mirror of https://github.com/ArduPilot/ardupilot
321 lines
7.5 KiB
C++
321 lines
7.5 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#include "AP_HAL_SITL.h"
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#include "Scheduler.h"
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#include "UARTDriver.h"
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#include <sys/time.h>
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#include <fenv.h>
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#if defined (__clang__)
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#include <stdlib.h>
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#else
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#include <malloc.h>
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#endif
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#include <AP_Common/Semaphore.h>
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using namespace HALSITL;
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extern const AP_HAL::HAL& hal;
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AP_HAL::Proc Scheduler::_failsafe = nullptr;
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AP_HAL::MemberProc Scheduler::_timer_proc[SITL_SCHEDULER_MAX_TIMER_PROCS] = {nullptr};
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uint8_t Scheduler::_num_timer_procs = 0;
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bool Scheduler::_in_timer_proc = false;
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AP_HAL::MemberProc Scheduler::_io_proc[SITL_SCHEDULER_MAX_TIMER_PROCS] = {nullptr};
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uint8_t Scheduler::_num_io_procs = 0;
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bool Scheduler::_in_io_proc = false;
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bool Scheduler::_should_reboot = false;
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Scheduler::thread_attr *Scheduler::threads;
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HAL_Semaphore Scheduler::_thread_sem;
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Scheduler::Scheduler(SITL_State *sitlState) :
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_sitlState(sitlState),
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_stopped_clock_usec(0)
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{
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}
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void Scheduler::init()
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{
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_main_ctx = pthread_self();
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}
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bool Scheduler::in_main_thread() const
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{
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if (!_in_timer_proc && !_in_io_proc && pthread_self() == _main_ctx) {
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return true;
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}
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return false;
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}
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void Scheduler::delay_microseconds(uint16_t usec)
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{
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uint64_t start = AP_HAL::micros64();
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do {
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uint64_t dtime = AP_HAL::micros64() - start;
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if (dtime >= usec) {
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break;
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}
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_sitlState->wait_clock(start + usec);
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} while (true);
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}
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void Scheduler::delay(uint16_t ms)
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{
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uint32_t start = AP_HAL::millis();
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uint32_t now = start;
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do {
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delay_microseconds(1000);
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if (_min_delay_cb_ms <= (ms - (now - start))) {
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if (in_main_thread()) {
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call_delay_cb();
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}
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}
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now = AP_HAL::millis();
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} while (now - start < ms);
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}
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void Scheduler::register_timer_process(AP_HAL::MemberProc proc)
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{
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for (uint8_t i = 0; i < _num_timer_procs; i++) {
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if (_timer_proc[i] == proc) {
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return;
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}
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}
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if (_num_timer_procs < SITL_SCHEDULER_MAX_TIMER_PROCS) {
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_timer_proc[_num_timer_procs] = proc;
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_num_timer_procs++;
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}
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}
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void Scheduler::register_io_process(AP_HAL::MemberProc proc)
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{
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for (uint8_t i = 0; i < _num_io_procs; i++) {
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if (_io_proc[i] == proc) {
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return;
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}
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}
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if (_num_io_procs < SITL_SCHEDULER_MAX_TIMER_PROCS) {
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_io_proc[_num_io_procs] = proc;
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_num_io_procs++;
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}
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}
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void Scheduler::register_timer_failsafe(AP_HAL::Proc failsafe, uint32_t period_us)
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{
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_failsafe = failsafe;
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}
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void Scheduler::system_initialized() {
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if (_initialized) {
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AP_HAL::panic(
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"PANIC: scheduler system initialized called more than once");
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}
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int exceptions = FE_OVERFLOW | FE_DIVBYZERO;
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#ifndef __i386__
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// i386 with gcc doesn't work with FE_INVALID
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exceptions |= FE_INVALID;
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#endif
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if (_sitlState->_sitl == nullptr || _sitlState->_sitl->float_exception) {
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feenableexcept(exceptions);
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} else {
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feclearexcept(exceptions);
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}
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_initialized = true;
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}
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void Scheduler::sitl_end_atomic() {
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if (_nested_atomic_ctr == 0) {
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hal.uartA->printf("NESTED ATOMIC ERROR\n");
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} else {
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_nested_atomic_ctr--;
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}
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}
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void Scheduler::reboot(bool hold_in_bootloader)
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{
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_should_reboot = true;
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}
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void Scheduler::_run_timer_procs()
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{
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if (_in_timer_proc) {
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// the timer calls took longer than the period of the
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// timer. This is bad, and may indicate a serious
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// driver failure. We can't just call the drivers
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// again, as we could run out of stack. So we only
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// call the _failsafe call. It's job is to detect if
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// the drivers or the main loop are indeed dead and to
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// activate whatever failsafe it thinks may help if
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// need be. We assume the failsafe code can't
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// block. If it does then we will recurse and die when
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// we run out of stack
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if (_failsafe != nullptr) {
