Initial draft of pthread-based impl
This commit is contained in:
Michal Moskal
parent
a1fc4290f4
commit
f0a7990efa
@ -19,7 +19,7 @@ DEPS = $(PXT_HEADERS) package.json Makefile Makefile.inc
|
||||
all: $(EXE)
|
||||
|
||||
$(EXE): $(PXT_OBJS)
|
||||
$(LD) -o $(EXE) $(LDFLAGS) -Wl,-Map,$(EXE:.elf=.map) $(PXT_OBJS) $(LIBSTDCPP) -lm $(NPM_LIBS)
|
||||
$(LD) -o $(EXE) $(LDFLAGS) -Wl,-Map,$(EXE:.elf=.map) $(PXT_OBJS) $(LIBSTDCPP) -lm -lpthread $(NPM_LIBS)
|
||||
cp $(EXE) $(EXE:.elf=.full)
|
||||
$(PREF)strip $(EXE)
|
||||
node -p 'require("fs").readFileSync("$(EXE)").toString("hex")' > $(HEX)
|
||||
|
||||
@ -5,40 +5,11 @@
|
||||
#include <sys/time.h>
|
||||
#include <time.h>
|
||||
#include <cstdarg>
|
||||
#include <pthread.h>
|
||||
#include <assert.h>
|
||||
#include <map>
|
||||
|
||||
#include <pth.h>
|
||||
|
||||
// TODO set JOINABLE to false
|
||||
|
||||
static int startTime;
|
||||
static map<pair<int, int>, Action> handlersMap;
|
||||
static pth_msgport_t evMsgPort;
|
||||
|
||||
struct Thread {
|
||||
struct Thread *next;
|
||||
Action act;
|
||||
TValue arg0;
|
||||
pth_t pid;
|
||||
pth_msgport_t waitEventPort;
|
||||
int waitSource;
|
||||
int waitValue;
|
||||
};
|
||||
|
||||
static struct Thread *allThreads;
|
||||
|
||||
struct Event {
|
||||
pth_message_t msg;
|
||||
int source;
|
||||
int value;
|
||||
};
|
||||
|
||||
Event *mkEvent(int source, int value) {
|
||||
auto res = new Event();
|
||||
memset(res, 0, sizeof(Event));
|
||||
res->source = source;
|
||||
res->value = value;
|
||||
return res;
|
||||
}
|
||||
#define DEVICE_EVT_ANY 0
|
||||
|
||||
void dmesg(const char *format, ...) {
|
||||
char buf[500];
|
||||
@ -53,6 +24,43 @@ void dmesg(const char *format, ...) {
|
||||
|
||||
namespace pxt {
|
||||
|
||||
static int startTime;
|
||||
static std::map<std::pair<int, int>, Action> handlersMap;
|
||||
|
||||
static pthread_mutex_t execMutex;
|
||||
static pthread_t execThread;
|
||||
static pthread_cond_t newEventBroadcast;
|
||||
static pthread_mutex_t newEventMutex;
|
||||
|
||||
struct Thread {
|
||||
struct Thread *next;
|
||||
Action act;
|
||||
TValue arg0;
|
||||
pthread_t pid;
|
||||
pthread_cond_t waitCond;
|
||||
int waitSource;
|
||||
int waitValue;
|
||||
};
|
||||
|
||||
static struct Thread *allThreads;
|
||||
static struct Event *eventHead, *eventTail;
|
||||
|
||||
struct Event {
|
||||
struct Event *next;
|
||||
int source;
|
||||
int value;
|
||||
};
|
||||
|
||||
Event lastEvent;
|
||||
|
||||
Event *mkEvent(int source, int value) {
|
||||
auto res = new Event();
|
||||
memset(res, 0, sizeof(Event));
|
||||
res->source = source;
|
||||
res->value = value;
|
||||
return res;
|
||||
}
|
||||
|
||||
void sendSerial(const char *data, int len) {
|
||||
fwrite(data, 1, len, stderr);
|
||||
}
|
||||
