QP/C++ Application with Zephyr

This repository provides an example and a good starting point for deveoping QP/C++ applications with Zephyr.

The provided example is the Dining Philosopher Problem (DPP) application consisting of muliple Active Objects.

Additionally, the application demonstrates the use of the Zephyr's console UART to implement QP/Spy software tracing.

Credits

This example application has been originally created by Victor Chavez.

Cloning

This repository depends on the qpcpp reposiotory containing the QP/C++ framework and port to Zephyr, packaged together as an external Zephyr module. For that reason, to clone also the submodule, the usual git clone command needs to be followed by --recurse-submodules

git clone https://github.com/QuantumLeaps/qpcpp-zephyr-app <my_project> --recurse-submodules --depth 1

where, <my_project> is the custom name you can give to your project.

This step produces the following subfolders in your current directory:

<current-dir>
 |
 +- <my_project>/      - your QP project
    +- .git/           - git history (safe to delete to save disk space)
    |
    +- qpcpp/          - QP/C++ framework
    |  +- zephyr/      - QP/C++ Zephyr module (don't touch)
    |
    +- CMakeLists.txt  - files to build this project (custimize)
    +- prj.conf        - congiguration for this project (customize)

Building the Project

Change directory to <my_project> and type:

west build -b <board>

specific example for the nucleo_h743zi board:

west build -b nucleo_h743zi

QP/Spy Build Configuration

The QP/C++ Zephyr Module supports the QSPY Software Tracing option and will add the appropriate macros and files to build the "QSPY" configuration.

If you wish to enable "QSPY" you can provide the option "QSPY" in the command-line for the build. For example:

west build -b nucleo_h743zi -- -DQSPY=ON

NOTE: The QP/Spy software tracing uses the Zephyr's console UART. This means that the Zephyr printk() facility cannot be used while QP/Spy is configured.

Flashing the Board

Connect the board to your host and type:

west flash

Running the Example

The example runs right away after flashing. (Some boards might need to be reset).

Using the QP/SPY Software Tracing

If yo have built the example with QP/Spy, you might want to watch the QP/Spy output.

The QSPY Host Utility

To receive the QP/Spy sotwre tracing output you need to run a special qspy host application.

NOTE: You might need to build the qspy host utility on your machine. The QSPY utility is available in QTools collection.

To launch the qspy host uility, open a separate terminal and run

qspy -c <serial-port>

specific example:

qspy -c /dev/ttyACM0

QSPY Output Example

After resetting the board, you should see output similar to the following:

