From d0e8d3aa248ca36d97b685ac61585d58a4619819 Mon Sep 17 00:00:00 2001
From: Francisco Molina <femolina@uc.cl>
Date: Mon, 6 Sep 2021 11:00:54 +0200
Subject: [PATCH] pkg/uwb-core: allow using event-thread

---
 pkg/uwb-core/Kconfig                 |  4 ++++
 pkg/uwb-core/Makefile.dep            |  4 ++++
 pkg/uwb-core/contrib/uwb_core.c      | 26 ++++++++++----------------
 pkg/uwb-core/contrib/uwb_core_init.c |  2 --
 pkg/uwb-core/include/uwb_core.h      | 26 ++++++++++++++++++--------
 5 files changed, 36 insertions(+), 26 deletions(-)

diff --git a/pkg/uwb-core/Kconfig b/pkg/uwb-core/Kconfig
index 13d69aa280..92acdb1a58 100644
--- a/pkg/uwb-core/Kconfig
+++ b/pkg/uwb-core/Kconfig
@@ -74,6 +74,10 @@ config MODULE_UWB-CORE_UWBCFG
     bool "uwb-core configuration module"
     select MODULE_UWB-CORE_CONFIG
 
+config MODULE_UWB-CORE_EVENT_THREAD
+    bool "Use event-thread loop as uwb-core's event loop"
+    select MODULE_UWB-CORE_CONFIG
+
 config MODULE_UWB-CORE_CONFIG
     bool
 
diff --git a/pkg/uwb-core/Makefile.dep b/pkg/uwb-core/Makefile.dep
index fd59855a7a..589ce0fb53 100644
--- a/pkg/uwb-core/Makefile.dep
+++ b/pkg/uwb-core/Makefile.dep
@@ -30,6 +30,10 @@ ifneq (,$(filter uwb-core_dpl,$(USEMODULE)))
   endif
 endif
 
+ifneq (,$(filter uwb-core_event_thread,$(USEMODULE)))
+  USEMODULE += event_thread
+endif
+
 # Some stdlib functions used by the pkg are not in avr-gcc
 FEATURES_BLACKLIST += arch_avr8
 # uwb-core has specific compilation sources when compiling kernel
diff --git a/pkg/uwb-core/contrib/uwb_core.c b/pkg/uwb-core/contrib/uwb_core.c
index dfde98d1dc..c444da7541 100644
--- a/pkg/uwb-core/contrib/uwb_core.c
+++ b/pkg/uwb-core/contrib/uwb_core.c
@@ -19,43 +19,37 @@
 
 #include "thread.h"
 #include "event.h"
-#include "event/callback.h"
 #include "uwb_core.h"
 
-#include "os/os_cputime.h"
-#include "hal/hal_timer.h"
-
-#ifndef UWB_CORE_STACKSIZE
-#define UWB_CORE_STACKSIZE  (THREAD_STACKSIZE_LARGE)
-#endif
-#ifndef UWB_CORE_PRIO
-#define UWB_CORE_PRIO       (THREAD_PRIORITY_MAIN - 5)
-#endif
-
-static char _stack_uwb_core[UWB_CORE_STACKSIZE];
-
+#if !IS_USED(MODULE_UWB_CORE_EVENT_THREAD)
 static event_queue_t _queue;
-
+static char _stack_uwb_core[UWB_CORE_STACKSIZE];
 static void *_uwb_core_thread(void *arg)
 {
     (void)arg;
-
     event_queue_init(&_queue);
     event_loop(&_queue);
     /* never reached */
     return NULL;
 }
+#endif
 
 event_queue_t *uwb_core_get_eventq(void)
 {
+#if !IS_USED(MODULE_UWB_CORE_EVENT_THREAD)
     return &_queue;
+#else
+    return UWB_CORE_EVENT_THREAD_QUEUE;
+#endif
 }
 
 void uwb_core_riot_init(void)
 {
+#if !IS_USED(MODULE_UWB_CORE_EVENT_THREAD)
     thread_create(_stack_uwb_core, sizeof(_stack_uwb_core),
                   UWB_CORE_PRIO,
                   THREAD_CREATE_STACKTEST,
                   _uwb_core_thread, NULL,
-                  "uwb_core");
+                  "uwb_core_event");
+#endif
 }
diff --git a/pkg/uwb-core/contrib/uwb_core_init.c b/pkg/uwb-core/contrib/uwb_core_init.c
index d6b8ad0815..6581714b48 100644
--- a/pkg/uwb-core/contrib/uwb_core_init.c
+++ b/pkg/uwb-core/contrib/uwb_core_init.c
@@ -53,13 +53,11 @@ void uwb_core_init(void)
     extern void uwb_rng_pkg_init(void);
     uwb_rng_pkg_init();
 #endif
-
     /* uwb configuration module */
 #if IS_USED(MODULE_UWB_CORE_UWBCFG)
     extern int uwbcfg_pkg_init(void);
     uwbcfg_pkg_init();
 #endif
-
     /* ranging algorithms */
 #if IS_USED(MODULE_UWB_CORE_TWR_SS)
     twr_ss_pkg_init();
diff --git a/pkg/uwb-core/include/uwb_core.h b/pkg/uwb-core/include/uwb_core.h
index 19550aab9e..e286de5c20 100644
--- a/pkg/uwb-core/include/uwb_core.h
+++ b/pkg/uwb-core/include/uwb_core.h
@@ -21,23 +21,33 @@
 
 #include <stdint.h>
 #include "event.h"
+#if IS_USED(MODULE_UWB_CORE_EVENT_THREAD)
+#include "event/thread"
+#endif
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
 /**
- * @brief   Priority used for
+ * @brief   The event queue if uwb_core_event_thread is used
  */
-#ifndef UWB_CORE__PRIO
-#define UWB_CORE__PRIO            (THREAD_PRIORITY_MAIN - 2)
+#ifndef UWB_CORE_EVENT_THREAD_QUEUE
+#define UWB_CORE_EVENT_THREAD_QUEUE     EVENT_PRIO_MEDIUM
 #endif
 
 /**
- * @brief   Stacksize used for
+ * @brief   Priority used for uwb-core event queue
  */
-#ifndef UWB_CORE__STACKSIZE
-#define UWB_CORE__STACKSIZE       (THREAD_STACKSIZE_DEFAULT)
+#ifndef UWB_CORE_PRIO
+#define UWB_CORE_PRIO                   (THREAD_PRIORITY_MAIN - 2)
+#endif
+
+/**
+ * @brief   Stacksize used for uwb-core event queue
+ */
+#ifndef UWB_CORE_STACKSIZE
+#define UWB_CORE_STACKSIZE              (THREAD_STACKSIZE_LARGE)
 #endif
 
 /**
@@ -48,8 +58,8 @@ void uwb_core_riot_init(void);
 /**
  * @brief   Retrieves the default event queue.
  *
- * As there is no default event queue in RIOT, uwb-core will start and
- * handle a default event queue.
+ * if uwb_core_event_thread is used then the event_thread module queue will be
+ * used. Otherwise uwb-core will start and handle its own event queue.
  *
  * @return  the default event queue.
  */