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add FreeRTOS support for PIThread PIMutex PIConditionVariable

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This commit is contained in:
Andrey
2022-01-21 14:15:42 +03:00
parent 7403ee67be
commit 8296e9a32b
9 changed files with 173 additions and 77 deletions
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120
libs/main/thread/pithread.cpp
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@@ -19,27 +19,40 @@
#include "piincludes_p.h"
#include "pithread.h"
#include "pisystemtests.h"
#include "piintrospection_threads.h"
#ifndef MICRO_PIP
# include "pisystemtests.h"
#endif
#include <signal.h>
#ifdef WINDOWS
#if defined(WINDOWS)
# define __THREAD_FUNC_RET__ uint __stdcall
#elif defined(FREERTOS)
# define __THREAD_FUNC_RET__ void
#else
# define __THREAD_FUNC_RET__ void*
#endif
#ifndef FREERTOS
# define __THREAD_FUNC_END__ 0
#else
# define __THREAD_FUNC_END__
#endif
#if defined(LINUX)
# include <sys/syscall.h>
# define gettid() syscall(SYS_gettid)
#endif
#if defined(MAC_OS) || defined(BLACKBERRY) || defined(FREERTOS)
#if defined(MAC_OS) || defined(BLACKBERRY)
# include <pthread.h>
#endif
__THREAD_FUNC_RET__ thread_function(void * t) {((PIThread*)t)->__thread_func__(); return 0;}
__THREAD_FUNC_RET__ thread_function_once(void * t) {((PIThread*)t)->__thread_func_once__(); return 0;}
#define REGISTER_THREAD(t) __PIThreadCollection::instance()->registerThread(t)
#define UNREGISTER_THREAD(t) __PIThreadCollection::instance()->unregisterThread(t)
__THREAD_FUNC_RET__ thread_function(void * t) {((PIThread*)t)->__thread_func__(); return __THREAD_FUNC_END__;}
__THREAD_FUNC_RET__ thread_function_once(void * t) {((PIThread*)t)->__thread_func_once__(); return __THREAD_FUNC_END__;}
#ifndef MICRO_PIP
# define REGISTER_THREAD(t) __PIThreadCollection::instance()->registerThread(t)
# define UNREGISTER_THREAD(t) __PIThreadCollection::instance()->unregisterThread(t)
#else
# define REGISTER_THREAD(t)
# define UNREGISTER_THREAD(t)
#endif
/*! \class PIThread
* @brief Thread class
@@ -90,6 +103,7 @@ end();
*
*/
#ifndef MICRO_PIP
__PIThreadCollection *__PIThreadCollection::instance() {
return __PIThreadCollection_Initializer__::__instance__;
@@ -158,15 +172,17 @@ __PIThreadCollection_Initializer__::~__PIThreadCollection_Initializer__() {
}
}
#endif // MICRO_PIP
PRIVATE_DEFINITION_START(PIThread)
#ifndef WINDOWS
#if defined(WINDOWS)
void * thread;
#elif defined(FREERTOS)
TaskHandle_t thread;
#else
pthread_t thread;
sched_param sparam;
#else
void * thread;
#endif
PRIVATE_DEFINITION_END(PIThread)
@@ -267,22 +283,22 @@ void PIThread::terminate() {
terminating = running_ = false;
tid_ = -1;
//PICout(PICoutManipulators::DefaultControls) << "terminate" << PRIVATE->thread;
#ifndef WINDOWS
# ifdef ANDROID
# ifndef WINDOWS
# ifdef ANDROID
pthread_kill(PRIVATE->thread, SIGTERM);
# else
# else
//pthread_kill(PRIVATE->thread, SIGKILL);
//void * ret(0);
pthread_cancel(PRIVATE->thread);
//pthread_join(PRIVATE->thread, &ret);
# endif
#else
# endif
# else
TerminateThread(PRIVATE->thread, 0);
CloseHandle(PRIVATE->thread);
#endif
# endif
PRIVATE->thread = 0;
end();
#endif
#endif //FREERTOS
PIINTROSPECTION_THREAD_STOP(this);
//PICout(PICoutManipulators::DefaultControls) << "thread" << this << "terminate ok" << running_;
}
@@ -290,27 +306,31 @@ void PIThread::terminate() {
int PIThread::priority2System(PIThread::Priority p) {
switch (p) {
# ifdef QNX
#if defined(QNX)
case piLowerst: return 8;
case piLow: return 9;
case piNormal: return 10;
case piHigh: return 11;
case piHighest: return 12;
# else
# ifdef WINDOWS
#elif defined(WINDOWS)
case piLowerst: return -2;
case piLow: return -1;
case piNormal: return 0;
case piHigh: return 1;
case piHighest: return 2;
# else
#elif defined(FREERTOS)
case piLowerst: return 2;
case piLow: return 3;
