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Code Issues Releases Activity

some fixed - might run on windows now

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1035 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
corvus 2010-07-07 09:40:17 +00:00 committed by corvus
parent 48596e838e
commit 0662269625
1 changed files with 122 additions and 37 deletions
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159
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/corvuscorax/port_new-thread-implementation_works-on-linux.c
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@ -99,9 +99,11 @@ static pthread_mutex_t xRunningThreadMutex = PTHREAD_MUTEX_INITIALIZER;
static pthread_mutex_t xPrintfMutex = PTHREAD_MUTEX_INITIALIZER;
static pthread_t hMainThread = ( pthread_t )NULL;
static pthread_t hActiveThread = ( pthread_t )NULL;
static pthread_t hRequestedThread = ( pthread_t )NULL;
/*-----------------------------------------------------------*/
static volatile portBASE_TYPE xSentinel = 0;
static volatile portBASE_TYPE xGeneralFuckedUpIndicator = 0;
static volatile portBASE_TYPE xVeryFirstTask = 1;
static volatile portBASE_TYPE xSchedulerEnd = pdFALSE;
static volatile portBASE_TYPE xInterruptsEnabled = pdTRUE;
@ -126,6 +128,7 @@ static portLONG prvGetFreeThreadState( void );
static void prvSetTaskCriticalNesting( pthread_t xThreadId, unsigned portBASE_TYPE uxNesting );
static unsigned portBASE_TYPE prvGetTaskCriticalNesting( pthread_t xThreadId );
static void prvDeleteThread( void *xThreadId );
static void prvResolveFuckup( void );
/*-----------------------------------------------------------*/
typedef struct tskTaskControlBlock
{
@ -184,6 +187,7 @@ portLONG lIndex;
return NULL;
}
#define debug_printf(...) ( (real_pthread_mutex_lock( &xPrintfMutex )|1)?( \
( \
(NULL != (debug_task_handle = prvGetTaskHandle(pthread_self())) )? \
@ -193,19 +197,20 @@ portLONG lIndex;
((fprintf( stderr, __VA_ARGS__ )|1)?real_pthread_mutex_unlock( &xPrintfMutex ):0) \
):0 ):0 )
//int xbla;
//#define debug_printf(...) xbla=0
int real_pthread_mutex_lock(pthread_mutex_t* mutex) {
return pthread_mutex_lock(mutex);
}
int real_pthread_mutex_unlock(pthread_mutex_t* mutex) {
return pthread_mutex_unlock(mutex);
}
/*
#define pthread_mutex_lock(...) ( (debug_printf(" -!- pthread_mutex_lock(%s)\n",#__VA_ARGS__)|1)?pthread_mutex_lock(__VA_ARGS__):0 )
#define pthread_mutex_unlock(...) ( (debug_printf(" -=- pthread_mutex_unlock(%s)\n",#__VA_ARGS__)|1)?pthread_mutex_unlock(__VA_ARGS__):0 )
#define pthread_kill(thread,signal) ( (debug_printf(" sending signal %i to thread %li!\n",(int)signal,(long)thread)|1)?pthread_kill(thread,signal):0 )
#define vTaskSwitchContext() ( (debug_printf("SWITCHCONTEXT!\n")|1)?vTaskSwitchContext():vTaskSwitchContext() )
*/
/*-----------------------------------------------------------*/
void prvSuspendThread( pthread_t xThreadId )
@ -322,7 +327,8 @@ void vPortStartFirstTask( void )
vPortEnableInterrupts();
/* Start the first task. */
prvResumeThread( prvGetThreadHandle( xTaskGetCurrentTaskHandle() ) );
hRequestedThread=prvGetThreadHandle( xTaskGetCurrentTaskHandle());
prvResumeThread( hRequestedThread );
sched_yield();
}
@ -335,11 +341,11 @@ portBASE_TYPE xPortStartScheduler( void )
{
portBASE_TYPE xResult;
int iSignal;
int fuckedUpCount=0;
sigset_t xSignals;
sigset_t xSignalToBlock;
sigset_t xSignalsBlocked;
portLONG lIndex;
pthread_t xTaskToResume;
/* Establish the signals to block before they are needed. */
sigfillset( &xSignalToBlock );
@ -379,12 +385,19 @@ pthread_t xTaskToResume;
* (needed for cygwin - but should work on all)
*/
if (iSignal==SIG_TICK) {
if (xGeneralFuckedUpIndicator!=0) {
fuckedUpCount++;
if (fuckedUpCount>10) {
fuckedUpCount=0;
prvResolveFuckup();
}
} else {
fuckedUpCount=0;
}
vPortSystemTickHandler(iSignal);
}
if (iSignal==SIG_RESUME && pdTRUE != xSchedulerEnd) {
