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Format code, and rmove implicit tests (#489)

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alfred gedeon 2022-04-21 10:18:58 -07:00 committed by GitHub
parent 15bc8664b5
commit ec7c40335d
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1 changed files with 137 additions and 119 deletions
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226
portable/ThirdParty/GCC/Posix/port.c vendored
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@ -27,28 +27,29 @@
*/ */
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Implementation of functions defined in portable.h for the Posix port. * Implementation of functions defined in portable.h for the Posix port.
* *
* Each task has a pthread which eases use of standard debuggers * Each task has a pthread which eases use of standard debuggers
* (allowing backtraces of tasks etc). Threads for tasks that are not * (allowing backtraces of tasks etc). Threads for tasks that are not
* running are blocked in sigwait(). * running are blocked in sigwait().
* *
* Task switch is done by resuming the thread for the next task by * Task switch is done by resuming the thread for the next task by
* signaling the condition variable and then waiting on a condition variable * signaling the condition variable and then waiting on a condition variable
* with the current thread. * with the current thread.
* *
* The timer interrupt uses SIGALRM and care is taken to ensure that * The timer interrupt uses SIGALRM and care is taken to ensure that
* the signal handler runs only on the thread for the current task. * the signal handler runs only on the thread for the current task.
* *
* Use of part of the standard C library requires care as some * Use of part of the standard C library requires care as some
* functions can take pthread mutexes internally which can result in * functions can take pthread mutexes internally which can result in
* deadlocks as the FreeRTOS kernel can switch tasks while they're * deadlocks as the FreeRTOS kernel can switch tasks while they're
* holding a pthread mutex. * holding a pthread mutex.
* *
* stdio (printf() and friends) should be called from a single task * stdio (printf() and friends) should be called from a single task
* only or serialized with a FreeRTOS primitive such as a binary * only or serialized with a FreeRTOS primitive such as a binary
* semaphore or mutex. * semaphore or mutex.
*----------------------------------------------------------*/ *----------------------------------------------------------*/
#include "portmacro.h"
#include <errno.h> #include <errno.h>
#include <pthread.h> #include <pthread.h>
@ -73,20 +74,20 @@ typedef struct THREAD
{ {
pthread_t pthread; pthread_t pthread;
pdTASK_CODE pxCode; pdTASK_CODE pxCode;
void *pvParams; void * pvParams;
BaseType_t xDying; BaseType_t xDying;
struct event *ev; struct event * ev;
} Thread_t; } Thread_t;
/* /*
* The additional per-thread data is stored at the beginning of the * The additional per-thread data is stored at the beginning of the
* task's stack. * task's stack.
*/ */
static inline Thread_t *prvGetThreadFromTask(TaskHandle_t xTask) static inline Thread_t * prvGetThreadFromTask( TaskHandle_t xTask )
{ {
StackType_t *pxTopOfStack = *(StackType_t **)xTask; StackType_t * pxTopOfStack = *( StackType_t ** ) xTask;
return (Thread_t *)(pxTopOfStack + 1); return ( Thread_t * ) ( pxTopOfStack + 1 );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -95,7 +96,7 @@ static pthread_once_t hSigSetupThread = PTHREAD_ONCE_INIT;
static sigset_t xResumeSignals; static sigset_t xResumeSignals;
static sigset_t xAllSignals; static sigset_t xAllSignals;
static sigset_t xSchedulerOriginalSignalMask; static sigset_t xSchedulerOriginalSignalMask;
static pthread_t hMainThread = ( pthread_t )NULL; static pthread_t hMainThread = ( pthread_t ) NULL;
static volatile portBASE_TYPE uxCriticalNesting; static volatile portBASE_TYPE uxCriticalNesting;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -104,17 +105,18 @@ static portBASE_TYPE xSchedulerEnd = pdFALSE;
static void prvSetupSignalsAndSchedulerPolicy( void ); static void prvSetupSignalsAndSchedulerPolicy( void );
static void prvSetupTimerInterrupt( void ); static void prvSetupTimerInterrupt( void );
static void *prvWaitForStart( void * pvParams ); static void * prvWaitForStart( void * pvParams );
static void prvSwitchThread( Thread_t * xThreadToResume, static void prvSwitchThread( Thread_t * xThreadToResume,
Thread_t *xThreadToSuspend ); Thread_t * xThreadToSuspend );
static void prvSuspendSelf( Thread_t * thread); static void prvSuspendSelf( Thread_t * thread );
static void prvResumeThread( Thread_t * xThreadId ); static void prvResumeThread( Thread_t * xThreadId );
static void vPortSystemTickHandler( int sig ); static void vPortSystemTickHandler( int sig );
static void vPortStartFirstTask( void ); static void vPortStartFirstTask( void );
static void prvPortYieldFromISR( void ); static void prvPortYieldFromISR( void );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static void prvFatalError( const char *pcCall, int iErrno ) static void prvFatalError( const char * pcCall,
int iErrno )
{ {
fprintf( stderr, "%s: %s\n", pcCall, strerror( iErrno ) ); fprintf( stderr, "%s: %s\n", pcCall, strerror( iErrno ) );
abort(); abort();
@ -123,23 +125,24 @@ static void prvFatalError( const char *pcCall, int iErrno )
/* /*
* See header file for description. * See header file for description.
