mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-01 09:24:10 +01:00
More work on OSX simulation
This commit is contained in:
James Cotton
parent
99e246f151
commit
adad006530
@ -155,6 +155,7 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
|
||||
#endif
|
||||
|
||||
#ifndef configUSE_TIMERS
|
||||
#error HERE
|
||||
#define configUSE_TIMERS 0
|
||||
#endif
|
||||
|
||||
|
||||
@ -59,6 +59,37 @@
|
||||
// xPortStartScheduler
|
||||
// interrupts
|
||||
|
||||
/**
|
||||
* In addition this method needs to be able to swap out threads via two mechanisms:
|
||||
* 1. cooperative where a task calls vPortYield and is told to swap out
|
||||
* 2. preemptive where a separate pthread calls vPortSystemTickHandler and swaps it out
|
||||
*
|
||||
* We want three functions associated with this
|
||||
* pauseThread(thread id) -- called from System Tick handler before doing anything.
|
||||
* returns when that thread confirms it has stopped
|
||||
* resumeThread(thread id) -- called from Systme Tick handler and other threads to
|
||||
* start a different thread. Doesn't return until it's confirmed that thread started
|
||||
* pauseThread(self) -- called from vPortYield after resume thread confirmed to work
|
||||
*
|
||||
* There will be a single semaphore that is help by the running thread (including the
|
||||
* tick handler) to mimic a single core machine without multithreading.
|
||||
*
|
||||
* SystemTick
|
||||
* pauseThread(running)
|
||||
* claim running Semaphore
|
||||
* vTaskSwitch
|
||||
* release running semaphore
|
||||
* resume new thread
|
||||
* assert it resumed
|
||||
*
|
||||
* vPortYield
|
||||
* release running semaphore
|
||||
* resume thread
|
||||
* assert it resumed
|
||||
* pause
|
||||
*/
|
||||
|
||||
|
||||
#include <pthread.h>
|
||||
#include <sched.h>
|
||||
#include <signal.h>
|
||||
@ -82,9 +113,7 @@
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#ifndef __CYGWIN__
|
||||
#define COND_SIGNALING
|
||||
//#define CHECK_TASK_RESUMES
|
||||
//#define RUNNING_THREAD_MUTEX
|
||||
#endif
|
||||
|
||||
/* Parameters to pass to the newly created pthread. */
|
||||
@ -94,7 +123,7 @@ typedef struct XPARAMS
|
||||
void *pvParams;
|
||||
} xParams;
|
||||
|
||||
enum thread_status {RUNNING, INTERRUPTED, STOPPED};
|
||||
enum thread_status {RUNNING, STORED, STOPPED, CREATED, DESTROYED};
|
||||
|
||||
/* Each task maintains its own interrupt status in the critical nesting variable. */
|
||||
typedef struct THREAD_SUSPENSIONS
|
||||
@ -104,7 +133,7 @@ typedef struct THREAD_SUSPENSIONS
|
||||
pthread_mutex_t * hMutex;
|
||||
xTaskHandle hTask;
|
||||
portBASE_TYPE xThreadState;
|
||||
enum thread_status status;
|
||||
volatile enum thread_status status;
|
||||
unsigned portBASE_TYPE uxCriticalNesting;
|
||||
} xThreadState;
|
||||
/*-----------------------------------------------------------*/
|
||||
@ -112,12 +141,10 @@ typedef struct THREAD_SUSPENSIONS
|
||||
static xThreadState pxThreads[MAX_NUMBER_OF_TASKS];
|
||||
static pthread_once_t hSigSetupThread = PTHREAD_ONCE_INIT;
|
||||
static pthread_attr_t xThreadAttributes;
|
||||
#ifdef RUNNING_THREAD_MUTEX
|
||||
static pthread_mutex_t xRunningThread = PTHREAD_MUTEX_INITIALIZER;
|
||||
#endif
|
||||
static pthread_mutex_t xSuspendResumeThreadMutex = PTHREAD_MUTEX_INITIALIZER;
|
||||
static pthread_mutex_t xSwappingThreadMutex = PTHREAD_MUTEX_INITIALIZER;
|
||||
static pthread_mutex_t xIrqMutex = PTHREAD_MUTEX_INITIALIZER;
|
||||
//static pthread_mutex_t xIrqMutex = PTHREAD_MUTEX_INITIALIZER;
|
||||
static pthread_t hMainThread = ( pthread_t )NULL;
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
@ -134,18 +161,58 @@ static volatile portLONG lIndexOfLastAddedTask = 0;
|
||||
static volatile unsigned portBASE_TYPE uxCriticalNesting;
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/**
|
||||
* Methods to facilitate the task switching
|
||||
*/
|
||||
|
||||
/**
|
||||
* Stops another thread that is running (from System Tick handler)
|
||||
* returns when that thread has done so. Sends a signal to that thread
|
||||
* when then goes into it's signal handler. It will changes it's running
|
||||
* status to stopped which this thread will wait for.
|
||||
*/
|
||||
static void pauseOtherThread(xTaskHandle hTask);
|
||||
|
||||
/**
|
||||
* Prepares a task to pause (stores critical nesting, releases running semaphore)
|
||||
* but doesn't actually sleep
|
||||
*/
|
||||
void storeSelf();
|
||||
|
||||
/**
|
||||
* Pause self, either from the signal handler or from its own thread. Marks
|
||||
* the status to stopped then waits for condition. When resumes marks condition
|
||||
* as true
|
||||
*/
|
||||
void pauseSelf();
|
||||
|
||||
/**
|
||||
* Resumes another thread that is running (from either System Tick handler
|
||||
* or another thread) and returns when that thread has done so. Sends resume
|
||||
* condition to that thread and waits for the status flag to change to running.
