1. Introduction

This is a comprehensive example of OOSMOS's 'state threads'. In order to include all the different thread call types, we use the threadtest class which tests them all.
Because Thread calls must be made from within an oosmos_POLL event and because the tests are granular, we test a little bit in each state. See Figure 1 that shows the state machine — a test per state.

Figure 1. threadtest State Chart

This is the threadtest source code:

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//	[GPLv2]
// OOSMOS threadtest Class
//
// Copyright (C) 2014-2020 OOSMOS, LLC
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, version 2 of the License ("GPLv2").
//
// This software may be used without the GPLv2 restrictions by entering
// into a commercial license agreement with OOSMOS, LLC.
// See <https://www.oosmos.com/licensing/>.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//

#ifndef _threadtest_h
#define _threadtest_h

typedef struct threadtestTag threadtest;

extern threadtest * threadtestNew(void);

#endif

threadtest.h

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//	[GPLv2]
// OOSMOS threadtest Class
//
// Copyright (C) 2014-2020 OOSMOS, LLC
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, version 2 of the License ("GPLv2").
//
// This software may be used without the GPLv2 restrictions by entering
// into a commercial license agreement with OOSMOS, LLC.
// See <https://www.oosmos.com/licensing/>.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//

#include "oosmos.h"
#include "prt.h"
#include "threadtest.h"
#include <stdlib.h>
#include <stdbool.h>
#include <stdio.h>

//
// Adjust this in order to preallocate all 'threadtest' objects.
// Use 1 for a memory constrained environment.
//
#ifndef MAX_THREADTEST
#define MAX_THREADTEST 10
#endif

//>>>EVENTS
enum {	[Code generated by OOSMOS]
evDone = 1,
evPrint = 2
};

#ifdef oosmos_DEBUG
static const char * OOSMOS_EventNames(int EventCode)
{
switch (EventCode) {
case evDone: return "evDone";
case evPrint: return "evPrint";
default: return "";
}
}
#endif
//<<<EVENTS

typedef union {
oosmos_sEvent Base;
} uEvents;

struct threadtestTag
{
//>>>DECL
oosmos_sStateMachine(ROOT, uEvents, 3);	[Code generated by OOSMOS]
oosmos_sOrtho Running_State;
oosmos_sOrthoRegion Running_Region1_State;
oosmos_sLeaf Running_Region1_DelayMS_State;
oosmos_sLeaf Running_Region1_WaitCond_State;
oosmos_sLeaf Running_Region1_WaitCond_TimeoutMS_State;
oosmos_sLeaf Running_Region1_WaitEvent_State;
oosmos_sLeaf Running_Region1_WaitEvent_TimeoutMS_State;
oosmos_sLeaf Running_Region1_ThreadExit_State;
oosmos_sLeaf Running_Region1_ThreadExitFinally_State;
oosmos_sLeaf Running_Region1_Exiting_State;
oosmos_sOrthoRegion Running_Region2_State;
oosmos_sLeaf Running_Region2_Printing_State;
//<<<DECL
unsigned m_WC_Timeout_Successes;
unsigned m_WE_Timeout_Successes;

unsigned m_ThreadExitCount;
};

static bool ConditionRandom(int Range)
{
return rand() % Range == 0;
}

static bool ConditionTrue(void)
{
return true;
}

static bool ConditionFalse(void)
{
return false;
}

static void DelayMS_Thread(threadtest * pThreadTest, oosmos_sState * pState)
{
oosmos_UNUSED(pThreadTest);

oosmos_ThreadBegin();
prtFormatted("ThreadDelayMS...\n");
oosmos_ThreadDelayMS(3000);
prtFormatted("ThreadDelayMS SUCCESS\n\n");
oosmos_ThreadEnd();
}

static void WaitCond_Thread(threadtest * pThreadTest, oosmos_sState * pState)
{
oosmos_ThreadBegin();
prtFormatted("ThreadWaitCond...\n");
oosmos_ThreadWaitCond(ConditionRandom(2));
prtFormatted("ThreadWaitCond SUCCESS\n\n");
oosmos_ThreadEnd();
}

