diff --git a/CHANGELOG.md b/CHANGELOG.md index 329da8b..9b9fdad 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,6 +1,20 @@ # Changelog * Unreleased +* 1.3.1 (2021-06-02) + * Bring back `COROUTINE_DELAY_MICROS()` and `COROUTINE_DELAY_SECONDS(), + with an alternate implemenation that increases flash and static memory + *only* if they are used. + * The `Coroutine` itself knows whether it is delaying in units of + milliseconds, microseconds, or seconds, based on its continuation + point. + * Make `CoroutineScheduler::runCoroutine()` always call into + `Coroutine::runCoroutine()` when the `Coroutine::mStatus` is delaying, + instead of preemptively trying to figure out if the delay has expired. + * `Coroutine` does not need a runtime `mDelayType` descriminator. + * The result is that the code to support `COROUTINE_DELAY_MICROS()` and + `COROUTINE_DELAY_SECONDS()` is not pulled into the program if they are + not used. * 1.3.0 (2021-06-02) * Activate GitHub Discussions for the project. * **Potentially Breaking**: Change `Coroutine` destructor from virtual to @@ -12,7 +26,7 @@ * **Potentially Breaking**: Lift `Coroutine` into `CoroutineTemplate` class. Lift `CoroutineScheduler` into `CoroutineSchedulerTemplate` class. * Define `Coroutine` to be `CoroutineTemplate`, almost - * fully backwards compatible with previous implementation. + fully backwards compatible with previous implementation. * Define `CoroutineScheduler` to be `CoroutineSchedulerTemplate`, almost fully backwards compatible with previous implementation. diff --git a/README.md b/README.md index 13087a5..c1bb46f 100644 --- a/README.md +++ b/README.md @@ -39,6 +39,10 @@ their life cycle: * `COROUTINE_AWAIT(condition)`: yield until `condition` becomes `true` * `COROUTINE_DELAY(millis)`: yields back execution for `millis`. The `millis` parameter is defined as a `uint16_t`. +* `COROUTINE_DELAY_MICROS(micros)`: yields back execution for `micros`. The + `micros` parameter is defined as a `uint16_t`. +* `COROUTINE_DELAY_SECONDS(seconds)`: yields back execution for + `seconds`. The `seconds` parameter is defined as a `uint16_t`. * `COROUTINE_LOOP()`: convenience macro that loops forever * `COROUTINE_CHANNEL_WRITE(channel, value)`: writes a value to a `Channel` * `COROUTINE_CHANNEL_READ(channel, value)`: reads a value from a `Channel` @@ -64,16 +68,16 @@ others (in my opinion of course): * ~1.2 microseconds on a 16 MHz ATmega328P * ~0.4 microseconds on a 48 MHz SAMD21 * ~0.3 microseconds on a 72 MHz STM32 - * ~0.4 microseconds on a 80 MHz ESP8266 - * ~0.03 microseconds on a 240 MHz ESP32 + * ~0.3 microseconds on a 80 MHz ESP8266 + * ~0.1 microseconds on a 240 MHz ESP32 * ~0.17 microseconds on 96 MHz Teensy 3.2 (depending on compiler settings) * Coroutine Scheduling (use `CoroutineScheduler::loop()`): - * ~5.2 microseconds on a 16 MHz ATmega328P - * ~1.9 microseconds on a 48 MHz SAMD21 - * ~1.4 microseconds on a 72 MHz STM32 - * ~1.1 microseconds on a 80 MHz ESP8266 - * ~0.3 microseconds on a 240 MHz ESP32 + * ~5.5 microseconds on a 16 MHz ATmega328P + * ~1.3 microseconds on a 48 MHz SAMD21 + * ~0.9 microseconds on a 72 MHz STM32 + * ~0.6 microseconds on a 80 MHz ESP8266 + * ~0.2 microseconds on a 240 MHz ESP32 * ~0.5 microseconds on 96 MHz Teensy 3.2 (depending on compiler settings) * uses the [computed goto](https://gcc.gnu.org/onlinedocs/gcc/Labels-as-Values.html) @@ -106,7 +110,7 @@ AceRoutine is a self-contained library that works on any platform supporting the Arduino API (AVR, Teensy, ESP8266, ESP32, etc), and it provides a handful of additional macros that can reduce boilerplate code. -**Version**: 1.3 (2021-06-02) +**Version**: 1.3.1 (2021-06-02) **Changelog**: [CHANGELOG.md](CHANGELOG.md) @@ -501,45 +505,69 @@ etc) for a handful of AceRoutine features. Here are some highlights: **Arduino Nano (8-bits)** ``` -+--------------------------------------------------------------+ -| functionality | flash/ ram | delta | -|---------------------------------+--------------+-------------| -| Baseline | 606/ 11 | 0/ 0 | -|---------------------------------+--------------+-------------| -| One Delay Function | 654/ 13 | 48/ 2 | -| Two Delay Functions | 714/ 15 | 108/ 4 | -|---------------------------------+--------------+-------------| -| One Coroutine | 840/ 30 | 234/ 19 | -| Two Coroutines | 1010/ 47 | 404/ 36 | -|---------------------------------+--------------+-------------| -| Scheduler, One Coroutine | 946/ 32 | 340/ 21 | -| Scheduler, Two Coroutines | 1058/ 43 | 452/ 32 | -|---------------------------------+--------------+-------------| -| Blink Function | 938/ 14 | 332/ 3 | -| Blink Coroutine | 1154/ 30 | 548/ 19 | -+--------------------------------------------------------------+ ++------------------------------------------------------------------+ +| functionality | flash/ ram | delta | +|-------------------------------------+--------------+-------------| +| Baseline | 400/ 11 | 0/ 0 | +|-------------------------------------+--------------+-------------| +| One Delay Function | 450/ 13 | 50/ 2 | +| Two Delay Functions | 508/ 15 | 108/ 4 | +|-------------------------------------+--------------+-------------| +| One Coroutine | 628/ 30 | 228/ 19 | +| Two Coroutines | 796/ 47 | 396/ 36 | +|-------------------------------------+--------------+-------------| +| One Coroutine (micros) | 596/ 30 | 196/ 19 | +| Two Coroutines (micros) | 732/ 47 | 332/ 36 | +|-------------------------------------+--------------+-------------| +| One Coroutine (seconds) | 724/ 30 | 324/ 19 | +| Two Coroutines (seconds) | 920/ 47 | 520/ 36 | +|-------------------------------------+--------------+-------------| +| Scheduler, One Coroutine | 742/ 32 | 342/ 21 | +| Scheduler, Two Coroutines | 904/ 49 | 504/ 38 | +|-------------------------------------+--------------+-------------| +| Scheduler, One Coroutine (micros) | 710/ 32 | 310/ 21 | +| Scheduler, Two Coroutines (micros) | 840/ 49 | 440/ 38 | +|-------------------------------------+--------------+-------------| +| Scheduler, One Coroutine (seconds) | 838/ 32 | 438/ 21 | +| Scheduler, Two Coroutines (seconds) | 1028/ 49 | 628/ 38 | +|-------------------------------------+--------------+-------------| +| Blink Function | 546/ 14 | 146/ 3 | +| Blink Coroutine | 752/ 30 | 352/ 19 | ++------------------------------------------------------------------+ ``` **ESP8266 (32-bits)** ``` -+--------------------------------------------------------------+ -| functionality | flash/ ram | delta | -|---------------------------------+--------------+-------------| -| Baseline | 256924/26800 | 0/ 0 | -|---------------------------------+--------------+-------------| -| One Delay Function | 256988/26808 | 64/ 8 | -| Two Delay Functions | 257052/26808 | 128/ 8 | -|---------------------------------+--------------+-------------| -| One Coroutine | 257104/26820 | 180/ 20 | -| Two Coroutines | 257264/26844 | 340/ 44 | -|---------------------------------+--------------+-------------| -| Scheduler, One Coroutine | 257152/26828 | 228/ 28 | -| Scheduler, Two Coroutines | 257232/26844 | 308/ 44 | -|---------------------------------+--------------+-------------| -| Blink Function | 257424/26816 | 500/ 16 | -| Blink Coroutine | 257556/26836 | 632/ 36 | -+--------------------------------------------------------------+ ++------------------------------------------------------------------+ +| functionality | flash/ ram | delta | +|-------------------------------------+--------------+-------------| +| Baseline | 256924/26800 | 0/ 0 | +|-------------------------------------+--------------+-------------| +| One Delay Function | 256988/26808 | 64/ 8 | +| Two Delay Functions | 257052/26808 | 128/ 8 | +|-------------------------------------+--------------+-------------| +| One Coroutine | 257104/26820 | 180/ 20 | +| Two Coroutines | 257264/26844 | 340/ 44 | +|-------------------------------------+--------------+-------------| +| One Coroutine (micros) | 257136/26820 | 212/ 20 | +| Two Coroutines (micros) | 257296/26844 | 372/ 44 | +|-------------------------------------+--------------+-------------| +| One Coroutine (seconds) | 257136/26820 | 212/ 20 | +| Two Coroutines (seconds) | 257312/26844 | 388/ 44 | +|-------------------------------------+--------------+-------------| +| Scheduler, One Coroutine | 257152/26828 | 228/ 28 | +| Scheduler, Two Coroutines | 257280/26844 | 356/ 44 | +|-------------------------------------+--------------+-------------| +| Scheduler, One Coroutine (micros) | 257168/26828 | 244/ 28 | +| Scheduler, Two Coroutines (micros) | 257312/26844 | 388/ 44 | +|-------------------------------------+--------------+-------------| +| Scheduler, One Coroutine (seconds) | 257168/26828 | 244/ 28 | +| Scheduler, Two Coroutines (seconds) | 257328/26844 | 404/ 44 | +|-------------------------------------+--------------+-------------| +| Blink Function | 257424/26816 | 500/ 16 | +| Blink Coroutine | 257556/26836 | 632/ 36 | ++------------------------------------------------------------------+ ``` Comparing `Blink Function` and `Blink Coroutine` is probably the most @@ -567,7 +595,7 @@ Arduino Nano: |---------------------+--------+-------------+--------| | EmptyLoop | 10000 | 1.700 | 0.000 | | DirectScheduling | 10000 | 2.900 | 1.200 | -| CoroutineScheduling | 10000 | 6.900 | 5.200 | +| CoroutineScheduling | 10000 | 7.200 | 5.500 | +---------------------+--------+-------------+--------+ ``` @@ -577,9 +605,9 @@ ESP8266: +---------------------+--------+-------------+--------+ | Functionality | iters | micros/iter | diff | |---------------------+--------+-------------+--------| -| EmptyLoop | 10000 | 0.100 | 0.000 | -| DirectScheduling | 10000 | 0.500 | 0.400 | -| CoroutineScheduling | 10000 | 1.200 | 1.100 | +| EmptyLoop | 10000 | 0.200 | 0.000 | +| DirectScheduling | 10000 | 0.500 | 0.300 | +| CoroutineScheduling | 10000 | 0.800 | 0.600 | +---------------------+--------+-------------+--------+ ``` diff --git a/USER_GUIDE.md b/USER_GUIDE.md index 7abdf4d..8179df2 100644 --- a/USER_GUIDE.md +++ b/USER_GUIDE.md @@ -4,7 +4,7 @@ See the [README.md](README.md) for installation instructions and other background information. This document describes how to use the library once it is installed. -**Version**: 1.3 (2021-06-02) +**Version**: 1.3.1 (2021-06-02) ## Table of Contents @@ -87,6 +87,10 @@ The following macros are available to hide a lot of boilerplate code: * `COROUTINE_AWAIT(condition)`: yields until `condition` become `true` * `COROUTINE_DELAY(millis)`: yields back execution for `millis`. The maximum allowable delay is 32767 milliseconds. +* `COROUTINE_DELAY_MICROS(micros)`: yields back execution for `micros`. The + maximum allowable delay is 32767 microseconds. +* `COROUTINE_DELAY_SECONDS(seconds)`: yields back execution for `seconds`. The + maximum allowable delay is 32767 seconds. * `COROUTINE_LOOP()`: convenience macro that loops forever, replaces `COROUTINE_BEGIN()` and `COROUTINE_END()` * `COROUTINE_CHANNEL_WRITE()`: writes a message to a `Channel` @@ -277,9 +281,12 @@ while (!condition) COROUTINE_YIELD(); ### Delay +**Delay Milliseconds** + The `COROUTINE_DELAY(millis)` macro yields back control to other coroutines -until `millis` milliseconds have elapsed. The following waits for 100 -milliseconds: +until `millis` milliseconds have elapsed. This is analogous to the built-in +Arduino `delay()` function, except that this is non-blocking. The following +waits for 100 milliseconds: ```C++ COROUTINE(waitMillis) { @@ -291,26 +298,80 @@ COROUTINE(waitMillis) { } ``` -The `millis` argument is a `uint16_t`, a 16-bit unsigned integer, which reduces +The `millis` argument is a `uint16_t`, a 16-bit unsigned integer, which saves the size of each coroutine instance by 4 bytes (8-bit processors) or 8 bytes -(32-bit processors). However, the actual maximum delay is limited to 32767 -milliseconds to avoid overflow situations if the other coroutines in the system -take too much time for their work before returning control to the waiting -coroutine. With this limit, the other coroutines have as much as 32767 -milliseconds before it must yield, which should be more than enough time for any -conceivable situation. In practice, coroutines should complete their work within -several milliseconds and yield control to the other coroutines as soon as -possible. - -For delays longer than 32767 milliseconds, we can use an explicit for-loop. For -example, to delay for 100,000 seconds, we can do this: +(32-bit processors) compared to using an `uint32_t`. The largest number that +can be represented by a `uint16_t` is 65535, but the actual maximum delay is +limited to 32767 milliseconds to avoid overflow situations if the other +coroutines in the system take too much time for their work before returning +control to the waiting coroutine. With this limit, the other coroutines have as +much as 32767 milliseconds before it must yield, which should be more than +enough time for any conceivable situation. In practice, coroutines should +complete their work within several milliseconds and yield control to the other +coroutines as soon as possible. + +**Delay Microseconds** + +On faster microcontrollers, it might be useful to yield for microseconds using +the `COROUTINE_DELAY_MICROS(delayMicros)`. The following example waits for 300 +microseconds: + +```C++ +COROUTINE(waitMicros) { + COROUTINE_BEGIN(); + ... + COROUTINE_DELAY_MICROS(300); + ... + COROUTINE_END(); +} +``` +This macro has a number constraints: + +* The maximum delay is 32767 micros. +* All other coroutines in the program *must* yield within 32767 microsecond, + otherwise the internal timing variable will overflow and an incorrect delay + will occur. +* The accuracy of `COROUTINE_DELAY_MICROS()` is not guaranteed because the + overhead of context switching and checking the delay's expiration may + consume a significant portion of the requested delay in microseconds. + +**Delay Seconds** + +For delays greater than 32767 milliseconds, we can use the +`COROUTINE_DELAY_SECONDS(seconds)` convenience macro. The following example +waits for 200 seconds: + +```C++ +COROUTINE(waitSeconds) { + COROUTINE_BEGIN(); + ... + COROUTINE_DELAY_SECONDS(200); + ... + COROUTINE_END(); +} +``` + +This macro has some constraints and caveats: + +* The maximum number of seconds is 32767 seconds. +* The delay is implemented using the `millis()` clock divided by 1000. + * On 8-bit processors without hardware division instruction, the software + division consumes CPU time and flash memory, about 100 bytes on an AVR. + * The `unsigned long` returned by `millis()` rolls over every + 4294967.296 seconds (49.7 days). During that rollover, the + `COROUTINE_DELAY_SECONDS()` will return 0.704 seconds too early. If the + delay value is relatively large, e.g. 100 seconds, this inaccuracy + probably won't matter too much. + +We can also use an explicit for-loop. For example, to delay for 1000 seconds, we +can loop 100 times over a `COROUTINE_DELAY()` of 10 seconds, like this: ```C++ COROUTINE(waitThousandSeconds) { static uint16_t i; COROUTINE_BEGIN(); - for (i = 0; i < 10000; i++) { + for (i = 0; i < 100; i++) { COROUTINE_DELAY(10000); // 10 seconds } ... diff --git a/docs/doxygen.cfg b/docs/doxygen.cfg index aeb8aee..e624d52 100644 --- a/docs/doxygen.cfg +++ b/docs/doxygen.cfg @@ -38,7 +38,7 @@ PROJECT_NAME = "AceRoutine" # could be handy for archiving the generated documentation or if some version # control system is used. -PROJECT_NUMBER = 1.3.0 +PROJECT_NUMBER = 1.3.1 # Using the PROJECT_BRIEF tag one can provide an optional one line description # for a project that appears at the top of each page and should give viewer a diff --git a/docs/html/AceRoutine_8h_source.html b/docs/html/AceRoutine_8h_source.html index 6baa5ef..27a763d 100644 --- a/docs/html/AceRoutine_8h_source.html +++ b/docs/html/AceRoutine_8h_source.html @@ -22,7 +22,7 @@
AceRoutine -  1.3.0 +  1.3.1
A low-memory, fast-switching, cooperative multitasking library using stackless coroutines on Arduino platforms.
diff --git a/docs/html/Channel_8h_source.html b/docs/html/Channel_8h_source.html index 29a9d38..c46a3b5 100644 --- a/docs/html/Channel_8h_source.html +++ b/docs/html/Channel_8h_source.html @@ -22,7 +22,7 @@
AceRoutine -  1.3.0 +  1.3.1
A low-memory, fast-switching, cooperative multitasking library using stackless coroutines on Arduino platforms.
diff --git a/docs/html/ClockInterface_8h_source.html b/docs/html/ClockInterface_8h_source.html index 60e1b80..ddf5be8 100644 --- a/docs/html/ClockInterface_8h_source.html +++ b/docs/html/ClockInterface_8h_source.html @@ -22,7 +22,7 @@
AceRoutine -  1.3.0 +  1.3.1
A low-memory, fast-switching, cooperative multitasking library using stackless coroutines on Arduino platforms.
@@ -106,14 +106,20 @@
40 class ClockInterface {
41  public:
43  static unsigned long millis() { return ::millis(); }
-
44 };
-
45 
-
46 }
+
44 
+
46  static unsigned long micros() { return ::micros(); }
47 
-
48 #endif
+
63  static unsigned long seconds() { return ::millis() / 1000; }
+
64 };
+
65 
+
66 }
+
67 
+
68 #endif
ace_routine::ClockInterface::millis
static unsigned long millis()
Get the current millis.
Definition: ClockInterface.h:43
+
ace_routine::ClockInterface::seconds
static unsigned long seconds()
Get the current seconds.
Definition: ClockInterface.h:63
ace_routine::ClockInterface
A utility class (all methods are static) that provides a layer of indirection to Arduino clock functi...
Definition: ClockInterface.h:40
+
ace_routine::ClockInterface::micros
static unsigned long micros()
Get the current micros.
Definition: ClockInterface.h:46
Generated by   diff --git a/docs/html/CoroutineScheduler_8h_source.html b/docs/html/CoroutineScheduler_8h_source.html index 02892da..4748d82 100644 --- a/docs/html/CoroutineScheduler_8h_source.html +++ b/docs/html/CoroutineScheduler_8h_source.html @@ -22,7 +22,7 @@
AceRoutine -  1.3.0 +  1.3.1
A low-memory, fast-switching, cooperative multitasking library using stackless coroutines on Arduino platforms.
@@ -156,61 +156,56 @@
113  // Handle the coroutine's dispatch back to the last known internal status.
114  switch ((*mCurrent)->getStatus()) {
115  case T_COROUTINE::kStatusYielding:
-
116  (*mCurrent)->runCoroutine();
-
117  break;
-
118 
-
119  case T_COROUTINE::kStatusDelaying:
-
120  // Check isDelayExpired() here to optimize away an extra call into the
-
121  // Coroutine::runCoroutine(). Everything would still work if we just
-
122  // dispatched into the Coroutine::runCoroutine() because that method
-
123  // checks isDelayExpired() as well.
-
124  if ((*mCurrent)->isDelayExpired()) {
-
125  (*mCurrent)->runCoroutine();
-
126  }
+
116  case T_COROUTINE::kStatusDelaying:
+
117  // The coroutine itself knows whether it is yielding or delaying, and
+
118  // its continuation context determines whether to call
+
119  // Coroutine::isDelayExpired(), Coroutine::isDelayMicrosExpired(), or
+
120  // Coroutine::isDelaySecondsExpired().
+
121  (*mCurrent)->runCoroutine();
+
122  break;
+
123 
+
124  case T_COROUTINE::kStatusEnding:
+
125  // mark it terminated
+
126  (*mCurrent)->setTerminated();
127  break;
128 
-
129  case T_COROUTINE::kStatusEnding:
-
130  // mark it terminated
-
131  (*mCurrent)->setTerminated();
-
132  break;
+
129  default:
+
130  // For all other cases, just skip to the next coroutine.
+
131  break;
+
132  }
133 
-
134  default:
-
135  // For all other cases, just skip to the next coroutine.
-
136  break;
-
137  }
+
134  // Go to the next coroutine
+
135  mCurrent = (*mCurrent)->getNext();
+
136  }
+
137 
138 
-
139  // Go to the next coroutine
-
140  mCurrent = (*mCurrent)->getNext();
-
141  }
-
142 
-
143 
-
145  void listCoroutines(Print& printer) {
-
146  for (T_COROUTINE** p = T_COROUTINE::getRoot(); (*p) != nullptr;
-
147  p = (*p)->getNext()) {
-
148  printer.print(F("Coroutine "));
-
149  printer.print((uintptr_t) *p);
-
150  printer.print(F("; status: "));
-
151  (*p)->statusPrintTo(printer);
-
152  printer.println();
-
153  }
-
154  }
-
155 
-
156  // The current coroutine is represented by a pointer to a pointer. This
-
157  // allows the root node to be treated the same as all the other nodes, and
-
158  // simplifies the code that traverses the singly-linked list.
-
159  T_COROUTINE** mCurrent = nullptr;
-
160 };
-
161 
-
162 using CoroutineScheduler = CoroutineSchedulerTemplate<Coroutine>;
-
163 
-
164 }
-
165 
-
166 #endif
+
140  void listCoroutines(Print& printer) {
+
141  for (T_COROUTINE** p = T_COROUTINE::getRoot(); (*p) != nullptr;
+
142  p = (*p)->getNext()) {
+
143  printer.print(F("Coroutine "));
+
144  printer.print((uintptr_t) *p);
+
145  printer.print(F("; status: "));
+
146  (*p)->statusPrintTo(printer);
+
147  printer.println();
+
148  }
+
149  }
+
150 
+
151  // The current coroutine is represented by a pointer to a pointer. This
+
152  // allows the root node to be treated the same as all the other nodes, and
+
153  // simplifies the code that traverses the singly-linked list.
+
154  T_COROUTINE** mCurrent = nullptr;
+
155 };
+
156 
+
157 using CoroutineScheduler = CoroutineSchedulerTemplate<Coroutine>;
+
158 
+
159 }
+
160 
+
161 #endif
ace_routine::CoroutineSchedulerTemplate::loop
static void loop()
Run the current coroutine using the current scheduler.
Definition: CoroutineScheduler.h:53
ace_routine::CoroutineSchedulerTemplate::setup
static void setup()
Set up the scheduler.
Definition: CoroutineScheduler.h:45
ace_routine::CoroutineSchedulerTemplate::list
static void list(Print &printer)
Print out the known coroutines to the printer (usually Serial).
Definition: CoroutineScheduler.h:61
-
ace_routine::CoroutineSchedulerTemplate
Class that manages instances of the Coroutine class, and executes them in a round-robin fashion.
Definition: Coroutine.h:235
+
ace_routine::CoroutineSchedulerTemplate
Class that manages instances of the Coroutine class, and executes them in a round-robin fashion.
Definition: Coroutine.h:271
diff --git a/docs/html/Coroutine_8cpp_source.html b/docs/html/Coroutine_8cpp_source.html index cf2da03..d6393f6 100644 --- a/docs/html/Coroutine_8cpp_source.html +++ b/docs/html/Coroutine_8cpp_source.html @@ -22,7 +22,7 @@
AceRoutine -  1.3.0 +  1.3.1
A low-memory, fast-switching, cooperative multitasking library using stackless coroutines on Arduino platforms.
diff --git a/docs/html/Coroutine_8h.html b/docs/html/Coroutine_8h.html index e314b04..c42e47d 100644 --- a/docs/html/Coroutine_8h.html +++ b/docs/html/Coroutine_8h.html @@ -22,7 +22,7 @@
AceRoutine -  1.3.0 +  1.3.1
A low-memory, fast-switching, cooperative multitasking library using stackless coroutines on Arduino platforms.
@@ -166,6 +166,12 @@ #define COROUTINE_DELAY(delayMillis)  Yield for delayMillis. More...
  +#define COROUTINE_DELAY_MICROS(delayMicros) + Yield for delayMicros. More...
+  +#define COROUTINE_DELAY_SECONDS(delaySeconds) + Yield for delaySeconds. More...
+  #define COROUTINE_END()  Mark the end of a coroutine. More...
  @@ -173,7 +179,7 @@

