From 27c8b4f2da8f9f995886ff4b74916805ea9346b3 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Wed, 6 Oct 2021 10:16:48 +0200
Subject: [PATCH 01/37] Removing Wire/Serial abstractions since
 Arduino_ThreadsafeIO will be used for that.

---
 src/Arduino_Threads.h  |   4 +-
 src/Serial.cpp         |   3 -
 src/SerialDispatcher.h | 199 -----------------------------------------
 src/Wire.cpp           |  11 ---
 src/Wire.h             | 178 ------------------------------------
 5 files changed, 1 insertion(+), 394 deletions(-)
 delete mode 100644 src/Serial.cpp
 delete mode 100644 src/SerialDispatcher.h
 delete mode 100644 src/Wire.cpp
 delete mode 100644 src/Wire.h

diff --git a/src/Arduino_Threads.h b/src/Arduino_Threads.h
index f176365..2684e3e 100644
--- a/src/Arduino_Threads.h
+++ b/src/Arduino_Threads.h
@@ -1,6 +1,7 @@
 #ifndef ARDUINO_THREADS_H_
 #define ARDUINO_THREADS_H_
 
+#include <mbed.h>
 #include <MemoryPool.h>
 
 #define SOURCE(name, type) \
@@ -305,7 +306,4 @@ private: \
 };  \
 CONCAT(tabname,Class) tabname;
 
-#include "Wire.h"
-#include "SerialDispatcher.h"
-
 #endif /* ARDUINO_THREADS_H_ */
diff --git a/src/Serial.cpp b/src/Serial.cpp
deleted file mode 100644
index 9553c59..0000000
--- a/src/Serial.cpp
+++ /dev/null
@@ -1,3 +0,0 @@
-#include "SerialDispatcher.h"
-
-SerialClassDispatcher Serial(SerialUSB);
\ No newline at end of file
diff --git a/src/SerialDispatcher.h b/src/SerialDispatcher.h
deleted file mode 100644
index 43acedf..0000000
--- a/src/SerialDispatcher.h
+++ /dev/null
@@ -1,199 +0,0 @@
-#ifndef __SERIAL_DISPATCHER_H__
-#define __SERIAL_DISPATCHER_H__
-
-#include "Arduino.h"
-#undef Serial
-#include "api/RingBuffer.h"
-
-struct _sinkBuffers {
-  osThreadId_t id;
-  bool reader;
-  bool raw;
-  rtos::Semaphore* sem;
-  RingBuffer rxBuffer;
-  RingBuffer txBuffer;
-};
-
-#define READ_READY_UNBLOCK          (1 << 1)
-
-class SerialClassDispatcher : public HardwareSerial {
-  public:
-    SerialClassDispatcher(HardwareSerial& _serial) : serial(_serial) {
-      
-    }
-    void begin(unsigned long baudrate) {
-      if (!begun) {
-        serial.begin(baudrate);
-        begun = true;
-        printer.start(mbed::callback(this, &SerialClassDispatcher::timedPrint));
-      }
-      sinkBuffers[users].id = rtos::ThisThread::get_id();
-      sinkBuffers[users].sem = new rtos::Semaphore(1);
-      sinkBuffers[users].raw = false;
-      users++;
-    }
-
-    void begin(unsigned long baudrate, uint16_t config) {
-      if (!begun) {
-        serial.begin(baudrate, config);
-        begun = true;
-      }
-      sinkBuffers[users].id = rtos::ThisThread::get_id();
-      sinkBuffers[users].sem = new rtos::Semaphore(1);
-      sinkBuffers[users].raw = false;
-      users++;
-    }
-
-    using Print::write; // pull in write(str) and write(buf, size) from Print
-
-    operator bool() {
-      return serial;
-    }
-
-    void tags(bool enable = true) {
-      print_tags = enable;
-    }
-
-    void end() {
-      if (users == 0) {
-        serial.end();
-      } else {
-        users--;
-      }
-    }
-
-    size_t write(uint8_t data) {
-      findSemaphore(rtos::ThisThread::get_id())->acquire();
-      findThreadTxBuffer(rtos::ThisThread::get_id()).store_char(data);
-      findSemaphore(rtos::ThisThread::get_id())->release();
-      unlock_print.set(READ_READY_UNBLOCK);
-    }
-
-    size_t write(const uint8_t* data, size_t len) {
-      findSemaphore(rtos::ThisThread::get_id())->acquire();
-      for (int i=0; i<len; i++) {
-        findThreadTxBuffer(rtos::ThisThread::get_id()).store_char(data[i]);
-      }
-      findSemaphore(rtos::ThisThread::get_id())->release();
-      unlock_print.set(READ_READY_UNBLOCK);
-    }
-
-    void flushReadBuffer() {
-      while (serial.available()) {
-        int c = serial.read();
-        for (int i = 0; i < users; i++) {
-          if (sinkBuffers[i].reader) {
-            sinkBuffers[i].rxBuffer.store_char(c);
-          }
-        }
-      }
-    }
-
-    int read() {
-      *isReader(rtos::ThisThread::get_id()) = true;
-      flushReadBuffer();
-      return findThreadRxBuffer(rtos::ThisThread::get_id()).read_char();
-    }
-
-    int peek() {
-      *isReader(rtos::ThisThread::get_id()) = true;
-      flushReadBuffer();
-      return findThreadRxBuffer(rtos::ThisThread::get_id()).peek();
-    }
-
-    void raw(bool _raw = true) {
-      *isRaw(rtos::ThisThread::get_id()) = _raw;
-    }
-
-    void flush() {
-      serial.flush();
-    }
-
-    int available() {
-      *isReader(rtos::ThisThread::get_id()) = true;
-      flushReadBuffer();
-      return findThreadRxBuffer(rtos::ThisThread::get_id()).available();
-    }
-
-  private:
-
-    void timedPrint() {
-      while (1) {
-        unlock_print.wait_any(READ_READY_UNBLOCK, osWaitForever, true);
-        for (int i = 0; i < users; i++) {
-          sinkBuffers[i].sem->acquire();
-          // Implementation "leak", should be changed at RingBuffer API level
-          int c = sinkBuffers[i].txBuffer._iHead == 0 ?
-            sinkBuffers[i].txBuffer._aucBuffer[sizeof(sinkBuffers[i].txBuffer._aucBuffer) -1] :
-            sinkBuffers[i].txBuffer._aucBuffer[sinkBuffers[i].txBuffer._iHead - 1];
-          if ((!sinkBuffers[i].raw && (c == '\n' /*|| c == '\r' */|| c == '\0')) ||
-              sinkBuffers[i].raw || !sinkBuffers[i].txBuffer.availableForStore()) {
-            if (sinkBuffers[i].txBuffer.available() && print_tags) {
-              serial.print("[");
-              serial.print(i);
-              serial.print("] ");
-            }
-            while (sinkBuffers[i].txBuffer.available()) {
-              serial.write(sinkBuffers[i].txBuffer.read_char());
-            }
-          }
-          sinkBuffers[i].sem->release();
-        }
-      }
-    }
-
-    bool* isReader(osThreadId_t id) {
-      for (int i = 0; i < 10; i++) {
-        if (id == sinkBuffers[i].id) {
-          return &sinkBuffers[i].reader;
-        }
-      }
-    }
-
-    bool* isRaw(osThreadId_t id) {
-      for (int i = 0; i < 10; i++) {
-        if (id == sinkBuffers[i].id) {
-          return &sinkBuffers[i].raw;
-        }
-      }
-    }
-
-    rtos::Semaphore* findSemaphore(osThreadId_t id) {
-      for (int i = 0; i < 10; i++) {
-        if (id == sinkBuffers[i].id) {
-          return sinkBuffers[i].sem;
-        }
-      }
-    }
-
-    RingBuffer& findThreadTxBuffer(osThreadId_t id) {
-      for (int i = 0; i < 10; i++) {
-        if (id == sinkBuffers[i].id) {
-          return sinkBuffers[i].txBuffer;
-        }
-      }
-    }
-
-    RingBuffer& findThreadRxBuffer(osThreadId_t id) {
-      for (int i = 0; i < 10; i++) {
-        if (id == sinkBuffers[i].id) {
-          return sinkBuffers[i].rxBuffer;
-        }
-      }
-    }
-
-  private:
-    HardwareSerial& serial;
-    int users = 0;
-    bool begun = false;
-    int currentClock = 400000;
-    struct _sinkBuffers sinkBuffers[10];
-    osThreadId_t currentThread;
-    rtos::Thread printer;
-    rtos::EventFlags unlock_print;
-    bool print_tags = false;
-};
-
-extern SerialClassDispatcher Serial;
-
-#endif
\ No newline at end of file
diff --git a/src/Wire.cpp b/src/Wire.cpp
deleted file mode 100644
index aed2f05..0000000
--- a/src/Wire.cpp
+++ /dev/null
@@ -1,11 +0,0 @@
-#include "Wire.h"
-#define Wire WireReal
-#define Wire1 WireReal1
-#include "../Wire/Wire.cpp"
-#undef Wire
-#undef Wire1
-
-WireClassDispatcher Wire(WireReal);
-WireClassDispatcher Wire1(WireReal1);
-//WireClassDispatcher Wire(WireReal);
-//WireClassDispatcher Wire1(Wire1Real);
\ No newline at end of file
diff --git a/src/Wire.h b/src/Wire.h
deleted file mode 100644
index 2827d64..0000000
--- a/src/Wire.h
+++ /dev/null
@@ -1,178 +0,0 @@
-#ifndef __WIRE_WRAPPER_H__
-#define __WIRE_WRAPPER_H__
-
-#include "Portenta_System.h" // just a trick to allow including the real Wire.h
-#define Wire WireReal
-#define Wire1 WireReal1
-#include "../Wire/Wire.h"
-#undef Wire
-#undef Wire1
-#include "api/RingBuffer.h"
-
-struct requiredClocks {
-  osThreadId_t id;
-  int clock;
-  RingBuffer rxBuffer;
-  bool transaction;
-};
-
-class WireClassDispatcher : public HardwareI2C {
-  public:
-    WireClassDispatcher(HardwareI2C& _wire) : wire(_wire) {
-      sem = new rtos::Semaphore(1);
-    }
-    void begin() {
-      sem->acquire();
-      if (!begun) {
-        wire.begin();
-        begun = true;
-      }
-      idClock[users].id = rtos::ThisThread::get_id();
-      idClock[users].clock = currentClock;
-      users++;
-      sem->release();
-    }
-    void begin(uint8_t) {
-      /*doNothing*/
-    }
-    void onReceive(void (*)(int)) {
-      /*doNothing*/
-    }
-    void onRequest(void (*)()) {
-      /*doNothing*/
-    }
-
-    void end() {
-      if (users == 0) {
-        wire.end();
-      } else {
-        users--;
-      }
-    }
-
-    void setClock(uint32_t freq) {
-      // must be called on a per-thread basis
-      if (freq != currentClock) {
-        wire.setClock(freq);
-        currentClock = freq;
-        *findThreadClock(rtos::ThisThread::get_id()) = currentClock;
-      }
-    }
-
-    void beginTransmission(uint8_t address) {
-      //lock to caller thread until endTransmission(true) is called
-      sem->acquire();
-      int freq = *findThreadClock(rtos::ThisThread::get_id());
-      if (freq != currentClock) {
-        setClock(freq);
-      }
-      currentThread = rtos::ThisThread::get_id();
-      wire.beginTransmission(address);
-    }
-
-    uint8_t endTransmission(bool stopBit) {
-      uint8_t res = wire.endTransmission(stopBit);
-      if (stopBit) {
-        sem->release();
-        *transactionInProgress(rtos::ThisThread::get_id()) = false;
-      } else {
-        *transactionInProgress(rtos::ThisThread::get_id()) = true;
-      }
-      return res;
-    }
-
-    uint8_t endTransmission(void) {
-      return endTransmission(true);
-    }
-
-    size_t requestFrom(uint8_t address, size_t len, bool stopBit) {
-      if (!*transactionInProgress(rtos::ThisThread::get_id())) {
-        sem->acquire();
-      }
-      uint8_t ret = wire.requestFrom(address, len, stopBit);
-      if (ret > 0) {
-        while (wire.available()) {
-          findThreadRxBuffer(rtos::ThisThread::get_id()).store_char(wire.read());
-        }
-      }
-      if (stopBit) {
-        *transactionInProgress(rtos::ThisThread::get_id()) = false;
-        sem->release();
-      } else {
-        *transactionInProgress(rtos::ThisThread::get_id()) = true;
-      }
-      return ret;
-    }
-
-    size_t requestFrom(uint8_t address, size_t len) {
-      return requestFrom(address, len, true);
-    }
-
-    size_t write(uint8_t data) {
-      if (currentThread != rtos::ThisThread::get_id()) {
-        return 0;
-      }
-      return wire.write(data);
-    }
-
-    size_t write(const uint8_t* data, int len) {
-      if (currentThread != rtos::ThisThread::get_id()) {
-        return 0;
-      }
-      return wire.write(data, len);
-    }
-
-    int read() {
-      return findThreadRxBuffer(rtos::ThisThread::get_id()).read_char();
-    }
-
-    int peek() {
-      return findThreadRxBuffer(rtos::ThisThread::get_id()).peek();
-    }
-
-    void flush() {
-    }
-
-    int available() {
-      return findThreadRxBuffer(rtos::ThisThread::get_id()).available();
-    }
-
-  private:
-    int* findThreadClock(osThreadId_t id) {
-      for (int i = 0; i < 10; i++) {
-        if (id == idClock[i].id) {
-          return &idClock[i].clock;
-        }
-      }
-    }
-    bool* transactionInProgress(osThreadId_t id) {
-      for (int i = 0; i < 10; i++) {
-        if (id == idClock[i].id) {
-          return &idClock[i].transaction;
-        }
-      }
-    }
-    RingBuffer& findThreadRxBuffer(osThreadId_t id) {
-      for (int i = 0; i < 10; i++) {
-        if (id == idClock[i].id) {
-          return idClock[i].rxBuffer;
-        }
-      }
-    }
-
-  private:
-    HardwareI2C& wire;
-    int users = 0;
-    bool begun = false;
-    rtos::Semaphore* sem;
-    int currentClock = 400000;
-    struct requiredClocks idClock[10];
-    osThreadId_t currentThread;
-};
-
-extern WireClassDispatcher Wire;
-extern WireClassDispatcher Wire1;
-
-#define TwoWire WireClassDispatcher
-
-#endif
\ No newline at end of file

From a65ed03479dd75a7f2c67e31f01f083a07487c59 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Wed, 6 Oct 2021 10:54:46 +0200
Subject: [PATCH 02/37] Deleting super-fluous/confusing example code.

---
 examples/Enqueue_test/Enqueue.inot            |  13 --
 examples/Enqueue_test/Enqueue_test.ino        |  15 ---
 examples/Enqueue_test/SharedVariables.h       |   1 -
 examples/Leds/Leds.ino                        |  13 --
 examples/Leds/SharedVariables.h               |   1 -
 examples/Leds/ledblue.inot                    |  10 --
 .../Nano33BLEMegaSketch/Accelerometer.inot    |  50 --------
 examples/Nano33BLEMegaSketch/Gesture.inot     |  84 -------------
 examples/Nano33BLEMegaSketch/Humidity.inot    |  45 -------
 .../Nano33BLEMegaSketch.ino                   |  14 ---
 .../Nano33BLEMegaSketch/SharedVariables.h     |   1 -
 examples/SharedResources/SharedResources.ino  |  35 ------
 examples/SharedResources/SharedVariables.h    |  12 --
 examples/SharedResources/ecc_reader.inot      |  15 ---
 examples/SharedResources/pf_reader.inot       |  21 ----
 examples/SharedResources/scanner.inot         |  14 ---
 examples/SharedResources/temp_reader.inot     |  11 --
 .../Accelerometer.inot                        |  58 ---------
 .../GetRandom.inot                            |  18 ---
 .../SerialReader.inot                         |  14 ---
 .../SharedResourcesVariousLibraries.ino       |  31 -----
 .../SharedVariables.h                         |  12 --
 .../TempReader.inot                           | 115 ------------------
 examples/i2c_concurrent/SharedVariables.h     |  12 --
 examples/i2c_concurrent/ecc_reader.inot       |  15 ---
 examples/i2c_concurrent/i2c_concurrent.ino    |  57 ---------
 examples/i2c_concurrent/pf_reader.inot        |  23 ----
 examples/i2c_concurrent/scanner.inot          |  14 ---
 examples/i2c_concurrent/temp_reader.inot      |  11 --
 .../i2c_concurrent/temp_reader_complete.inot  |  27 ----
 30 files changed, 762 deletions(-)
 delete mode 100644 examples/Enqueue_test/Enqueue.inot
 delete mode 100644 examples/Enqueue_test/Enqueue_test.ino
 delete mode 100644 examples/Enqueue_test/SharedVariables.h
 delete mode 100644 examples/Leds/Leds.ino
 delete mode 100644 examples/Leds/SharedVariables.h
 delete mode 100644 examples/Leds/ledblue.inot
 delete mode 100644 examples/Nano33BLEMegaSketch/Accelerometer.inot
 delete mode 100644 examples/Nano33BLEMegaSketch/Gesture.inot
 delete mode 100644 examples/Nano33BLEMegaSketch/Humidity.inot
 delete mode 100644 examples/Nano33BLEMegaSketch/Nano33BLEMegaSketch.ino
 delete mode 100644 examples/Nano33BLEMegaSketch/SharedVariables.h
 delete mode 100644 examples/SharedResources/SharedResources.ino
 delete mode 100644 examples/SharedResources/SharedVariables.h
 delete mode 100644 examples/SharedResources/ecc_reader.inot
 delete mode 100644 examples/SharedResources/pf_reader.inot
 delete mode 100644 examples/SharedResources/scanner.inot
 delete mode 100644 examples/SharedResources/temp_reader.inot
 delete mode 100644 examples/SharedResourcesVariousLibraries/Accelerometer.inot
 delete mode 100644 examples/SharedResourcesVariousLibraries/GetRandom.inot
 delete mode 100644 examples/SharedResourcesVariousLibraries/SerialReader.inot
 delete mode 100644 examples/SharedResourcesVariousLibraries/SharedResourcesVariousLibraries.ino
 delete mode 100644 examples/SharedResourcesVariousLibraries/SharedVariables.h
 delete mode 100644 examples/SharedResourcesVariousLibraries/TempReader.inot
 delete mode 100644 examples/i2c_concurrent/SharedVariables.h
 delete mode 100644 examples/i2c_concurrent/ecc_reader.inot
 delete mode 100644 examples/i2c_concurrent/i2c_concurrent.ino
 delete mode 100644 examples/i2c_concurrent/pf_reader.inot
 delete mode 100644 examples/i2c_concurrent/scanner.inot
 delete mode 100644 examples/i2c_concurrent/temp_reader.inot
 delete mode 100644 examples/i2c_concurrent/temp_reader_complete.inot

