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e75b609c74
IotTaskPool_CreateSystemTaskPool() calls synchronisation primitives, so cannot be called before the scheduler starts. Add a configASSERT() to ensure the scheduler is running when it executes. IotTaskPool_CreateSystemTaskPool() can conceivably be called from multiple different libraries that depend on the thread pool. In this version _IotSystemTaskPool.running can be used to check the system task pool has not already been created. If the task pool has been created simply return from IotTaskPool_CreateSystemTaskPool() instead of re-creating it (which would leak memory and leave orphaned tasks). Call taskENTER_CRITICAL() and taskEXIT_CRITICAL() directly in place of mapping them to TASKPOOL_ENTER_CRITICAL() and TASKPOOL_EXIT_CRITICAL() in the same file. Rename _timerThread() _timerCallback(), as it is a callback function and not a thread. Remove the unused flags parameter from _scheduleInternal().
334 lines
13 KiB
C
334 lines
13 KiB
C
/*
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* FreeRTOS Kernel V10.2.1
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* Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* http://www.FreeRTOS.org
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* http://aws.amazon.com/freertos
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*
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* 1 tab == 4 spaces!
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*/
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/* Kernel includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* IoT SDK includes. */
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#include "iot_taskpool.h"
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/*
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* Prototypes for the functions that demonstrate the task pool API.
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*/
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static void prvExample_BasicSingleJob( void );
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static void prvExample_BasicRecyclableJob( void );
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/* Prototypes of the callback functions used in the examples. */
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static void prvSimpleTaskNotifyCallback( IotTaskPool_t pTaskPool, IotTaskPoolJob_t pJob, void *pUserContext );
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/*
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* Prototypes for the standard FreeRTOS application hook (callback) functions
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* implemented within this file. See http://www.freertos.org/a00016.html .
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*/
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void vApplicationMallocFailedHook( void );
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void vApplicationIdleHook( void );
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void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName );
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void vApplicationTickHook( void );
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void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );
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void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize );
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/*
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* The task used to demonstrate the task pool API.
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*/
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static void prvTaskPoolDemoTask( void *pvParameters );
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static const IotTaskPoolInfo_t xTaskPoolParameters = {
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/* Minimum number of threads in a task pool. */
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2,
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/* Maximum number of threads in a task pool. */
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2,
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/* Stack size for every task pool thread - in words, not bytes. */
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configMINIMAL_STACK_SIZE,
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/* Priority for every task pool thread. */
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tskIDLE_PRIORITY,
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};
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/*-----------------------------------------------------------*/
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int main( void )
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{
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/* This example uses a single application task, which in turn is used to
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create and send jobs to task pool tasks. */
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xTaskCreate( prvTaskPoolDemoTask,
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"PoolDemo",
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configMINIMAL_STACK_SIZE,
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NULL,
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tskIDLE_PRIORITY,
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NULL );
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vTaskStartScheduler();
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/* Should not reach here as vTaskStartScheduler() will only return if there
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was insufficient FreeRTOS heap memory to create the Idle or Timer
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Daemon task. */
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return 0;
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}
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/*-----------------------------------------------------------*/
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static void prvTaskPoolDemoTask( void *pvParameters )
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{
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IotTaskPoolError_t xResult;
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/* Remove compiler warnings about unused parameters. */
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( void ) pvParameters;
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/* The task pool must be created before it can be used. */
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// xResult = IotTaskPool_CreateSystemTaskPool( &xTaskPoolParameters );
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// configASSERT( xResult == IOT_TASKPOOL_SUCCESS );
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/* Attempting to create the task pool again should then appear to succeed
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(in case it is initialised by more than one library), but have no effect. */
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// xResult = IotTaskPool_CreateSystemTaskPool( &xTaskPoolParameters );