Typedefs

using ace_routine::Coroutine = CoroutineTemplate< ClockInterface > - A concrete template instance of CoroutineTemplate that uses the built-in millis() function. More...
+ A concrete template instance of CoroutineTemplate that uses ClockInterface which uses the built-in millis() or micros() function. More...
 

Detailed Description

@@ -296,11 +302,11 @@

Value:
do { \
-
setYielding(); \
+
this->setYielding(); \
do { \
COROUTINE_YIELD_INTERNAL(); \
} while (!(condition)); \
-
setRunning(); \
+
this->setRunning(); \
} while (false)

Yield until condition is true, then execution continues.

@@ -368,6 +374,70 @@

Definition at line 206 of file Coroutine.h.

+ + + +

◆ COROUTINE_DELAY_MICROS

+ +
+
+ + + + + + + + +
#define COROUTINE_DELAY_MICROS( delayMicros)
+
+Value:
do { \
+
this->setDelayMicros(delayMicros); \
+
this->setDelaying(); \
+
do { \
+
COROUTINE_YIELD_INTERNAL(); \
+
} while (!this->isDelayMicrosExpired()); \
+
this->setRunning(); \
+
} while (false)
+
+

Yield for delayMicros.

+

Similiar to COROUTINE_DELAY(delayMillis).

+ +

Definition at line 217 of file Coroutine.h.

+ +
+
+ +

◆ COROUTINE_DELAY_SECONDS

+ +
+
+ + + + + + + + +
#define COROUTINE_DELAY_SECONDS( delaySeconds)
+
+Value:
do { \
+
this->setDelaySeconds(delaySeconds); \
+
this->setDelaying(); \
+
do { \
+
COROUTINE_YIELD_INTERNAL(); \
+
} while (!this->isDelaySecondsExpired()); \
+
this->setRunning(); \
+
} while (false)
+
+

Yield for delaySeconds.

+

Similar to COROUTINE_DELAY(delayMillis).

+

The accuracy of the delay interval in units of seconds is not perfectly accurate. The current implementation uses the builtin millis() to infer the "seconds". The millis() function returns a value that overflows after 4,294,967.296 seconds. Therefore, the last inferred second just before overflowing contains only 0.296 seconds instead of a full second. A delay which straddles this overflow will return 0.704 seconds earlier than it should.

+

On microcontrollers without hardware integer division instruction, (i.e. AVR, SAMD21, ESP8266), the division by 1000 is relatively slow and consumes significant amount of flash memory (100-150 bytes on AVR).

+ +

Definition at line 242 of file Coroutine.h.

+
@@ -395,7 +465,7 @@

Definition at line 220 of file Coroutine.h.

+

Definition at line 256 of file Coroutine.h.

@@ -582,10 +652,10 @@

-

A concrete template instance of CoroutineTemplate that uses the built-in millis() function.

+

A concrete template instance of CoroutineTemplate that uses ClockInterface which uses the built-in millis() or micros() function.

This becomes the base class of all user-defined coroutines created using the COROUTINE() macro or through manual subclassing of this class.

-

Definition at line 571 of file Coroutine.h.

+

Definition at line 680 of file Coroutine.h.

