add FreeRTOS support for PIThread PIMutex PIConditionVariable

library.json

@@ -18,7 +18,10 @@
         "srcFilter": [
             "+<libs/main/core/*.cpp>",
             "+<libs/main/containers/*.cpp>",
-            "+<libs/main/math/*.cpp>"
+            "+<libs/main/math/*.cpp>",
+            "+<libs/main/thread/*.cpp>",
+            "+<libs/main/io_uutils/*.cpp>",
+            "+<libs/main/geo/*.cpp>"
         ],
         "extraScript": "platformio_pre.py",
         "flags": "-DPIP_FREERTOS"

libs/main/core/piobject.cpp

@@ -18,10 +18,10 @@
 */
 
 #include "piobject.h"
-#include "pisysteminfo.h"
 #include "pithread.h"
 #include "piconditionvar.h"
 #ifndef MICRO_PIP
+#  include "pisysteminfo.h"
 #  include "pifile.h"
 #endif
 
@@ -589,6 +589,7 @@ void PIObject::dump(const PIString & line_prefix) const {
 }
 
 
+#ifndef MICRO_PIP
 void dumpApplication() {
 	PIMutexLocker _ml(PIObject::mutexObjects());
 	//printf("dump application ...\n");
@@ -615,7 +616,6 @@ void dumpApplication() {
 }
 
 
-#ifndef MICRO_PIP
 bool dumpApplicationToFile(const PIString & path) {
 	PIFile f(path + "_tmp");
 	f.setName("__S__DumpFile");

libs/main/core/piobject.h

@@ -37,11 +37,13 @@
 typedef void (*Handler)(void * );
 
 class PIP_EXPORT PIObject {
+#ifndef MICRO_PIP
 	friend class PIObjectManager;
 	friend void dumpApplication();
+	friend class PIIntrospection;
+#endif
 	typedef PIObject __PIObject__;
 	typedef void __Parent__;
-	friend class PIIntrospection;
 public:
 	NO_COPY_CLASS(PIObject)
 
@@ -539,8 +541,9 @@ private:
 
 };
 
-
+#ifndef MICRO_PIP
 PIP_EXPORT void dumpApplication();
 PIP_EXPORT bool dumpApplicationToFile(const PIString & path);
+#endif
 
 #endif // PIOBJECT_H

libs/main/core/pivarianttypes.cpp

@@ -19,8 +19,9 @@
 
 #include "pivarianttypes.h"
 #include "pipropertystorage.h"
+#ifndef MICRO_PIP
 #  include "piiodevice.h"
-
+#endif
 
 int PIVariantTypes::Enum::selectedValue() const {
 	piForeachC (Enumerator & e, enum_list)
@@ -83,7 +84,7 @@ PIStringList PIVariantTypes::Enum::names() const {
 
 
 
-
+#ifndef MICRO_PIP
 PIVariantTypes::IODevice::IODevice() {
 	mode = PIIODevice::ReadWrite;
 	options = 0;
@@ -125,7 +126,7 @@ PIString PIVariantTypes::IODevice::toPICout() const {
 	s << ")";
 	return s;
 }
-
+#endif // MICRO_PIP
 
 
 

libs/main/thread/piconditionvar.cpp

@@ -20,7 +20,7 @@
 #include "piconditionvar.h"
 #include "pithread.h"
 #include "pitime.h"
-
+#include "piincludes_p.h"
 #ifdef WINDOWS
 #  undef _WIN32_WINNT
 #  define _WIN32_WINNT 0x0600
@@ -28,25 +28,32 @@
 #  include <windef.h>
 #  include <winbase.h>
 #endif
+#ifdef FREERTOS
+#  include <event_groups.h>
+#endif
 
 
 PRIVATE_DEFINITION_START(PIConditionVariable)
-#ifdef WINDOWS
-	CONDITION_VARIABLE nativeHandle;
+#if defined(WINDOWS)
+	CONDITION_VARIABLE
+#elif defined(FREERTOS)
+	EventGroupHandle_t
 #else
-	pthread_cond_t nativeHandle;
+	pthread_cond_t
 #endif
+	nativeHandle;
 PRIVATE_DEFINITION_END(PIConditionVariable)
 
