first working version

node/code/Makefile

@@ -1,5 +1,5 @@
 APPLICATION = teamagotchi
-BOARD = feather-nrf52840-sense
+BOARD ?= feather-nrf52840-sense
 
 # This has to be the absolute path to the RIOT base directory:
 RIOTBASE ?= $(CURDIR)/RIOT
@@ -15,22 +15,19 @@ DEVELHELP ?= 1
 
 # FEATURES_REQUIRED += cpp
 # FEATURES_REQUIRED += libstdcpp
-FEATURES_REQUIRED += periph_gpio_irq
 
 # Internal Modules
 # Teamagotchi MODULES
 USEMODULE += io_handler
 USEMODULE += display_handler
-USEMODULE += lwm2m_handler
+# USEMODULE += lwm2m_handler
 EXTERNAL_MODULE_DIRS += modules
 
 # External modules
 # USEMODULE += cpp11-compat
 USEMODULE += ztimer
 USEMODULE += ztimer_msec
 USEMODULE += shell
-USEMODULE += xtimer
-
 # As there is an 'Kconfig' we want to explicitly disable Kconfig by setting
 # the variable to empty
 #SHOULD_RUN_KCONFIG ?=
@@ -55,7 +52,7 @@ BOARD_BLACKLIST += native64
 
 ## DEBUG
 CFLAGS += -DDEBUG_ASSERT_VERBOSE
-
+FEATURES_BLACKLIST +=  tinyusb
 ##### LWM2M #####
 LWM2M_SERVER_SHORT_ID ?= 1 
 CFLAGS += -DEVENT_THREAD_MEDIUM_STACKSIZE='(3*1024)'

node/code/events.c

@@ -1,32 +1,33 @@
 #include "events.h"
 #include "event.h"
 
-static event_queue_t queues[2];
-static event_handler_t handler_fn;
+#define ENABLE_DEBUG  1
+#include "debug.h"
 
-event_queue_t * get_queue_standard(void){
-    return &queues[1];
-    // return &queues[1];
-}
-
-void trigger_event_input(EVENT_T event){
-    team_event_t t_event = {.super.handler = handler_fn, .event = event};
-    event_post(&queues[0],&t_event.super);
-}
+#define RCV_QUEUE_SIZE  (8)
 
+kernel_pid_t t_events_pid;
+static msg_t rcv_queue[RCV_QUEUE_SIZE];
 
-void trigger_event(EVENT_T event){
-    team_event_t t_event = {.super.handler = handler_fn, .event = event};
-    event_post(&queues[1],&t_event.super);
+void set_t_events_pid(kernel_pid_t pid){
+    t_events_pid = pid;
 }
 
-
-void events_handler_init(event_handler_t handlerfn){
-    handler_fn = handlerfn;
-    event_queues_init(queues,2);
+void trigger_event(EVENT_T _event){
+    DEBUG("event input \n");
+    msg_t msg;
+    msg.type = _event;
+    if (msg_try_send(&msg, t_events_pid) == 0) {
+            printf("Receiver queue full.\n");
+        }
 }
 
 
-void events_start(void){  
-    event_loop_multi(queues,2);
+void events_start(void (*fsm_callback)(EVENT_T event)){  
+    msg_t msg;
+    msg_init_queue(rcv_queue, RCV_QUEUE_SIZE);
+    while (1) {
+        msg_receive(&msg);
+        fsm_callback(msg.type);
+    }
 }

node/code/fsm.c

@@ -5,13 +5,16 @@
 
 #include "event.h"
 #include "events.h"
-#include "lwm2m_handler.h"
+#include "msg.h"
+// #include "lwm2m_handler.h"
 #include "display_handler.h"
 #include "io_handler.h"
 
 #define ENABLE_DEBUG  1
 #include "debug.h"
 
+char fsm_thread_stack[THREAD_STACKSIZE_DEFAULT + THREAD_EXTRA_STACKSIZE_PRINTF];
+
 typedef struct hierarchical_state state_t;
 
 struct hierarchical_state {
@@ -27,6 +30,8 @@ struct hierarchical_state {
 handler_result_t testHandler(EVENT_T event);
 void main_state_init_entry_handler(void);
 handler_result_t main_state_init_handler(EVENT_T event);
+void fsm_handle(EVENT_T event);
+void *fsm_thread(void * arg);
 // // This is an array of root (top most) states .
 // static const state_t Top_Level[] = {{
 //     top_level_awake_handler,        // state handler
@@ -142,34 +147,45 @@ static const state_t RunningState[] = {{
 
 static const state_t *currentState = &MainState[0];
 