@@ -593,7 +663,7 @@

COROUTINE_BEGIN
#define COROUTINE_BEGIN()
Mark the beginning of a coroutine.
Definition: Coroutine.h:138
EXTERN_COROUTINE2
#define EXTERN_COROUTINE2(className, name)
Implement the 2-argument EXTERN_COROUTINE() macro.
Definition: Coroutine.h:130
COROUTINE_YIELD
#define COROUTINE_YIELD()
Yield execution to another coroutine.
Definition: Coroutine.h:165
-
ace_routine::CoroutineTemplate
Base class of all coroutines.
Definition: Coroutine.h:242
+
ace_routine::CoroutineTemplate
Base class of all coroutines.
Definition: Coroutine.h:278
ace_routine::CoroutineTemplate::runCoroutine
virtual int runCoroutine()=0
The body of the coroutine.
EXTERN_COROUTINE1
#define EXTERN_COROUTINE1(name)
Implement the 1-argument EXTERN_COROUTINE() macro.
Definition: Coroutine.h:122
GET_EXTERN_COROUTINE
#define GET_EXTERN_COROUTINE(_1, _2, NAME,...)
Internal helper macro to allow overloading of the EXTERN_COROUTINE() macro.
Definition: Coroutine.h:119
diff --git a/docs/html/Coroutine_8h_source.html b/docs/html/Coroutine_8h_source.html index 0986cb5..9098597 100644 --- a/docs/html/Coroutine_8h_source.html +++ b/docs/html/Coroutine_8h_source.html @@ -22,7 +22,7 @@
AceRoutine -  1.3.0 +  1.3.1
A low-memory, fast-switching, cooperative multitasking library using stackless coroutines on Arduino platforms.
@@ -187,11 +187,11 @@
171 
182 #define COROUTINE_AWAIT(condition) \
183  do { \
-
184  setYielding(); \
+
184  this->setYielding(); \
185  do { \
186  COROUTINE_YIELD_INTERNAL(); \
187  } while (!(condition)); \
-
188  setRunning(); \
+
188  this->setRunning(); \
189  } while (false)
190 
206 #define COROUTINE_DELAY(delayMillis) \
@@ -204,211 +204,280 @@
213  this->setRunning(); \
214  } while (false)
215 
-
220 #define COROUTINE_END() \
-
221  do { \
-
222  __label__ jumpLabel; \
-
223  this->setEnding(); \
-
224  this->setJump(&& jumpLabel); \
-
225  jumpLabel: ; \
-
226  return 0; \
-
227  } while (false)
-
228 
-
229 namespace ace_routine {
-
230 
-
232 extern const __FlashStringHelper* const sStatusStrings[];
-
233 
-
234 // Forward declaration of CoroutineSchedulerTemplate<T>
-
235 template <typename T> class CoroutineSchedulerTemplate;
-
236 
-
241 template <typename T_CLOCK>
-
242 class CoroutineTemplate {
-
243  friend class CoroutineSchedulerTemplate<CoroutineTemplate<T_CLOCK>>;
-
244  friend class ::AceRoutineTest_statusStrings;
-
245  friend class ::SuspendTest_suspendAndResume;
-
246 
-
247  public:
-
258  virtual int runCoroutine() = 0;
-
259 
-
270  void suspend() {
-
271  if (isDone()) return;
-
272  mStatus = kStatusSuspended;
-
273  }
-
274 
-
281  void resume() {
-
282  if (mStatus != kStatusSuspended) return;
-
283 
-
284  // We lost the original state of the coroutine when suspend() was called
-
285  // but the coroutine will automatically go back into the original state
-
286  // when Coroutine::runCoroutine() is called because COROUTINE_YIELD(),
-
287  // COROUTINE_DELAY() and COROUTINE_AWAIT() are written to restore their
-
288  // status.
-
289  mStatus = kStatusYielding;
-
290  }
-
291 
-
305  void reset() {
-
306  mStatus = kStatusYielding;
-
307  mJumpPoint = nullptr;
-
308  }
-
309 
-
311  bool isDelayExpired() const {
-
312  uint16_t now = coroutineMillis();
-
313  uint16_t elapsed = now - mDelayStart;
-
314  return elapsed >= mDelayDuration;
-
315  }
-
316 
-
318  bool isSuspended() const { return mStatus == kStatusSuspended; }
+
217 #define COROUTINE_DELAY_MICROS(delayMicros) \
+
218  do { \
+
219  this->setDelayMicros(delayMicros); \
+
220  this->setDelaying(); \
+
221  do { \
+
222  COROUTINE_YIELD_INTERNAL(); \
+
223  } while (!this->isDelayMicrosExpired()); \
+
224  this->setRunning(); \
+
225  } while (false)
+
226 
+
242 #define COROUTINE_DELAY_SECONDS(delaySeconds) \
+
243  do { \
+
244  this->setDelaySeconds(delaySeconds); \
+
245  this->setDelaying(); \
+
246  do { \
+
247  COROUTINE_YIELD_INTERNAL(); \
+
248  } while (!this->isDelaySecondsExpired()); \
+
249  this->setRunning(); \
+
250  } while (false)
+
251 
+
256 #define COROUTINE_END() \
+
257  do { \
+
258  __label__ jumpLabel; \
+
259  this->setEnding(); \
+
260  this->setJump(&& jumpLabel); \
+
261  jumpLabel: ; \
+
262  return 0; \
+
263  } while (false)
+
264 
+
265 namespace ace_routine {
+
266 
+
268 extern const __FlashStringHelper* const sStatusStrings[];
+
269 
+
270 // Forward declaration of CoroutineSchedulerTemplate<T>
+
271 template <typename T> class CoroutineSchedulerTemplate;
+
272 
+
277 template <typename T_CLOCK>
+
278 class CoroutineTemplate {
+
279  friend class CoroutineSchedulerTemplate<CoroutineTemplate<T_CLOCK>>;
+
280  friend class ::AceRoutineTest_statusStrings;
+
281  friend class ::SuspendTest_suspendAndResume;
+
282 
+
283  public:
+
294  virtual int runCoroutine() = 0;
+
295 
+
306  void suspend() {
+
307  if (isDone()) return;
+
308  mStatus = kStatusSuspended;
+
309  }
+
310 
+
317  void resume() {
+
318  if (mStatus != kStatusSuspended) return;
319 
-
321  bool isYielding() const { return mStatus == kStatusYielding; }
-
322 
-
324  bool isDelaying() const { return mStatus == kStatusDelaying; }
-
325 
-
327  bool isRunning() const { return mStatus == kStatusRunning; }
-
328 
-
334  bool isEnding() const { return mStatus == kStatusEnding; }
-
335 
-
342  bool isTerminated() const { return mStatus == kStatusTerminated; }
-
343 
-
349  bool isDone() const {
-
350  return mStatus == kStatusEnding || mStatus == kStatusTerminated;
+
320  // We lost the original state of the coroutine when suspend() was called
+
321  // but the coroutine will automatically go back into the original state
+
322  // when Coroutine::runCoroutine() is called because COROUTINE_YIELD(),
+
323  // COROUTINE_DELAY() and COROUTINE_AWAIT() are written to restore their
+
324  // status.
+
325  mStatus = kStatusYielding;
+
326  }
+
327 
+
341  void reset() {
+
342  mStatus = kStatusYielding;
+
343  mJumpPoint = nullptr;
+
344  }
+
345 
+
347  bool isDelayExpired() const {
+
348  uint16_t nowMillis = coroutineMillis();
+
349  uint16_t elapsed = nowMillis - mDelayStart;
+
350  return elapsed >= mDelayDuration;
351  }
352 
-
359  void setupCoroutine(const char* /*name*/) ACE_ROUTINE_DEPRECATED {}
-
360 
-
367  void setupCoroutine(const __FlashStringHelper* /*name*/)
-
368  ACE_ROUTINE_DEPRECATED {}
+
354  bool isDelayMicrosExpired() const {
+
355  uint16_t nowMicros = coroutineMicros();
+
356  uint16_t elapsed = nowMicros - mDelayStart;
+
357  return elapsed >= mDelayDuration;
+
358  }
+
359 
+
361  bool isDelaySecondsExpired() const {
+
362  uint16_t nowSeconds = coroutineSeconds();
+
363  uint16_t elapsed = nowSeconds - mDelayStart;
+
364  return elapsed >= mDelayDuration;
+
365  }
+
366 
+
368  bool isSuspended() const { return mStatus == kStatusSuspended; }
369 
-
370  protected:
-
401  typedef uint8_t Status;
+
371  bool isYielding() const { return mStatus == kStatusYielding; }
+
372 
+
374  bool isDelaying() const { return mStatus == kStatusDelaying; }
+
375 
+
377  bool isRunning() const { return mStatus == kStatusRunning; }
+
378 
+
384  bool isEnding() const { return mStatus == kStatusEnding; }
+
385 
+
392  bool isTerminated() const { return mStatus == kStatusTerminated; }
+
393 
+
399  bool isDone() const {
+
400  return mStatus == kStatusEnding || mStatus == kStatusTerminated;
+
401  }
402 
-
409  static const Status kStatusSuspended = 0;
+
409  void setupCoroutine(const char* /*name*/) ACE_ROUTINE_DEPRECATED {}
410 
-
412  static const Status kStatusYielding = 1;
-
413 
-
415  static const Status kStatusDelaying = 2;
-
416 
-
418  static const Status kStatusRunning = 3;
+
417  void setupCoroutine(const __FlashStringHelper* /*name*/)
+
418  ACE_ROUTINE_DEPRECATED {}
419 
-
421  static const Status kStatusEnding = 4;
-
422 
-
424  static const Status kStatusTerminated = 5;
-
425 
-
427  CoroutineTemplate() {
-
428  insertAtRoot();
-
429  }
-
430 
-
443  ~CoroutineTemplate() = default;
-
444 
-
446  Status getStatus() const { return mStatus; }
-
447 
-
449  void statusPrintTo(Print& printer) {
-
450  printer.print(sStatusStrings[mStatus]);
-
451  }
+
420  protected:
+
451  typedef uint8_t Status;
452 
-
457  void setJump(void* jumpPoint) { mJumpPoint = jumpPoint; }
-
458 
-
463  void* getJump() const { return mJumpPoint; }
-
464 
-
466  void setRunning() { mStatus = kStatusRunning; }
-
467 
-
469  void setYielding() { mStatus = kStatusYielding; }
-
470 
-
472  void setDelaying() { mStatus = kStatusDelaying; }
-
473 
-
475  void setEnding() { mStatus = kStatusEnding; }
-
476 
-
481  void setTerminated() { mStatus = kStatusTerminated; }
-
482 
-
496  void setDelayMillis(uint16_t delayMillis) {
-
497  mDelayStart = coroutineMillis();
-
498  mDelayDuration = (delayMillis >= UINT16_MAX / 2)
-
499  ? UINT16_MAX / 2
-
500  : delayMillis;
+
459  static const Status kStatusSuspended = 0;
+
460 
+
462  static const Status kStatusYielding = 1;
+
463 
+
465  static const Status kStatusDelaying = 2;
+
466 
+
468  static const Status kStatusRunning = 3;
+
469 
+
471  static const Status kStatusEnding = 4;
+
472 
+
474  static const Status kStatusTerminated = 5;
+
475 
+
477  CoroutineTemplate() {
+
478  insertAtRoot();
+
479  }
+
480 
+
493  ~CoroutineTemplate() = default;
+
494 
+
496  Status getStatus() const { return mStatus; }
+
497 
+
499  void statusPrintTo(Print& printer) {
+
500  printer.print(sStatusStrings[mStatus]);
501  }
502 
-
507  static unsigned long coroutineMillis() {
-
508  return T_CLOCK::millis();
-
509  }
-
510 
-
511  private:
-
512  // Disable copy-constructor and assignment operator
-
513  CoroutineTemplate(const CoroutineTemplate&) = delete;
-
514  CoroutineTemplate& operator=(const CoroutineTemplate&) = delete;
-
515 
-
521  static CoroutineTemplate** getRoot() {
-
522  // Use a static variable inside a function to solve the static
-
523  // initialization ordering problem.
-
524  static CoroutineTemplate* root;
-
525  return &root;
-
526  }
-
527 
-
534  CoroutineTemplate** getNext() { return &mNext; }
-
535 
-
542  void insertAtRoot() {
-
543  CoroutineTemplate** root = getRoot();
-
544  mNext = *root;
-
545  *root = this;
-
546  }
-
547 
-
548  protected:
-
550  CoroutineTemplate* mNext = nullptr;
-
551 
-
553  void* mJumpPoint = nullptr;
-
554 
-
556  Status mStatus = kStatusYielding;
-
557 
-
559  uint16_t mDelayStart;
-
560 
-
562  uint16_t mDelayDuration;
-
563 };
-
564 
-
571 using Coroutine = CoroutineTemplate<ClockInterface>;
-
572 
-
573 }
-
574 
-
575 #endif
+
507  void setJump(void* jumpPoint) { mJumpPoint = jumpPoint; }
+
508 
+
513  void* getJump() const { return mJumpPoint; }
+
514 
+
516  void setRunning() { mStatus = kStatusRunning; }
+
517 
+
519  void setYielding() { mStatus = kStatusYielding; }
+
520 
+
522  void setDelaying() { mStatus = kStatusDelaying; }
+
523 
+
525  void setEnding() { mStatus = kStatusEnding; }
+
526 
+
531  void setTerminated() { mStatus = kStatusTerminated; }
+
532 
+
546  void setDelayMillis(uint16_t delayMillis) {
+
547  mDelayStart = coroutineMillis();
+
548 
+
549  // If delayMillis is a compile-time constant, the compiler seems to
+
550  // completely optimize away this bounds checking code.
+
551  mDelayDuration = (delayMillis >= UINT16_MAX / 2)
+
552  ? UINT16_MAX / 2
+
553  : delayMillis;
+
554  }
+
555 
+
560  void setDelayMicros(uint16_t delayMicros) {
+
561  mDelayStart = coroutineMicros();
+
562 
+
563  // If delayMicros is a compile-time constant, the compiler seems to
+
564  // completely optimize away this bounds checking code.
+
565  mDelayDuration = (delayMicros >= UINT16_MAX / 2)
+
566  ? UINT16_MAX / 2
+
567  : delayMicros;
+
568  }
+
569 
+
574  void setDelaySeconds(uint16_t delaySeconds) {
+
575  mDelayStart = coroutineSeconds();
+
576 
+
577  // If delaySeconds is a compile-time constant, the compiler seems to
+
578  // completely optimize away this bounds checking code.
+
579  mDelayDuration = (delaySeconds >= UINT16_MAX / 2)
+
580  ? UINT16_MAX / 2
+
581  : delaySeconds;
+
582  }
+
583 
+
589  static unsigned long coroutineMillis() {
+
590  return T_CLOCK::millis();
+
591  }
+
592 
+
598  static unsigned long coroutineMicros() {
+
599  return T_CLOCK::micros();
+
600  }
+
601 
+
608  static unsigned long coroutineSeconds() {
+
609  return T_CLOCK::seconds();
+
610  }
+
611 
+
612  private:
+
613  // Disable copy-constructor and assignment operator
+
614  CoroutineTemplate(const CoroutineTemplate&) = delete;
+
615  CoroutineTemplate& operator=(const CoroutineTemplate&) = delete;
+
616 
+
622  static CoroutineTemplate** getRoot() {
+
623  // Use a static variable inside a function to solve the static
+
624  // initialization ordering problem.
+
625  static CoroutineTemplate* root;
+
626  return &root;
+
627  }
+
628 
+
635  CoroutineTemplate** getNext() { return &mNext; }
+
636 
+
643  void insertAtRoot() {
+
644  CoroutineTemplate** root = getRoot();
+
645  mNext = *root;
+
646  *root = this;
+
647  }
+
648 
+
649  protected:
+
651  CoroutineTemplate* mNext = nullptr;
+
652 
+
654  void* mJumpPoint = nullptr;
+
655 
+
657  Status mStatus = kStatusYielding;
+
658 
+
664  uint16_t mDelayStart;
+
665 
+
671  uint16_t mDelayDuration;
+
672 };
+
673 
+
680 using Coroutine = CoroutineTemplate<ClockInterface>;
+
681 
+
682 }
+
683 
+
684 #endif
-
ace_routine::CoroutineTemplate::isYielding
bool isYielding() const
The coroutine returned using COROUTINE_YIELD().
Definition: Coroutine.h:321
-
ace_routine::CoroutineTemplate::coroutineMillis
static unsigned long coroutineMillis()
Returns the current millisecond clock.
Definition: Coroutine.h:507
-
ace_routine::CoroutineTemplate::kStatusYielding
static const Status kStatusYielding
Coroutine returned using the COROUTINE_YIELD() statement.
Definition: Coroutine.h:412
-
ace_routine::CoroutineTemplate::kStatusEnding
static const Status kStatusEnding
Coroutine executed the COROUTINE_END() statement.
Definition: Coroutine.h:421
-
ace_routine::CoroutineTemplate::mDelayStart
uint16_t mDelayStart
Start time the COROUTINE_DELAY() macro in milliseconds.
Definition: Coroutine.h:559
-
ace_routine::CoroutineTemplate::mNext
CoroutineTemplate * mNext
Pointer to the next coroutine in a singly-linked list.
Definition: Coroutine.h:550
-
ace_routine::CoroutineTemplate::Status
uint8_t Status
The execution status of the coroutine, corresponding to the COROUTINE_YIELD(), COROUTINE_DELAY(),...
Definition: Coroutine.h:401
-
ace_routine::CoroutineTemplate::CoroutineTemplate
CoroutineTemplate()
Constructor.
Definition: Coroutine.h:427
-
ace_routine::CoroutineTemplate::setupCoroutine
void setupCoroutine(const __FlashStringHelper *) ACE_ROUTINE_DEPRECATED
Deprecated method that does nothing.
Definition: Coroutine.h:367
-
ace_routine::CoroutineTemplate::isTerminated
bool isTerminated() const
The coroutine was terminated by the scheduler with a call to setTerminated().
Definition: Coroutine.h:342
-
ace_routine::CoroutineTemplate::suspend
void suspend()
Suspend the coroutine at the next scheduler iteration.
Definition: Coroutine.h:270
-
ace_routine::CoroutineTemplate::setYielding
void setYielding()
Set the kStatusDelaying state.
Definition: Coroutine.h:469
+
ace_routine::CoroutineTemplate::isYielding
bool isYielding() const
The coroutine returned using COROUTINE_YIELD().
Definition: Coroutine.h:371
+
ace_routine::CoroutineTemplate::coroutineMillis
static unsigned long coroutineMillis()
Returns the current millisecond clock.
Definition: Coroutine.h:589
+
ace_routine::CoroutineTemplate::kStatusYielding
static const Status kStatusYielding
Coroutine returned using the COROUTINE_YIELD() statement.
Definition: Coroutine.h:462
+
ace_routine::CoroutineTemplate::kStatusEnding
static const Status kStatusEnding
Coroutine executed the COROUTINE_END() statement.
Definition: Coroutine.h:471
+
ace_routine::CoroutineTemplate::mDelayStart
uint16_t mDelayStart
Start time provided by COROUTINE_DELAY(), COROUTINE_DELAY_MICROS(), or COROUTINE_DELAY_SECONDS().
Definition: Coroutine.h:664
+
ace_routine::CoroutineTemplate::mNext
CoroutineTemplate * mNext
Pointer to the next coroutine in a singly-linked list.
Definition: Coroutine.h:651
+
ace_routine::CoroutineTemplate::Status
uint8_t Status
The execution status of the coroutine, corresponding to the COROUTINE_YIELD(), COROUTINE_DELAY(),...
Definition: Coroutine.h:451
+
ace_routine::CoroutineTemplate::CoroutineTemplate
CoroutineTemplate()
Constructor.
Definition: Coroutine.h:477
+
ace_routine::CoroutineTemplate::setupCoroutine
void setupCoroutine(const __FlashStringHelper *) ACE_ROUTINE_DEPRECATED
Deprecated method that does nothing.
Definition: Coroutine.h:417
+
ace_routine::CoroutineTemplate::isTerminated
bool isTerminated() const
The coroutine was terminated by the scheduler with a call to setTerminated().
Definition: Coroutine.h:392
+
ace_routine::CoroutineTemplate::suspend
void suspend()
Suspend the coroutine at the next scheduler iteration.
Definition: Coroutine.h:306
+
ace_routine::CoroutineTemplate::setYielding
void setYielding()
Set the kStatusDelaying state.
Definition: Coroutine.h:519
+
ace_routine::CoroutineTemplate::setDelaySeconds
void setDelaySeconds(uint16_t delaySeconds)
Configure the delay timer for delaySeconds.
Definition: Coroutine.h:574
ace_routine::CoroutineTemplate::~CoroutineTemplate
~CoroutineTemplate()=default
Destructor.
-
ace_routine::CoroutineTemplate::kStatusSuspended
static const Status kStatusSuspended
Coroutine has been suspended using suspend() and the scheduler should remove it from the queue upon t...
Definition: Coroutine.h:409
-
ace_routine::CoroutineTemplate::reset
void reset()
Reset the coroutine to its initial state.
Definition: Coroutine.h:305
-
ace_routine::CoroutineTemplate::resume
void resume()
Add a Suspended coroutine into the head of the scheduler linked list, and change the state to Yieldin...
Definition: Coroutine.h:281
-
ace_routine::CoroutineTemplate::setJump
void setJump(void *jumpPoint)
Pointer to label where execute will start on the next call to runCoroutine().
Definition: Coroutine.h:457
-
ace_routine::CoroutineTemplate::setDelayMillis
void setDelayMillis(uint16_t delayMillis)
Configure the delay timer for delayMillis.
Definition: Coroutine.h:496
-
ace_routine::CoroutineTemplate::kStatusRunning
static const Status kStatusRunning
Coroutine is currenly running.
Definition: Coroutine.h:418
-
ace_routine::CoroutineTemplate
Base class of all coroutines.
Definition: Coroutine.h:242
-
ace_routine::CoroutineTemplate::isRunning
bool isRunning() const
The coroutine is currently running.
Definition: Coroutine.h:327
-
ace_routine::CoroutineTemplate::kStatusDelaying
static const Status kStatusDelaying
Coroutine returned using the COROUTINE_DELAY() statement.
Definition: Coroutine.h:415
-
ace_routine::CoroutineTemplate::setTerminated
void setTerminated()
Set status to indicate that the Coroutine has been removed from the Scheduler queue.
Definition: Coroutine.h:481
-
ace_routine::CoroutineTemplate::getStatus
Status getStatus() const
Return the status of the coroutine.
Definition: Coroutine.h:446
+
ace_routine::CoroutineTemplate::coroutineMicros
static unsigned long coroutineMicros()
Returns the current microseconds clock.
Definition: Coroutine.h:598
+
ace_routine::CoroutineTemplate::kStatusSuspended
static const Status kStatusSuspended
Coroutine has been suspended using suspend() and the scheduler should remove it from the queue upon t...
Definition: Coroutine.h:459
+
ace_routine::CoroutineTemplate::reset
void reset()
Reset the coroutine to its initial state.
Definition: Coroutine.h:341
+
ace_routine::CoroutineTemplate::resume
void resume()
Add a Suspended coroutine into the head of the scheduler linked list, and change the state to Yieldin...
Definition: Coroutine.h:317
+
ace_routine::CoroutineTemplate::setJump
void setJump(void *jumpPoint)
Pointer to label where execute will start on the next call to runCoroutine().
Definition: Coroutine.h:507
+
ace_routine::CoroutineTemplate::setDelayMillis
void setDelayMillis(uint16_t delayMillis)
Configure the delay timer for delayMillis.
Definition: Coroutine.h:546
+
ace_routine::CoroutineTemplate::kStatusRunning
static const Status kStatusRunning
Coroutine is currenly running.
Definition: Coroutine.h:468
+
ace_routine::CoroutineTemplate
Base class of all coroutines.
Definition: Coroutine.h:278
+
ace_routine::CoroutineTemplate::isRunning
bool isRunning() const
The coroutine is currently running.
Definition: Coroutine.h:377
+
ace_routine::CoroutineTemplate::kStatusDelaying
static const Status kStatusDelaying
Coroutine returned using the COROUTINE_DELAY() statement.
Definition: Coroutine.h:465
+
ace_routine::CoroutineTemplate::setTerminated
void setTerminated()
Set status to indicate that the Coroutine has been removed from the Scheduler queue.
Definition: Coroutine.h:531
+
ace_routine::CoroutineTemplate::getStatus
Status getStatus() const
Return the status of the coroutine.
Definition: Coroutine.h:496
ace_routine::CoroutineTemplate::runCoroutine
virtual int runCoroutine()=0
The body of the coroutine.
-
ace_routine::CoroutineTemplate::setRunning
void setRunning()
Set the kStatusRunning state.
Definition: Coroutine.h:466
-
ace_routine::CoroutineTemplate::kStatusTerminated
static const Status kStatusTerminated
Coroutine has ended and no longer in the scheduler queue.
Definition: Coroutine.h:424
-
ace_routine::CoroutineTemplate::isSuspended
bool isSuspended() const
The coroutine was suspended with a call to suspend().
Definition: Coroutine.h:318
-
ace_routine::CoroutineTemplate::setDelaying
void setDelaying()
Set the kStatusDelaying state.
Definition: Coroutine.h:472
-
ace_routine::CoroutineSchedulerTemplate
Class that manages instances of the Coroutine class, and executes them in a round-robin fashion.
Definition: Coroutine.h:235
-
ace_routine::CoroutineTemplate::isDone
bool isDone() const
The coroutine is either Ending or Terminated.
Definition: Coroutine.h:349
-
ace_routine::CoroutineTemplate::mStatus
Status mStatus
Run-state of the coroutine.
Definition: Coroutine.h:556
-
ace_routine::CoroutineTemplate::mDelayDuration
uint16_t mDelayDuration
Delay time specified by the COROUTINE_DELAY() macro in milliseconds.
Definition: Coroutine.h:562
-
ace_routine::CoroutineTemplate::setupCoroutine
void setupCoroutine(const char *) ACE_ROUTINE_DEPRECATED
Deprecated method that does nothing.
Definition: Coroutine.h:359
-
ace_routine::CoroutineTemplate::isDelayExpired
bool isDelayExpired() const
Check if delay time is over.
Definition: Coroutine.h:311
-
ace_routine::CoroutineTemplate::mJumpPoint
void * mJumpPoint
Address of the label used by the computed-goto.
Definition: Coroutine.h:553
-
ace_routine::CoroutineTemplate::isDelaying
bool isDelaying() const
The coroutine returned using COROUTINE_DELAY().
Definition: Coroutine.h:324
-
ace_routine::CoroutineTemplate::isEnding
bool isEnding() const
The coroutine returned using COROUTINE_END().
Definition: Coroutine.h:334
-
ace_routine::CoroutineTemplate::getJump
void * getJump() const
Pointer to label where execute will start on the next call to runCoroutine().
Definition: Coroutine.h:463
-
ace_routine::CoroutineTemplate::setEnding
void setEnding()
Set the kStatusEnding state.
Definition: Coroutine.h:475
-
ace_routine::CoroutineTemplate::statusPrintTo
void statusPrintTo(Print &printer)
Print the human-readable string of the Status.
Definition: Coroutine.h:449
+
ace_routine::CoroutineTemplate::setRunning
void setRunning()
Set the kStatusRunning state.
Definition: Coroutine.h:516
+
ace_routine::CoroutineTemplate::kStatusTerminated
static const Status kStatusTerminated
Coroutine has ended and no longer in the scheduler queue.
Definition: Coroutine.h:474
+
ace_routine::CoroutineTemplate::isSuspended
bool isSuspended() const
The coroutine was suspended with a call to suspend().
Definition: Coroutine.h:368
+
ace_routine::CoroutineTemplate::isDelaySecondsExpired
bool isDelaySecondsExpired() const
Check if delay seconds time is over.
Definition: Coroutine.h:361
+
ace_routine::CoroutineTemplate::setDelaying
void setDelaying()
Set the kStatusDelaying state.
Definition: Coroutine.h:522
+
ace_routine::CoroutineSchedulerTemplate
Class that manages instances of the Coroutine class, and executes them in a round-robin fashion.
Definition: Coroutine.h:271
+
ace_routine::CoroutineTemplate::isDone
bool isDone() const
The coroutine is either Ending or Terminated.
Definition: Coroutine.h:399
+
ace_routine::CoroutineTemplate::mStatus
Status mStatus
Run-state of the coroutine.
Definition: Coroutine.h:657
+
ace_routine::CoroutineTemplate::mDelayDuration
uint16_t mDelayDuration
Delay time specified by COROUTINE_DELAY(), COROUTINE_DELAY_MICROS() or, COROUTINE_DELAY_SECONDS().
Definition: Coroutine.h:671
+
ace_routine::CoroutineTemplate::setupCoroutine
void setupCoroutine(const char *) ACE_ROUTINE_DEPRECATED
Deprecated method that does nothing.
Definition: Coroutine.h:409
+
ace_routine::CoroutineTemplate::isDelayExpired
bool isDelayExpired() const
Check if delay millis time is over.
Definition: Coroutine.h:347
+
ace_routine::CoroutineTemplate::mJumpPoint
void * mJumpPoint
Address of the label used by the computed-goto.
Definition: Coroutine.h:654
+
ace_routine::CoroutineTemplate::isDelayMicrosExpired
bool isDelayMicrosExpired() const
Check if delay micros time is over.
Definition: Coroutine.h:354
+
ace_routine::CoroutineTemplate::isDelaying
bool isDelaying() const
The coroutine returned using COROUTINE_DELAY().
Definition: Coroutine.h:374
+
ace_routine::CoroutineTemplate::isEnding
bool isEnding() const
The coroutine returned using COROUTINE_END().
Definition: Coroutine.h:384
+
ace_routine::CoroutineTemplate::coroutineSeconds
static unsigned long coroutineSeconds()
Returns the current clock in unit of seconds, truncated to the lower 16-bits.
Definition: Coroutine.h:608
+
ace_routine::CoroutineTemplate::getJump
void * getJump() const
Pointer to label where execute will start on the next call to runCoroutine().
Definition: Coroutine.h:513
+
ace_routine::CoroutineTemplate::setEnding
void setEnding()
Set the kStatusEnding state.
Definition: Coroutine.h:525
+
ace_routine::CoroutineTemplate::statusPrintTo
void statusPrintTo(Print &printer)
Print the human-readable string of the Status.
Definition: Coroutine.h:499
ACE_ROUTINE_DEPRECATED
#define ACE_ROUTINE_DEPRECATED
Macro that indicates a deprecation.
Definition: Coroutine.h:62
+
ace_routine::CoroutineTemplate::setDelayMicros
void setDelayMicros(uint16_t delayMicros)
Configure the delay timer for delayMicros.
Definition: Coroutine.h:560
Generated by   diff --git a/docs/html/annotated.html b/docs/html/annotated.html index 68fcf17..c3a75ff 100644 --- a/docs/html/annotated.html +++ b/docs/html/annotated.html @@ -22,7 +22,7 @@
AceRoutine -  1.3.0 +  1.3.1
A low-memory, fast-switching, cooperative multitasking library using stackless coroutines on Arduino platforms.
@@ -71,7 +71,7 @@
[detail level 12]
- +
 ▼Nace_routine
 CChannelAn unbuffered synchronized channel
 CClockInterfaceA utility class (all methods are static) that provides a layer of indirection to Arduino clock functions (millis() and micros())
 CClockInterfaceA utility class (all methods are static) that provides a layer of indirection to Arduino clock functions (millis() and micros())
 CCoroutineSchedulerTemplateClass that manages instances of the Coroutine class, and executes them in a round-robin fashion
 CCoroutineTemplateBase class of all coroutines
diff --git a/docs/html/classace__routine_1_1Channel-members.html b/docs/html/classace__routine_1_1Channel-members.html index 4906167..f5e9413 100644 --- a/docs/html/classace__routine_1_1Channel-members.html +++ b/docs/html/classace__routine_1_1Channel-members.html @@ -22,7 +22,7 @@
AceRoutine -  1.3.0 +  1.3.1
A low-memory, fast-switching, cooperative multitasking library using stackless coroutines on Arduino platforms.
diff --git a/docs/html/classace__routine_1_1Channel.html b/docs/html/classace__routine_1_1Channel.html index 236390f..dbfca44 100644 --- a/docs/html/classace__routine_1_1Channel.html +++ b/docs/html/classace__routine_1_1Channel.html @@ -22,7 +22,7 @@
AceRoutine -  1.3.0 +  1.3.1
A low-memory, fast-switching, cooperative multitasking library using stackless coroutines on Arduino platforms.
diff --git a/docs/html/classace__routine_1_1ClockInterface-members.html b/docs/html/classace__routine_1_1ClockInterface-members.html index 404fe40..a628f82 100644 --- a/docs/html/classace__routine_1_1ClockInterface-members.html +++ b/docs/html/classace__routine_1_1ClockInterface-members.html @@ -22,7 +22,7 @@
AceRoutine -  1.3.0 +  1.3.1
A low-memory, fast-switching, cooperative multitasking library using stackless coroutines on Arduino platforms.
@@ -74,7 +74,9 @@

This is the complete list of members for ace_routine::ClockInterface, including all inherited members.