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// configASSERT( xResult == IOT_TASKPOOL_SUCCESS );
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for( ;; )
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{
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/* Run through each task pool example in turn. See the comments in the
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below functions for details of their behaviour. */
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prvExample_BasicSingleJob();
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prvExample_BasicRecyclableJob();
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vTaskDelete( NULL );
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}
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}
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/*-----------------------------------------------------------*/
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static void prvSimpleTaskNotifyCallback( IotTaskPool_t pTaskPool, IotTaskPoolJob_t pJob, void *pUserContext )
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{
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TaskHandle_t xTaskToNotify = ( TaskHandle_t ) pUserContext;
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/* Remove warnings about unused parameters. */
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( void ) pTaskPool;
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( void ) pJob;
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/* Notify the task that created this job. */
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xTaskNotifyGive( xTaskToNotify );
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}
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/*-----------------------------------------------------------*/
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static void prvExample_BasicSingleJob( void )
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{
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IotTaskPoolJobStorage_t xJobStorage;
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IotTaskPoolJob_t xJob;
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IotTaskPoolError_t xResult;
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uint32_t ulReturn;
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const TickType_t xShortDelay = pdMS_TO_TICKS( 200 );
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/* Ensure the notification count is 0 before scheduling the job. */
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while( ulTaskNotifyTake( pdTRUE, 0 ) != 0 );
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/* Create and schedule a job using the handle of this task as the job's
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context and the function that sends a notification to the task handle as
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the jobs callback function. The job is created using storage allocated on
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the stack of this function - so no memory is allocated. */
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xResult = IotTaskPool_CreateJob( prvSimpleTaskNotifyCallback, /* Callback function. */
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( void * ) xTaskGetCurrentTaskHandle(), /* Job context. */
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&xJobStorage,
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&xJob );
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configASSERT( xResult == IOT_TASKPOOL_SUCCESS );
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xResult = IotTaskPool_ScheduleSystemJob( xJob, 0 );
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configASSERT( xResult == IOT_TASKPOOL_SUCCESS );
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/* Wait for the notification coming from the job's callback function. */
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ulReturn = ulTaskNotifyTake( pdTRUE, xShortDelay );
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configASSERT( ulReturn );
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}
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/*-----------------------------------------------------------*/
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static void prvExample_BasicRecyclableJob( void )
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{
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IotTaskPoolJob_t xJob;
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IotTaskPoolError_t xResult;
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uint32_t ulReturn;
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const TickType_t xShortDelay = pdMS_TO_TICKS( 200 );
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/* Ensure the notification count is 0 before scheduling the job. */
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while( ulTaskNotifyTake( pdTRUE, 0 ) != 0 );
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/* Create and schedule a job using the handle of this task as the job's
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context and the function that sends a notification to the task handle as
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the jobs callback function. The job is created as a recyclable job - so it
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is allocated inside the create function, but can then be used again and
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again. */
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xResult = IotTaskPool_CreateRecyclableSystemJob( prvSimpleTaskNotifyCallback,
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( void * ) xTaskGetCurrentTaskHandle(),
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&xJob );
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configASSERT( xResult == IOT_TASKPOOL_SUCCESS );
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xResult = IotTaskPool_ScheduleSystemJob( xJob, 0 );
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configASSERT( xResult == IOT_TASKPOOL_SUCCESS );
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/* Wait for the notification coming from the job's callback function. */
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ulReturn = ulTaskNotifyTake( pdTRUE, xShortDelay );
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configASSERT( ulReturn );
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}
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/*-----------------------------------------------------------*/
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void vApplicationMallocFailedHook( void )
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{
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/* vApplicationMallocFailedHook() will only be called if
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configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
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function that will get called if a call to pvPortMalloc() fails.