xTaskToResume = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
debug_printf( "ALERT! Main received SIG_RESUME that was supposed to go elsewhere!");
(void)pthread_kill( xTaskToResume, SIG_RESUME );
}
}
@ -463,13 +476,23 @@ void vPortYield( void )
pthread_t xTaskToSuspend;
pthread_t xTaskToResume;
/**
* Sentinel - do not change context while the running task is not equal the task supposed to run
*/
if ( 0 == pthread_mutex_lock( &xSuspendResumeThreadMutex ) )
{
/**
* Make sure we don't create outdated resume signals
*/
while (hActiveThread!=hRequestedThread) {
sched_yield();
}
xTaskToSuspend = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
vTaskSwitchContext();
xTaskToResume = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
hRequestedThread = xTaskToResume;
if ( xTaskToSuspend != xTaskToResume )
{
/* Remember and switch the critical nesting. */
@ -483,6 +506,7 @@ if (prvGetThreadHandle(xTaskGetCurrentTaskHandle())!=xTaskToResume) {
}
(void)pthread_mutex_unlock( &xSuspendResumeThreadMutex );
prvSuspendSignalHandler(SIG_SUSPEND);
return;
}
else
{
@ -566,12 +590,20 @@ struct timespec timeout;
* - tick handler is still running
* - old task switch not yet completed (wrong task running)
*/
if ( ( pdTRUE == xInterruptsEnabled ) && ( pdTRUE != xServicingTick ) && ( prvGetThreadHandle( xTaskGetCurrentTaskHandle() ) == hActiveThread ) )
if ( ( pdTRUE == xInterruptsEnabled ) && ( pdTRUE != xServicingTick ) && ( hRequestedThread == hActiveThread ) )
{
if ( 0 == pthread_mutex_trylock( &xSuspendResumeThreadMutex ) )
{
//debug_printf("will handle tick\n");
xServicingTick = pdTRUE;
/**
* this shouldn't ever happen - but WELL...
* Make sure we don't create outdated resume signals
*/
while (hActiveThread!=hRequestedThread) {
sched_yield();
}
xTaskToSuspend = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
/* Tick Increment. */
@ -582,6 +614,7 @@ struct timespec timeout;
vTaskSwitchContext();
#endif
xTaskToResume = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
hRequestedThread = xTaskToResume;
/* The only thread that can process this tick is the running thread. */
if ( xTaskToSuspend != xTaskToResume )
@ -603,7 +636,8 @@ if (prvGetThreadHandle(xTaskGetCurrentTaskHandle())!=xTaskToResume) {
(void)pthread_mutex_unlock( &xRunningThreadMutex );
} else {
debug_printf("Oh dear - tick handler could not acquire lock!\n\n");
prvResumeThread( xTaskToSuspend );
//prvResumeThread( xTaskToSuspend );
xGeneralFuckedUpIndicator=3;
}
}
else
@ -641,9 +675,22 @@ portBASE_TYPE xResult;
if ( xTaskToResume == xTaskToDelete )
{
/* This is a suicidal thread, need to select a different task to run. */
vTaskSwitchContext();
xTaskToResume = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
if ( 0 == pthread_mutex_lock( &xSuspendResumeThreadMutex ) ) {
/**
* Make sure we don't create outdated resume signals
*/
while (hActiveThread!=hRequestedThread) {
sched_yield();
}
/* This is a suicidal thread, need to select a different task to run. */
vTaskSwitchContext();
xTaskToResume = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
hRequestedThread = xTaskToResume;
(void)pthread_mutex_unlock( &xSuspendResumeThreadMutex );
} else {
debug_printf("THIS was never meant to happen\n");
exit(1);
}
}
if ( pthread_self() != xTaskToDelete )
@ -692,10 +739,13 @@ sigset_t xSignals;
sigemptyset( &xSignals );
sigaddset( &xSignals, SIG_RESUME );
/* set up proc mask */
sigprocmask(SIG_SETMASK,&xSignals,NULL);
pthread_sigmask(SIG_SETMASK,&xSignals,NULL);
prvSuspendSignalHandler(SIG_SUSPEND);
//prvSuspendThread( pthread_self() );
} else {
debug_printf("now this is just WRONG!\n");
exit(1);
}
pvCode( pParams );
@ -707,12 +757,13 @@ sigset_t xSignals;
void prvSuspendSignalHandler(int sig)
{
sigset_t xSignals,xPendingSignals;
pthread_t xTaskToResume;
sigset_t xSignals;
//sigset_t xPendingSignals;
/* Only interested in the resume signal. */
