ports/esp32/mpthreadport.c - lite/micropython - Linaro Git Browser

 /*
  * This file is part of the MicroPython project, http://micropython.org/
  *
  * The MIT License (MIT)
  *
  * Copyright (c) 2016 Damien P. George on behalf of Pycom Ltd
  * Copyright (c) 2017 Pycom Limited
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
  *
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
  *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
  * THE SOFTWARE.
  */

 #include "stdio.h"

 #include "py/runtime.h"
 #include "py/gc.h"
 #include "py/mpthread.h"
 #include "py/mphal.h"
 #include "mpthreadport.h"

 #include "esp_task.h"
 #if !MICROPY_ESP_IDF_4
 #include "freertos/semphr.h"
 #endif

 #if MICROPY_PY_THREAD

 #define MP_THREAD_MIN_STACK_SIZE                        (4 * 1024)
 #define MP_THREAD_DEFAULT_STACK_SIZE                    (MP_THREAD_MIN_STACK_SIZE + 1024)
 #define MP_THREAD_PRIORITY                              (ESP_TASK_PRIO_MIN + 1)

 // this structure forms a linked list, one node per active thread
 typedef struct _thread_t {
     TaskHandle_t id;        // system id of thread
     int ready;              // whether the thread is ready and running
     void *arg;              // thread Python args, a GC root pointer
     void *stack;            // pointer to the stack
     size_t stack_len;       // number of words in the stack
     struct _thread_t *next;
 } thread_t;

 // the mutex controls access to the linked list
 STATIC mp_thread_mutex_t thread_mutex;
 STATIC thread_t thread_entry0;
 STATIC thread_t *thread = NULL; // root pointer, handled by mp_thread_gc_others

 void mp_thread_init(void *stack, uint32_t stack_len) {
     mp_thread_set_state(&mp_state_ctx.thread);
     // create the first entry in the linked list of all threads
     thread = &thread_entry0;
     thread->id = xTaskGetCurrentTaskHandle();
     thread->ready = 1;
     thread->arg = NULL;
     thread->stack = stack;
     thread->stack_len = stack_len;
     thread->next = NULL;
     mp_thread_mutex_init(&thread_mutex);
 }

 void mp_thread_gc_others(void) {
     mp_thread_mutex_lock(&thread_mutex, 1);
     for (thread_t *th = thread; th != NULL; th = th->next) {
         gc_collect_root((void**)&th, 1);
         gc_collect_root(&th->arg, 1); // probably not needed
         if (th->id == xTaskGetCurrentTaskHandle()) {
             continue;
         }
         if (!th->ready) {
             continue;
         }
         gc_collect_root(th->stack, th->stack_len); // probably not needed
     }
     mp_thread_mutex_unlock(&thread_mutex);
 }

 mp_state_thread_t *mp_thread_get_state(void) {
     return pvTaskGetThreadLocalStoragePointer(NULL, 1);
 }

 void mp_thread_set_state(mp_state_thread_t *state) {
     vTaskSetThreadLocalStoragePointer(NULL, 1, state);
 }

 void mp_thread_start(void) {
     mp_thread_mutex_lock(&thread_mutex, 1);
     for (thread_t *th = thread; th != NULL; th = th->next) {
         if (th->id == xTaskGetCurrentTaskHandle()) {
             th->ready = 1;
             break;
         }
     }
     mp_thread_mutex_unlock(&thread_mutex);
 }

 STATIC void *(*ext_thread_entry)(void*) = NULL;

 STATIC void freertos_entry(void *arg) {
     if (ext_thread_entry) {
         ext_thread_entry(arg);
     }
     vTaskDelete(NULL);
     for (;;);
 }

 void mp_thread_create_ex(void *(*entry)(void*), void *arg, size_t *stack_size, int priority, char *name) {
     // store thread entry function into a global variable so we can access it
     ext_thread_entry = entry;

     if (*stack_size == 0) {
         *stack_size = MP_THREAD_DEFAULT_STACK_SIZE; // default stack size
     } else if (*stack_size < MP_THREAD_MIN_STACK_SIZE) {
         *stack_size = MP_THREAD_MIN_STACK_SIZE; // minimum stack size
     }