*/ */
portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, portSTACK_TYPE * pxPortInitialiseStack( portSTACK_TYPE * pxTopOfStack,
portSTACK_TYPE *pxEndOfStack, portSTACK_TYPE * pxEndOfStack,
pdTASK_CODE pxCode, void *pvParameters ) pdTASK_CODE pxCode,
void * pvParameters )
{ {
Thread_t *thread; Thread_t * thread;
pthread_attr_t xThreadAttributes; pthread_attr_t xThreadAttributes;
size_t ulStackSize; size_t ulStackSize;
int iRet; int iRet;
(void)pthread_once( &hSigSetupThread, prvSetupSignalsAndSchedulerPolicy ); ( void ) pthread_once( &hSigSetupThread, prvSetupSignalsAndSchedulerPolicy );
/* /*
* Store the additional thread data at the start of the stack. * Store the additional thread data at the start of the stack.
*/ */
thread = (Thread_t *)(pxTopOfStack + 1) - 1; thread = ( Thread_t * ) ( pxTopOfStack + 1 ) - 1;
pxTopOfStack = (portSTACK_TYPE *)thread - 1; pxTopOfStack = ( portSTACK_TYPE * ) thread - 1;
ulStackSize = (pxTopOfStack + 1 - pxEndOfStack) * sizeof(*pxTopOfStack); ulStackSize = ( pxTopOfStack + 1 - pxEndOfStack ) * sizeof( *pxTopOfStack );
thread->pxCode = pxCode; thread->pxCode = pxCode;
thread->pvParams = pvParameters; thread->pvParams = pvParameters;
@ -154,7 +157,8 @@ int iRet;
iRet = pthread_create( &thread->pthread, &xThreadAttributes, iRet = pthread_create( &thread->pthread, &xThreadAttributes,
prvWaitForStart, thread ); prvWaitForStart, thread );
if ( iRet )
if( iRet != 0 )
{ {
prvFatalError( "pthread_create", iRet ); prvFatalError( "pthread_create", iRet );
} }
@ -167,7 +171,7 @@ int iRet;
void vPortStartFirstTask( void ) void vPortStartFirstTask( void )
{ {
Thread_t *pxFirstThread = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() ); Thread_t * pxFirstThread = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
/* Start the first task. */ /* Start the first task. */
prvResumeThread( pxFirstThread ); prvResumeThread( pxFirstThread );
@ -179,13 +183,13 @@ Thread_t *pxFirstThread = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
*/ */
portBASE_TYPE xPortStartScheduler( void ) portBASE_TYPE xPortStartScheduler( void )
{ {
int iSignal; int iSignal;
sigset_t xSignals; sigset_t xSignals;
hMainThread = pthread_self(); hMainThread = pthread_self();
/* Start the timer that generates the tick ISR(SIGALRM). /* Start the timer that generates the tick ISR(SIGALRM).