|
||||
*/
|
||||
static void resumeThread(xTaskHandle hTask);
|
||||
|
||||
/**
|
||||
* Claims the running semaphore or fails
|
||||
*/
|
||||
static void claimRunningSemaphore(int source);
|
||||
|
||||
/**
|
||||
* Claims the running semaphore or fails
|
||||
*/
|
||||
static void releaseRunningSemaphore();
|
||||
|
||||
|
||||
/*
|
||||
* Setup the timer to generate the tick interrupts.
|
||||
*/
|
||||
static void *prvWaitForStart( void * pvParams );
|
||||
static void prvSuspendSignalHandler(int sig);
|
||||
static void prvSetupSignalsAndSchedulerPolicy( void );
|
||||
static void pauseThread( portBASE_TYPE pauseMode );
|
||||
static pthread_t prvGetThreadHandle( xTaskHandle hTask );
|
||||
#ifdef COND_SIGNALING
|
||||
static pthread_cond_t * prvGetConditionHandle( xTaskHandle hTask );
|
||||
static pthread_mutex_t * prvGetMutexHandle( xTaskHandle hTask );
|
||||
#endif
|
||||
static xTaskHandle prvGetTaskHandle( pthread_t hThread );
|
||||
static void prvSetThreadStatus( pthread_t hThread, enum thread_status status );
|
||||
static portLONG prvGetFreeThreadState( void );
|
||||
@ -265,6 +332,15 @@ typedef struct tskTaskControlBlock
|
||||
|
||||
tskTCB *debug_task_handle;
|
||||
|
||||
char * threadToName(pthread_t t)
|
||||
{
|
||||
char * sys = "System Tick";
|
||||
|
||||
xTaskHandle hTask = prvGetTaskHandle(t);
|
||||
if(hTask == NULL)
|
||||
return sys;
|
||||
return (char *) ((tskTCB*)hTask)->pcTaskName;
|
||||
}
|
||||
/*
|
||||
* See header file for description.
|
||||
*/
|
||||
@ -296,7 +372,6 @@ xParams *pxThisThreadParams = pvPortMalloc( sizeof( xParams ) );
|
||||
|
||||
debug_printf( "Got index for new task %i\r\n", lIndexOfLastAddedTask );
|
||||
|
||||
#ifdef COND_SIGNALING
|
||||
/* Create a condition signal for this thread */
|
||||
pxThreads[ lIndexOfLastAddedTask ].hCond = ( pthread_cond_t *) malloc( sizeof( pthread_cond_t ) );
|
||||
assert( 0 == pthread_cond_init( pxThreads[ lIndexOfLastAddedTask ].hCond , NULL ) ); //&condAttr ) );
|
||||
@ -306,7 +381,6 @@ xParams *pxThisThreadParams = pvPortMalloc( sizeof( xParams ) );
|
||||
pxThreads[ lIndexOfLastAddedTask ].hMutex = ( pthread_mutex_t *) malloc( sizeof( pthread_mutex_t ) );
|
||||
assert( 0 == pthread_mutex_init( pxThreads[ lIndexOfLastAddedTask ].hMutex, NULL ) ); //&mutexAttr ) );
|
||||
debug_printf("Mutex: %li\r\n", *( (long int *) &pxThreads[ lIndexOfLastAddedTask ].hMutex) );
|
||||
#endif
|
||||
|
||||
/* Create a thread and store it's handle number */
|
||||
xSentinel = 0;
|
||||
@ -331,11 +405,7 @@ void vPortStartFirstTask( void )
|
||||
vPortEnableInterrupts();
|
||||
xRunning = 1;
|
||||
|
||||
/* Start the first task. */
|
||||
#ifdef COND_SIGNALING
|
||||
pthread_cond_t * hCond = prvGetConditionHandle( xTaskGetCurrentTaskHandle() );
|
||||
assert( pthread_cond_signal( hCond ) == 0 );
|
||||
#endif
|
||||
resumeThread( xTaskGetCurrentTaskHandle() );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
@ -363,16 +433,19 @@ portLONG lIndex;
|
||||
for ( lIndex = 0; lIndex < MAX_NUMBER_OF_TASKS; lIndex++ )
|
||||
{
|
||||
pxThreads[ lIndex ].uxCriticalNesting = 0;
|
||||
pxThreads[ lIndex ].status = CREATED;
|
||||
}
|
||||
|
||||
/* Start the first task. Will not return unless all threads are killed. */
|
||||
vPortStartFirstTask();
|
||||
|
||||
usleep(1000000);
|
||||
usleep(2000000);
|
||||
int i = 0;
|
||||
while( pdTRUE != xSchedulerEnd ) {
|
||||
usleep(portTICK_RATE_MICROSECONDS);
|
||||
vPortSystemTickHandler(SIG_TICK);
|
||||
if (i % 1000 == 0)
|
||||
fprintf(stderr,".");
|
||||
i++;
|
||||
//if (i % 2000 == 0)
|
||||
// printTasks();
|
||||
@ -444,79 +517,28 @@ int yield_locking = 0;
|
||||
tskTCB *lastYield;
|
||||
void vPortYield( void )
|
||||
{
|
||||
pthread_t xTaskToSuspend;
|
||||
pthread_t xTaskToResume;
|
||||
sigset_t xSignals;
|
||||
tskTCB * oldTask, * newTask;
|
||||
|
||||
/* We must mask the suspend signal here, because otherwise there can be an */
|
||||
/* interrupt while in pthread_mutex_lock and that will cause the next thread */
|
||||
/* to deadlock when it tries to get this mutex */
|
||||
|
||||
debug_printf( "Entering\r\n" );
|
||||
|
||||
sigemptyset( &xSignals );
|
||||
sigaddset( &xSignals, SIG_SUSPEND );
|
||||
pthread_sigmask( SIG_SETMASK, &xSignals, NULL );
|
||||
if(pthread_mutex_trylock( &xSwappingThreadMutex )== EBUSY) {
|
||||
// The tick handler will just pause this thread
|
||||
usleep(10);
|
||||
storeSelf();
|
||||
pauseSelf();
|
||||
claimRunningSemaphore(5);
|
||||
} else {
|
||||
vTaskSwitchContext();
|
||||
if(prvGetThreadHandle( xTaskGetCurrentTaskHandle()) != pthread_self() ) {
|
||||
// Time to sleep
|
||||
//fprintf(stdout, "Yielding from %s\r\n", threadToName(pthread_self()));
|
||||
storeSelf();
|
||||
pthread_mutex_unlock( &xSwappingThreadMutex );
|
||||
resumeThread(xTaskGetCurrentTaskHandle());
|
||||
pauseSelf();
|
||||
claimRunningSemaphore(3);
|
||||
} else
|
||||
pthread_mutex_unlock( &xSwappingThreadMutex );
|
||||
|
||||
yield_locking = 1;
|
||||
assert( pthread_mutex_lock( &xSwappingThreadMutex ) == 0);
|
||||
yield_locking = 0;
|
||||
|
||||
oldTask = xTaskGetCurrentTaskHandle();
|
||||
xTaskToSuspend = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
|
||||
if(xTaskToSuspend != pthread_self() ) {
|
||||
/* This means between masking the interrupt and getting the lock, there was an interrupt */
|
||||
/* and this task should suspend. Release the lock, then unmask interrupts to go ahead and */
|
||||
/* service the signal */
|
||||
|
||||
assert( 0 == pthread_mutex_unlock( &xSwappingThreadMutex ) );
|
||||
debug_printf( "The current task isn't even us, letting interrupt happen. Watch for swap.\r\n" );
|
||||
/* Now we are resuming, want to be able to catch this interrupt again */
|
||||
sigemptyset( &xSignals );
|
||||
pthread_sigmask( SIG_SETMASK, &xSignals, NULL);
|
||||
return;
|
||||
}
|
||||
|
||||
lastYield = oldTask;
|
||||
xStarted = pdFALSE;
|
||||
|
||||
/* Get new task then release the task switching mutex */
|
||||
vTaskSwitchContext();
|
||||
newTask = xTaskGetCurrentTaskHandle();
|
||||
xTaskToResume = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
|
||||
|
||||
if ( pthread_self() != xTaskToResume )
|
||||
{
|
||||
/* Remember and switch the critical nesting. */
|
||||
prvSetTaskCriticalNesting( xTaskToSuspend, uxCriticalNesting );
|
||||
uxCriticalNesting = prvGetTaskCriticalNesting( xTaskToResume );
|
||||
|
||||
debug_printf( "Swapping From %li(%s) to %li(%s)\r\n", (long int) xTaskToSuspend, oldTask->pcTaskName, (long int) xTaskToResume, newTask->pcTaskName);
|
||||
|
||||
#ifdef COND_SIGNALING
|
||||
/* Set resume condition for specific thread */
|
||||
pthread_cond_t * hCond = prvGetConditionHandle( xTaskGetCurrentTaskHandle() );
|
||||
assert( pthread_cond_signal( hCond ) == 0 );
|
||||
#endif
|
||||
#ifdef CHECK_TASK_RESUMES
|
||||
while( xStarted == pdFALSE )
|
||||
debug_printf( "Waiting for task to resume\r\n" );
|
||||
#endif
|
||||
|
||||
debug_printf( "Detected task resuming. Pausing this task\r\n" );
|
||||
|
||||
/* Release swapping thread mutex and pause self */
|
||||
assert( pthread_mutex_unlock( &xSwappingThreadMutex ) == 0);
|
||||
pauseThread( THREAD_PAUSE_YIELD );
|
||||
}
|
||||
else {
|
||||
assert( pthread_mutex_unlock( &xSwappingThreadMutex ) == 0);
|
||||
}
|
||||
|
||||
/* Now we are resuming, want to be able to catch this interrupt again */
|
||||
sigemptyset( &xSignals );
|
||||
pthread_sigmask( SIG_SETMASK, &xSignals, NULL);
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
@ -539,13 +561,12 @@ int irq_lock;
|
||||
void vPortDisableInterrupts( void )
|
||||
{
|
||||
//debug_printf("\r\n");
|
||||
maskSuspend();
|
||||
irq_lock = 1;
|
||||
assert( pthread_mutex_lock( &xIrqMutex ) == 0);
|
||||
// assert( pthread_mutex_lock( &xIrqMutex ) == 0);
|
||||
xInterruptsEnabled = pdFALSE;
|
||||
assert( pthread_mutex_unlock( &xIrqMutex) == 0);
|
||||
// assert( pthread_mutex_unlock( &xIrqMutex) == 0);
|
||||
irq_lock = 0;
|
||||
unmaskSuspend();
|
||||
// unmaskSuspend();
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
@ -557,13 +578,13 @@ void vPortDisableInterrupts( void )
|
||||
void vPortEnableInterrupts( void )
|
||||
{
|
||||
//debug_printf("\r\n");
|
||||
maskSuspend();
|
||||
// maskSuspend();
|
||||
irq_lock = 1;
|
||||
assert( pthread_mutex_lock( &xIrqMutex ) == 0);
|
||||
// assert( pthread_mutex_lock( &xIrqMutex ) == 0);
|
||||
xInterruptsEnabled = pdTRUE;
|
||||
assert( pthread_mutex_unlock( &xIrqMutex) == 0);
|
||||
// assert( pthread_mutex_unlock( &xIrqMutex) == 0);
|
||||
irq_lock = 0;
|
||||
unmaskSuspend();
|
||||
// unmaskSuspend();
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
@ -587,98 +608,41 @@ void vPortClearInterruptMask( portBASE_TYPE xMask )
|
||||
tskTCB * oldTask, * newTask;
|
||||
void vPortSystemTickHandler( int sig )
|
||||
{
|
||||
pthread_t xTaskToSuspend;
|
||||
pthread_t xTaskToResume;
|
||||
|
||||
debug_printf( "\r\n\r\n" );
|
||||
debug_printf( "(xInterruptsEnabled = %i, xServicingTick = %i)\r\n", (int) xInterruptsEnabled != 0, (int) xServicingTick != 0);
|
||||
|
||||
/* Tick Increment. */
|
||||
vTaskIncrementTick();
|
||||
|
||||
/*
|
||||
if (pthread_mutex_trylock( &xIrqMutex ) == EBUSY) {
|
||||
fprintf(stderr, "Systick could not block interrupts\r\n");
|
||||
fprintf(stdout, "Systick could not block interrupts\r\n");
|
||||
return;
|
||||
}
|
||||
*/
|
||||
if(pthread_mutex_trylock( &xSwappingThreadMutex )== EBUSY) {
|
||||
fprintf(stdout,"Can't get swapping lock for tick handler\r\n");
|
||||
return;
|
||||
}
|
||||
|
||||
if ( ( pdTRUE == xInterruptsEnabled ) && ( pdTRUE != xServicingTick ) )
|
||||
#if ( configUSE_PREEMPTION == 1 )
|
||||
if (pdTRUE == xInterruptsEnabled )
|
||||
{
|
||||
// debug_printf( "Checking for lock ...\r\n" );
|
||||
if ( 0 == pthread_mutex_trylock( &xSwappingThreadMutex ) )
|
||||
{
|
||||
|
||||
/* Select Next Task. */
|
||||
#if ( configUSE_PREEMPTION == 1 )
|
||||
debug_printf( "Handling\r\n");
|
||||
xServicingTick = pdTRUE;
|
||||
|
||||
oldTask = xTaskGetCurrentTaskHandle();
|
||||
xTaskToSuspend = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
|
||||
|
||||
vTaskSwitchContext();
|
||||
|
||||
newTask = xTaskGetCurrentTaskHandle();
|
||||
xTaskToResume = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
|
||||
|
||||
debug_printf( "Want %s running\r\n", newTask->pcTaskName );
|
||||
/* The only thread that can process this tick is the running thread. */
|
||||
if ( xTaskToSuspend != xTaskToResume )
|
||||
{
|
||||
//fprintf(stderr,"Suspending: %s\r\n", oldTask->pcTaskName);
|
||||
xSuspended = pdFALSE;
|
||||
xStarted = pdFALSE;
|
||||
|
||||
/* Remember and switch the critical nesting. */
|
||||
prvSetTaskCriticalNesting( xTaskToSuspend, uxCriticalNesting );
|
||||
uxCriticalNesting = prvGetTaskCriticalNesting( xTaskToResume );
|
||||
|
||||
debug_printf( "Swapping From %li(%s) to %li(%s)\r\n", (long int) xTaskToSuspend, oldTask->pcTaskName, (long int) xTaskToResume, newTask->pcTaskName);
|
||||
|
||||
#ifdef CHECK_TASK_RESUMES
|
||||
/* It shouldn't be possible for a second task swap to happen while waiting for this because */
|
||||
/* they can't get the xSwappingThreadMutex */
|
||||
while( xSuspended == pdFALSE )
|
||||
#endif
|
||||
{
|
||||
assert( pthread_kill( xTaskToSuspend, SIG_SUSPEND ) == 0);
|
||||
sched_yield();
|
||||
}
|
||||
|
||||
#ifdef CHECK_TASK_RESUMES
|
||||
while( xStarted == pdFALSE)
|
||||
#endif
|
||||
{
|
||||
|
||||
#ifdef COND_SIGNALING
|
||||
// Set resume condition for specific thread
|
||||
pthread_cond_t * hCond = prvGetConditionHandle( xTaskGetCurrentTaskHandle() );
|
||||
assert( pthread_cond_signal( hCond ) == 0 );
|
||||
#endif
|
||||
//assert( pthread_kill( xTaskToSuspend, SIG_SUSPEND ) == 0);
|
||||
|
||||
sched_yield();
|
||||
}
|
||||
|
||||
debug_printf( "Swapped From %li(%s) to %li(%s)\r\n", (long int) xTaskToSuspend, oldTask->pcTaskName, (long int) xTaskToResume, newTask->pcTaskName); }
|
||||
else
|
||||
{
|
||||
// debug_error ("Want %s running \r\n", newTask->pcTaskName );
|
||||
}
|
||||
#endif configUSE_PREEMPTION
|
||||
|
||||
xServicingTick = pdFALSE;
|
||||
assert( pthread_mutex_unlock( &xSwappingThreadMutex ) == 0 );
|
||||
}
|
||||
else
|
||||
{
|
||||
fprintf(stderr, "Cannot get swap thread mutex\r\n");
|
||||
debug_error( "Pending yield here (portYield has lock - hopefully)\r\n" );
|
||||
xPendYield = pdTRUE;
|
||||
}
|
||||
|
||||
//fprintf(stdout, "System tick executing. Suspending %s\r\n", ((tskTCB*)xTaskGetCurrentTaskHandle())->pcTaskName);
|
||||
|
||||
//printTasks();
|
||||
|
||||
pauseOtherThread(xTaskGetCurrentTaskHandle());
|
||||
claimRunningSemaphore(2);
|
||||
vTaskSwitchContext();
|
||||
releaseRunningSemaphore();
|
||||
resumeThread(xTaskGetCurrentTaskHandle());
|
||||
// fprintf(stdout, "System tick done\r\n");
|
||||
}
|
||||
#endif
|
||||
|
||||
assert( pthread_mutex_unlock( &xIrqMutex) == 0);
|
||||
// assert( pthread_mutex_unlock( &xIrqMutex) == 0);
|
||||
assert( pthread_mutex_unlock( &xSwappingThreadMutex ) == 0 );
|
||||
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
@ -709,6 +673,7 @@ portBASE_TYPE xResult;
|
||||
/* Cancelling a thread that is not me. */
|
||||
if ( xTaskToDelete != ( pthread_t )NULL )
|
||||
{
|
||||
fprintf(stderr, "HEREEREREE\r\n");
|
||||
/* Send a signal to wake the task so that it definitely cancels. */
|
||||
pthread_testcancel();
|
||||
xResult = pthread_cancel( xTaskToDelete );
|
||||
@ -727,6 +692,8 @@ portBASE_TYPE xResult;
|
||||
uxCriticalNesting = 0;
|
||||
vPortEnableInterrupts();
|
||||
(void)pthread_mutex_unlock( &xSwappingThreadMutex );
|
||||
prvSetThreadStatus( xTaskToDelete, DESTROYED );
|
||||
releaseRunningSemaphore();
|
||||
/* Commit suicide */
|
||||
pthread_exit( (void *)1 );
|
||||
}
|
||||
@ -754,24 +721,31 @@ void * pParams = pxParams->pvParams;
|
||||
/* trying to pause. Must set xSentinel high so the creating task knows we're */
|
||||
/* here */
|
||||
|
||||
debug_printf("Thread started, waiting till handle is added\r\n");
|
||||
//fprintf(stdout,"Thread started, waiting till handle is added\r\n");
|
||||
|
||||
xSentinel = 1;
|
||||
|
||||
while( prvGetTaskHandle( pthread_self() ) == NULL ){
|
||||
sched_yield();
|
||||
//sched_yield();
|
||||
usleep(1);
|
||||
}
|
||||
|
||||
debug_printf("Handle added, pausing\r\n");
|
||||
//fprintf(stdout,"Handle added, pausing\r\n");
|
||||
|
||||
/* Want to delay briefly until we have explicit resume signal as otherwise the */
|
||||
/* current task variable might be in the wrong state */
|
||||
pauseThread( THREAD_PAUSE_CREATED );
|
||||
debug_printf("Starting first run\r\n");
|
||||
/* Block further suspend signals. They need to go to their thread */
|
||||
|
||||
usleep(1000);
|
||||
|
||||
pauseSelf();
|
||||
|
||||
sigemptyset( &xSignals );
|
||||
assert( pthread_sigmask( SIG_SETMASK, &xSignals, NULL ) == 0);
|
||||
|
||||
// fprintf(stderr,"Starting first run\r\n");
|
||||
// claimRunningSemaphore(4);
|
||||
|
||||
pvCode( pParams );
|
||||
|
||||
pthread_cleanup_pop( 1 );
|
||||
@ -781,160 +755,12 @@ void * pParams = pxParams->pvParams;
|
||||
|
||||
extern volatile unsigned portBASE_TYPE uxSchedulerSuspended;
|
||||
|
||||
void pauseThread( portBASE_TYPE pauseMode )
|
||||
{
|
||||
debug_printf( "Pausing thread %li. Set xSuspended false\r\n", (long int) pthread_self() );
|
||||
|
||||
//assert( pthread_self() != prvGetThreadHandle(xTaskGetCurrentTaskHandle() ) );
|
||||
|
||||
#ifdef RUNNING_THREAD_MUTEX
|
||||
if( pauseMode != THREAD_PAUSE_CREATED )
|
||||
assert( 0 == pthread_mutex_unlock( &xRunningThread ) );
|
||||
#endif
|
||||
|
||||
#ifdef COND_SIGNALING
|
||||
int xResult;
|
||||
xTaskHandle hTask = prvGetTaskHandle( pthread_self() );
|
||||
pthread_cond_t * hCond = prvGetConditionHandle( hTask );
|
||||
pthread_mutex_t * hMutex = prvGetMutexHandle( hTask );
|
||||
debug_printf("Cond: %li\r\n", *( (long int *) hCond) );
|
||||
debug_printf("Mutex: %li\r\n", *( (long int *) hMutex) );
|
||||
|
||||
struct timeval tv;
|
||||
struct timespec ts;
|
||||
gettimeofday( &tv, NULL );
|
||||
ts.tv_sec = tv.tv_sec + 0;
|
||||
#endif
|
