esp-idf/components/pthread/pthread.c

591 wiersze
15 KiB
C
Czysty Zwykły widok Historia

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#include <errno.h>
#include <pthread.h>
#include <string.h>
#include "esp_err.h"
#include "esp_attr.h"
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#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
#include "freertos/list.h"
#define LOG_LOCAL_LEVEL ESP_LOG_VERBOSE//CONFIG_LOG_DEFAULT_LEVEL
#include "esp_log.h"
const static char *TAG = "esp_pthread";
#define ESP_PTHREAD_LOG( format, ... ) \
do { \
ets_printf(format, ##__VA_ARGS__); \
} while(0)
#define ESP_PTHREAD_LOG_LEV( _tag_, _L_, level, format, ... ) \
do { \
if (LOG_LOCAL_LEVEL >= level) { \
ESP_PTHREAD_LOG(LOG_FORMAT(_L_, format), esp_log_early_timestamp(), _tag_ , ##__VA_ARGS__); \
} \
} while(0)
#define ESP_PTHREAD_LOGE( _tag_, format, ... ) ESP_PTHREAD_LOG_LEV(_tag_, E, ESP_LOG_ERROR, format, ##__VA_ARGS__)
#define ESP_PTHREAD_LOGW( _tag_, format, ... ) ESP_PTHREAD_LOG_LEV(_tag_, W, ESP_LOG_WARN, format, ##__VA_ARGS__)
#define ESP_PTHREAD_LOGI( _tag_, format, ... ) ESP_PTHREAD_LOG_LEV(_tag_, I, ESP_LOG_INFO, format, ##__VA_ARGS__)
#define ESP_PTHREAD_LOGD( _tag_, format, ... ) ESP_PTHREAD_LOG_LEV(_tag_, D, ESP_LOG_DEBUG, format, ##__VA_ARGS__)
#define ESP_PTHREAD_LOGV( _tag_, format, ... ) ESP_PTHREAD_LOG_LEV(_tag_, V, ESP_LOG_VERBOSE, format, ##__VA_ARGS__)
#define ESP_PTHREAD_LOGO( _tag_, format, ... ) ESP_PTHREAD_LOG_LEV(_tag_, E, ESP_LOG_NONE, format, ##__VA_ARGS__)
#define PTHREAD_TASK_PRIO_DEFAULT 5
#define PTHREAD_TASK_STACK_SZ_DEFAULT (2048)//configMINIMAL_STACK_SIZE is not enough
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#define PTHREAD_TASK_STATE_RUN 0
#define PTHREAD_TASK_STATE_EXIT 1
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typedef struct {
ListItem_t list_item;
TaskHandle_t join_task;
int state;
bool detached;
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} esp_pthread_t;
typedef struct {
void *(*func)(void *);
void *arg;
esp_pthread_t *pthread;
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} esp_pthread_task_arg_t;
typedef struct {
ListItem_t list_item;
SemaphoreHandle_t sem;
int type;
} esp_pthread_mutex_t;
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static SemaphoreHandle_t s_once_mux = NULL;
static SemaphoreHandle_t s_threads_mux = NULL;
static List_t s_threads_list;
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static int IRAM_ATTR pthread_mutex_lock_internal(esp_pthread_mutex_t *mux, TickType_t tmo);
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int esp_pthread_init(void)
{
vListInitialise((List_t *)&s_threads_list);
s_once_mux = xSemaphoreCreateMutex();
if (s_once_mux == NULL)
return ESP_FAIL;
s_threads_mux = xSemaphoreCreateMutex();
if (s_threads_mux == NULL) {
vSemaphoreDelete(s_once_mux);
return ESP_FAIL;
}
return ESP_OK;
}
static TaskHandle_t pthread_find_handle(pthread_t thread)
{
ListItem_t const *list_end = listGET_END_MARKER(&s_threads_list);
ListItem_t *list_item = listGET_HEAD_ENTRY(&s_threads_list);
while (list_item != list_end) {
esp_pthread_t *pthread = listGET_LIST_ITEM_OWNER(list_item);
if ((pthread_t)pthread == thread) {
return (TaskHandle_t)listGET_LIST_ITEM_VALUE(list_item);
}