Interrupts are disabled here already. */ * Interrupts are disabled here already. */
prvSetupTimerInterrupt(); prvSetupTimerInterrupt();
/* Start the first task. */ /* Start the first task. */
@ -195,23 +199,23 @@ sigset_t xSignals;
sigemptyset( &xSignals ); sigemptyset( &xSignals );
sigaddset( &xSignals, SIG_RESUME ); sigaddset( &xSignals, SIG_RESUME );
while ( !xSchedulerEnd ) while( xSchedulerEnd != pdTRUE )
{ {
sigwait( &xSignals, &iSignal ); sigwait( &xSignals, &iSignal );
} }
/* Cancel the Idle task and free its resources */ /* Cancel the Idle task and free its resources */
#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
vPortCancelThread( xTaskGetIdleTaskHandle() ); vPortCancelThread( xTaskGetIdleTaskHandle() );
#endif #endif
#if ( configUSE_TIMERS == 1 ) #if ( configUSE_TIMERS == 1 )
/* Cancel the Timer task and free its resources */ /* Cancel the Timer task and free its resources */
vPortCancelThread( xTimerGetTimerDaemonTaskHandle() ); vPortCancelThread( xTimerGetTimerDaemonTaskHandle() );
#endif /* configUSE_TIMERS */ #endif /* configUSE_TIMERS */
/* Restore original signal mask. */ /* Restore original signal mask. */
(void)pthread_sigmask( SIG_SETMASK, &xSchedulerOriginalSignalMask, NULL ); ( void ) pthread_sigmask( SIG_SETMASK, &xSchedulerOriginalSignalMask, NULL );
return 0; return 0;
} }
@ -219,9 +223,9 @@ sigset_t xSignals;
void vPortEndScheduler( void ) void vPortEndScheduler( void )
{ {
struct itimerval itimer; struct itimerval itimer;
struct sigaction sigtick; struct sigaction sigtick;
Thread_t *xCurrentThread; Thread_t * xCurrentThread;
/* Stop the timer and ignore any pending SIGALRMs that would end /* Stop the timer and ignore any pending SIGALRMs that would end
* up running on the main thread when it is resumed. */ * up running on the main thread when it is resumed. */
@ -230,7 +234,7 @@ Thread_t *xCurrentThread;
itimer.it_interval.tv_sec = 0; itimer.it_interval.tv_sec = 0;
itimer.it_interval.tv_usec = 0; itimer.it_interval.tv_usec = 0;
(void)setitimer( ITIMER_REAL, &itimer, NULL ); ( void ) setitimer( ITIMER_REAL, &itimer, NULL );
sigtick.sa_flags = 0; sigtick.sa_flags = 0;
sigtick.sa_handler = SIG_IGN; sigtick.sa_handler = SIG_IGN;
@ -239,19 +243,20 @@ Thread_t *xCurrentThread;
/* Signal the scheduler to exit its loop. */ /* Signal the scheduler to exit its loop. */
xSchedulerEnd = pdTRUE; xSchedulerEnd = pdTRUE;
(void)pthread_kill( hMainThread, SIG_RESUME ); ( void ) pthread_kill( hMainThread, SIG_RESUME );
xCurrentThread = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() ); xCurrentThread = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
prvSuspendSelf(xCurrentThread); prvSuspendSelf( xCurrentThread );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortEnterCritical( void ) void vPortEnterCritical( void )
{ {
if ( uxCriticalNesting == 0 ) if( uxCriticalNesting == 0 )
{ {
vPortDisableInterrupts(); vPortDisableInterrupts();
} }
uxCriticalNesting++; uxCriticalNesting++;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -270,8 +275,8 @@ void vPortExitCritical( void )
static void prvPortYieldFromISR( void ) static void prvPortYieldFromISR( void )
{ {
Thread_t *xThreadToSuspend; Thread_t * xThreadToSuspend;
Thread_t *xThreadToResume; Thread_t * xThreadToResume;
xThreadToSuspend = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() ); xThreadToSuspend = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
@ -308,7 +313,7 @@ void vPortEnableInterrupts( void )
portBASE_TYPE xPortSetInterruptMask( void ) portBASE_TYPE xPortSetInterruptMask( void )
{ {
/* Interrupts are always disabled inside ISRs (signals /* Interrupts are always disabled inside ISRs (signals
handlers). */ * handlers). */
return pdTRUE; return pdTRUE;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -318,16 +323,17 @@ void vPortClearInterruptMask( portBASE_TYPE xMask )
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static uint64_t prvGetTimeNs(void) static uint64_t prvGetTimeNs( void )
{ {
struct timespec t; struct timespec t;
clock_gettime(CLOCK_MONOTONIC, &t); clock_gettime( CLOCK_MONOTONIC, &t );
return t.tv_sec * 1000000000ull + t.tv_nsec; return t.tv_sec * 1000000000ULL + t.tv_nsec;
} }
static uint64_t prvStartTimeNs; static uint64_t prvStartTimeNs;
/* commented as part of the code below in vPortSystemTickHandler, /* commented as part of the code below in vPortSystemTickHandler,
* to adjust timing according to full demo requirements */ * to adjust timing according to full demo requirements */
