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✨ Allow calling user provided hooks in system daemon #734

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✨ Allow calling user provided hooks in system daemon #734

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3 changes: 3 additions & 0 deletions include/pros/apix.h
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Original file line number Diff line number Diff line change
Expand Up @@ -52,6 +52,9 @@ extern "C" {

typedef void* queue_t;
typedef void* sem_t;
typedef void (*generic_fn_t)(void);

void add_daemon_hook(generic_fn_t hook);
Comment on lines +55 to +57
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Doxygen, obviously.

Also, I'm unsold on the names of both generic_fn_t and add_daemon_hook.

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@djava djava Dec 25, 2024 •
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Probably data_collection_hook_fn_t and add_data_processing_hook()?


/**
* Unblocks a task in the Blocked state (e.g. waiting for a delay, on a
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18 changes: 18 additions & 0 deletions src/system/system_daemon.c
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Expand Up @@ -12,6 +12,7 @@
*/

#include "kapi.h"
#include "common/linkedlist.h"
#include "system/optimizers.h"
#include "system/user_functions.h"
#include "v5_api.h"
Expand All @@ -37,6 +38,9 @@ static void _competition_initialize_task(void* ign);
static void _initialize_task(void* ign);
static void _system_daemon_task(void* ign);

static linked_list_s_t* hook_list = NULL;
static mutex_t mut = 0;

enum state_task { E_OPCONTROL_TASK = 0, E_AUTON_TASK, E_DISABLED_TASK, E_COMP_INIT_TASK };

char task_names[4][32] = {"User Operator Control (PROS)", "User Autonomous (PROS)", "User Disabled (PROS)",
Expand All @@ -45,13 +49,27 @@ task_fn_t task_fns[4] = {_opcontrol_task, _autonomous_task, _disabled_task, _com

extern void ser_output_flush(void);

void add_daemon_hook(generic_fn_t hook) {
// TODO: make thread safe
if (unlikely(hook_list == NULL)) {
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Not that it matters because this whole function is like, the coldest of paths, but is this even unlikely? It happens at least once per program that uses this function, and it seems at least semi-likely that most programs that use this would only have one.

Not that it matters, but you did add the unlikely so it seems worth questioning.

hook_list = linked_list_init();
}
linked_list_append_func(hook_list, hook);
}

static void call_hook(ll_node_s_t* node, void* data) {
(void) data;
node->payload.func();
}

// does the basic background operations that need to occur every 2ms
static inline void do_background_operations() {
port_mutex_take_all();
ser_output_flush();
rtos_suspend_all();
vexBackgroundProcessing();
rtos_resume_all();
linked_list_foreach(hook_list, &call_hook, NULL);
vdml_background_processing();
port_mutex_give_all();
}
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I'm not sold on this order - I frankly don't know what vdml_background_processing is, but it sounds like something that should happen first.

Also, any user code should definitely not be called while all port mutexes are locked, because thats obviously going to deadlock, as every device API function requires locking a port mutex.

I think the linked_list_foreach should be at the end, after port_mutex_give_all().

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