Provides an Event loop. More...

Detailed Description

Provides an Event loop.

This module offers an event queue framework like libevent or libuev.

An event queue is basically a FIFO queue of events, with some functions to efficiently and safely handle adding and getting events to / from such a queue.

An event queue is bound to a thread, but any thread or ISR can put events into a queue. In most cases, the owning thread of a queue is set during the queue's initialization. But it is also possible to initialize a queue in a detached state from a different context and to set the owning thread at a later point of time using the event_queue_claim() function.

An event is a structure containing a pointer to an event handler. It can be extended to provide context or arguments to the handler. It can also be embedded into existing structures (see examples).

Compared to msg or mbox, this some fundamental differences:

events are "sender allocated". Unlike msg_send(), event_post() never blocks or fails.
events contain everything necessary to handle them, thus a thread processing the events of an event queue doesn't need to be changed in order to support new event types.
events can be safely used (and actually perform best) when used within one thread, e.g., in order to create a state-machine like process flow. This is not (easily) possible using msg queues, as they might fill up.
an event can only be queued in one event queue at the same time. Notifying many queues using only one event object is not possible with this implementation.

At the core, event_wait() uses thread flags to implement waiting for events to be queued. Thus event queues can be used safely and efficiently in combination with thread flags and msg queues.

Examples:

// simple event handler
static void handler(event_t *event)
{
   printf("triggered 0x%08x\n", (unsigned)event);
}
 
static event_t event = { .handler = handler };
static event_queue_t queue;
 
int main(void)
{
    event_queue_init(&queue);
    event_loop(&queue);
}
 
[...] event_post(&queue, &event);
 
// example for event extended event struct
typedef struct {
    event_t super;
    const char *text;
} custom_event_t;
 
static void custom_handler(event_t *event)
{
    custom_event_t *custom_event = (custom_event_t *)event;
    printf("triggered custom event with text: \"%s\"\n", custom_event->text);
}
 
static custom_event_t custom_event = { .super.handler = custom_handler, .text = "CUSTOM EVENT" };
 
[...] event_post(&queue, &custom_event)

Files
file	event.h
	Event API.

file	callback.h
	Provides a callback-with-argument event type.

file	periodic.h
	Provides functionality to trigger periodic events.

file	periodic_callback.h
	Provides functionality to trigger periodic event callbacks.

file	source.h
	Provides functionality to trigger multiple events at once.

file	thread.h
	Provides utility functions for event handler threads.

file	timeout.h
	Provides functionality to trigger events after timeout.

Data Structures
struct	event
	event structure More...

struct	PTRTAG
	event queue structure More...

Macros
#define	THREAD_FLAG_EVENT (0x1)
	Thread flag use to notify available events in an event queue.

#define	EVENT_QUEUE_INIT { .waiter = thread_get_active() }
	event_queue_t static initializer

#define	EVENT_QUEUE_INIT_DETACHED { .waiter = NULL }
	static initializer for detached event queues

Typedefs
typedef struct event	event_t
	event structure forward declaration

typedef void(*	event_handler_t) (event_t *)
	event handler type definition

typedef struct PTRTAG	event_queue_t
	event queue structure

Functions
static void	event_queues_init (event_queue_t *queues, size_t n_queues)
	Initialize an array of event queues.

static void	event_queue_init (event_queue_t *queue)
	Initialize an event queue.

static void	event_queues_init_detached (event_queue_t *queues, size_t n_queues)
	Initialize an array of event queues not binding it to a thread.

static void	event_queue_init_detached (event_queue_t *queue)
	Initialize an event queue not binding it to a thread.

static void	event_queues_claim (event_queue_t *queues, size_t n_queues)
	Bind an array of event queues to the calling thread.

static void	event_queue_claim (event_queue_t *queue)
	Bind an event queue to the calling thread.

void	event_post (event_queue_t queue, event_t event)
	Queue an event.

void	event_cancel (event_queue_t queue, event_t event)
	Cancel a queued event.

bool	event_is_queued (const event_queue_t queue, const event_t event)
	Check if an event is already queued.

event_t *	event_get (event_queue_t *queue)
	Get next event from event queue, non-blocking.

event_t *	event_wait_multi (event_queue_t *queues, size_t n_queues)
	Get next event from the given event queues, blocking.

static event_t *	event_wait (event_queue_t *queue)
	Get next event from event queue, blocking.

event_t *	event_wait_timeout (event_queue_t *queue, uint32_t timeout)
	Get next event from event queue, blocking until timeout expires.

event_t *	event_wait_timeout64 (event_queue_t *queue, uint64_t timeout)
	Get next event from event queue, blocking until timeout expires.

event_t *	event_wait_timeout_ztimer (event_queue_t queue, ztimer_clock_t clock, uint32_t timeout)
	Get next event from event queue, blocking until timeout expires.

static void	event_loop_multi (event_queue_t *queues, size_t n_queues)
	Simple event loop with multiple queues.

static void	event_loop (event_queue_t *queue)
	Simple event loop.