sigemptyset( &xSignals );
sigaddset( &xSignals, SIG_RESUME );
sigaddset( &xSignals, SIG_SUSPEND );
/* Unlock the Running thread mutex to allow the resumed task to continue. */
if ( 0 != pthread_mutex_unlock( &xRunningThreadMutex ) )
@ -720,34 +771,45 @@ pthread_t xTaskToResume;
printf( "Releasing someone else's lock.\n" );
}
debug_printf("SUSPENDING until SIG_RESUME received\n");
//debug_printf("SUSPENDING until SIG_RESUME received\n");
/* Wait on the resume signal. */
xTaskToResume=0;
//while (xTaskToResume != pthread_self()) {
while (hRequestedThread != pthread_self()) {
if ( 0 != sigwait( &xSignals, &sig ) )
{
printf( "SSH: Sw %d\n", sig );
}
debug_printf("received signal %i\n",sig);
/* Make sure the right thread received the signal */
(void)pthread_mutex_trylock( &xSuspendResumeThreadMutex );
xTaskToResume = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
(void)pthread_mutex_unlock( &xSuspendResumeThreadMutex );
if (xTaskToResume != pthread_self() ) {
debug_printf( "ALERT! Received SIG_RESUME which is already outdated!\n active thread is %li\n",(long)xTaskToResume);
if (0 == sigpending(&xPendingSignals)) {
if (sigismember(&xPendingSignals,SIG_SUSPEND)) {
debug_printf( "reason: we slept too long...\n");
//(void)sigwait(&xPendingSignals,&sig);
// we can safely return - signal is already pending
return;
/* tricky one - shouldn't ever happen - trying to resolve situation as graceful as possible */
debug_printf("ALERT AAAAH PANIC! - sigwait failed.....\n\n\n");
/* Signal main thread something just went HORRIBLY wrong */
xGeneralFuckedUpIndicator = 2;
//(void)pthread_mutex_lock( &xRunningThreadMutex );
//(void)pthread_kill( pthread_self(), SIG_SUSPEND );
//return;
} else if (sig == SIG_RESUME) {
//debug_printf("received signal %i\n",sig);
/* Make sure the right thread received the signal */
if (hRequestedThread != pthread_self() ) {
debug_printf( "ALERT! Received SIG_RESUME which is already outdated!\n active thread is %li\n",(long)hRequestedThread);
/* Signal main thread something just went wrong */
xGeneralFuckedUpIndicator = 1;
/*
if (0 == sigpending(&xPendingSignals)) {
if (sigismember(&xPendingSignals,SIG_SUSPEND)) {
debug_printf( "reason: we slept too long...\n");
//(void)sigwait(&xPendingSignals,&sig);
// we can safely return - signal is already pending
return;
}
}
debug_printf( "reason: unknown! - whatever ...\n\n");
*/
//exit(1);
//(void)pthread_kill( xTaskToResume, SIG_RESUME );
//(void)pthread_mutex_lock( &xRunningThreadMutex );
//(void)pthread_kill( pthread_self(), SIG_SUSPEND );
//return;
}
debug_printf( "reason: unknown! ...\n");
//(void)pthread_kill( xTaskToResume, SIG_RESUME );
exit(1);
}
//}
}
/* Yield the Scheduler to ensure that the yielding thread completes. */
if ( 0 != pthread_mutex_lock( &xRunningThreadMutex ) )
{
@ -767,7 +829,11 @@ pthread_t xTaskToResume;
{
vPortDisableInterrupts();
}
debug_printf("ACTIVE THREAD!\n");
if (hRequestedThread==pthread_self()) {
/* doesn't look too bad, does it? */
xGeneralFuckedUpIndicator = 0;
}
//debug_printf("ACTIVE THREAD!\n");
}
/*-----------------------------------------------------------*/
@ -955,3 +1021,22 @@ struct tms xTimes;
(void)ulTotalTime;
}
/*-----------------------------------------------------------*/
/**
* Scheduler f***d up - we got to fix that
*/
void prvResolveFuckup( void )
{
printf("Scheduler fucked up again - lets try to fix it...\n");
printf("sending sig_suspend to thread that is supposed to be dead...\n");
prvSuspendThread(hActiveThread);
printf("acquire running lock...");
if ( 0 == pthread_mutex_lock( &xRunningThreadMutex) ) {
printf("sending sig_resume to thread that is supposed to be running...\n");
prvResumeThread(hRequestedThread);
printf("giving up mutex...\n");
(void)pthread_mutex_unlock(&xRunningThreadMutex);
}
}
/*-----------------------------------------------------------*/