diff --git a/examples/Enqueue_test/Enqueue.inot b/examples/Enqueue_test/Enqueue.inot
deleted file mode 100644
index f7cfaf4..0000000
--- a/examples/Enqueue_test/Enqueue.inot
+++ /dev/null
@@ -1,13 +0,0 @@
-void setup() {
-  // put your setup code here, to run once:
-
-}
-
-int i = 0;
-
-void loop() {
-  // Continuously pump counter
-  delay(100);
-  i++;
-  counter = i;
-}
diff --git a/examples/Enqueue_test/Enqueue_test.ino b/examples/Enqueue_test/Enqueue_test.ino
deleted file mode 100644
index c0f3b1d..0000000
--- a/examples/Enqueue_test/Enqueue_test.ino
+++ /dev/null
@@ -1,15 +0,0 @@
-void setup() {
-  // put your setup code here, to run once:
-  Serial.begin(115200);
-  while (!Serial) {}
-  Enqueue.start();
-  Serial.println("start");
-}
-
-void loop() {
-  // put your main code here, to run repeatedly:
-  delay(1000);
-  for (int i = 0; i < 10; i++) {
-    Serial.println(counter);
-  }
-}
diff --git a/examples/Enqueue_test/SharedVariables.h b/examples/Enqueue_test/SharedVariables.h
deleted file mode 100644
index 51ea60e..0000000
--- a/examples/Enqueue_test/SharedVariables.h
+++ /dev/null
@@ -1 +0,0 @@
-Shared<int> counter;
diff --git a/examples/Leds/Leds.ino b/examples/Leds/Leds.ino
deleted file mode 100644
index fc6e1fc..0000000
--- a/examples/Leds/Leds.ino
+++ /dev/null
@@ -1,13 +0,0 @@
-void setup() {
-  // put your setup code here, to run once:
-  pinMode(LEDR, OUTPUT);
-  ledblue.start();
-}
-
-void loop() {
-  // put your main code here, to run repeatedly:
-  digitalWrite(LEDR, HIGH);
-  delay(1000);
-  digitalWrite(LEDR, LOW);
-  delay(1000);
-}
diff --git a/examples/Leds/SharedVariables.h b/examples/Leds/SharedVariables.h
deleted file mode 100644
index 8b13789..0000000
--- a/examples/Leds/SharedVariables.h
+++ /dev/null
@@ -1 +0,0 @@
-
diff --git a/examples/Leds/ledblue.inot b/examples/Leds/ledblue.inot
deleted file mode 100644
index 7329782..0000000
--- a/examples/Leds/ledblue.inot
+++ /dev/null
@@ -1,10 +0,0 @@
-void setup() {
-  pinMode(LEDB, OUTPUT);
-}
-
-void loop() {
-  digitalWrite(LEDB, HIGH);
-  delay(80);
-  digitalWrite(LEDB, LOW);
-  delay(100);
-}
diff --git a/examples/Nano33BLEMegaSketch/Accelerometer.inot b/examples/Nano33BLEMegaSketch/Accelerometer.inot
deleted file mode 100644
index 97b28ab..0000000
--- a/examples/Nano33BLEMegaSketch/Accelerometer.inot
+++ /dev/null
@@ -1,50 +0,0 @@
-/*
-  Arduino LSM9DS1 - Simple Accelerometer
-
-  This example reads the acceleration values from the LSM9DS1
-  sensor and continuously prints them to the Serial Monitor
-  or Serial Plotter.
-
-  The circuit:
-  - Arduino Nano 33 BLE Sense
-
-  created 10 Jul 2019
-  by Riccardo Rizzo
-
-  This example code is in the public domain.
-*/
-
-#include <Arduino_LSM9DS1.h>
-
-void setup() {
-  Serial.begin(9600);
-  while (!Serial);
-  Serial.println("Started");
-
-  if (!IMU.begin()) {
-    Serial.println("Failed to initialize IMU!");
-    while (1);
-  }
-
-  Serial.print("Accelerometer sample rate = ");
-  Serial.print(IMU.accelerationSampleRate());
-  Serial.println(" Hz");
-  Serial.println();
-  Serial.println("Acceleration in G's");
-  Serial.println("X\tY\tZ");
-}
-
-void loop() {
-  float x, y, z;
-
-  if (IMU.accelerationAvailable()) {
-    IMU.readAcceleration(x, y, z);
-
-    Serial.print(x);
-    Serial.print('\t');
-    Serial.print(y);
-    Serial.print('\t');
-    Serial.println(z);
-  }
-  delay(100);
-}
diff --git a/examples/Nano33BLEMegaSketch/Gesture.inot b/examples/Nano33BLEMegaSketch/Gesture.inot
deleted file mode 100644
index 8ece3c5..0000000
--- a/examples/Nano33BLEMegaSketch/Gesture.inot
+++ /dev/null
@@ -1,84 +0,0 @@
-/*
-  APDS9960 - All sensor data from APDS9960
-
-  This example reads all data from the on-board APDS9960 sensor of the
-  Nano 33 BLE Sense:
-   - color RGB (red, green, blue)
-   - proximity
-   - gesture
-  and prints updates to the Serial Monitor every 100 ms.
-
-  The circuit:
-  - Arduino Nano 33 BLE Sense
-
-  This example code is in the public domain.
-*/
-
-#include <Arduino_APDS9960.h>
-
-void setup() {
-  Serial.begin(9600);
-  while (!Serial); // Wait for serial monitor to open
-
-  if (!APDS.begin()) {
-    Serial.println("Error initializing APDS9960 sensor.");
-    while (true); // Stop forever
-  }
-}
-
-int proximity = 0;
-int r = 0, g = 0, b = 0;
-unsigned long lastUpdate = 0;
-
-void loop() {
-
-  // Check if a proximity reading is available.
-  if (APDS.proximityAvailable()) {
-    proximity = APDS.readProximity();
-  }
-
-  // check if a gesture reading is available
-  if (APDS.gestureAvailable()) {
-    int gesture = APDS.readGesture();
-    switch (gesture) {
-      case GESTURE_UP:
-        Serial.println("Detected UP gesture");
-        break;
-
-      case GESTURE_DOWN:
-        Serial.println("Detected DOWN gesture");
-        break;
-
-      case GESTURE_LEFT:
-        Serial.println("Detected LEFT gesture");
-        break;
-
-      case GESTURE_RIGHT:
-        Serial.println("Detected RIGHT gesture");
-        break;
-
-      default:
-        // ignore
-        break;
-    }
-  }
-
-  // check if a color reading is available
-  if (APDS.colorAvailable()) {
-    APDS.readColor(r, g, b);
-  }
-
-  // Print updates every 100ms
-  if (millis() - lastUpdate > 100) {
-    lastUpdate = millis();
-    Serial.print("PR=");
-    Serial.print(proximity);
-    Serial.print(" rgb=");
-    Serial.print(r);
-    Serial.print(",");
-    Serial.print(g);
-    Serial.print(",");
-    Serial.println(b);
-  }
-  delay(320);
-}
diff --git a/examples/Nano33BLEMegaSketch/Humidity.inot b/examples/Nano33BLEMegaSketch/Humidity.inot
deleted file mode 100644
index 890adf5..0000000
--- a/examples/Nano33BLEMegaSketch/Humidity.inot
+++ /dev/null
@@ -1,45 +0,0 @@
-/*
-  HTS221 - Read Sensors
-
-  This example reads data from the on-board HTS221 sensor of the
-  Nano 33 BLE Sense and prints the temperature and humidity sensor
-  values to the Serial Monitor once a second.
-
-  The circuit:
-  - Arduino Nano 33 BLE Sense
-
-  This example code is in the public domain.
-*/
-
-#include <Arduino_HTS221.h>
-
-void setup() {
-  Serial.begin(9600);
-  while (!Serial);
-
-  if (!HTS.begin()) {
-    Serial.println("Failed to initialize humidity temperature sensor!");
-    while (1);
-  }
-}
-
-void loop() {
-  // read all the sensor values
-  float temperature = HTS.readTemperature();
-  float humidity    = HTS.readHumidity();
-
-  // print each of the sensor values
-  Serial.print("Temperature = ");
-  Serial.print(temperature);
-  Serial.println(" °C");
-
-  Serial.print("Humidity    = ");
-  Serial.print(humidity);
-  Serial.println(" %");
-
-  // print an empty line
-  Serial.println();
-
-  // wait 1 second to print again
-  delay(1000);
-}
diff --git a/examples/Nano33BLEMegaSketch/Nano33BLEMegaSketch.ino b/examples/Nano33BLEMegaSketch/Nano33BLEMegaSketch.ino
deleted file mode 100644
index 538e170..0000000
--- a/examples/Nano33BLEMegaSketch/Nano33BLEMegaSketch.ino
+++ /dev/null
@@ -1,14 +0,0 @@
-void setup() {
-  // put your setup code here, to run once:
-  Serial.begin(115200);
-  while (!Serial);
-  Serial.tags();
-  Humidity.start();
-  Gesture.start();
-  Accelerometer.start();
-}
-
-void loop() {
-  // put your main code here, to run repeatedly:
-
-}
diff --git a/examples/Nano33BLEMegaSketch/SharedVariables.h b/examples/Nano33BLEMegaSketch/SharedVariables.h
deleted file mode 100644
index 8b13789..0000000
--- a/examples/Nano33BLEMegaSketch/SharedVariables.h
+++ /dev/null
@@ -1 +0,0 @@
-
diff --git a/examples/SharedResources/SharedResources.ino b/examples/SharedResources/SharedResources.ino
deleted file mode 100644
index 94dbbae..0000000
--- a/examples/SharedResources/SharedResources.ino
+++ /dev/null
@@ -1,35 +0,0 @@
-void setup() {
-  Serial.begin(115200);
-  while (!Serial);
-
-  // Insert tags before Serial transmission to distinguish 
-  // the thread that originated them
-  Serial.tags(true);
-
-  temp_reader.start();
-  pf_reader.start();
-  scanner.start();
-  ecc_reader.start();
-}
-
-void loop() {
-  //Serial.println(temperature);          // blocks until new data is available
-  //Serial.println(temperature.peek());   // returns immediately the last known value
-
-  struct i2cScanResults results = scanResults;
-  for (int i = 0; i < 128; i++) {
-    if (results.address[i] == true) {
-      Serial.println("0x" + String(i, HEX));
-    }
-  }
-
-  if (Serial.available()) {
-    Serial.println("Got something");
-    while (Serial.available()) {
-      Serial.write(Serial.read());
-    }
-  }
-
-  Serial.println("PF1550 ID: " + String(pf1550_id, HEX));
-  Serial.println("ECC608 ID: " + String(ecc608_id, HEX));
-}
diff --git a/examples/SharedResources/SharedVariables.h b/examples/SharedResources/SharedVariables.h
deleted file mode 100644
index 51b8363..0000000
--- a/examples/SharedResources/SharedVariables.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// The preprocessor should enforce that all variables belonging here are declared Shared
-// There's no risk to spill other variables around since they are all private members of the automatic class
-
-struct i2cScanResults {
-    uint8_t address[128];
-};
-
-Shared<float> temperature;
-
-Shared<struct i2cScanResults> scanResults;
-Shared<uint8_t> pf1550_id;
-Shared<uint8_t> ecc608_id;
diff --git a/examples/SharedResources/ecc_reader.inot b/examples/SharedResources/ecc_reader.inot
deleted file mode 100644
index 4ec4317..0000000
--- a/examples/SharedResources/ecc_reader.inot
+++ /dev/null
@@ -1,15 +0,0 @@
-void setup() {
-  Wire.begin();
-  Wire.setClock(100000);
-}
-
-void loop() {
-  Wire.beginTransmission(0x60);
-  Wire.write((uint8_t)0x0);
-  Wire.endTransmission(false);
-  int res = Wire.requestFrom(0x60, 1);
-  delay(random() % 5);
-  if (res == 1) {
-    ecc608_id = Wire.read();
-  }
-}
diff --git a/examples/SharedResources/pf_reader.inot b/examples/SharedResources/pf_reader.inot
deleted file mode 100644
index f69c8b0..0000000
--- a/examples/SharedResources/pf_reader.inot
+++ /dev/null
@@ -1,21 +0,0 @@
-void setup() {
-  Serial.begin(115200);
-  Wire.begin();
-  Wire.setClock(400000);
-}
-
-void loop() {
-  Wire.beginTransmission(0x8);
-  Wire.write((uint8_t)0x0);
-  Wire.endTransmission(false);
-  Wire.requestFrom(0x8, 1);
-  delay(random() % 60);
-  pf1550_id = Wire.read();
-
-  if (Serial.available()) {
-    Serial.println("Got something");
-    while (Serial.available()) {
-      Serial.write(Serial.read());
-    }
-  }
-}
diff --git a/examples/SharedResources/scanner.inot b/examples/SharedResources/scanner.inot
deleted file mode 100644
index 27b50aa..0000000
--- a/examples/SharedResources/scanner.inot
+++ /dev/null
@@ -1,14 +0,0 @@
-void setup() {
-  Wire.begin();
-  Wire.setClock(100000);
-}
-
-void loop() {
-  struct i2cScanResults results = {};
-  for (int i = 0; i < 128; i++) {
-    Wire.beginTransmission (i);
-    results.address[i] = (Wire.endTransmission () == 0);
-  }
-  scanResults = results;
-  delay(random() % 1000);
-}
diff --git a/examples/SharedResources/temp_reader.inot b/examples/SharedResources/temp_reader.inot
deleted file mode 100644
index 1d5aac9..0000000
--- a/examples/SharedResources/temp_reader.inot
+++ /dev/null
@@ -1,11 +0,0 @@
-// cannot include anything since we are going to be wrapped in a class
-// the preprocessor should move the includes in another file
-
-void setup() {
-  //initialize
-}
-
-void loop() {
-  temperature = random() * 1.0f;
-  delay(random() % 1000);
-}
diff --git a/examples/SharedResourcesVariousLibraries/Accelerometer.inot b/examples/SharedResourcesVariousLibraries/Accelerometer.inot
deleted file mode 100644
index e0192e2..0000000
--- a/examples/SharedResourcesVariousLibraries/Accelerometer.inot
+++ /dev/null
@@ -1,58 +0,0 @@
-/*
-  Arduino LSM9DS1 - Simple Accelerometer
-
-  This example reads the acceleration values from the LSM9DS1
-  sensor and continuously prints them to the Serial Monitor
-  or Serial Plotter.
-
-  The circuit:
-  - Arduino Nano 33 BLE Sense
-
-  created 10 Jul 2019
-  by Riccardo Rizzo
-
-  This example code is in the public domain.
-*/
-
-#include <Arduino_LSM9DS1.h>
-
-LSM9DS1Class myIMU = LSM9DS1Class(Wire1);
-// Note: classic
-// LSM9DS1Class myIMU(Wire1);
-// cannot be used here since it becomes a private member of the class.
-// The compilation would fail with "error:  'Wire1' is not a type" (whatever this means)
-// This only happen when we reinstantiate a singleton because we want to change something in its constructor
-
-void setup() {
-  Serial.begin(9600);
-  while (!Serial);
-  Serial.println("Started");
-
-  if (!myIMU.begin()) {
-    Serial.println("Failed to initialize IMU!");
-    while (1) {
-      delay(1000);  
-    }
-  }
-
-  Serial.print("Accelerometer sample rate = ");
-  Serial.print(myIMU.accelerationSampleRate());
-  Serial.println(" Hz");
-  Serial.println();
-  Serial.println("Acceleration in G's");
-  Serial.println("X\tY\tZ");
-}
-
-void loop() {
-  float x, y, z;
-
-  if (myIMU.accelerationAvailable()) {
-    myIMU.readAcceleration(x, y, z);
-
-    Serial.print(x);
-    Serial.print('\t');
-    Serial.print(y);
-    Serial.print('\t');
-    Serial.println(z);
-  }
-}
diff --git a/examples/SharedResourcesVariousLibraries/GetRandom.inot b/examples/SharedResourcesVariousLibraries/GetRandom.inot
deleted file mode 100644
index 421577c..0000000
--- a/examples/SharedResourcesVariousLibraries/GetRandom.inot
+++ /dev/null
@@ -1,18 +0,0 @@
-#include "ArduinoECCX08.h"
-
-void setup() {
-  int ret = ECCX08.begin();
-  if (!ret) {
-    Serial.println("ECCX08 could not start");
-  }
-}
-
-int _randomNumber;
-
-void loop() {
-  randomNumber = ECCX08.random(65535);
-  // ATTENTION: if we write `delay(randomNumber % 60);`
-  // the call becomes blocking and it only gets read in the same thread
-  // so we have full starvation (two consumers)
-  delay(randomNumber.latest() % 60);
-}
diff --git a/examples/SharedResourcesVariousLibraries/SerialReader.inot b/examples/SharedResourcesVariousLibraries/SerialReader.inot
deleted file mode 100644
index d13e7db..0000000
--- a/examples/SharedResourcesVariousLibraries/SerialReader.inot
+++ /dev/null
@@ -1,14 +0,0 @@
-#include "Wire.h"
-
-void setup() {
-  Serial.begin(115200);
-}
-
-void loop() {
-  if (Serial.available()) {
-    Serial.println("Got something");
-    while (Serial.available()) {
-      Serial.write(Serial.read());
-    }
-  }
-}
diff --git a/examples/SharedResourcesVariousLibraries/SharedResourcesVariousLibraries.ino b/examples/SharedResourcesVariousLibraries/SharedResourcesVariousLibraries.ino
deleted file mode 100644
index 339dd60..0000000
--- a/examples/SharedResourcesVariousLibraries/SharedResourcesVariousLibraries.ino
+++ /dev/null
@@ -1,31 +0,0 @@
-void setup() {
-  Serial.begin(115200);
-  while (!Serial);
-
-  // Insert tags before Serial transmission to distinguish 
-  // the thread that originated them
-  Serial.tags(true);
-
-  // By declaring a serial "raw" we ask the dispatcher to flush
-  // every N milliseconds without waiting for EOL (for this thread only)
-  //Serial.raw();
-
-  TempReader.start();
-  SerialReader.start();
-  GetRandom.start();
-  Accelerometer.start();
-}
-
-void loop() {
-  //Serial.println(temperature);          // blocks until new data is available
-  Serial.println(temperature.peek());   // returns immediately the last known value
-
-  if (Serial.available()) {
-    Serial.println("Got something");
-    while (Serial.available()) {
-      Serial.write(Serial.read());
-    }
-  }
-
-  Serial.println("ECC608 random number: " + String(randomNumber));
-}
diff --git a/examples/SharedResourcesVariousLibraries/SharedVariables.h b/examples/SharedResourcesVariousLibraries/SharedVariables.h
deleted file mode 100644
index ca037c5..0000000
--- a/examples/SharedResourcesVariousLibraries/SharedVariables.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// The preprocessor should enforce that all variables belonging here are declared Shared
-// There's no risk to spill other variables around since they are all private members of the automatic class
-
-struct i2cScanResults {
-    uint8_t address[128];
-};
-
-Shared<float> temperature;
-
-Shared<struct i2cScanResults> scanResults;
-Shared<uint8_t> pf1550_id;
-Shared<uint32_t> randomNumber;
diff --git a/examples/SharedResourcesVariousLibraries/TempReader.inot b/examples/SharedResourcesVariousLibraries/TempReader.inot
deleted file mode 100644
index ad21d03..0000000
--- a/examples/SharedResourcesVariousLibraries/TempReader.inot
+++ /dev/null
@@ -1,115 +0,0 @@
-#include <OneWire.h>
-
-// OneWire DS18S20, DS18B20, DS1822 Temperature Example
-//
-// http://www.pjrc.com/teensy/td_libs_OneWire.html
-//
-// The DallasTemperature library can do all this work for you!
-// https://github.com/milesburton/Arduino-Temperature-Control-Library
-
-OneWire  ds = OneWire(10);  // on pin 10 (a 4.7K resistor is necessary)
-// See note on Accelerometer.inot
-
-void setup(void) {
-  Serial.begin(9600);
-}
-
-void loop(void) {
-  byte i;
-  byte present = 0;
-  byte type_s;
-  byte data[12];
-  byte addr[8];
-  float celsius, fahrenheit;
-  
-  if ( !ds.search(addr)) {
-    Serial.println("No more addresses.");
-    Serial.println();
-    ds.reset_search();
-    delay(250);
-    return;
-  }
-  
-  Serial.print("ROM =");
-  for( i = 0; i < 8; i++) {
-    Serial.write(' ');
-    Serial.print(addr[i], HEX);
-  }
-
-  if (OneWire::crc8(addr, 7) != addr[7]) {
-      Serial.println("CRC is not valid!");
-      return;
-  }
-  Serial.println();
- 
-  // the first ROM byte indicates which chip
-  switch (addr[0]) {
-    case 0x10:
-      Serial.println("  Chip = DS18S20");  // or old DS1820
-      type_s = 1;
-      break;
-    case 0x28:
-      Serial.println("  Chip = DS18B20");
-      type_s = 0;
-      break;
-    case 0x22:
-      Serial.println("  Chip = DS1822");
-      type_s = 0;
-      break;
-    default:
-      Serial.println("Device is not a DS18x20 family device.");
-      return;
-  } 
-
-  ds.reset();
-  ds.select(addr);
-  ds.write(0x44, 1);        // start conversion, with parasite power on at the end
-  
-  delay(1000);     // maybe 750ms is enough, maybe not
-  // we might do a ds.depower() here, but the reset will take care of it.
-  
-  present = ds.reset();
-  ds.select(addr);    
-  ds.write(0xBE);         // Read Scratchpad
-
-  Serial.print("  Data = ");
-  Serial.print(present, HEX);
-  Serial.print(" ");
-  for ( i = 0; i < 9; i++) {           // we need 9 bytes
-    data[i] = ds.read();
-    Serial.print(data[i], HEX);
-    Serial.print(" ");
-  }
-  Serial.print(" CRC=");
-  Serial.print(OneWire::crc8(data, 8), HEX);
-  Serial.println();
-
-  // Convert the data to actual temperature
-  // because the result is a 16 bit signed integer, it should
-  // be stored to an "int16_t" type, which is always 16 bits
-  // even when compiled on a 32 bit processor.
-  int16_t raw = (data[1] << 8) | data[0];
-  if (type_s) {
-    raw = raw << 3; // 9 bit resolution default
-    if (data[7] == 0x10) {
-      // "count remain" gives full 12 bit resolution
-      raw = (raw & 0xFFF0) + 12 - data[6];
-    }
-  } else {
-    byte cfg = (data[4] & 0x60);
-    // at lower res, the low bits are undefined, so let's zero them
-    if (cfg == 0x00) raw = raw & ~7;  // 9 bit resolution, 93.75 ms
-    else if (cfg == 0x20) raw = raw & ~3; // 10 bit res, 187.5 ms
-    else if (cfg == 0x40) raw = raw & ~1; // 11 bit res, 375 ms
-    //// default is 12 bit resolution, 750 ms conversion time
-  }
-  celsius = (float)raw / 16.0;
-  fahrenheit = celsius * 1.8 + 32.0;
-  Serial.print("  Temperature = ");
-  Serial.print(celsius);
-  Serial.print(" Celsius, ");
-  Serial.print(fahrenheit);
-  Serial.println(" Fahrenheit");
-
-  temperature = celsius;
-}
diff --git a/examples/i2c_concurrent/SharedVariables.h b/examples/i2c_concurrent/SharedVariables.h
deleted file mode 100644
index 51b8363..0000000
--- a/examples/i2c_concurrent/SharedVariables.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// The preprocessor should enforce that all variables belonging here are declared Shared
-// There's no risk to spill other variables around since they are all private members of the automatic class
-
-struct i2cScanResults {
-    uint8_t address[128];
-};
-
-Shared<float> temperature;
-
-Shared<struct i2cScanResults> scanResults;
-Shared<uint8_t> pf1550_id;
-Shared<uint8_t> ecc608_id;
diff --git a/examples/i2c_concurrent/ecc_reader.inot b/examples/i2c_concurrent/ecc_reader.inot
deleted file mode 100644
index 4ec4317..0000000
--- a/examples/i2c_concurrent/ecc_reader.inot
+++ /dev/null
@@ -1,15 +0,0 @@
-void setup() {
-  Wire.begin();
-  Wire.setClock(100000);
-}
-
-void loop() {
-  Wire.beginTransmission(0x60);
-  Wire.write((uint8_t)0x0);
-  Wire.endTransmission(false);
-  int res = Wire.requestFrom(0x60, 1);
-  delay(random() % 5);
-  if (res == 1) {
-    ecc608_id = Wire.read();
-  }
-}
diff --git a/examples/i2c_concurrent/i2c_concurrent.ino b/examples/i2c_concurrent/i2c_concurrent.ino
deleted file mode 100644
index 9e19675..0000000
--- a/examples/i2c_concurrent/i2c_concurrent.ino
+++ /dev/null
@@ -1,57 +0,0 @@
-#include "Wire.h"
-#include "SerialDispatcher.h"
-
-/* this part should be autogenerated */
-/*
-THD_ENTER(temp_reader)
-#include "temp_reader.h"
-THD_DONE(temp_reader)
-
-// A singleton called temp_reader_obj is automatically created but the user can still
-// instantiate another with
-// temp_reader_class myObj;
-
-THD_ENTER(pf_reader)
-#include "pf_reader.h"
-THD_DONE(pf_reader)
-
-THD_ENTER(ecc_reader)
-#include "ecc_reader.h"
-THD_DONE(ecc_reader)
-
-THD_ENTER(scanner)
-#include "scanner.h"
-THD_DONE(scanner)
-*/
-
-void setup() {
-  Serial.begin(115200);
-  while (!Serial);
-  Serial.tags(true);
-  temp_reader.start();
-  pf_reader.start();
-  scanner.start();
-  ecc_reader.start();
-}
-
-void loop() {
-  //Serial.println(temperature);          // blocks until new data is available
-  //Serial.println(temperature.peek());   // returns immediately the last known value
-
-  struct i2cScanResults results = scanResults;
-  for (int i = 0; i < 128; i++) {
-    if (results.address[i] == true) {
-      Serial.println("0x" + String(i, HEX));
-    }
-  }
-
-  if (Serial.available()) {
-    Serial.println("Got something");
-    while (Serial.available()) {
-      Serial.write(Serial.read());
-    }
-  }
-
-  Serial.println("PF1550 ID: " + String(pf1550_id, HEX));
-  Serial.println("ECC608 ID: " + String(ecc608_id, HEX));
-}
diff --git a/examples/i2c_concurrent/pf_reader.inot b/examples/i2c_concurrent/pf_reader.inot
deleted file mode 100644
index 4a8ad80..0000000
--- a/examples/i2c_concurrent/pf_reader.inot
+++ /dev/null
@@ -1,23 +0,0 @@
-void setup() {
-  Serial.begin(115200);
-  Wire.begin();
-  Wire.setClock(400000);
-}
-
-void loop() {
-  Wire.beginTransmission(0x8);
-  Wire.write((uint8_t)0x0);
-  Wire.endTransmission(false);
-  Wire.requestFrom(0x8, 1);
-  delay(random() % 60);
-  pf1550_id = Wire.read();
-
-  Serial.println("I'm pfreader");
-
-  if (Serial.available()) {
-    Serial.println("Got something");
-    while (Serial.available()) {
-      Serial.write(Serial.read());
-    }
-  }
-}
diff --git a/examples/i2c_concurrent/scanner.inot b/examples/i2c_concurrent/scanner.inot
deleted file mode 100644
index 27b50aa..0000000
--- a/examples/i2c_concurrent/scanner.inot
+++ /dev/null
@@ -1,14 +0,0 @@
-void setup() {
-  Wire.begin();
-  Wire.setClock(100000);
-}
-
-void loop() {
-  struct i2cScanResults results = {};
-  for (int i = 0; i < 128; i++) {
-    Wire.beginTransmission (i);
-    results.address[i] = (Wire.endTransmission () == 0);
-  }
-  scanResults = results;
-  delay(random() % 1000);
-}
diff --git a/examples/i2c_concurrent/temp_reader.inot b/examples/i2c_concurrent/temp_reader.inot
deleted file mode 100644
index 1d5aac9..0000000
--- a/examples/i2c_concurrent/temp_reader.inot
+++ /dev/null
@@ -1,11 +0,0 @@
-// cannot include anything since we are going to be wrapped in a class
-// the preprocessor should move the includes in another file
-
-void setup() {
-  //initialize
-}
-
-void loop() {
-  temperature = random() * 1.0f;
-  delay(random() % 1000);
-}
diff --git a/examples/i2c_concurrent/temp_reader_complete.inot b/examples/i2c_concurrent/temp_reader_complete.inot
deleted file mode 100644
index bcf05e4..0000000
--- a/examples/i2c_concurrent/temp_reader_complete.inot
+++ /dev/null
@@ -1,27 +0,0 @@
-class temp_reader_class {
-
-    Shared<float> temperature;
-    void setup() {
-      //initialize
-    }
-
-    void loop() {
-      temperature = random() * 1.0f;
-      delay(1000);
-    }
-
-    void temp_reader_execute() {
-      setup();
-      while (1) {
-        loop();
-      }
-    }
-
-    rtos::Thread t;
-  public:
-    void start() {
-      t.start(mbed::callback(this, &temp_reader_class::temp_reader_execute));
-    }
-};
-
-temp_reader_class temp_reader_obj;