 
 PIConditionVariable::PIConditionVariable() {
-#ifdef WINDOWS
+#if defined(WINDOWS)
 	InitializeConditionVariable(&PRIVATE->nativeHandle);
+#elif defined(FREERTOS)
+	PRIVATE->nativeHandle = xEventGroupCreate();
 #else
-
 	pthread_condattr_t condattr;
 	pthread_condattr_init(&condattr);
-#  if !defined(MAC_OS) && !defined(FREERTOS)
+#  if !defined(MAC_OS)
 	pthread_condattr_setclock(&condattr, CLOCK_MONOTONIC);
 #  endif
 	memset(&(PRIVATE->nativeHandle), 0, sizeof(PRIVATE->nativeHandle));
@@ -56,7 +63,9 @@ PIConditionVariable::PIConditionVariable() {
 
 
 PIConditionVariable::~PIConditionVariable() {
-#ifdef WINDOWS
+#if defined(WINDOWS)
+#elif defined(FREERTOS)
+	vEventGroupDelete(PRIVATE->nativeHandle);
 #else
 	pthread_cond_destroy(&PRIVATE->nativeHandle);
 #endif
@@ -64,8 +73,11 @@ PIConditionVariable::~PIConditionVariable() {
 
 
 void PIConditionVariable::wait(PIMutex& lk) {
-#ifdef WINDOWS
+#if defined(WINDOWS)
 	SleepConditionVariableCS(&PRIVATE->nativeHandle, (PCRITICAL_SECTION)lk.handle(), INFINITE);
+#elif defined(FREERTOS)
+	xEventGroupClearBits(PRIVATE->nativeHandle, 1);
+	xEventGroupWaitBits(PRIVATE->nativeHandle, 1, pdTRUE, pdTRUE, portMAX_DELAY);
 #else
 	pthread_cond_wait(&PRIVATE->nativeHandle, (pthread_mutex_t*)lk.handle());
 #endif
@@ -77,8 +89,11 @@ void PIConditionVariable::wait(PIMutex& lk, const std::function<bool()>& conditi
 	while (true) {
 		isCondition = condition();
 		if (isCondition) break;
-#ifdef WINDOWS
+#if defined(WINDOWS)
 		SleepConditionVariableCS(&PRIVATE->nativeHandle, (PCRITICAL_SECTION)lk.handle(), INFINITE);
+#elif defined(FREERTOS)
+		xEventGroupClearBits(PRIVATE->nativeHandle, 1);
+		xEventGroupWaitBits(PRIVATE->nativeHandle, 1, pdTRUE, pdTRUE, portMAX_DELAY);
 #else
 		pthread_cond_wait(&PRIVATE->nativeHandle, (pthread_mutex_t*)lk.handle());
 #endif
@@ -88,8 +103,13 @@ void PIConditionVariable::wait(PIMutex& lk, const std::function<bool()>& conditi
 
 bool PIConditionVariable::waitFor(PIMutex &lk, int timeoutMs) {
 	bool isNotTimeout;
-#ifdef WINDOWS
+#if defined(WINDOWS)
 	isNotTimeout = SleepConditionVariableCS(&PRIVATE->nativeHandle, (PCRITICAL_SECTION)lk.handle(), timeoutMs) != 0;
+#elif defined(FREERTOS)
+	xEventGroupClearBits(PRIVATE->nativeHandle, 1);
+	EventBits_t uxBits;
+	uxBits = xEventGroupWaitBits(PRIVATE->nativeHandle, 1, pdTRUE, pdTRUE, timeoutMs / portTICK_PERIOD_MS);
+	isNotTimeout = (uxBits & 1) != 0;
 #else
 	timespec expire_ts;
 	PISystemTime st = PISystemTime::current(true);
@@ -103,24 +123,32 @@ bool PIConditionVariable::waitFor(PIMutex &lk, int timeoutMs) {
 