- + + +
millis()ace_routine::ClockInterfaceinlinestatic
micros()ace_routine::ClockInterfaceinlinestatic
millis()ace_routine::ClockInterfaceinlinestatic
seconds()ace_routine::ClockInterfaceinlinestatic
diff --git a/docs/html/classace__routine_1_1ClockInterface.html b/docs/html/classace__routine_1_1ClockInterface.html index 43ed916..47b4e07 100644 --- a/docs/html/classace__routine_1_1ClockInterface.html +++ b/docs/html/classace__routine_1_1ClockInterface.html @@ -22,7 +22,7 @@
AceRoutine -  1.3.0 +  1.3.1
A low-memory, fast-switching, cooperative multitasking library using stackless coroutines on Arduino platforms.
@@ -75,7 +75,7 @@
-

A utility class (all methods are static) that provides a layer of indirection to Arduino clock functions (millis() and micros()). +

A utility class (all methods are static) that provides a layer of indirection to Arduino clock functions (millis() and micros()). More...

#include <ClockInterface.h>

@@ -86,13 +86,52 @@ static unsigned long millis ()  Get the current millis.
  + +static unsigned long micros () + Get the current micros.
+  +static unsigned long seconds () + Get the current seconds. More...
+ 

Detailed Description

-

A utility class (all methods are static) that provides a layer of indirection to Arduino clock functions (millis() and micros()).

+

A utility class (all methods are static) that provides a layer of indirection to Arduino clock functions (millis() and micros()).

This thin layer of indirection allows injection of a different ClockInterface for testing purposes. For normal code, the compiler will optimize away the extra function call.

Definition at line 40 of file ClockInterface.h.

-
The documentation for this class was generated from the following file:
    +

Member Function Documentation

+ +

◆ seconds()

+ +
+
+ + + + + +
+ + + + + + + +
static unsigned long ace_routine::ClockInterface::seconds ()
+ 		+inlinestatic
+
+ +

Get the current seconds.

+

This is derived by dividing millis() by 1000, which works pretty well until the unsigned long rolls over at 4294967296 milliseconds. At that last second (4294967), this function returns the next second (0) a little bit too early. More precisely, it rolls over to 0 seconds 704 milliseconds too early. If the COROUTINE_DELAY_SECONDS() is large enough, this inaccuracy should not matter too much.

+

The other problem with this function is that on 8-bit processors without a hardware division instruction, the software long division by 1000 is very expensive in both memory and CPU. The flash memory increases by about 150 bytes on AVR processors. Therefore, the COROUTINE_DELAY_SECONDS() should be used sparingly.

+ +

Definition at line 63 of file ClockInterface.h.

+ +
+
+
The documentation for this class was generated from the following file:
diff --git a/docs/html/classace__routine_1_1CoroutineSchedulerTemplate-members.html b/docs/html/classace__routine_1_1CoroutineSchedulerTemplate-members.html index fabcf6b..4b6bed9 100644 --- a/docs/html/classace__routine_1_1CoroutineSchedulerTemplate-members.html +++ b/docs/html/classace__routine_1_1CoroutineSchedulerTemplate-members.html @@ -22,7 +22,7 @@
AceRoutine -  1.3.0 +  1.3.1
A low-memory, fast-switching, cooperative multitasking library using stackless coroutines on Arduino platforms.
diff --git a/docs/html/classace__routine_1_1CoroutineSchedulerTemplate.html b/docs/html/classace__routine_1_1CoroutineSchedulerTemplate.html index ae9b469..7796325 100644 --- a/docs/html/classace__routine_1_1CoroutineSchedulerTemplate.html +++ b/docs/html/classace__routine_1_1CoroutineSchedulerTemplate.html @@ -22,7 +22,7 @@
AceRoutine -  1.3.0 +  1.3.1
A low-memory, fast-switching, cooperative multitasking library using stackless coroutines on Arduino platforms.
@@ -99,7 +99,7 @@

Class that manages instances of the Coroutine class, and executes them in a round-robin fashion.

This is expected to be used as a singleton.

-

Definition at line 235 of file Coroutine.h.

+

Definition at line 271 of file Coroutine.h.

Member Function Documentation

◆ list()

diff --git a/docs/html/classace__routine_1_1CoroutineTemplate-members.html b/docs/html/classace__routine_1_1CoroutineTemplate-members.html index 5e09c34..1800d3f 100644 --- a/docs/html/classace__routine_1_1CoroutineTemplate-members.html +++ b/docs/html/classace__routine_1_1CoroutineTemplate-members.html @@ -22,7 +22,7 @@
AceRoutine -  1.3.0 +  1.3.1
A low-memory, fast-switching, cooperative multitasking library using stackless coroutines on Arduino platforms.
@@ -76,13 +76,17 @@ - - + + + + + + @@ -104,7 +108,9 @@ - + + + diff --git a/docs/html/classace__routine_1_1CoroutineTemplate.html b/docs/html/classace__routine_1_1CoroutineTemplate.html index 6db820a..193080b 100644 --- a/docs/html/classace__routine_1_1CoroutineTemplate.html +++ b/docs/html/classace__routine_1_1CoroutineTemplate.html @@ -22,7 +22,7 @@ @@ -110,8 +110,16 @@ - + + + + + + + @@ -194,12 +202,24 @@ + + + + + +
::AceRoutineTest_statusStrings (defined in ace_routine::CoroutineTemplate< T_CLOCK >)ace_routine::CoroutineTemplate< T_CLOCK >friend
::SuspendTest_suspendAndResume (defined in ace_routine::CoroutineTemplate< T_CLOCK >)ace_routine::CoroutineTemplate< T_CLOCK >friend
coroutineMillis()ace_routine::CoroutineTemplate< T_CLOCK >inlineprotectedstatic
CoroutineSchedulerTemplate< CoroutineTemplate< T_CLOCK > > (defined in ace_routine::CoroutineTemplate< T_CLOCK >)ace_routine::CoroutineTemplate< T_CLOCK >friend
coroutineMicros()ace_routine::CoroutineTemplate< T_CLOCK >inlineprotectedstatic
coroutineMillis()ace_routine::CoroutineTemplate< T_CLOCK >inlineprotectedstatic
CoroutineSchedulerTemplate< CoroutineTemplate< T_CLOCK > > (defined in ace_routine::CoroutineTemplate< T_CLOCK >)ace_routine::CoroutineTemplate< T_CLOCK >friend
coroutineSeconds()ace_routine::CoroutineTemplate< T_CLOCK >inlineprotectedstatic
CoroutineTemplate()ace_routine::CoroutineTemplate< T_CLOCK >inlineprotected
getJump() constace_routine::CoroutineTemplate< T_CLOCK >inlineprotected
getStatus() constace_routine::CoroutineTemplate< T_CLOCK >inlineprotected
isDelayExpired() constace_routine::CoroutineTemplate< T_CLOCK >inline
isDelaying() constace_routine::CoroutineTemplate< T_CLOCK >inline
isDelayMicrosExpired() constace_routine::CoroutineTemplate< T_CLOCK >inline
isDelaySecondsExpired() constace_routine::CoroutineTemplate< T_CLOCK >inline
isDone() constace_routine::CoroutineTemplate< T_CLOCK >inline
isEnding() constace_routine::CoroutineTemplate< T_CLOCK >inline
isRunning() constace_routine::CoroutineTemplate< T_CLOCK >inline
resume()ace_routine::CoroutineTemplate< T_CLOCK >inline
runCoroutine()=0ace_routine::CoroutineTemplate< T_CLOCK >pure virtual
setDelaying()ace_routine::CoroutineTemplate< T_CLOCK >inlineprotected
setDelayMillis(uint16_t delayMillis)ace_routine::CoroutineTemplate< T_CLOCK >inlineprotected
setDelayMicros(uint16_t delayMicros)ace_routine::CoroutineTemplate< T_CLOCK >inlineprotected
setDelayMillis(uint16_t delayMillis)ace_routine::CoroutineTemplate< T_CLOCK >inlineprotected
setDelaySeconds(uint16_t delaySeconds)ace_routine::CoroutineTemplate< T_CLOCK >inlineprotected
setEnding()ace_routine::CoroutineTemplate< T_CLOCK >inlineprotected
setJump(void *jumpPoint)ace_routine::CoroutineTemplate< T_CLOCK >inlineprotected
setRunning()ace_routine::CoroutineTemplate< T_CLOCK >inlineprotected
AceRoutine -  1.3.0 +  1.3.1
A low-memory, fast-switching, cooperative multitasking library using stackless coroutines on Arduino platforms.
 
bool isDelayExpired () const
 Check if delay time is over.
 Check if delay millis time is over.
 
+bool isDelayMicrosExpired () const
 Check if delay micros time is over.
 
+bool isDelaySecondsExpired () const
 Check if delay seconds time is over.
 
bool isSuspended () const
 The coroutine was suspended with a call to suspend().
void setDelayMillis (uint16_t delayMillis)
 Configure the delay timer for delayMillis. More...
 
void setDelayMicros (uint16_t delayMicros)
 Configure the delay timer for delayMicros. More...
 
void setDelaySeconds (uint16_t delaySeconds)
 Configure the delay timer for delaySeconds. More...
 
+ + + + + +

Static Protected Member Functions

static unsigned long coroutineMillis ()
 Returns the current millisecond clock. More...
 
static unsigned long coroutineMicros ()
 Returns the current microseconds clock. More...
 
static unsigned long coroutineSeconds ()
 Returns the current clock in unit of seconds, truncated to the lower 16-bits. More...
 
@@ -215,13 +235,11 @@ Status  - - + + - - + +

Protected Attributes

mStatus = kStatusYielding
 Run-state of the coroutine.
 
-uint16_t mDelayStart
 Start time the COROUTINE_DELAY() macro in milliseconds.
uint16_t mDelayStart
 Start time provided by COROUTINE_DELAY(), COROUTINE_DELAY_MICROS(), or COROUTINE_DELAY_SECONDS(). More...
 
-uint16_t mDelayDuration
 Delay time specified by the COROUTINE_DELAY() macro in milliseconds.
uint16_t mDelayDuration
 Delay time specified by COROUTINE_DELAY(), COROUTINE_DELAY_MICROS() or, COROUTINE_DELAY_SECONDS(). More...
 
diff --git a/docs/html/compat_8h.html b/docs/html/compat_8h.html index b30376e..f4331b7 100644 --- a/docs/html/compat_8h.html +++ b/docs/html/compat_8h.html @@ -22,7 +22,7 @@ diff --git a/docs/html/compat_8h_source.html b/docs/html/compat_8h_source.html index 3660f38..87d713b 100644 --- a/docs/html/compat_8h_source.html +++ b/docs/html/compat_8h_source.html @@ -22,7 +22,7 @@ diff --git a/docs/html/dir_000000_000001.html b/docs/html/dir_000000_000001.html index 8eab24b..188f90c 100644 --- a/docs/html/dir_000000_000001.html +++ b/docs/html/dir_000000_000001.html @@ -22,7 +22,7 @@ diff --git a/docs/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html b/docs/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html index 95a76c0..b479aee 100644 --- a/docs/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html +++ b/docs/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html @@ -22,7 +22,7 @@ diff --git a/docs/html/dir_bbf1ec131ffa96b8d365d81f56025723.html b/docs/html/dir_bbf1ec131ffa96b8d365d81f56025723.html index 8644fbe..982b89d 100644 --- a/docs/html/dir_bbf1ec131ffa96b8d365d81f56025723.html +++ b/docs/html/dir_bbf1ec131ffa96b8d365d81f56025723.html @@ -22,7 +22,7 @@ diff --git a/docs/html/files.html b/docs/html/files.html index 322f705..2eb40ce 100644 --- a/docs/html/files.html +++ b/docs/html/files.html @@ -22,7 +22,7 @@ diff --git a/docs/html/functions.html b/docs/html/functions.html index 4d2c8f9..3e8bb82 100644 --- a/docs/html/functions.html +++ b/docs/html/functions.html @@ -22,7 +22,7 @@ @@ -69,9 +69,15 @@

