AP_HAL: add common Event interface

libraries/AP_HAL/AP_HAL.h

@@ -16,6 +16,7 @@
 #include "RCOutput.h"
 #include "Scheduler.h"
 #include "Semaphores.h"
+#include "EventHandle.h"
 #include "Util.h"
 #include "OpticalFlow.h"
 #include "Flash.h"

libraries/AP_HAL/AP_HAL_Namespace.h

@@ -26,6 +26,8 @@ namespace AP_HAL {
     class RCInput;
     class RCOutput;
     class Scheduler;
+    class EventHandle;
+    class EventSource;
     class Semaphore;
     class OpticalFlow;
     class DSP;

libraries/AP_HAL/EventHandle.cpp

@@ -0,0 +1,33 @@
+#include "EventHandle.h"
+#include <AP_HAL/AP_HAL.h>
+
+
+bool AP_HAL::EventHandle::register_event(uint32_t evt_mask)
+{
+    WITH_SEMAPHORE(sem);
+    evt_mask_ |= evt_mask;
+    return true;
+}
+
+bool AP_HAL::EventHandle::unregister_event(uint32_t evt_mask)
+{
+    WITH_SEMAPHORE(sem);
+    evt_mask_ &= ~evt_mask;
+    return true;
+}
+
+bool AP_HAL::EventHandle::wait(uint64_t duration)
+{
+    if (evt_src_ == nullptr) {
+        return false;
+    }
+    return evt_src_->wait(duration, this);
+}
+
+bool AP_HAL::EventHandle::set_source(AP_HAL::EventSource* src)
+{
+    WITH_SEMAPHORE(sem);
+    evt_src_ = src;
+    evt_mask_ = 0;
+    return true;
+}

libraries/AP_HAL/EventHandle.h

@@ -0,0 +1,44 @@
+#pragma once
+
+#include "AP_HAL_Namespace.h"
+#include <stdint.h>
+#include "AP_HAL_Boards.h"
+
+class AP_HAL::EventSource {
+public:
+    // generate event from thread context
+    virtual void signal(uint32_t evt_mask) = 0;
+
+    // generate event from interrupt context
+    virtual void signalI(uint32_t evt_mask) { signal(evt_mask); }
+
+
+    // Wait on an Event handle, method for internal use by EventHandle
+    virtual bool wait(uint64_t duration, AP_HAL::EventHandle* evt_handle) = 0;
+};
+
+class AP_HAL::EventHandle {
+public:
+    //Set event source
+    virtual bool set_source(AP_HAL::EventSource* src);
+
+    AP_HAL::EventSource* get_source() { return evt_src_; }
+
+    // return true if event type was successfully registered
+    virtual bool register_event(uint32_t evt_mask);
+
+    // return true if event type was successfully unregistered
+    virtual bool unregister_event(uint32_t evt_mask);
+
+    // return true if event was triggered within the duration
+    virtual bool wait(uint64_t duration);
+
+    virtual uint32_t get_evt_mask() const { return evt_mask_; }
+
+private:
+    // Mask of events to be handeled,
+    // Max 32 events can be handled per event handle
+    uint32_t evt_mask_;
+    AP_HAL::EventSource *evt_src_;
+    HAL_Semaphore sem;
+};

libraries/AP_HAL/board/chibios.h

@@ -60,6 +60,9 @@
 #include <AP_HAL_ChibiOS/Semaphores.h>
 #define HAL_Semaphore ChibiOS::Semaphore
 
+#include <AP_HAL/EventHandle.h>
+#define HAL_EventHandle AP_HAL::EventHandle
+
 /* string names for well known SPI devices */
 #define HAL_BARO_MS5611_NAME "ms5611"
 #ifndef HAL_BARO_MS5611_SPI_INT_NAME

libraries/AP_HAL/board/linux.h

@@ -347,4 +347,5 @@
 
 #include <AP_HAL_Linux/Semaphores.h>
 #define HAL_Semaphore Linux::Semaphore
-
+#include <AP_HAL/EventHandle.h>
+#define HAL_EventHandle AP_HAL::EventHandle

libraries/AP_HAL/board/sitl.h

@@ -58,6 +58,11 @@
 #include <AP_HAL_SITL/Semaphores.h>
 #define HAL_Semaphore HALSITL::Semaphore
 
+#include <AP_HAL/EventHandle.h>
+#define HAL_EventHandle AP_HAL::EventHandle
+
+#define HAL_NUM_CAN_IFACES 2
+
 #ifndef HAL_BOARD_STORAGE_DIRECTORY
 #define HAL_BOARD_STORAGE_DIRECTORY "."
 #endif

libraries/AP_HAL_ChibiOS/AP_HAL_ChibiOS_Namespace.h

@@ -14,6 +14,7 @@ namespace ChibiOS {
     class RCOutput;
     class Scheduler;
     class Semaphore;
+    class EventSource;
     class SPIBus;
     class SPIDesc;
     class SPIDevice;