From 044bb8f521f1e89b1da0793fa45fa961545f58c6 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Wed, 6 Oct 2021 10:55:23 +0200
Subject: [PATCH 03/37] Providing simple example of shared variable usage.

---
 examples/Shared/Consumer.inot     |  7 +++++++
 examples/Shared/Producer.inot     | 10 ++++++++++
 examples/Shared/Shared.ino        | 11 +++++++++++
 examples/Shared/SharedVariables.h |  1 +
 4 files changed, 29 insertions(+)
 create mode 100644 examples/Shared/Consumer.inot
 create mode 100644 examples/Shared/Producer.inot
 create mode 100644 examples/Shared/Shared.ino
 create mode 100644 examples/Shared/SharedVariables.h

diff --git a/examples/Shared/Consumer.inot b/examples/Shared/Consumer.inot
new file mode 100644
index 0000000..9d2d190
--- /dev/null
+++ b/examples/Shared/Consumer.inot
@@ -0,0 +1,7 @@
+void setup() {
+
+}
+
+void loop() {
+  Serial.println(counter);
+}
diff --git a/examples/Shared/Producer.inot b/examples/Shared/Producer.inot
new file mode 100644
index 0000000..8932873
--- /dev/null
+++ b/examples/Shared/Producer.inot
@@ -0,0 +1,10 @@
+void setup() {
+
+}
+
+void loop() {
+  static int i = 0;
+  counter = i;
+  i++;
+  delay(100);
+}
diff --git a/examples/Shared/Shared.ino b/examples/Shared/Shared.ino
new file mode 100644
index 0000000..8820b15
--- /dev/null
+++ b/examples/Shared/Shared.ino
@@ -0,0 +1,11 @@
+void setup() {
+  Serial.begin(115200);
+  while (!Serial) { }
+
+  Producer.start();
+  Consumer.start();
+}
+
+void loop() {
+  rtos::ThisThread::yield();
+}
diff --git a/examples/Shared/SharedVariables.h b/examples/Shared/SharedVariables.h
new file mode 100644
index 0000000..51ea60e
--- /dev/null
+++ b/examples/Shared/SharedVariables.h
@@ -0,0 +1 @@
+Shared<int> counter;

From 900d8d780970ef248e54b2d756ae720bdf4db92c Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Wed, 6 Oct 2021 10:59:19 +0200
Subject: [PATCH 04/37] Rename Shared to Demo_Shared

---
 examples/{Shared => Demo_Shared}/Consumer.inot              | 0
 examples/{Shared/Shared.ino => Demo_Shared/Demo_Shared.ino} | 0
 examples/{Shared => Demo_Shared}/Producer.inot              | 0
 examples/{Shared => Demo_Shared}/SharedVariables.h          | 0
 4 files changed, 0 insertions(+), 0 deletions(-)
 rename examples/{Shared => Demo_Shared}/Consumer.inot (100%)
 rename examples/{Shared/Shared.ino => Demo_Shared/Demo_Shared.ino} (100%)
 rename examples/{Shared => Demo_Shared}/Producer.inot (100%)
 rename examples/{Shared => Demo_Shared}/SharedVariables.h (100%)

diff --git a/examples/Shared/Consumer.inot b/examples/Demo_Shared/Consumer.inot
similarity index 100%
rename from examples/Shared/Consumer.inot
rename to examples/Demo_Shared/Consumer.inot
diff --git a/examples/Shared/Shared.ino b/examples/Demo_Shared/Demo_Shared.ino
similarity index 100%
rename from examples/Shared/Shared.ino
rename to examples/Demo_Shared/Demo_Shared.ino
diff --git a/examples/Shared/Producer.inot b/examples/Demo_Shared/Producer.inot
similarity index 100%
rename from examples/Shared/Producer.inot
rename to examples/Demo_Shared/Producer.inot
diff --git a/examples/Shared/SharedVariables.h b/examples/Demo_Shared/SharedVariables.h
similarity index 100%
rename from examples/Shared/SharedVariables.h
rename to examples/Demo_Shared/SharedVariables.h

From dd5ee85b08101385ab8d28fe939575e6feb2c338 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Wed, 6 Oct 2021 10:59:38 +0200
Subject: [PATCH 05/37] Replace Blocks demo with Demo_Source_Sink

---
 examples/Blocks/Blocks.ino                    | 22 -------------------
 examples/Blocks/data_reader.inot              | 12 ----------
 examples/Blocks/data_writer.inot              | 21 ------------------
 .../Demo_Source_Sink/Demo_Source_Sink.ino     | 15 +++++++++++++
 .../SharedVariables.h                         |  0
 examples/Demo_Source_Sink/Sink_Thread.inot    | 21 ++++++++++++++++++
 examples/Demo_Source_Sink/Source_Thread.inot  | 15 +++++++++++++
 7 files changed, 51 insertions(+), 55 deletions(-)
 delete mode 100644 examples/Blocks/Blocks.ino
 delete mode 100644 examples/Blocks/data_reader.inot
 delete mode 100644 examples/Blocks/data_writer.inot
 create mode 100644 examples/Demo_Source_Sink/Demo_Source_Sink.ino
 rename examples/{Blocks => Demo_Source_Sink}/SharedVariables.h (100%)
 create mode 100644 examples/Demo_Source_Sink/Sink_Thread.inot
 create mode 100644 examples/Demo_Source_Sink/Source_Thread.inot

diff --git a/examples/Blocks/Blocks.ino b/examples/Blocks/Blocks.ino
deleted file mode 100644
index 85efc0b..0000000
--- a/examples/Blocks/Blocks.ino
+++ /dev/null
@@ -1,22 +0,0 @@
-/*
- * This examples demonstrates the SOURCE/SINK abstraction.
- * Each thread may have any number of SOURCES and SINKS that can be connected
- * together using the "connectTo" method.
- */
-
-void setup() {
-  data_reader.out.connectTo(data_writer.in);
-  data_reader.start();
-  data_writer.start();
-
-  // put your setup code here, to run once:
-  pinMode(LEDR, OUTPUT);
-}
-
-void loop() {
-  // put your main code here, to run repeatedly:
-  digitalWrite(LEDR, HIGH);
-  delay(1000);
-  digitalWrite(LEDR, LOW);
-  delay(1000);
-}
diff --git a/examples/Blocks/data_reader.inot b/examples/Blocks/data_reader.inot
deleted file mode 100644
index 6bd9708..0000000
--- a/examples/Blocks/data_reader.inot
+++ /dev/null
@@ -1,12 +0,0 @@
-
-/* The output SOURCE, it sends 'int' */
-SOURCE(out, int)
-
-void setup() {
-}
-
-// a '1' is sent every 100 ms
-void loop() {
-  out.send(1);
-  delay(100);
-}
diff --git a/examples/Blocks/data_writer.inot b/examples/Blocks/data_writer.inot
deleted file mode 100644
index d3e0e70..0000000
--- a/examples/Blocks/data_writer.inot
+++ /dev/null
@@ -1,21 +0,0 @@
-
-/*
- * An 'int' SINK with a size of '0'. This kind of SINK has no buffer so the reading thread
- * will block until the writing thread has written something, or vice versa.
- */
-SINK(in, int, 0)
-
-void setup() {
-  pinMode(LEDB, OUTPUT);
-}
-
-void loop() {
-  // Read an 'int' from the SINK and discard it. Since there is basically no delay in the loop
-  // this call will surely block until something comes from the connected SOURCE. In this case
-  // the pace is dictated by the SOURCE that sends data every 100 ms.
-  in.read();
-  digitalWrite(LEDB, HIGH);
-
-  in.read();
-  digitalWrite(LEDB, LOW);
-}
diff --git a/examples/Demo_Source_Sink/Demo_Source_Sink.ino b/examples/Demo_Source_Sink/Demo_Source_Sink.ino
new file mode 100644
index 0000000..d3007b3
--- /dev/null
+++ b/examples/Demo_Source_Sink/Demo_Source_Sink.ino
@@ -0,0 +1,15 @@
+/*
+ * This examples demonstrates the SOURCE/SINK abstraction.
+ * Each thread may have any number of SOURCES and SINKS that can be connected
+ * together using the "connectTo" method.
+ */
+
+void setup() {
+  Source_Thread.led.connectTo(Sink_Thread.led);
+  Sink_Thread.start();
+  Source_Thread.start();
+}
+
+void loop() {
+  rtos::ThisThread::yield();
+}
diff --git a/examples/Blocks/SharedVariables.h b/examples/Demo_Source_Sink/SharedVariables.h
similarity index 100%
rename from examples/Blocks/SharedVariables.h
rename to examples/Demo_Source_Sink/SharedVariables.h
diff --git a/examples/Demo_Source_Sink/Sink_Thread.inot b/examples/Demo_Source_Sink/Sink_Thread.inot
new file mode 100644
index 0000000..0bc87c6
--- /dev/null
+++ b/examples/Demo_Source_Sink/Sink_Thread.inot
@@ -0,0 +1,21 @@
+
+/*
+ * An 'bool' SINK with a size of '0'. This kind of SINK has no buffer so the reading thread
+ * will block until the writing thread has written something, or vice versa.
+ */
+SINK(led, bool, 0)
+
+void setup()
+{
+  pinMode(LED_BUILTIN, OUTPUT);
+}
+
+void loop()
+{
+  /* Read a 'bool' from the SINK and discard it. Since there is basically no delay in the loop
+   * this call will surely block until something comes from the connected SOURCE. In this case
+   * the pace is dictated by the SOURCE that sends data every 100 ms.
+   */
+  bool led_on = led.read();
+  digitalWrite(LED_BUILTIN, led_on);
+}
diff --git a/examples/Demo_Source_Sink/Source_Thread.inot b/examples/Demo_Source_Sink/Source_Thread.inot
new file mode 100644
index 0000000..302a2c8
--- /dev/null
+++ b/examples/Demo_Source_Sink/Source_Thread.inot
@@ -0,0 +1,15 @@
+/* The output SOURCE, it sends 'bool' values. */
+SOURCE(led, bool)
+
+void setup()
+{
+
+}
+
+void loop()
+{
+  led.send(true);
+  delay(100);
+  led.send(false);
+  delay(100);
+}

From 9cb1c58b09d4cf69026bef20c5cf8eca36d596db Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Thu, 7 Oct 2021 06:38:33 +0200
Subject: [PATCH 06/37] Extract implementation of 'Sink' into a separate file.

---
 src/Arduino_Threads.h | 134 ++++++------------------------------------
 src/Sink.hpp          | 131 +++++++++++++++++++++++++++++++++++++++++
 2 files changed, 148 insertions(+), 117 deletions(-)
 create mode 100644 src/Sink.hpp

diff --git a/src/Arduino_Threads.h b/src/Arduino_Threads.h
index 2684e3e..03856f1 100644
--- a/src/Arduino_Threads.h
+++ b/src/Arduino_Threads.h
@@ -1,9 +1,19 @@
 #ifndef ARDUINO_THREADS_H_
 #define ARDUINO_THREADS_H_
 
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
 #include <mbed.h>
 #include <MemoryPool.h>
 
+#include "Sink.hpp"
+
+/**************************************************************************************
+ * DEFINE
+ **************************************************************************************/
+
 #define SOURCE(name, type) \
 public: \
   Source<type> name; \
@@ -23,128 +33,18 @@ public: \
 // This is called "C++11 uniform init" (using "{}" instead of "()" without "="... yikes!)
 // https://chromium.googlesource.com/chromium/src/+/master/styleguide/c++/c++-dos-and-donts.md
 
-// Forward declaration of Sink and Source
+/**************************************************************************************
+ * FORWARD DECLARATION
+ **************************************************************************************/
+
 template<class T>
 class Sink;
 template<class T>
 class Source;
 
-template<class T>
-class Sink
-{
-  private:
-    rtos::Mutex dataMutex;
-    rtos::ConditionVariable dataAvailable;
-    rtos::ConditionVariable slotAvailable;
-    T latest;
-    Sink *next;
-    const int size;
-    int first, last;
-    bool full;
-    T *queue;
-
-  public:
-    Sink(int s) :
-      dataAvailable(dataMutex),
-      slotAvailable(dataMutex),
-      size(s),
-      queue((size > 0) ? new T[size] : nullptr),
-      first(0), last(0), full(false)
-    {};
-
-    ~Sink() {
-      if (queue != nullptr) { delete queue; }
-    }
-
-
-  //protected: TODO
-    void connectTo(Sink &sink)
-    {
-      if (next == nullptr) {
-        next = &sink;
-      } else {
-        next->connectTo(sink);
-      }
-    }
-
-    T read()
-    {
-      // Non-blocking shared variable
-      if (size == -1) {
-        dataMutex.lock();
-        T res = latest;
-        dataMutex.unlock();
-        return res;
-      }
-
-      // Blocking shared variable
-      if (size == 0) {
-        dataMutex.lock();
-        while (!full) {
-          dataAvailable.wait();
-        }
-        T res = latest;
-        full = false;
-        slotAvailable.notify_all();
-        dataMutex.unlock();
-        return res;
-      }
-
-      // Blocking queue
-      dataMutex.lock();
-      while (first == last && !full) {
-        dataAvailable.wait();
-      }
-      T res = queue[first++];
-      first %= size;
-      if (full) {
-        full = false;
-        slotAvailable.notify_one();
-      }
-      dataMutex.unlock();
-      return res;
-    }
-
-  //protected: TODO
-    void inject(const T &value)
-    {
-      dataMutex.lock();
-
-      // Non-blocking shared variable
-      if (size == -1) {
-        latest = value;
-      }
-
-      // Blocking shared variable
-      else if (size == 0) {
-        while (full) {
-          slotAvailable.wait();
-        }
-        latest = value;
-        full = true;
-        dataAvailable.notify_one();
-        slotAvailable.wait();
-      }
-
-      // Blocking queue
-      else {
-        while (full) {
-          slotAvailable.wait();
-        }
-        if (first == last) {
-          dataAvailable.notify_one();
-        }
-        queue[last++] = value;
-        last %= size;
-        if (first == last) {
-          full = true;
-        }
-      }
-      dataMutex.unlock();
-
-      if (next) next->inject(value);
-    }
-};
+/**************************************************************************************
+ * CLASS DECLARATION
+ **************************************************************************************/
 
 template<class T>
 class Source
diff --git a/src/Sink.hpp b/src/Sink.hpp
new file mode 100644
index 0000000..97b3604
--- /dev/null
+++ b/src/Sink.hpp
@@ -0,0 +1,131 @@
+#ifndef ARDUINO_THREADS_SINK_HPP_
+#define ARDUINO_THREADS_SINK_HPP_
+
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include <mbed.h>
+
+/**************************************************************************************
+ * CLASS DECLARATION
+ **************************************************************************************/
+
+template<class T>
+class Sink
+{
+  private:
+    rtos::Mutex dataMutex;
+    rtos::ConditionVariable dataAvailable;
+    rtos::ConditionVariable slotAvailable;
+    T latest;
+    Sink *next;
+    const int size;
+    int first, last;
+    bool full;
+    T *queue;
+
+  public:
+    Sink(int s) :
+      dataAvailable(dataMutex),
+      slotAvailable(dataMutex),
+      size(s),
+      queue((size > 0) ? new T[size] : nullptr),
+      first(0), last(0), full(false)
+    {};
+
+    ~Sink() {
+      if (queue != nullptr) { delete queue; }
+    }
+
+
+  //protected: TODO
+    void connectTo(Sink &sink)
+    {
+      if (next == nullptr) {
+        next = &sink;
+      } else {
+        next->connectTo(sink);
+      }
+    }
+
+    T read()
+    {
+      // Non-blocking shared variable
+      if (size == -1) {
+        dataMutex.lock();
+        T res = latest;
+        dataMutex.unlock();
+        return res;
+      }
+
+      // Blocking shared variable
+      if (size == 0) {
+        dataMutex.lock();
+        while (!full) {
+          dataAvailable.wait();
+        }
+        T res = latest;
+        full = false;
+        slotAvailable.notify_all();
+        dataMutex.unlock();
+        return res;
+      }
+
+      // Blocking queue
+      dataMutex.lock();
+      while (first == last && !full) {
+        dataAvailable.wait();
+      }
+      T res = queue[first++];
+      first %= size;
+      if (full) {
+        full = false;
+        slotAvailable.notify_one();
+      }
+      dataMutex.unlock();
+      return res;
+    }
+
+  //protected: TODO
+    void inject(const T &value)
+    {
+      dataMutex.lock();
+
+      // Non-blocking shared variable
+      if (size == -1) {
+        latest = value;
+      }
+
+      // Blocking shared variable
+      else if (size == 0) {
+        while (full) {
+          slotAvailable.wait();
+        }
+        latest = value;
+        full = true;
+        dataAvailable.notify_one();
+        slotAvailable.wait();
+      }
+
+      // Blocking queue
+      else {
+        while (full) {
+          slotAvailable.wait();
+        }
+        if (first == last) {
+          dataAvailable.notify_one();
+        }
+        queue[last++] = value;
+        last %= size;
+        if (first == last) {
+          full = true;
+        }
+      }
+      dataMutex.unlock();
+
+      if (next) next->inject(value);
+    }
+};
+
+#endif /* ARDUINO_THREADS_SINK_HPP_ */

From a0d01a32564832e539b07158d5d80cce355b0b1a Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Thu, 7 Oct 2021 06:41:16 +0200
Subject: [PATCH 07/37] Extract implementation of 'Source' into a separate
 file.

---
 src/Arduino_Threads.h | 32 +-------------------------------
 src/Source.hpp        | 37 +++++++++++++++++++++++++++++++++++++
 2 files changed, 38 insertions(+), 31 deletions(-)
 create mode 100644 src/Source.hpp

diff --git a/src/Arduino_Threads.h b/src/Arduino_Threads.h
index 03856f1..837ffa4 100644
--- a/src/Arduino_Threads.h
+++ b/src/Arduino_Threads.h
@@ -9,6 +9,7 @@
 #include <MemoryPool.h>
 
 #include "Sink.hpp"
+#include "Source.hpp"
 
 /**************************************************************************************
  * DEFINE
@@ -33,41 +34,10 @@ public: \
 // This is called "C++11 uniform init" (using "{}" instead of "()" without "="... yikes!)
 // https://chromium.googlesource.com/chromium/src/+/master/styleguide/c++/c++-dos-and-donts.md
 
-/**************************************************************************************
- * FORWARD DECLARATION
- **************************************************************************************/
-
-template<class T>
-class Sink;
-template<class T>
-class Source;
-
 /**************************************************************************************
  * CLASS DECLARATION
  **************************************************************************************/
 
-template<class T>
-class Source
-{
-  public:
-    Source() {};
-
-    void connectTo(Sink<T> &sink) {
-      if (destination == nullptr) {
-        destination = &sink;
-      } else {
-        destination->connectTo(sink);
-      }
-    }
-
-    void send(const T &value) {
-      if (destination) destination->inject(value);
-    }
-
-  private:
-    Sink<T> *destination;
-};
-
 template<class T, size_t QUEUE_SIZE = 16>
 class Shared // template definition
 {
diff --git a/src/Source.hpp b/src/Source.hpp
new file mode 100644
index 0000000..e3b91ed
--- /dev/null
+++ b/src/Source.hpp
@@ -0,0 +1,37 @@
+#ifndef ARDUINO_THREADS_SOURCE_HPP_
+#define ARDUINO_THREADS_SOURCE_HPP_
+
+/**************************************************************************************
+ * FORWARD DECLARATION
+ **************************************************************************************/
+
+template<class T>
+class Sink;
+
+/**************************************************************************************
+ * CLASS DECLARATION
+ **************************************************************************************/
+
+template<class T>
+class Source
+{
+  public:
+    Source() {};
+
+    void connectTo(Sink<T> &sink) {
+      if (destination == nullptr) {
+        destination = &sink;
+      } else {
+        destination->connectTo(sink);
+      }
+    }
+
+    void send(const T &value) {
+      if (destination) destination->inject(value);
+    }
+
+  private:
+    Sink<T> *destination;
+};
+
+#endif /* ARDUINO_THREADS_SOURCE_HPP_ */

From 30e238480b22e293113c8b7ae91e967107d81a23 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Thu, 7 Oct 2021 06:44:10 +0200
Subject: [PATCH 08/37] Extract implementation of 'Shared' into a separate
 file.

---
 src/Arduino_Threads.h | 49 +---------------------------------
 src/Shared.hpp        | 62 +++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 63 insertions(+), 48 deletions(-)
 create mode 100644 src/Shared.hpp

diff --git a/src/Arduino_Threads.h b/src/Arduino_Threads.h
index 837ffa4..f2baa39 100644
--- a/src/Arduino_Threads.h
+++ b/src/Arduino_Threads.h
@@ -6,10 +6,10 @@
  **************************************************************************************/
 
 #include <mbed.h>
-#include <MemoryPool.h>
 
 #include "Sink.hpp"
 #include "Source.hpp"
+#include "Shared.hpp"
 
 /**************************************************************************************
  * DEFINE
@@ -38,53 +38,6 @@ public: \
  * CLASS DECLARATION
  **************************************************************************************/
 
-template<class T, size_t QUEUE_SIZE = 16>
-class Shared // template definition
-{
-  public:
-    Shared() {
-    }
-    operator T() {
-      osEvent evt = queue.get();
-      if (evt.status == osEventMessage) {
-        /* Obtain the oldest inserted element from the queue. */
-        T * val_ptr = reinterpret_cast<T *>(evt.value.p);
-        /* Copy the content of T stored in the memory pool since we'll have to free the memory pool afterwards. */
-        T const tmp_val = *val_ptr;
-        /* Free the allocated memory in the memory pool. */
-        memory_pool.free(val_ptr);
-        /* Return obtained value from queue. */
-        return tmp_val;
-      }
-      return val;
-    }
-    T& operator= (const T& other) {
-      if (queue.full()) {
-        // invokes operator T() to discard oldest element and free its memory
-        T discard = *this;
-      }
-      val = other;
-      /* Allocate memory in the memory pool. */
-      T * val_ptr = memory_pool.alloc();
-      /* Copy the content of 'other' into the freshly allocated message. */
-      *val_ptr = other;
-      /* Insert into queue. */
-      queue.put(val_ptr);
-      return (*val_ptr);
-    }
-    T& peek() {
-      return val;
-    }
-    T& latest() {
-      return peek();
-    }
-  private:
-
-    T val;
-    rtos::MemoryPool<T, QUEUE_SIZE> memory_pool;
-    rtos::Queue<T, QUEUE_SIZE> queue;
-};
-
 #define CONCAT2(x,y) x##y
 #define CONCAT(x,y) CONCAT2(x,y)
 
diff --git a/src/Shared.hpp b/src/Shared.hpp
new file mode 100644
index 0000000..e2e07b0
--- /dev/null
+++ b/src/Shared.hpp
@@ -0,0 +1,62 @@
+#ifndef ARDUINO_THREADS_SHARED_HPP_
+#define ARDUINO_THREADS_SHARED_HPP_
+
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include <mbed.h>
+#include <MemoryPool.h>
+
+/**************************************************************************************
+ * CLASS DECLARATION
+ **************************************************************************************/
+
+template<class T, size_t QUEUE_SIZE = 16>
+class Shared // template definition
+{
+  public:
+    Shared() {
+    }
+    operator T() {
+      osEvent evt = queue.get();
+      if (evt.status == osEventMessage) {
+        /* Obtain the oldest inserted element from the queue. */
+        T * val_ptr = reinterpret_cast<T *>(evt.value.p);
+        /* Copy the content of T stored in the memory pool since we'll have to free the memory pool afterwards. */
+        T const tmp_val = *val_ptr;
+        /* Free the allocated memory in the memory pool. */
+        memory_pool.free(val_ptr);
+        /* Return obtained value from queue. */
+        return tmp_val;
+      }
+      return val;
+    }
+    T& operator= (const T& other) {
+      if (queue.full()) {
+        // invokes operator T() to discard oldest element and free its memory
+        T discard = *this;
+      }
+      val = other;
+      /* Allocate memory in the memory pool. */
+      T * val_ptr = memory_pool.alloc();
+      /* Copy the content of 'other' into the freshly allocated message. */
+      *val_ptr = other;
+      /* Insert into queue. */
+      queue.put(val_ptr);
+      return (*val_ptr);
+    }
+    T& peek() {
+      return val;
+    }
+    T& latest() {
+      return peek();
+    }
+  private:
+
+    T val;
+    rtos::MemoryPool<T, QUEUE_SIZE> memory_pool;
+    rtos::Queue<T, QUEUE_SIZE> queue;
+};
+
+#endif /* ARDUINO_THREADS_SHARED_HPP_ */

From 68d0a8aa9a1eff2cdb56c51a2e3deb8671d9fd13 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Thu, 7 Oct 2021 07:18:59 +0200
Subject: [PATCH 09/37] Extract static member definition into dedicated cpp
 file.