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pvPortMalloc() is called internally by the kernel whenever a task, queue,
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timer or semaphore is created. It is also called by various parts of the
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demo application. If heap_1.c, heap_2.c or heap_4.c is being used, then the
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size of the heap available to pvPortMalloc() is defined by
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configTOTAL_HEAP_SIZE in FreeRTOSConfig.h, and the xPortGetFreeHeapSize()
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API function can be used to query the size of free heap space that remains
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(although it does not provide information on how the remaining heap might be
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fragmented). See http://www.freertos.org/a00111.html for more
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information. */
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vAssertCalled( __LINE__, __FILE__ );
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}
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/*-----------------------------------------------------------*/
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void vApplicationIdleHook( void )
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{
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/* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set
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to 1 in FreeRTOSConfig.h. It will be called on each iteration of the idle
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task. It is essential that code added to this hook function never attempts
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to block in any way (for example, call xQueueReceive() with a block time
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specified, or call vTaskDelay()). If application tasks make use of the
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vTaskDelete() API function to delete themselves then it is also important
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that vApplicationIdleHook() is permitted to return to its calling function,
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because it is the responsibility of the idle task to clean up memory
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allocated by the kernel to any task that has since deleted itself. */
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}
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/*-----------------------------------------------------------*/
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void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
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{
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( void ) pcTaskName;
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( void ) pxTask;
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/* Run time stack overflow checking is performed if
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configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
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function is called if a stack overflow is detected. This function is
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provided as an example only as stack overflow checking does not function
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when running the FreeRTOS Windows port. */
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vAssertCalled( __LINE__, __FILE__ );
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}
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/*-----------------------------------------------------------*/
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void vApplicationTickHook( void )
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{
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/* This function will be called by each tick interrupt if
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configUSE_TICK_HOOK is set to 1 in FreeRTOSConfig.h. User code can be
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added here, but the tick hook is called from an interrupt context, so
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code must not attempt to block, and only the interrupt safe FreeRTOS API
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functions can be used (those that end in FromISR()). */
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}
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/*-----------------------------------------------------------*/
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void vApplicationDaemonTaskStartupHook( void )
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{
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/* This function will be called once only, when the daemon task starts to
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execute (sometimes called the timer task). This is useful if the
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application includes initialisation code that would benefit from executing
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after the scheduler has been started. */
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}
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/*-----------------------------------------------------------*/
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void vAssertCalled( unsigned long ulLine, const char * const pcFileName )
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{
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volatile uint32_t ulSetToNonZeroInDebuggerToContinue = 0;
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/* Called if an assertion passed to configASSERT() fails. See
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http://www.freertos.org/a00110.html#configASSERT for more information. */
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/* Parameters are not used. */
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( void ) ulLine;
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( void ) pcFileName;
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taskENTER_CRITICAL();
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{
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/* You can step out of this function to debug the assertion by using
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the debugger to set ulSetToNonZeroInDebuggerToContinue to a non-zero
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value. */
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while( ulSetToNonZeroInDebuggerToContinue == 0 )
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{
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__asm volatile( "NOP" );
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__asm volatile( "NOP" );
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}
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}
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taskEXIT_CRITICAL();
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}
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/*-----------------------------------------------------------*/
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/* configUSE_STATIC_ALLOCATION is set to 1, so the application must provide an
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implementation of vApplicationGetIdleTaskMemory() to provide the memory that is
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used by the Idle task. */
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void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
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{
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/* If the buffers to be provided to the Idle task are declared inside this
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function then they must be declared static - otherwise they will be allocated on
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the stack and so not exists after this function exits. */
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static StaticTask_t xIdleTaskTCB;
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static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ];
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/* Pass out a pointer to the StaticTask_t structure in which the Idle task's
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state will be stored. */
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*ppxIdleTaskTCBBuffer = &xIdleTaskTCB;
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/* Pass out the array that will be used as the Idle task's stack. */
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*ppxIdleTaskStackBuffer = uxIdleTaskStack;
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/* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer.
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Note that, as the array is necessarily of type StackType_t,
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configMINIMAL_STACK_SIZE is specified in words, not bytes. */
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*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
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}
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/*-----------------------------------------------------------*/
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/* configUSE_STATIC_ALLOCATION and configUSE_TIMERS are both set to 1, so the
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application must provide an implementation of vApplicationGetTimerTaskMemory()
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to provide the memory that is used by the Timer service task. */
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void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize )
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{
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/* If the buffers to be provided to the Timer task are declared inside this
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function then they must be declared static - otherwise they will be allocated on
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the stack and so not exists after this function exits. */
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static StaticTask_t xTimerTaskTCB;
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static StackType_t uxTimerTaskStack[ configTIMER_TASK_STACK_DEPTH ];
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/* Pass out a pointer to the StaticTask_t structure in which the Timer
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task's state will be stored. */
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*ppxTimerTaskTCBBuffer = &xTimerTaskTCB;
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/* Pass out the array that will be used as the Timer task's stack. */
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*ppxTimerTaskStackBuffer = uxTimerTaskStack;
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/* