Diff: mrubyc/rrt0.c

Revision:

0:33feccbba3ff

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mrubyc/rrt0.c	Wed Feb 15 01:03:35 2017 +0000
@@ -0,0 +1,574 @@
+/*! @file
+  @brief
+  Realtime multitask monitor for mruby/c
+
+  <pre>
+  Copyright (C) 2016 Kyushu Institute of Technology.
+  Copyright (C) 2016 Shimane IT Open-Innovation Center.
+
+  This file is distributed under BSD 3-Clause License.
+  </pre>
+*/
+
+/***** Feature test switches ************************************************/
+/***** System headers *******************************************************/
+#include <stdint.h>
+#include <string.h>
+#include <assert.h>
+
+
+/***** Local headers ********************************************************/
+#include "alloc.h"
+#include "static.h"
+#include "load.h"
+#include "class.h"
+#include "vm.h"
+#include "rrt0.h"
+#include "hal/hal.h"
+
+
+/***** Constat values *******************************************************/
+const int TIMESLICE_TICK = 10; // 10 * 1ms(HardwareTimer)  255 max
+
+
+/***** Macros ***************************************************************/
+/***** Typedefs *************************************************************/
+/***** Function prototypes **************************************************/
+/***** Local variables ******************************************************/
+static MrbcTcb *q_domant_;
+static MrbcTcb *q_ready_;
+static MrbcTcb *q_waiting_;
+static MrbcTcb *q_suspended_;
+static volatile uint32_t tick_;
+
+
+/***** Global variables *****************************************************/
+/***** Signal catching functions ********************************************/
+/***** Local functions ******************************************************/
+
+//================================================================
+/*! Insert to task queue
+
+  @param        Pointer of target TCB
+
+  引数で指定されたタスク(TCB)を、状態別Queueに入れる。
+  TCBはフリーの状態でなければならない。（別なQueueに入っていてはならない）
+  Queueはpriority_preemption順にソート済みとなる。
+  挿入するTCBとQueueに同じpriority_preemption値がある場合は、同値の最後に挿入される。
+
+ */
+static void q_insert_task(MrbcTcb *p_tcb)
+{
+  MrbcTcb **pp_q;
+
+  switch( p_tcb->state ) {
+  case TASKSTATE_DOMANT: pp_q = &q_domant_; break;
+  case TASKSTATE_READY:
+  case TASKSTATE_RUNNING: pp_q   = &q_ready_; break;
+  case TASKSTATE_WAITING: pp_q   = &q_waiting_; break;
+  case TASKSTATE_SUSPENDED: pp_q = &q_suspended_; break;
+  default:
+    assert(!"Wrong task state.");
+    return;
+  }
+
+  // case insert on top.
+  if((*pp_q == NULL) ||
+     (p_tcb->priority_preemption < (*pp_q)->priority_preemption)) {
+    p_tcb->next = *pp_q;
+    *pp_q       = p_tcb;
+    assert(p_tcb->next != p_tcb);
+    return;
+  }
+
+  // find insert point in sorted linked list.
+  MrbcTcb *p = *pp_q;
+  while( 1 ) {
+    if((p->next == NULL) ||
+       (p_tcb->priority_preemption < p->next->priority_preemption)) {
+      p_tcb->next = p->next;
+      p->next     = p_tcb;
+      assert(p->next != p);
+      return;
+    }
+
+    p = p->next;
+  }
+}
+
+
+//================================================================
+/*! Delete from task queue
+
+  @param        Pointer of target TCB
+
+  Queueからタスク(TCB)を取り除く。
+
+ */
+static void q_delete_task(MrbcTcb *p_tcb)
+{
+  MrbcTcb **pp_q;
+
+  switch( p_tcb->state ) {
+  case TASKSTATE_DOMANT: pp_q = &q_domant_; break;
+  case TASKSTATE_READY:
+  case TASKSTATE_RUNNING: pp_q   = &q_ready_; break;
+  case TASKSTATE_WAITING: pp_q   = &q_waiting_; break;
+  case TASKSTATE_SUSPENDED: pp_q = &q_suspended_; break;
+  default:
+    assert(!"Wrong task state.");
+    return;
+  }
+
+  if( *pp_q == NULL ) return;
+  if( *pp_q == p_tcb ) {
+    *pp_q       = p_tcb->next;
+    p_tcb->next = NULL;
+    return;
+  }
+
+  MrbcTcb *p = *pp_q;
+  while( p ) {
+    if( p->next == p_tcb ) {
+      p->next     = p_tcb->next;
+      p_tcb->next = NULL;
+      return;
+    }
+
+    p = p->next;
+  }
+}
+
+
+//================================================================
+/*! Find requested task
+
+  @param        Pointer of vm
+  @return       Pointer of MrbcTcb. zero is not found.
