ardupilot/libraries/AP_HAL_SITL/Scheduler.cpp

357 lines
8.7 KiB
C++

#include <AP_HAL/AP_HAL.h>
#include "AP_HAL_SITL.h"
#include "Scheduler.h"
#include "UARTDriver.h"
#include <sys/time.h>
#include <fenv.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#if defined (__clang__)
#include <stdlib.h>
#else
#include <malloc.h>
#endif
#include <AP_RCProtocol/AP_RCProtocol.h>
using namespace HALSITL;
extern const AP_HAL::HAL& hal;
AP_HAL::Proc Scheduler::_failsafe = nullptr;
AP_HAL::MemberProc Scheduler::_timer_proc[SITL_SCHEDULER_MAX_TIMER_PROCS] = {nullptr};
uint8_t Scheduler::_num_timer_procs = 0;
bool Scheduler::_in_timer_proc = false;
AP_HAL::MemberProc Scheduler::_io_proc[SITL_SCHEDULER_MAX_TIMER_PROCS] = {nullptr};
uint8_t Scheduler::_num_io_procs = 0;
bool Scheduler::_in_io_proc = false;
bool Scheduler::_should_reboot = false;
bool Scheduler::_should_exit = false;
bool Scheduler::_in_semaphore_take_wait = false;
Scheduler::thread_attr *Scheduler::threads;
HAL_Semaphore Scheduler::_thread_sem;
Scheduler::Scheduler(SITL_State *sitlState) :
_sitlState(sitlState),
_stopped_clock_usec(0)
{
}
void Scheduler::init()
{
_main_ctx = pthread_self();
}
bool Scheduler::in_main_thread() const
{
if (!_in_timer_proc && !_in_io_proc && pthread_self() == _main_ctx) {
return true;
}
return false;
}
/*
* semaphore_wait_hack_required - possibly move time input step
* forward even if we are currently pretending to be the IO or timer
* threads.
*
* Without this, if another thread has taken a semaphore (e.g. the
* Object Avoidance thread), and an "IO process" tries to take that
* semaphore with a timeout specified, then we end up not advancing
* time (due to the logic in SITL_State::wait_clock) and thus taking
* the semaphore never times out - meaning we essentially deadlock.
*/
bool Scheduler::semaphore_wait_hack_required()
{
if (pthread_self() != _main_ctx) {
// only the main thread ever moves stuff forwards
return false;
}
return _in_semaphore_take_wait;
}
void Scheduler::delay_microseconds(uint16_t usec)
{
uint64_t start = AP_HAL::micros64();
do {
uint64_t dtime = AP_HAL::micros64() - start;
if (dtime >= usec) {
break;
}
_sitlState->wait_clock(start + usec);
} while (true);
}
void Scheduler::delay(uint16_t ms)
{
uint32_t start = AP_HAL::millis();
uint32_t now = start;
do {
delay_microseconds(1000);
if (_min_delay_cb_ms <= (ms - (now - start))) {
if (in_main_thread()) {
call_delay_cb();
}
}
now = AP_HAL::millis();
} while (now - start < ms);
}
void Scheduler::register_timer_process(AP_HAL::MemberProc proc)
{
for (uint8_t i = 0; i < _num_timer_procs; i++) {
if (_timer_proc[i] == proc) {
return;
}
}
if (_num_timer_procs < SITL_SCHEDULER_MAX_TIMER_PROCS) {
_timer_proc[_num_timer_procs] = proc;
_num_timer_procs++;
}
}
void Scheduler::register_io_process(AP_HAL::MemberProc proc)
{
for (uint8_t i = 0; i < _num_io_procs; i++) {
if (_io_proc[i] == proc) {
return;
}
}
if (_num_io_procs < SITL_SCHEDULER_MAX_TIMER_PROCS) {
_io_proc[_num_io_procs] = proc;
_num_io_procs++;
}
}
void Scheduler::register_timer_failsafe(AP_HAL::Proc failsafe, uint32_t period_us)
{
_failsafe = failsafe;
}
void Scheduler::system_initialized() {
if (_initialized) {
AP_HAL::panic(
"PANIC: scheduler system initialized called more than once");
}
int exceptions = FE_OVERFLOW | FE_DIVBYZERO;
#ifndef __i386__
// i386 with gcc doesn't work with FE_INVALID
exceptions |= FE_INVALID;
#endif
if (_sitlState->_sitl == nullptr || _sitlState->_sitl->float_exception) {
feenableexcept(exceptions);
} else {
feclearexcept(exceptions);
}
_initialized = true;
}
void Scheduler::sitl_end_atomic() {
if (_nested_atomic_ctr == 0) {
hal.uartA->printf("NESTED ATOMIC ERROR\n");
} else {
_nested_atomic_ctr--;
}
}
void Scheduler::reboot(bool hold_in_bootloader)
{
if (AP_BoardConfig::in_sensor_config_error()) {
// the _should_reboot flag set below is not checked by the
