add pthread condition variable implementation

cpu/msp430-common/include/msp430_types.h

@@ -19,4 +19,7 @@ struct timeval {
     time_t tv_usec;
 };
 
+/* TODO: remove once msp430 libc supports clockid_t */
+typedef int clockid_t;
+
 #endif /* MSP430_TYPES_H */

sys/posix/pthread/include/pthread_cond.h

@@ -1,54 +1,140 @@
-/* Functions for handling conditional variables.  */
-
-typedef unsigned long int pthread_cond_t;
-typedef unsigned long int pthread_condattr_t;
-
-/* Initialize condition variable COND using attributes ATTR, or use
- the default values if later is NULL.  */
-int pthread_cond_init(pthread_cond_t *cond,
-        const pthread_condattr_t *cond_attr);
-
-/* Destroy condition variable COND.  */
-int pthread_cond_destroy(pthread_cond_t *cond);
-
-/* Wake up one thread waiting for condition variable COND.  */
-int pthread_cond_signal(pthread_cond_t *cond);
-
-/* Wake up all threads waiting for condition variables COND.  */
-int pthread_cond_broadcast(pthread_cond_t *cond);
-
-/* Wait for condition variable COND to be signaled or broadcast.
- MUTEX is assumed to be locked before.
-
- This function is a cancellation point and therefore not marked with.  */
-int pthread_cond_wait(pthread_cond_t *cond, pthread_mutex_t *mutex);
-
-/* Wait for condition variable COND to be signaled or broadcast until
- ABSTIME.  MUTEX is assumed to be locked before.  ABSTIME is an
- absolute time specification; zero is the beginning of the epoch
- (00:00:00 GMT, January 1, 1970).
-
- This function is a cancellation point and therefore not marked with.  */
-int pthread_cond_timedwait(pthread_cond_t *cond, pthread_mutex_t *mutex,
-        const struct timespec *abstime);
-
-/* Functions for handling condition variable attributes.  */
-
-/* Initialize condition variable attribute ATTR.  */
-int pthread_condattr_init(pthread_condattr_t *attr);
-
-/* Destroy condition variable attribute ATTR.  */
-int pthread_condattr_destroy(pthread_condattr_t *attr);
-
-/* Get the process-shared flag of the condition variable attribute ATTR.  */
+/*
+ * Copyright (C) 2014 Hamburg University of Applied Sciences (HAW)
+ *
+ * This file subject to the terms and conditions of the GNU Lesser General
+ * Public License. See the file LICENSE in the top level directory for more
+ * details.
+ */
+
+/**
+ * @defgroup
+ * @brief
+ * @ingroup     sys
+ * @{
+ *
+ * @file        condition_variable.h
+ * @brief       RIOT POSIX condition variable API
+ *
+ * @author      Martin Landsmann <martin.landsmann@haw-hamburg.de>
+ */
+
+#ifndef _CONDITION_VARIABLE_H
+#define _CONDITION_VARIABLE_H
+
+#include <time.h>
+#include "mutex.h"
+
+#if defined(CPU_CC430) || defined(CPU_MSP430X16X)
+#   include "msp430_types.h"
+#endif
+
+/**
+ * @note condition attributes are currently NOT USED in RIOT condition variables
+ */
+typedef struct pthread_condattr_t {
+    int __dummy;
+} pthread_condattr_t;
+
+typedef struct pthread_cond_t {
+    /* fields are managed by cv functions, don't touch */
+    queue_node_t queue; /**< Threads currently waiting to be signaled. */
+} pthread_cond_t;
+
+/**
+ * @brief Initializes a condition attribute variable object using default values
+ * @param[in, out] attr pre-allocated condition attribute variable structure.
+ * @return returns 0 on success, an errorcode otherwise.
+ */
+int pthread_cond_condattr_init(struct pthread_condattr_t *attr);
+
+/**
+ * @brief Uninitializes a condition attribute variable object
+ * @param[in, out] attr pre-allocated condition attribute variable structure.
+ * @return returns 0 on success, an errorcode otherwise.
+ */
+int pthread_cond_condattr_destroy(struct pthread_condattr_t *attr);
+
+/**
+ * @brief Get the process-shared attribute in an initialised attributes object referenced by attr
+ * @note NOT USED since RIOT is a single process OS
+ * @param[in] attr pre-allocated condition attribute variable structure.
+ * @param[out] pshared the pre-allocated process-shared variable.
+ * @return returns 0 on success, an errorcode otherwise.
+ */
 int pthread_condattr_getpshared(const pthread_condattr_t *attr, int *pshared);
 
