mirror of
https://github.com/espressif/esp-idf.git
synced 2024-10-05 20:47:46 -04:00
283 lines
7.0 KiB
C
283 lines
7.0 KiB
C
/******************************************************************************
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*
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* Copyright (C) 2014 Google, Inc.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at:
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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******************************************************************************/
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#include <string.h>
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#include "osi/allocator.h"
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#include "osi/fixed_queue.h"
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#include "osi/semaphore.h"
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#include "osi/thread.h"
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struct osi_thread {
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void *thread_handle; /*!< Store the thread object */
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int thread_id; /*!< May for some OS, such as Linux */
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bool stop;
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uint8_t work_queue_num; /*!< Work queue number */
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fixed_queue_t **work_queues; /*!< Point to queue array, and the priority inverse array index */
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osi_sem_t work_sem;
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osi_sem_t stop_sem;
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};
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struct osi_thread_start_arg {
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osi_thread_t *thread;
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osi_sem_t start_sem;
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int error;
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};
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typedef struct {
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osi_thread_func_t func;
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void *context;
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} work_item_t;
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static const size_t DEFAULT_WORK_QUEUE_CAPACITY = 100;
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static void osi_thread_run(void *arg)
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{
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struct osi_thread_start_arg *start = (struct osi_thread_start_arg *)arg;
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osi_thread_t *thread = start->thread;
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osi_sem_give(&start->start_sem);
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while (1) {
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int idx = 0;
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osi_sem_take(&thread->work_sem, OSI_SEM_MAX_TIMEOUT);
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if (thread->stop) {
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break;
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}
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while (!thread->stop && idx < thread->work_queue_num) {
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work_item_t *item = fixed_queue_try_dequeue(thread->work_queues[idx]);
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if (item) {
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item->func(item->context);
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osi_free(item);
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idx = 0;
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continue;
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} else {
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idx++;
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}
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}
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}
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thread->thread_handle = NULL;
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osi_sem_give(&thread->stop_sem);
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vTaskDelete(NULL);
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}
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static int osi_thread_join(osi_thread_t *thread, uint32_t wait_ms)
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{
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assert(thread != NULL);
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return osi_sem_take(&thread->stop_sem, wait_ms);
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}
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static void osi_thread_stop(osi_thread_t *thread)
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{
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int ret;
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assert(thread != NULL);
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//stop the thread
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thread->stop = true;
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osi_sem_give(&thread->work_sem);
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//join
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ret = osi_thread_join(thread, 1000); //wait 1000ms
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//if join failed, delete the task here
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if (ret != 0 && thread->thread_handle) {
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vTaskDelete(thread->thread_handle);
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}
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}
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//in linux, the stack_size, priority and core may not be set here, the code will be ignore the arguments
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osi_thread_t *osi_thread_create(const char *name, size_t stack_size, int priority, osi_thread_core_t core, uint8_t work_queue_num)
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{
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int ret;
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osi_thread_t *thread;
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struct osi_thread_start_arg start_arg = {0};
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if (stack_size <= 0 ||
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core < OSI_THREAD_CORE_0 || core > OSI_THREAD_CORE_AFFINITY ||
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work_queue_num <= 0) {
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return NULL;
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}
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thread = (osi_thread_t *)osi_malloc(sizeof(osi_thread_t));
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if (thread == NULL) {
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goto _err;
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}
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thread->stop = false;
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thread->work_queue_num = work_queue_num;
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thread->work_queues = (fixed_queue_t **)osi_malloc(sizeof(fixed_queue_t *) * work_queue_num);
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if (thread->work_queues == NULL) {
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goto _err;
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}
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for (int i = 0; i < thread->work_queue_num; i++) {
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thread->work_queues[i] = fixed_queue_new(DEFAULT_WORK_QUEUE_CAPACITY);
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if (thread->work_queues[i] == NULL) {
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goto _err;
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}
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}
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ret = osi_sem_new(&thread->work_sem, 1, 0);
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if (ret != 0) {
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goto _err;
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}
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ret = osi_sem_new(&thread->stop_sem, 1, 0);
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if (ret != 0) {
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goto _err;
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}
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start_arg.thread = thread;
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ret = osi_sem_new(&start_arg.start_sem, 1, 0);
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if (ret != 0) {
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goto _err;
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}
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if (xTaskCreatePinnedToCore(osi_thread_run, name, stack_size, &start_arg, priority, &thread->thread_handle, core) != pdPASS) {
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goto _err;
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}
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osi_sem_take(&start_arg.start_sem, OSI_SEM_MAX_TIMEOUT);
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osi_sem_free(&start_arg.start_sem);
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return thread;
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_err:
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if (thread) {
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if (start_arg.start_sem) {
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osi_sem_free(&start_arg.start_sem);
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}
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if (thread->thread_handle) {
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vTaskDelete(thread->thread_handle);
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}
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for (int i = 0; i < thread->work_queue_num; i++) {
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if (thread->work_queues[i]) {
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fixed_queue_free(thread->work_queues[i], osi_free_func);
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}
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}
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if (thread->work_queues) {
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osi_free(thread->work_queues);
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}
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if (thread->work_sem) {
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osi_sem_free(&thread->work_sem);
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}
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if (thread->stop_sem) {
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osi_sem_free(&thread->stop_sem);
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}
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osi_free(thread);
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}
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return NULL;
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}
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void osi_thread_free(osi_thread_t *thread)
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{
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if (!thread)
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return;
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osi_thread_stop(thread);
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for (int i = 0; i < thread->work_queue_num; i++) {
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if (thread->work_queues[i]) {
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fixed_queue_free(thread->work_queues[i], osi_free_func);
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}
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}
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if (thread->work_queues) {
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osi_free(thread->work_queues);
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}
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if (thread->work_sem) {
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osi_sem_free(&thread->work_sem);
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}
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if (thread->stop_sem) {
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osi_sem_free(&thread->stop_sem);
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}
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osi_free(thread);
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}
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bool osi_thread_post(osi_thread_t *thread, osi_thread_func_t func, void *context, int queue_idx, osi_thread_blocking_t blocking)
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{
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assert(thread != NULL);
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assert(func != NULL);
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if (queue_idx >= thread->work_queue_num) {
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return false;
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}
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work_item_t *item = (work_item_t *)osi_malloc(sizeof(work_item_t));
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if (item == NULL) {
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return false;
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}
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item->func = func;
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item->context = context;
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if (blocking == OSI_THREAD_BLOCKING) {
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fixed_queue_enqueue(thread->work_queues[queue_idx], item);
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} else {
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if (fixed_queue_try_enqueue(thread->work_queues[queue_idx], item) == false) {
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osi_free(item);
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return false;
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}
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}
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osi_sem_give(&thread->work_sem);
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return true;
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}
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bool osi_thread_set_priority(osi_thread_t *thread, int priority)
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{
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assert(thread != NULL);
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vTaskPrioritySet(thread->thread_handle, priority);
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return true;
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}
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const char *osi_thread_name(osi_thread_t *thread)
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{
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assert(thread != NULL);
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return pcTaskGetTaskName(thread->thread_handle);
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}
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int osi_thread_queue_wait_size(osi_thread_t *thread, int wq_idx)
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{
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if (wq_idx < 0 || wq_idx >= thread->work_queue_num) {
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return -1;
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}
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return fixed_queue_length(thread->work_queues[wq_idx]);
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}
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