunningTimers;
-    std::vector<EnqueuedEventInfo> mEnqueuedEvents;
 };
 
 } // namespace hsmcpp

include/hsmcpp/HsmEventDispatcherBase.hpp

@@ -32,6 +32,10 @@ class HsmEventDispatcherBase: public IHsmEventDispatcher
     };
 
 public:
+    /**
+     * Constructor for FreeRTOS based event dispatcher.
+     * @param eventsCacheSize size of the queue preallocated for delayed events
+     */
     // NOTE: false positive. setting default parameter value is not parameter modification
     // cppcheck-suppress misra-c2012-17.8
     HsmEventDispatcherBase(const size_t eventsCacheSize = DISPATCHER_DEFAULT_EVENTS_CACHESIZE);
@@ -97,6 +101,7 @@ class HsmEventDispatcherBase: public IHsmEventDispatcher
     std::vector<EnqueuedEventInfo> mEnqueuedEvents;
     Mutex mEmitSync;
     Mutex mHandlersSync;
+    Mutex mEnqueuedEventsSync;
 };
 
 }// namespace hsmcpp

include/hsmcpp/HsmEventDispatcherFreeRTOS.hpp

@@ -38,7 +38,8 @@ class HsmEventDispatcherFreeRTOS: public HsmEventDispatcherBase
      * @param eventsCacheSize size of the queue preallocated for delayed events
      */
     HsmEventDispatcherFreeRTOS(const configSTACK_DEPTH_TYPE stackDepth = configMINIMAL_STACK_SIZE,
-                               const UBaseType_t priority = tskIDLE_PRIORITY);
+                               const UBaseType_t priority = tskIDLE_PRIORITY,
+                               const size_t eventsCacheSize = DISPATCHER_DEFAULT_EVENTS_CACHESIZE);
     virtual ~HsmEventDispatcherFreeRTOS();
 
     virtual void emitEvent(const HandlerID_t handlerID) override;

include/hsmcpp/HsmEventDispatcherGLib.hpp

@@ -7,22 +7,34 @@
 #include "HsmEventDispatcherBase.hpp"
 #include <glib.h>
 #include <condition_variable>
+#include <map>
 
 namespace hsmcpp
 {
 
 class HsmEventDispatcherGLib: public HsmEventDispatcherBase
 {
+private:
+    using TimerData_t = std::pair<HsmEventDispatcherGLib*, TimerID_t>;
+
 public:
-    HsmEventDispatcherGLib();
-    explicit HsmEventDispatcherGLib(GMainContext* context);
+    explicit HsmEventDispatcherGLib(const size_t eventsCacheSize = DISPATCHER_DEFAULT_EVENTS_CACHESIZE);
+    HsmEventDispatcherGLib(GMainContext* context, const size_t eventsCacheSize = DISPATCHER_DEFAULT_EVENTS_CACHESIZE);
     virtual ~HsmEventDispatcherGLib();
 
     virtual void emitEvent(const HandlerID_t handlerID) override;
 
     virtual bool start() override;
 
 private:
+    void unregisterAllTimerHandlers();
+
+    void startTimerImpl(const TimerID_t timerID, const unsigned int intervalMs, const bool isSingleShot) override;
+    void stopTimerImpl(const TimerID_t timerID) override;
+
+    static gboolean onTimerEvent(const TimerData_t* timerData);
+    static void onFreeTimerData(void* timerData);
+
     void notifyDispatcherAboutEvent() override;
     static gboolean onPipeDataAvailable(GIOChannel* gio, GIOCondition condition, gpointer data);
 
@@ -36,6 +48,7 @@ class HsmEventDispatcherGLib: public HsmEventDispatcherBase
     bool mDispatchingIterationRunning = false;
     std::mutex mDispatchingSync;
     std::condition_variable mDispatchingDoneEvent;
+    std::map<TimerID_t, GSource*> mNativeTimerHandlers;// <timerID, nativeTimerID>
 };
 
 } // namespace hsmcpp

include/hsmcpp/HsmEventDispatcherGLibmm.hpp

@@ -26,8 +26,8 @@ namespace hsmcpp
 class HsmEventDispatcherGLibmm: public HsmEventDispatcherBase
 {
 public:
-    HsmEventDispatcherGLibmm();
-    explicit HsmEventDispatcherGLibmm(const Glib::RefPtr<Glib::MainContext>& context);
+    explicit HsmEventDispatcherGLibmm(const size_t eventsCacheSize = DISPATCHER_DEFAULT_EVENTS_CACHESIZE);
+    HsmEventDispatcherGLibmm(const Glib::RefPtr<Glib::MainContext>& context, const size_t eventsCacheSize = DISPATCHER_DEFAULT_EVENTS_CACHESIZE);
     virtual ~HsmEventDispatcherGLibmm();
 
     virtual bool start() override;