coroutines: wip compiles but does not link

src/mesh/FloodingRouter.h

@@ -1,7 +1,6 @@
 #pragma once
 
 #include "PacketHistory.h"
-#include "../concurrency/PeriodicTask.h"
 #include "Router.h"
 
 /**

src/mesh/MeshService.cpp

@@ -56,7 +56,7 @@ static uint32_t sendOwnerCb()
     return getPref_send_owner_interval() * getPref_position_broadcast_secs() * 1000;
 }
 
-static concurrency::Periodic sendOwnerPeriod(sendOwnerCb);
+static concurrency::Periodic sendOwnerPeriod("SendOwner", sendOwnerCb);
 
 MeshService::MeshService() : toPhoneQueue(MAX_RX_TOPHONE)
 {
@@ -65,7 +65,6 @@ MeshService::MeshService() : toPhoneQueue(MAX_RX_TOPHONE)
 
 void MeshService::init()
 {
-    sendOwnerPeriod.setup();
     nodeDB.init();
 
     if (gps)
@@ -227,7 +226,7 @@ void MeshService::handleToRadio(MeshPacket &p)
         p.id = generatePacketId(); // If the phone didn't supply one, then pick one
 
     p.rx_time = getValidTime(RTCQualityFromNet); // Record the time the packet arrived from the phone
-                                // (so we update our nodedb for the local node)
+                                                 // (so we update our nodedb for the local node)
 
     // Send the packet into the mesh
 
@@ -285,7 +284,8 @@ void MeshService::sendOurPosition(NodeNum dest, bool wantReplies)
     p->decoded.which_payload = SubPacket_position_tag;
     p->decoded.position = node->position;
     p->decoded.want_response = wantReplies;
-    p->decoded.position.time = getValidTime(RTCQualityGPS); // This nodedb timestamp might be stale, so update it if our clock is valid.
+    p->decoded.position.time =
+        getValidTime(RTCQualityGPS); // This nodedb timestamp might be stale, so update it if our clock is valid.
     sendToMesh(p);
 }
 

src/mesh/RadioInterface.cpp

@@ -91,7 +91,7 @@ void printPacket(const char *prefix, const MeshPacket *p)
     DEBUG_MSG(")\n");
 }
 
-RadioInterface::RadioInterface()
+RadioInterface::RadioInterface() : NotifiedWorkerThread("RadioIf")
 {
     assert(sizeof(PacketHeader) == 4 || sizeof(PacketHeader) == 16); // make sure the compiler did what we expected
 
@@ -120,10 +120,7 @@ bool RadioInterface::init()
     // we now expect interfaces to operate in promiscous mode
     // radioIf.setThisAddress(nodeDB.getNodeNum()); // Note: we must do this here, because the nodenum isn't inited at constructor
     // time.
-
-    // we want this thread to run at very high priority, because it is effectively running as a user space ISR
-    start("radio", RADIO_STACK_SIZE, configMAX_PRIORITIES - 1); // Start our worker thread
-
+    
     return true;
 }
 

src/mesh/RadioInterface.h

@@ -117,8 +117,6 @@ class RadioInterface : protected concurrency::NotifiedWorkerThread
      */
     size_t beginSending(MeshPacket *p);
 
-    virtual void loop() {} // Idle processing
-
     /**
      * Some regulatory regions limit xmit power.
      * This function should be called by subclasses after setting their desired power.  It might lower it

src/mesh/RadioLibInterface.cpp

@@ -19,7 +19,7 @@ void LockingModule::SPItransfer(uint8_t cmd, uint8_t reg, uint8_t *dataOut, uint
 
 RadioLibInterface::RadioLibInterface(RADIOLIB_PIN_TYPE cs, RADIOLIB_PIN_TYPE irq, RADIOLIB_PIN_TYPE rst, RADIOLIB_PIN_TYPE busy,
                                      SPIClass &spi, PhysicalLayer *_iface)
-    : concurrency::PeriodicTask(0), module(cs, irq, rst, busy, spi, spiSettings), iface(_iface)
+    : module(cs, irq, rst, busy, spi, spiSettings), iface(_iface)
 {
     instance = this;
 }
@@ -41,7 +41,6 @@ void INTERRUPT_ATTR RadioLibInterface::isrLevel0Common(PendingISR cause)
 {
     instance->disableInterrupt();
 
-    instance->pending = cause;
     BaseType_t xHigherPriorityTaskWoken;
     instance->notifyFromISR(&xHigherPriorityTaskWoken, cause, eSetValueWithOverwrite);
 
@@ -191,10 +190,8 @@ transmitters that we are potentially stomping on.  Requires further thought.
 