---
 src/Arduino_Threads.cpp | 11 +++++++++++
 src/Arduino_Threads.h   |  3 ---
 2 files changed, 11 insertions(+), 3 deletions(-)
 create mode 100644 src/Arduino_Threads.cpp

diff --git a/src/Arduino_Threads.cpp b/src/Arduino_Threads.cpp
new file mode 100644
index 0000000..c0ece69
--- /dev/null
+++ b/src/Arduino_Threads.cpp
@@ -0,0 +1,11 @@
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include "Arduino_Threads.h"
+
+/**************************************************************************************
+ * STATIC MEMBER DECLARATION
+ **************************************************************************************/
+
+rtos::EventFlags ArduinoThreads::globalEvents;
diff --git a/src/Arduino_Threads.h b/src/Arduino_Threads.h
index f2baa39..1efb3cb 100644
--- a/src/Arduino_Threads.h
+++ b/src/Arduino_Threads.h
@@ -46,7 +46,6 @@ public: \
 
 #define _macroToString(sequence) #sequence
 
-
 class ArduinoThreads {
   private:
     static rtos::EventFlags globalEvents;
@@ -118,8 +117,6 @@ class ArduinoThreads {
     }
 };
 
-rtos::EventFlags ArduinoThreads::globalEvents;
-
 #define THD_ENTER(tabname) class CONCAT(tabname, Class) : public ArduinoThreads { \
 public: \
   CONCAT(tabname, Class)() { _tabname = _macroToString(tabname); } \

From 619fa4b0b5351f25666849549254ab7ee746d630 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Thu, 7 Oct 2021 07:22:13 +0200
Subject: [PATCH 10/37] Prefix member variables with '_'

---
 src/Arduino_Threads.cpp |  2 +-
 src/Arduino_Threads.h   | 40 ++++++++++++++++++++--------------------
 2 files changed, 21 insertions(+), 21 deletions(-)

diff --git a/src/Arduino_Threads.cpp b/src/Arduino_Threads.cpp
index c0ece69..3a43462 100644
--- a/src/Arduino_Threads.cpp
+++ b/src/Arduino_Threads.cpp
@@ -8,4 +8,4 @@
  * STATIC MEMBER DECLARATION
  **************************************************************************************/
 
-rtos::EventFlags ArduinoThreads::globalEvents;
+rtos::EventFlags ArduinoThreads::_global_events;
diff --git a/src/Arduino_Threads.h b/src/Arduino_Threads.h
index 1efb3cb..ad21329 100644
--- a/src/Arduino_Threads.h
+++ b/src/Arduino_Threads.h
@@ -48,22 +48,22 @@ public: \
 
 class ArduinoThreads {
   private:
-    static rtos::EventFlags globalEvents;
-    uint32_t startFlags;
-    uint32_t stopFlags;
-    uint32_t loopDelay;
+    static rtos::EventFlags _global_events;
+    uint32_t _start_flags;
+    uint32_t _stop_flags;
+    uint32_t _loop_delay;
     virtual void setup(void) {};
     virtual void loop(void) {};
     void execute() {
       setup();
-      // if startFlags have been passed then wait until all the flags are set
+      // if _start_flags have been passed then wait until all the flags are set
       // before starting the loop. this is used to synchronize loops from multiple
       // sketches.
-      if (startFlags != 0) {
-        globalEvents.wait_all(startFlags);
+      if (_start_flags != 0) {
+        _global_events.wait_all(_start_flags);
       }
 
-      // if stopFlags have been passed stop when all the flags are set
+      // if _stop_flags have been passed stop when all the flags are set
       // otherwise loop forever
       while ( 1 ) {
         loop();
@@ -71,18 +71,18 @@ class ArduinoThreads {
         // note that if two groups of sketches stop on common flags
         // the first group will clear them so the second group may never
         // exit
-        if (stopFlags!=0) {
-          if ((globalEvents.get()&stopFlags)!=stopFlags) {
-            globalEvents.clear(stopFlags);
+        if (_stop_flags!=0) {
+          if ((_global_events.get()&_stop_flags)!=_stop_flags) {
+            _global_events.clear(_stop_flags);
             return;
           }
-          if ((rtos::ThisThread::flags_get()&stopFlags)!=stopFlags) {
-            rtos::ThisThread::flags_clear(stopFlags);
+          if ((rtos::ThisThread::flags_get()&_stop_flags)!=_stop_flags) {
+            rtos::ThisThread::flags_clear(_stop_flags);
             return;
           }
         }
         // sleep for the time we've been asked to insert between loops 
-        rtos::ThisThread::sleep_for(loopDelay);
+        rtos::ThisThread::sleep_for(_loop_delay);
       }
     }
     rtos::Thread *t;
@@ -92,10 +92,10 @@ class ArduinoThreads {
 
   public:
     // start this sketch
-    void start(int stacksize = 4096, uint32_t startFlags=0, uint32_t stopFlags=0) {
-      this->startFlags = startFlags;
-      this->stopFlags = stopFlags;
-      loopDelay=0;
+    void start(int stacksize = 4096, uint32_t _start_flags=0, uint32_t _stop_flags=0) {
+      this->_start_flags = _start_flags;
+      this->_stop_flags = _stop_flags;
+      _loop_delay=0;
       t = new rtos::Thread(osPriorityNormal, stacksize, nullptr, _tabname);
       t->start(mbed::callback(this, &ArduinoThreads::execute));
     }
@@ -105,7 +105,7 @@ class ArduinoThreads {
     }
     // send an event to all sketches at the same time
     static void broadcastEvent(uint32_t event) {
-      globalEvents.set(event);
+      _global_events.set(event);
     }
     // send an event only to this sketch
     void sendEvent(uint32_t event) {
@@ -113,7 +113,7 @@ class ArduinoThreads {
     }
     // set the rate at which loop function will be called
     void setLoopDelay(uint32_t delay) {
-      loopDelay = delay;
+      _loop_delay = delay;
     }
 };
 

From c5627506b4ce03f674b7d4b65c10d223bbc00d72 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Thu, 7 Oct 2021 07:26:06 +0200
Subject: [PATCH 11/37] Extract private member function 'execute' into cpp
 file.

---
 src/Arduino_Threads.cpp | 46 +++++++++++++++++++++++++++++++++++++++++
 src/Arduino_Threads.h   | 32 +---------------------------
 2 files changed, 47 insertions(+), 31 deletions(-)

diff --git a/src/Arduino_Threads.cpp b/src/Arduino_Threads.cpp
index 3a43462..9db2da7 100644
--- a/src/Arduino_Threads.cpp
+++ b/src/Arduino_Threads.cpp
@@ -9,3 +9,49 @@
  **************************************************************************************/
 
 rtos::EventFlags ArduinoThreads::_global_events;
+
+/**************************************************************************************
+ * PRIVATE MEMBER FUNCTIONS
+ **************************************************************************************/
+
+void ArduinoThreads::execute()
+{
+  setup();
+  /* If _start_flags have been passed then wait until all the flags are set
+   * before starting the loop. this is used to synchronize loops from multiple
+   * sketches.
+   */
+  if (_start_flags != 0)
+    _global_events.wait_all(_start_flags);
+
+  /* if _stop_flags have been passed stop when all the flags are set
+   * otherwise loop forever
+   */
+  for (;;)
+  {
+    loop();
+    /* On exit clear the flags that have forced us to stop.
+     * note that if two groups of sketches stop on common flags
+     * the first group will clear them so the second group may never
+     * exit.
+     */
+    if (_stop_flags!=0)
+    {
+      if ((_global_events.get() & _stop_flags) != _stop_flags)
+      {
+        _global_events.clear(_stop_flags);
+        return;
+      }
+
+      if ((rtos::ThisThread::flags_get() & _stop_flags) != _stop_flags)
+      {
+        rtos::ThisThread::flags_clear(_stop_flags);
+        return;
+      }
+    }
+
+    /* Sleep for the time we've been asked to insert between loops.
+     */
+    rtos::ThisThread::sleep_for(_loop_delay);
+  }
+}
diff --git a/src/Arduino_Threads.h b/src/Arduino_Threads.h
index ad21329..f8c668e 100644
--- a/src/Arduino_Threads.h
+++ b/src/Arduino_Threads.h
@@ -54,37 +54,7 @@ class ArduinoThreads {
     uint32_t _loop_delay;
     virtual void setup(void) {};
     virtual void loop(void) {};
-    void execute() {
-      setup();
-      // if _start_flags have been passed then wait until all the flags are set
-      // before starting the loop. this is used to synchronize loops from multiple
-      // sketches.
-      if (_start_flags != 0) {
-        _global_events.wait_all(_start_flags);
-      }
-
-      // if _stop_flags have been passed stop when all the flags are set
-      // otherwise loop forever
-      while ( 1 ) {
-        loop();
-        // on exit clear the flags that have forced us to stop.
-        // note that if two groups of sketches stop on common flags
-        // the first group will clear them so the second group may never
-        // exit
-        if (_stop_flags!=0) {
-          if ((_global_events.get()&_stop_flags)!=_stop_flags) {
-            _global_events.clear(_stop_flags);
-            return;
-          }
-          if ((rtos::ThisThread::flags_get()&_stop_flags)!=_stop_flags) {
-            rtos::ThisThread::flags_clear(_stop_flags);
-            return;
-          }
-        }
-        // sleep for the time we've been asked to insert between loops 
-        rtos::ThisThread::sleep_for(_loop_delay);
-      }
-    }
+    void execute();
     rtos::Thread *t;
 
   protected:

From dae21a6b79cd9f0259579fd97e0d2313d8cc85bc Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Thu, 7 Oct 2021 08:51:50 +0200
Subject: [PATCH 12/37] Extract public Arduino_Threads member function
 implementation into cpp file.

---
 src/Arduino_Threads.cpp | 33 +++++++++++++++++++++++++++++++++
 src/Arduino_Threads.h   | 36 +++++++++++-------------------------
 2 files changed, 44 insertions(+), 25 deletions(-)

diff --git a/src/Arduino_Threads.cpp b/src/Arduino_Threads.cpp
index 9db2da7..1af5bb3 100644
--- a/src/Arduino_Threads.cpp
+++ b/src/Arduino_Threads.cpp
@@ -10,6 +10,39 @@
 
 rtos::EventFlags ArduinoThreads::_global_events;
 
+/**************************************************************************************
+ * PUBLIC MEMBER FUNCTIONS
+ **************************************************************************************/
+
+void ArduinoThreads::start(int const stack_size, uint32_t const start_flags, uint32_t const stop_flags)
+{
+  _start_flags = start_flags;
+  _stop_flags  = stop_flags;
+  _loop_delay = 0;
+  t = new rtos::Thread(osPriorityNormal, stack_size, nullptr, _tabname);
+  t->start(mbed::callback(this, &ArduinoThreads::execute));
+}
+
+void ArduinoThreads::terminate()
+{
+  t->terminate();
+}
+
+void ArduinoThreads::sendEvent(uint32_t const event)
+{
+ t->flags_set(event);
+}
+
+void ArduinoThreads::setLoopDelay(uint32_t const delay)
+{
+  _loop_delay = delay;
+}
+
+void ArduinoThreads::broadcastEvent(uint32_t const event)
+{
+  _global_events.set(event);
+}
+
 /**************************************************************************************
  * PRIVATE MEMBER FUNCTIONS
  **************************************************************************************/
diff --git a/src/Arduino_Threads.h b/src/Arduino_Threads.h
index f8c668e..8ac523b 100644
--- a/src/Arduino_Threads.h
+++ b/src/Arduino_Threads.h
@@ -46,7 +46,8 @@ public: \
 
 #define _macroToString(sequence) #sequence
 
-class ArduinoThreads {
+class ArduinoThreads
+{
   private:
     static rtos::EventFlags _global_events;
     uint32_t _start_flags;
@@ -58,33 +59,18 @@ class ArduinoThreads {
     rtos::Thread *t;
 
   protected:
+
     char* _tabname;
 
   public:
-    // start this sketch
-    void start(int stacksize = 4096, uint32_t _start_flags=0, uint32_t _stop_flags=0) {
-      this->_start_flags = _start_flags;
-      this->_stop_flags = _stop_flags;
-      _loop_delay=0;
-      t = new rtos::Thread(osPriorityNormal, stacksize, nullptr, _tabname);
-      t->start(mbed::callback(this, &ArduinoThreads::execute));
-    }
-    // kill this sketch
-    void terminate() {
-      t->terminate();
-    }
-    // send an event to all sketches at the same time
-    static void broadcastEvent(uint32_t event) {
-      _global_events.set(event);
-    }
-    // send an event only to this sketch
-    void sendEvent(uint32_t event) {
-      t->flags_set(event);
-    }
-    // set the rate at which loop function will be called
-    void setLoopDelay(uint32_t delay) {
-      _loop_delay = delay;
-    }
+
+    void start(int const stack_size = 4096, uint32_t const start_flags = 0, uint32_t const stop_flags = 0);
+    void terminate();
+    void setLoopDelay(uint32_t const delay);
+    void sendEvent(uint32_t const event);
+
+    static void broadcastEvent(uint32_t event);
+
 };
 
 #define THD_ENTER(tabname) class CONCAT(tabname, Class) : public ArduinoThreads { \

From 37301304cd20ddfd3e66bdd07e7bab38d282d950 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Thu, 7 Oct 2021 08:54:49 +0200
Subject: [PATCH 13/37] Rearrange function definition for better overview.

---
 src/Arduino_Threads.h | 37 ++++++++++++++++++++-----------------
 1 file changed, 20 insertions(+), 17 deletions(-)

diff --git a/src/Arduino_Threads.h b/src/Arduino_Threads.h
index 8ac523b..8b62b2c 100644
--- a/src/Arduino_Threads.h
+++ b/src/Arduino_Threads.h
@@ -48,29 +48,32 @@ public: \
 
 class ArduinoThreads
 {
-  private:
-    static rtos::EventFlags _global_events;
-    uint32_t _start_flags;
-    uint32_t _stop_flags;
-    uint32_t _loop_delay;
-    virtual void setup(void) {};
-    virtual void loop(void) {};
-    void execute();
-    rtos::Thread *t;
+public:
 
-  protected:
+  void start       (int const stack_size = 4096, uint32_t const start_flags = 0, uint32_t const stop_flags = 0);
+  void terminate   ();
+  void setLoopDelay(uint32_t const delay);
+  void sendEvent   (uint32_t const event);
 
-    char* _tabname;
+  static void broadcastEvent(uint32_t event);
 
-  public:
 
-    void start(int const stack_size = 4096, uint32_t const start_flags = 0, uint32_t const stop_flags = 0);
-    void terminate();
-    void setLoopDelay(uint32_t const delay);
-    void sendEvent(uint32_t const event);
+protected:
 
-    static void broadcastEvent(uint32_t event);
+  char * _tabname;
 
+
+private:
+
+  static rtos::EventFlags _global_events;
+  rtos::Thread *t;
+  uint32_t _start_flags, _stop_flags;
+  uint32_t _loop_delay;
+
+  virtual void setup(void) {};
+  virtual void loop(void) {};
+
+  void execute();
 };
 
 #define THD_ENTER(tabname) class CONCAT(tabname, Class) : public ArduinoThreads { \

From c0583ed4feb6bde4832ad3bceefeaac608cdb30d Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Thu, 7 Oct 2021 08:57:59 +0200
Subject: [PATCH 14/37] Turn setup/loop into pure virtual functions, thereby
 turning ArduinoThreads into an abstract class, preventing accidential
 instantiation.

---
 src/Arduino_Threads.h | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/src/Arduino_Threads.h b/src/Arduino_Threads.h
index 8b62b2c..51b35bb 100644
--- a/src/Arduino_Threads.h
+++ b/src/Arduino_Threads.h
@@ -62,6 +62,8 @@ class ArduinoThreads
 
   char * _tabname;
 
+  virtual void setup() = 0;
+  virtual void loop () = 0;
 
 private:
 
@@ -70,9 +72,6 @@ class ArduinoThreads
   uint32_t _start_flags, _stop_flags;
   uint32_t _loop_delay;
 
-  virtual void setup(void) {};
-  virtual void loop(void) {};
-
   void execute();
 };
 

From 60670405c417726193209e68213f87423685965b Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Thu, 7 Oct 2021 08:59:28 +0200
Subject: [PATCH 15/37] A class with virtual functions needs a virtual
 destructor.

