Kaspar Schleiser
5 years ago
committed by
GitHub
12 changed files with 679 additions and 0 deletions
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/*
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* Copyright (C) 2016-17 Kaspar Schleiser <kaspar@schleiser.de> |
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* 2017 Freie Universität Berlin |
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* |
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* This file is subject to the terms and conditions of the GNU Lesser |
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* General Public License v2.1. See the file LICENSE in the top level |
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* directory for more details. |
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*/ |
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/**
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* @ingroup sys_evtimer |
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* @{ |
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* |
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* @file |
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* @brief event timer implementation |
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* |
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* @author Kaspar Schleiser <kaspar@schleiser.de> |
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* @author Martine Lenders <m.lenders@fu-berlin.de> |
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* |
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* @} |
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*/ |
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#include "div.h" |
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#include "irq.h" |
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#include "xtimer.h" |
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#include "evtimer.h" |
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#define ENABLE_DEBUG (0) |
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#include "debug.h" |
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/* XXX this function is intentionally non-static, since the optimizer can't
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* handle the pointer hack in this function */ |
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void evtimer_add_event_to_list(evtimer_t *evtimer, evtimer_event_t *event) |
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{ |
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uint32_t delta_sum = 0; |
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/* we want list->next to point to the first list element. thus we take the
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* *address* of evtimer->events, then cast it from (evtimer_event_t **) to |
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* (evtimer_event_t*). After that, list->next actually equals |
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* evtimer->events. */ |
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evtimer_event_t *list = (evtimer_event_t *)&evtimer->events; |
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while (list->next) { |
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evtimer_event_t *list_entry = list->next; |
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if ((list_entry->offset + delta_sum) > event->offset) { |
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break; |
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} |
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delta_sum += list_entry->offset; |
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list = list->next; |
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} |
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event->next = list->next; |
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if (list->next) { |
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evtimer_event_t *next_entry = list->next; |
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next_entry->offset += delta_sum; |
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next_entry->offset -= event->offset; |
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} |
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event->offset -= delta_sum; |
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list->next = event; |
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} |
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static void _del_event_from_list(evtimer_t *evtimer, evtimer_event_t *event) |
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{ |
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evtimer_event_t *list = (evtimer_event_t *) &evtimer->events; |
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while (list->next) { |
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evtimer_event_t *list_entry = list->next; |
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if (list_entry == event) { |
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list->next = event->next; |
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if (list->next) { |
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list_entry = list->next; |
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list_entry->offset += event->offset; |
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} |
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break; |
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} |
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list = list->next; |
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} |
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} |
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static void _set_timer(xtimer_t *timer, uint32_t offset) |
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{ |
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uint64_t offset_in_us = (uint64_t)offset * 1000; |
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DEBUG("evtimer: now=%" PRIu32 " setting xtimer to %" PRIu32 ":%" PRIu32 "\n", |
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xtimer_now_usec(), (uint32_t)(offset_in_us >> 32), |
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(uint32_t)(offset_in_us)); |
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_xtimer_set64(timer, offset_in_us, offset_in_us >> 32); |
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} |
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static void _update_timer(evtimer_t *evtimer) |
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{ |
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if (evtimer->events) { |
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evtimer_event_t *event = evtimer->events; |
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_set_timer(&evtimer->timer, event->offset); |
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} |
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else { |
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xtimer_remove(&evtimer->timer); |
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} |
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} |
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static uint32_t _get_offset(xtimer_t *timer) |
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{ |
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uint64_t now = xtimer_now_usec64(); |
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uint64_t target = ((uint64_t)timer->long_target) << 32 | timer->target; |
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if (target <= now) { |
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return 0; |
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} |
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else { |
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target -= now; |
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/* add half of 125 so integer division rounds to nearest */ |
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return div_u64_by_125((target >> 3) + 62); |
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} |
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} |
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static void _update_head_offset(evtimer_t *evtimer) |
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{ |
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if (evtimer->events) { |
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evtimer_event_t *event = evtimer->events; |
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event->offset = _get_offset(&evtimer->timer); |
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DEBUG("evtimer: _update_head_offset(): new head offset %" PRIu32 "\n", event->offset); |
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} |
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} |
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void evtimer_add(evtimer_t *evtimer, evtimer_event_t *event) |
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{ |
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unsigned state = irq_disable(); |
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DEBUG("evtimer_add(): adding event with offset %" PRIu32 "\n", event->offset); |
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_update_head_offset(evtimer); |
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evtimer_add_event_to_list(evtimer, event); |
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if (evtimer->events == event) { |
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_set_timer(&evtimer->timer, event->offset); |
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} |
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irq_restore(state); |
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if (sched_context_switch_request) { |
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thread_yield_higher(); |
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} |
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} |
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void evtimer_del(evtimer_t *evtimer, evtimer_event_t *event) |
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{ |
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unsigned state = irq_disable(); |
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DEBUG("evtimer_del(): removing event with offset %" PRIu32 "\n", event->offset); |
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_update_head_offset(evtimer); |
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_del_event_from_list(evtimer, event); |
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_update_timer(evtimer); |
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irq_restore(state); |
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} |
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static evtimer_event_t *_get_next(evtimer_t *evtimer) |
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{ |
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evtimer_event_t *event = evtimer->events; |
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if (event && (event->offset == 0)) { |
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evtimer->events = event->next; |
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return event; |
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} |
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else { |
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return NULL; |
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} |
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} |
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static void _evtimer_handler(void *arg) |
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{ |
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DEBUG("_evtimer_handler()\n"); |
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evtimer_t *evtimer = (evtimer_t *)arg; |
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/* this function gets called directly by xtimer if the set xtimer expired.