/* static uint64_t prvTickCount; */ /* static uint64_t prvTickCount; */
@ -338,12 +344,13 @@ static uint64_t prvStartTimeNs;
*/ */
void prvSetupTimerInterrupt( void ) void prvSetupTimerInterrupt( void )
{ {
struct itimerval itimer; struct itimerval itimer;
int iRet; int iRet;
/* Initialise the structure with the current timer information. */ /* Initialise the structure with the current timer information. */
iRet = getitimer( ITIMER_REAL, &itimer ); iRet = getitimer( ITIMER_REAL, &itimer );
if ( iRet )
if( iRet == -1 )
{ {
prvFatalError( "getitimer", errno ); prvFatalError( "getitimer", errno );
} }
@ -358,7 +365,8 @@ int iRet;
/* Set-up the timer interrupt. */ /* Set-up the timer interrupt. */
iRet = setitimer( ITIMER_REAL, &itimer, NULL ); iRet = setitimer( ITIMER_REAL, &itimer, NULL );
if ( iRet )
if( iRet == -1 )
{ {
prvFatalError( "setitimer", errno ); prvFatalError( "setitimer", errno );
} }
@ -369,51 +377,55 @@ int iRet;
static void vPortSystemTickHandler( int sig ) static void vPortSystemTickHandler( int sig )
{ {
Thread_t *pxThreadToSuspend; Thread_t * pxThreadToSuspend;
Thread_t *pxThreadToResume; Thread_t * pxThreadToResume;
/* uint64_t xExpectedTicks; */ /* uint64_t xExpectedTicks; */
uxCriticalNesting++; /* Signals are blocked in this signal handler. */ uxCriticalNesting++; /* Signals are blocked in this signal handler. */
#if ( configUSE_PREEMPTION == 1 ) #if ( configUSE_PREEMPTION == 1 )
pxThreadToSuspend = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() ); pxThreadToSuspend = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
#endif #endif
/* Tick Increment, accounting for any lost signals or drift in /* Tick Increment, accounting for any lost signals or drift in
* the timer. */ * the timer. */
/* /*
* Comment code to adjust timing according to full demo requirements * Comment code to adjust timing according to full demo requirements
* xExpectedTicks = (prvGetTimeNs() - prvStartTimeNs) * xExpectedTicks = (prvGetTimeNs() - prvStartTimeNs)
* / (portTICK_RATE_MICROSECONDS * 1000); * / (portTICK_RATE_MICROSECONDS * 1000);
* do { */ * do { */
xTaskIncrementTick(); xTaskIncrementTick();
/* prvTickCount++; /* prvTickCount++;
* } while (prvTickCount < xExpectedTicks); * } while (prvTickCount < xExpectedTicks);
*/ */
#if ( configUSE_PREEMPTION == 1 ) #if ( configUSE_PREEMPTION == 1 )
/* Select Next Task. */ /* Select Next Task. */
vTaskSwitchContext(); vTaskSwitchContext();
pxThreadToResume = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() ); pxThreadToResume = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
prvSwitchThread(pxThreadToResume, pxThreadToSuspend); prvSwitchThread( pxThreadToResume, pxThreadToSuspend );
#endif #endif
uxCriticalNesting--; uxCriticalNesting--;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortThreadDying( void *pxTaskToDelete, volatile BaseType_t *pxPendYield ) void vPortThreadDying( void * pxTaskToDelete,
volatile BaseType_t * pxPendYield )
{ {
Thread_t *pxThread = prvGetThreadFromTask( pxTaskToDelete ); Thread_t * pxThread = prvGetThreadFromTask( pxTaskToDelete );
pxThread->xDying = pdTRUE; pxThread->xDying = pdTRUE;
} }
void vPortCancelThread( void *pxTaskToDelete ) void vPortCancelThread( void * pxTaskToDelete )
{ {
Thread_t *pxThreadToCancel = prvGetThreadFromTask( pxTaskToDelete ); Thread_t * pxThreadToCancel = prvGetThreadFromTask( pxTaskToDelete );
/* /*
* The thread has already been suspended so it can be safely cancelled. * The thread has already been suspended so it can be safely cancelled.
@ -424,11 +436,11 @@ Thread_t *pxThreadToCancel = prvGetThreadFromTask( pxTaskToDelete );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static void *prvWaitForStart( void * pvParams ) static void * prvWaitForStart( void * pvParams )
{ {
Thread_t *pxThread = pvParams; Thread_t * pxThread = pvParams;
prvSuspendSelf(pxThread); prvSuspendSelf( pxThread );
/* Resumed for the first time, unblocks all signals. */ /* Resumed for the first time, unblocks all signals. */
uxCriticalNesting = 0; uxCriticalNesting = 0;
@ -448,12 +460,12 @@ Thread_t *pxThread = pvParams;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static void prvSwitchThread( Thread_t *pxThreadToResume, static void prvSwitchThread( Thread_t * pxThreadToResume,
Thread_t *pxThreadToSuspend ) Thread_t * pxThreadToSuspend )
{ {
BaseType_t uxSavedCriticalNesting; BaseType_t uxSavedCriticalNesting;
if ( pxThreadToSuspend != pxThreadToResume ) if( pxThreadToSuspend != pxThreadToResume )
{ {
/* /*
* Switch tasks. * Switch tasks.
