flipperzero-firmware/furi/core/thread.c

563 lines
16 KiB
C

#include "thread.h"
#include "kernel.h"
#include "memmgr.h"
#include "memmgr_heap.h"
#include "check.h"
#include "common_defines.h"
#include "mutex.h"
#include "string.h"
#include <task.h>
#include "log.h"
#include <furi_hal_rtc.h>
#include <furi_hal_console.h>
#define TAG "FuriThread"
#define THREAD_NOTIFY_INDEX 1 // Index 0 is used for stream buffers
typedef struct FuriThreadStdout FuriThreadStdout;
struct FuriThreadStdout {
FuriThreadStdoutWriteCallback write_callback;
FuriString* buffer;
};
struct FuriThread {
bool is_service;
FuriThreadState state;
int32_t ret;
FuriThreadCallback callback;
void* context;
FuriThreadStateCallback state_callback;
void* state_context;
char* name;
configSTACK_DEPTH_TYPE stack_size;
FuriThreadPriority priority;
TaskHandle_t task_handle;
bool heap_trace_enabled;
size_t heap_size;
FuriThreadStdout output;
};
static size_t __furi_thread_stdout_write(FuriThread* thread, const char* data, size_t size);
static int32_t __furi_thread_stdout_flush(FuriThread* thread);
/** Catch threads that are trying to exit wrong way */
__attribute__((__noreturn__)) void furi_thread_catch() {
asm volatile("nop"); // extra magic
furi_crash("You are doing it wrong");
__builtin_unreachable();
}
static void furi_thread_set_state(FuriThread* thread, FuriThreadState state) {
furi_assert(thread);
thread->state = state;
if(thread->state_callback) {
thread->state_callback(state, thread->state_context);
}
}
static void furi_thread_body(void* context) {
furi_assert(context);
FuriThread* thread = context;
// store thread instance to thread local storage
furi_assert(pvTaskGetThreadLocalStoragePointer(NULL, 0) == NULL);
vTaskSetThreadLocalStoragePointer(NULL, 0, thread);
furi_assert(thread->state == FuriThreadStateStarting);
furi_thread_set_state(thread, FuriThreadStateRunning);
TaskHandle_t task_handle = xTaskGetCurrentTaskHandle();
if(thread->heap_trace_enabled == true) {
memmgr_heap_enable_thread_trace((FuriThreadId)task_handle);
}
thread->ret = thread->callback(thread->context);
if(thread->heap_trace_enabled == true) {
furi_delay_ms(33);
thread->heap_size = memmgr_heap_get_thread_memory((FuriThreadId)task_handle);
furi_log_print_format(
thread->heap_size ? FuriLogLevelError : FuriLogLevelInfo,
TAG,
"%s allocation balance: %d",
thread->name ? thread->name : "Thread",
thread->heap_size);
memmgr_heap_disable_thread_trace((FuriThreadId)task_handle);
}
furi_assert(thread->state == FuriThreadStateRunning);
if(thread->is_service) {
FURI_LOG_E(
TAG,
"%s service thread exited. Thread memory cannot be reclaimed.",
thread->name ? thread->name : "<unknown service>");
}
// flush stdout
__furi_thread_stdout_flush(thread);
// from here we can't use thread pointer
furi_thread_set_state(thread, FuriThreadStateStopped);
// clear thread local storage
furi_assert(pvTaskGetThreadLocalStoragePointer(NULL, 0) != NULL);
vTaskSetThreadLocalStoragePointer(NULL, 0, NULL);
thread->task_handle = NULL;
vTaskDelete(NULL);
furi_thread_catch();
}
FuriThread* furi_thread_alloc() {
FuriThread* thread = malloc(sizeof(FuriThread));
thread->output.buffer = furi_string_alloc();
thread->is_service = false;
if(furi_thread_get_current_id()) {
FuriThread* parent = pvTaskGetThreadLocalStoragePointer(NULL, 0);
if(parent) thread->heap_trace_enabled = parent->heap_trace_enabled;
}
return thread;
}
void furi_thread_free(FuriThread* thread) {
furi_assert(thread);