+ */
+static inline MrbcTcb* find_requested_task(mrb_vm *vm)
+{
+  MrbcTcb *tcb;
+
+  for( tcb = q_ready_; tcb != NULL; tcb = tcb->next ) {
+    if( tcb->vm == vm ) break;
+  }
+
+  return tcb;
+}
+
+
+//================================================================
+/*! 一定時間停止（cruby互換）
+
+*/
+static void c_sleep(mrb_vm *vm, mrb_value *v)
+{
+  MrbcTcb *tcb = find_requested_task(vm);
+
+  if( tcb == NULL ) return;
+
+  switch( v[1].tt ) {
+  case MRB_TT_FIXNUM:
+    mrbc_sleep_ms(tcb, GET_INT_ARG(0) * 1000);
+    break;
+
+  case MRB_TT_FLOAT:
+    mrbc_sleep_ms(tcb, (uint32_t)(GET_FLOAT_ARG(0) * 1000));
+    break;
+
+  default:
+
+    // TODO 引数なしの場合は永久停止
+    break;
+  }
+}
+
+
+//================================================================
+/*! 一定時間停止（ms単位）
+
+*/
+static void c_sleep_ms(mrb_vm *vm, mrb_value *v)
+{
+  MrbcTcb *tcb = find_requested_task(vm);
+
+  if( tcb == NULL ) return;
+
+  mrbc_sleep_ms(tcb, GET_INT_ARG(0));
+}
+
+
+//================================================================
+/*! 実行権を手放す
+
+*/
+static void c_relinquish(mrb_vm *vm, mrb_value *v)
+{
+  MrbcTcb *tcb = find_requested_task(vm);
+
+  if( tcb == NULL ) return;
+
+  mrbc_relinquish(tcb);
+}
+
+
+//================================================================
+/*! プライオリティー変更
+
+*/
+static void c_change_priority(mrb_vm *vm, mrb_value *v)
+{
+  MrbcTcb *tcb = find_requested_task(vm);
+
+  if( tcb == NULL ) return;
+
+  mrbc_change_priority(tcb, GET_INT_ARG(0));
+}
+
+
+//================================================================
+/*! 実行停止
+
+*/
+static void c_suspend_task(mrb_vm *vm, mrb_value *v)
+{
+  MrbcTcb *tcb = find_requested_task(vm);
+
+  if( tcb == NULL ) return;
+
+  mrbc_suspend_task(tcb);
+}
+
+
+//================================================================
+/*! 実行再開
+
+*/
+static void c_resume_task(mrb_vm *vm, mrb_value *v)
+{
+  MrbcTcb *tcb = find_requested_task(vm);
+
+  if( tcb == NULL ) return;
+
+  // TODO: 未デバグ。引数で与えられたTCBのタスクを実行再開する。
+  mrbc_resume_task(tcb);
+}
+
+
+//================================================================
+/*! TCBを得る
+
+*/
+static void c_get_tcb(mrb_vm *vm, mrb_value *v)
+{
+  MrbcTcb *tcb = find_requested_task(vm);
+
+  if( tcb == NULL ) return;
+
+  // TODO: 未実装。TCBポインタをオブジェクトとして返す。
+}
+
+
+/***** Global functions *****************************************************/
+
+//================================================================
+/*! Tick timer interrupt handler.