static void WaitCond_TimeoutMS_Thread(threadtest * pThreadTest, oosmos_sState * pState)
{
oosmos_ThreadBegin();
bool TimedOut;
pThreadTest->m_WC_Timeout_Successes = 0;

prtFormatted("ThreadWaitCond_TimeoutMS...\n");

oosmos_ThreadWaitCond_TimeoutMS(ConditionTrue(), 100, &TimedOut);
pThreadTest->m_WC_Timeout_Successes += (TimedOut == false);

oosmos_ThreadWaitCond_TimeoutMS(ConditionFalse(), 100, &TimedOut);
pThreadTest->m_WC_Timeout_Successes += (TimedOut == true);
prtFormatted("ThreadWaitCond_TimeoutMS %s\n\n", pThreadTest->m_WC_Timeout_Successes == 2 ? "SUCCESS" : "FAILURE");
oosmos_ThreadEnd();
}

static void WaitEvent_Thread(threadtest * pThreadTest, oosmos_sState * pState)
{
oosmos_ThreadBegin();
prtFormatted("ThreadWaitEvent...\n");

oosmos_PushEventCode(pThreadTest, evPrint);
oosmos_ThreadWaitEvent(evDone);
prtFormatted("ThreadWaitEvent SUCCESS\n\n");
oosmos_ThreadEnd();
}

static void WaitEvent_TimeoutMS_Thread(threadtest * pThreadTest, oosmos_sState * pState)
{
oosmos_ThreadBegin();
bool TimedOut;
pThreadTest->m_WE_Timeout_Successes = 0;

prtFormatted("ThreadWaitEvent_TimeoutMS...\n");

oosmos_PushEventCode(pThreadTest, evPrint);
oosmos_ThreadWaitEvent_TimeoutMS(evPrint, 100, &TimedOut);
pThreadTest->m_WE_Timeout_Successes += (TimedOut == false);

oosmos_ThreadWaitEvent_TimeoutMS(evPrint, 100, &TimedOut);
pThreadTest->m_WE_Timeout_Successes += (TimedOut == true);
prtFormatted("ThreadWaitEvent_TimeoutMS %s\n\n", pThreadTest->m_WE_Timeout_Successes == 2 ? "SUCCESS" : "FAILURE");
oosmos_ThreadEnd();
}

static void ThreadExit_Thread(threadtest * pThreadTest, oosmos_sState * pState)
{
oosmos_ThreadBegin();
pThreadTest->m_ThreadExitCount = 0;
oosmos_ThreadYield();
pThreadTest->m_ThreadExitCount++;
prtFormatted("ThreadExit SUCCESS\n");
oosmos_ThreadExit();
oosmos_ThreadEnd();
}

static void ThreadExitFinally_Thread(threadtest * pThreadTest, oosmos_sState * pState)
{
oosmos_ThreadBegin();
pThreadTest->m_ThreadExitCount = 0;
oosmos_ThreadYield();
pThreadTest->m_ThreadExitCount++;
oosmos_ThreadExit();
oosmos_ThreadFinally();
pThreadTest->m_ThreadExitCount++;

if (pThreadTest->m_ThreadExitCount == 2) {
prtFormatted("ThreadExitFinally SUCCESS\n");
} else {
prtFormatted("ThreadExitFinally FAILURE\n");
}
oosmos_ThreadEnd();
}

//>>>CODE
static bool Running_Region1_DelayMS_State_Code(void * pObject, oosmos_sState * pState, const oosmos_sEvent * pEvent)	[Code generated by OOSMOS]
{
threadtest * pThreadTest = (threadtest *) pObject;

switch (oosmos_EventCode(pEvent)) {
case oosmos_POLL: {
DelayMS_Thread(pThreadTest, pState);
return true;
}
case oosmos_COMPLETE: {
return oosmos_Transition(pThreadTest, pState, Running_Region1_WaitCond_State);
}
}

return false;
}

static bool Running_Region1_WaitCond_State_Code(void * pObject, oosmos_sState * pState, const oosmos_sEvent * pEvent)
{
threadtest * pThreadTest = (threadtest *) pObject;

switch (oosmos_EventCode(pEvent)) {
case oosmos_POLL: {
WaitCond_Thread(pThreadTest, pState);
return true;
}
case oosmos_COMPLETE: {
return oosmos_Transition(pThreadTest, pState, Running_Region1_WaitCond_TimeoutMS_State);
}
}