---
 src/Arduino_Threads.cpp | 9 +++++++++
 src/Arduino_Threads.h   | 3 +++
 2 files changed, 12 insertions(+)

diff --git a/src/Arduino_Threads.cpp b/src/Arduino_Threads.cpp
index 1af5bb3..a20e3a4 100644
--- a/src/Arduino_Threads.cpp
+++ b/src/Arduino_Threads.cpp
@@ -10,6 +10,15 @@
 
 rtos::EventFlags ArduinoThreads::_global_events;
 
+/**************************************************************************************
+ * CTOR/DTOR
+ **************************************************************************************/
+
+ArduinoThreads::~ArduinoThreads()
+{
+  terminate();
+}
+
 /**************************************************************************************
  * PUBLIC MEMBER FUNCTIONS
  **************************************************************************************/
diff --git a/src/Arduino_Threads.h b/src/Arduino_Threads.h
index 51b35bb..4d11cd0 100644
--- a/src/Arduino_Threads.h
+++ b/src/Arduino_Threads.h
@@ -50,6 +50,9 @@ class ArduinoThreads
 {
 public:
 
+  virtual ~ArduinoThreads();
+
+
   void start       (int const stack_size = 4096, uint32_t const start_flags = 0, uint32_t const stop_flags = 0);
   void terminate   ();
   void setLoopDelay(uint32_t const delay);

From 207b4fc5645f44e34804373546c6b68631fd358f Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Thu, 7 Oct 2021 09:01:21 +0200
Subject: [PATCH 16/37] When terminating a thread, wait for the thread to join
 before deallocating the class.

---
 src/Arduino_Threads.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/Arduino_Threads.cpp b/src/Arduino_Threads.cpp
index a20e3a4..2731546 100644
--- a/src/Arduino_Threads.cpp
+++ b/src/Arduino_Threads.cpp
@@ -35,6 +35,7 @@ void ArduinoThreads::start(int const stack_size, uint32_t const start_flags, uin
 void ArduinoThreads::terminate()
 {
   t->terminate();
+  t->join();
 }
 
 void ArduinoThreads::sendEvent(uint32_t const event)

From ce77408b4d04f0bea86254e6d6eca07537c99c3a Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Thu, 7 Oct 2021 09:02:19 +0200
Subject: [PATCH 17/37] Rename 'execute' to 'threadFunc'

---
 src/Arduino_Threads.cpp | 4 ++--
 src/Arduino_Threads.h   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/Arduino_Threads.cpp b/src/Arduino_Threads.cpp
index 2731546..8221a53 100644
--- a/src/Arduino_Threads.cpp
+++ b/src/Arduino_Threads.cpp
@@ -29,7 +29,7 @@ void ArduinoThreads::start(int const stack_size, uint32_t const start_flags, uin
   _stop_flags  = stop_flags;
   _loop_delay = 0;
   t = new rtos::Thread(osPriorityNormal, stack_size, nullptr, _tabname);
-  t->start(mbed::callback(this, &ArduinoThreads::execute));
+  t->start(mbed::callback(this, &ArduinoThreads::threadFunc));
 }
 
 void ArduinoThreads::terminate()
@@ -57,7 +57,7 @@ void ArduinoThreads::broadcastEvent(uint32_t const event)
  * PRIVATE MEMBER FUNCTIONS
  **************************************************************************************/
 
-void ArduinoThreads::execute()
+void ArduinoThreads::threadFunc()
 {
   setup();
   /* If _start_flags have been passed then wait until all the flags are set
diff --git a/src/Arduino_Threads.h b/src/Arduino_Threads.h
index 4d11cd0..36960b4 100644
--- a/src/Arduino_Threads.h
+++ b/src/Arduino_Threads.h
@@ -75,7 +75,7 @@ class ArduinoThreads
   uint32_t _start_flags, _stop_flags;
   uint32_t _loop_delay;
 
-  void execute();
+  void threadFunc();
 };
 
 #define THD_ENTER(tabname) class CONCAT(tabname, Class) : public ArduinoThreads { \

From 2d9ef0fd9b80b618345bd84917c58d173e177ad6 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Thu, 7 Oct 2021 09:06:36 +0200
Subject: [PATCH 18/37] Providing a default ctor for initializing member
 variables.

---
 src/Arduino_Threads.cpp | 9 ++++++++-
 src/Arduino_Threads.h   | 1 +
 2 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/src/Arduino_Threads.cpp b/src/Arduino_Threads.cpp
index 8221a53..cfe7361 100644
--- a/src/Arduino_Threads.cpp
+++ b/src/Arduino_Threads.cpp
@@ -14,6 +14,14 @@ rtos::EventFlags ArduinoThreads::_global_events;
  * CTOR/DTOR
  **************************************************************************************/
 
+ArduinoThreads::ArduinoThreads()
+: _start_flags{0}
+, _stop_flags{0}
+, _loop_delay{0}
+{
+
+}
+
 ArduinoThreads::~ArduinoThreads()
 {
   terminate();
@@ -27,7 +35,6 @@ void ArduinoThreads::start(int const stack_size, uint32_t const start_flags, uin
 {
   _start_flags = start_flags;
   _stop_flags  = stop_flags;
-  _loop_delay = 0;
   t = new rtos::Thread(osPriorityNormal, stack_size, nullptr, _tabname);
   t->start(mbed::callback(this, &ArduinoThreads::threadFunc));
 }
diff --git a/src/Arduino_Threads.h b/src/Arduino_Threads.h
index 36960b4..97e1d40 100644
--- a/src/Arduino_Threads.h
+++ b/src/Arduino_Threads.h
@@ -50,6 +50,7 @@ class ArduinoThreads
 {
 public:
 
+           ArduinoThreads();
   virtual ~ArduinoThreads();
 
 

From 661f97cec0c6aaa1ff8a45740f5d5214ba377a74 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Thu, 7 Oct 2021 09:07:57 +0200
Subject: [PATCH 19/37] Renaming rtos::Thread pointer 't' to '_thread'

---
 src/Arduino_Threads.cpp | 10 +++++-----
 src/Arduino_Threads.h   |  2 +-
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/Arduino_Threads.cpp b/src/Arduino_Threads.cpp
index cfe7361..0d8eb4d 100644
--- a/src/Arduino_Threads.cpp
+++ b/src/Arduino_Threads.cpp
@@ -35,19 +35,19 @@ void ArduinoThreads::start(int const stack_size, uint32_t const start_flags, uin
 {
   _start_flags = start_flags;
   _stop_flags  = stop_flags;
-  t = new rtos::Thread(osPriorityNormal, stack_size, nullptr, _tabname);
-  t->start(mbed::callback(this, &ArduinoThreads::threadFunc));
+  _thread = new rtos::Thread(osPriorityNormal, stack_size, nullptr, _tabname);
+  _thread->start(mbed::callback(this, &ArduinoThreads::threadFunc));
 }
 
 void ArduinoThreads::terminate()
 {
-  t->terminate();
-  t->join();
+  _thread->terminate();
+  _thread->join();
 }
 
 void ArduinoThreads::sendEvent(uint32_t const event)
 {
- t->flags_set(event);
+  _thread->flags_set(event);
 }
 
 void ArduinoThreads::setLoopDelay(uint32_t const delay)
diff --git a/src/Arduino_Threads.h b/src/Arduino_Threads.h
index 97e1d40..e633fa7 100644
--- a/src/Arduino_Threads.h
+++ b/src/Arduino_Threads.h
@@ -72,7 +72,7 @@ class ArduinoThreads
 private:
 
   static rtos::EventFlags _global_events;
-  rtos::Thread *t;
+  rtos::Thread * _thread;
   uint32_t _start_flags, _stop_flags;
   uint32_t _loop_delay;
 

From 99bc3c6f0f328280d2731d21a0f9738eb71eb140 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Thu, 7 Oct 2021 09:12:46 +0200
Subject: [PATCH 20/37] Replace (leaky) manual memory handling with a smart
 pointer.

---
 src/Arduino_Threads.cpp | 2 +-
 src/Arduino_Threads.h   | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/Arduino_Threads.cpp b/src/Arduino_Threads.cpp
index 0d8eb4d..acef655 100644
--- a/src/Arduino_Threads.cpp
+++ b/src/Arduino_Threads.cpp
@@ -35,7 +35,7 @@ void ArduinoThreads::start(int const stack_size, uint32_t const start_flags, uin
 {
   _start_flags = start_flags;
   _stop_flags  = stop_flags;
-  _thread = new rtos::Thread(osPriorityNormal, stack_size, nullptr, _tabname);
+  _thread.reset(new rtos::Thread(osPriorityNormal, stack_size, nullptr, _tabname));
   _thread->start(mbed::callback(this, &ArduinoThreads::threadFunc));
 }
 
diff --git a/src/Arduino_Threads.h b/src/Arduino_Threads.h
index e633fa7..7f07f4b 100644
--- a/src/Arduino_Threads.h
+++ b/src/Arduino_Threads.h
@@ -6,6 +6,7 @@
  **************************************************************************************/
 
 #include <mbed.h>
+#include <SharedPtr.h>
 
 #include "Sink.hpp"
 #include "Source.hpp"
@@ -72,7 +73,7 @@ class ArduinoThreads
 private:
 
   static rtos::EventFlags _global_events;
-  rtos::Thread * _thread;
+  mbed::SharedPtr<rtos::Thread> _thread;
   uint32_t _start_flags, _stop_flags;
   uint32_t _loop_delay;
 

From 58f451c67c7e89d5e08b70f7316b63cfb5d4ecee Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Fri, 8 Oct 2021 10:12:55 +0200
Subject: [PATCH 21/37] Cast loop delay to expected type by
 rtos::ThisThread::sleep_for()

---
 src/Arduino_Threads.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/Arduino_Threads.cpp b/src/Arduino_Threads.cpp
index acef655..b01ec29 100644
--- a/src/Arduino_Threads.cpp
+++ b/src/Arduino_Threads.cpp
@@ -102,6 +102,6 @@ void ArduinoThreads::threadFunc()
 
     /* Sleep for the time we've been asked to insert between loops.
      */
-    rtos::ThisThread::sleep_for(_loop_delay);
+    rtos::ThisThread::sleep_for(rtos::Kernel::Clock::duration_u32(_loop_delay));
   }
 }

From 9e44f59be6bc5f803e73b5b0b2983b7b51ce9a67 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Fri, 8 Oct 2021 10:14:47 +0200
Subject: [PATCH 22/37] Rename _loop_delay to _loop_delay_ms for better clarity
 on the unit of the parameter.

---
 src/Arduino_Threads.cpp | 6 +++---
 src/Arduino_Threads.h   | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/Arduino_Threads.cpp b/src/Arduino_Threads.cpp
index b01ec29..5343b1d 100644
--- a/src/Arduino_Threads.cpp
+++ b/src/Arduino_Threads.cpp
@@ -17,7 +17,7 @@ rtos::EventFlags ArduinoThreads::_global_events;
 ArduinoThreads::ArduinoThreads()
 : _start_flags{0}
 , _stop_flags{0}
-, _loop_delay{0}
+, _loop_delay_ms{0}
 {
 
 }
@@ -52,7 +52,7 @@ void ArduinoThreads::sendEvent(uint32_t const event)
 
 void ArduinoThreads::setLoopDelay(uint32_t const delay)
 {
-  _loop_delay = delay;
+  _loop_delay_ms = delay;
 }
 
 void ArduinoThreads::broadcastEvent(uint32_t const event)
@@ -102,6 +102,6 @@ void ArduinoThreads::threadFunc()
 
     /* Sleep for the time we've been asked to insert between loops.
      */
-    rtos::ThisThread::sleep_for(rtos::Kernel::Clock::duration_u32(_loop_delay));
+    rtos::ThisThread::sleep_for(rtos::Kernel::Clock::duration_u32(_loop_delay_ms));
   }
 }
diff --git a/src/Arduino_Threads.h b/src/Arduino_Threads.h
index 7f07f4b..bfd08c5 100644
--- a/src/Arduino_Threads.h
+++ b/src/Arduino_Threads.h
@@ -75,7 +75,7 @@ class ArduinoThreads
   static rtos::EventFlags _global_events;
   mbed::SharedPtr<rtos::Thread> _thread;
   uint32_t _start_flags, _stop_flags;
-  uint32_t _loop_delay;
+  uint32_t _loop_delay_ms;
 
   void threadFunc();
 };

From e58455326a88d17bae3cd454471e1804fedde48e Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Mon, 11 Oct 2021 08:41:02 +0200
Subject: [PATCH 23/37] Replace rtos::Queue/MemoryPool with rtos::Mail which
 contains both in one class.

---
 src/Shared.hpp | 53 +++++++++++++++++++++++++++++---------------------
 1 file changed, 31 insertions(+), 22 deletions(-)

diff --git a/src/Shared.hpp b/src/Shared.hpp
index e2e07b0..504b7b3 100644
--- a/src/Shared.hpp
+++ b/src/Shared.hpp
@@ -13,50 +13,59 @@
  **************************************************************************************/
 
 template<class T, size_t QUEUE_SIZE = 16>
-class Shared // template definition
+class Shared
 {
   public:
     Shared() {
     }
-    operator T() {
-      osEvent evt = queue.get();
-      if (evt.status == osEventMessage) {
-        /* Obtain the oldest inserted element from the queue. */
-        T * val_ptr = reinterpret_cast<T *>(evt.value.p);
+
+    operator T()
+    {
+      T * val_ptr = _mailbox.try_get_for(rtos::Kernel::wait_for_u32_forever);
+      if (val_ptr)
+      {
         /* Copy the content of T stored in the memory pool since we'll have to free the memory pool afterwards. */
         T const tmp_val = *val_ptr;
         /* Free the allocated memory in the memory pool. */
-        memory_pool.free(val_ptr);
-        /* Return obtained value from queue. */
+        _mailbox.free(val_ptr);
+        /* Return obtained value from _mailbox. */
         return tmp_val;
       }
       return val;
     }
-    T& operator= (const T& other) {
-      if (queue.full()) {
-        // invokes operator T() to discard oldest element and free its memory
-        T discard = *this;
-      }
+
+    void operator = (T const & other)
+    {
+      if (_mailbox.full())
+        T discard = *this; /* Invokes operator T() to discard oldest element and free its memory. */
+
       val = other;
-      /* Allocate memory in the memory pool. */
-      T * val_ptr = memory_pool.alloc();
-      /* Copy the content of 'other' into the freshly allocated message. */
-      *val_ptr = other;
-      /* Insert into queue. */
-      queue.put(val_ptr);
-      return (*val_ptr);
+
+      /* Try and allocate memory for the new entry in rtos::Mail. */
+      T * val_ptr = _mailbox.try_alloc();
+      if (val_ptr)
+      {
+        /* Copy the content of 'other' into the freshly allocated message. */
+        *val_ptr = other;
+        /* Copy the content of 'other' into the peek value. */
+        val = other;
+        /* Insert value into mailbox. */
+        _mailbox.put(val_ptr);
+      }
     }
+
     T& peek() {
       return val;
     }
+
     T& latest() {
       return peek();
     }
+
   private:
 
     T val;
-    rtos::MemoryPool<T, QUEUE_SIZE> memory_pool;
-    rtos::Queue<T, QUEUE_SIZE> queue;
+    rtos::Mail<T, QUEUE_SIZE> _mailbox;
 };
 
 #endif /* ARDUINO_THREADS_SHARED_HPP_ */

From 83a748d4bab32f87656b1ec102bc0733ddf2e954 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Mon, 11 Oct 2021 08:47:00 +0200
Subject: [PATCH 24/37] Separate implementation and definition.

---
 src/Shared.hpp | 69 +++++++++++++++++++++++++-------------------------
 1 file changed, 35 insertions(+), 34 deletions(-)

diff --git a/src/Shared.hpp b/src/Shared.hpp
index 504b7b3..f3e82eb 100644
--- a/src/Shared.hpp
+++ b/src/Shared.hpp
@@ -19,40 +19,8 @@ class Shared
     Shared() {
     }
 
-    operator T()
-    {
-      T * val_ptr = _mailbox.try_get_for(rtos::Kernel::wait_for_u32_forever);
-      if (val_ptr)
-      {
-        /* Copy the content of T stored in the memory pool since we'll have to free the memory pool afterwards. */
-        T const tmp_val = *val_ptr;
-        /* Free the allocated memory in the memory pool. */
-        _mailbox.free(val_ptr);
-        /* Return obtained value from _mailbox. */
-        return tmp_val;
-      }
-      return val;
-    }
-
-    void operator = (T const & other)
-    {
-      if (_mailbox.full())
-        T discard = *this; /* Invokes operator T() to discard oldest element and free its memory. */
-
-      val = other;
-
-      /* Try and allocate memory for the new entry in rtos::Mail. */
-      T * val_ptr = _mailbox.try_alloc();
-      if (val_ptr)
-      {
-        /* Copy the content of 'other' into the freshly allocated message. */
-        *val_ptr = other;
-        /* Copy the content of 'other' into the peek value. */
-        val = other;
-        /* Insert value into mailbox. */
-        _mailbox.put(val_ptr);
-      }
-    }
+    operator T();
+    void operator = (T const & other);
 
     T& peek() {
       return val;
@@ -68,4 +36,37 @@ class Shared
     rtos::Mail<T, QUEUE_SIZE> _mailbox;
 };
 
+/**************************************************************************************
+ * PUBLIC MEMBER FUNCTIONS
+ **************************************************************************************/
+
+template<class T, size_t QUEUE_SIZE>
+Shared<T,QUEUE_SIZE>::operator T()
+{
+  T * val_ptr = _mailbox.try_get_for(rtos::Kernel::wait_for_u32_forever);
+  if (val_ptr)
+  {
+    T const tmp_val = *val_ptr;
+    _mailbox.free(val_ptr);
+    return tmp_val;
+  }
+  return val;
+}
+
+template<class T, size_t QUEUE_SIZE>
+void Shared<T,QUEUE_SIZE>::operator = (T const & other)
+{
+  if (_mailbox.full())
+    T discard = *this;
+
+  val = other;
+
+  T * val_ptr = _mailbox.try_alloc();
+  if (val_ptr)
+  {
+    *val_ptr = other;
+    _mailbox.put(val_ptr);
+  }
+}
+
 #endif /* ARDUINO_THREADS_SHARED_HPP_ */

From 048d823a1932940239eb014fe02f6d2a15d5ea6a Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Mon, 11 Oct 2021 08:48:50 +0200
Subject: [PATCH 25/37] Make actions during discarding of old data better
 visible in the code.

