539 lines
12 KiB
C++
539 lines
12 KiB
C++
/*
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port of lwip to ArduPilot AP_HAL
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*/
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/Semaphores.h>
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#include <AP_Math/AP_Math.h>
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#include <string.h>
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#include <sys/time.h>
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#include <sys/types.h>
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#include <stdlib.h>
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#include <stdio.h>
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#include <unistd.h>
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#include <pthread.h>
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#include <errno.h>
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#include <lwipopts.h>
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extern "C" {
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#include "lwip/debug.h"
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#include "lwip/def.h"
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#include "lwip/sys.h"
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#include "lwip/opt.h"
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#include "lwip/stats.h"
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#include "lwip/tcpip.h"
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}
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include <semaphore.h>
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#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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#include "hal.h"
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#include "../../../libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.h"
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#endif
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extern const AP_HAL::HAL &hal;
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unsigned int
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lwip_port_rand(void)
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{
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return (u32_t)rand();
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}
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static HAL_Semaphore lwprot_mutex;
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static HAL_Semaphore tcpip_mutex;
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struct sys_mbox_msg {
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struct sys_mbox_msg *next;
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void *msg;
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};
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#define SYS_MBOX_SIZE 128
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struct sys_mbox {
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int first, last;
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void *msgs[SYS_MBOX_SIZE];
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struct sys_sem *not_empty;
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struct sys_sem *not_full;
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struct sys_sem *mutex;
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int wait_send;
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};
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struct sys_sem {
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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sem_t sem;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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semaphore_t sem;
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#else
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#error "Need sys_sem implementation"
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#endif
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};
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static struct sys_sem *sys_sem_new_internal(u8_t count);
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static void sys_sem_free_internal(struct sys_sem *sem);
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/* Threads */
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struct thread_wrapper_data {
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lwip_thread_fn function;
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void *arg;
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};
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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static void *
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thread_wrapper(void *arg)
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{
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auto *thread_data = (struct thread_wrapper_data *)arg;
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thread_data->function(thread_data->arg);
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return NULL;
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}
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#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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static void
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thread_wrapper(void *arg)
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{
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auto *thread_data = (struct thread_wrapper_data *)arg;
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thread_data->function(thread_data->arg);
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}
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#endif
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sys_thread_t
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sys_thread_new(const char *name, lwip_thread_fn function, void *arg, int stacksize, int prio)
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{
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sys_thread_t ret = nullptr;
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struct thread_wrapper_data *thread_data;
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thread_data = new thread_wrapper_data;
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thread_data->arg = arg;
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thread_data->function = function;
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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pthread_t t;
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if (pthread_create(&t, NULL, thread_wrapper, thread_data) == 0) {
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pthread_setname_np(t, name);
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ret = (void*)t;
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}
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#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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ret = thread_create_alloc(THD_WORKING_AREA_SIZE(stacksize+1024),
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name,
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prio+60, // need to use HAL thread call
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thread_wrapper,
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thread_data);
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#endif
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if (ret == nullptr) {
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AP_HAL::panic("Failed to create thread %s", name);
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}
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return ret;
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}
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void sys_lock_tcpip_core(void)
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{
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if (hal.scheduler != nullptr) {
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tcpip_mutex.take_blocking();
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}
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}
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void sys_unlock_tcpip_core(void)
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{
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if (hal.scheduler != nullptr) {
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tcpip_mutex.give();
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}
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}
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void sys_mark_tcpip_thread(void)
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{
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}
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void sys_check_core_locking(void)
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{
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/* Embedded systems should check we are NOT in an interrupt
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* context here */
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}
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/*-----------------------------------------------------------------------------------*/
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/* Mailbox */
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err_t
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sys_mbox_new(struct sys_mbox **mb, int size)
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{
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struct sys_mbox *mbox;
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LWIP_UNUSED_ARG(size);
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mbox = new sys_mbox;
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if (mbox == NULL) {
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return ERR_MEM;
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}
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mbox->first = mbox->last = 0;
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mbox->not_empty = sys_sem_new_internal(0);
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mbox->not_full = sys_sem_new_internal(0);
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mbox->mutex = sys_sem_new_internal(1);
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mbox->wait_send = 0;
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*mb = mbox;
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return ERR_OK;
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}
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void
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sys_mbox_free(struct sys_mbox **mb)
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{
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if ((mb != NULL) && (*mb != SYS_MBOX_NULL)) {
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struct sys_mbox *mbox = *mb;
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sys_arch_sem_wait(&mbox->mutex, 0);
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sys_sem_free_internal(mbox->not_empty);
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sys_sem_free_internal(mbox->not_full);
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sys_sem_free_internal(mbox->mutex);