     // Allocate linked-list node (must be outside thread_mutex lock)
     thread_t *th = m_new_obj(thread_t);

     mp_thread_mutex_lock(&thread_mutex, 1);

     // create thread
     BaseType_t result = xTaskCreatePinnedToCore(freertos_entry, name, *stack_size / sizeof(StackType_t), arg, priority, &th->id, MP_TASK_COREID);
     if (result != pdPASS) {
         mp_thread_mutex_unlock(&thread_mutex);
         mp_raise_msg(&mp_type_OSError, "can't create thread");
     }

     // adjust the stack_size to provide room to recover from hitting the limit
     *stack_size -= 1024;

     // add thread to linked list of all threads
     th->ready = 0;
     th->arg = arg;
     th->stack = pxTaskGetStackStart(th->id);
     th->stack_len = *stack_size / sizeof(StackType_t);
     th->next = thread;
     thread = th;

     mp_thread_mutex_unlock(&thread_mutex);
 }

 void mp_thread_create(void *(*entry)(void*), void *arg, size_t *stack_size) {
     mp_thread_create_ex(entry, arg, stack_size, MP_THREAD_PRIORITY, "mp_thread");
 }

 void mp_thread_finish(void) {
     mp_thread_mutex_lock(&thread_mutex, 1);
     for (thread_t *th = thread; th != NULL; th = th->next) {
         if (th->id == xTaskGetCurrentTaskHandle()) {
             th->ready = 0;
             break;
         }
     }
     mp_thread_mutex_unlock(&thread_mutex);
 }

 void vPortCleanUpTCB(void *tcb) {
     if (thread == NULL) {
         // threading not yet initialised
         return;
     }
     thread_t *prev = NULL;
     mp_thread_mutex_lock(&thread_mutex, 1);
     for (thread_t *th = thread; th != NULL; prev = th, th = th->next) {
         // unlink the node from the list
         if ((void*)th->id == tcb) {
             if (prev != NULL) {
                 prev->next = th->next;
             } else {
                 // move the start pointer
                 thread = th->next;
             }
             // explicitly release all its memory
             m_del(thread_t, th, 1);
             break;
         }
     }
     mp_thread_mutex_unlock(&thread_mutex);
 }

 void mp_thread_mutex_init(mp_thread_mutex_t *mutex) {
     mutex->handle = xSemaphoreCreateMutexStatic(&mutex->buffer);
 }

 int mp_thread_mutex_lock(mp_thread_mutex_t *mutex, int wait) {
     return (pdTRUE == xSemaphoreTake(mutex->handle, wait ? portMAX_DELAY : 0));
 }

 void mp_thread_mutex_unlock(mp_thread_mutex_t *mutex) {
     xSemaphoreGive(mutex->handle);
 }

 void mp_thread_deinit(void) {
     for (;;) {
         // Find a task to delete
         TaskHandle_t id = NULL;
         mp_thread_mutex_lock(&thread_mutex, 1);
         for (thread_t *th = thread; th != NULL; th = th->next) {
             // Don't delete the current task
             if (th->id != xTaskGetCurrentTaskHandle()) {
                 id = th->id;
                 break;
             }
         }
         mp_thread_mutex_unlock(&thread_mutex);

         if (id == NULL) {
             // No tasks left to delete
             break;
         } else {
             // Call FreeRTOS to delete the task (it will call vPortCleanUpTCB)
             vTaskDelete(id);
         }
     }
 }