||||
|
||||
xSuspended = pdTRUE;
|
||||
|
||||
while (1) {
|
||||
if( pthread_self() == prvGetThreadHandle(xTaskGetCurrentTaskHandle() ) && xRunning )
|
||||
{
|
||||
|
||||
xStarted = pdTRUE;
|
||||
|
||||
#ifdef RUNNING_THREAD_MUTEX
|
||||
assert( 0 == pthread_mutex_lock( &xRunningThread ) );
|
||||
#endif
|
||||
debug_printf("Resuming\r\n");
|
||||
prvSetThreadStatus( pthread_self(), RUNNING );
|
||||
return;
|
||||
}
|
||||
else {
|
||||
if(pauseMode == THREAD_PAUSE_INTERRUPT)
|
||||
prvSetThreadStatus( pthread_self(), INTERRUPTED );
|
||||
else
|
||||
prvSetThreadStatus( pthread_self(), STOPPED );
|
||||
|
||||
if( uxSchedulerSuspended != 0) {
|
||||
// fprintf(stderr, "This is probably a fuckup\r\n");
|
||||
}
|
||||
#ifdef COND_SIGNALING
|
||||
gettimeofday( &tv, NULL );
|
||||
ts.tv_sec = tv.tv_sec + 1;
|
||||
ts.tv_nsec = tv.tv_usec * 1000;
|
||||
xResult = pthread_cond_timedwait( hCond, hMutex, &ts );
|
||||
assert( xResult != EINVAL );
|
||||
if (xResult == ETIMEDOUT) {
|
||||
debug_task_handle = prvGetTaskHandle(pthread_self());
|
||||
signed char * str;
|
||||
if(debug_task_handle)
|
||||
str = debug_task_handle->pcTaskName;
|
||||
else
|
||||
str = (signed char *) "Unknown";
|
||||
|
||||
if(pthread_self() == prvGetThreadHandle(xTaskGetCurrentTaskHandle()))
|
||||
fprintf(stderr,"Timed out %s and should be running\n", str);
|
||||
else {
|
||||
fprintf(stderr,"Timed out %s. Sould be running %s\n", str, ((tskTCB *)xTaskGetCurrentTaskHandle())->pcTaskName);
|
||||
#if 0 && defined(COND_SIGNALING)
|
||||
fprintf(stderr,"Resending resume signal\r\n");
|
||||
/* Set resume condition for specific thread */
|
||||
pthread_cond_t * hCond = prvGetConditionHandle( xTaskGetCurrentTaskHandle() );
|
||||
assert( pthread_cond_signal( hCond ) == 0 );
|
||||
#endif
|
||||
}
|
||||
|
||||
//printTasks();
|
||||
} else {
|
||||
static int i;
|
||||
i ++;
|
||||
if(i % 1000 == 0)
|
||||
printTasks();
|
||||
}
|
||||
|
||||
#else
|
||||
/* For windows where conditional signaling is buggy */
|
||||
/* It would be wonderful to put a nanosleep here, but since its not reentrant safe */
|
||||
/* and there may be a sleep in the main code (this can be called from an ISR) we must */
|
||||
/* check this */
|
||||
if( pauseMode != THREAD_PAUSE_INTERRUPT )
|
||||
usleep(100);
|
||||
sched_yield();
|
||||
|
||||
#endif
|
||||
// debug_error( "Checked my status\r\n" );
|
||||
}
|
||||
|
||||
}
|
||||
assert(0);
|
||||
}
|
||||
|
||||
void prvSuspendSignalHandler(int sig)
|
||||
{
|
||||
sigset_t xBlockSignals;
|
||||
|
||||
/* This signal is set here instead of pauseThread because it is checked by the tick handler */
|
||||
/* which means if there were a swap it should result in a suspend interrupt */
|
||||
|
||||
debug_error( "Caught signal %i\r\n", sig );
|
||||
/* Check that we aren't suspending when we should be running. This bug would need tracking down */
|
||||
//assert( pthread_self() != prvGetThreadHandle(xTaskGetCurrentTaskHandle() ) );
|
||||
if( pthread_self() == prvGetThreadHandle( xTaskGetCurrentTaskHandle() ) )
|
||||
{
|
||||
debug_error( "Suspend ISR called while this thread still marked active. Reflects buggy behavior in scheduler. Signals %d\r\n" , sig);
|
||||
return;
|
||||
}
|
||||
|
||||
/* Block further suspend signals. They need to go to their thread */
|
||||
sigemptyset( &xBlockSignals );
|
||||
sigaddset( &xBlockSignals, SIG_SUSPEND );
|
||||
assert( pthread_sigmask( SIG_BLOCK, &xBlockSignals, NULL ) == 0);
|
||||
|
||||
pauseThread( THREAD_PAUSE_INTERRUPT );
|
||||
|
||||
// assert( pthread_self() == prvGetThreadHandle( xTaskGetCurrentTaskHandle() ) );
|
||||
while( pthread_self() != prvGetThreadHandle( xTaskGetCurrentTaskHandle() ) )
|
||||
{
|
||||
debug_error( "Incorrectly woke up. Repausing\r\n" );
|
||||
pauseThread( THREAD_PAUSE_INTERRUPT );
|
||||
}
|
||||
|
||||
/* Make sure the right thread is resuming */
|
||||
//assert( pthread_self() == prvGetThreadHandle(xTaskGetCurrentTaskHandle() ) );
|
||||
|
||||
/* Old synchronization code, may still be required