@ -68,15 +76,38 @@ extern "C" void target_reset() {
|
||||
exit(0);
|
||||
}
|
||||
|
||||
void checkUserMode() {
|
||||
assert(execThread == pthread_self());
|
||||
}
|
||||
|
||||
void startUser() {
|
||||
assert(execThread != pthread_self());
|
||||
pthread_mutex_lock(&execMutex);
|
||||
execThread = pthread_self();
|
||||
}
|
||||
|
||||
void stopUser() {
|
||||
assert(execThread == pthread_self());
|
||||
execThread = 0;
|
||||
pthread_mutex_unlock(&execMutex);
|
||||
}
|
||||
|
||||
void sleep_ms(uint32_t ms) {
|
||||
struct timeval tv;
|
||||
tv.tv_sec = ms / 1000;
|
||||
tv.tv_usec = (ms % 1000) * 1000;
|
||||
pth_nap(tv);
|
||||
stopUser();
|
||||
|
||||
struct timespec ts;
|
||||
ts.tv_sec = ms / 1000;
|
||||
ts.tv_nsec = (ms % 1000) * 1000000;
|
||||
while (nanosleep(&ts, &ts))
|
||||
;
|
||||
|
||||
startUser();
|
||||
}
|
||||
|
||||
void sleep_us(uint64_t us) {
|
||||
if (us > 20000) {
|
||||
checkUserMode();
|
||||
|
||||
if (us > 10000) {
|
||||
sleep_ms(us / 1000);
|
||||
}
|
||||
struct timespec ts;
|
||||
@ -112,25 +143,30 @@ void disposeThread(Thread *t) {
|
||||
}
|
||||
}
|
||||
decr(t->act);
|
||||
pth_msgport_destroy(t->waitEventPort);
|
||||
pthread_cond_destroy(&t->waitCond);
|
||||
delete t;
|
||||
}
|
||||
|
||||
static void runAct(Thread *thr) {
|
||||
startUser();
|
||||
pxt::runAction1(thr->act, thr->arg0);
|
||||
stopUser();
|
||||
disposeThread(thr);
|
||||
}
|
||||
|
||||
void setupThread(Action a, TValue arg = 0, void (*runner)(Thread *) = runAct) {
|
||||
void setupThread(Action a, TValue arg = 0, void (*runner)(Thread *) = NULL) {
|
||||
if (runner == NULL)
|
||||
runner = runAct;
|
||||
auto thr = new Thread();
|
||||
memset(thr, 0, sizeof(Thread));
|
||||
thr->next = allThreads;
|
||||
allThreads = thr;
|
||||
thr->act = a;
|
||||
thr->arg0 = a;
|
||||
thr->waitEventPort = pth_msgport_create(NULL);
|
||||
pthread_cond_init(&thr->waitCond, NULL);
|
||||
incr(a);
|
||||
pth_spawn(PTH_ATTR_DEFAULT, runner, thr);
|
||||
pthread_create(&thr->pid, NULL, (void *(*)(void *))runner, thr);
|
||||
pthread_detach(thr->pid);
|
||||
}
|
||||
|
||||
void runInBackground(Action a) {
|
||||
@ -138,6 +174,7 @@ void runInBackground(Action a) {
|
||||
}
|
||||
|
||||
static void runFor(Thread *t) {
|
||||
startUser();
|
||||
while (true) {
|
||||
pxt::runAction0(t->act);
|
||||
sleep_ms(20);
|
||||
@ -148,36 +185,55 @@ void runForever(Action a) {
|
||||
setupThread(a, 0, runFor);
|
||||
}
|
||||
|
||||
void waitForEvent(int id, int event) {
|
||||
// TODO
|
||||
void waitForEvent(int source, int value) {
|
||||
auto self = pthread_self();
|
||||
for (auto t = allThreads; t; t = t->next) {
|
||||
if (t->pid == self) {
|
||||
t->waitSource = source;
|
||||
t->waitValue = value;
|
||||
stopUser();
|
||||
// spourious wake ups may occur they say