-/* Set the process-shared flag of the condition variable attribute ATTR.  */
+/**
+ * @brief Set the process-shared attribute in an initialised attributes object referenced by attr
+ * @note NOT USED since RIOT is a single process OS
+ * @param[in, out] attr pre-allocated condition attribute variable structure.
+ * @param[in] pshared pshared the pre-allocated process-shared variable.
+ * @return returns 0 on success, an errorcode otherwise.
+ */
 int pthread_condattr_setpshared(pthread_condattr_t *attr, int pshared);
 
-/* Get the clock selected for the conditon variable attribute ATTR.  */
-int pthread_condattr_getclock(const pthread_condattr_t *attr,
-        clockid_t *clock_id);
-
-/* Set the clock selected for the conditon variable attribute ATTR.  */
+/**
+ * @brief Get the clock selected for the conditon variable attribute attr.
+ * @note currently NOT USED in RIOT.
+ * @param[in] attr pre-allocated condition attribute variable structure.
+ * @param[out] clock_id the clock ID that is used to measure the timeout service
+ * @return returns 0 on success, an errorcode otherwise.
+ */
+int pthread_condattr_getclock(const pthread_condattr_t *attr, clockid_t *clock_id);
+
+/**
+ * @brief Set the clock selected for the conditon variable attribute ATTR.
+ * @note currently NOT USED in RIOT.
+ * @param[in, out] attr pre-allocated condition attribute variable structure.
+ * @param[in] clock_id the clock ID that shall be used to measure the timeout service
+ * @return returns 0 on success, an errorcode otherwise.
+ */
 int pthread_condattr_setclock(pthread_condattr_t *attr, clockid_t clock_id);
+
+/**
+ * @brief Initializes a condition variable object
+ * @param[in, out] cond pre-allocated condition variable structure.
+ * @param[in] attr pre-allocated condition attribute variable structure.
+ * @return returns 0 on success, an errorcode otherwise.
+ */
+int pthread_cond_init(struct pthread_cond_t *cond, struct pthread_condattr_t *attr);
+
+/**
+ * @brief Destroy the condition variable cond
+ * @param[in, out] cond pre-allocated condition variable structure.
+ * @return returns 0 on success, an errorcode otherwise.
+ */
+int pthread_cond_destroy(struct pthread_cond_t *cond);
+
+/**
+ * @brief blocks the calling thread until the specified condition cond is signalled
+ * @param[in, out] cond pre-allocated condition variable structure.
+ * @param[in, out] mutex pre-allocated mutex variable structure.
+ * @return returns 0 on success, an errorcode otherwise.
+ */
+int pthread_cond_wait(struct pthread_cond_t *cond, struct mutex_t *mutex);
+
+/**
+ * @brief blocks the calling thread until the specified condition cond is signalled
+ * @param[in, out] cond pre-allocated condition variable structure.
+ * @param[in, out] mutex pre-allocated mutex variable structure.
+ * @param[in] abstime pre-allocated timeout.
+ * @return returns 0 on success, an errorcode otherwise.
+ */
+int pthread_cond_timedwait(struct pthread_cond_t *cond, struct mutex_t *mutex, const struct timespec *abstime);
+
+/**
+ * @brief unblock at least one of the threads that are blocked on the specified condition variable cond
+ * @param[in, out] cond pre-allocated condition variable structure.
+ * @return returns 0 on success, an errorcode otherwise.
+ */
+int pthread_cond_signal(struct pthread_cond_t *cond);
+
+/**
+ * @brief unblock all threads that are currently blocked on the specified condition variable cond
+ * @param[in, out] cond pre-allocated condition variable structure.
+ * @return returns 0 on success, an errorcode otherwise.
+ */
+int pthread_cond_broadcast(struct pthread_cond_t *cond);
+
+/** @} */
+#endif /* _CONDITION_VARIABLE_H */

