8000 Bugfix: Dedicated event signalling for each thread by aentinger · Pull Request #46 · arduino-libraries/Arduino_Threads · GitHub
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Bugfix: Dedicated event signalling for each thread #46

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Merged
merged 2 commits into from
Nov 5, 2021
Merged

Bugfix: Dedicated event signalling for each thread #46

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46d08b2
Remove superfluous rtos::ThisThread::yield().
aentinger Nov 5, 2021
29c42ee
Replace single condition variable with event flags - one dedicated fl…
aentinger Nov 5, 2021
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6 changes: 0 additions & 6 deletions ...readsafe_IO/Threadsafe_Serial_GlobalPrefixSuffix/Threadsafe_Serial_GlobalPrefixSuffix.ino
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Original file line number Diff line change
Expand Up @@ -32,12 +32,6 @@ void loop()
Serial.block();
Serial.println("Thread #0: Lorem ipsum ...");
Serial.unblock();

/* If we don't hand back control then the main thread
* will hog the CPU and all other thread's won't get
* time to be executed.
*/
rtos::ThisThread::yield();
}

/**************************************************************************************
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6 changes: 1 addition & 5 deletions ...s/Threadsafe_IO/Threadsafe_Serial_ProtocolWrapping/Threadsafe_Serial_ProtocolWrapping.ino
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Expand Up @@ -18,9 +18,5 @@ void setup()

void loop()
{
/* If we don't hand back control then the main thread
* will hog the CPU and all other thread's won't get
* time to be executed.
*/
rtos::ThisThread::yield();

}
6 changes: 0 additions & 6 deletions examples/Threadsafe_IO/Threadsafe_Serial_Reader/Threadsafe_Serial_Reader.ino
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Expand Up @@ -40,10 +40,4 @@ void loop()
Serial.println();
Serial.unblock();
}

/* If we don't hand back control then the main thread
* will hog the CPU and all other thread's won't get
* time to be executed.
*/
rtos::ThisThread::yield();
}
6 changes: 0 additions & 6 deletions examples/Threadsafe_IO/Threadsafe_Serial_Writer/Threadsafe_Serial_Writer.ino
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Expand Up @@ -26,10 +26,4 @@ void loop()
Serial.print("] Thread #0: Lorem ipsum ...");
Serial.println();
Serial.unblock();

/* If we don't hand back control then the main thread
* will hog the CPU and all other thread's won't get
* time to be executed.
*/
rtos::ThisThread::yield();
}
59 changes: 29 additions & 30 deletions src/io/serial/SerialDispatcher.cpp
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Expand Up @@ -29,7 +29,6 @@
SerialDispatcher::SerialDispatcher(arduino::HardwareSerial & serial)
: _is_initialized{false}
, _mutex{}
, _cond{_mutex}
, _serial{serial}
, _thread(osPriorityRealtime, 4096, nullptr, "SerialDispatcher")
, _has_tread_started{false}
Expand Down Expand Up @@ -68,11 +67,8 @@ void SerialDispatcher::begin(unsigned long baudrate, uint16_t config)
/* Since the thread is not in the list yet we are
* going to create a new entry to the list.
*/
ThreadCustomerData data;
data.thread_id = current_thread_id;
data.block_tx_buffer = false;
data.prefix_func = nullptr;
data.suffix_func = nullptr;
uint32_t const thread_event_flag = (1<<(_thread_customer_list.size()));
ThreadCustomerData data{current_thread_id, thread_event_flag};
_thread_customer_list.push_back(data);
}
}
Expand All @@ -87,7 +83,10 @@ void SerialDispatcher::end()
osThreadId_t const current_thread_id = rtos::ThisThread::get_id();
std::remove_if(std::begin(_thread_customer_list),
std::end (_thread_customer_list),
[current_thread_id](ThreadCustomerData const d) -> bool { return (d.thread_id == current_thread_id); });
[current_thread_id](ThreadCustomerData const d) -> bool
{
return (d.thread_id == current_thread_id);
});

/* If no thread consumers are left also end
* the serial device altogether.
Expand All @@ -104,7 +103,7 @@ int SerialDispatcher::available()
{
mbed::ScopedLock<rtos::Mutex> lock(_mutex);
auto iter = findThreadCustomerDataById(rtos::ThisThread::get_id());
if (iter == std::end(_thread_customer_list)) return 0;
assert(iter != std::end(_thread_customer_list));

prepareSerialReader(iter);
handleSerialReader();
Expand All @@ -116,7 +115,7 @@ int SerialDispatcher::peek()
{
mbed::ScopedLock<rtos::Mutex> lock(_mutex);
auto iter = findThreadCustomerDataById(rtos::ThisThread::get_id());
if (iter == std::end(_thread_customer_list)) return 0;
assert(iter != std::end(_thread_customer_list));

prepareSerialReader(iter);
handleSerialReader();
Expand All @@ -128,7 +127,7 @@ int SerialDispatcher::read()
{
mbed::ScopedLock<rtos::Mutex> lock(_mutex);
auto iter = findThreadCustomerDataById(rtos::ThisThread::get_id());
if (iter == std::end(_thread_customer_list)) return 0;
assert(iter != std::end(_thread_customer_list));

prepareSerialReader(iter);
handleSerialReader();
Expand All @@ -150,14 +149,8 @@ size_t SerialDispatcher::write(uint8_t const b)
size_t SerialDispatcher::write(const uint8_t * data, size_t len)
{
mbed::ScopedLock<rtos::Mutex> lock(_mutex);

auto iter = findThreadCustomerDataById(rtos::ThisThread::get_id());

