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Implement condition variables for Mbed and FreeRTOS-Plus-TCP ports #821

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merged 6 commits into from
Dec 9, 2024
Merged

Implement condition variables for Mbed and FreeRTOS-Plus-TCP ports #821

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cf014da
Fix Mbed condition variable implementation
bjsowa Dec 6, 2024
fa8b1ee
Implement condition variable in FreeRTOS-Plus-TCP port
bjsowa Dec 6, 2024
a5e66e8
Use counting semaphore condvar implementation in FreeRTOS-Plus-TCP port
bjsowa Dec 7, 2024
175c9a5
Use counting semaphore condvar implementation in Mbed port
bjsowa Dec 7, 2024
ba96a81
Use normal mutex instead of recursive
bjsowa Dec 7, 2024
9b2bc04
Fix typo in mbed port
bjsowa Dec 7, 2024
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10 changes: 9 additions & 1 deletion include/zenoh-pico/system/platform/freertos_plus_tcp.h
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Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,15 @@ typedef struct {
} _z_task_t;

typedef SemaphoreHandle_t _z_mutex_t;
typedef void *_z_condvar_t;
typedef struct {
SemaphoreHandle_t mutex;
SemaphoreHandle_t sem;
int waiters;
#if (configSUPPORT_STATIC_ALLOCATION == 1)
StaticSemaphore_t mutex_buffer;
StaticSemaphore_t sem_buffer;
#endif /* SUPPORT_STATIC_ALLOCATION */
} _z_condvar_t;
#endif // Z_MULTI_THREAD == 1

typedef TickType_t z_clock_t;
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82 changes: 76 additions & 6 deletions src/system/freertos_plus_tcp/system.c
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Expand Up @@ -157,12 +157,82 @@ z_result_t _z_mutex_try_lock(_z_mutex_t *m) { return xSemaphoreTakeRecursive(*m,
z_result_t _z_mutex_unlock(_z_mutex_t *m) { return xSemaphoreGiveRecursive(*m) == pdTRUE ? 0 : -1; }

/*------------------ CondVar ------------------*/
// Condition variables not supported in FreeRTOS
z_result_t _z_condvar_init(_z_condvar_t *cv) { return -1; }
z_result_t _z_condvar_drop(_z_condvar_t *cv) { return -1; }
z_result_t _z_condvar_signal(_z_condvar_t *cv) { return -1; }
z_result_t _z_condvar_signal_all(_z_condvar_t *cv) { return -1; }
z_result_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) { return -1; }
z_result_t _z_condvar_init(_z_condvar_t *cv) {
if (!cv) {
return _Z_ERR_GENERIC;
}

#if (configSUPPORT_STATIC_ALLOCATION == 1)
cv->mutex = xSemaphoreCreateMutexStatic(&cv->mutex_buffer);
cv->sem = xSemaphoreCreateCountingStatic((UBaseType_t)(~0), 0, &cv->sem_buffer);
#else
cv->mutex = xSemaphoreCreateMutex();
cv->sem = xSemaphoreCreateCounting((UBaseType_t)(~0), 0);
#endif /* SUPPORT_STATIC_ALLOCATION */
cv->waiters = 0;

if (!cv->mutex || !cv->sem) {
return _Z_ERR_GENERIC;
}
return _Z_RES_OK;
}

z_result_t _z_condvar_drop(_z_condvar_t *cv) {
if (!cv) {
return _Z_ERR_GENERIC;
}
vSemaphoreDelete(cv->sem);
vSemaphoreDelete(cv->mutex);
return _Z_RES_OK;
}

z_result_t _z_condvar_signal(_z_condvar_t *cv) {
if (!cv) {
return _Z_ERR_GENERIC;
}

xSemaphoreTake(cv->mutex, portMAX_DELAY);
if (cv->waiters > 0) {
xSemaphoreGive(cv->sem);
cv->waiters--;
}
xSemaphoreGive(cv->mutex);

return _Z_RES_OK;
}

z_result_t _z_condvar_signal_all(_z_condvar_t *cv) {
if (!cv) {
return _Z_ERR_GENERIC;
}

xSemaphoreTake(cv->mutex, portMAX_DELAY);
while (cv->waiters > 0) {
xSemaphoreGive(cv->sem);
cv->waiters--;
}
xSemaphoreGive(cv->mutex);

return _Z_RES_OK;
}

z_result_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) {
if (!cv || !m) {
return _Z_ERR_GENERIC;
}

xSemaphoreTake(cv->mutex, portMAX_DELAY);
cv->waiters++;
xSemaphoreGive(cv->mutex);

_z_mutex_unlock(m);

xSemaphoreTake(cv->sem, portMAX_DELAY);

_z_mutex_lock(m);

return _Z_RES_OK;
}
#endif // Z_MULTI_THREAD == 1

/*------------------ Sleep ------------------*/
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73 changes: 64 additions & 9 deletions src/system/mbed/system.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -94,27 +94,82 @@ z_result_t _z_mutex_unlock(_z_mutex_t *m) {
}

/*------------------ Condvar ------------------*/
z_result_t _z_condvar_init(_z_condvar_t *cv) { return 0; }
struct condvar {
Mutex mutex;
Semaphore sem{0};
int waiters{0};
};

z_result_t _z_condvar_init(_z_condvar_t *cv) {
if (!cv) {
return _Z_ERR_GENERIC;
}

*cv = new condvar();
return 0;
}

z_result_t _z_condvar_drop(_z_condvar_t *cv) {
delete ((ConditionVariable *)*cv);
if (!cv) {
return _Z_ERR_GENERIC;
}

delete ((condvar *)*cv);
return 0;
}

z_result_t _z_condvar_signal(_z_condvar_t *cv) {
((ConditionVariable *)*cv)->notify_one();
return 0;
if (!cv) {
return _Z_ERR_GENERIC;
}

auto &cond_var = *(condvar *)*cv;

cond_var.mutex.lock();
if (cond_var.waiters > 0) {
cond_var.sem.release();
cond_var.waiters--;
}
cond_var.mutex.unlock();

return _Z_RES_OK;
}

z_result_t _z_condvar_signal_all(_z_condvar_t *cv) {
((ConditionVariable *)*cv)->notify_all();
return 0;
if (!cv) {
return _Z_ERR_GENERIC;
}

auto &cond_var = *(condvar *)*cv;

cond_var.mutex.lock();
while (cond_var.waiters > 0) {
cond_var.sem.release();
cond_var.waiters--;
}
cond_var.mutex.unlock();

return _Z_RES_OK;
}

z_result_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) {
*cv = new ConditionVariable(*((Mutex *)*m));
((ConditionVariable *)*cv)->wait();
return 0;
if (!cv || !m) {
return _Z_ERR_GENERIC;
}

auto &cond_var = *(condvar *)*cv;

cond_var.mutex.lock();
cond_var.waiters++;
cond_var.mutex.unlock();

_z_mutex_unlock(m);

cond_var.sem.acquire();

_z_mutex_lock(m);

return _Z_RES_OK;
}
#endif // Z_FEATURE_MULTI_THREAD == 1

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