list_item = listGET_NEXT(list_item);
}
return NULL;
}
static esp_pthread_t *pthread_find(TaskHandle_t task_handle)
{
ListItem_t const *list_end = listGET_END_MARKER(&s_threads_list);
ListItem_t *list_item = listGET_HEAD_ENTRY(&s_threads_list);
while (list_item != list_end) {
TaskHandle_t cur_handle = (TaskHandle_t)listGET_LIST_ITEM_VALUE(list_item);
if (task_handle == cur_handle) {
return (esp_pthread_t *)listGET_LIST_ITEM_OWNER(list_item);
}
list_item = listGET_NEXT(list_item);
}
return NULL;
}
static void pthread_delete(esp_pthread_t *pthread)
{
uxListRemove(&pthread->list_item);
free(pthread);
}
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static void pthread_task_func(void *arg)
{
esp_pthread_task_arg_t *task_arg = (esp_pthread_task_arg_t *)arg;
ESP_PTHREAD_LOGV(TAG, "%s ENTER %p", __FUNCTION__, task_arg->pthread);
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// wait for start
xTaskNotifyWait(0, 0, NULL, portMAX_DELAY);
ESP_PTHREAD_LOGV(TAG, "%s START %p", __FUNCTION__, task_arg->pthread);
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task_arg->func(task_arg->arg);
ESP_PTHREAD_LOGV(TAG, "%s END %p", __FUNCTION__, task_arg->pthread);
free(task_arg);
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if (xSemaphoreTake(s_threads_mux, portMAX_DELAY) != pdTRUE) {
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assert(false && "Failed to lock threads list!");
}
esp_pthread_t *pthread = pthread_find(xTaskGetCurrentTaskHandle());
if (!pthread) {
assert(false && "Failed to find pthread for current task!");
}
if (pthread->detached) {
// auto-free for detached threads
pthread_delete(pthread);
} else {
// Remove from list, it indicates that task has exited
if (pthread->join_task) {
// notify join
xTaskNotify(pthread->join_task, 0, eNoAction);
} else {
pthread->state = PTHREAD_TASK_STATE_EXIT;
}
}
xSemaphoreGive(s_threads_mux);
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vTaskDelete(NULL);
ESP_PTHREAD_LOGV(TAG, "%s EXIT", __FUNCTION__);
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}
int pthread_create(pthread_t *thread, const pthread_attr_t *attr,
void *(*start_routine) (void *), void *arg)
{
TaskHandle_t xHandle = NULL;
// int priority; // Priority
// int stacksize; // Stack size
// int initial_state; // Initial state
// int cpu; // CPU affinity
// int res;
ESP_PTHREAD_LOGV(TAG, "%s", __FUNCTION__);
if (attr) {
ESP_PTHREAD_LOGE(TAG, "Attrs not supported!");
return EINVAL;
}
// if (attr) {
// stacksize = attr->stack_size;
// if (stacksize < PTHREAD_STACK_MIN) {
// errno = EINVAL;
// return EINVAL;
// }
// priority = attr->sched_priority;
// initial_state = attr->initial_state;
// cpu = attr->cpuset;
// } else {
// stacksize = CONFIG_LUA_RTOS_LUA_THREAD_STACK_SIZE;
// initial_state = PTHREAD_INITIAL_STATE_RUN;
// priority = CONFIG_LUA_RTOS_LUA_TASK_PRIORITY;
// if (portNUM_PROCESSORS > 0) {
// cpu = 0;
// } else {
// cpu = tskNO_AFFINITY;
// }
// }
esp_pthread_task_arg_t *task_arg = malloc(sizeof(esp_pthread_task_arg_t));
if (task_arg == NULL) {
ESP_PTHREAD_LOGE(TAG, "Failed to allocate task args!");
errno = ENOMEM;
return ENOMEM;
}
memset(task_arg, 0, sizeof(esp_pthread_task_arg_t));
esp_pthread_t *pthread = malloc(sizeof(esp_pthread_t));
if (pthread == NULL) {