return false;
}

static bool Running_Region1_WaitCond_TimeoutMS_State_Code(void * pObject, oosmos_sState * pState, const oosmos_sEvent * pEvent)
{
threadtest * pThreadTest = (threadtest *) pObject;

switch (oosmos_EventCode(pEvent)) {
case oosmos_POLL: {
WaitCond_TimeoutMS_Thread(pThreadTest, pState);
return true;
}
case oosmos_COMPLETE: {
return oosmos_Transition(pThreadTest, pState, Running_Region1_WaitEvent_State);
}
}

return false;
}

static bool Running_Region1_WaitEvent_State_Code(void * pObject, oosmos_sState * pState, const oosmos_sEvent * pEvent)
{
threadtest * pThreadTest = (threadtest *) pObject;

switch (oosmos_EventCode(pEvent)) {
case oosmos_POLL: {
WaitEvent_Thread(pThreadTest, pState);
return true;
}
case oosmos_COMPLETE: {
return oosmos_Transition(pThreadTest, pState, Running_Region1_WaitEvent_TimeoutMS_State);
}
}

return false;
}

static bool Running_Region1_WaitEvent_TimeoutMS_State_Code(void * pObject, oosmos_sState * pState, const oosmos_sEvent * pEvent)
{
threadtest * pThreadTest = (threadtest *) pObject;

switch (oosmos_EventCode(pEvent)) {
case oosmos_POLL: {
WaitEvent_TimeoutMS_Thread(pThreadTest, pState);
return true;
}
case oosmos_COMPLETE: {
return oosmos_Transition(pThreadTest, pState, Running_Region1_ThreadExit_State);
}
}

return false;
}

static bool Running_Region1_ThreadExit_State_Code(void * pObject, oosmos_sState * pState, const oosmos_sEvent * pEvent)
{
threadtest * pThreadTest = (threadtest *) pObject;

switch (oosmos_EventCode(pEvent)) {
case oosmos_POLL: {
ThreadExit_Thread(pThreadTest, pState);
return true;
}
case oosmos_COMPLETE: {
return oosmos_Transition(pThreadTest, pState, Running_Region1_ThreadExitFinally_State);
}
}

return false;
}

static bool Running_Region1_ThreadExitFinally_State_Code(void * pObject, oosmos_sState * pState, const oosmos_sEvent * pEvent)
{
threadtest * pThreadTest = (threadtest *) pObject;

switch (oosmos_EventCode(pEvent)) {
case oosmos_POLL: {
ThreadExitFinally_Thread(pThreadTest, pState);
return true;
}
case oosmos_COMPLETE: {
return oosmos_Transition(pThreadTest, pState, Running_Region1_Exiting_State);
}
}

return false;
}

static bool Running_Region1_Exiting_State_Code(void * pObject, oosmos_sState * pState, const oosmos_sEvent * pEvent)
{
switch (oosmos_EventCode(pEvent)) {
case oosmos_ENTER: {
oosmos_EndProgram(1);
return true;
}
}

oosmos_UNUSED(pObject);
oosmos_UNUSED(pState);
return false;
}

static void OOSMOS_Action1(void * pObject, oosmos_sState * pState, const oosmos_sEvent * pEvent)
{
threadtest * pThreadTest = (threadtest *) pObject;

printf("Printing...\n");
oosmos_PushEventCode(pThreadTest, evDone);

oosmos_UNUSED(pState);
oosmos_UNUSED(pEvent);
}

static bool Running_Region2_Printing_State_Code(void * pObject, oosmos_sState * pState, const oosmos_sEvent * pEvent)
{
threadtest * pThreadTest = (threadtest *) pObject;

switch (oosmos_EventCode(pEvent)) {
case evPrint: {
return oosmos_TransitionAction(pThreadTest, pState, Running_Region2_Printing_State, pEvent, OOSMOS_Action1);
}
}

return false;
}
//<<<CODE

extern threadtest * threadtestNew(void)
{
oosmos_Allocate(pThreadTest, threadtest, MAX_THREADTEST, NULL);