Macro Definition Documentation

◆ EVENT_QUEUE_INIT

#define EVENT_QUEUE_INIT { .waiter = thread_get_active() }

event_queue_t static initializer

Definition at line 128 of file event.h.

◆ EVENT_QUEUE_INIT_DETACHED

#define EVENT_QUEUE_INIT_DETACHED { .waiter = NULL }

static initializer for detached event queues

Definition at line 133 of file event.h.

◆ THREAD_FLAG_EVENT

#define THREAD_FLAG_EVENT (0x1)

Thread flag use to notify available events in an event queue.

Definition at line 122 of file event.h.

Typedef Documentation

◆ event_handler_t

typedef void(* event_handler_t) (event_t *)

event handler type definition

Definition at line 143 of file event.h.

◆ event_t

typedef struct event event_t

event structure forward declaration

Definition at line 138 of file event.h.

Function Documentation

◆ event_cancel()

void event_cancel	(	event_queue_t *	queue,
		event_t *	event
	)

Cancel a queued event.

This will remove a queued event from an event queue.

Note: Due to the underlying list implementation, this will run in O(n).

Parameters

[in]	queue	event queue to remove event from
[in]	event	event to remove from queue

◆ event_get()

event_t * event_get ( event_queue_t * queue )

Get next event from event queue, non-blocking.

In order to handle an event retrieved using this function, call event->handler(event).

Parameters

[in] queue event queue to get event from

Returns: pointer to next event; NULL if no event available

◆ event_is_queued()

bool event_is_queued	(	const event_queue_t *	queue,
		const event_t *	event
	)

Check if an event is already queued.

Parameters

[in]	queue	event queue to check
[in]	event	event to check

Returns: true if event is in queue; false otherwise

◆ event_loop()

static void event_loop ( event_queue_t * queue )

inlinestatic

Simple event loop.

This function will forever sit in a loop, waiting for events to be queued and executing their handlers.

It is pretty much defined as:

while ((event = event_wait(queue))) {
    event->handler(event);
}

Precondition: The queue must have a waiter (i.e. it should have been claimed, or initialized using event_queue_init, event_queues_init)

Parameters

[in] queue event queue to process

Definition at line 463 of file event.h.

◆ event_loop_multi()

static void event_loop_multi	(	event_queue_t *	queues,
		size_t	n_queues
	)

inlinestatic

Simple event loop with multiple queues.

This function will forever sit in a loop, waiting for events to be queued and executing their handlers. If more than one queue contains an event, the queue with the lowest index is chosen. Thus, a lower index in the queues array translates into a higher priority of the queue.

It is pretty much defined as:

while ((event = event_wait_multi(queues, n_queues))) {
    event->handler(event);
}

See also: event_wait_multi

Precondition: The queue must have a waiter (i.e. it should have been claimed, or initialized using event_queue_init, event_queues_init)

Parameters

[in]	queues	Event queues to process
[in]	n_queues	Number of queues passed with `queues`

Definition at line 435 of file event.h.

◆ event_post()

void event_post	(	event_queue_t *	queue,
		event_t *	event
	)

Queue an event.

The given event will be posted on the given queue. If the event is already queued when calling this function, the event will not be touched and remain in the previous position on the queue. So reposting an event while it is already on the queue will have no effect.

Precondition: queue should be initialized

Parameters

[in]	queue	event queue to queue event in
[in]	event	event to queue in event queue

◆ event_queue_claim()

static void event_queue_claim ( event_queue_t * queue )

inlinestatic

Bind an event queue to the calling thread.

This function must only be called once and only if the given queue is not yet bound to a thread.

Precondition: (queue->waiter == NULL)

Parameters

[out] queue event queue object to bind to a thread

Definition at line 248 of file event.h.

◆ event_queue_init()

static void event_queue_init ( event_queue_t * queue )

inlinestatic

Initialize an event queue.

This will set the calling thread as owner of queue.

Parameters

[out] queue event queue object to initialize

Definition at line 187 of file event.h.

◆ event_queue_init_detached()

static void event_queue_init_detached ( event_queue_t * queue )

inlinestatic

Initialize an event queue not binding it to a thread.

Parameters

[out] queue event queue object to initialize

Definition at line 212 of file event.h.

◆ event_queues_claim()

static void event_queues_claim	(	event_queue_t *	queues,
		size_t	n_queues
	)

inlinestatic

Bind an array of event queues to the calling thread.

This function must only be called once and only if the given queue is not yet bound to a thread.

Precondition: (queues[i].waiter == NULL for i in {0, ..., n_queues - 1})

Parameters

[out]	queues	event queue objects to bind to a thread
[in]	n_queues	number of queues in `queues`

Definition at line 228 of file event.h.