- c -

@@ -69,9 +69,15 @@

- c -

diff --git a/docs/html/functions_vars.html b/docs/html/functions_vars.html index a9094b0..78b9fad 100644 --- a/docs/html/functions_vars.html +++ b/docs/html/functions_vars.html @@ -22,7 +22,7 @@ diff --git a/docs/html/globals.html b/docs/html/globals.html index 32b1e89..e8a97d2 100644 --- a/docs/html/globals.html +++ b/docs/html/globals.html @@ -22,7 +22,7 @@ @@ -85,6 +85,12 @@
  • COROUTINE_DELAY : Coroutine.h
    • +
  • COROUTINE_DELAY_MICROS +: Coroutine.h +
    • +
  • COROUTINE_DELAY_SECONDS +: Coroutine.h +
  • COROUTINE_END : Coroutine.h
    • diff --git a/docs/html/globals_defs.html b/docs/html/globals_defs.html index 3ffd22e..a3dc172 100644 --- a/docs/html/globals_defs.html +++ b/docs/html/globals_defs.html @@ -22,7 +22,7 @@ @@ -85,6 +85,12 @@
  • COROUTINE_DELAY : Coroutine.h
    • +
  • COROUTINE_DELAY_MICROS +: Coroutine.h +
    • +
  • COROUTINE_DELAY_SECONDS +: Coroutine.h +
  • COROUTINE_END : Coroutine.h
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README.md eliminates the `mDelayType` discriminator, saving 1 byte on AVR. * Remove `Coroutine::mName` (type `ace_common::FCString`) which saves 3 bytes on AVR, and 8 bytes on 32-bit processors. +* v1.3.1 + * Bring back `COROUTINE_DELAY_MICROS()` and `COROUTINE_DELAY_SECONDS()`, + using an alternate implementation that increases flash and static memory + consumption *only* if they are used. + * `CoroutineScheduler::runCoroutine()` now always calls + `Coroutine::runCoroutine()` when in Delaying state, without trying to + optimize the test for `isDelayXxxExpired()`. + * Makes `CoroutineScheduler` slightly smaller in flash size. + * Makes `CoroutineScheduler` slightly slower on AVR processors (e.g. 5.2 + -> 5.5 micros on AVR) , but is actually *faster* on 32-bit processors + (e.g. 1.100 -> 0.600 micros on ESP8266). ## Arduino Nano @@ -114,7 +125,7 @@ CPU: |---------------------+--------+-------------+--------| | EmptyLoop | 10000 | 1.700 | 0.000 | | DirectScheduling | 10000 | 2.900 | 1.200 | -| CoroutineScheduling | 10000 | 6.900 | 5.200 | +| CoroutineScheduling | 10000 | 7.200 | 5.500 | +---------------------+--------+-------------+--------+ ``` @@ -136,9 +147,9 @@ CPU: +---------------------+--------+-------------+--------+ | Functionality | iters | micros/iter | diff | |---------------------+--------+-------------+--------| -| EmptyLoop | 10000 | 1.800 | 0.000 | -| DirectScheduling | 10000 | 2.800 | 1.000 | -| CoroutineScheduling | 10000 | 6.800 | 5.000 | +| EmptyLoop | 10000 | 1.700 | 0.000 | +| DirectScheduling | 10000 | 2.900 | 1.200 | +| CoroutineScheduling | 10000 | 7.300 | 5.600 | +---------------------+--------+-------------+--------+ ``` @@ -161,7 +172,7 @@ CPU: |---------------------+--------+-------------+--------| | EmptyLoop | 30000 | 0.200 | 0.000 | | DirectScheduling | 30000 | 0.633 | 0.433 | -| CoroutineScheduling | 30000 | 2.133 | 1.933 | +| CoroutineScheduling | 30000 | 1.500 | 1.300 | +---------------------+--------+-------------+--------+ ``` @@ -184,7 +195,7 @@ CPU: |---------------------+--------+-------------+--------| | EmptyLoop | 30000 | 0.166 | 0.000 | | DirectScheduling | 30000 | 0.500 | 0.334 | -| CoroutineScheduling | 30000 | 1.533 | 1.367 | +| CoroutineScheduling | 30000 | 1.100 | 0.934 | +---------------------+--------+-------------+--------+ ``` @@ -205,9 +216,9 @@ CPU: +---------------------+--------+-------------+--------+ | Functionality | iters | micros/iter | diff | |---------------------+--------+-------------+--------| -| EmptyLoop | 10000 | 0.100 | 0.000 | -| DirectScheduling | 10000 | 0.500 | 0.400 | -| CoroutineScheduling | 10000 | 1.200 | 1.100 | +| EmptyLoop | 10000 | 0.200 | 0.000 | +| DirectScheduling | 10000 | 0.500 | 0.300 | +| CoroutineScheduling | 10000 | 0.800 | 0.600 | +---------------------+--------+-------------+--------+ ``` @@ -229,8 +240,8 @@ CPU: | Functionality | iters | micros/iter | diff | |---------------------+--------+-------------+--------| | EmptyLoop | 30000 | 0.066 | 0.000 | -| DirectScheduling | 30000 | 0.100 | 0.034 | -| CoroutineScheduling | 30000 | 0.366 | 0.300 | +| DirectScheduling | 30000 | 0.133 | 0.067 | +| CoroutineScheduling | 30000 | 0.300 | 0.234 | +---------------------+--------+-------------+--------+ ``` @@ -254,7 +265,7 @@ CPU: |---------------------+--------+-------------+--------| | EmptyLoop | 30000 | 0.066 | 0.000 | | DirectScheduling | 30000 | 0.233 | 0.167 | -| CoroutineScheduling | 30000 | 0.566 | 0.500 | +| CoroutineScheduling | 30000 | 0.533 | 0.467 | +---------------------+--------+-------------+--------+ ``` diff --git a/examples/AutoBenchmark/esp32.txt b/examples/AutoBenchmark/esp32.txt index f75f6ed..16c86fa 100644 --- a/examples/AutoBenchmark/esp32.txt +++ b/examples/AutoBenchmark/esp32.txt @@ -4,6 +4,6 @@ sizeof(CoroutineScheduler): 4 sizeof(Channel): 12 BENCHMARKS EmptyLoop 0.066 30000 -DirectScheduling 0.100 30000 -CoroutineScheduling 0.366 30000 +DirectScheduling 0.133 30000 +CoroutineScheduling 0.300 30000 END diff --git a/examples/AutoBenchmark/esp8266.txt b/examples/AutoBenchmark/esp8266.txt index 9e75c4f..4af5b1c 100644 --- a/examples/AutoBenchmark/esp8266.txt +++ b/examples/AutoBenchmark/esp8266.txt @@ -3,7 +3,7 @@ sizeof(Coroutine): 20 sizeof(CoroutineScheduler): 4 sizeof(Channel): 12 BENCHMARKS -EmptyLoop 0.100 10000 +EmptyLoop 0.200 10000 DirectScheduling 0.500 10000 -CoroutineScheduling 1.200 10000 +CoroutineScheduling 0.800 10000 END diff --git a/examples/AutoBenchmark/generate_readme.py b/examples/AutoBenchmark/generate_readme.py index 0691aa5..dc9411d 100755 --- a/examples/AutoBenchmark/generate_readme.py +++ b/examples/AutoBenchmark/generate_readme.py @@ -120,6 +120,17 @@ eliminates the `mDelayType` discriminator, saving 1 byte on AVR. * Remove `Coroutine::mName` (type `ace_common::FCString`) which saves 3 bytes on AVR, and 8 bytes on 32-bit processors. +* v1.3.1 + * Bring back `COROUTINE_DELAY_MICROS()` and `COROUTINE_DELAY_SECONDS()`, + using an alternate implementation that increases flash and static memory + consumption *only* if they are used. + * `CoroutineScheduler::runCoroutine()` now always calls + `Coroutine::runCoroutine()` when in Delaying state, without trying to + optimize the test for `isDelayXxxExpired()`. + * Makes `CoroutineScheduler` slightly smaller in flash size. + * Makes `CoroutineScheduler` slightly slower on AVR processors (e.g. 5.2 + -> 5.5 micros on AVR) , but is actually *faster* on 32-bit processors + (e.g. 1.100 -> 0.600 micros on ESP8266). ## Arduino Nano diff --git a/examples/AutoBenchmark/micro.txt b/examples/AutoBenchmark/micro.txt index 9ba1239..0dbf6c7 100644 --- a/examples/AutoBenchmark/micro.txt +++ b/examples/AutoBenchmark/micro.txt @@ -3,7 +3,7 @@ sizeof(Coroutine): 11 sizeof(CoroutineScheduler): 2 sizeof(Channel): 5 BENCHMARKS -EmptyLoop 1.800 10000 -DirectScheduling 2.800 10000 -CoroutineScheduling 6.800 10000 +EmptyLoop 1.700 10000 +DirectScheduling 2.900 10000 +CoroutineScheduling 7.300 10000 END diff --git a/examples/AutoBenchmark/nano.txt b/examples/AutoBenchmark/nano.txt index 6c5dd55..6c7eaa4 100644 --- a/examples/AutoBenchmark/nano.txt +++ b/examples/AutoBenchmark/nano.txt @@ -5,5 +5,5 @@ sizeof(Channel): 5 BENCHMARKS EmptyLoop 1.700 10000 DirectScheduling 2.900 10000 -CoroutineScheduling 6.900 10000 +CoroutineScheduling 7.200 10000 END diff --git a/examples/AutoBenchmark/samd.txt b/examples/AutoBenchmark/samd.txt index 5a32523..7448573 100644 --- a/examples/AutoBenchmark/samd.txt +++ b/examples/AutoBenchmark/samd.txt @@ -5,5 +5,5 @@ sizeof(Channel): 12 BENCHMARKS EmptyLoop 0.200 30000 DirectScheduling 0.633 30000 -CoroutineScheduling 2.133 30000 +CoroutineScheduling 1.500 30000 END diff --git a/examples/AutoBenchmark/stm32.txt b/examples/AutoBenchmark/stm32.txt index a29f8de..3e70904 100644 --- a/examples/AutoBenchmark/stm32.txt +++ b/examples/AutoBenchmark/stm32.txt @@ -5,5 +5,5 @@ sizeof(Channel): 12 BENCHMARKS EmptyLoop 0.166 30000 DirectScheduling 0.500 30000 -CoroutineScheduling 1.533 30000 +CoroutineScheduling 1.100 30000 END diff --git a/examples/AutoBenchmark/teensy32.txt b/examples/AutoBenchmark/teensy32.txt index 98b61e9..e8b7ca2 100644 --- a/examples/AutoBenchmark/teensy32.txt +++ b/examples/AutoBenchmark/teensy32.txt @@ -5,5 +5,5 @@ sizeof(Channel): 12 BENCHMARKS EmptyLoop 0.066 30000 DirectScheduling 0.233 30000 -CoroutineScheduling 0.566 30000 +CoroutineScheduling 0.533 30000 END diff --git a/examples/Delay/Delay.ino b/examples/Delay/Delay.ino index 2b50746..ff9b28c 100644 --- a/examples/Delay/Delay.ino +++ b/examples/Delay/Delay.ino @@ -1,20 +1,51 @@ /* - * Validate the actual delays of DELAY() incrementing a counter for - * TEST_DURATION_MILLIS, then printing the actual count versus the expected - * count. - * - * Results: - * * 16 MHz ATmega328P - * * countWithDelayMillis(): count=1993; expected=2000; elapsed=10004 - * * 48 MHz SAMD21 - * * countWithDelayMillis(): count=2000; expected=2000; elapsed=10000 - * * ESP8266 - * * countWithDelayMillis(): count=2000; expected=2000; elapsed=10001 - * * ESP32 - * * countWithDelayMillis(): count=2000; expected=2000; elapsed=10000 - * * Teensy 3.2 - * * countWithDelayMillis(): count=2000; expected=2000; elapsed=10000 - */ +Validate the actual delays of COROUTINE_DELAY_MICROS(50), COROUTINE_DELAY(5), +and COROUTINE_DELAY_SECONDS(1), by incrementing a counter for +TEST_DURATION_MILLIS, then printing the actual count versus the expected count. + +The further away 'count' is from `expected', the more inaccuracy is caused by +the overhead of the `Coroutine::runCoroutine()`. The faster the processor, the +closer 'count' should be to 'expected'. + +Results: + +16 MHz ATmega328P + +countWithDelayMicros(): count=158972; expected=200000; elapsed=10000 +countWithDelayMillis(): count=1993; expected=2000; elapsed=10005 +countWithDelaySeconds(): count=11; expected=10; elapsed=10001 + +48 MHz SAMD21 + +countWithDelayMicros(): count=185324; expected=200000; elapsed=10000 +countWithDelayMillis(): count=2000; expected=2000; elapsed=10000 +countWithDelaySeconds(): count=11; expected=10; elapsed=10989 + +STM32 + +countWithDelayMicros(): count=188048; expected=200000; elapsed=10000 +countWithDelayMillis(): count=2000; expected=2000; elapsed=10000 +countWithDelaySeconds(): count=11; expected=10; elapsed=10810 + +ESP8266 + +countWithDelayMicros(): count=161162; expected=200000; elapsed=10000 +countWithDelayMillis(): count=2000; expected=2000; elapsed=10000 +countWithDelaySeconds(): count=11; expected=10; elapsed=10935 + +ESP32 + +countWithDelayMicros(): count=191187; expected=200000; elapsed=10000 +countWithDelayMillis(): count=2000; expected=2000; elapsed=10000 +countWithDelaySeconds(): count=11; expected=10; elapsed=10974 + +Teensy 3.2 + +countWithDelayMicros(): count=191063; expected=200000; elapsed=10000 +countWithDelayMillis(): count=2000; expected=2000; elapsed=10000 +countWithDelaySeconds(): count=11; expected=10; elapsed=10004 + +*/ #include #include @@ -25,7 +56,9 @@ using namespace ace_routine; #endif static const unsigned long TEST_DURATION_MILLIS = 10000; +static const unsigned long DELAY_MICROS = 50; // 50 micros static const unsigned long DELAY_MILLIS = 5; // 5 millis +static const unsigned long DELAY_SECONDS = 1; // 1 seconds static unsigned long startMillis; @@ -39,6 +72,22 @@ void printResults(unsigned long count, unsigned long expected, SERIAL_PORT_MONITOR.println(elapsed); } +COROUTINE(countWithDelayMicros) { + static volatile unsigned long counter = 0; + static unsigned long elapsed; + COROUTINE_LOOP() { + counter++; + COROUTINE_DELAY_MICROS(DELAY_MICROS); + elapsed = millis() - startMillis; + if (elapsed >= TEST_DURATION_MILLIS) { + SERIAL_PORT_MONITOR.print("countWithDelayMicros(): "); + printResults(counter, TEST_DURATION_MILLIS * 1000 / DELAY_MICROS, + elapsed); + COROUTINE_END(); + } + } +} + COROUTINE(countWithDelayMillis) { static volatile unsigned long counter = 0; static unsigned long elapsed; @@ -48,7 +97,24 @@ COROUTINE(countWithDelayMillis) { elapsed = millis() - startMillis; if (elapsed >= TEST_DURATION_MILLIS) { SERIAL_PORT_MONITOR.print("countWithDelayMillis(): "); - printResults(counter, TEST_DURATION_MILLIS / DELAY_MILLIS, elapsed); + printResults(counter, TEST_DURATION_MILLIS / DELAY_MILLIS, + elapsed); + COROUTINE_END(); + } + } +} + +COROUTINE(countWithDelaySeconds) { + static volatile unsigned long counter = 0; + static unsigned long elapsed; + COROUTINE_LOOP() { + counter++; + COROUTINE_DELAY_SECONDS(DELAY_SECONDS); + elapsed = millis() - startMillis; + if (elapsed >= TEST_DURATION_MILLIS) { + SERIAL_PORT_MONITOR.print("countWithDelaySeconds(): "); + printResults(counter, TEST_DURATION_MILLIS / (DELAY_SECONDS * 1000), + elapsed); COROUTINE_END(); } } @@ -67,5 +133,7 @@ void setup() { // Manually execute the coroutines. void loop() { + countWithDelayMicros.runCoroutine(); countWithDelayMillis.runCoroutine(); + countWithDelaySeconds.runCoroutine(); } diff --git a/examples/MemoryBenchmark/MemoryBenchmark.ino b/examples/MemoryBenchmark/MemoryBenchmark.ino index 6e46077..9eb6aa3 100644 --- a/examples/MemoryBenchmark/MemoryBenchmark.ino +++ b/examples/MemoryBenchmark/MemoryBenchmark.ino @@ -20,10 +20,18 @@ #define FEATURE_TWO_DELAY_FUNCTIONS 2 #define FEATURE_ONE_COROUTINE 3 #define FEATURE_TWO_COROUTINES 4 -#define FEATURE_SCHEDULER_ONE_COROUTINE 5 -#define FEATURE_SCHEDULER_TWO_COROUTINES 6 -#define FEATURE_BLINK_FUNCTION 7 -#define FEATURE_BLINK_COROUTINE 8 +#define FEATURE_ONE_COROUTINE_MICROS 5 +#define FEATURE_TWO_COROUTINES_MICROS 6 +#define FEATURE_ONE_COROUTINE_SECONDS 7 +#define FEATURE_TWO_COROUTINES_SECONDS 8 +#define FEATURE_SCHEDULER_ONE_COROUTINE 9 +#define FEATURE_SCHEDULER_TWO_COROUTINES 10 +#define FEATURE_SCHEDULER_ONE_COROUTINE_MICROS 11 +#define FEATURE_SCHEDULER_TWO_COROUTINES_MICROS 12 +#define FEATURE_SCHEDULER_ONE_COROUTINE_SECONDS 13 +#define FEATURE_SCHEDULER_TWO_COROUTINES_SECONDS 14 +#define FEATURE_BLINK_FUNCTION 15 +#define FEATURE_BLINK_COROUTINE 16 #if FEATURE != FEATURE_BASELINE #include @@ -100,14 +108,65 @@ volatile int disableCompilerOptimization = 0; } } +#elif FEATURE == FEATURE_ONE_COROUTINE_MICROS + + COROUTINE(a) { + COROUTINE_LOOP() { + disableCompilerOptimization = 1; + COROUTINE_DELAY_MICROS(10); + } + } + +#elif FEATURE == FEATURE_TWO_COROUTINES_MICROS + + COROUTINE(a) { + COROUTINE_LOOP() { + disableCompilerOptimization = 1; + COROUTINE_DELAY_MICROS(10); + } + } + + COROUTINE(b) { + COROUTINE_LOOP() { + disableCompilerOptimization = 1; + COROUTINE_DELAY_MICROS(10); + } + } + +#elif FEATURE == FEATURE_ONE_COROUTINE_SECONDS + + COROUTINE(a) { + COROUTINE_LOOP() { + disableCompilerOptimization = 1; + COROUTINE_DELAY_SECONDS(10); + } + } + +#elif FEATURE == FEATURE_TWO_COROUTINES_SECONDS + + COROUTINE(a) { + COROUTINE_LOOP() { + disableCompilerOptimization = 1; + COROUTINE_DELAY_SECONDS(10); + } + } + + COROUTINE(b) { + COROUTINE_LOOP() { + disableCompilerOptimization = 1; + COROUTINE_DELAY_SECONDS(10); + } + } + #elif FEATURE == FEATURE_SCHEDULER_ONE_COROUTINE class MyCoroutine : public Coroutine { public: int runCoroutine() override { - COROUTINE_BEGIN(); - disableCompilerOptimization = 1; - COROUTINE_END(); + COROUTINE_LOOP() { + disableCompilerOptimization = 1; + COROUTINE_DELAY(10); + } } }; @@ -138,6 +197,84 @@ volatile int disableCompilerOptimization = 0; MyCoroutineA a; MyCoroutineB b; +#elif FEATURE == FEATURE_SCHEDULER_ONE_COROUTINE_MICROS + + class MyCoroutine : public Coroutine { + public: + int runCoroutine() override { + COROUTINE_LOOP() { + disableCompilerOptimization = 1; + COROUTINE_DELAY_MICROS(10); + } + } + }; + + MyCoroutine a; + +#elif FEATURE == FEATURE_SCHEDULER_TWO_COROUTINES_MICROS + + class MyCoroutineA : public Coroutine { + public: + int runCoroutine() override { + COROUTINE_LOOP() { + disableCompilerOptimization = 1; + COROUTINE_DELAY_MICROS(10); + } + } + }; + + class MyCoroutineB : public Coroutine { + public: + int runCoroutine() override { + COROUTINE_LOOP() { + disableCompilerOptimization = 1; + COROUTINE_DELAY_MICROS(10); + } + } + }; + + MyCoroutineA a; + MyCoroutineB b; + +#elif FEATURE == FEATURE_SCHEDULER_ONE_COROUTINE_SECONDS + + class MyCoroutine : public Coroutine { + public: + int runCoroutine() override { + COROUTINE_LOOP() { + disableCompilerOptimization = 1; + COROUTINE_DELAY_SECONDS(10); + } + } + }; + + MyCoroutine a; + +#elif FEATURE == FEATURE_SCHEDULER_TWO_COROUTINES_SECONDS + + class MyCoroutineA : public Coroutine { + public: + int runCoroutine() override { + COROUTINE_LOOP() { + disableCompilerOptimization = 1; + COROUTINE_DELAY_SECONDS(10); + } + } + }; + + class MyCoroutineB : public Coroutine { + public: + int runCoroutine() override { + COROUTINE_LOOP() { + disableCompilerOptimization = 1; + COROUTINE_DELAY_SECONDS(10); + } + } + }; + + MyCoroutineA a; + MyCoroutineB b; + #elif FEATURE == FEATURE_BLINK_FUNCTION #ifndef LED_BUILTIN @@ -206,10 +343,28 @@ void loop() { #elif FEATURE == FEATURE_TWO_COROUTINES a.runCoroutine(); b.runCoroutine(); +#elif FEATURE == FEATURE_ONE_COROUTINE_MICROS + a.runCoroutine(); +#elif FEATURE == FEATURE_TWO_COROUTINES_MICROS + a.runCoroutine(); + b.runCoroutine(); +#elif FEATURE == FEATURE_ONE_COROUTINE_SECONDS + a.runCoroutine(); +#elif FEATURE == FEATURE_TWO_COROUTINES_SECONDS + a.runCoroutine(); + b.runCoroutine(); #elif FEATURE == FEATURE_SCHEDULER_ONE_COROUTINE CoroutineScheduler::loop(); #elif FEATURE == FEATURE_SCHEDULER_TWO_COROUTINES CoroutineScheduler::loop(); +#elif FEATURE == FEATURE_SCHEDULER_ONE_COROUTINE_MICROS + CoroutineScheduler::loop(); +#elif FEATURE == FEATURE_SCHEDULER_TWO_COROUTINES_MICROS + CoroutineScheduler::loop(); +#elif FEATURE == FEATURE_SCHEDULER_ONE_COROUTINE_SECONDS + CoroutineScheduler::loop(); +#elif FEATURE == FEATURE_SCHEDULER_TWO_COROUTINES_SECONDS + CoroutineScheduler::loop(); #elif FEATURE == FEATURE_BLINK_COROUTINE blink.runCoroutine(); #elif FEATURE == FEATURE_BLINK_FUNCTION diff --git a/examples/MemoryBenchmark/README.md b/examples/MemoryBenchmark/README.md index 859ef37..a0a45d2 100644 --- a/examples/MemoryBenchmark/README.md +++ b/examples/MemoryBenchmark/README.md @@ -60,6 +60,19 @@ calculated flash size can jump around in unexpected ways. makes it more functionally equal to the "Two Coroutines" benchmark which automatically creates 2 different subclasses through the `COROUTINE()` macro. Increases flash memory by 80-130 bytes across the board. +* v1.3.1 + * Bring back `COROUTINE_DELAY_MICROS()` and `COROUTINE_DELAY_SECONDS()` + using an implementation that increases flash and static memory *only* if + they are used. + * `COROUTINE_DELAY_MICROS()` actually consumes about 30 bytes fewer + flash memory (on AVR) than `COROUTINE_DELAY()`, probably because there + is additional overhead in the Arduino `millis()` function compared to + `micros()`. + * `COROUTINE_DELAY_SECONDS()` consumes about 100 bytes more flash memory + (on AVR) compared to `COROUTINE_DELAY()` because of the division by + 1000 which must be done in software on 8-bit processors. + * The `CoroutineScheduler` is forced to become simpler which reduces + flash usage by 10-20 bytes. ## How to Generate @@ -74,6 +87,7 @@ $ make benchmarks produces the following files: ``` +attiny.txt nano.txt micro.txt samd.txt @@ -123,23 +137,35 @@ $ make README.md * SpenceKonde/ATTinyCore 1.5.2 ``` -+--------------------------------------------------------------+ -| functionality | flash/ ram | delta | -|---------------------------------+--------------+-------------| -| Baseline | 400/ 11 | 0/ 0 | -|---------------------------------+--------------+-------------| -| One Delay Function | 450/ 13 | 50/ 2 | -| Two Delay Functions | 508/ 15 | 108/ 4 | -|---------------------------------+--------------+-------------| -| One Coroutine | 628/ 30 | 228/ 19 | -| Two Coroutines | 796/ 47 | 396/ 36 | -|---------------------------------+--------------+-------------| -| Scheduler, One Coroutine | 734/ 32 | 334/ 21 | -| Scheduler, Two Coroutines | 976/ 49 | 576/ 38 | -|---------------------------------+--------------+-------------| -| Blink Function | 546/ 14 | 146/ 3 | -| Blink Coroutine | 752/ 30 | 352/ 19 | -+--------------------------------------------------------------+ ++------------------------------------------------------------------+ +| functionality | flash/ ram | delta | +|-------------------------------------+--------------+-------------| +| Baseline | 400/ 11 | 0/ 0 | +|-------------------------------------+--------------+-------------| +| One Delay Function | 450/ 13 | 50/ 2 | +| Two Delay Functions | 508/ 15 | 108/ 4 | +|-------------------------------------+--------------+-------------| +| One Coroutine | 628/ 30 | 228/ 19 | +| Two Coroutines | 796/ 47 | 396/ 36 | +|-------------------------------------+--------------+-------------| +| One Coroutine (micros) | 596/ 30 | 196/ 19 | +| Two Coroutines (micros) | 732/ 47 | 332/ 36 | +|-------------------------------------+--------------+-------------| +| One Coroutine (seconds) | 724/ 30 | 324/ 19 | +| Two Coroutines (seconds) | 920/ 47 | 520/ 36 | +|-------------------------------------+--------------+-------------| +| Scheduler, One Coroutine | 742/ 32 | 342/ 21 | +| Scheduler, Two Coroutines | 904/ 49 | 504/ 38 | +|-------------------------------------+--------------+-------------| +| Scheduler, One Coroutine (micros) | 710/ 32 | 310/ 21 | +| Scheduler, Two Coroutines (micros) | 840/ 49 | 440/ 38 | +|-------------------------------------+--------------+-------------| +| Scheduler, One Coroutine (seconds) | 838/ 32 | 438/ 21 | +| Scheduler, Two Coroutines (seconds) | 1028/ 49 | 628/ 38 | +|-------------------------------------+--------------+-------------| +| Blink Function | 546/ 14 | 146/ 3 | +| Blink Coroutine | 752/ 30 | 352/ 19 | ++------------------------------------------------------------------+ ``` @@ -150,23 +176,35 @@ $ make README.md * Arduino AVR Boards 1.8.3 ``` -+--------------------------------------------------------------+ -| functionality | flash/ ram | delta | -|---------------------------------+--------------+-------------| -| Baseline | 606/ 11 | 0/ 0 | -|---------------------------------+--------------+-------------| -| One Delay Function | 654/ 13 | 48/ 2 | -| Two Delay Functions | 714/ 15 | 108/ 4 | -|---------------------------------+--------------+-------------| -| One Coroutine | 840/ 30 | 234/ 19 | -| Two Coroutines | 1010/ 47 | 404/ 36 | -|---------------------------------+--------------+-------------| -| Scheduler, One Coroutine | 946/ 32 | 340/ 21 | -| Scheduler, Two Coroutines | 1188/ 49 | 582/ 38 | -|---------------------------------+--------------+-------------| -| Blink Function | 938/ 14 | 332/ 3 | -| Blink Coroutine | 1154/ 30 | 548/ 19 | -+--------------------------------------------------------------+ ++------------------------------------------------------------------+ +| functionality | flash/ ram | delta | +|-------------------------------------+--------------+-------------| +| Baseline | 606/ 11 | 0/ 0 | +|-------------------------------------+--------------+-------------| +| One Delay Function | 654/ 13 | 48/ 2 | +| Two Delay Functions | 714/ 15 | 108/ 4 | +|-------------------------------------+--------------+-------------| +| One Coroutine | 840/ 30 | 234/ 19 | +| Two Coroutines | 1010/ 47 | 404/ 36 | +|-------------------------------------+--------------+-------------| +| One Coroutine (micros) | 812/ 30 | 206/ 19 | +| Two Coroutines (micros) | 954/ 47 | 348/ 36 | +|-------------------------------------+--------------+-------------| +| One Coroutine (seconds) | 940/ 30 | 334/ 19 | +| Two Coroutines (seconds) | 1142/ 47 | 536/ 36 | +|-------------------------------------+--------------+-------------| +| Scheduler, One Coroutine | 954/ 32 | 348/ 21 | +| Scheduler, Two Coroutines | 1116/ 49 | 510/ 38 | +|-------------------------------------+--------------+-------------| +| Scheduler, One Coroutine (micros) | 926/ 32 | 320/ 21 | +| Scheduler, Two Coroutines (micros) | 1060/ 49 | 454/ 38 | +|-------------------------------------+--------------+-------------| +| Scheduler, One Coroutine (seconds) | 1054/ 32 | 448/ 21 | +| Scheduler, Two Coroutines (seconds) | 1248/ 49 | 642/ 38 | +|-------------------------------------+--------------+-------------| +| Blink Function | 938/ 14 | 332/ 3 | +| Blink Coroutine | 1154/ 30 | 548/ 19 | ++------------------------------------------------------------------+ ``` @@ -177,23 +215,35 @@ $ make README.md * SparkFun AVR Boards 1.1.13 ``` -+--------------------------------------------------------------+ -| functionality | flash/ ram | delta | -|---------------------------------+--------------+-------------| -| Baseline | 3554/ 151 | 0/ 0 | -|---------------------------------+--------------+-------------| -| One Delay Function | 3602/ 153 | 48/ 2 | -| Two Delay Functions | 3662/ 155 | 108/ 4 | -|---------------------------------+--------------+-------------| -| One Coroutine | 3728/ 170 | 174/ 19 | -| Two Coroutines | 3898/ 187 | 344/ 36 | -|---------------------------------+--------------+-------------| -| Scheduler, One Coroutine | 3834/ 172 | 280/ 21 | -| Scheduler, Two Coroutines | 4076/ 189 | 522/ 38 | -|---------------------------------+--------------+-------------| -| Blink Function | 3994/ 154 | 440/ 3 | -| Blink Coroutine | 4150/ 170 | 596/ 19 | -+--------------------------------------------------------------+ ++------------------------------------------------------------------+ +| functionality | flash/ ram | delta | +|-------------------------------------+--------------+-------------| +| Baseline | 3554/ 151 | 0/ 0 | +|-------------------------------------+--------------+-------------| +| One Delay Function | 3602/ 153 | 48/ 2 | +| Two Delay Functions | 3662/ 155 | 108/ 4 | +|-------------------------------------+--------------+-------------| +| One Coroutine | 3728/ 170 | 174/ 19 | +| Two Coroutines | 3898/ 187 | 344/ 36 | +|-------------------------------------+--------------+-------------| +| One Coroutine (micros) | 3700/ 170 | 146/ 19 | +| Two Coroutines (micros) | 3842/ 187 | 288/ 36 | +|-------------------------------------+--------------+-------------| +| One Coroutine (seconds) | 3828/ 170 | 274/ 19 | +| Two Coroutines (seconds) | 4030/ 187 | 476/ 36 | +|-------------------------------------+--------------+-------------| +| Scheduler, One Coroutine | 3842/ 172 | 288/ 21 | +| Scheduler, Two Coroutines | 4004/ 189 | 450/ 38 | +|-------------------------------------+--------------+-------------| +| Scheduler, One Coroutine (micros) | 3814/ 172 | 260/ 21 | +| Scheduler, Two Coroutines (micros) | 3948/ 189 | 394/ 38 | +|-------------------------------------+--------------+-------------| +| Scheduler, One Coroutine (seconds) | 3942/ 172 | 388/ 21 | +| Scheduler, Two Coroutines (seconds) | 4136/ 189 | 582/ 38 | +|-------------------------------------+--------------+-------------| +| Blink Function | 3994/ 154 | 440/ 3 | +| Blink Coroutine | 4150/ 170 | 596/ 19 | ++------------------------------------------------------------------+ ``` @@ -204,23 +254,35 @@ $ make README.md * SparkFun SAMD Core 1.8.1 ``` -+--------------------------------------------------------------+ -| functionality | flash/ ram | delta | -|---------------------------------+--------------+-------------| -| Baseline | 10072/ 0 | 0/ 0 | -|---------------------------------+--------------+-------------| -| One Delay Function | 10112/ 0 | 40/ 0 | -| Two Delay Functions | 10152/ 0 | 80/ 0 | -|---------------------------------+--------------+-------------| -| One Coroutine | 10224/ 0 | 152/ 0 | -| Two Coroutines | 10360/ 0 | 288/ 0 | -|---------------------------------+--------------+-------------| -| Scheduler, One Coroutine | 10264/ 0 | 192/ 0 | -| Scheduler, Two Coroutines | 10416/ 0 | 344/ 0 | -|---------------------------------+--------------+-------------| -| Blink Function | 10160/ 0 | 88/ 0 | -| Blink Coroutine | 10272/ 0 | 200/ 0 | -+--------------------------------------------------------------+ ++------------------------------------------------------------------+ +| functionality | flash/ ram | delta | +|-------------------------------------+--------------+-------------| +| Baseline | 10072/ 0 | 0/ 0 | +|-------------------------------------+--------------+-------------| +| One Delay Function | 10112/ 0 | 40/ 0 | +| Two Delay Functions | 10152/ 0 | 80/ 0 | +|-------------------------------------+--------------+-------------| +| One Coroutine | 10224/ 0 | 152/ 0 | +| Two Coroutines | 10360/ 0 | 288/ 0 | +|-------------------------------------+--------------+-------------| +| One Coroutine (micros) | 10312/ 0 | 240/ 0 | +| Two Coroutines (micros) | 10448/ 0 | 376/ 0 | +|-------------------------------------+--------------+-------------| +| One Coroutine (seconds) | 10240/ 0 | 168/ 0 | +| Two Coroutines (seconds) | 10392/ 0 | 320/ 0 | +|-------------------------------------+--------------+-------------| +| Scheduler, One Coroutine | 10264/ 0 | 192/ 0 | +| Scheduler, Two Coroutines | 10376/ 0 | 304/ 0 | +|-------------------------------------+--------------+-------------| +| Scheduler, One Coroutine (micros) | 10352/ 0 | 280/ 0 | +| Scheduler, Two Coroutines (micros) | 10464/ 0 | 392/ 0 | +|-------------------------------------+--------------+-------------| +| Scheduler, One Coroutine (seconds) | 10280/ 0 | 208/ 0 | +| Scheduler, Two Coroutines (seconds) | 10408/ 0 | 336/ 0 | +|-------------------------------------+--------------+-------------| +| Blink Function | 10160/ 0 | 88/ 0 | +| Blink Coroutine | 10272/ 0 | 200/ 0 | ++------------------------------------------------------------------+ ``` @@ -231,23 +293,35 @@ $ make README.md * STM32duino 1.9.0 ``` -+--------------------------------------------------------------+ -| functionality | flash/ ram | delta | -|---------------------------------+--------------+-------------| -| Baseline | 19140/ 3788 | 0/ 0 | -|---------------------------------+--------------+-------------| -| One Delay Function | 19164/ 3792 | 24/ 4 | -| Two Delay Functions | 19212/ 3792 | 72/ 4 | -|---------------------------------+--------------+-------------| -| One Coroutine | 19256/ 3812 | 116/ 24 | -| Two Coroutines | 19396/ 3832 | 256/ 44 | -|---------------------------------+--------------+-------------| -| Scheduler, One Coroutine | 19316/ 3816 | 176/ 28 | -| Scheduler, Two Coroutines | 19448/ 3836 | 308/ 48 | -|---------------------------------+--------------+-------------| -| Blink Function | 19280/ 3788 | 140/ 0 | -| Blink Coroutine | 19384/ 3808 | 244/ 20 | -+--------------------------------------------------------------+ ++------------------------------------------------------------------+ +| functionality | flash/ ram | delta | +|-------------------------------------+--------------+-------------| +| Baseline | 19140/ 3788 | 0/ 0 | +|-------------------------------------+--------------+-------------| +| One Delay Function | 19164/ 3792 | 24/ 4 | +| Two Delay Functions | 19212/ 3792 | 72/ 4 | +|-------------------------------------+--------------+-------------| +| One Coroutine | 19256/ 3812 | 116/ 24 | +| Two Coroutines | 19396/ 3832 | 256/ 44 | +|-------------------------------------+--------------+-------------| +| One Coroutine (micros) | 19320/ 3812 | 180/ 24 | +| Two Coroutines (micros) | 19460/ 3832 | 320/ 44 | +|-------------------------------------+--------------+-------------| +| One Coroutine (seconds) | 19272/ 3812 | 132/ 24 | +| Two Coroutines (seconds) | 19428/ 3832 | 288/ 44 | +|-------------------------------------+--------------+-------------| +| Scheduler, One Coroutine | 19308/ 3816 | 168/ 28 | +| Scheduler, Two Coroutines | 19408/ 3836 | 268/ 48 | +|-------------------------------------+--------------+-------------| +| Scheduler, One Coroutine (micros) | 19372/ 3816 | 232/ 28 | +| Scheduler, Two Coroutines (micros) | 19472/ 3836 | 332/ 48 | +|-------------------------------------+--------------+-------------| +| Scheduler, One Coroutine (seconds) | 19324/ 3816 | 184/ 28 | +| Scheduler, Two Coroutines (seconds) | 19440/ 3836 | 300/ 48 | +|-------------------------------------+--------------+-------------| +| Blink Function | 19280/ 3788 | 140/ 0 | +| Blink Coroutine | 19384/ 3808 | 244/ 20 | ++------------------------------------------------------------------+ ``` @@ -258,23 +332,35 @@ $ make README.md * ESP8266 Boards 2.7.4 ``` -+--------------------------------------------------------------+ -| functionality | flash/ ram | delta | -|---------------------------------+--------------+-------------| -| Baseline | 256924/26800 | 0/ 0 | -|---------------------------------+--------------+-------------| -| One Delay Function | 256988/26808 | 64/ 8 | -| Two Delay Functions | 257052/26808 | 128/ 8 | -|---------------------------------+--------------+-------------| -| One Coroutine | 257104/26820 | 180/ 20 | -| Two Coroutines | 257264/26844 | 340/ 44 | -|---------------------------------+--------------+-------------| -| Scheduler, One Coroutine | 257152/26828 | 228/ 28 | -| Scheduler, Two Coroutines | 257344/26844 | 420/ 44 | -|---------------------------------+--------------+-------------| -| Blink Function | 257424/26816 | 500/ 16 | -| Blink Coroutine | 257556/26836 | 632/ 36 | -+--------------------------------------------------------------+ ++------------------------------------------------------------------+ +| functionality | flash/ ram | delta | +|-------------------------------------+--------------+-------------| +| Baseline | 256924/26800 | 0/ 0 | +|-------------------------------------+--------------+-------------| +| One Delay Function | 256988/26808 | 64/ 8 | +| Two Delay Functions | 257052/26808 | 128/ 8 | +|-------------------------------------+--------------+-------------| +| One Coroutine | 257104/26820 | 180/ 20 | +| Two Coroutines | 257264/26844 | 340/ 44 | +|-------------------------------------+--------------+-------------| +| One Coroutine (micros) | 257136/26820 | 212/ 20 | +| Two Coroutines (micros) | 257296/26844 | 372/ 44 | +|-------------------------------------+--------------+-------------| +| One Coroutine (seconds) | 257136/26820 | 212/ 20 | +| Two Coroutines (seconds) | 257312/26844 | 388/ 44 | +|-------------------------------------+--------------+-------------| +| Scheduler, One Coroutine | 257152/26828 | 228/ 28 | +| Scheduler, Two Coroutines | 257280/26844 | 356/ 44 | +|-------------------------------------+--------------+-------------| +| Scheduler, One Coroutine (micros) | 257168/26828 | 244/ 28 | +| Scheduler, Two Coroutines (micros) | 257312/26844 | 388/ 44 | +|-------------------------------------+--------------+-------------| +| Scheduler, One Coroutine (seconds) | 257168/26828 | 244/ 28 | +| Scheduler, Two Coroutines (seconds) | 257328/26844 | 404/ 44 | +|-------------------------------------+--------------+-------------| +| Blink Function | 257424/26816 | 500/ 16 | +| Blink Coroutine | 257556/26836 | 632/ 36 | ++------------------------------------------------------------------+ ``` @@ -285,23 +371,35 @@ $ make README.md * ESP32 Boards 1.0.6 ``` -+--------------------------------------------------------------+ -| functionality | flash/ ram | delta | -|---------------------------------+--------------+-------------| -| Baseline | 197910/13092 | 0/ 0 | -|---------------------------------+--------------+-------------| -| One Delay Function | 198258/13124 | 348/ 32 | -| Two Delay Functions | 198330/13124 | 420/ 32 | -|---------------------------------+--------------+-------------| -| One Coroutine | 198358/13140 | 448/ 48 | -| Two Coroutines | 198526/13164 | 616/ 72 | -|---------------------------------+--------------+-------------| -| Scheduler, One Coroutine | 198414/13148 | 504/ 56 | -| Scheduler, Two Coroutines | 198626/13164 | 716/ 72 | -|---------------------------------+--------------+-------------| -| Blink Function | 198602/13120 | 692/ 28 | -| Blink Coroutine | 198710/13136 | 800/ 44 | -+--------------------------------------------------------------+ ++------------------------------------------------------------------+ +| functionality | flash/ ram | delta | +|-------------------------------------+--------------+-------------| +| Baseline | 197910/13092 | 0/ 0 | +|-------------------------------------+--------------+-------------| +| One Delay Function | 198258/13124 | 348/ 32 | +| Two Delay Functions | 198330/13124 | 420/ 32 | +|-------------------------------------+--------------+-------------| +| One Coroutine | 198358/13140 | 448/ 48 | +| Two Coroutines | 198526/13164 | 616/ 72 | +|-------------------------------------+--------------+-------------| +| One Coroutine (micros) | 198346/13140 | 436/ 48 | +| Two Coroutines (micros) | 198514/13164 | 604/ 72 | +|-------------------------------------+--------------+-------------| +| One Coroutine (seconds) | 198374/13140 | 464/ 48 | +| Two Coroutines (seconds) | 198558/13164 | 648/ 72 | +|-------------------------------------+--------------+-------------| +| Scheduler, One Coroutine | 198414/13148 | 504/ 56 | +| Scheduler, Two Coroutines | 198558/13164 | 648/ 72 | +|-------------------------------------+--------------+-------------| +| Scheduler, One Coroutine (micros) | 198402/13148 | 492/ 56 | +| Scheduler, Two Coroutines (micros) | 198546/13164 | 636/ 72 | +|-------------------------------------+--------------+-------------| +| Scheduler, One Coroutine (seconds) | 198430/13148 | 520/ 56 | +| Scheduler, Two Coroutines (seconds) | 198590/13164 | 680/ 72 | +|-------------------------------------+--------------+-------------| +| Blink Function | 198602/13120 | 692/ 28 | +| Blink Coroutine | 198710/13136 | 800/ 44 | ++------------------------------------------------------------------+ ``` @@ -313,23 +411,35 @@ $ make README.md * Compiler options: "Faster" ``` -+--------------------------------------------------------------+ -| functionality | flash/ ram | delta | -|---------------------------------+--------------+-------------| -| Baseline | 7628/ 3048 | 0/ 0 | -|---------------------------------+--------------+-------------| -| One Delay Function | 10836/ 4152 | 3208/ 1104 | -| Two Delay Functions | 10868/ 4152 | 3240/ 1104 | -|---------------------------------+--------------+-------------| -| One Coroutine | 10932/ 4172 | 3304/ 1124 | -| Two Coroutines | 11056/ 4192 | 3428/ 1144 | -|---------------------------------+--------------+-------------| -| Scheduler, One Coroutine | 10980/ 4176 | 3352/ 1128 | -| Scheduler, Two Coroutines | 11128/ 4196 | 3500/ 1148 | -|---------------------------------+--------------+-------------| -| Blink Function | 11244/ 4148 | 3616/ 1100 | -| Blink Coroutine | 11364/ 4168 | 3736/ 1120 | -+--------------------------------------------------------------+ ++------------------------------------------------------------------+ +| functionality | flash/ ram | delta | +|-------------------------------------+--------------+-------------| +| Baseline | 7628/ 3048 | 0/ 0 | +|-------------------------------------+--------------+-------------| +| One Delay Function | 10836/ 4152 | 3208/ 1104 | +| Two Delay Functions | 10868/ 4152 | 3240/ 1104 | +|-------------------------------------+--------------+-------------| +| One Coroutine | 10932/ 4172 | 3304/ 1124 | +| Two Coroutines | 11056/ 4192 | 3428/ 1144 | +|-------------------------------------+--------------+-------------| +| One Coroutine (micros) | 10988/ 4172 | 3360/ 1124 | +| Two Coroutines (micros) | 11100/ 4192 | 3472/ 1144 | +|-------------------------------------+--------------+-------------| +| One Coroutine (seconds) | 10952/ 4172 | 3324/ 1124 | +| Two Coroutines (seconds) | 11096/ 4192 | 3468/ 1144 | +|-------------------------------------+--------------+-------------| +| Scheduler, One Coroutine | 10988/ 4176 | 3360/ 1128 | +| Scheduler, Two Coroutines | 11096/ 4196 | 3468/ 1148 | +|-------------------------------------+--------------+-------------| +| Scheduler, One Coroutine (micros) | 11044/ 4176 | 3416/ 1128 | +| Scheduler, Two Coroutines (micros) | 11140/ 4196 | 3512/ 1148 | +|-------------------------------------+--------------+-------------| +| Scheduler, One Coroutine (seconds) | 11008/ 4176 | 3380/ 1128 | +| Scheduler, Two Coroutines (seconds) | 11136/ 4196 | 3508/ 1148 | +|-------------------------------------+--------------+-------------| +| Blink Function | 11244/ 4148 | 3616/ 1100 | +| Blink Coroutine | 11364/ 4168 | 3736/ 1120 | ++------------------------------------------------------------------+ ``` diff --git a/examples/MemoryBenchmark/attiny.txt b/examples/MemoryBenchmark/attiny.txt index 7416eda..36fb4df 100644 --- a/examples/MemoryBenchmark/attiny.txt +++ b/examples/MemoryBenchmark/attiny.txt @@ -3,7 +3,15 @@ 2 508 8192 15 512 3 628 8192 30 512 4 796 8192 47 512 -5 734 8192 32 512 -6 976 8192 49 512 -7 546 8192 14 512 -8 752 8192 30 512 +5 596 8192 30 512 +6 732 8192 47 512 +7 724 8192 30 512 +8 920 8192 47 512 +9 742 8192 32 512 +10 904 8192 49 512 +11 710 8192 32 512 +12 840 8192 49 512 +13 838 8192 32 512 +14 1028 8192 49 512 +15 546 8192 14 512 +16 752 8192 30 512 diff --git a/examples/MemoryBenchmark/collect.sh b/examples/MemoryBenchmark/collect.sh index 337940c..51f3553 100755 --- a/examples/MemoryBenchmark/collect.sh +++ b/examples/MemoryBenchmark/collect.sh @@ -16,7 +16,7 @@ set -eu PROGRAM_NAME='MemoryBenchmark.ino' -NUM_FEATURES=8 # excluding FEATURE_BASELINE +NUM_FEATURES=16 # excluding FEATURE_BASELINE # Assume that https://github.com/bxparks/AUniter is installed as a # sibling project to AceRoutine. diff --git a/examples/MemoryBenchmark/esp32.txt b/examples/MemoryBenchmark/esp32.txt index fc08005..4ae5a3c 100644 --- a/examples/MemoryBenchmark/esp32.txt +++ b/examples/MemoryBenchmark/esp32.txt @@ -3,7 +3,15 @@ 2 198330 1310720 13124 327680 3 198358 1310720 13140 327680 4 198526 1310720 13164 327680 -5 198414 1310720 13148 327680 -6 198626 1310720 13164 327680 -7 198602 1310720 13120 327680 -8 198710 1310720 13136 327680 +5 198346 1310720 13140 327680 +6 198514 1310720 13164 327680 +7 198374 1310720 13140 327680 +8 198558 1310720 13164 327680 +9 198414 1310720 13148 327680 +10 198558 1310720 13164 327680 +11 198402 1310720 13148 327680 +12 198546 1310720 13164 327680 +13 198430 1310720 13148 327680 +14 198590 1310720 13164 327680 +15 198602 1310720 13120 327680 +16 198710 1310720 13136 327680 diff --git a/examples/MemoryBenchmark/esp8266.txt b/examples/MemoryBenchmark/esp8266.txt index aee6877..c0dbbc9 100644 --- a/examples/MemoryBenchmark/esp8266.txt +++ b/examples/MemoryBenchmark/esp8266.txt @@ -3,7 +3,15 @@ 2 257052 1044464 26808 81920 3 257104 1044464 26820 81920 4 257264 1044464 26844 81920 -5 257152 1044464 26828 81920 -6 257344 1044464 26844 81920 -7 257424 1044464 26816 81920 -8 257556 1044464 26836 81920 +5 257136 