 FIXME, the MIN_TX_WAIT_MSEC and MAX_TX_WAIT_MSEC values should be tuned via logic analyzer later.
 */
-void RadioLibInterface::loop()
+void RadioLibInterface::onNotify(uint32_t notification)
 {
-    pending = ISR_NONE;
-
     switch (notification) {
     case ISR_TX:
         handleTransmitInterrupt();
@@ -229,25 +226,15 @@ void RadioLibInterface::loop()
     }
 }
 
-void RadioLibInterface::doTask()
-{
-    disable(); // Don't call this callback again
-
-    // We use without overwrite, so that if there is already an interrupt pending to be handled, that gets handle properly (the
-    // ISR handler will restart our timer)
-
-    notify(TRANSMIT_DELAY_COMPLETED, eSetValueWithoutOverwrite);
-}
-
 void RadioLibInterface::startTransmitTimer(bool withDelay)
 {
     // If we have work to do and the timer wasn't already scheduled, schedule it now
-    if (getPeriod() == 0 && !txQueue.isEmpty()) {
+    if (!txQueue.isEmpty()) {
         uint32_t delay =
             !withDelay ? 1 : random(MIN_TX_WAIT_MSEC, MAX_TX_WAIT_MSEC); // See documentation for loop() wrt these values
                                                                          // DEBUG_MSG("xmit timer %d\n", delay);
-        // DEBUG_MSG("delaying %u\n", delay);
-        setPeriod(delay);
+        DEBUG_MSG("delaying %u\n", delay);
+        notifyLater(delay, TRANSMIT_DELAY_COMPLETED, false); // This will implicitly enable
     }
 }
 

src/mesh/RadioLibInterface.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "../concurrency/PeriodicTask.h"
+#include "../concurrency/OSThread.h"
 #include "RadioInterface.h"
 
 #ifdef CubeCell_BoardPlus
@@ -59,13 +59,11 @@ class LockingModule : public Module
     virtual void SPItransfer(uint8_t cmd, uint8_t reg, uint8_t *dataOut, uint8_t *dataIn, uint8_t numBytes);
 };
 
-class RadioLibInterface : public RadioInterface, private concurrency::PeriodicTask
+class RadioLibInterface : public RadioInterface
 {
     /// Used as our notification from the ISR
     enum PendingISR { ISR_NONE = 0, ISR_RX, ISR_TX, TRANSMIT_DELAY_COMPLETED };
 
-    volatile PendingISR pending = ISR_NONE;
-
     /**
      * Raw ISR handler that just calls our polymorphic method
      */
@@ -155,7 +153,7 @@ class RadioLibInterface : public RadioInterface, private concurrency::PeriodicTa
 
     static void timerCallback(void *p1, uint32_t p2);
 
-    virtual void doTask();
+    virtual void onNotify(uint32_t notification);
 
     /** start an immediate transmit
      *  This method is virtual so subclasses can hook as needed, subclasses should not call directly
@@ -195,7 +193,5 @@ class RadioLibInterface : public RadioInterface, private concurrency::PeriodicTa
      */
     virtual void addReceiveMetadata(MeshPacket *mp) = 0;
 
-    virtual void loop(); // Idle processing
-
     virtual void setStandby() = 0;
 };

src/mesh/ReliableRouter.h

@@ -1,7 +1,6 @@
 #pragma once
 
 #include "FloodingRouter.h"
-#include "../concurrency/PeriodicTask.h"
 #include <unordered_map>
 
 /**
@@ -80,10 +79,10 @@ class ReliableRouter : public FloodingRouter
     virtual ErrorCode send(MeshPacket *p);
 
     /** Do our retransmission handling */
-    virtual void loop()
+    virtual uint32_t runOnce()
     {
         doRetransmissions();
-        FloodingRouter::loop();
+        return FloodingRouter::runOnce();
     }
 
   protected:

src/mesh/Router.cpp

@@ -34,7 +34,7 @@ Allocator<MeshPacket> &packetPool = staticPool;
  *
  * Currently we only allow one interface, that may change in the future
  */
-Router::Router() : fromRadioQueue(MAX_RX_FROMRADIO)
+Router::Router() : concurrency::OSThread("Router"), fromRadioQueue(MAX_RX_FROMRADIO)
 {
     // This is called pre main(), don't touch anything here, the following code is not safe
 
@@ -47,12 +47,14 @@ Router::Router() : fromRadioQueue(MAX_RX_FROMRADIO)
  * do idle processing
  * Mostly looking in our incoming rxPacket queue and calling handleReceived.
  */
-void Router::loop()
+uint32_t Router::runOnce()
 {
     MeshPacket *mp;
     while ((mp = fromRadioQueue.dequeuePtr(0)) != NULL) {
         perhapsHandleReceived(mp);
     }
+
+    return 0;
 }
 
 /// Generate a unique packet id

src/mesh/Router.h

@@ -5,12 +5,13 @@
 #include "Observer.h"
 #include "PointerQueue.h"
 #include "RadioInterface.h"
+#include "concurrency/OSThread.h"
 #include "mesh.pb.h"
 
 /**
  * A mesh aware router that supports multiple interfaces.
  */
-class Router
+class Router : protected concurrency::OSThread
 {
   private:
     RadioInterface *iface;
@@ -44,7 +45,7 @@ class Router
      * do idle processing
      * Mostly looking in our incoming rxPacket queue and calling handleReceived.
      */
-    virtual void loop();
+    virtual uint32_t runOnce();
 
     /**
      * Works like send, but if we are sending to the local node, we directly put the message in the receive queue