SSC ciere.com Beckhoff SSC extern "C" Plugins User provides functionality: ▶ Calls the main loop ▶ Provides call for process data handling ▶ Provides calls for interrupt control ▶ Calls interface Using C libraries in your Modern C++ Embedded Project The Interface Called in our main loop. The main loop processing for SSC void MainLoop(void); Called from SSC when cyclic data is available. void PUT ON SLIDES } } extern "C" { // This is the main loop in the SSC stack. void MainLoop(void); } int main() { init(); while (1U) { // The SSC main loop handles the EtherCAT state machine MainLoop(); /**

2CLING CLING [[CLANG::JIT]] [[CLANG::JIT]] 4 . 3* PRIMARY A READ–EVAL–PRINT LOOP (REPL) * PRIMARY A READ–EVAL–PRINT LOOP (REPL) * C++ LANGUAGE EXTENSION (ATTRIBUTE) * C++ LANGUAGE EXTENSION (ATTRIBUTE) CLING CLING [[CLANG::JIT]] [[CLANG::JIT]] 4 . 3* PRIMARY A READ–EVAL–PRINT LOOP (REPL) * PRIMARY A READ–EVAL–PRINT LOOP (REPL) * ALWAYS JIT COMPILES THE WHOLE PROGRAM * ALWAYS JIT COMPILES THE WHOLE CLING CLING [[CLANG::JIT]] [[CLANG::JIT]] 4 . 3* PRIMARY A READ–EVAL–PRINT LOOP (REPL) * PRIMARY A READ–EVAL–PRINT LOOP (REPL) * ALWAYS JIT COMPILES THE WHOLE PROGRAM * ALWAYS JIT COMPILES THE WHOLE

single threaded “event loop”)executing code with futures/promises ● only need a single thread to execute code with futures/promises because you never block (i.e., a single threaded “event loop”) ● however thread to execute code with futures/promises because you never block (i.e., a single threaded “event loop”) ● however, code may not be executed atomically because it may be interleaved with other code thread to execute code with futures/promises because you never block (i.e., a single threaded “event loop”) ● however, code may not be executed atomically because it may be interleaved with other code

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extensible way to specify where, how, and when work should happen … including some standard ones: an event loop, portable access to the system execution context, nursery for spawned work4 P2300: STD::EXECUTION them to be treated like a black box. goto is an unstructured control flow construct conditional loop function call goto59 FIRE-AND-FORGET TASK MODELS ARE UNSTRUCTURED Fire-and-forget work is like the result of `task` when both operations complete. // process input in a loop until the user interrupts: sender auto work_loop = unifex::stop_when( unifex::repeat_effect( processInput() ),

assumption that exceptions are rare. • Microsoft - Use exception handling if the event doesn't occur often, that is, if the event is truly exceptional How much of your flow (upper-bound) should be taking caught and used as a retry counting mechanism Kind of messy but neat Pattern : Exception is in a loop and has a conditional rethrow 33 Bloomberg Exceptional Trier// if problem throw void connect(…); counting mechanism Kind of messy Pattern : Exception is in a loop and has a conditional rethrow; Conclusion : Use a return status for loop control 37 Bloomberg Exceptional TrierSituation : Any problem

注1：此指runtime type information、dynamic creation、persistence、document/view¡ K。 注2：此指message based、event driven 之programming model。 注3：此指message mapping、command routing ¡ K。 2 在技术层次上，唯MFC Internals 堪与本书比拟（本书附录Ａ附有MFC 我之见，这些核心技术与彻底学会操控MFC 乃同一件事情。 全书分为四篇： 第一篇【勿在浮砂筑高台】提供进入MFC 核心技术以及应用技术之前的所有技术基础， 包括： ■ Win32 程序观念：message based, event driven, multitasking, multithreading, console programming。 ■ C++ 重要技术：类别与对象、this 指针与继承、静态成员、虚拟函数与多态、 语言基础，但从未接触过Win16 或Win32 程序设计，只在DOS 环境下 开发过软件，我在第１章为你安排了一些Win32 程序设计基础。这个基础至为重要，只 会在各个Wizards 上按来按去，却不懂所谓message loop 与window procedure 的人， 不可能搞定Windows 程序设计-- 不管你用的是MFC 或OWL 或Open Class Library，不管你用的是Visual C++ 或Borland

https://timur.audio "stackful coroutines" • Assert fail yields to cooperative scheduler / event loop • event loop calls next test • Drawbacks: • leaks memory • invalidates RAII program logic • unbounded enforce) • Terminating the program • Triggering a breakpoint in the debugger • Executing an endless loop (halt the thread) • Throwing an exception 4-Oct-23 Pablo Halpern and Timur Doumler, 2023 (CC BY 4

an unsigned integer loop variable or a narrowing conversion. • Timing errors: for example, delivering a result in 1.2ms to a device supposedly responding to an external event in 1ms. • Allocation control variable? cout << p[i] << ‘ ‘; } void g(span s) { for (const auto& x : s) // no loop variable to get wrong cout << x << ‘ ‘; } Stroustrup - C++ safety -CppCon - October 2023 25D&E an unsigned integer loop variable or a narrowing conversion. • Timing errors: for example, delivering a result in 1.2ms to a device supposedly responding to an external event in 1ms. • Allocation

thread for processing events: GUIs Client-Server applications Performing extensive processing on the event thread prevents other events from being handled.Why do we need to move work off the current thread current thread? We don’t just need to move the work, we need to prevent blocking on our event-handling threads. void event_handler(){ auto handle=spawn_background_task(); handle.wait(); // no benefit }Aside: Spawn a new thread for each event handlerHow do we move work off the current thread? Possible ways to move the work off the current thread: Spawn a new thread for each event handler Pass data to a dedicated