 bool PIConditionVariable::waitFor(PIMutex& lk, int timeoutMs, const std::function<bool()> &condition) {
 	bool isCondition;
-#ifdef WINDOWS
+#if defined(WINDOWS) || defined(FREERTOS)
 	PITimeMeasurer measurer;
 #else
 	timespec expire_ts;
 	PISystemTime st = PISystemTime::current(true);
 	st.addMilliseconds(timeoutMs);
 	st.toTimespec(&expire_ts);
+#endif
+#ifdef FREERTOS
+	xEventGroupClearBits(PRIVATE->nativeHandle, 1);
 #endif
 	while (true) {
 		isCondition = condition();
 		if (isCondition) break;
-#ifdef WINDOWS
-		bool isTimeout = SleepConditionVariableCS(
+		bool isTimeout;
+#if defined(WINDOWS)
+		isTimeout = SleepConditionVariableCS(
 					&PRIVATE->nativeHandle,
 					(PCRITICAL_SECTION)lk.handle(),
 					timeoutMs - (int)measurer.elapsed_m()) == 0;
+#elif defined(FREERTOS)
+	EventBits_t uxBits;
+	uxBits = xEventGroupWaitBits(PRIVATE->nativeHandle, 1, pdTRUE, pdTRUE, (timeoutMs - (int)measurer.elapsed_m()) / portTICK_PERIOD_MS);
+	isTimeout = (uxBits & 1) == 0;
 #else
-		bool isTimeout = pthread_cond_timedwait(&PRIVATE->nativeHandle, (pthread_mutex_t*)lk.handle(), &expire_ts) != 0;
+		isTimeout = pthread_cond_timedwait(&PRIVATE->nativeHandle, (pthread_mutex_t*)lk.handle(), &expire_ts) != 0;
 #endif
 		if (isTimeout) return false;
 	}
@@ -129,8 +157,10 @@ bool PIConditionVariable::waitFor(PIMutex& lk, int timeoutMs, const std::functio
 
 
 void PIConditionVariable::notifyOne() {
-#ifdef WINDOWS
+#if defined(WINDOWS)
 	WakeConditionVariable(&PRIVATE->nativeHandle);
+#elif defined(FREERTOS)
+	xEventGroupSetBits(PRIVATE->nativeHandle, 1);
 #else
 	pthread_cond_signal(&PRIVATE->nativeHandle);
 #endif
@@ -138,8 +168,10 @@ void PIConditionVariable::notifyOne() {
 
 
 void PIConditionVariable::notifyAll() {
-#ifdef WINDOWS
+#if defined(WINDOWS)
 	WakeAllConditionVariable(&PRIVATE->nativeHandle);
+#elif defined(FREERTOS)
+	xEventGroupSetBits(PRIVATE->nativeHandle, 1);
 #else
 	pthread_cond_broadcast(&PRIVATE->nativeHandle);
 #endif

libs/main/thread/pimutex.cpp

@@ -36,8 +36,10 @@
 
 #include "pimutex.h"
 #include "piincludes_p.h"
-#ifdef WINDOWS
+#if defined(WINDOWS)
 #  include <synchapi.h>
+#elif defined(FREERTOS)
+#  include <semphr.h>
 #else
 #  include <pthread.h>
 #endif
@@ -45,8 +47,10 @@
 