//>>>INIT
oosmos_StateMachineInit(pThreadTest, ROOT, NULL, Running_State);	[Code generated by OOSMOS]
oosmos_OrthoInit(pThreadTest, Running_State, ROOT, NULL);
oosmos_OrthoRegionInit(pThreadTest, Running_Region1_State, Running_State, Running_Region1_DelayMS_State, NULL);
oosmos_LeafInit(pThreadTest, Running_Region1_DelayMS_State, Running_Region1_State, Running_Region1_DelayMS_State_Code);
oosmos_LeafInit(pThreadTest, Running_Region1_WaitCond_State, Running_Region1_State, Running_Region1_WaitCond_State_Code);
oosmos_LeafInit(pThreadTest, Running_Region1_WaitCond_TimeoutMS_State, Running_Region1_State, Running_Region1_WaitCond_TimeoutMS_State_Code);
oosmos_LeafInit(pThreadTest, Running_Region1_WaitEvent_State, Running_Region1_State, Running_Region1_WaitEvent_State_Code);
oosmos_LeafInit(pThreadTest, Running_Region1_WaitEvent_TimeoutMS_State, Running_Region1_State, Running_Region1_WaitEvent_TimeoutMS_State_Code);
oosmos_LeafInit(pThreadTest, Running_Region1_ThreadExit_State, Running_Region1_State, Running_Region1_ThreadExit_State_Code);
oosmos_LeafInit(pThreadTest, Running_Region1_ThreadExitFinally_State, Running_Region1_State, Running_Region1_ThreadExitFinally_State_Code);
oosmos_LeafInit(pThreadTest, Running_Region1_Exiting_State, Running_Region1_State, Running_Region1_Exiting_State_Code);
oosmos_OrthoRegionInit(pThreadTest, Running_Region2_State, Running_State, Running_Region2_Printing_State, NULL);
oosmos_LeafInit(pThreadTest, Running_Region2_Printing_State, Running_Region2_State, Running_Region2_Printing_State_Code);

oosmos_Debug(pThreadTest, OOSMOS_EventNames);
//<<<INIT

return pThreadTest;
}

threadtest.c

2. Thread on Various Platforms

The Thread example will run on any platform but we have only packaged the Examples directory with PIC32 and Windows implementations.

2.1 Thread on PIC32

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//	[GPLv2]
// OOSMOS - PIC32 thread example main program.
//
// Copyright (C) 2014-2020 OOSMOS, LLC
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, version 2 of the License ("GPLv2").
//
// This software may be used without the GPLv2 restrictions by entering
// into a commercial license agreement with OOSMOS, LLC.
// See <https://www.oosmos.com/licensing/>.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//

#include "oosmos.h"
#include "threadtest.h"

#pragma config FPLLMUL = MUL_20, FPLLIDIV = DIV_2, FPLLODIV = DIV_1, FWDTEN = OFF
#pragma config POSCMOD = HS, FNOSC = PRIPLL, FPBDIV = DIV_1

#define THREAD_TESTS 1

extern int main(void)
{
oosmos_ClockSpeedInMHz(80);

for (iunsignednt I = 1; I <= THREAD_TESTS; I++) {
(void) threadtestNew();
}

for (;;) {
oosmos_RunStateMachines();
}
}

main.c - Thread for PIC32

2.2 Thread on Windows

On Windows, we create all the threadtest objects and then drop into the conventional Windows oosmos_RunStateMachines loop.
Change THREADTESTS to whatever you like but it's easier to step through with a source level debugger when it is set to 1.

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//	[GPLv2]
// OOSMOS - Windows sync example main program.
//
// Copyright (C) 2014-2020 OOSMOS, LLC
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, version 2 of the License ("GPLv2").
//
// This software may be used without the GPLv2 restrictions by entering
// into a commercial license agreement with OOSMOS, LLC.
// See <https://www.oosmos.com/licensing/>.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//

#include "oosmos.h"	#includes...
#include "threadtest.h"

#define THREAD_TESTS 1

extern int main(void)
{
for (unsigned I = 1; I <= THREAD_TESTS; I++) {
(void) threadtestNew();
}

for (;;) {
oosmos_RunStateMachines();
oosmos_DelayMS(1);
}
}

main.c - Thread for Windows