1044464 26820 81920 +6 257296 1044464 26844 81920 +7 257136 1044464 26820 81920 +8 257312 1044464 26844 81920 +9 257152 1044464 26828 81920 +10 257280 1044464 26844 81920 +11 257168 1044464 26828 81920 +12 257312 1044464 26844 81920 +13 257168 1044464 26828 81920 +14 257328 1044464 26844 81920 +15 257424 1044464 26816 81920 +16 257556 1044464 26836 81920 diff --git a/examples/MemoryBenchmark/generate_readme.py b/examples/MemoryBenchmark/generate_readme.py index 22e35bd..85aa7fd 100755 --- a/examples/MemoryBenchmark/generate_readme.py +++ b/examples/MemoryBenchmark/generate_readme.py @@ -86,6 +86,19 @@ makes it more functionally equal to the "Two Coroutines" benchmark which automatically creates 2 different subclasses through the `COROUTINE()` macro. Increases flash memory by 80-130 bytes across the board. +* v1.3.1 + * Bring back `COROUTINE_DELAY_MICROS()` and `COROUTINE_DELAY_SECONDS()` + using an implementation that increases flash and static memory *only* if + they are used. + * `COROUTINE_DELAY_MICROS()` actually consumes about 30 bytes fewer + flash memory (on AVR) than `COROUTINE_DELAY()`, probably because there + is additional overhead in the Arduino `millis()` function compared to + `micros()`. + * `COROUTINE_DELAY_SECONDS()` consumes about 100 bytes more flash memory + (on AVR) compared to `COROUTINE_DELAY()` because of the division by + 1000 which must be done in software on 8-bit processors. + * The `CoroutineScheduler` is forced to become simpler which reduces + flash usage by 10-20 bytes. ## How to Generate @@ -100,6 +113,7 @@ produces the following files: ``` +attiny.txt nano.txt micro.txt samd.txt diff --git a/examples/MemoryBenchmark/generate_table.awk b/examples/MemoryBenchmark/generate_table.awk index c3bff2e..8c4d7a2 100755 --- a/examples/MemoryBenchmark/generate_table.awk +++ b/examples/MemoryBenchmark/generate_table.awk @@ -11,10 +11,18 @@ BEGIN { labels[2] = "Two Delay Functions" labels[3] = "One Coroutine" labels[4] = "Two Coroutines" - labels[5] = "Scheduler, One Coroutine" - labels[6] = "Scheduler, Two Coroutines" - labels[7] = "Blink Function" - labels[8] = "Blink Coroutine" + labels[5] = "One Coroutine (micros)" + labels[6] = "Two Coroutines (micros)" + labels[7] = "One Coroutine (seconds)" + labels[8] = "Two Coroutines (seconds)" + labels[9] = "Scheduler, One Coroutine" + labels[10] = "Scheduler, Two Coroutines" + labels[11] = "Scheduler, One Coroutine (micros)" + labels[12] = "Scheduler, Two Coroutines (micros)" + labels[13] = "Scheduler, One Coroutine (seconds)" + labels[14] = "Scheduler, Two Coroutines (seconds)" + labels[15] = "Blink Function" + labels[16] = "Blink Coroutine" record_index = 0 } { @@ -32,19 +40,23 @@ END { u[i]["d_ram"] = u[i]["ram"] - base_ram } - printf("+--------------------------------------------------------------+\n") - printf("| functionality | flash/ ram | delta |\n") + printf("+------------------------------------------------------------------+\n") + printf("| functionality | flash/ ram | delta |\n") for (i = 0; i < NUM_ENTRIES; i++) { - if (labels[i] ~ /Baseline/ \ - || labels[i] ~ /One Delay Function/ \ - || labels[i] ~ /One Coroutine/ \ - || labels[i] ~ /Scheduler, One Coroutine/ \ - || labels[i] ~ /Blink Function/ \ + if (labels[i] ~ /^Baseline$/ \ + || labels[i] ~ /^One Delay Function$/ \ + || labels[i] ~ /^One Coroutine$/ \ + || labels[i] ~ /^One Coroutine \(micros\)$/ \ + || labels[i] ~ /^One Coroutine \(seconds\)$/ \ + || labels[i] ~ /^Scheduler, One Coroutine$/ \ + || labels[i] ~ /^Scheduler, One Coroutine \(micros\)$/ \ + || labels[i] ~ /^Scheduler, One Coroutine \(seconds\)$/ \ + || labels[i] ~ /^Blink Function$/ \ ) { - printf("|---------------------------------+--------------+-------------|\n") + printf("|-------------------------------------+--------------+-------------|\n") } - printf("| %-31s | %6d/%5d | %5d/%5d |\n", + printf("| %-35s | %6d/%5d | %5d/%5d |\n", labels[i], u[i]["flash"], u[i]["ram"], u[i]["d_flash"], u[i]["d_ram"]) } - printf("+--------------------------------------------------------------+\n") + printf("+------------------------------------------------------------------+\n") } diff --git a/examples/MemoryBenchmark/micro.txt b/examples/MemoryBenchmark/micro.txt index 002945b..af9c5ca 100644 --- a/examples/MemoryBenchmark/micro.txt +++ b/examples/MemoryBenchmark/micro.txt @@ -3,7 +3,15 @@ 2 3662 28672 155 2560 3 3728 28672 170 2560 4 3898 28672 187 2560 -5 3834 28672 172 2560 -6 4076 28672 189 2560 -7 3994 28672 154 2560 -8 4150 28672 170 2560 +5 3700 28672 170 2560 +6 3842 28672 187 2560 +7 3828 28672 170 2560 +8 4030 28672 187 2560 +9 3842 28672 172 2560 +10 4004 28672 189 2560 +11 3814 28672 172 2560 +12 3948 28672 189 2560 +13 3942 28672 172 2560 +14 4136 28672 189 2560 +15 3994 28672 154 2560 +16 4150 28672 170 2560 diff --git a/examples/MemoryBenchmark/nano.txt b/examples/MemoryBenchmark/nano.txt index 1d4c39b..c9f7958 100644 --- a/examples/MemoryBenchmark/nano.txt +++ b/examples/MemoryBenchmark/nano.txt @@ -3,7 +3,15 @@ 2 714 30720 15 2048 3 840 30720 30 2048 4 1010 30720 47 2048 -5 946 30720 32 2048 -6 1188 30720 49 2048 -7 938 30720 14 2048 -8 1154 30720 30 2048 +5 812 30720 30 2048 +6 954 30720 47 2048 +7 940 30720 30 2048 +8 1142 30720 47 2048 +9 954 30720 32 2048 +10 1116 30720 49 2048 +11 926 30720 32 2048 +12 1060 30720 49 2048 +13 1054 30720 32 2048 +14 1248 30720 49 2048 +15 938 30720 14 2048 +16 1154 30720 30 2048 diff --git a/examples/MemoryBenchmark/samd.txt b/examples/MemoryBenchmark/samd.txt index 0b61560..31e840e 100644 --- a/examples/MemoryBenchmark/samd.txt +++ b/examples/MemoryBenchmark/samd.txt @@ -3,7 +3,15 @@ 2 10152 262144 3 10224 262144 4 10360 262144 -5 10264 262144 -6 10416 262144 -7 10160 262144 -8 10272 262144 +5 10312 262144 +6 10448 262144 +7 10240 262144 +8 10392 262144 +9 10264 262144 +10 10376 262144 +11 10352 262144 +12 10464 262144 +13 10280 262144 +14 10408 262144 +15 10160 262144 +16 10272 262144 diff --git a/examples/MemoryBenchmark/stm32.txt b/examples/MemoryBenchmark/stm32.txt index af21ce8..bdb7fc6 100644 --- a/examples/MemoryBenchmark/stm32.txt +++ b/examples/MemoryBenchmark/stm32.txt @@ -3,7 +3,15 @@ 2 19212 131072 3792 20480 3 19256 131072 3812 20480 4 19396 131072 3832 20480 -5 19316 131072 3816 20480 -6 19448 131072 3836 20480 -7 19280 131072 3788 20480 -8 19384 131072 3808 20480 +5 19320 131072 3812 20480 +6 19460 131072 3832 20480 +7 19272 131072 3812 20480 +8 19428 131072 3832 20480 +9 19308 131072 3816 20480 +10 19408 131072 3836 20480 +11 19372 131072 3816 20480 +12 19472 131072 3836 20480 +13 19324 131072 3816 20480 +14 19440 131072 3836 20480 +15 19280 131072 3788 20480 +16 19384 131072 3808 20480 diff --git a/examples/MemoryBenchmark/teensy32.txt b/examples/MemoryBenchmark/teensy32.txt index 4cf4b17..e66b83e 100644 --- a/examples/MemoryBenchmark/teensy32.txt +++ b/examples/MemoryBenchmark/teensy32.txt @@ -3,7 +3,15 @@ 2 10868 262144 4152 65536 3 10932 262144 4172 65536 4 11056 262144 4192 65536 -5 10980 262144 4176 65536 -6 11128 262144 4196 65536 -7 11244 262144 4148 65536 -8 11364 262144 4168 65536 +5 10988 262144 4172 65536 +6 11100 262144 4192 65536 +7 10952 262144 4172 65536 +8 11096 262144 4192 65536 +9 10988 262144 4176 65536 +10 11096 262144 4196 65536 +11 11044 262144 4176 65536 +12 11140 262144 4196 65536 +13 11008 262144 4176 65536 +14 11136 262144 4196 65536 +15 11244 262144 4148 65536 +16 11364 262144 4168 65536 diff --git a/library.properties b/library.properties index 9d68444..7cd163b 100644 --- a/library.properties +++ b/library.properties @@ -1,5 +1,5 @@ name=AceRoutine -version=1.3.0 +version=1.3.1 author=Brian T. Park maintainer=Brian T. Park sentence=A low-memory, fast-switching, cooperative multitasking library using stackless coroutines on Arduino platforms. diff --git a/src/ace_routine/ClockInterface.h b/src/ace_routine/ClockInterface.h index 4318b80..7ea1bbf 100644 --- a/src/ace_routine/ClockInterface.h +++ b/src/ace_routine/ClockInterface.h @@ -41,6 +41,26 @@ class ClockInterface { public: /** Get the current millis. */ static unsigned long millis() { return ::millis(); } + + /** Get the current micros. */ + static unsigned long micros() { return ::micros(); } + + /** + * Get the current seconds. This is derived by dividing millis() by 1000, + * which works pretty well until the `unsigned long` rolls over at + * 4294967296 milliseconds. At that last second (4294967), this function + * returns the next second (0) a little bit too early. More precisely, it + * rolls over to 0 seconds 704 milliseconds too early. If the + * COROUTINE_DELAY_SECONDS() is large enough, this inaccuracy should not + * matter too much. + * + * The other problem with this function is that on 8-bit processors without + * a hardware division instruction, the software long division by 1000 is + * very expensive in both memory and CPU. The flash memory increases by + * about 150 bytes on AVR processors. Therefore, the + * COROUTINE_DELAY_SECONDS() should be used sparingly. + */ + static unsigned long seconds() { return ::millis() / 1000; } }; } diff --git a/src/ace_routine/Coroutine.h b/src/ace_routine/Coroutine.h index 270b0f0..dae377a 100644 --- a/src/ace_routine/Coroutine.h +++ b/src/ace_routine/Coroutine.h @@ -181,11 +181,11 @@ extern className##_##name name */ #define COROUTINE_AWAIT(condition) \ do { \ - setYielding(); \ + this->setYielding(); \ do { \ COROUTINE_YIELD_INTERNAL(); \ } while (!(condition)); \ - setRunning(); \ + this->setRunning(); \ } while (false) /** @@ -213,6 +213,42 @@ extern className##_##name name this->setRunning(); \ } while (false) +/** Yield for delayMicros. Similiar to COROUTINE_DELAY(delayMillis). */ +#define COROUTINE_DELAY_MICROS(delayMicros) \ + do { \ + this->setDelayMicros(delayMicros); \ + this->setDelaying(); \ + do { \ + COROUTINE_YIELD_INTERNAL(); \ + } while (!this->isDelayMicrosExpired()); \ + this->setRunning(); \ + } while (false) + +/** + * Yield for delaySeconds. Similar to COROUTINE_DELAY(delayMillis). + * + * The accuracy of the delay interval in units of seconds is not perfectly + * accurate. The current implementation uses the builtin millis() to infer the + * "seconds". The millis() function returns a value that overflows after + * 4,294,967.296 seconds. Therefore, the last inferred second just before + * overflowing contains only 0.296 seconds instead of a full second. A delay + * which straddles this overflow will return 0.704 seconds earlier than it + * should. + * + * On microcontrollers without hardware integer division instruction, (i.e. AVR, + * SAMD21, ESP8266), the division by 1000 is relatively slow and consumes + * significant amount of flash memory (100-150 bytes on AVR). + */ +#define COROUTINE_DELAY_SECONDS(delaySeconds) \ + do { \ + this->setDelaySeconds(delaySeconds); \ + this->setDelaying(); \ + do { \ + COROUTINE_YIELD_INTERNAL(); \ + } while (!this->isDelaySecondsExpired()); \ + this->setRunning(); \ + } while (false) + /** * Mark the end of a coroutine. Subsequent calls to Coroutine::runCoroutine() * will do nothing. @@ -307,10 +343,24 @@ class CoroutineTemplate { mJumpPoint = nullptr; } - /** Check if delay time is over. */ + /** Check if delay millis time is over. */ bool isDelayExpired() const { - uint16_t now = coroutineMillis(); - uint16_t elapsed = now - mDelayStart; + uint16_t nowMillis = coroutineMillis(); + uint16_t elapsed = nowMillis - mDelayStart; + return elapsed >= mDelayDuration; + } + + /** Check if delay micros time is over. */ + bool isDelayMicrosExpired() const { + uint16_t nowMicros = coroutineMicros(); + uint16_t elapsed = nowMicros - mDelayStart; + return elapsed >= mDelayDuration; + } + + /** Check if delay seconds time is over. */ + bool isDelaySecondsExpired() const { + uint16_t nowSeconds = coroutineSeconds(); + uint16_t elapsed = nowSeconds - mDelayStart; return elapsed >= mDelayDuration; } @@ -503,14 +553,62 @@ class CoroutineTemplate { : delayMillis; } + /** + * Configure the delay timer for delayMicros. Similar to seDelayMillis(), + * the maximum delay is 32767 micros. + */ + void setDelayMicros(uint16_t delayMicros) { + mDelayStart = coroutineMicros(); + + // If delayMicros is a compile-time constant, the compiler seems to + // completely optimize away this bounds checking code. + mDelayDuration = (delayMicros >= UINT16_MAX / 2) + ? UINT16_MAX / 2 + : delayMicros; + } + + /** + * Configure the delay timer for delaySeconds. Similar to seDelayMillis(), + * the maximum delay is 32767 seconds. + */ + void setDelaySeconds(uint16_t delaySeconds) { + mDelayStart = coroutineSeconds(); + + // If delaySeconds is a compile-time constant, the compiler seems to + // completely optimize away this bounds checking code. + mDelayDuration = (delaySeconds >= UINT16_MAX / 2) + ? UINT16_MAX / 2 + : delaySeconds; + } + /** * Returns the current millisecond clock. By default it returns the global - * millis() function from Arduino but can be overridden for testing. + * millis() function from Arduino but can be overridden by providing a + * different T_CLOCK template parameter. */ static unsigned long coroutineMillis() { return T_CLOCK::millis(); } + /** + * Returns the current microseconds clock. By default it returns the global + * micros() function from Arduino but can be overridden by providing a + * different T_CLOCK template parameter. + */ + static unsigned long coroutineMicros() { + return T_CLOCK::micros(); + } + + /** + * Returns the current clock in unit of seconds, truncated to the lower + * 16-bits. This is an approximation of (millis / 1000). It does not need + * to be perfectly accurate because COROUTINE_DELAY_SECONDS() is not + * guaranteed to be precise. + */ + static unsigned long coroutineSeconds() { + return T_CLOCK::seconds(); + } + private: // Disable copy-constructor and assignment operator CoroutineTemplate(const CoroutineTemplate&) = delete; @@ -558,18 +656,26 @@ class CoroutineTemplate { /** Run-state of the coroutine. */ Status mStatus = kStatusYielding; - /** Start time the COROUTINE_DELAY() macro in milliseconds. */ + /** + * Start time provided by COROUTINE_DELAY(), COROUTINE_DELAY_MICROS(), or + * COROUTINE_DELAY_SECONDS(). The unit of this number is context dependent, + * milliseconds, microseconds, or seconds. + */ uint16_t mDelayStart; - /** Delay time specified by the COROUTINE_DELAY() macro in milliseconds. */ + /** + * Delay time specified by COROUTINE_DELAY(), COROUTINE_DELAY_MICROS() or, + * COROUTINE_DELAY_SECONDS(). The unit of this number is context dependent, + * milliseconds, microseconds, or seconds. + */ uint16_t mDelayDuration; }; /** - * A concrete template instance of CoroutineTemplate that uses the built-in - * millis() function. This becomes the base class of all user-defined coroutines - * created using the COROUTINE() macro or through manual subclassing of this - * class. + * A concrete template instance of CoroutineTemplate that uses ClockInterface + * which uses the built-in millis() or micros() function. This becomes the base + * class of all user-defined coroutines created using the COROUTINE() macro or + * through manual subclassing of this class. */ using Coroutine = CoroutineTemplate; diff --git a/src/ace_routine/CoroutineScheduler.h b/src/ace_routine/CoroutineScheduler.h index 6e738de..4a87c43 100644 --- a/src/ace_routine/CoroutineScheduler.h +++ b/src/ace_routine/CoroutineScheduler.h @@ -113,17 +113,12 @@ class CoroutineSchedulerTemplate { // Handle the coroutine's dispatch back to the last known internal status. switch ((*mCurrent)->getStatus()) { case T_COROUTINE::kStatusYielding: - (*mCurrent)->runCoroutine(); - break; - case T_COROUTINE::kStatusDelaying: - // Check isDelayExpired() here to optimize away an extra call into the - // Coroutine::runCoroutine(). Everything would still work if we just - // dispatched into the Coroutine::runCoroutine() because that method - // checks isDelayExpired() as well. - if ((*mCurrent)->isDelayExpired()) { - (*mCurrent)->runCoroutine(); - } + // The coroutine itself knows whether it is yielding or delaying, and + // its continuation context determines whether to call + // Coroutine::isDelayExpired(), Coroutine::isDelayMicrosExpired(), or + // Coroutine::isDelaySecondsExpired(). + (*mCurrent)->runCoroutine(); break; case T_COROUTINE::kStatusEnding: diff --git a/src/ace_routine/testing/TestableClockInterface.cpp b/src/ace_routine/testing/TestableClockInterface.cpp index 8e18afb..66a533e 100644 --- a/src/ace_routine/testing/TestableClockInterface.cpp +++ b/src/ace_routine/testing/TestableClockInterface.cpp @@ -28,6 +28,8 @@ namespace ace_routine { namespace testing { unsigned long TestableClockInterface::sMillis; +unsigned long TestableClockInterface::sMicros; +unsigned long TestableClockInterface::sSeconds; } } diff --git a/src/ace_routine/testing/TestableClockInterface.h b/src/ace_routine/testing/TestableClockInterface.h index 8d098e7..05318c5 100644 --- a/src/ace_routine/testing/TestableClockInterface.h +++ b/src/ace_routine/testing/TestableClockInterface.h @@ -31,11 +31,17 @@ namespace testing { class TestableClockInterface { public: static unsigned long millis() { return sMillis; } + static unsigned long micros() { return sMicros; } + static unsigned long seconds() { return sSeconds; } static void setMillis(unsigned long millis) { sMillis = millis; } + static void setMicros(unsigned long micros) { sMicros = micros; } + static void setSeconds(unsigned long seconds) { sSeconds = seconds; } public: static unsigned long sMillis; + static unsigned long sMicros; + static unsigned long sSeconds; }; } // namespace testing diff --git a/tests/AceRoutineTest/AceRoutineTest.ino b/tests/AceRoutineTest/AceRoutineTest.ino index 4e52658..0e3d172 100644 --- a/tests/AceRoutineTest/AceRoutineTest.ino +++ b/tests/AceRoutineTest/AceRoutineTest.ino @@ -25,7 +25,7 @@ test(AceRoutineTest, statusStrings) { // An external flag to await upon, for testing. bool simpleCoroutineFlag = false; -// A coroutine that yields, delays, then ends. +// A coroutine that yields, delays for a millisecond, waits for flag, then ends. COROUTINE(TestableCoroutine, simpleCoroutine) { COROUTINE_BEGIN(); COROUTINE_YIELD(); @@ -34,8 +34,10 @@ COROUTINE(TestableCoroutine, simpleCoroutine) { COROUTINE_END(); } -// Verify that multiple calls to Coroutine::runCoroutine() after it ends is ok. +// Verify a simple coroutine that uses COROUTINE_DELAY() in milliseconds. test(AceRoutineTest, simpleCoroutine) { + simpleCoroutineFlag = false; + TestableClockInterface::setMillis(0); assertFalse(simpleCoroutine.isSuspended()); @@ -59,12 +61,102 @@ test(AceRoutineTest, simpleCoroutine) { simpleCoroutine.runCoroutine(); assertTrue(simpleCoroutine.isEnding()); + // Verify that multiple calls to Coroutine::runCoroutine() after it ends is + // ok. simpleCoroutine.runCoroutine(); assertTrue(simpleCoroutine.isEnding()); } // --------------------------------------------------------------------------- +bool microCoroutineFlag = false; + +// A coroutine that yields, delays for a microsecond, waits for flag, then ends. +COROUTINE(TestableCoroutine, microCoroutine) { + COROUTINE_BEGIN(); + COROUTINE_YIELD(); + COROUTINE_DELAY_MICROS(1); + COROUTINE_AWAIT(microCoroutineFlag); + COROUTINE_END(); +} + +// Verify COROUTINE_DELAY_MICROS(). +test(AceRoutineTest, microCoroutine) { + microCoroutineFlag = false; + + TestableClockInterface::setMicros(0); + assertFalse(microCoroutine.isSuspended()); + + microCoroutine.runCoroutine(); + assertTrue(microCoroutine.isYielding()); + + microCoroutine.runCoroutine(); + assertTrue(microCoroutine.isDelaying()); + + microCoroutine.runCoroutine(); + assertTrue(microCoroutine.isDelaying()); + + TestableClockInterface::setMicros(1); + microCoroutine.runCoroutine(); + assertTrue(microCoroutine.isYielding()); + + microCoroutine.runCoroutine(); + assertTrue(microCoroutine.isYielding()); + + microCoroutineFlag = true; + microCoroutine.runCoroutine(); + assertTrue(microCoroutine.isEnding()); + + microCoroutine.runCoroutine(); + assertTrue(microCoroutine.isEnding()); +} + +// --------------------------------------------------------------------------- + +bool macroCoroutineFlag = false; + +// A coroutine that yields, delays for a second, waits for flag, then ends. +COROUTINE(TestableCoroutine, macroCoroutine) { + COROUTINE_BEGIN(); + COROUTINE_YIELD(); + COROUTINE_DELAY_SECONDS(1); + COROUTINE_AWAIT(macroCoroutineFlag); + COROUTINE_END(); +} + +// Verify COROUTINE_DELAY_SECONDS(). +test(AceRoutineTest, macroCoroutine) { + macroCoroutineFlag = false; + + TestableClockInterface::setMicros(0); + assertFalse(macroCoroutine.isSuspended()); + + macroCoroutine.runCoroutine(); + assertTrue(macroCoroutine.isYielding()); + + macroCoroutine.runCoroutine(); + assertTrue(macroCoroutine.isDelaying()); + + macroCoroutine.runCoroutine(); + assertTrue(macroCoroutine.isDelaying()); + + TestableClockInterface::setSeconds(1); + macroCoroutine.runCoroutine(); + assertTrue(macroCoroutine.isYielding()); + + macroCoroutine.runCoroutine(); + assertTrue(macroCoroutine.isYielding()); + + macroCoroutineFlag = true; + macroCoroutine.runCoroutine(); + assertTrue(macroCoroutine.isEnding()); + + macroCoroutine.runCoroutine(); + assertTrue(macroCoroutine.isEnding()); +} + +// --------------------------------------------------------------------------- + void setup() { #if defined(ARDUINO) delay(1000); // some boards reboot twice