ESP_PTHREAD_LOGE(TAG, "Failed to allocate pthread data!");
free(task_arg);
errno = ENOMEM;
return ENOMEM;
}
memset(pthread, 0, sizeof(esp_pthread_t));
task_arg->func = start_routine;
task_arg->arg = arg;
task_arg->pthread = pthread;
BaseType_t res = xTaskCreate(&pthread_task_func, "pthread", PTHREAD_TASK_STACK_SZ_DEFAULT, task_arg, PTHREAD_TASK_PRIO_DEFAULT, &xHandle);
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if(res != pdPASS) {
ESP_PTHREAD_LOGE(TAG, "Failed to create task!");
free(pthread);
free(task_arg);
if (res == errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY) {
errno = ENOMEM;
return ENOMEM;
} else {
errno = EAGAIN;
return EAGAIN;
}
}
vListInitialiseItem((ListItem_t *)&pthread->list_item);
listSET_LIST_ITEM_OWNER((ListItem_t *)&pthread->list_item, pthread);
listSET_LIST_ITEM_VALUE((ListItem_t *)&pthread->list_item, (TickType_t)xHandle);
if (xSemaphoreTake(s_threads_mux, portMAX_DELAY) != pdTRUE) {
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assert(false && "Failed to lock threads list!");
}
vListInsertEnd((List_t *)&s_threads_list, (ListItem_t *)&pthread->list_item);
xSemaphoreGive(s_threads_mux);
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// start task
xTaskNotify(xHandle, 0, eNoAction);
*thread = (pthread_t)pthread; // pointer value fit into pthread_t (uint32_t)
ESP_PTHREAD_LOGV(TAG, "Created task %x", (uint32_t)xHandle);
return 0;
}
int pthread_join(pthread_t thread, void **retval)
{
esp_pthread_t *pthread = (esp_pthread_t *)thread;
int ret = 0;
ESP_PTHREAD_LOGV(TAG, "%s %p", __FUNCTION__, pthread);
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// find task
if (xSemaphoreTake(s_threads_mux, portMAX_DELAY) != pdTRUE) {
assert(false && "Failed to lock threads list!");
}
TaskHandle_t handle = pthread_find_handle(thread);
if (!handle) {
errno = ESRCH; // not found
ret = ESRCH;
} else if (pthread->join_task) {
errno = EINVAL; // already have waiting task to join
ret = EINVAL;
} else if (handle == xTaskGetCurrentTaskHandle()) {
errno = EDEADLK; // join to self not allowed
ret = EDEADLK;
} else {
esp_pthread_t *cur_pthread = pthread_find(xTaskGetCurrentTaskHandle());
if (cur_pthread && cur_pthread->join_task == handle) {
errno = EDEADLK; // join to each other not allowed
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ret = EDEADLK;
} else {
if (pthread->state == PTHREAD_TASK_STATE_RUN) {
pthread->join_task = xTaskGetCurrentTaskHandle();
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} else {
pthread_delete(pthread);
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}
}
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}
xSemaphoreGive(s_threads_mux);
if (ret == 0 && pthread->join_task) {
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xTaskNotifyWait(0, 0, NULL, portMAX_DELAY);
if (xSemaphoreTake(s_threads_mux, portMAX_DELAY) != pdTRUE) {
assert(false && "Failed to lock threads list!");
}
pthread_delete(pthread);
xSemaphoreGive(s_threads_mux);
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}
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if (retval) {
*retval = 0; // no exit code in FreeRTOS
}
ESP_PTHREAD_LOGV(TAG, "%s %p EXIT %d", __FUNCTION__, pthread, ret);
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return ret;