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* Thus the offset of the first event is down to zero. */ |
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evtimer_event_t *event = evtimer->events; |
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event->offset = 0; |
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/* iterate the event list */ |
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while ((event = _get_next(evtimer))) { |
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evtimer->callback(event); |
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} |
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_update_timer(evtimer); |
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} |
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void evtimer_init(evtimer_t *evtimer, evtimer_callback_t handler) |
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{ |
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evtimer->callback = handler; |
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evtimer->timer.callback = _evtimer_handler; |
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evtimer->timer.arg = (void *)evtimer; |
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evtimer->events = NULL; |
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} |
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void evtimer_print(const evtimer_t *evtimer) |
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{ |
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evtimer_event_t *list = evtimer->events; |
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while (list->next) { |
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evtimer_event_t *list_entry = list->next; |
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printf("ev offset=%u\n", (unsigned)list_entry->offset); |
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list = list->next; |
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} |
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} |
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/*
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* Copyright (C) 2016-17 Kaspar Schleiser <kaspar@schleiser.de> |
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* 2017 Freie Universität Berlin |
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* |
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* This file is subject to the terms and conditions of the GNU Lesser |
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* General Public License v2.1. See the file LICENSE in the top level |
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* directory for more details. |
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*/ |
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/**
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* @defgroup sys_evtimer Millisecond interval event timers |
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* @ingroup sys |
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* @brief Provides timers for events up to @$2^{32}@$ milliseconds in the |
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* future |
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* |
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* @note Experimental and likely to replaced with unified timer API |
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* |
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* RIOT's main timer subsystem is @ref sys_xtimer "xtimer", but for many |
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* applications @ref sys_xtimer "xtimer's" 64-bit absolute time values are |
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* wasteful or clumsy to use. |
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* |
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* Compared to @ref sys_xtimer "xtimer", evtimer offers: |
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* |
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* - only relative 32-bit millisecond timer values |
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* Events can be scheduled with a relative offset of up to ~49.7 days in the |
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* future. |
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* **For time-critical stuff, use @ref sys_xtimer "xtimer"!** |
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* - more flexible, "intrusive" timer type @ref evtimer_event_t only contains |
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* the necessary fields, which can be extended as needed, and handlers define |
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* actions taken on timer triggers. Check out @ref evtimer_msg_event_t as |
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* example. |
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* - uses @ref sys_xtimer "xtimer" as backend |
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* |
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* @{ |
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* |
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* @file |
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* @brief evtimer API definitions |
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* |
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* @author Kaspar Schleiser <kaspar@schleiser.de> |
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* @author Martine Lenders <m.lenders@fu-berlin.de> |
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*/ |
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#ifndef EVTIMER_H |
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#define EVTIMER_H |
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#include <stdint.h> |
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#include "xtimer.h" |
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#ifdef __cplusplus |
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extern "C" { |
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#endif |
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/**
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* @brief Generic event |
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*/ |
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typedef struct evtimer_event { |
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struct evtimer_event *next; /**< the next event in the queue */ |
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uint32_t offset; /**< offset in milliseconds from previous event */ |
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} evtimer_event_t; |
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/**
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* @brief Event timer callback type |
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*/ |
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typedef void(*evtimer_callback_t)(evtimer_event_t* event); |
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/**
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* @brief Event timer |
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*/ |
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typedef struct { |
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xtimer_t timer; /**< Timer */ |
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evtimer_callback_t callback; /**< Handler function for this evtimer's
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event type */ |
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evtimer_event_t *events; /**< Event queue */ |
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} evtimer_t; |
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/**
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* @brief Initializes an event timer |
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* |
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* @param[in] evtimer An event timer |
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* @param[in] handler An event handler function |
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*/ |
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void evtimer_init(evtimer_t *evtimer, evtimer_callback_t handler); |
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/**
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* @brief Adds event to an event timer |
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* |
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* @param[in] evtimer An event timer |