+void fsm_start_thread(void){
+    set_t_events_pid(thread_create(fsm_thread_stack, sizeof(fsm_thread_stack),
+                  THREAD_PRIORITY_MAIN - 1, THREAD_CREATE_STACKTEST,
+                  fsm_thread, NULL, "fsm_thread"));
+}
+
 void *fsm_thread(void *arg) {
   (void)arg;
+  DEBUG("[FSM:thread]: start\n");
   currentState->Entry();
-  events_handler_init(fsm_handle);
-  events_start();
+//   events_handler_init(fsm_handle);
+    events_start(fsm_handle);
+
   return NULL;
 }
 
-void fsm_handle(event_t *event) {
-  puts("handle\n");
-  team_event_t *t_event = container_of(event, team_event_t, super);
-
-  handler_result_t result = currentState->Handler(t_event->event);
-  if (result != EVENT_HANDLED) {
-    const state_t *pState = currentState;
-    do {
-      // check if state has parent state.
-      if (pState->Parent == NULL)  // Is Node reached top
-      {
-        // This is a fatal error. terminate state machine.
-        return;
-      }
-
-      pState = pState->Parent;  // traverse to parent state
-    } while (pState->Handler ==
-             NULL);  // repeat again if parent state doesn't have handler
-    pState->Handler(t_event->event);
-  }
+void fsm_handle(EVENT_T event) {
+    DEBUG("[FSM:fsm_handle]: handle\n");
+    // team_event_t *t_event = container_of(event, team_event_t, super_event);
+    // DEBUG("[FSM:fsm_handle]: event defined: %d\n",t_event->event);
+    handler_result_t result = currentState->Handler(event);
+    if (result != EVENT_HANDLED) {
+        const state_t *pState = currentState;
+        do {
+        // check if state has parent state.
+        if (pState->Parent == NULL)  // Is Node reached top
+        {
+            DEBUG("[FSM:fsm_handle]: Fatal error, terminating.\n");
+            // This is a fatal error. terminate state machine.
+            return;
+        }
+
+        pState = pState->Parent;  // traverse to parent state
+        } while (pState->Handler ==
+                NULL);  // repeat again if parent state doesn't have handler
+        pState->Handler(event);
+    }else{
+        DEBUG("[FSM:fsm_handle]: Event handled\n");
+    }
 }
 
 void traverse_state(state_t target_state) {
@@ -201,17 +217,19 @@ handler_result_t testHandler(EVENT_T event) {
 }
 
 void main_state_init_entry_handler(void) {
-  lwm2m_handler_init();
-  lwm2m_handler_start();
-  io_init();
-  display_init();
-  startDisplayThread();
+    DEBUG("[FSM:init_entry]\n");
+    // lwm2m_handler_init();
+    // lwm2m_handler_start();
+    io_init();
+    display_init();
+    startDisplayThread();
 }
 
 handler_result_t main_state_init_handler(EVENT_T event) {
-    DEBUG("[FSM:main_state_init_handler]\n");
-    lwm2m_handleEvent(event);
-    displayHandler_handleEvent(event);
+    DEBUG("[FSM:main_state_init_handler]: lwm2m handle\n");
+    // lwm2m_handleEvent(event);
     ioHandler_handleEvent(event);
+    displayHandler_handleEvent(event);
+
     return EVENT_HANDLED;
 }

node/code/inc/events.h

@@ -23,6 +23,7 @@ extern "C" {
 #endif
 
 #include "event.h"
+#include "thread.h"
 
 typedef enum {
     UNDEFINED,
@@ -52,7 +53,7 @@ typedef enum {
 }EVENT_T;
 
 typedef struct {
-    event_t super;
+    event_t super_event;
     EVENT_T event;
 } team_event_t;
 
@@ -65,11 +66,9 @@ typedef enum
   TRIGGERED_TO_SELF,
 }handler_result_t;
 
-void trigger_event_input(EVENT_T event);
 void trigger_event(EVENT_T event);
-void events_handler_init(event_handler_t handlerfn);
-void events_start(void);
-event_queue_t * get_queue_standard(void);
+void events_start(void (*fsm_callback)(EVENT_T event));
+void set_t_events_pid(kernel_pid_t pid);
 
 #ifdef __cplusplus
 }

node/code/inc/fsm.h

@@ -25,8 +25,8 @@ extern "C" {
 #include "event.h"
 #include "events.h"
 
-void *fsm_thread(void * arg);
-void fsm_handle(event_t *event);
+void fsm_start_thread(void);
+
 /**
  * @brief   event handler type definition
  */

node/code/main.c

@@ -3,16 +3,15 @@
 
 #include "events.h"
 #include "fsm.h"
+#include "thread.h"
 