}
int pthread_detach(pthread_t thread)
{
esp_pthread_t *pthread = (esp_pthread_t *)thread;
int ret = 0;
if (xSemaphoreTake(s_threads_mux, portMAX_DELAY) != pdTRUE) {
assert(false && "Failed to lock threads list!");
}
TaskHandle_t handle = pthread_find_handle(thread);
if (!handle) {
errno = ESRCH; // not found
ret = ESRCH;
} else {
pthread->detached = true;
}
xSemaphoreGive(s_threads_mux);
ESP_PTHREAD_LOGV(TAG, "%s %p EXIT %d", __FUNCTION__, pthread, ret);
return ret;
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}
int pthread_cancel(pthread_t thread)
{
assert(false && "pthread_cancel not supported!");
return -1;
}
int sched_yield( void )
{
vTaskDelay(0);
return 0;
}
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pthread_t pthread_self(void)
{
if (xSemaphoreTake(s_threads_mux, portMAX_DELAY) != pdTRUE) {
assert(false && "Failed to lock threads list!");
}
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esp_pthread_t *pthread = pthread_find(xTaskGetCurrentTaskHandle());
if (!pthread) {
assert(false && "Failed to find current thread ID!");
}
xSemaphoreGive(s_threads_mux);
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return (pthread_t)pthread;
}
int pthread_equal(pthread_t t1, pthread_t t2)
{
return t1 == t2 ? 1 : 0;
}
/***************** KEY ******************/
int pthread_key_create(pthread_key_t *key, void (*destructor)(void*))
{
static int s_created;
//TODO: Key destructors not suppoted!
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if (s_created) {
// key API supports just one key necessary by libstdcxx threading implementation
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return ENOMEM;
}
*key = 1;
s_created = 1;
return 0;
}
int pthread_key_delete(pthread_key_t key)
{
assert(false && "pthread_key_delete not supported!");
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return -1;
}
void *pthread_getspecific(pthread_key_t key)
{
assert(false && "pthread_getspecific not supported!");
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return NULL;
}
int pthread_setspecific(pthread_key_t key, const void *value)
{
assert(false && "pthread_setspecific not supported!");
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return -1;
}
/***************** ONCE ******************/
int pthread_once(pthread_once_t *once_control, void (*init_routine)(void))
{
if (once_control == NULL || init_routine == NULL || !once_control->is_initialized) {
ESP_PTHREAD_LOGE(TAG, "%s: Invalid args!", __FUNCTION__);
return EINVAL;
}
TaskHandle_t cur_task = xTaskGetCurrentTaskHandle();
// do not take mutex if OS is not running yet
if (!cur_task || xSemaphoreTake(s_once_mux, portMAX_DELAY) == pdTRUE)
{
if (!once_control->init_executed) {
ESP_PTHREAD_LOGV(TAG, "%s: call init_routine %p", __FUNCTION__, once_control);
init_routine();
once_control->init_executed = 1;
}
if (cur_task) {
xSemaphoreGive(s_once_mux);
}
}
else
{
ESP_PTHREAD_LOGE(TAG, "%s: Failed to lock!", __FUNCTION__);
return EBUSY;
}
return 0;
}
/***************** MUTEX ******************/
static int mutexattr_check(const pthread_mutexattr_t *attr)
{
if (attr->type < PTHREAD_MUTEX_NORMAL || attr->type > PTHREAD_MUTEX_RECURSIVE) {
return EINVAL;
}
return 0;
}
int pthread_mutex_init(pthread_mutex_t *mutex, const pthread_mutexattr_t *attr)