---
 src/Shared.hpp | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/src/Shared.hpp b/src/Shared.hpp
index f3e82eb..d40a9dd 100644
--- a/src/Shared.hpp
+++ b/src/Shared.hpp
@@ -56,8 +56,15 @@ Shared<T,QUEUE_SIZE>::operator T()
 template<class T, size_t QUEUE_SIZE>
 void Shared<T,QUEUE_SIZE>::operator = (T const & other)
 {
+  /* If the mailbox is full we are discarding the
+   * oldest element and then push the new one into
+   * the queue.
+   **/
   if (_mailbox.full())
-    T discard = *this;
+  {
+    T * val_ptr = _mailbox.try_get_for(rtos::Kernel::wait_for_u32_forever);
+    _mailbox.free(val_ptr);
+  }
 
   val = other;
 

From 6b25c8c20790c8ab3225867a67c978c17a474122 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Mon, 11 Oct 2021 08:50:17 +0200
Subject: [PATCH 26/37] Prefix private member variable 'val' with a '_'

---
 src/Shared.hpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/Shared.hpp b/src/Shared.hpp
index d40a9dd..d7c8fb2 100644
--- a/src/Shared.hpp
+++ b/src/Shared.hpp
@@ -23,7 +23,7 @@ class Shared
     void operator = (T const & other);
 
     T& peek() {
-      return val;
+      return _val;
     }
 
     T& latest() {
@@ -32,7 +32,7 @@ class Shared
 
   private:
 
-    T val;
+    T _val;
     rtos::Mail<T, QUEUE_SIZE> _mailbox;
 };
 
@@ -50,7 +50,7 @@ Shared<T,QUEUE_SIZE>::operator T()
     _mailbox.free(val_ptr);
     return tmp_val;
   }
-  return val;
+  return _val;
 }
 
 template<class T, size_t QUEUE_SIZE>
@@ -66,7 +66,7 @@ void Shared<T,QUEUE_SIZE>::operator = (T const & other)
     _mailbox.free(val_ptr);
   }
 
-  val = other;
+  _val = other;
 
   T * val_ptr = _mailbox.try_alloc();
   if (val_ptr)

From fae2eb1b2faee295ae6994cf1e3121d8b084b785 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Mon, 11 Oct 2021 08:51:26 +0200
Subject: [PATCH 27/37] Reformat for better optical consistency.

---
 src/Shared.hpp | 23 ++++++++---------------
 1 file changed, 8 insertions(+), 15 deletions(-)

diff --git a/src/Shared.hpp b/src/Shared.hpp
index d7c8fb2..66ba49c 100644
--- a/src/Shared.hpp
+++ b/src/Shared.hpp
@@ -6,7 +6,6 @@
  **************************************************************************************/
 
 #include <mbed.h>
-#include <MemoryPool.h>
 
 /**************************************************************************************
  * CLASS DECLARATION
@@ -15,25 +14,19 @@
 template<class T, size_t QUEUE_SIZE = 16>
 class Shared
 {
-  public:
-    Shared() {
-    }
+public:
 
-    operator T();
-    void operator = (T const & other);
+  operator T();
+  void operator = (T const & other);
 
-    T& peek() {
-      return _val;
-    }
+  T & peek() { return _val; }
+  T & latest() { return peek(); }
 
-    T& latest() {
-      return peek();
-    }
 
-  private:
+private:
 
-    T _val;
-    rtos::Mail<T, QUEUE_SIZE> _mailbox;
+  T _val;
+  rtos::Mail<T, QUEUE_SIZE> _mailbox;
 };
 
 /**************************************************************************************

From 3e4f2ad6c0c5881926e059347a1137413a3a80f4 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Mon, 11 Oct 2021 08:51:58 +0200
Subject: [PATCH 28/37] Drop method 'latest' since its indistinguishable from
 'peek'

---
 src/Shared.hpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/Shared.hpp b/src/Shared.hpp
index 66ba49c..85417d9 100644
--- a/src/Shared.hpp
+++ b/src/Shared.hpp
@@ -20,7 +20,6 @@ class Shared
   void operator = (T const & other);
 
   T & peek() { return _val; }
-  T & latest() { return peek(); }
 
 
 private:

From 3b838915cee3cc4e1d49b0404ef1bfed4834a82f Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Mon, 11 Oct 2021 08:54:14 +0200
Subject: [PATCH 29/37] Changing return signature of 'peek' to prevent
 unauthorized manipulation of '_val'

---
 src/Shared.hpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/Shared.hpp b/src/Shared.hpp
index 85417d9..18b634c 100644
--- a/src/Shared.hpp
+++ b/src/Shared.hpp
@@ -18,8 +18,7 @@ class Shared
 
   operator T();
   void operator = (T const & other);
-
-  T & peek() { return _val; }
+  inline T peek() const { return _val; }
 
 
 private:

From 7450577a18a4de2473dd470866b5223938aecb25 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Mon, 11 Oct 2021 08:55:34 +0200
Subject: [PATCH 30/37] Adding license file.

---
 src/Arduino_Threads.cpp | 18 ++++++++++++++++++
 src/Arduino_Threads.h   | 18 ++++++++++++++++++
 src/Shared.hpp          | 18 ++++++++++++++++++
 src/Sink.hpp            | 18 ++++++++++++++++++
 src/Source.hpp          | 18 ++++++++++++++++++
 5 files changed, 90 insertions(+)

diff --git a/src/Arduino_Threads.cpp b/src/Arduino_Threads.cpp
index 5343b1d..732f3fb 100644
--- a/src/Arduino_Threads.cpp
+++ b/src/Arduino_Threads.cpp
@@ -1,3 +1,21 @@
+/*
+ * This file is part of the Arduino_ThreadsafeIO library.
+ * Copyright (c) 2021 Arduino SA.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ * This library 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
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
 /**************************************************************************************
  * INCLUDE
  **************************************************************************************/
diff --git a/src/Arduino_Threads.h b/src/Arduino_Threads.h
index bfd08c5..2c46671 100644
--- a/src/Arduino_Threads.h
+++ b/src/Arduino_Threads.h
@@ -1,3 +1,21 @@
+/*
+ * This file is part of the Arduino_ThreadsafeIO library.
+ * Copyright (c) 2021 Arduino SA.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ * This library 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
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
 #ifndef ARDUINO_THREADS_H_
 #define ARDUINO_THREADS_H_
 
diff --git a/src/Shared.hpp b/src/Shared.hpp
index 18b634c..0eaf00e 100644
--- a/src/Shared.hpp
+++ b/src/Shared.hpp
@@ -1,3 +1,21 @@
+/*
+ * This file is part of the Arduino_ThreadsafeIO library.
+ * Copyright (c) 2021 Arduino SA.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ * This library 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
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
 #ifndef ARDUINO_THREADS_SHARED_HPP_
 #define ARDUINO_THREADS_SHARED_HPP_
 
diff --git a/src/Sink.hpp b/src/Sink.hpp
index 97b3604..09ae1de 100644
--- a/src/Sink.hpp
+++ b/src/Sink.hpp
@@ -1,3 +1,21 @@
+/*
+ * This file is part of the Arduino_ThreadsafeIO library.
+ * Copyright (c) 2021 Arduino SA.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ * This library 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
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
 #ifndef ARDUINO_THREADS_SINK_HPP_
 #define ARDUINO_THREADS_SINK_HPP_
 
diff --git a/src/Source.hpp b/src/Source.hpp
index e3b91ed..6b77098 100644
--- a/src/Source.hpp
+++ b/src/Source.hpp
@@ -1,3 +1,21 @@
+/*
+ * This file is part of the Arduino_ThreadsafeIO library.
+ * Copyright (c) 2021 Arduino SA.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ * This library 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
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
 #ifndef ARDUINO_THREADS_SOURCE_HPP_
 #define ARDUINO_THREADS_SOURCE_HPP_
 

From 911f10c7291c3004a5a57de968d4ce1b8ba5a309 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Mon, 11 Oct 2021 08:57:21 +0200
Subject: [PATCH 31/37] Rename ArduinoThreads to Arduino_Threads to be
 consistent with library name.

---
 .github/workflows/compile-examples.yml |  2 +-
 src/Arduino_Threads.cpp                | 20 ++++++++++----------
 src/Arduino_Threads.h                  |  8 ++++----
 3 files changed, 15 insertions(+), 15 deletions(-)

diff --git a/.github/workflows/compile-examples.yml b/.github/workflows/compile-examples.yml
index e526286..4c600c8 100644
--- a/.github/workflows/compile-examples.yml
+++ b/.github/workflows/compile-examples.yml
@@ -32,7 +32,7 @@ jobs:
     env:
       # libraries to install for all boards
       UNIVERSAL_LIBRARIES: |
-        # Install the ArduinoThreads library from the repository
+        # Install the Arduino_Threads library from the repository
         - source-path: ./
         - name: Arduino_LSM9DS1
         - name: Arduino_APDS9960
diff --git a/src/Arduino_Threads.cpp b/src/Arduino_Threads.cpp
index 732f3fb..444ded5 100644
--- a/src/Arduino_Threads.cpp
+++ b/src/Arduino_Threads.cpp
@@ -26,13 +26,13 @@
  * STATIC MEMBER DECLARATION
  **************************************************************************************/
 
-rtos::EventFlags ArduinoThreads::_global_events;
+rtos::EventFlags Arduino_Threads::_global_events;
 
 /**************************************************************************************
  * CTOR/DTOR
  **************************************************************************************/
 
-ArduinoThreads::ArduinoThreads()
+Arduino_Threads::Arduino_Threads()
 : _start_flags{0}
 , _stop_flags{0}
 , _loop_delay_ms{0}
@@ -40,7 +40,7 @@ ArduinoThreads::ArduinoThreads()
 
 }
 
-ArduinoThreads::~ArduinoThreads()
+Arduino_Threads::~Arduino_Threads()
 {
   terminate();
 }
@@ -49,31 +49,31 @@ ArduinoThreads::~ArduinoThreads()
  * PUBLIC MEMBER FUNCTIONS
  **************************************************************************************/
 
-void ArduinoThreads::start(int const stack_size, uint32_t const start_flags, uint32_t const stop_flags)
+void Arduino_Threads::start(int const stack_size, uint32_t const start_flags, uint32_t const stop_flags)
 {
   _start_flags = start_flags;
   _stop_flags  = stop_flags;
   _thread.reset(new rtos::Thread(osPriorityNormal, stack_size, nullptr, _tabname));
-  _thread->start(mbed::callback(this, &ArduinoThreads::threadFunc));
+  _thread->start(mbed::callback(this, &Arduino_Threads::threadFunc));
 }
 
-void ArduinoThreads::terminate()
+void Arduino_Threads::terminate()
 {
   _thread->terminate();
   _thread->join();
 }
 
-void ArduinoThreads::sendEvent(uint32_t const event)
+void Arduino_Threads::sendEvent(uint32_t const event)
 {
   _thread->flags_set(event);
 }
 
-void ArduinoThreads::setLoopDelay(uint32_t const delay)
+void Arduino_Threads::setLoopDelay(uint32_t const delay)
 {
   _loop_delay_ms = delay;
 }
 
-void ArduinoThreads::broadcastEvent(uint32_t const event)
+void Arduino_Threads::broadcastEvent(uint32_t const event)
 {
   _global_events.set(event);
 }
@@ -82,7 +82,7 @@ void ArduinoThreads::broadcastEvent(uint32_t const event)
  * PRIVATE MEMBER FUNCTIONS
  **************************************************************************************/
 
-void ArduinoThreads::threadFunc()
+void Arduino_Threads::threadFunc()
 {
   setup();
   /* If _start_flags have been passed then wait until all the flags are set
diff --git a/src/Arduino_Threads.h b/src/Arduino_Threads.h
index 2c46671..2fcd6e0 100644
--- a/src/Arduino_Threads.h
+++ b/src/Arduino_Threads.h
@@ -65,12 +65,12 @@ public: \
 
 #define _macroToString(sequence) #sequence
 
-class ArduinoThreads
+class Arduino_Threads
 {
 public:
 
-           ArduinoThreads();
-  virtual ~ArduinoThreads();
+           Arduino_Threads();
+  virtual ~Arduino_Threads();
 
 
   void start       (int const stack_size = 4096, uint32_t const start_flags = 0, uint32_t const stop_flags = 0);
@@ -98,7 +98,7 @@ class ArduinoThreads
   void threadFunc();
 };
 
-#define THD_ENTER(tabname) class CONCAT(tabname, Class) : public ArduinoThreads { \
+#define THD_ENTER(tabname) class CONCAT(tabname, Class) : public Arduino_Threads { \
 public: \
   CONCAT(tabname, Class)() { _tabname = _macroToString(tabname); } \
 private: \

From 904ee61a65346b28995cf1d672d749decaa72d69 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Mon, 11 Oct 2021 09:06:29 +0200
Subject: [PATCH 32/37] Adding missing mbed based platforms, eliminating no
 longer needed library for CI build.

---
 .github/workflows/compile-examples.yml | 33 +++++++++++++-------------
 1 file changed, 16 insertions(+), 17 deletions(-)

diff --git a/.github/workflows/compile-examples.yml b/.github/workflows/compile-examples.yml
index 4c600c8..45efc0f 100644
--- a/.github/workflows/compile-examples.yml
+++ b/.github/workflows/compile-examples.yml
@@ -26,7 +26,7 @@ env:
 
 jobs:
   compile-test:
-    name: compile for ${{ matrix.fqbn }}
+    name: ${{ matrix.board.fqbn }}
     runs-on: ubuntu-latest
 
     env:
@@ -34,11 +34,6 @@ jobs:
       UNIVERSAL_LIBRARIES: |
         # Install the Arduino_Threads library from the repository
         - source-path: ./
-        - name: Arduino_LSM9DS1
-        - name: Arduino_APDS9960
-        - name: ArduinoECCX08
-        - name: Arduino_HTS221
-        - name: OneWire
       # sketch paths to compile (recursive) for all boards
       UNIVERSAL_SKETCH_PATHS: |
         - examples
@@ -49,10 +44,19 @@ jobs:
       fail-fast: false
 
       matrix:
-        fqbn:
-          - "arduino:mbed:nano33ble"
-          # - "arduino:mbed:envie_m4"
-          - "arduino:mbed:envie_m7"
+        board:
+          - fqbn: arduino:mbed_nano:nano33ble
+            platforms: |
+              - name: arduino:mbed_nano
+          - fqbn: arduino:mbed_nano:nanorp2040connect
+            platforms: |
+              - name: arduino:mbed_nano
+          - fqbn: arduino:mbed_portenta:envie_m4
+            platforms: |
+              - name: arduino:mbed_portenta
+          - fqbn: arduino:mbed_portenta:envie_m7
+            platforms: |
+              - name: arduino:mbed_portenta
 
     steps:
       - name: Checkout
@@ -83,15 +87,10 @@ jobs:
         uses: arduino/compile-sketches@v1
         with:
           cli-version: 'arduino_threads'
-          fqbn: ${{ matrix.fqbn }}
+          fqbn: ${{ matrix.board.fqbn }}
           libraries: |
             ${{ env.UNIVERSAL_LIBRARIES }}
-          platforms: |
-            # Use Board Manager to install the latest release of Arduino mbed Boards to get the toolchain
-            - name: "arduino:mbed"
-            # Overwrite the Board Manager installation with the local platform
-            - source-path: "extras/ArduinoCore-mbed"
-              name: "arduino:mbed"
+          platforms: ${{ matrix.board.platforms }}
           sketch-paths: |
             ${{ env.UNIVERSAL_SKETCH_PATHS }}
           enable-deltas-report: 'true'

From 318d7ff3da38f9e73c1cf0eaaf2c17f3a612e734 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Tue, 12 Oct 2021 07:23:42 +0200
Subject: [PATCH 33/37] Using constant for defining queue size.

---
 src/Shared.hpp | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/src/Shared.hpp b/src/Shared.hpp
index 0eaf00e..8b35cc9 100644
--- a/src/Shared.hpp
+++ b/src/Shared.hpp
@@ -25,11 +25,17 @@
 
 #include <mbed.h>
 
+/**************************************************************************************
+ * CONSTANT
+ **************************************************************************************/
+
+static size_t constexpr SHARED_QUEUE_SIZE = 16;
+
 /**************************************************************************************
  * CLASS DECLARATION
  **************************************************************************************/
 
-template<class T, size_t QUEUE_SIZE = 16>
+template<class T, size_t QUEUE_SIZE = SHARED_QUEUE_SIZE>
 class Shared
 {
 public:
@@ -43,6 +49,7 @@ class Shared
 
   T _val;
   rtos::Mail<T, QUEUE_SIZE> _mailbox;
+
 };
 
 /**************************************************************************************

From 7bfd8006c9b4349cee532ac387b32e3e29220ecc Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Tue, 12 Oct 2021 08:32:48 +0200
Subject: [PATCH 34/37] A big rework of the source/sink system.