 #else

 void vPortCleanUpTCB(void *tcb) {
 }

 #endif // MICROPY_PY_THREAD
	/*
	* This file is part of the MicroPython project, http://micropython.org/
	*
	* The MIT License (MIT)
	*
	* Copyright (c) 2016 Damien P. George on behalf of Pycom Ltd
	* Copyright (c) 2017 Pycom Limited
	*
	* Permission is hereby granted, free of charge, to any person obtaining a copy
	* of this software and associated documentation files (the "Software"), to deal
	* in the Software without restriction, including without limitation the rights
	* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
	* copies of the Software, and to permit persons to whom the Software is
	* furnished to do so, subject to the following conditions:
	*
	* The above copyright notice and this permission notice shall be included in
	* all copies or substantial portions of the Software.
	*
	* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
	* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
	* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
	* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
	* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
	* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
	* THE SOFTWARE.
	*/

	#include "stdio.h"

	#include "py/runtime.h"
	#include "py/gc.h"
	#include "py/mpthread.h"
	#include "py/mphal.h"
	#include "mpthreadport.h"

	#include "esp_task.h"
	#if !MICROPY_ESP_IDF_4
	#include "freertos/semphr.h"
	#endif

	#if MICROPY_PY_THREAD

	#define MP_THREAD_MIN_STACK_SIZE (4 * 1024)
	#define MP_THREAD_DEFAULT_STACK_SIZE (MP_THREAD_MIN_STACK_SIZE + 1024)
	#define MP_THREAD_PRIORITY (ESP_TASK_PRIO_MIN + 1)

	// this structure forms a linked list, one node per active thread
	typedef struct _thread_t {
	TaskHandle_t id; // system id of thread
	int ready; // whether the thread is ready and running
	void *arg; // thread Python args, a GC root pointer
	void *stack; // pointer to the stack
	size_t stack_len; // number of words in the stack
	struct _thread_t *next;
	} thread_t;

	// the mutex controls access to the linked list
	STATIC mp_thread_mutex_t thread_mutex;
	STATIC thread_t thread_entry0;
	STATIC thread_t *thread = NULL; // root pointer, handled by mp_thread_gc_others

	void mp_thread_init(void *stack, uint32_t stack_len) {
	mp_thread_set_state(&mp_state_ctx.thread);
	// create the first entry in the linked list of all threads
	thread = &thread_entry0;
	thread->id = xTaskGetCurrentTaskHandle();
	thread->ready = 1;
	thread->arg = NULL;
	thread->stack = stack;
	thread->stack_len = stack_len;
	thread->next = NULL;
	mp_thread_mutex_init(&thread_mutex);
	}

	void mp_thread_gc_others(void) {
	mp_thread_mutex_lock(&thread_mutex, 1);
	for (thread_t *th = thread; th != NULL; th = th->next) {
	gc_collect_root((void**)&th, 1);
	gc_collect_root(&th->arg, 1); // probably not needed
	if (th->id == xTaskGetCurrentTaskHandle()) {
	continue;
	}
	if (!th->ready) {
	continue;
	}
	gc_collect_root(th->stack, th->stack_len); // probably not needed
	}
	mp_thread_mutex_unlock(&thread_mutex);
	}

	mp_state_thread_t *mp_thread_get_state(void) {
	return pvTaskGetThreadLocalStoragePointer(NULL, 1);
	}

	void mp_thread_set_state(mp_state_thread_t *state) {
	vTaskSetThreadLocalStoragePointer(NULL, 1, state);
	}

	void mp_thread_start(void) {
	mp_thread_mutex_lock(&thread_mutex, 1);
	for (thread_t *th = thread; th != NULL; th = th->next) {
	if (th->id == xTaskGetCurrentTaskHandle()) {
	th->ready = 1;
	break;
	}
	}
	mp_thread_mutex_unlock(&thread_mutex);
	}

	STATIC void (ext_thread_entry)(void*) = NULL;