/* If this thread hasn't registered yet
* with the SerialDispatcher via 'begin'.
*/
if (iter == std::end(_thread_customer_list))
return 0;
assert(iter != std::end(_thread_customer_list));

size_t bytes_written = 0;
for (; (bytes_written < len) && iter->tx_buffer.availableForStore(); bytes_written++)
Expand All @@ -166,7 +159,7 @@ size_t SerialDispatcher::write(const uint8_t * data, size_t len)
/* Inform the worker thread that new data has
* been written to a Serial transmit buffer.
*/
_cond.notify_one();
_data_available_for_transmit.set(iter->thread_event_flag);

return bytes_written;
}
Expand All @@ -175,32 +168,37 @@ void SerialDispatcher::block()
{
mbed::ScopedLock<rtos::Mutex> lock(_mutex);
auto iter = findThreadCustomerDataById(rtos::ThisThread::get_id());
if (iter == std::end(_thread_customer_list)) return;
assert(iter != std::end(_thread_customer_list));

iter->block_tx_buffer = true;
}

void SerialDispatcher::unblock()
{
mbed::ScopedLock<rtos::Mutex> lock(_mutex);
auto iter = findThreadCustomerDataById(rtos::ThisThread::get_id());
if (iter == std::end(_thread_customer_list)) return;
assert(iter != std::end(_thread_customer_list));

iter->block_tx_buffer = false;
_cond.notify_one();

_data_available_for_transmit.set(iter->thread_event_flag);
}

void SerialDispatcher::prefix(PrefixInjectorCallbackFunc func)
{
mbed::ScopedLock<rtos::Mutex> lock(_mutex);
auto iter = findThreadCustomerDataById(rtos::ThisThread::get_id());
if (iter == std::end(_thread_customer_list)) return;
assert(iter != std::end(_thread_customer_list));

iter->prefix_func = func;
}

void SerialDispatcher::suffix(SuffixInjectorCallbackFunc func)
{
mbed::ScopedLock<rtos::Mutex> lock(_mutex);
auto iter = findThreadCustomerDataById(rtos::ThisThread::get_id());
if (iter == std::end(_thread_customer_list)) return;
assert(iter != std::end(_thread_customer_list));

iter->suffix_func = func;
}

Expand All @@ -226,12 +224,10 @@ void SerialDispatcher::threadFunc()

while(!_terminate_thread)
{
/* Prevent race conditions by multi-threaded
* access to shared data.
*/
mbed::ScopedLock<rtos::Mutex> lock(_mutex);
/* Wait for new data to be available */
_cond.wait();
/* Wait for data to be available in a transmit buffer. */
static uint32_t constexpr ALL_EVENT_FLAGS = 0x7fffffff;
_data_available_for_transmit.wait_any(ALL_EVENT_FLAGS, osWaitForever, /* clear */ true);

/* Iterate over all list entries. */
std::for_each(std::begin(_thread_customer_list),
std::end (_thread_customer_list),
Expand Down Expand Up @@ -303,7 +299,10 @@ std::list<SerialDispatcher::ThreadCustomerData>::iterator SerialDispatcher::find
{
return std::find_if(std::begin(_thread_customer_list),
std::end (_thread_customer_list),
[thread_id](ThreadCustomerData const d) -> bool { return (d.thread_id == thread_id); });
[thread_id](ThreadCustomerData const d) -> bool
{
return (d.thread_id == thread_id);
});
}

void SerialDispatcher::prepareSerialReader(std::list<ThreadCustomerData>::iterator & iter)
Expand Down
18 changes: 15 additions & 3 deletions src/io/serial/SerialDispatcher.h
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Expand Up @@ -71,7 +71,7 @@ class SerialDispatcher : public arduino::HardwareSerial

bool _is_initialized;
rtos::Mutex _mutex;
rtos::ConditionVariable _cond;
rtos::EventFlags _data_available_for_transmit;
arduino::HardwareSerial & _serial;

rtos::Thread _thread;
Expand All @@ -84,15 +84,27 @@ class SerialDispatcher : public arduino::HardwareSerial
static int constexpr THREADSAFE_SERIAL_TRANSMIT_RINGBUFFER_SIZE = 128;
typedef arduino::RingBufferN<THREADSAFE_SERIAL_TRANSMIT_RINGBUFFER_SIZE> SerialTransmitRingbuffer;

typedef struct
class ThreadCustomerData
{
public:
ThreadCustomerData(osThreadId_t const t, uint32_t const t_event_flag)
: thread_id{t}
, thread_event_flag{t_event_flag}
, tx_buffer{}
, block_tx_buffer{false}
, rx_buffer{}
, prefix_func{nullptr}
, suffix_func{nullptr}
{ }

osThreadId_t thread_id;
uint32_t thread_event_flag;
SerialTransmitRingbuffer tx_buffer;
bool block_tx_buffer;
mbed::SharedPtr<arduino::RingBuffer> rx_buffer; /* Only when a thread has expressed interested to read from serial a receive ringbuffer is allocated. */
PrefixInjectorCallbackFunc prefix_func;
SuffixInjectorCallbackFunc suffix_func;
} ThreadCustomerData;
};

std::list<ThreadCustomerData> _thread_customer_list;

Expand Down
0