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_failsafe();
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}
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return;
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}
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_in_timer_proc = true;
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// now call the timer based drivers
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for (int i = 0; i < _num_timer_procs; i++) {
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if (_timer_proc[i]) {
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_timer_proc[i]();
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}
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}
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// and the failsafe, if one is setup
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if (_failsafe != nullptr) {
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_failsafe();
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}
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_in_timer_proc = false;
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}
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void Scheduler::_run_io_procs()
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{
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if (_in_io_proc) {
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return;
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}
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_in_io_proc = true;
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// now call the IO based drivers
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for (int i = 0; i < _num_io_procs; i++) {
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if (_io_proc[i]) {
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_io_proc[i]();
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}
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}
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_in_io_proc = false;
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hal.uartA->_timer_tick();
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hal.uartB->_timer_tick();
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hal.uartC->_timer_tick();
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hal.uartD->_timer_tick();
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hal.uartE->_timer_tick();
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hal.uartF->_timer_tick();
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hal.uartG->_timer_tick();
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hal.storage->_timer_tick();
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check_thread_stacks();
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}
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/*
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set simulation timestamp
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*/
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void Scheduler::stop_clock(uint64_t time_usec)
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{
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_stopped_clock_usec = time_usec;
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if (time_usec - _last_io_run > 10000) {
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_last_io_run = time_usec;
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_run_io_procs();
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}
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}
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/*
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trampoline for thread create
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*/
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void *Scheduler::thread_create_trampoline(void *ctx)
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{
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struct thread_attr *a = (struct thread_attr *)ctx;
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a->f[0]();
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WITH_SEMAPHORE(_thread_sem);
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if (threads == a) {
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threads = a->next;
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} else {
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for (struct thread_attr *p=threads; p->next; p=p->next) {
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if (p->next == a) {
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p->next = p->next->next;
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break;
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}
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}
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}
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free(a->stack);
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free(a->f);
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delete a;
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return nullptr;
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}
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#ifndef PTHREAD_STACK_MIN
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#define PTHREAD_STACK_MIN 16384U
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#endif
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/*
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create a new thread
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*/
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bool Scheduler::thread_create(AP_HAL::MemberProc proc, const char *name, uint32_t stack_size, priority_base base, int8_t priority)
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{
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WITH_SEMAPHORE(_thread_sem);
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// even an empty thread takes 2500 bytes on Linux, so always add 2300, giving us 200 bytes
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// safety margin
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stack_size += 2300;
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pthread_t thread {};
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uint32_t alloc_stack = MAX(PTHREAD_STACK_MIN,stack_size);
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struct thread_attr *a = new struct thread_attr;
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if (!a) {
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return false;
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}
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// take a copy of the MemberProc, it is freed after thread exits
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a->f = (AP_HAL::MemberProc *)malloc(sizeof(proc));
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if (!a->f) {
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goto failed;
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}
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if (posix_memalign(&a->stack, 4096, alloc_stack) != 0) {
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goto failed;
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}
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if (!a->stack) {
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goto failed;
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}
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memset(a->stack, stackfill, alloc_stack);
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a->stack_min = (const uint8_t *)((((uint8_t *)a->stack) + alloc_stack) - stack_size);
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a->stack_size = stack_size;
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a->f[0] = proc;
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a->name = name;
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pthread_attr_init(&a->attr);
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if (pthread_attr_setstack(&a->attr, a->stack, alloc_stack) != 0) {
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AP_HAL::panic("Failed to set stack of size %u for thread %s", alloc_stack, name);
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}
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if (pthread_create(&thread, &a->attr, thread_create_trampoline, a) != 0) {
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goto failed;
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}
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a->next = threads;
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threads = a;
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return true;
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failed:
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if (a->stack) {
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free(a->stack);
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}
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if (a->f) {
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free(a->f);
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}
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delete a;
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return false;
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}
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/*
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check for stack overflow
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*/
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void Scheduler::check_thread_stacks(void)
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{
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WITH_SEMAPHORE(_thread_sem);
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for (struct thread_attr *p=threads; p; p=p->next) {
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const uint8_t ncheck = 8;
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for (uint8_t i=0; i<ncheck; i++) {
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if (p->stack_min[i] != stackfill) {
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AP_HAL::panic("stack overflow in thread %s\n", p->name);
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}
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}
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}
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}
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