	STATIC void freertos_entry(void *arg) {
	if (ext_thread_entry) {
	ext_thread_entry(arg);
	}
	vTaskDelete(NULL);
	for (;;);
	}

	void mp_thread_create_ex(void (entry)(void), void arg, size_t stack_size, int priority, char name) {
	// store thread entry function into a global variable so we can access it
	ext_thread_entry = entry;

	if (*stack_size == 0) {
	*stack_size = MP_THREAD_DEFAULT_STACK_SIZE; // default stack size
	} else if (*stack_size < MP_THREAD_MIN_STACK_SIZE) {
	*stack_size = MP_THREAD_MIN_STACK_SIZE; // minimum stack size
	}

	// Allocate linked-list node (must be outside thread_mutex lock)
	thread_t *th = m_new_obj(thread_t);

	mp_thread_mutex_lock(&thread_mutex, 1);

	// create thread
	BaseType_t result = xTaskCreatePinnedToCore(freertos_entry, name, *stack_size / sizeof(StackType_t), arg, priority, &th->id, MP_TASK_COREID);
	if (result != pdPASS) {
	mp_thread_mutex_unlock(&thread_mutex);
	mp_raise_msg(&mp_type_OSError, "can't create thread");
	}

	// adjust the stack_size to provide room to recover from hitting the limit
	*stack_size -= 1024;

	// add thread to linked list of all threads
	th->ready = 0;
	th->arg = arg;
	th->stack = pxTaskGetStackStart(th->id);
	th->stack_len = *stack_size / sizeof(StackType_t);
	th->next = thread;
	thread = th;

	mp_thread_mutex_unlock(&thread_mutex);
	}

	void mp_thread_create(void (entry)(void), void arg, size_t *stack_size) {
	mp_thread_create_ex(entry, arg, stack_size, MP_THREAD_PRIORITY, "mp_thread");
	}

	void mp_thread_finish(void) {
	mp_thread_mutex_lock(&thread_mutex, 1);
	for (thread_t *th = thread; th != NULL; th = th->next) {
	if (th->id == xTaskGetCurrentTaskHandle()) {
	th->ready = 0;
	break;
	}
	}
	mp_thread_mutex_unlock(&thread_mutex);
	}

	void vPortCleanUpTCB(void *tcb) {
	if (thread == NULL) {
	// threading not yet initialised
	return;
	}
	thread_t *prev = NULL;
	mp_thread_mutex_lock(&thread_mutex, 1);
	for (thread_t *th = thread; th != NULL; prev = th, th = th->next) {
	// unlink the node from the list
	if ((void*)th->id == tcb) {
	if (prev != NULL) {
	prev->next = th->next;
	} else {
	// move the start pointer
	thread = th->next;
	}
	// explicitly release all its memory
	m_del(thread_t, th, 1);
	break;
	}
	}
	mp_thread_mutex_unlock(&thread_mutex);
	}

	void mp_thread_mutex_init(mp_thread_mutex_t *mutex) {
	mutex->handle = xSemaphoreCreateMutexStatic(&mutex->buffer);
	}

	int mp_thread_mutex_lock(mp_thread_mutex_t *mutex, int wait) {
	return (pdTRUE == xSemaphoreTake(mutex->handle, wait ? portMAX_DELAY : 0));
	}

	void mp_thread_mutex_unlock(mp_thread_mutex_t *mutex) {
	xSemaphoreGive(mutex->handle);
	}

	void mp_thread_deinit(void) {
	for (;;) {
	// Find a task to delete
	TaskHandle_t id = NULL;
	mp_thread_mutex_lock(&thread_mutex, 1);
	for (thread_t *th = thread; th != NULL; th = th->next) {
	// Don't delete the current task
	if (th->id != xTaskGetCurrentTaskHandle()) {
	id = th->id;
	break;
	}
	}
	mp_thread_mutex_unlock(&thread_mutex);

	if (id == NULL) {
	// No tasks left to delete
	break;
	} else {
	// Call FreeRTOS to delete the task (it will call vPortCleanUpTCB)
	vTaskDelete(id);
	}
	}
	}

	#else

	void vPortCleanUpTCB(void *tcb) {
	}

	#endif // MICROPY_PY_THREAD