    @@ -268,7 +286,7 @@

    Base class of all coroutines.

    The actual coroutine code is an implementation of the virtual runCoroutine() method.

    -

    Definition at line 242 of file Coroutine.h.

    +

    Definition at line 278 of file Coroutine.h.

    Member Typedef Documentation

    ◆ Status

    @@ -315,7 +333,7 @@

    Definition at line 401 of file Coroutine.h.

    +

    Definition at line 451 of file Coroutine.h.

    @@ -348,7 +366,7 @@

    Definition at line 427 of file Coroutine.h.

    +

    Definition at line 477 of file Coroutine.h.

    @@ -385,6 +403,38 @@

    Member Function Documentation

    + +

    ◆ coroutineMicros()

    + +
    +
    +
    +template<typename T_CLOCK >
    + + + + + +
    + + + + + + + +
    static unsigned long ace_routine::CoroutineTemplate< T_CLOCK >::coroutineMicros ()
    +     		+inlinestaticprotected
    +
    + +

    Returns the current microseconds clock.

    +

    By default it returns the global micros() function from Arduino but can be overridden by providing a different T_CLOCK template parameter.

    + +

    Definition at line 598 of file Coroutine.h.

    + +
    +

    ◆ coroutineMillis()

    @@ -411,9 +461,41 @@

    Returns the current millisecond clock.

    -

    By default it returns the global millis() function from Arduino but can be overridden for testing.

    +

    By default it returns the global millis() function from Arduino but can be overridden by providing a different T_CLOCK template parameter.

    -

    Definition at line 507 of file Coroutine.h.

    +

    Definition at line 589 of file Coroutine.h.

    + + + + +

    ◆ coroutineSeconds()

    + +
    +
    +
    +template<typename T_CLOCK >
    + + + + + +
    + + + + + + + +
    static unsigned long ace_routine::CoroutineTemplate< T_CLOCK >::coroutineSeconds ()
    +     		+inlinestaticprotected
    +
    + +

    Returns the current clock in unit of seconds, truncated to the lower 16-bits.

    +

    This is an approximation of (millis / 1000). It does not need to be perfectly accurate because COROUTINE_DELAY_SECONDS() is not guaranteed to be precise.

    + +

    Definition at line 608 of file Coroutine.h.

    @@ -445,7 +527,7 @@

    Definition at line 446 of file Coroutine.h.

    +

    Definition at line 496 of file Coroutine.h.

    @@ -477,7 +559,7 @@

    isEnding() or isTerminated() because it works when the coroutine is executed either manually or through the CoroutineScheduler.

    -

    Definition at line 349 of file Coroutine.h.

    +

    Definition at line 399 of file Coroutine.h.

    @@ -509,7 +591,7 @@

    COROUTINE_END().

    In most cases, isDone() is recommended instead because it works when coroutines are executed manually or through the CoroutineScheduler.

    -

    Definition at line 334 of file Coroutine.h.

    +

    Definition at line 384 of file Coroutine.h.

    @@ -541,7 +623,7 @@

    Definition at line 327 of file Coroutine.h.

    +

    Definition at line 377 of file Coroutine.h.

    @@ -573,7 +655,7 @@

    setTerminated().

    In most cases, isDone() should be used instead because it works when coroutines are executed manually or through the CoroutineScheudler.

    -

    Definition at line 342 of file Coroutine.h.

    +

    Definition at line 392 of file Coroutine.h.

    @@ -606,7 +688,7 @@

    runCoroutine() uses any static variables (for example, a loop counter), you must reset those variables manually as well, since this library does not have any knowledge about them.

    It is expected that this method will be called from outside the runCoroutine() method. If it is called within the method, I'm not sure what will happen. I think the coroutine will abandon the current continuation point, and start executing from the beginning of the Coroutine upon the next iteration.

    -

    Definition at line 305 of file Coroutine.h.

    +

    Definition at line 341 of file Coroutine.h.

    @@ -638,7 +720,7 @@

    CoroutineScheduler::loop() is used.

    -

    Definition at line 281 of file Coroutine.h.

    +

    Definition at line 317 of file Coroutine.h.

    @@ -671,6 +753,39 @@

    Returns
    The return value is always ignored. This method is declared to return an int to prevent the user from accidentally returning from this method using an explicit 'return' statement instead of through one of the macros (e.g. COROUTINE_YIELD(), COROUTINE_DELAY(), COROUTINE_AWAIT() or COROUTINE_END()).
    + + + +

    ◆ setDelayMicros()

    + +
    +
    +
    +template<typename T_CLOCK >
    + + + + + +
    + + + + + + + + +
    void ace_routine::CoroutineTemplate< T_CLOCK >::setDelayMicros (uint16_t delayMicros)
    +     		+inlineprotected
    +
    + +

    Configure the delay timer for delayMicros.

    +

    Similar to seDelayMillis(), the maximum delay is 32767 micros.

    + +

    Definition at line 560 of file Coroutine.h.

    +
    @@ -700,9 +815,42 @@

    Configure the delay timer for delayMillis.

    -

    The maximum duration is set to (UINT16_MAX / 2) (i.e. 32767 milliseconds) if given a larger value. This makes the longest allowable time between two successive calls to isDelayExpired() for a given coroutine to be 32767 (UINT16_MAX - UINT16_MAX / 2 - 1) milliseconds, which should be long enough for all practical use-cases. (The '- 1' comes from an edge case where isDelayExpired() evaluates to be true in the CoroutineScheduler::runCoroutine() but becomes to be false in the COROUTINE_DELAY() macro inside Coroutine::runCoroutine()) because the clock increments by 1 millisecond.)

    +

    The maximum duration is set to (UINT16_MAX / 2) (i.e. 32767 milliseconds) if given a larger value. This makes the longest allowable time between two successive calls to isDelayExpired() for a given coroutine to be 32767 (UINT16_MAX - UINT16_MAX / 2 - 1) milliseconds, which should be long enough for all practical use-cases. (The '- 1' comes from an edge case where isDelayExpired() evaluates to be true in the CoroutineScheduler::runCoroutine() but becomes to be false in the COROUTINE_DELAY() macro inside Coroutine::runCoroutine()) because the clock increments by 1 millisecond.)

    -

    Definition at line 496 of file Coroutine.h.

    +

    Definition at line 546 of file Coroutine.h.

    + + + + +

    ◆ setDelaySeconds()

    + +
    +
    +
    +template<typename T_CLOCK >
    + + + + + +
    + + + + + + + + +
    void ace_routine::CoroutineTemplate< T_CLOCK >::setDelaySeconds (uint16_t delaySeconds)
    +     		+inlineprotected
    +
    + +

    Configure the delay timer for delaySeconds.

    +

    Similar to seDelayMillis(), the maximum delay is 32767 seconds.

    + +

    Definition at line 574 of file Coroutine.h.

    @@ -734,7 +882,7 @@

    Definition at line 481 of file Coroutine.h.

    +

    Definition at line 531 of file Coroutine.h.

    @@ -767,7 +915,7 @@

    Definition at line 367 of file Coroutine.h.

    +

    Definition at line 417 of file Coroutine.h.

    @@ -800,7 +948,7 @@

    Definition at line 359 of file Coroutine.h.

    +

    Definition at line 409 of file Coroutine.h.

    @@ -832,7 +980,7 @@

    CoroutineScheduler::loop() is used because the suspend functionality is implemented by the CoroutineScheduler.

    -

    Definition at line 270 of file Coroutine.h.

    +

    Definition at line 306 of file Coroutine.h.

    @@ -862,7 +1010,7 @@

    Definition at line 418 of file Coroutine.h.

    +

    Definition at line 468 of file Coroutine.h.

    @@ -891,7 +1039,65 @@

    suspend() and the scheduler should remove it from the queue upon the next iteration.

    We don't distinguish whether the coroutine is still in the queue or not with this status. We can add that later if we need to.

    -

    Definition at line 409 of file Coroutine.h.

    +

    Definition at line 459 of file Coroutine.h.

    + + + + +

    ◆ mDelayDuration

    + +
    +
    +
    +template<typename T_CLOCK >
    + + + + + +
    + + + + +
    uint16_t ace_routine::CoroutineTemplate< T_CLOCK >::mDelayDuration
    +     		+protected
    +
    + +

    Delay time specified by COROUTINE_DELAY(), COROUTINE_DELAY_MICROS() or, COROUTINE_DELAY_SECONDS().

    +

    The unit of this number is context dependent, milliseconds, microseconds, or seconds.

    + +

    Definition at line 671 of file Coroutine.h.

    + +
    +
    + +

    ◆ mDelayStart

    + +
    +
    +
    +template<typename T_CLOCK >
    + + + + + +
    + + + + +
    uint16_t ace_routine::CoroutineTemplate< T_CLOCK >::mDelayStart
    +     		+protected
    +
    + +

    Start time provided by COROUTINE_DELAY(), COROUTINE_DELAY_MICROS(), or COROUTINE_DELAY_SECONDS().

    +

    The unit of this number is context dependent, milliseconds, microseconds, or seconds.

    + +

    Definition at line 664 of file Coroutine.h.

    diff --git a/docs/html/classes.html b/docs/html/classes.html index ca96775..805454f 100644 --- a/docs/html/classes.html +++ b/docs/html/classes.html @@ -22,7 +22,7 @@

    AceRoutine -  1.3.0 +  1.3.1
    A low-memory, fast-switching, cooperative multitasking library using stackless coroutines on Arduino platforms.
    AceRoutine -  1.3.0 +  1.3.1
    A low-memory, fast-switching, cooperative multitasking library using stackless coroutines on Arduino platforms.
    AceRoutine -  1.3.0 +  1.3.1
    A low-memory, fast-switching, cooperative multitasking library using stackless coroutines on Arduino platforms.
    AceRoutine -  1.3.0 +  1.3.1
    A low-memory, fast-switching, cooperative multitasking library using stackless coroutines on Arduino platforms.
    AceRoutine -  1.3.0 +  1.3.1
    A low-memory, fast-switching, cooperative multitasking library using stackless coroutines on Arduino platforms.
    AceRoutine -  1.3.0 +  1.3.1
    A low-memory, fast-switching, cooperative multitasking library using stackless coroutines on Arduino platforms.
    AceRoutine -  1.3.0 +  1.3.1
    A low-memory, fast-switching, cooperative multitasking library using stackless coroutines on Arduino platforms.
    AceRoutine -  1.3.0 +  1.3.1
    A low-memory, fast-switching, cooperative multitasking library using stackless coroutines on Arduino platforms.
    AceRoutine -  1.3.0 +  1.3.1
    A low-memory, fast-switching, cooperative multitasking library using stackless coroutines on Arduino platforms.
    AceRoutine -  1.3.0 +  1.3.1
    A low-memory, fast-switching, cooperative multitasking library using stackless coroutines on Arduino platforms.
    AceRoutine -  1.3.0 +  1.3.1
    A low-memory, fast-switching, cooperative multitasking library using stackless coroutines on Arduino platforms.
    AceRoutine -  1.3.0 +  1.3.1
    A low-memory, fast-switching, cooperative multitasking library using stackless coroutines on Arduino platforms.
    AceRoutine -  1.3.0 +  1.3.1
    A low-memory, fast-switching, cooperative multitasking library using stackless coroutines on Arduino platforms.
    AceRoutine -  1.3.0 +  1.3.1
    A low-memory, fast-switching, cooperative multitasking library using stackless coroutines on Arduino platforms.
    AceRoutine -  1.3.0 +  1.3.1
    A low-memory, fast-switching, cooperative multitasking library using stackless coroutines on Arduino platforms.