---
 .../Consumer.inot                             |   0
 .../Demo_Shared_Counter.ino}                  |   6 +-
 .../Producer.inot                             |   0
 .../SharedVariables.h                         |   0
 .../Demo_Source_Sink_Counter/Consumer.inot    |  11 ++
 .../Demo_Source_Sink_Counter.ino              |  16 ++
 .../Demo_Source_Sink_Counter/Producer.inot    |  13 ++
 .../SharedVariables.h                         |   0
 .../Demo_Source_Sink_LED.ino}                 |   0
 .../Demo_Source_Sink_LED/SharedVariables.h    |   0
 .../Sink_Thread.inot                          |   2 +-
 .../Source_Thread.inot                        |   6 +-
 src/Arduino_Threads.h                         |   4 +-
 src/Sink.hpp                                  | 186 +++++++-----------
 src/Source.hpp                                |  56 ++++--
 15 files changed, 159 insertions(+), 141 deletions(-)
 rename examples/{Demo_Shared => Demo_Shared_Counter}/Consumer.inot (100%)
 rename examples/{Demo_Shared/Demo_Shared.ino => Demo_Shared_Counter/Demo_Shared_Counter.ino} (80%)
 rename examples/{Demo_Shared => Demo_Shared_Counter}/Producer.inot (100%)
 rename examples/{Demo_Shared => Demo_Shared_Counter}/SharedVariables.h (100%)
 create mode 100644 examples/Demo_Source_Sink_Counter/Consumer.inot
 create mode 100644 examples/Demo_Source_Sink_Counter/Demo_Source_Sink_Counter.ino
 create mode 100644 examples/Demo_Source_Sink_Counter/Producer.inot
 rename examples/{Demo_Source_Sink => Demo_Source_Sink_Counter}/SharedVariables.h (100%)
 rename examples/{Demo_Source_Sink/Demo_Source_Sink.ino => Demo_Source_Sink_LED/Demo_Source_Sink_LED.ino} (100%)
 create mode 100644 examples/Demo_Source_Sink_LED/SharedVariables.h
 rename examples/{Demo_Source_Sink => Demo_Source_Sink_LED}/Sink_Thread.inot (96%)
 rename examples/{Demo_Source_Sink => Demo_Source_Sink_LED}/Source_Thread.inot (66%)

diff --git a/examples/Demo_Shared/Consumer.inot b/examples/Demo_Shared_Counter/Consumer.inot
similarity index 100%
rename from examples/Demo_Shared/Consumer.inot
rename to examples/Demo_Shared_Counter/Consumer.inot
diff --git a/examples/Demo_Shared/Demo_Shared.ino b/examples/Demo_Shared_Counter/Demo_Shared_Counter.ino
similarity index 80%
rename from examples/Demo_Shared/Demo_Shared.ino
rename to examples/Demo_Shared_Counter/Demo_Shared_Counter.ino
index 8820b15..aa71781 100644
--- a/examples/Demo_Shared/Demo_Shared.ino
+++ b/examples/Demo_Shared_Counter/Demo_Shared_Counter.ino
@@ -1,4 +1,5 @@
-void setup() {
+void setup()
+{
   Serial.begin(115200);
   while (!Serial) { }
 
@@ -6,6 +7,7 @@ void setup() {
   Consumer.start();
 }
 
-void loop() {
+void loop()
+{
   rtos::ThisThread::yield();
 }
diff --git a/examples/Demo_Shared/Producer.inot b/examples/Demo_Shared_Counter/Producer.inot
similarity index 100%
rename from examples/Demo_Shared/Producer.inot
rename to examples/Demo_Shared_Counter/Producer.inot
diff --git a/examples/Demo_Shared/SharedVariables.h b/examples/Demo_Shared_Counter/SharedVariables.h
similarity index 100%
rename from examples/Demo_Shared/SharedVariables.h
rename to examples/Demo_Shared_Counter/SharedVariables.h
diff --git a/examples/Demo_Source_Sink_Counter/Consumer.inot b/examples/Demo_Source_Sink_Counter/Consumer.inot
new file mode 100644
index 0000000..d892c67
--- /dev/null
+++ b/examples/Demo_Source_Sink_Counter/Consumer.inot
@@ -0,0 +1,11 @@
+SINK(counter, int);
+
+void setup()
+{
+
+}
+
+void loop()
+{
+  Serial.println(counter.read());
+}
diff --git a/examples/Demo_Source_Sink_Counter/Demo_Source_Sink_Counter.ino b/examples/Demo_Source_Sink_Counter/Demo_Source_Sink_Counter.ino
new file mode 100644
index 0000000..6ce05a6
--- /dev/null
+++ b/examples/Demo_Source_Sink_Counter/Demo_Source_Sink_Counter.ino
@@ -0,0 +1,16 @@
+/*
+ * This examples demonstrates the SOURCE/SINK abstraction.
+ * Each thread may have any number of SOURCES and SINKS that can be connected
+ * together using the "connectTo" method.
+ */
+
+void setup()
+{
+  Producer.counter.connectTo(Consumer.counter);
+  Producer.start();
+  Consumer.start();
+}
+
+void loop() {
+  rtos::ThisThread::yield();
+}
diff --git a/examples/Demo_Source_Sink_Counter/Producer.inot b/examples/Demo_Source_Sink_Counter/Producer.inot
new file mode 100644
index 0000000..fe0a250
--- /dev/null
+++ b/examples/Demo_Source_Sink_Counter/Producer.inot
@@ -0,0 +1,13 @@
+SOURCE(counter, int);
+
+void setup()
+{
+
+}
+
+void loop()
+{
+  static int i = 0;
+  counter.write(i);
+  i++;
+}
diff --git a/examples/Demo_Source_Sink/SharedVariables.h b/examples/Demo_Source_Sink_Counter/SharedVariables.h
similarity index 100%
rename from examples/Demo_Source_Sink/SharedVariables.h
rename to examples/Demo_Source_Sink_Counter/SharedVariables.h
diff --git a/examples/Demo_Source_Sink/Demo_Source_Sink.ino b/examples/Demo_Source_Sink_LED/Demo_Source_Sink_LED.ino
similarity index 100%
rename from examples/Demo_Source_Sink/Demo_Source_Sink.ino
rename to examples/Demo_Source_Sink_LED/Demo_Source_Sink_LED.ino
diff --git a/examples/Demo_Source_Sink_LED/SharedVariables.h b/examples/Demo_Source_Sink_LED/SharedVariables.h
new file mode 100644
index 0000000..e69de29
diff --git a/examples/Demo_Source_Sink/Sink_Thread.inot b/examples/Demo_Source_Sink_LED/Sink_Thread.inot
similarity index 96%
rename from examples/Demo_Source_Sink/Sink_Thread.inot
rename to examples/Demo_Source_Sink_LED/Sink_Thread.inot
index 0bc87c6..51f9031 100644
--- a/examples/Demo_Source_Sink/Sink_Thread.inot
+++ b/examples/Demo_Source_Sink_LED/Sink_Thread.inot
@@ -3,7 +3,7 @@
  * An 'bool' SINK with a size of '0'. This kind of SINK has no buffer so the reading thread
  * will block until the writing thread has written something, or vice versa.
  */
-SINK(led, bool, 0)
+SINK(led, bool);
 
 void setup()
 {
diff --git a/examples/Demo_Source_Sink/Source_Thread.inot b/examples/Demo_Source_Sink_LED/Source_Thread.inot
similarity index 66%
rename from examples/Demo_Source_Sink/Source_Thread.inot
rename to examples/Demo_Source_Sink_LED/Source_Thread.inot
index 302a2c8..1bf7fca 100644
--- a/examples/Demo_Source_Sink/Source_Thread.inot
+++ b/examples/Demo_Source_Sink_LED/Source_Thread.inot
@@ -1,5 +1,5 @@
 /* The output SOURCE, it sends 'bool' values. */
-SOURCE(led, bool)
+SOURCE(led, bool);
 
 void setup()
 {
@@ -8,8 +8,8 @@ void setup()
 
 void loop()
 {
-  led.send(true);
+  led.write(true);
   delay(100);
-  led.send(false);
+  led.write(false);
   delay(100);
 }
diff --git a/src/Arduino_Threads.h b/src/Arduino_Threads.h
index 2fcd6e0..428cdd1 100644
--- a/src/Arduino_Threads.h
+++ b/src/Arduino_Threads.h
@@ -39,9 +39,9 @@ public: \
   Source<type> name; \
 private:
 
-#define SINK(name, type, size) \
+#define SINK(name, type) \
 public: \
-  Sink<type> name{size}; \
+  SinkBlocking<type> name; \
 private:
 // we need to call the Sink<T>(int size) non-default constructor using size as parameter.
 // This is done by writing
diff --git a/src/Sink.hpp b/src/Sink.hpp
index 09ae1de..d52ef65 100644
--- a/src/Sink.hpp
+++ b/src/Sink.hpp
@@ -29,121 +29,79 @@
  * CLASS DECLARATION
  **************************************************************************************/
 
-template<class T>
-class Sink
+template<typename T>
+class SinkBase
 {
-  private:
-    rtos::Mutex dataMutex;
-    rtos::ConditionVariable dataAvailable;
-    rtos::ConditionVariable slotAvailable;
-    T latest;
-    Sink *next;
-    const int size;
-    int first, last;
-    bool full;
-    T *queue;
-
-  public:
-    Sink(int s) :
-      dataAvailable(dataMutex),
-      slotAvailable(dataMutex),
-      size(s),
-      queue((size > 0) ? new T[size] : nullptr),
-      first(0), last(0), full(false)
-    {};
-
-    ~Sink() {
-      if (queue != nullptr) { delete queue; }
-    }
-
-
-  //protected: TODO
-    void connectTo(Sink &sink)
-    {
-      if (next == nullptr) {
-        next = &sink;
-      } else {
-        next->connectTo(sink);
-      }
-    }
-
-    T read()
-    {
-      // Non-blocking shared variable
-      if (size == -1) {
-        dataMutex.lock();
-        T res = latest;
-        dataMutex.unlock();
-        return res;
-      }
-
-      // Blocking shared variable
-      if (size == 0) {
-        dataMutex.lock();
-        while (!full) {
-          dataAvailable.wait();
-        }
-        T res = latest;
-        full = false;
-        slotAvailable.notify_all();
-        dataMutex.unlock();
-        return res;
-      }
-
-      // Blocking queue
-      dataMutex.lock();
-      while (first == last && !full) {
-        dataAvailable.wait();
-      }
-      T res = queue[first++];
-      first %= size;
-      if (full) {
-        full = false;
-        slotAvailable.notify_one();
-      }
-      dataMutex.unlock();
-      return res;
-    }
-
-  //protected: TODO
-    void inject(const T &value)
-    {
-      dataMutex.lock();
-
-      // Non-blocking shared variable
-      if (size == -1) {
-        latest = value;
-      }
-
-      // Blocking shared variable
-      else if (size == 0) {
-        while (full) {
-          slotAvailable.wait();
-        }
-        latest = value;
-        full = true;
-        dataAvailable.notify_one();
-        slotAvailable.wait();
-      }
-
-      // Blocking queue
-      else {
-        while (full) {
-          slotAvailable.wait();
-        }
-        if (first == last) {
-          dataAvailable.notify_one();
-        }
-        queue[last++] = value;
-        last %= size;
-        if (first == last) {
-          full = true;
-        }
-      }
-      dataMutex.unlock();
-
-      if (next) next->inject(value);
-    }
+public:
+
+  virtual ~SinkBase() { }
+
+  virtual T read() = 0;
+  virtual void inject(T const & value) = 0;
+};
+
+template<typename T>
+class SinkNonBlocking : public SinkBase<T>
+{
+  /* TODO - Do we really need this? */
 };
 
+template<typename T>
+class SinkBlocking : public SinkBase<T>
+{
+public:
+
+           SinkBlocking();
+  virtual ~SinkBlocking() { }
+
+  virtual T read() override;
+  virtual void inject(T const & value) override;
+
+
+private:
+
+  T _data;
+  bool _is_data_available;
+  rtos::Mutex _mutex;
+  rtos::ConditionVariable _cond_data_available;
+  rtos::ConditionVariable _cond_slot_available;
+
+};
+
+/**************************************************************************************
+ * PUBLIC MEMBER FUNCTIONS - SinkBlocking
+ **************************************************************************************/
+
+template<typename T>
+SinkBlocking<T>::SinkBlocking()
+: _is_data_available{false}
+, _cond_data_available(_mutex)
+, _cond_slot_available(_mutex)
+{ }
+
+template<typename T>
+T SinkBlocking<T>::read()
+{
+  _mutex.lock();
+  while (!_is_data_available)
+    _cond_data_available.wait();
+  T const d = _data;
+  _is_data_available = false;
+  _cond_slot_available.notify_all();
+  _mutex.unlock();
+  return d;
+}
+
+template<typename T>
+void SinkBlocking<T>::inject(T const & value)
+{
+  _mutex.lock();
+  while (_is_data_available)
+    _cond_slot_available.wait();
+  _data = value;
+  _is_data_available = true;
+  _cond_data_available.notify_all();
+  _mutex.unlock();
+}
+
 #endif /* ARDUINO_THREADS_SINK_HPP_ */
diff --git a/src/Source.hpp b/src/Source.hpp
index 6b77098..0a3893c 100644
--- a/src/Source.hpp
+++ b/src/Source.hpp
@@ -19,37 +19,55 @@
 #ifndef ARDUINO_THREADS_SOURCE_HPP_
 #define ARDUINO_THREADS_SOURCE_HPP_
 
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include <list>
+#include <algorithm>
+
 /**************************************************************************************
  * FORWARD DECLARATION
  **************************************************************************************/
 
 template<class T>
-class Sink;
+class SinkBase;
 
 /**************************************************************************************
  * CLASS DECLARATION
  **************************************************************************************/
 
-template<class T>
+template<typename T>
 class Source
 {
-  public:
-    Source() {};
-
-    void connectTo(Sink<T> &sink) {
-      if (destination == nullptr) {
-        destination = &sink;
-      } else {
-        destination->connectTo(sink);
-      }
-    }
-
-    void send(const T &value) {
-      if (destination) destination->inject(value);
-    }
-
-  private:
-    Sink<T> *destination;
+public:
+
+  void connectTo(SinkBase<T> & sink);
+  void write(T const & value);
+
+private:
+  std::list<SinkBase<T> *> _sink_list;
 };
 
+/**************************************************************************************
+ * PUBLIC MEMBER FUNCTIONS
+ **************************************************************************************/
+
+template<typename T>
+void Source<T>::connectTo(SinkBase<T> & sink)
+{
+  _sink_list.push_back(&sink);
+}
+
+template<typename T>
+void Source<T>::write(T const & value)
+{
+  std::for_each(std::begin(_sink_list),
+                std::end  (_sink_list),
+                [value](SinkBase<T> * sink)
+                {
+                  sink->inject(value);
+                });
+}
+
 #endif /* ARDUINO_THREADS_SOURCE_HPP_ */

From 63553a81516fbc364c6247bbbb523e74c76e5175 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Tue, 12 Oct 2021 08:36:48 +0200
Subject: [PATCH 35/37] Provide a macro for instantiation of a Shared variable.

---
 examples/Demo_Shared_Counter/SharedVariables.h | 2 +-
 src/Arduino_Threads.h                          | 3 +++
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/examples/Demo_Shared_Counter/SharedVariables.h b/examples/Demo_Shared_Counter/SharedVariables.h
index 51ea60e..5891a84 100644
--- a/examples/Demo_Shared_Counter/SharedVariables.h
+++ b/examples/Demo_Shared_Counter/SharedVariables.h
@@ -1 +1 @@
-Shared<int> counter;
+SHARED(counter, int);
diff --git a/src/Arduino_Threads.h b/src/Arduino_Threads.h
index 428cdd1..ca9250f 100644
--- a/src/Arduino_Threads.h
+++ b/src/Arduino_Threads.h
@@ -53,6 +53,9 @@ public: \
 // This is called "C++11 uniform init" (using "{}" instead of "()" without "="... yikes!)
 // https://chromium.googlesource.com/chromium/src/+/master/styleguide/c++/c++-dos-and-donts.md
 
+#define SHARED(name, type) \
+  Shared<type> name;
+
 /**************************************************************************************
  * CLASS DECLARATION
  **************************************************************************************/

From 4863888348c30f24f3aea3807e2f58c967074db8 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Tue, 12 Oct 2021 08:39:30 +0200
Subject: [PATCH 36/37] Implement non-blocking Sink.

---
 src/Sink.hpp | 24 +++++++++++++++++++++++-
 1 file changed, 23 insertions(+), 1 deletion(-)

diff --git a/src/Sink.hpp b/src/Sink.hpp
index d52ef65..593601f 100644
--- a/src/Sink.hpp
+++ b/src/Sink.hpp
@@ -43,7 +43,29 @@ class SinkBase
 template<typename T>
 class SinkNonBlocking : public SinkBase<T>
 {
-  /* TODO - Do we really need this? */
+public:
+
+           SinkNonBlocking();
+  virtual ~SinkNonBlocking() { }
+
+  virtual T read() override
+  {
+    _mutex.lock();
+    return _data;
+    _mutex.unlock();
+  }
+  virtual void inject(T const & value) override
+  {
+    _mutex.lock();
+    _data = value;
+    _mutex.unlock();
+  }
+
+private:
+
+  T _data;
+  rtos::Mutex _mutex;
+
 };
 
 template<typename T>

From de2a0d477f7a98820d9ee4ac01736b7c6677bb5e Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Tue, 12 Oct 2021 08:42:05 +0200
Subject: [PATCH 37/37] Extract implemention of SinkNonBlocking member
 functions.

---
 src/Sink.hpp | 37 ++++++++++++++++++++++++-------------
 1 file changed, 24 insertions(+), 13 deletions(-)

diff --git a/src/Sink.hpp b/src/Sink.hpp
index 593601f..40179a2 100644
--- a/src/Sink.hpp
+++ b/src/Sink.hpp
@@ -45,21 +45,12 @@ class SinkNonBlocking : public SinkBase<T>
 {
 public:
 
-           SinkNonBlocking();
+           SinkNonBlocking() { }
   virtual ~SinkNonBlocking() { }
 
-  virtual T read() override
-  {
-    _mutex.lock();
-    return _data;
-    _mutex.unlock();
-  }
-  virtual void inject(T const & value) override
-  {
-    _mutex.lock();
-    _data = value;
-    _mutex.unlock();
-  }
+  virtual T read() override;
+  virtual void inject(T const & value) override;
+
 
 private:
 
@@ -90,6 +81,26 @@ class SinkBlocking : public SinkBase<T>
 
 };
 
+/**************************************************************************************
+ * PUBLIC MEMBER FUNCTIONS - SinkNonBlocking
+ **************************************************************************************/
+
+template<typename T>
+T SinkNonBlocking<T>::read()
+{
+  _mutex.lock();
+  return _data;
+  _mutex.unlock();
+}
+
+template<typename T>
+void SinkNonBlocking<T>::inject(T const & value)
+{
+  _mutex.lock();
+  _data = value;
+  _mutex.unlock();
+}
+
 /**************************************************************************************
  * PUBLIC MEMBER FUNCTIONS - SinkBlocking
  **************************************************************************************/