sys/posix/pthread/pthread_cond.c

@@ -0,0 +1,198 @@
+/*
+ * Copyright (C) 2014 Hamburg University of Applied Sciences (HAW)
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser General
+ * Public License. See the file LICENSE in the top level directory for more
+ * details.
+ */
+
+/**
+ * @ingroup     sys
+ * @{
+ *
+ * @file        pthread_cond.c
+ * @brief       Condition variable implementation
+ *
+ * @author      Martin Landsmann <martin.landsmann@haw-hamburg.de>
+ * @author      René Kijewski <rene.kijewski@fu-berlin.de>
+ *
+ * @}
+ */
+
+#include "pthread_cond.h"
+#include "thread.h"
+#include "vtimer.h"
+#include "sched.h"
+#include "irq.h"
+#include "debug.h"
+
+struct vtimer_t timer;
+
+int pthread_cond_condattr_destroy(struct pthread_condattr_t *attr)
+{
+    if (attr != NULL) {
+        DEBUG("pthread_cond_condattr_destroy: currently attributes are not supported.\n");
+    }
+
+    return 0;
+}
+
+int pthread_cond_condattr_init(struct pthread_condattr_t *attr)
+{
+    if (attr != NULL) {
+        DEBUG("pthread_cond_condattr_init: currently attributes are not supported.\n");
+    }
+
+    return 0;
+}
+
+int pthread_condattr_getpshared(const pthread_condattr_t *attr, int *pshared)
+{
+    (void)attr;
+    (void)pshared;
+
+    return 0;
+}
+
+int pthread_condattr_setpshared(pthread_condattr_t *attr, int pshared)
+{
+    (void)attr;
+    (void)pshared;
+
+    return 0;
+}
+
+int pthread_condattr_getclock(const pthread_condattr_t *attr, clockid_t *clock_id)
+{
+    (void)attr;
+    (void)clock_id;
+
+    return 0;
+}
+
+int pthread_condattr_setclock(pthread_condattr_t *attr, clockid_t clock_id)
+{
+    (void)attr;
+    (void)clock_id;
+
+    return 0;
+}
+
+int pthread_cond_init(struct pthread_cond_t *cond, struct pthread_condattr_t *attr)
+{
+    if (attr != NULL) {
+        DEBUG("pthread_cond_init: currently attributes are not supported.\n");
+    }
+
+    cond->queue.priority = 0;
+    cond->queue.data = 0;
+    cond->queue.next = NULL;
+    return 0;
+}
+
+int pthread_cond_destroy(struct pthread_cond_t *cond)
+{
+    pthread_cond_init(cond, NULL);
+    return 0;
+}
+
+int pthread_cond_wait(struct pthread_cond_t *cond, struct mutex_t *mutex)
+{
+    queue_node_t n;
+    n.priority = active_thread->priority;
+    n.data = active_thread->pid;
+    n.next = NULL;
+
+    /* the signaling thread may not hold the mutex, the queue is not thread safe */
+    unsigned old_state = disableIRQ();
+    queue_priority_add(&(cond->queue), &n);
+    restoreIRQ(old_state);
+
+    mutex_unlock_and_sleep(mutex);
+
+    if (n.data != -1u) {
+        /* on signaling n.data is set to -1u */
+        /* if it isn't set, then the wakeup is either spurious or a timer wakeup */
+        old_state = disableIRQ();
+        queue_remove(&(cond->queue), &n);
+        restoreIRQ(old_state);
+    }
+
+    mutex_lock(mutex);
+    return 0;
+}
+
+int pthread_cond_timedwait(struct pthread_cond_t *cond, struct mutex_t *mutex, const struct timespec *abstime)
+{
+    timex_t now, then, reltime;
+
+    vtimer_now(&now);
+    then.seconds = abstime->tv_sec;
+    then.microseconds = abstime->tv_nsec / 1000u;
+    reltime = timex_sub(then, now);
+
+    vtimer_t timer;
+    vtimer_set_wakeup(&timer, reltime, active_thread->pid);
+    int result = pthread_cond_wait(cond, mutex);
+    vtimer_remove(&timer);
+
+    return result;
+}
+
+int pthread_cond_signal(struct pthread_cond_t *cond)
+{
+    unsigned old_state = disableIRQ();
+
+    queue_node_t *head = queue_remove_head(&(cond->queue));
+    int other_prio = -1;
+    if (head != NULL) {
+        tcb_t *other_thread = (tcb_t *) sched_threads[head->data];
+        if (other_thread) {
+            other_prio = other_thread->priority;
+            sched_set_status(other_thread, STATUS_PENDING);
+        }
+        head->data = -1u;
+    }
+
+    restoreIRQ(old_state);
+
+    if (other_prio >= 0) {
+        sched_switch(active_thread->priority, other_prio);
+    }
+
+    return 0;
+}
+
+static int max_prio(int a, int b)
+{
+    return (a < 0) ? b : ((a < b) ? a : b);
+}
+
+int pthread_cond_broadcast(struct pthread_cond_t *cond)
+{
+    unsigned old_state = disableIRQ();
+
+    int other_prio = -1;
+
+    while (1) {
+        queue_node_t *head = queue_remove_head(&(cond->queue));
+        if (head == NULL) {
+            break;
+        }
+
+        tcb_t *other_thread = (tcb_t *) sched_threads[head->data];
+        if (other_thread) {
+            other_prio = max_prio(other_prio, other_thread->priority);
+            sched_set_status(other_thread, STATUS_PENDING);
+        }
+        head->data = -1u;
+    }
+
+    restoreIRQ(old_state);
+
+    if (other_prio >= 0) {
+        sched_switch(active_thread->priority, other_prio);
+    }
+
+    return 0;
+}