// sensor-config-error loop, so force the reboot here:
HAL_SITL::actually_reboot();
abort();
}
_should_reboot = true;
}
void Scheduler::_run_timer_procs()
{
if (_in_timer_proc) {
// the timer calls took longer than the period of the
// timer. This is bad, and may indicate a serious
// driver failure. We can't just call the drivers
// again, as we could run out of stack. So we only
// call the _failsafe call. It's job is to detect if
// the drivers or the main loop are indeed dead and to
// activate whatever failsafe it thinks may help if
// need be. We assume the failsafe code can't
// block. If it does then we will recurse and die when
// we run out of stack
if (_failsafe != nullptr) {
_failsafe();
}
return;
}
_in_timer_proc = true;
// now call the timer based drivers
for (int i = 0; i < _num_timer_procs; i++) {
if (_timer_proc[i]) {
_timer_proc[i]();
}
}
// and the failsafe, if one is setup
if (_failsafe != nullptr) {
_failsafe();
}
_in_timer_proc = false;
}
void Scheduler::_run_io_procs()
{
if (_in_io_proc) {
return;
}
_in_io_proc = true;
// now call the IO based drivers
for (int i = 0; i < _num_io_procs; i++) {
if (_io_proc[i]) {
_io_proc[i]();
}
}
_in_io_proc = false;
hal.uartA->_timer_tick();
hal.uartB->_timer_tick();
hal.uartC->_timer_tick();
hal.uartD->_timer_tick();
hal.uartE->_timer_tick();
hal.uartF->_timer_tick();
hal.uartG->_timer_tick();
hal.uartH->_timer_tick();
hal.storage->_timer_tick();
check_thread_stacks();
AP::RC().update();
}
/*
set simulation timestamp
*/
void Scheduler::stop_clock(uint64_t time_usec)
{
_stopped_clock_usec = time_usec;
if (time_usec - _last_io_run > 10000) {
_last_io_run = time_usec;
_run_io_procs();
}
}
/*
trampoline for thread create
*/
void *Scheduler::thread_create_trampoline(void *ctx)
{
struct thread_attr *a = (struct thread_attr *)ctx;
a->f[0]();
WITH_SEMAPHORE(_thread_sem);
if (threads == a) {
threads = a->next;
} else {
for (struct thread_attr *p=threads; p->next; p=p->next) {
if (p->next == a) {
p->next = p->next->next;
break;
}
}
}
free(a->stack);
free(a->f);
delete a;
return nullptr;
}
#ifndef PTHREAD_STACK_MIN
#define PTHREAD_STACK_MIN 16384U
#endif
/*
create a new thread
*/
bool Scheduler::thread_create(AP_HAL::MemberProc proc, const char *name, uint32_t stack_size, priority_base base, int8_t priority)
{
WITH_SEMAPHORE(_thread_sem);
// even an empty thread takes 2500 bytes on Linux, so always add 2300, giving us 200 bytes
// safety margin
stack_size += 2300;
pthread_t thread {};
const uint32_t alloc_stack = MAX(size_t(PTHREAD_STACK_MIN),stack_size);
struct thread_attr *a = new struct thread_attr;
if (!a) {
return false;
}
// take a copy of the MemberProc, it is freed after thread exits
a->f = (AP_HAL::MemberProc *)malloc(sizeof(proc));
if (!a->f) {
goto failed;
}
if (posix_memalign(&a->stack, 4096, alloc_stack) != 0) {
goto failed;
}
if (!a->stack) {
goto failed;
}
memset(a->stack, stackfill, alloc_stack);
a->stack_min = (const uint8_t *)((((uint8_t *)a->stack) + alloc_stack) - stack_size);
a->stack_size = stack_size;
a->f[0] = proc;
a->name = name;
pthread_attr_init(&a->attr);
#if !defined(__CYGWIN__) && !defined(__CYGWIN64__)
if (pthread_attr_setstack(&a->attr, a->stack, alloc_stack) != 0) {
AP_HAL::panic("Failed to set stack of size %u for thread %s", alloc_stack, name);
}
#endif
if (pthread_create(&thread, &a->attr, thread_create_trampoline, a) != 0) {
goto failed;
}
a->next = threads;
threads = a;
return true;
failed:
if (a->stack) {
free(a->stack);
}
if (a->f) {
free(a->f);
}
delete a;
return false;
}
/*
check for stack overflow
*/
void Scheduler::check_thread_stacks(void)
{
WITH_SEMAPHORE(_thread_sem);
for (struct thread_attr *p=threads; p; p=p->next) {
const uint8_t ncheck = 8;
for (uint8_t i=0; i<ncheck; i++) {
if (p->stack_min[i] != stackfill) {
AP_HAL::panic("stack overflow in thread %s\n", p->name);
}
}
}
}