furi_assert(thread->state == FuriThreadStateStopped);
if(thread->name) free((void*)thread->name);
furi_string_free(thread->output.buffer);
free(thread);
}
void furi_thread_set_name(FuriThread* thread, const char* name) {
furi_assert(thread);
furi_assert(thread->state == FuriThreadStateStopped);
if(thread->name) free((void*)thread->name);
thread->name = name ? strdup(name) : NULL;
}
void furi_thread_mark_as_service(FuriThread* thread) {
thread->is_service = true;
}
void furi_thread_set_stack_size(FuriThread* thread, size_t stack_size) {
furi_assert(thread);
furi_assert(thread->state == FuriThreadStateStopped);
furi_assert(stack_size % 4 == 0);
thread->stack_size = stack_size;
}
void furi_thread_set_callback(FuriThread* thread, FuriThreadCallback callback) {
furi_assert(thread);
furi_assert(thread->state == FuriThreadStateStopped);
thread->callback = callback;
}
void furi_thread_set_context(FuriThread* thread, void* context) {
furi_assert(thread);
furi_assert(thread->state == FuriThreadStateStopped);
thread->context = context;
}
void furi_thread_set_priority(FuriThread* thread, FuriThreadPriority priority) {
furi_assert(thread);
furi_assert(thread->state == FuriThreadStateStopped);
furi_assert(priority >= FuriThreadPriorityIdle && priority <= FuriThreadPriorityIsr);
thread->priority = priority;
}
void furi_thread_set_state_callback(FuriThread* thread, FuriThreadStateCallback callback) {
furi_assert(thread);
furi_assert(thread->state == FuriThreadStateStopped);
thread->state_callback = callback;
}
void furi_thread_set_state_context(FuriThread* thread, void* context) {
furi_assert(thread);
furi_assert(thread->state == FuriThreadStateStopped);
thread->state_context = context;
}
FuriThreadState furi_thread_get_state(FuriThread* thread) {
furi_assert(thread);
return thread->state;
}
void furi_thread_start(FuriThread* thread) {
furi_assert(thread);
furi_assert(thread->callback);
furi_assert(thread->state == FuriThreadStateStopped);
furi_assert(thread->stack_size > 0 && thread->stack_size < 0xFFFF * 4);
furi_thread_set_state(thread, FuriThreadStateStarting);
uint32_t stack = thread->stack_size / 4;
UBaseType_t priority = thread->priority ? thread->priority : FuriThreadPriorityNormal;
if(thread->is_service) {
thread->task_handle = xTaskCreateStatic(
furi_thread_body,
thread->name,
stack,
thread,
priority,
memmgr_alloc_from_pool(sizeof(StackType_t) * stack),
memmgr_alloc_from_pool(sizeof(StaticTask_t)));
} else {
BaseType_t ret = xTaskCreate(
furi_thread_body, thread->name, stack, thread, priority, &thread->task_handle);
furi_check(ret == pdPASS);
}
furi_check(thread->task_handle);
}
bool furi_thread_join(FuriThread* thread) {
furi_assert(thread);
furi_check(furi_thread_get_current() != thread);
// Wait for thread to stop
while(thread->task_handle) {
furi_delay_ms(10);
}
return true;
}
FuriThreadId furi_thread_get_id(FuriThread* thread) {
furi_assert(thread);
return thread->task_handle;
}
void furi_thread_enable_heap_trace(FuriThread* thread) {
furi_assert(thread);
furi_assert(thread->state == FuriThreadStateStopped);
furi_assert(thread->heap_trace_enabled == false);
thread->heap_trace_enabled = true;
}
void furi_thread_disable_heap_trace(FuriThread* thread) {
furi_assert(thread);
furi_assert(thread->state == FuriThreadStateStopped);
furi_assert(thread->heap_trace_enabled == true);
thread->heap_trace_enabled = false;
}
size_t furi_thread_get_heap_size(FuriThread* thread) {