 #define SHELL_QUEUE_SIZE (8)
 static msg_t _shell_queue[SHELL_QUEUE_SIZE];
-char fsm_thread_stack[THREAD_STACKSIZE_MAIN];
+
 
 int main(void)
-{
-    thread_create(fsm_thread_stack, sizeof(fsm_thread_stack),
-                  THREAD_PRIORITY_MAIN - 1, THREAD_CREATE_STACKTEST,
-                  fsm_thread, NULL, "fsm_thread");
+{    
+    fsm_start_thread();
     msg_init_queue(_shell_queue, SHELL_QUEUE_SIZE);
     shell_loop();
 }

node/code/modules/display_handler/Makefile.include

@@ -1,6 +1,5 @@
 # # Use an immediate variable to evaluate `MAKEFILE_LIST` now
 # USEMODULE_INCLUDES_display_handler += $(LAST_MAKEFILEDIR)/include
-# #USEMODULE_INCLUDES_external_module += $(LAST_MAKEFILEDIR)/image
 # USEMODULE_INCLUDES += $(USEMODULE_INCLUDES_display_handler)
 
 

node/code/modules/io_handler/init_buttons.c

@@ -27,7 +27,6 @@
 #define ENABLE_DEBUG  1
 #include "debug.h"
 
-//TODO: change the actual pin layout according to PCB Design
 gpio_t button_ok = GPIO_PIN(0, 5); //PIN A1
 gpio_t button_right = GPIO_PIN(0, 30); //PIN sA2
 gpio_t button_up = GPIO_PIN(0, 28); //PIN A3
@@ -59,11 +58,11 @@ void button_up_callback (void *arg)
     (void) arg; /* the argument is not used */
     if (!gpio_read(button_up)) {
         DEBUG("Button up pressed!\n");
-        trigger_event_input(BUTTON_UP_PRESSED);
+        trigger_event(BUTTON_UP_PRESSED);
     }
     else {
         DEBUG("Button up released!\n");
-        trigger_event_input(BUTTON_UP_RELEASED);
+        trigger_event(BUTTON_UP_RELEASED);
     }
 }
 
@@ -72,11 +71,11 @@ void button_left_callback (void *arg)
     (void) arg; /* the argument is not used */
     if (!gpio_read(button_left)) {
         DEBUG("Button left pressed!\n");
-        trigger_event_input(BUTTON_LEFT_PRESSED);
+        trigger_event(BUTTON_LEFT_PRESSED);
     }
     else {
         DEBUG("Button left released!\n");
-        trigger_event_input(BUTTON_LEFT_RELEASED);
+        trigger_event(BUTTON_LEFT_RELEASED);
     }
 }
 
@@ -85,37 +84,37 @@ void button_down_callback (void *arg)
     (void) arg; /* the argument is not used */
     if (!gpio_read(button_down)) {
         DEBUG("Button down pressed!\n");
-        trigger_event_input(BUTTON_DOWN_PRESSED);
+        trigger_event(BUTTON_DOWN_PRESSED);
     }
     else {
         DEBUG("Button down released!\n");
-        trigger_event_input(BUTTON_DOWN_RELEASED);
+        trigger_event(BUTTON_DOWN_RELEASED);
     }
 }
 
 void button_right_callback (void *arg)
 {
     (void) arg; /* the argument is not used */
-    // if (!gpio_read(button_right)) {
-    //     DEBUG("Button right pressed!\n");
-    //     trigger_event_input(BUTTON_RIGHT_PRESSED);
-    // }
-    // else {
-    //     DEBUG("Button right released!\n");
-    //     trigger_event_input(BUTTON_RIGHT_RELEASED);
-    // }
+    if (!gpio_read(button_right)) {
+        DEBUG("Button right pressed!\n");
+        trigger_event(BUTTON_RIGHT_PRESSED);
+    }
+    else {
+        DEBUG("Button right released!\n");
+        trigger_event(BUTTON_RIGHT_RELEASED);
+    }
 }
 
 void button_ok_callback (void *arg)
 {
     (void) arg; /* the argument is not used */
     if (!gpio_read(button_ok)) {
         DEBUG("Button ok pressed!\n");
-        trigger_event_input(BUTTON_OK_PRESSED);
+        trigger_event(BUTTON_OK_PRESSED);
     }
     else {
         DEBUG("Button ok released!\n");
-        trigger_event_input(BUTTON_OK_RELEASED);
+        trigger_event(BUTTON_OK_RELEASED);
     }
 }
 

node/code/modules/io_handler/io_handler.c

@@ -16,7 +16,7 @@
  * @}
  */
 
-#define ENABLE_DEBUG  0
+#define ENABLE_DEBUG  1
 #include "debug.h"
 
 #include "init_buttons.h"