case piNormal: return 4;
case piHigh: return 5;
case piHighest: return 6;
#else
case piLowerst: return 2;
case piLow: return 1;
case piNormal: return 0;
case piHigh: return -1;
case piHighest: return -2;
# endif
# endif
#endif
default: return 0;
}
return 0;
@@ -320,11 +340,11 @@ int PIThread::priority2System(PIThread::Priority p) {
bool PIThread::_startThread(void * func) {
terminating = false;
running_ = true;
#ifndef WINDOWS
#if !defined(WINDOWS) && !defined(FREERTOS)
pthread_attr_t attr;
pthread_attr_init(&attr);
pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);
int ret = pthread_create(&PRIVATE->thread, &attr, (void*(*)(void*))func, this);
int ret = pthread_create(&PRIVATE->thread, &attr, (__THREAD_FUNC_RET__(*)(void*))func, this);
//PICout(PICoutManipulators::DefaultControls) << "pthread_create" << PRIVATE->thread;
pthread_attr_destroy(&attr);
if (ret == 0) {
@@ -332,22 +352,32 @@ bool PIThread::_startThread(void * func) {
pthread_setname_np(((PIString&)name().elided(15, 0.4f).resize(15, PIChar('\0'))).dataAscii());
pthread_threadid_np(PRIVATE->thread, (__uint64_t*)&tid_);
# else
# ifdef FREERTOS
tid_ = PRIVATE->thread;
# else
pthread_setname_np(PRIVATE->thread, ((PIString&)name().elided(15, 0.4f).resize(15, PIChar('\0'))).dataAscii());
# endif
# endif
#else
#endif
#ifdef WINDOWS
if (PRIVATE->thread) CloseHandle(PRIVATE->thread);
# ifdef CC_GCC
PRIVATE->thread = (void *)_beginthreadex(0, 0, (unsigned(__stdcall*)(void*))func, this, 0, 0);
PRIVATE->thread = (void *)_beginthreadex(0, 0, (__THREAD_FUNC_RET__(*)(void*))func, this, 0, 0);
# else
PRIVATE->thread = CreateThread(0, 0, (LPTHREAD_START_ROUTINE)func, this, 0, 0);
# endif
if (PRIVATE->thread != 0) {
#endif
#ifdef FREERTOS
if (xTaskCreate(
(__THREAD_FUNC_RET__(*)(void*))func,
((PIString&)name().elided(15, 0.4f).resize(15, PIChar('\0'))).dataAscii(), // A name just for humans
128, // This stack size can be checked & adjusted by reading the Stack Highwater
this,
priority_,
&PRIVATE->thread
) == pdPASS) {
tid_ = (llong)PRIVATE->thread;
#endif
#ifndef FREERTOS
setPriority(priority_);
#endif
return true;
} else {
running_ = false;
@@ -360,10 +390,12 @@ bool PIThread::_startThread(void * func) {
void PIThread::setPriority(PIThread::Priority prior) {
#ifndef FREERTOS // FreeRTOS can't change priority runtime
priority_ = prior;
# ifndef WINDOWS
if (!running_ || (PRIVATE->thread == 0)) return;
#ifdef FREERTOS
vTaskPrioritySet(PRIVATE->thread, priority2System(priority_));
#else
# ifndef WINDOWS
//PICout(PICoutManipulators::DefaultControls) << "setPriority" << PRIVATE->thread;
policy_ = 0;
memset(&(PRIVATE->sparam), 0, sizeof(PRIVATE->sparam));
@@ -503,18 +535,18 @@ void PIThread::_endThread() {
//PICout(PICoutManipulators::DefaultControls) << "pthread_exit" << (__privateinitializer__.p)->thread;
UNREGISTER_THREAD(this);
PIINTROSPECTION_THREAD_STOP(this);
#ifndef WINDOWS
pthread_detach(PRIVATE->thread);
PRIVATE->thread = 0;
#endif
#ifndef WINDOWS
pthread_exit(0);
#else
#if defined(WINDOWS)
# ifdef CC_GCC
_endthreadex(0);
# else
ExitThread(0);
# endif
#elif defined(FREERTOS)
PRIVATE->thread = 0;
#else
pthread_detach(PRIVATE->thread);
PRIVATE->thread = 0;
pthread_exit(0);
#endif
}
@@ -558,8 +590,10 @@ void PIThread::runOnce(PIObject * object, const char * handler, const PIString &
delete t;
return;
}
#ifndef MICRO_PIP
__PIThreadCollection::instance()->startedAuto(t);
CONNECTU(t, stopped, __PIThreadCollection::instance(), stoppedAuto);
#endif
t->startOnce();
}
@@ -568,8 +602,10 @@ void PIThread::runOnce(std::function<void ()> func, const PIString & name) {
PIThread * t = new PIThread();
t->setName(name);
t->setSlot(func);
#ifndef MICRO_PIP
__PIThreadCollection::instance()->startedAuto(t);
CONNECTU(t, stopped, __PIThreadCollection::instance(), stoppedAuto);
#endif
t->startOnce();
}