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mbox->not_empty = mbox->not_full = mbox->mutex = NULL;
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/* LWIP_DEBUGF("sys_mbox_free: mbox 0x%lx\n", mbox); */
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delete mbox;
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}
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}
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err_t
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sys_mbox_trypost(struct sys_mbox **mb, void *msg)
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{
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u8_t first;
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struct sys_mbox *mbox;
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LWIP_ASSERT("invalid mbox", (mb != NULL) && (*mb != NULL));
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mbox = *mb;
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sys_arch_sem_wait(&mbox->mutex, 0);
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LWIP_DEBUGF(SYS_DEBUG, ("sys_mbox_trypost: mbox %p msg %p\n",
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(void *)mbox, (void *)msg));
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if ((mbox->last + 1) >= (mbox->first + SYS_MBOX_SIZE)) {
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sys_sem_signal(&mbox->mutex);
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return ERR_MEM;
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}
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mbox->msgs[mbox->last % SYS_MBOX_SIZE] = msg;
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if (mbox->last == mbox->first) {
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first = 1;
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} else {
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first = 0;
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}
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mbox->last++;
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if (first) {
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sys_sem_signal(&mbox->not_empty);
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}
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sys_sem_signal(&mbox->mutex);
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return ERR_OK;
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}
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void
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sys_mbox_post(struct sys_mbox **mb, void *msg)
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{
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u8_t first;
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struct sys_mbox *mbox;
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LWIP_ASSERT("invalid mbox", (mb != NULL) && (*mb != NULL));
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mbox = *mb;
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sys_arch_sem_wait(&mbox->mutex, 0);
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LWIP_DEBUGF(SYS_DEBUG, ("sys_mbox_post: mbox %p msg %p\n", (void *)mbox, (void *)msg));
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while ((mbox->last + 1) >= (mbox->first + SYS_MBOX_SIZE)) {
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mbox->wait_send++;
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sys_sem_signal(&mbox->mutex);
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sys_arch_sem_wait(&mbox->not_full, 0);
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sys_arch_sem_wait(&mbox->mutex, 0);
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mbox->wait_send--;
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}
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mbox->msgs[mbox->last % SYS_MBOX_SIZE] = msg;
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if (mbox->last == mbox->first) {
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first = 1;
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} else {
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first = 0;
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}
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mbox->last++;
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if (first) {
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sys_sem_signal(&mbox->not_empty);
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}
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sys_sem_signal(&mbox->mutex);
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}
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u32_t
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sys_arch_mbox_tryfetch(struct sys_mbox **mb, void **msg)
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{
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struct sys_mbox *mbox = *mb;
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sys_arch_sem_wait(&mbox->mutex, 0);
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if (mbox->first == mbox->last) {
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sys_sem_signal(&mbox->mutex);
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return SYS_MBOX_EMPTY;
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}
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if (msg != NULL) {
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LWIP_DEBUGF(SYS_DEBUG, ("sys_mbox_tryfetch: mbox %p msg %p\n", (void *)mbox, *msg));
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*msg = mbox->msgs[mbox->first % SYS_MBOX_SIZE];
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} else {
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LWIP_DEBUGF(SYS_DEBUG, ("sys_mbox_tryfetch: mbox %p, null msg\n", (void *)mbox));
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}
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mbox->first++;
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if (mbox->wait_send) {
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sys_sem_signal(&mbox->not_full);
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}
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sys_sem_signal(&mbox->mutex);
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return 0;
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}
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u32_t
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sys_arch_mbox_fetch(struct sys_mbox **mb, void **msg, u32_t timeout)
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{
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struct sys_mbox *mbox;
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LWIP_ASSERT("invalid mbox", (mb != NULL) && (*mb != NULL));
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mbox = *mb;
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/* The mutex lock is quick so we don't bother with the timeout
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stuff here. */
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sys_arch_sem_wait(&mbox->mutex, 0);
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while (mbox->first == mbox->last) {
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sys_sem_signal(&mbox->mutex);
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/* We block while waiting for a mail to arrive in the mailbox. We
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must be prepared to timeout. */
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if (timeout != 0) {
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u32_t time_needed = sys_arch_sem_wait(&mbox->not_empty, timeout);
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if (time_needed == SYS_ARCH_TIMEOUT) {
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return SYS_ARCH_TIMEOUT;
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}
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} else {
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sys_arch_sem_wait(&mbox->not_empty, 0);
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}
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sys_arch_sem_wait(&mbox->mutex, 0);
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}
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if (msg != NULL) {
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LWIP_DEBUGF(SYS_DEBUG, ("sys_mbox_fetch: mbox %p msg %p\n", (void *)mbox, *msg));
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*msg = mbox->msgs[mbox->first % SYS_MBOX_SIZE];
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} else {
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LWIP_DEBUGF(SYS_DEBUG, ("sys_mbox_fetch: mbox %p, null msg\n", (void *)mbox));
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}
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mbox->first++;
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if (mbox->wait_send) {
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sys_sem_signal(&mbox->not_full);
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}
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sys_sem_signal(&mbox->mutex);
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return 0;
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}
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/*-----------------------------------------------------------------------------------*/
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/* Semaphore */
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static struct sys_sem *
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sys_sem_new_internal(u8_t count)
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{
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auto *ret = new sys_sem;
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if (ret != nullptr) {
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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sem_init(&ret->sem, 0, count);
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#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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chSemObjectInit(&ret->sem, (cnt_t)count);
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#endif
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}
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return ret;
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}
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err_t
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sys_sem_new(struct sys_sem **sem, u8_t count)
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{
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*sem = sys_sem_new_internal(count);
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if (*sem == NULL) {
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return ERR_MEM;
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}
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return ERR_OK;
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}
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u32_t
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sys_arch_sem_wait(struct sys_sem **s, u32_t timeout_ms)
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{
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struct sys_sem *sem = *s;
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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if (timeout_ms == 0) {
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sem_wait(&sem->sem);
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return 0;
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}
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struct timespec ts;
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if (clock_gettime(CLOCK_REALTIME, &ts) != 0) {
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return SYS_ARCH_TIMEOUT;
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}
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ts.tv_sec += timeout_ms/1000UL;
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ts.tv_nsec += (timeout_ms % 1000U) * 1000000UL;
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if (ts.tv_nsec >= 1000000000L) {
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ts.tv_sec++;
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ts.tv_nsec -= 1000000000L;
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}
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auto ret = sem_timedwait(&sem->sem, &ts);
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if (ret != 0) {
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return SYS_ARCH_TIMEOUT;
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}
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#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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chSysLock();
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sysinterval_t tmo = timeout_ms > 0 ? MIN(TIME_MAX_INTERVAL, TIME_MS2I((time_msecs_t)timeout_ms)) : TIME_INFINITE;
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if (chSemWaitTimeoutS(&sem->sem, tmo) != MSG_OK) {
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chSysUnlock();
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return SYS_ARCH_TIMEOUT;
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}
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chSysUnlock();
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#endif
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return 0;
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}
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void
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sys_sem_signal(struct sys_sem **s)
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{
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struct sys_sem *sem = *s;
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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sem_post(&sem->sem);
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#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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chSemSignal(&sem->sem);
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#endif
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}
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static void
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sys_sem_free_internal(struct sys_sem *sem)
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{
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delete sem;
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}
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void
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sys_sem_free(struct sys_sem **sem)
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{
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if ((sem != NULL) && (*sem != SYS_SEM_NULL)) {
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sys_sem_free_internal(*sem);
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}
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}
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/*-----------------------------------------------------------------------------------*/
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/* Mutex */
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/** Create a new mutex
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* @param mutex pointer to the mutex to create
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* @return a new mutex */
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err_t
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sys_mutex_new(struct sys_mutex **mutex)
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{
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auto *sem = new HAL_Semaphore;
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if (sem == nullptr) {
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return ERR_MEM;
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}
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*mutex = (struct sys_mutex *)sem;
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return ERR_OK;
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}
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/** Lock a mutex
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* @param mutex the mutex to lock */
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void
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sys_mutex_lock(struct sys_mutex **mutex)
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{
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auto *sem = (HAL_Semaphore *)*mutex;
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if (hal.scheduler != nullptr) {
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sem->take_blocking();
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}
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}
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/** Unlock a mutex
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* @param mutex the mutex to unlock */
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void
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sys_mutex_unlock(struct sys_mutex **mutex)
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{
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auto *sem = (HAL_Semaphore *)*mutex;
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if (hal.scheduler != nullptr) {
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sem->give();
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}
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}
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/** Delete a mutex
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* @param mutex the mutex to delete */
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void
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sys_mutex_free(struct sys_mutex **mutex)
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{
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auto *sem = (HAL_Semaphore *)*mutex;
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delete sem;
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}
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/*-----------------------------------------------------------------------------------*/
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/* Time */
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u32_t
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sys_now(void)
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{
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return AP_HAL::millis();
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}
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u32_t
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sys_jiffies(void)
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{
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return AP_HAL::micros();
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}
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/*-----------------------------------------------------------------------------------*/
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/* Init */
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void
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sys_init(void)
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{
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}
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/*-----------------------------------------------------------------------------------*/
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/* Critical section */
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/** sys_prot_t sys_arch_protect(void)
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This optional function does a "fast" critical region protection and returns
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the previous protection level. This function is only called during very short
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critical regions. An embedded system which supports ISR-based drivers might
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want to implement this function by disabling interrupts. Task-based systems
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might want to implement this by using a mutex or disabling tasking. This
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function should support recursive calls from the same task or interrupt. In
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other words, sys_arch_protect() could be called while already protected. In
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that case the return value indicates that it is already protected.
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sys_arch_protect() is only required if your port is supporting an operating
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system.
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*/
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sys_prot_t
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sys_arch_protect(void)
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{
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if (hal.scheduler != nullptr) {
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lwprot_mutex.take_blocking();
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}
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return 0;
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}
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/** void sys_arch_unprotect(sys_prot_t pval)
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This optional function does a "fast" set of critical region protection to the
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value specified by pval. See the documentation for sys_arch_protect() for
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more information. This function is only required if your port is supporting
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an operating system.
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*/
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void
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sys_arch_unprotect(sys_prot_t pval)
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{
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LWIP_UNUSED_ARG(pval);
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if (hal.scheduler != nullptr) {
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lwprot_mutex.give();
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}
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}
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