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* @param[in] event An event |
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*/ |
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void evtimer_add(evtimer_t *evtimer, evtimer_event_t *event); |
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/**
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* @brief Removes an event from an event timer |
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* |
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* @param[in] evtimer An event timer |
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* @param[in] event An event |
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*/ |
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void evtimer_del(evtimer_t *evtimer, evtimer_event_t *event); |
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/**
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* @brief Print overview of current state of an event timer |
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* |
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* @param[in] evtimer An event timer |
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*/ |
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void evtimer_print(const evtimer_t *evtimer); |
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#ifdef __cplusplus |
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} |
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#endif |
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#endif /* EVTIMER_H */ |
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/** @} */ |
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@ -0,0 +1,88 @@
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/*
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* Copyright (C) 2016-17 Kaspar Schleiser <kaspar@schleiser.de> |
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* 2017 Freie Universität Berlin |
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* |
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* This file is subject to the terms and conditions of the GNU Lesser |
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* General Public License v2.1. See the file LICENSE in the top level |
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* directory for more details. |
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*/ |
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/**
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* @addtogroup sys_evtimer |
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* @{ |
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* |
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* @file |
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* @brief IPC-based evtimer definitions |
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* |
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* @author Kaspar Schleiser <kaspar@schleiser.de> |
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* @author Martine Lenders <m.lenders@fu-berlin.de> |
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*/ |
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#ifndef EVTIMER_MSG_H |
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#define EVTIMER_MSG_H |
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#include "msg.h" |
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#include "evtimer.h" |
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#ifdef __cplusplus |
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extern "C" { |
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#endif |
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/**
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* @brief IPC-message event timer |
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* @extends evtimer_t |
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*/ |
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typedef evtimer_t evtimer_msg_t; |
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/**
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* @brief IPC-message event |
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* @extends evtimer_event_t |
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*/ |
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typedef struct { |
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evtimer_event_t event; /**< base class */ |
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msg_t msg; /**< the IPC message to generate on event */ |
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} evtimer_msg_event_t; |
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/**
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* @brief Adds event to an event timer that handles events via IPC |
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* |
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* @param[in] evtimer An event timer |
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* @param[in] event An event |
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* @param[in] target_pid The PID of the thread that should receive the IPC |
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* message |
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*/ |
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static inline void evtimer_add_msg(evtimer_msg_t *evtimer, |
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evtimer_msg_event_t *event, |
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kernel_pid_t target_pid) |
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{ |
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/* use sender_pid field to get target_pid into callback function */ |
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event->msg.sender_pid = target_pid; |
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evtimer_add(evtimer, &event->event); |
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} |
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/**
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* @brief Event handler for IPC messages |
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* |
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* @param[in] event The event to handle |
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*/ |
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static inline void _evtimer_msg_handler(evtimer_event_t *event) |
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{ |
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evtimer_msg_event_t *mevent = (evtimer_msg_event_t *)event; |
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msg_send_int(&mevent->msg, mevent->msg.sender_pid); |
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} |
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/**
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* @brief Initializes event timer to handle events via IPC |
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* |
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* @param[in] evtimer An event timer |
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*/ |
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static inline void evtimer_init_msg(evtimer_t *evtimer) |
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{ |
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evtimer_init(evtimer, _evtimer_msg_handler); |
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} |
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#ifdef __cplusplus |
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} |
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#endif |
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#endif /* EVTIMER_MSG_H */ |
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/** @} */ |
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@ -0,0 +1,13 @@
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APPLICATION = evtimer_msg
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include ../Makefile.tests_common |
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BOARD_INSUFFICIENT_MEMORY := nucleo32-f031 nucleo32-f042
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USEMODULE += evtimer
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include $(RIOTBASE)/Makefile.include |
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test: |
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# `testrunner` calls `make term` recursively, results in duplicated `TERMFLAGS`.
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# So clears `TERMFLAGS` before run.