@ -465,10 +477,12 @@ BaseType_t uxSavedCriticalNesting;
uxSavedCriticalNesting = uxCriticalNesting; uxSavedCriticalNesting = uxCriticalNesting;
prvResumeThread( pxThreadToResume ); prvResumeThread( pxThreadToResume );
if ( pxThreadToSuspend->xDying )
if( pxThreadToSuspend->xDying == pdTRUE )
{ {
pthread_exit( NULL ); pthread_exit( NULL );
} }
prvSuspendSelf( pxThreadToSuspend ); prvSuspendSelf( pxThreadToSuspend );
uxCriticalNesting = uxSavedCriticalNesting; uxCriticalNesting = uxSavedCriticalNesting;
@ -476,7 +490,7 @@ BaseType_t uxSavedCriticalNesting;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static void prvSuspendSelf( Thread_t *thread ) static void prvSuspendSelf( Thread_t * thread )
{ {
/* /*
* Suspend this thread by waiting for a pthread_cond_signal event. * Suspend this thread by waiting for a pthread_cond_signal event.
@ -491,24 +505,24 @@ static void prvSuspendSelf( Thread_t *thread )
* *
* - A thread with all signals blocked with pthread_sigmask(). * - A thread with all signals blocked with pthread_sigmask().
*/ */
event_wait(thread->ev); event_wait( thread->ev );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static void prvResumeThread( Thread_t *xThreadId ) static void prvResumeThread( Thread_t * xThreadId )
{ {
if ( pthread_self() != xThreadId->pthread ) if( pthread_self() != xThreadId->pthread )
{ {
event_signal(xThreadId->ev); event_signal( xThreadId->ev );
} }
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static void prvSetupSignalsAndSchedulerPolicy( void ) static void prvSetupSignalsAndSchedulerPolicy( void )
{ {
struct sigaction sigresume, sigtick; struct sigaction sigresume, sigtick;
int iRet; int iRet;
hMainThread = pthread_self(); hMainThread = pthread_self();
@ -516,6 +530,7 @@ int iRet;
sigemptyset( &xResumeSignals ); sigemptyset( &xResumeSignals );
sigaddset( &xResumeSignals, SIG_RESUME ); sigaddset( &xResumeSignals, SIG_RESUME );
sigfillset( &xAllSignals ); sigfillset( &xAllSignals );
/* Don't block SIGINT so this can be used to break into GDB while /* Don't block SIGINT so this can be used to break into GDB while
* in a critical section. */ * in a critical section. */
sigdelset( &xAllSignals, SIGINT ); sigdelset( &xAllSignals, SIGINT );
@ -527,11 +542,12 @@ int iRet;
* When a thread is resumed for the first time, all signals * When a thread is resumed for the first time, all signals
* will be unblocked. * will be unblocked.
*/ */
(void)pthread_sigmask( SIG_SETMASK, &xAllSignals, ( void ) pthread_sigmask( SIG_SETMASK,
&xAllSignals,
&xSchedulerOriginalSignalMask ); &xSchedulerOriginalSignalMask );
/* SIG_RESUME is only used with sigwait() so doesn't need a /* SIG_RESUME is only used with sigwait() so doesn't need a
handler. */ * handler. */
sigresume.sa_flags = 0; sigresume.sa_flags = 0;
sigresume.sa_handler = SIG_IGN; sigresume.sa_handler = SIG_IGN;
sigfillset( &sigresume.sa_mask ); sigfillset( &sigresume.sa_mask );
@ -541,13 +557,15 @@ int iRet;
sigfillset( &sigtick.sa_mask ); sigfillset( &sigtick.sa_mask );
iRet = sigaction( SIG_RESUME, &sigresume, NULL ); iRet = sigaction( SIG_RESUME, &sigresume, NULL );
if ( iRet )
if( iRet == -1 )
{ {
prvFatalError( "sigaction", errno ); prvFatalError( "sigaction", errno );
} }
iRet = sigaction( SIGALRM, &sigtick, NULL ); iRet = sigaction( SIGALRM, &sigtick, NULL );
if ( iRet )
if( iRet == -1 )
{ {
prvFatalError( "sigaction", errno ); prvFatalError( "sigaction", errno );
} }
@ -556,7 +574,7 @@ int iRet;
unsigned long ulPortGetRunTime( void ) unsigned long ulPortGetRunTime( void )
{ {
struct tms xTimes; struct tms xTimes;
times( &xTimes ); times( &xTimes );