|
||||
while (t->waitSource) {
|
||||
pthread_mutex_lock(&newEventMutex);
|
||||
pthread_cond_wait(&t->waitCond, &newEventMutex);
|
||||
}
|
||||
startUser();
|
||||
return;
|
||||
}
|
||||
}
|
||||
assert(0);
|
||||
}
|
||||
|
||||
static void dispatchEvent(Event &e) {
|
||||
// lastEvent = e;
|
||||
lastEvent = e;
|
||||
|
||||
Action curr = handlersMap[{e.source, e.value}];
|
||||
if (curr)
|
||||
runAction1(curr, fromInt(e.value));
|
||||
setupThread(curr, fromInt(e.value));
|
||||
|
||||
curr = handlersMap[{e.source, DEVICE_EVT_ANY}];
|
||||
if (curr)
|
||||
runAction1(curr, fromInt(e.value));
|
||||
setupThread(curr, fromInt(e.value));
|
||||
}
|
||||
|
||||
static void *evtDispatcher(void *dummy) {
|
||||
pth_event_t msgEv = pth_event(PTH_EVENT_MSG, evMsgPort);
|
||||
Event *ev;
|
||||
pthread_mutex_lock(&newEventMutex);
|
||||
while (true) {
|
||||
pth_wait(msgEv);
|
||||
while (NULL != (ev = (Event *)pth_msgport_get(evMsgPort))) {
|
||||
pthread_cond_wait(&newEventBroadcast, &newEventMutex);
|
||||
while (eventHead != NULL) {
|
||||
Event *ev = eventHead;
|
||||
eventHead = ev->next;
|
||||
if (eventHead == NULL)
|
||||
eventTail = NULL;
|
||||
|
||||
for (auto thr = allThreads; thr; thr = thr->next) {
|
||||
if (thr->waitSource == ev->source &&
|
||||
(thr->waitValue == ev->value || thr->waitValue == DEVICE_EVT_ANY)) {
|
||||
Event *copy = mkEvent(ev->source, ev->value);
|
||||
pth_msgport_put(thr->waitEventPort, copy);
|
||||
thr->waitSource = 0; // once!
|
||||
pthread_cond_broadcast(&thr->waitCond);
|
||||
}
|
||||
}
|
||||
|
||||
dispatchEvent(*ev);
|
||||
delete ev;
|
||||
}
|
||||
@ -185,8 +241,18 @@ static void *evtDispatcher(void *dummy) {
|
||||
}
|
||||
|
||||
void raiseEvent(int id, int event) {
|
||||
checkUserMode();
|
||||
auto e = mkEvent(id, event);
|
||||
pth_msgport_put(evMsgPort, e);
|
||||
pthread_mutex_lock(&newEventMutex);
|
||||
if (eventTail == NULL) {
|
||||
assert(eventHead == NULL);
|
||||
eventHead = eventTail = e;
|
||||
} else {
|
||||
eventTail->next = e;
|
||||
eventTail = e;
|
||||
}
|
||||
pthread_cond_broadcast(&newEventBroadcast);
|
||||
pthread_mutex_unlock(&newEventMutex);
|
||||
}
|
||||
|
||||
void registerWithDal(int id, int event, Action a) {
|
||||
@ -209,6 +275,8 @@ void dumpDmesg() {
|
||||
|
||||
void initRuntime() {
|
||||
startTime = currTime();
|
||||
pth_init();
|
||||
pthread_t disp;
|
||||
pthread_create(&disp, NULL, evtDispatcher, NULL);
|
||||
pthread_detach(disp);
|
||||
}
|
||||
}
|
||||
|
||||
@ -13,8 +13,7 @@
|
||||
"test.ts"
|
||||
],
|
||||
"npmDependencies": {
|
||||
"pxt-linux-ev3-api": "1.0.0",
|
||||
"pxt-linux-pth": "2.0.7"
|
||||
"pxt-linux-ev3-api": "1.0.0"
|
||||
},
|
||||
"public": true,
|
||||
"dependencies": {
|
||||
|
||||
Loading…
Reference in New Issue
Block a user