|
||||
while( !xHandover );
|
||||
assert( 0 == pthread_mutex_lock( &xSingleThreadMutex ) ); */
|
||||
|
||||
/* Respond to signals again */
|
||||
sigemptyset( &xBlockSignals );
|
||||
pthread_sigmask( SIG_SETMASK, &xBlockSignals, NULL );
|
||||
|
||||
debug_printf( "Resuming %li from signal %i\r\n", (long int) pthread_self(), sig );
|
||||
|
||||
/* Will resume here when the SIG_RESUME signal is received. */
|
||||
/* Need to set the interrupts based on the task's critical nesting. */
|
||||
if ( uxCriticalNesting == 0 )
|
||||
{
|
||||
vPortEnableInterrupts();
|
||||
}
|
||||
else
|
||||
{
|
||||
vPortDisableInterrupts();
|
||||
}
|
||||
debug_printf("Exit\r\n");
|
||||
//fprintf(stderr, "Caught suspend signal (%d): %s\r\n", sig, threadToName(pthread_self()));
|
||||
storeSelf();
|
||||
pauseSelf();
|
||||
claimRunningSemaphore(1);
|
||||
}
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
@ -1189,3 +1015,179 @@ struct tms xTimes;
|
||||
(void)ulTotalTime;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
|
||||
/**
|
||||
* Prepares a task to pause (stores critical nesting, releases running semaphore)
|
||||
* but doesn't actually sleep. Must be follows by a pauseSelf as soon as another
|
||||
* thread is running.
|
||||
*/
|
||||
void storeSelf()
|
||||
{
|
||||
//assert( xInterruptsEnabled );
|
||||
|
||||
xTaskHandle hTask = prvGetTaskHandle( pthread_self() );
|
||||
|
||||
/* Block further suspend signals. They need to go to their thread */
|
||||
sigset_t xBlockSignals;
|
||||
sigemptyset( &xBlockSignals );
|
||||
sigaddset( &xBlockSignals, SIG_SUSPEND );
|
||||
assert( pthread_sigmask( SIG_BLOCK, &xBlockSignals, NULL ) == 0);
|
||||
|
||||
prvSetTaskCriticalNesting( hTask, uxCriticalNesting );
|
||||
|
||||
releaseRunningSemaphore();
|
||||
|
||||
prvSetThreadStatus( pthread_self(), STORED );
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* Pause self, either from the signal handler or from its own thread. Marks
|
||||
* the status to stopped then waits for condition. When resumes marks condition
|
||||
* as true
|
||||
*/
|
||||
void pauseSelf()
|
||||
{
|
||||
//fprintf(stdout, "Pausing self: %s\r\n", threadToName( pthread_self() ) );
|
||||
|
||||
int xResult;
|
||||
xTaskHandle hTask = prvGetTaskHandle( pthread_self() );
|
||||
pthread_cond_t * hCond = prvGetConditionHandle( hTask );
|
||||
pthread_mutex_t * hMutex = prvGetMutexHandle( hTask );
|
||||
|
||||
assert(hCond);
|
||||
assert(hMutex);
|
||||
|
||||
prvSetThreadStatus( pthread_self(), STOPPED );
|
||||
|
||||
xResult = ETIMEDOUT;
|
||||
while( xResult != 0 || hTask != xTaskGetCurrentTaskHandle() ) {
|
||||
struct timeval tv;
|
||||
struct timespec ts;
|
||||
gettimeofday( &tv, NULL );
|
||||
ts.tv_sec = tv.tv_sec + 5;
|
||||
ts.tv_nsec = tv.tv_usec * 1000;
|
||||
xResult = pthread_cond_timedwait( hCond, hMutex, &ts );
|
||||
|
||||
assert( xResult != EINVAL );
|
||||
|
||||
if (xResult == ETIMEDOUT && pthread_self() == prvGetThreadHandle(xTaskGetCurrentTaskHandle())) {
|
||||
fprintf(stdout,"Timed out should be running\r\n");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/* Respond to signals again */
|
||||
sigset_t xBlockSignals;
|
||||
sigemptyset( &xBlockSignals );
|
||||
pthread_sigmask( SIG_SETMASK, &xBlockSignals, NULL );
|
||||
|
||||
/* Restore the critical nesting */
|
||||
uxCriticalNesting = prvGetTaskCriticalNesting( hTask );
|
||||
|
||||
prvSetThreadStatus( pthread_self(), RUNNING );
|
||||
//if (xResult == 0)
|
||||
// fprintf(stdout, "Thread resumed from signal %s\r\n", threadToName( pthread_self() ));
|
||||
//else
|
||||
// fprintf(stdout, "Thread resumed from timeout %s\r\n", threadToName( pthread_self() ));
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* Stops another thread that is running (from System Tick handler)
|
||||
* returns when that thread has done so. Sends a signal to that thread
|
||||
* when then goes into it's signal handler. It will changes it's running
|
||||
* status to stopped which this thread will wait for.