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TERMFLAGS= tests/01-run.py
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@ -0,0 +1,75 @@
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/*
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* Copyright (C) 2017 Freie Universität Berlin |
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* |
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* This file is subject to the terms and conditions of the GNU Lesser |
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* General Public License v2.1. See the file LICENSE in the top level |
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* directory for more details. |
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*/ |
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/**
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* @ingroup tests |
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* @{ |
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* |
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* @file |
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* @brief evtimer_msg test application |
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* |
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* @author Martine Lenders <m.lenders@fu-berlin.de> |
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* |
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* @} |
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*/ |
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#include <stdio.h> |
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#include "evtimer_msg.h" |
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#include "thread.h" |
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#include "msg.h" |
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#include "xtimer.h" |
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static char worker_stack[THREAD_STACKSIZE_MAIN]; |
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static evtimer_t evtimer; |
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static evtimer_msg_event_t events[] = { |
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{ .event = { .offset = 1000 }, .msg = { .content = { .ptr = "supposed to be 1000" } } }, |
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{ .event = { .offset = 1500 }, .msg = { .content = { .ptr = "supposed to be 1500" } } }, |
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{ .event = { .offset = 659 }, .msg = { .content = { .ptr = "supposed to be 659" } } }, |
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{ .event = { .offset = 3954 }, .msg = { .content = { .ptr = "supposed to be 3954" } } }, |
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}; |
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#define NEVENTS ((unsigned)(sizeof(events) / sizeof(evtimer_msg_event_t))) |
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/* This thread will print the drift to stdout once per second */ |
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void *worker_thread(void *arg) |
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{ |
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int count = 0; |
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(void) arg; |
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while (1) { |
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char *ctx; |
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msg_t m; |
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uint32_t now; |
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msg_receive(&m); |
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now = xtimer_now_usec() / US_PER_MS; |
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ctx = m.content.ptr; |
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printf("At %6" PRIu32 " ms received msg %i: \"%s\"\n", now, count++, ctx); |
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} |
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} |
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int main(void) |
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{ |
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uint32_t now = xtimer_now_usec() / US_PER_MS; |
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evtimer_init_msg(&evtimer); |
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/* create worker thread */ |
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kernel_pid_t pid = thread_create(worker_stack, sizeof(worker_stack), |
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THREAD_PRIORITY_MAIN - 1, |
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THREAD_CREATE_STACKTEST, |
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worker_thread, NULL, "worker"); |
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printf("Testing generic evtimer (start time = %" PRIu32 " ms)\n", now); |
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for (unsigned i = 0; i < NEVENTS; i++) { |
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evtimer_add_msg(&evtimer, &events[i], pid); |
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} |
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printf("Are the reception times of all %u msgs close to the supposed values?\n", |
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NEVENTS); |
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puts("If yes, the tests were successful"); |
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} |
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@ -0,0 +1,36 @@
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#!/usr/bin/env python3 |
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# Copyright (C) 2016 Freie Universität Berlin |
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# |
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# This file is subject to the terms and conditions of the GNU Lesser |
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# General Public License v2.1. See the file LICENSE in the top level |
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# directory for more details. |
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from __future__ import print_function |
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import os |
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import sys |
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import time |
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sys.path.append(os.path.join(os.environ['RIOTBASE'], 'dist/tools/testrunner')) |
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import testrunner |
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ACCEPTED_ERROR = 20 |
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def testfunc(child): |
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child.expect(r"Testing generic evtimer \(start time = (\d+) ms\)") |
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timer_offset = int(child.match.group(1)) |
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child.expect(r"Are the reception times of all (\d+) msgs close to the supposed values?") |
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numof = int(child.match.group(1)) |
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for i in range(numof): |
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child.expect(r'At \s*(\d+) ms received msg %i: "supposed to be (\d+)"' % i) |
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stop = int(time.time() * 1000) |
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# check if output is correct |
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exp = int(child.match.group(2)) + timer_offset |
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assert(int(child.match.group(1)) in range(exp - ACCEPTED_ERROR, exp + ACCEPTED_ERROR + 1)) |
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print(".", end="", flush=True) |
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print("") |
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print("All tests successful") |
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if __name__ == "__main__": |
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sys.exit(testrunner.run(testfunc, echo=False)) |
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@ -0,0 +1,13 @@
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APPLICATION = evtimer_msg
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include ../Makefile.tests_common |
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BOARD_INSUFFICIENT_MEMORY := nucleo32-f031 nucleo32-f042
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USEMODULE += evtimer
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include $(RIOTBASE)/Makefile.include |
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test: |
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# `testrunner` calls `make term` recursively, results in duplicated `TERMFLAGS`.
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# So clears `TERMFLAGS` before run.