tests/test_pthread_condition_variable/Makefile

@@ -0,0 +1,10 @@
+export PROJECT = test_condition_variable
+include ../Makefile.tests_common
+
+USEMODULE += posix
+USEMODULE += pthread
+USEMODULE += vtimer
+
+CFLAGS += -DNATIVE_AUTO_EXIT
+
+include $(RIOTBASE)/Makefile.include

tests/test_pthread_condition_variable/main.c

@@ -0,0 +1,86 @@
+/*
+ * Copyright (C) 2014 Hamburg University of Applied Sciences (HAW)
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser General
+ * Public License. See the file LICENSE in the top level directory for more
+ * details.
+ */
+
+/**
+ * @ingroup tests
+ * @{
+ *
+ * @file
+ * @brief   simple condition variable test application
+ *
+ * @author  Martin Landsmann <martin.landsmann@haw-hamburg.de>
+ *
+ * @}
+ */
+
+#include <stdio.h>
+#include "pthread_cond.h"
+#include "thread.h"
+#include "mutex.h"
+
+static mutex_t mutex;
+static struct pthread_cond_t cv;
+static volatile int is_finished;
+static volatile long count;
+static volatile long expected_value;
+static char stack[KERNEL_CONF_STACKSIZE_MAIN];
+
+/**
+ * @brief   This thread tries to lock the mutex to enter the critical section.
+ *          Then it signals one waiting thread to check the condition and it goes to sleep again
+ *          If is_finished is set to 1 second_thread ends
+ */
+static void second_thread(void)
+{
+    while (1) {
+        mutex_lock(&mutex);
+
+        if (is_finished == 1) {
+            break;
+        }
+
+        pthread_cond_signal(&cv);
+        mutex_unlock_and_sleep(&mutex);
+    }
+}
+
+int main(void)
+{
+    count = 0;
+    is_finished = 0;
+    expected_value = 1000*1000;
+    mutex_init(&mutex);
+    pthread_cond_init(&cv, NULL);
+
+    int pid = thread_create(stack,
+                            KERNEL_CONF_STACKSIZE_MAIN,
+                            PRIORITY_MAIN - 1,
+                            CREATE_WOUT_YIELD | CREATE_STACKTEST,
+                            second_thread,
+                            "second_thread");
+
+    while (1) {
+        mutex_lock(&mutex);
+        thread_wakeup(pid);
+        count++;
+
+        if ((count % 100000) == 0) {
+            printf("Still alive alternated [count: %ldk] times.\n", count / 1000);
+        }
+
+        if (count == expected_value) {
+            puts("condition fulfilled.");
+            is_finished = 1;
+            mutex_unlock(&mutex);
+            return 0;
+        }
+
+        pthread_cond_wait(&cv, &mutex);
+        mutex_unlock(&mutex);
+    }
+}