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{
int type = PTHREAD_MUTEX_NORMAL;
if (!mutex) {
errno = EINVAL;
return EINVAL;
}
if (attr) {
if (!attr->is_initialized) {
errno = EINVAL;
return EINVAL;
}
int res = mutexattr_check(attr);
if (res) {
errno = res;
return res;
}
type = attr->type;
}
esp_pthread_mutex_t *mux = (esp_pthread_mutex_t *)malloc(sizeof(esp_pthread_mutex_t));
if (!mux) {
errno = ENOMEM;
return ENOMEM;
}
mux->type = type;
if (mux->type == PTHREAD_MUTEX_RECURSIVE) {
mux->sem = xSemaphoreCreateRecursiveMutex();
} else {
mux->sem = xSemaphoreCreateMutex();
}
if (!mux->sem) {
free(mux);
errno = EAGAIN;
return EAGAIN;
}
*mutex = (pthread_mutex_t)mux; // pointer value fit into pthread_mutex_t (uint32_t)
return 0;
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}
int pthread_mutex_destroy(pthread_mutex_t *mutex)
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{
esp_pthread_mutex_t *mux;
ESP_PTHREAD_LOGV(TAG, "%s %p", __FUNCTION__, mutex);
if (!mutex) {
errno = EINVAL;
return EINVAL;
}
mux = (esp_pthread_mutex_t *)*mutex;
// check if mux is busy
int res = pthread_mutex_lock_internal(mux, 0);
if (res == EBUSY) {
errno = EBUSY;
return EBUSY;
}
vSemaphoreDelete(mux->sem);
free(mux);
return 0;
}
static int IRAM_ATTR pthread_mutex_lock_internal(esp_pthread_mutex_t *mux, TickType_t tmo)
{
if (mux->type == PTHREAD_MUTEX_RECURSIVE) {
if (xSemaphoreTakeRecursive(mux->sem, tmo) != pdTRUE) {
errno = EBUSY;
return EBUSY;
}
} else {
if (xSemaphoreTake(mux->sem, tmo) != pdTRUE) {
errno = EBUSY;
return EBUSY;
}
}
return 0;
}
int IRAM_ATTR pthread_mutex_lock(pthread_mutex_t *mutex)
{
if (!mutex) {
errno = EINVAL;
return EINVAL;
}
return pthread_mutex_lock_internal((esp_pthread_mutex_t *)*mutex, portMAX_DELAY);
}
int IRAM_ATTR pthread_mutex_trylock(pthread_mutex_t *mutex)
{
if (!mutex) {
errno = EINVAL;
return EINVAL;
}
return pthread_mutex_lock_internal((esp_pthread_mutex_t *)*mutex, 0);
}
int IRAM_ATTR pthread_mutex_unlock(pthread_mutex_t *mutex)
{
esp_pthread_mutex_t *mux;
if (!mutex) {
errno = EINVAL;
return EINVAL;
}
mux = (esp_pthread_mutex_t *)*mutex;
if (mux->type == PTHREAD_MUTEX_RECURSIVE) {
xSemaphoreGiveRecursive(mux->sem);
} else {
xSemaphoreGive(mux->sem);
}
return 0;
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}
int pthread_mutexattr_init(pthread_mutexattr_t *attr)
{
if (!attr) {
errno = EINVAL;
return EINVAL;
}
attr->type = PTHREAD_MUTEX_NORMAL;
attr->is_initialized = 1;
return 0;
}
int pthread_mutexattr_destroy(pthread_mutexattr_t *attr)
{
if (!attr) {
errno = EINVAL;
return EINVAL;
}
attr->is_initialized = 0;
return 0;
}
int pthread_mutexattr_gettype(const pthread_mutexattr_t *attr, int *type)
{
assert(false && "pthread_mutexattr_gettype not supported!");
return -1;
}
int pthread_mutexattr_settype(pthread_mutexattr_t *attr, int type)
{
if (!attr) {
errno = EINVAL;
return EINVAL;
}
pthread_mutexattr_t tmp_attr = {.type = type};
int res = mutexattr_check(&tmp_attr);
if (res) {
errno = res;
} else {
attr->type = type;
}
return res;
}
/***************** AUX ******************/
// TODO: move to newlib/time.c????
// needed for std::this_thread::sleep_for
unsigned int sleep(unsigned int seconds)
{
usleep(seconds*1000000UL);
return 0;
}