+
+*/
+void mrbc_tick(void)
+{
+  MrbcTcb *tcb;
+  int flag_preemption = 0;
+
+  tick_++;
+
+  // 実行中タスクのタイムスライス値を減らす
+  tcb = q_ready_;
+  if((tcb != NULL) &&
+     (tcb->state == TASKSTATE_RUNNING) &&
+     (tcb->timeslice > 0)) {
+    tcb->timeslice--;
+    if( tcb->timeslice == 0 ) tcb->vm->flag_preemption = 1;
+  }
+
+  // 待ちタスクキューから、ウェイクアップすべきタスクを探す
+  tcb = q_waiting_;
+  while( tcb != NULL ) {
+    MrbcTcb *t = tcb;
+    tcb = tcb->next;
+
+    if( t->wakeup_tick == tick_ ) {
+      q_delete_task(t);
+      t->state     = TASKSTATE_READY;
+      t->timeslice = TIMESLICE_TICK;
+      q_insert_task(t);
+      flag_preemption = 1;
+    }
+  }
+
+  if( flag_preemption ) {
+    tcb = q_ready_;
+    while( tcb != NULL ) {
+      if( tcb->state == TASKSTATE_RUNNING ) tcb->vm->flag_preemption = 1;
+      tcb = tcb->next;
+    }
+  }
+}
+
+
+//================================================================
+/*! initialize
+
+*/
+void mrbc_init(void)
+{
+  mrbc_init_alloc();
+  init_static();
+  hal_init();
+
+
+  // TODO 関数呼び出しが、c_XXX => mrbc_XXX の daisy chain になっている。
+  //      不要な複雑さかもしれない。要リファクタリング。
+  mrbc_define_method(0, mrbc_class_object, "sleep",           c_sleep);
+  mrbc_define_method(0, mrbc_class_object, "sleep_ms",        c_sleep_ms);
+  mrbc_define_method(0, mrbc_class_object, "relinquish",      c_relinquish);
+  mrbc_define_method(0, mrbc_class_object, "change_priority", c_change_priority);
+  mrbc_define_method(0, mrbc_class_object, "suspend_task",    c_suspend_task);
+  mrbc_define_method(0, mrbc_class_object, "resume_task",     c_resume_task);
+}
+
+
+//================================================================
+/*! specify running VM code.
+
+  @param        vm_code pointer of VM byte code.
+  @param        tcb	Task control block with parameter, or NULL.
+  @retval       Pointer of MrbcTcb.
+  @retval       NULL is error.
+
+*/
+MrbcTcb* mrbc_create_task(const uint8_t *vm_code, MrbcTcb *tcb)
+{
+  // allocate Task Control Block
+  if( tcb == NULL ) {
+    tcb = (MrbcTcb*)mrbc_raw_alloc( sizeof(MrbcTcb) );
+    if( tcb == NULL ) return NULL;	// ENOMEM
+
+    static const MrbcTcb init_val = MRBC_TCB_INITIALIZER;
+    *tcb = init_val;
+  }
+  tcb->timeslice           = TIMESLICE_TICK;
+  tcb->priority_preemption = tcb->priority;
+
+  // assign VM on TCB
+  if( tcb->state != TASKSTATE_DOMANT ) {
+    tcb->vm = vm_open();
+    if( !tcb->vm ) return 0;    // error. can't open VM.
+				// NOTE: memory leak MrbcTcb. but ignore.
+
+    loca_mrb_array(tcb->vm, vm_code);
+    vm_boot(tcb->vm);
+  }
+
+  hal_disable_irq();
+  q_insert_task(tcb);
+  hal_enable_irq();
+
+  return tcb;
+}
+
+
+//================================================================
+/*! execute
+
+*/
+int mrbc_run(void)
+{
+  while( 1 ) {
+    MrbcTcb *tcb = q_ready_;
+    if( tcb == NULL ) {
+      // 実行すべきタスクなし
+      hal_idle_cpu();
+      continue;
+    }
+
+    // 実行開始
+    tcb->state = TASKSTATE_RUNNING;
+    int res = 0;
+
+#ifndef MRBC_NO_TIMER
+    tcb->vm->flag_preemption = 0;
+    res = vm_run(tcb->vm);
+
+#else
+    while( tcb->timeslice > 0 ) {
+      tcb->vm->flag_preemption = 1;
+      res = vm_run(tcb->vm);
+      tcb->timeslice--;
+      if( res < 0 ) break;
+      if( tcb->state != TASKSTATE_RUNNING ) break;
+    }
+    mrbc_tick();
+#endif /* ifndef MRBC_NO_TIMER */
+
+    // タスク終了？
+    if( res < 0 ) {
+      hal_disable_irq();
+      q_delete_task(tcb);
+      tcb->state = TASKSTATE_DOMANT;
+      q_insert_task(tcb);
+      hal_enable_irq();
+      vm_close(tcb->vm);
+      tcb->vm = 0;
+
+      if( q_ready_ == NULL && q_waiting_ == NULL &&
+          q_suspended_ == NULL ) break;
+      continue;
+    }
+
+    // タスク切り替え
+    hal_disable_irq();
+    if( tcb->state == TASKSTATE_RUNNING ) {
+      tcb->state = TASKSTATE_READY;
+
+      // タイムスライス終了？
+      if( tcb->timeslice == 0 ) {
+        q_delete_task(tcb);
+        tcb->timeslice = TIMESLICE_TICK;
+        q_insert_task(tcb); // insert task on queue last.