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TERMFLAGS= tests/01-run.py
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@ -0,0 +1,75 @@
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/*
|
||||
* Copyright (C) 2017 Freie Universität Berlin |
||||
* |
||||
* This file is subject to the terms and conditions of the GNU Lesser |
||||
* General Public License v2.1. See the file LICENSE in the top level |
||||
* directory for more details. |
||||
*/ |
||||
|
||||
/**
|
||||
* @ingroup tests |
||||
* @{ |
||||
* |
||||
* @file |
||||
* @brief evtimer_msg test application |
||||
* |
||||
* @author Martine Lenders <m.lenders@fu-berlin.de> |
||||
* |
||||
* @} |
||||
*/ |
||||
|
||||
#include <stdio.h> |
||||
|
||||
#include "evtimer_msg.h" |
||||
#include "thread.h" |
||||
#include "msg.h" |
||||
|
||||
#define WORKER_MSG_QUEUE_SIZE (8) |
||||
|
||||
msg_t worker_msg_queue[WORKER_MSG_QUEUE_SIZE]; |
||||
static char worker_stack[THREAD_STACKSIZE_MAIN]; |
||||
static evtimer_t evtimer; |
||||
static evtimer_msg_event_t events[] = { |
||||
{ .event = { .offset = 0 }, .msg = { .content = { .ptr = "1" } } }, |
||||
{ .event = { .offset = 0 }, .msg = { .content = { .ptr = "2" } } }, |
||||
{ .event = { .offset = 0 }, .msg = { .content = { .ptr = "3" } } }, |
||||
{ .event = { .offset = 0 }, .msg = { .content = { .ptr = "4" } } }, |
||||
{ .event = { .offset = 0 }, .msg = { .content = { .ptr = "5" } } }, |
||||
{ .event = { .offset = 0 }, .msg = { .content = { .ptr = "6" } } }, |
||||
{ .event = { .offset = 0 }, .msg = { .content = { .ptr = "7" } } }, |
||||
{ .event = { .offset = 0 }, .msg = { .content = { .ptr = "8" } } }, |
||||
}; |
||||
|
||||
#define NEVENTS (sizeof(events) / sizeof(evtimer_msg_event_t)) |
||||
|
||||
/* This thread will print the drift to stdout once per second */ |
||||
void *worker_thread(void *arg) |
||||
{ |
||||
(void) arg; |
||||
|
||||
msg_init_queue(worker_msg_queue, WORKER_MSG_QUEUE_SIZE); |
||||
while (1) { |
||||
char *ctx; |
||||
msg_t m; |
||||
|
||||
msg_receive(&m); |
||||
ctx = m.content.ptr; |
||||
printf("received msg \"%s\"\n", ctx); |
||||
} |
||||
} |
||||
|
||||
int main(void) |
||||
{ |
||||
evtimer_init_msg(&evtimer); |
||||
|
||||
/* create worker thread */ |
||||
kernel_pid_t pid = thread_create(worker_stack, sizeof(worker_stack), |
||||
THREAD_PRIORITY_MAIN - 1, |
||||
THREAD_CREATE_STACKTEST, |
||||
worker_thread, NULL, "worker"); |
||||
while (1) { |
||||
for (unsigned i = 0; i < NEVENTS; i++) { |
||||
evtimer_add_msg(&evtimer, &events[i], pid); |
||||
} |
||||
} |
||||
} |
||||
@ -0,0 +1,29 @@
|
||||
#!/usr/bin/env python3 |
||||
|
||||
# Copyright (C) 2016 Freie Universität Berlin |
||||
# |
||||
# This file is subject to the terms and conditions of the GNU Lesser |
||||
# General Public License v2.1. See the file LICENSE in the top level |
||||
# directory for more details. |
||||
|
||||
from __future__ import print_function |
||||
import os |
||||
import sys |
||||
import time |
||||
|
||||
sys.path.append(os.path.join(os.environ['RIOTBASE'], 'dist/tools/testrunner')) |
||||
import testrunner |
||||
|
||||
how_many = 100 |
||||
|
||||
def testfunc(child): |
||||
for i in range(how_many): |
||||
for j in range(8): |
||||
child.expect(r'received msg "%i"' % (j + 1)) |
||||
print(".", end="", flush=True) |
||||
print("") |
||||
print("Stopped after %i iterations, but should run forever." % how_many) |
||||
print("=> All tests successful") |
||||
|
||||
if __name__ == "__main__": |
||||
sys.exit(testrunner.run(testfunc, echo=False)) |
||||
Loading…
Reference in new issue