|
||||
*/
|
||||
static void pauseOtherThread(xTaskHandle hTask)
|
||||
{
|
||||
const int MAX_TIME = 10000; // us
|
||||
const int MAX_ATTEMPTS = 5;
|
||||
|
||||
portLONG lIndex;
|
||||
for ( lIndex = 0; lIndex < MAX_NUMBER_OF_TASKS && pxThreads[ lIndex ].hTask != hTask; lIndex++ );
|
||||
assert(pxThreads[ lIndex ].hTask == hTask);
|
||||
|
||||
for (int i = 0; i < MAX_ATTEMPTS; i++) {
|
||||
// Trigger signal handler which will call pauseSelf
|
||||
pthread_t thread_to_supend = prvGetThreadHandle( hTask );
|
||||
//fprintf(stdout, "Requesting pause of thread %s from %s.\r\n", threadToName(thread_to_supend), threadToName( pthread_self() ) );
|
||||
|
||||
assert( pthread_kill( thread_to_supend, SIG_SUSPEND ) == 0);
|
||||
|
||||
int start_time = clock();
|
||||
while( (clock() - start_time) < MAX_TIME ) {
|
||||
if(pxThreads[ lIndex ].status == STOPPED || pxThreads[ lIndex ].status == STORED) {
|
||||
//fprintf(stdout, "Pause detected of %s by %s\r\n", threadToName(pxThreads[lIndex].hThread), threadToName(pthread_self()));
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
//fprintf(stdout, "Sending pause signal from %s to %s: Try %d\r\n", threadToName(pthread_self()), threadToName(prvGetThreadHandle( hTask )), i);
|
||||
}
|
||||
assert(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Resumes another thread that is running (from either System Tick handler
|
||||
* or another thread) and returns when that thread has done so. Sends resume
|
||||
* condition to that thread and waits for the status flag to change to running.
|
||||
*/
|
||||
static void resumeThread(xTaskHandle hTask)
|
||||
{
|
||||
const unsigned int MAX_TIME = 10000; // us
|
||||
const int MAX_ATTEMPTS = 25;
|
||||
|
||||
portLONG lIndex;
|
||||
for ( lIndex = 0; lIndex < MAX_NUMBER_OF_TASKS && pxThreads[ lIndex ].hTask != hTask; lIndex++ );
|
||||
assert(pxThreads[ lIndex ].hTask == hTask);
|
||||
|
||||
for(int i = 0; i < MAX_ATTEMPTS; i++) {
|
||||
//pthread_t thread_to_resume = prvGetThreadHandle( hTask );
|
||||
//fprintf(stdout, "Requesting resume of thread %s from %s.\r\n", threadToName(thread_to_resume), threadToName( pthread_self() ) );
|
||||
/* Set resume condition for specific thread */
|
||||
pthread_cond_t * hCond = prvGetConditionHandle( hTask );
|
||||
assert( pthread_cond_signal( hCond ) == 0 );
|
||||
|
||||
unsigned int start_time = clock();
|
||||
while( (clock() - start_time) < MAX_TIME ) {
|
||||
if(pxThreads[ lIndex ].status == RUNNING) {
|
||||
//fprintf(stdout, "Resume detected of %s by %s\r\n", threadToName(pxThreads[lIndex].hThread), threadToName(pthread_self()));
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
//fprintf(stdout, "Sending resume signal from %s to %s (%d): Try %d\r\n", threadToName(pthread_self()), threadToName(hTask), lIndex, i);
|
||||
|
||||
}
|
||||
// Thread resumption timed out
|
||||
assert(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Claims the running semaphore or fails. Does not block as failing to get this
|
||||
* lock indicates another failure upstream.
|
||||
*/
|
||||
static void claimRunningSemaphore(int source)
|
||||
{
|
||||
//fprintf(stderr,"Claimed the semaphore(%d) %s\r\n", source, threadToName(pthread_self()));
|
||||
|
||||
// Make sure the right task is trying for this (SystemTick doesn't have a handle)
|
||||
xTaskHandle hTask = prvGetTaskHandle( pthread_self() );
|
||||
assert( hTask == NULL || hTask == xTaskGetCurrentTaskHandle() );
|
||||
|
||||
// And they succeed
|
||||
assert( 0 == pthread_mutex_trylock( &xRunningThread ) );
|
||||
}
|
||||
|
||||
/**
|
||||
* Claims the running semaphore or fails
|
||||
*/
|
||||
static void releaseRunningSemaphore()
|
||||
{
|
||||
//fprintf(stderr,"Released the semaphore %s\r\n", threadToName(pthread_self()));
|
||||
assert( 0 == pthread_mutex_unlock( &xRunningThread ) );
|
||||
}
|
||||
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user