◆ event_queues_init()

static void event_queues_init	(	event_queue_t *	queues,
		size_t	n_queues
	)

inlinestatic

Initialize an array of event queues.

This will set the calling thread as owner of each queue in queues.

Parameters

[out]	queues	event queue objects to initialize
[in]	n_queues	number of queues in `queues`

Definition at line 169 of file event.h.

◆ event_queues_init_detached()

static void event_queues_init_detached	(	event_queue_t *	queues,
		size_t	n_queues
	)

inlinestatic

Initialize an array of event queues not binding it to a thread.

Parameters

[out]	queues	event queue objects to initialize
[in]	n_queues	number of queues in `queues`

Definition at line 198 of file event.h.

◆ event_wait()

static event_t * event_wait ( event_queue_t * queue )

inlinestatic

Get next event from event queue, blocking.

This function will block until an event becomes available.

In order to handle an event retrieved using this function, call event->handler(event).

Warning: There can only be a single waiter on a queue!

Precondition: The queue must have a waiter (i.e. it should have been claimed, or initialized using event_queue_init, event_queues_init)

Parameters

[in] queue event queue to get event from

Returns: pointer to next event

Definition at line 354 of file event.h.

◆ event_wait_multi()

event_t * event_wait_multi	(	event_queue_t *	queues,
		size_t	n_queues
	)

Get next event from the given event queues, blocking.

This function will block until an event becomes available. If more than one queue contains an event, the queue with the lowest index is chosen. Thus, a lower index in the queues array translates into a higher priority of the queue.

In order to handle an event retrieved using this function, call event->handler(event).

Warning: There can only be a single waiter on a queue!

Note: This function can be suitable for having a single thread handling both real-time and non-real-time events. However, a real time event can be delayed for the whole duration a single non-real-time event takes (in addition to all other sources of latency). Thus, the slowest to handle non-real-time event must still execute fast enough to add an amount of latency (on top of other sources of latency) that is acceptable to the real-time event with the strictest requirements.

Precondition: 0 < n_queues (expect blowing assert() otherwise); The queue must have a waiter (i.e. it should have been claimed, or initialized using event_queue_init, event_queues_init)

Parameters

[in]	queues	Array of event queues to get event from
[in]	n_queues	Number of event queues passed in `queues`

Returns: pointer to next event

◆ event_wait_timeout()

event_t * event_wait_timeout	(	event_queue_t *	queue,
		uint32_t	timeout
	)

Get next event from event queue, blocking until timeout expires.

Precondition: The queue must have a waiter (i.e. it should have been claimed, or initialized using event_queue_init, event_queues_init)

Parameters

[in]	queue	queue to query for an event
[in]	timeout	maximum time to wait for an event to be posted in us

Returns: pointer to next event if event was taken from the queue; NULL if timeout expired before an event was posted

◆ event_wait_timeout64()

event_t * event_wait_timeout64	(	event_queue_t *	queue,
		uint64_t	timeout
	)

Get next event from event queue, blocking until timeout expires.

Precondition: The queue must have a waiter (i.e. it should have been claimed, or initialized using event_queue_init, event_queues_init)

Parameters

[in]	queue	queue to query for an event
[in]	timeout	maximum time to wait for an event to be posted in us

Returns: pointer to next event if event was taken from the queue; NULL if timeout expired before an event was posted

◆ event_wait_timeout_ztimer()

event_t * event_wait_timeout_ztimer	(	event_queue_t *	queue,
		ztimer_clock_t *	clock,
		uint32_t	timeout
	)

Get next event from event queue, blocking until timeout expires.

This function is the same as event_wait_timeout() with the difference that it uses ztimer instead of xtimer as timer backend.

Precondition: The queue must have a waiter (i.e. it should have been claimed, or initialized using event_queue_init, event_queues_init)

Parameters

[in]	queue	queue to query for an event
[in]	clock	ztimer clock to use
[in]	timeout	maximum time to wait for an event, time unit depends on the used ztimer clock

Returns: pointer to next event if event was taken from the queue; NULL if timeout expired before an event was posted

Detailed Description

Files

Data Structures

Macros

Typedefs

Functions

Macro Definition Documentation

◆ EVENT_QUEUE_INIT

◆ EVENT_QUEUE_INIT_DETACHED

◆ THREAD_FLAG_EVENT

Typedef Documentation

◆ event_handler_t

◆ event_t

Function Documentation

◆ event_cancel()

◆ event_get()

◆ event_is_queued()

◆ event_loop()

◆ event_loop_multi()

◆ event_post()

◆ event_queue_claim()

◆ event_queue_init()

◆ event_queue_init_detached()

◆ event_queues_claim()

◆ event_queues_init()

◆ event_queues_init_detached()

◆ event_wait()

◆ event_wait_multi()

◆ event_wait_timeout()

◆ event_wait_timeout64()

◆ event_wait_timeout_ztimer()