furi_assert(thread);
furi_assert(thread->heap_trace_enabled == true);
return thread->heap_size;
}
int32_t furi_thread_get_return_code(FuriThread* thread) {
furi_assert(thread);
furi_assert(thread->state == FuriThreadStateStopped);
return thread->ret;
}
FuriThreadId furi_thread_get_current_id() {
return xTaskGetCurrentTaskHandle();
}
FuriThread* furi_thread_get_current() {
FuriThread* thread = pvTaskGetThreadLocalStoragePointer(NULL, 0);
furi_assert(thread != NULL);
return thread;
}
void furi_thread_yield() {
furi_assert(!FURI_IS_IRQ_MODE());
taskYIELD();
}
/* Limits */
#define MAX_BITS_TASK_NOTIFY 31U
#define MAX_BITS_EVENT_GROUPS 24U
#define THREAD_FLAGS_INVALID_BITS (~((1UL << MAX_BITS_TASK_NOTIFY) - 1U))
#define EVENT_FLAGS_INVALID_BITS (~((1UL << MAX_BITS_EVENT_GROUPS) - 1U))
uint32_t furi_thread_flags_set(FuriThreadId thread_id, uint32_t flags) {
TaskHandle_t hTask = (TaskHandle_t)thread_id;
uint32_t rflags;
BaseType_t yield;
if((hTask == NULL) || ((flags & THREAD_FLAGS_INVALID_BITS) != 0U)) {
rflags = (uint32_t)FuriStatusErrorParameter;
} else {
rflags = (uint32_t)FuriStatusError;
if(FURI_IS_IRQ_MODE()) {
yield = pdFALSE;
(void)xTaskNotifyIndexedFromISR(hTask, THREAD_NOTIFY_INDEX, flags, eSetBits, &yield);
(void)xTaskNotifyAndQueryIndexedFromISR(
hTask, THREAD_NOTIFY_INDEX, 0, eNoAction, &rflags, NULL);
portYIELD_FROM_ISR(yield);
} else {
(void)xTaskNotifyIndexed(hTask, THREAD_NOTIFY_INDEX, flags, eSetBits);
(void)xTaskNotifyAndQueryIndexed(hTask, THREAD_NOTIFY_INDEX, 0, eNoAction, &rflags);
}
}
/* Return flags after setting */
return (rflags);
}
uint32_t furi_thread_flags_clear(uint32_t flags) {
TaskHandle_t hTask;
uint32_t rflags, cflags;
if(FURI_IS_IRQ_MODE()) {
rflags = (uint32_t)FuriStatusErrorISR;
} else if((flags & THREAD_FLAGS_INVALID_BITS) != 0U) {
rflags = (uint32_t)FuriStatusErrorParameter;
} else {
hTask = xTaskGetCurrentTaskHandle();
if(xTaskNotifyAndQueryIndexed(hTask, THREAD_NOTIFY_INDEX, 0, eNoAction, &cflags) ==
pdPASS) {
rflags = cflags;
cflags &= ~flags;
if(xTaskNotifyIndexed(hTask, THREAD_NOTIFY_INDEX, cflags, eSetValueWithOverwrite) !=
pdPASS) {
rflags = (uint32_t)FuriStatusError;
}
} else {
rflags = (uint32_t)FuriStatusError;
}
}
/* Return flags before clearing */
return (rflags);
}
uint32_t furi_thread_flags_get(void) {
TaskHandle_t hTask;
uint32_t rflags;
if(FURI_IS_IRQ_MODE()) {
rflags = (uint32_t)FuriStatusErrorISR;
} else {
hTask = xTaskGetCurrentTaskHandle();
if(xTaskNotifyAndQueryIndexed(hTask, THREAD_NOTIFY_INDEX, 0, eNoAction, &rflags) !=
pdPASS) {
rflags = (uint32_t)FuriStatusError;
}
}
return (rflags);
}
uint32_t furi_thread_flags_wait(uint32_t flags, uint32_t options, uint32_t timeout) {
uint32_t rflags, nval;
uint32_t clear;
TickType_t t0, td, tout;
BaseType_t rval;
if(FURI_IS_IRQ_MODE()) {
rflags = (uint32_t)FuriStatusErrorISR;
} else if((flags & THREAD_FLAGS_INVALID_BITS) != 0U) {
rflags = (uint32_t)FuriStatusErrorParameter;
} else {
if((options & FuriFlagNoClear) == FuriFlagNoClear) {
clear = 0U;
} else {
clear = flags;
}
rflags = 0U;
tout = timeout;
t0 = xTaskGetTickCount();
do {
rval = xTaskNotifyWaitIndexed(THREAD_NOTIFY_INDEX, 0, clear, &nval, tout);
if(rval == pdPASS) {
rflags &= flags;
rflags |= nval;
if((options & FuriFlagWaitAll) == FuriFlagWaitAll) {
if((flags & rflags) == flags) {
break;
} else {
if(timeout == 0U) {
rflags = (uint32_t)FuriStatusErrorResource;
break;
}
}
} else {
if((flags & rflags) != 0) {
break;