########## Trg-RST  QP-Ver=701,Build=220810_150847
           Obj-Dict 0x20003154->QS_RX
           Obj-Dict 0x20000680->AO_Table
           Obj-Dict 0x20000180->AO_Philo[0]
           Obj-Dict 0x20000280->AO_Philo[1]
           Obj-Dict 0x20000380->AO_Philo[2]
           Obj-Dict 0x20000480->AO_Philo[3]
           Obj-Dict 0x20000580->AO_Philo[4]
           Obj-Dict 0x0000A52C->timerID
           Usr-Dict 00000100->PHILO_STAT
           Usr-Dict 00000101->PAUSED_STAT
           Usr-Dict 00000102->COMMAND_STAT
           Usr-Dict 00000103->CONTEXT_SW
           Obj-Dict 0x20003054->EvtPool1
           Obj-Dict 0x20000180->Philo::inst[0]
           Obj-Dict 0x2000026C->Philo::inst[0].m_timeEvt
           Obj-Dict 0x20000280->Philo::inst[1]
           Obj-Dict 0x2000036C->Philo::inst[1].m_timeEvt
           Obj-Dict 0x20000380->Philo::inst[2]
           Obj-Dict 0x2000046C->Philo::inst[2].m_timeEvt
           Obj-Dict 0x20000480->Philo::inst[3]
           Obj-Dict 0x2000056C->Philo::inst[3].m_timeEvt
           Obj-Dict 0x20000580->Philo::inst[4]
           Obj-Dict 0x2000066C->Philo::inst[4].m_timeEvt
           Fun-Dict 0x00008929->Philo::initial
           Fun-Dict 0x0000890F->Philo::thinking
           Fun-Dict 0x00008917->Philo::hungry
           Fun-Dict 0x0000891F->Philo::eating
           Sig-Dict 00000004,Obj=0x00000000->TIMEOUT_SIG
0000000327 AO-Subsc Obj=Philo::inst[0],Sig=00000005,Obj=0x20000180
0000000327 AO-Subsc Obj=Philo::inst[0],Sig=00000009,Obj=0x20000180
===RTC===> St-Init  Obj=Philo::inst[0],State=0x00009B1B->Philo::thinking
===RTC===> St-Entry Obj=Philo::inst[0],State=Philo::thinking
0000000328 Init===> Obj=Philo::inst[0],State=Philo::thinking
0000000334 AO-Subsc Obj=Philo::inst[1],Sig=00000005,Obj=0x20000280
0000000334 AO-Subsc Obj=Philo::inst[1],Sig=00000009,Obj=0x20000280
===RTC===> St-Init  Obj=Philo::inst[1],State=0x00009B1B->Philo::thinking
===RTC===> St-Entry Obj=Philo::inst[1],State=Philo::thinking
0000000334 Init===> Obj=Philo::inst[1],State=Philo::thinking
0000000340 AO-Subsc Obj=Philo::inst[2],Sig=00000005,Obj=0x20000380
0000000340 AO-Subsc Obj=Philo::inst[2],Sig=00000009,Obj=0x20000380
===RTC===> St-Init  Obj=Philo::inst[2],State=0x00009B1B->Philo::thinking
===RTC===> St-Entry Obj=Philo::inst[2],State=Philo::thinking
0000000340 Init===> Obj=Philo::inst[2],State=Philo::thinking
0000000346 AO-Subsc Obj=Philo::inst[3],Sig=00000005,Obj=0x20000480
0000000346 AO-Subsc Obj=Philo::inst[3],Sig=00000009,Obj=0x20000480
===RTC===> St-Init  Obj=Philo::inst[3],State=0x00009B1B->Philo::thinking
===RTC===> St-Entry Obj=Philo::inst[3],State=Philo::thinking
0000000346 Init===> Obj=Philo::inst[3],State=Philo::thinking
0000000352 AO-Subsc Obj=Philo::inst[4],Sig=00000005,Obj=0x20000580
0000000352 AO-Subsc Obj=Philo::inst[4],Sig=00000009,Obj=0x20000580
===RTC===> St-Init  Obj=Philo::inst[4],State=0x00009B1B->Philo::thinking
===RTC===> St-Entry Obj=Philo::inst[4],State=Philo::thinking
0000000352 Init===> Obj=Philo::inst[4],State=Philo::thinking
           Obj-Dict 0x20000680->Table::inst
           Sig-Dict 00000006,Obj=0x00000000->DONE_SIG
           Sig-Dict 00000005,Obj=0x00000000->EAT_SIG
           Sig-Dict 00000007,Obj=0x00000000->PAUSE_SIG
           Sig-Dict 00000008,Obj=0x00000000->SERVE_SIG
           Sig-Dict 00000009,Obj=0x00000000->TEST_SIG
           Sig-Dict 00000011,Obj=0x20000680->HUNGRY_SIG
0000000370 AO-Subsc Obj=Table::inst,Sig=DONE_SIG
0000000370 AO-Subsc Obj=Table::inst,Sig=PAUSE_SIG
0000000370 AO-Subsc Obj=Table::inst,Sig=SERVE_SIG
0000000371 AO-Subsc Obj=Table::inst,Sig=TEST_SIG
0000000371 PHILO_STAT 0 thinking
0000000371 PHILO_STAT 1 thinking
0000000371 PHILO_STAT 2 thinking
0000000371 PHILO_STAT 3 thinking