circuitpython/ports/esp32/mpthreadport.c

237 lines
7.4 KiB
C

/*
* 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