} else {
if(timeout == 0U) {
rflags = (uint32_t)FuriStatusErrorResource;
break;
}
}
}
/* Update timeout */
td = xTaskGetTickCount() - t0;
if(td > tout) {
tout = 0;
} else {
tout -= td;
}
} else {
if(timeout == 0) {
rflags = (uint32_t)FuriStatusErrorResource;
} else {
rflags = (uint32_t)FuriStatusErrorTimeout;
}
}
} while(rval != pdFAIL);
}
/* Return flags before clearing */
return (rflags);
}
uint32_t furi_thread_enumerate(FuriThreadId* thread_array, uint32_t array_items) {
uint32_t i, count;
TaskStatus_t* task;
if(FURI_IS_IRQ_MODE() || (thread_array == NULL) || (array_items == 0U)) {
count = 0U;
} else {
vTaskSuspendAll();
count = uxTaskGetNumberOfTasks();
task = pvPortMalloc(count * sizeof(TaskStatus_t));
if(task != NULL) {
count = uxTaskGetSystemState(task, count, NULL);
for(i = 0U; (i < count) && (i < array_items); i++) {
thread_array[i] = (FuriThreadId)task[i].xHandle;
}
count = i;
}
(void)xTaskResumeAll();
vPortFree(task);
}
return (count);
}
const char* furi_thread_get_name(FuriThreadId thread_id) {
TaskHandle_t hTask = (TaskHandle_t)thread_id;
const char* name;
if(FURI_IS_IRQ_MODE() || (hTask == NULL)) {
name = NULL;
} else {
name = pcTaskGetName(hTask);
}
return (name);
}
uint32_t furi_thread_get_stack_space(FuriThreadId thread_id) {
TaskHandle_t hTask = (TaskHandle_t)thread_id;
uint32_t sz;
if(FURI_IS_IRQ_MODE() || (hTask == NULL)) {
sz = 0U;
} else {
sz = (uint32_t)(uxTaskGetStackHighWaterMark(hTask) * sizeof(StackType_t));
}
return (sz);
}
static size_t __furi_thread_stdout_write(FuriThread* thread, const char* data, size_t size) {
if(thread->output.write_callback != NULL) {
thread->output.write_callback(data, size);
} else {
furi_hal_console_tx((const uint8_t*)data, size);
}
return size;
}
static int32_t __furi_thread_stdout_flush(FuriThread* thread) {
FuriString* buffer = thread->output.buffer;
size_t size = furi_string_size(buffer);
if(size > 0) {
__furi_thread_stdout_write(thread, furi_string_get_cstr(buffer), size);
furi_string_reset(buffer);
}
return 0;
}
bool furi_thread_set_stdout_callback(FuriThreadStdoutWriteCallback callback) {
FuriThread* thread = furi_thread_get_current();
__furi_thread_stdout_flush(thread);
thread->output.write_callback = callback;
return true;
}
size_t furi_thread_stdout_write(const char* data, size_t size) {
FuriThread* thread = furi_thread_get_current();
if(size == 0 || data == NULL) {
return __furi_thread_stdout_flush(thread);
} else {
if(data[size - 1] == '\n') {
// if the last character is a newline, we can flush buffer and write data as is, wo buffers
__furi_thread_stdout_flush(thread);
__furi_thread_stdout_write(thread, data, size);
} else {
// string_cat doesn't work here because we need to write the exact size data
for(size_t i = 0; i < size; i++) {
furi_string_push_back(thread->output.buffer, data[i]);
if(data[i] == '\n') {
__furi_thread_stdout_flush(thread);
}
}
}
}
return size;
}
int32_t furi_thread_stdout_flush() {
return __furi_thread_stdout_flush(furi_thread_get_current());
}
void furi_thread_suspend(FuriThreadId thread_id) {
TaskHandle_t hTask = (TaskHandle_t)thread_id;
vTaskSuspend(hTask);
}
void furi_thread_resume(FuriThreadId thread_id) {
TaskHandle_t hTask = (TaskHandle_t)thread_id;
if(FURI_IS_IRQ_MODE()) {
xTaskResumeFromISR(hTask);
} else {
vTaskResume(hTask);
}
}
bool furi_thread_is_suspended(FuriThreadId thread_id) {
TaskHandle_t hTask = (TaskHandle_t)thread_id;
return eTaskGetState(hTask) == eSuspended;
}