 
 PRIVATE_DEFINITION_START(PIMutex)
-#ifdef WINDOWS
+#if defined(WINDOWS)
 	CRITICAL_SECTION
+#elif defined(FREERTOS)
+	SemaphoreHandle_t 
 #else
 	pthread_mutex_t
 #endif
@@ -65,8 +69,10 @@ PIMutex::~PIMutex() {
 
 
 void PIMutex::lock() {
-#ifdef WINDOWS
+#if defined(WINDOWS)
 	EnterCriticalSection(&(PRIVATE->mutex));
+#elif defined(FREERTOS)
+	xSemaphoreTake(PRIVATE->mutex, portMAX_DELAY);
 #else
 	pthread_mutex_lock(&(PRIVATE->mutex));
 #endif
@@ -74,8 +80,10 @@ void PIMutex::lock() {
 
 
 void PIMutex::unlock() {
-#ifdef WINDOWS
+#if defined(WINDOWS)
 	LeaveCriticalSection(&(PRIVATE->mutex));
+#elif defined(FREERTOS)
+	xSemaphoreGive(PRIVATE->mutex);
 #else
 	pthread_mutex_unlock(&(PRIVATE->mutex));
 #endif
@@ -84,8 +92,10 @@ void PIMutex::unlock() {
 
 bool PIMutex::tryLock() {
 	bool ret =
-#ifdef WINDOWS
+#if defined(WINDOWS)
 			(TryEnterCriticalSection(&(PRIVATE->mutex)) != 0);
+#elif defined(FREERTOS)
+	xSemaphoreTake(PRIVATE->mutex, 0);
 #else
 			(pthread_mutex_trylock(&(PRIVATE->mutex)) == 0);
 #endif
@@ -94,13 +104,19 @@ bool PIMutex::tryLock() {
 
 
 void *  PIMutex::handle() {
+#ifdef FREERTOS
+	return PRIVATE->mutex;
+#else
 	return (void*)&(PRIVATE->mutex);
+#endif
 }
 
 
 void PIMutex::init() {
-#ifdef WINDOWS
+#if defined(WINDOWS)
 	InitializeCriticalSection(&(PRIVATE->mutex));
+#elif defined(FREERTOS)
+	PRIVATE->mutex = xSemaphoreCreateMutex();
 #else
 	pthread_mutexattr_t attr;
 	memset(&attr, 0, sizeof(attr));
@@ -114,8 +130,10 @@ void PIMutex::init() {
 
 
 void PIMutex::destroy() {
-#ifdef WINDOWS
+#if defined(WINDOWS)
 	DeleteCriticalSection(&(PRIVATE->mutex));
+#elif defined(FREERTOS)
+	vSemaphoreDelete(PRIVATE->mutex);
 #else
 	pthread_mutex_destroy(&(PRIVATE->mutex));
 #endif

libs/main/thread/pimutex.h

@@ -24,7 +24,6 @@
 #define PIMUTEX_H
 
 #include "piinit.h"
-#include <mutex>
 
 
 class PIP_EXPORT PIMutex

libs/main/thread/pithread.cpp

@@ -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;}
+__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)
 
@@ -282,7 +298,7 @@ void PIThread::terminate() {
 #  endif
 	PRIVATE->thread = 0;
 	end();
-#endif
+#endif //FREERTOS
 	PIINTROSPECTION_THREAD_STOP(this);
 	//PICout(PICoutManipulators::DefaultControls) << "thread" << this << "terminate ok" << running_;
 }
@@ -290,26 +306,30 @@ 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;
+#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
 	default: return 0;
 	}
@@ -320,34 +340,44 @@ 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) {
 #  ifdef MAC_OS
 		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
+#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();
 }
 

libs/main/thread/pithread.h

@@ -30,6 +30,8 @@
 #include "piobject.h"
 
 class PIThread;
+
+#ifndef MICRO_PIP
 class PIIntrospectionThreads;
 
 class PIP_EXPORT __PIThreadCollection: public PIObject {
@@ -58,14 +60,16 @@ public:
 };
 
 static __PIThreadCollection_Initializer__ __PIThreadCollection_initializer__;
-
+#endif // MICRO_PIP
 
 typedef std::function<void(void *)> ThreadFunc;
 
 class PIP_EXPORT PIThread: public PIObject
 {
 	PIOBJECT_SUBCLASS(PIThread, PIObject)
+#ifndef MICRO_PIP
 	friend class PIIntrospectionThreads;
+#endif
 public:
 	NO_COPY_CLASS(PIThread)