+      }
+    }
+    hal_enable_irq();
+  }
+
+  return 0;
+}
+
+
+//================================================================
+/*! 実行一時停止
+
+*/
+void mrbc_sleep_ms(MrbcTcb *tcb, uint32_t ms)
+{
+  hal_disable_irq();
+  q_delete_task(tcb);
+  tcb->timeslice   = 0;
+  tcb->state       = TASKSTATE_WAITING;
+  tcb->wakeup_tick = tick_ + ms;
+  q_insert_task(tcb);
+  hal_enable_irq();
+
+  tcb->vm->flag_preemption = 1;
+}
+
+
+//================================================================
+/*! 実行権を手放す
+
+*/
+void mrbc_relinquish(MrbcTcb *tcb)
+{
+  tcb->timeslice           = 0;
+  tcb->vm->flag_preemption = 1;
+}
+
+
+//================================================================
+/*! プライオリティーの変更
+  TODO: No check, yet.
+*/
+void mrbc_change_priority(MrbcTcb *tcb, int priority)
+{
+  tcb->priority            = (uint8_t)priority;
+  tcb->priority_preemption = (uint8_t)priority;
+  tcb->timeslice           = 0;
+  tcb->vm->flag_preemption = 1;
+}
+
+
+//================================================================
+/*! 実行停止
+
+*/
+void mrbc_suspend_task(MrbcTcb *tcb)
+{
+  hal_disable_irq();
+  q_delete_task(tcb);
+  tcb->state = TASKSTATE_SUSPENDED;
+  q_insert_task(tcb);
+  hal_enable_irq();
+
+  tcb->vm->flag_preemption = 1;
+}
+
+
+//================================================================
+/*! 実行再開
+
+*/
+void mrbc_resume_task(MrbcTcb *tcb)
+{
+  hal_disable_irq();
+
+  MrbcTcb *t = q_ready_;
+  while( t != NULL ) {
+    if( t->state == TASKSTATE_RUNNING ) t->vm->flag_preemption = 1;
+    t = t->next;
+  }
+
+  q_delete_task(tcb);
+  tcb->state = TASKSTATE_READY;
+  q_insert_task(tcb);
+  hal_enable_irq();
+}
+
+
+#ifdef MRBC_DEBUG
+#include "console.h"
+
+//================================================================
+/*! DEBUG print queue
+
+ */
+void pq(MrbcTcb *p_tcb)
+{
+  MrbcTcb *p;
+
+  p = p_tcb;
+  while( p != NULL ) {
+    console_printf("%08x ", (int)((uint64_t)p & 0xffffffff));
+    p = p->next;
+  }
+  console_printf("\n");
+
+  p = p_tcb;
+  while( p != NULL ) {
+    console_printf(" pri: %2d ", p->priority_preemption);
+    p = p->next;
+  }
+  console_printf("\n");
+
+  p = p_tcb;
+  while( p != NULL ) {
+    console_printf(" nx:%04x ", (int)((uint64_t)p->next & 0xffff));
+    p = p->next;
+  }
+  console_printf("\n");
+}
+
+
+void pqall(void)
+{
+  //  console_printf("<<<<< DOMANT >>>>>\n");
+  //  pq(q_domant_);
+  console_printf("<<<<< READY >>>>>\n");
+  pq(q_ready_);
+  console_printf("<<<<< WAITING >>>>>\n");
+  pq(q_waiting_);
+  console_printf("<<<<< SUSPENDED >>>>>\n");
+  pq(q_suspended_);
+}
+#endif
+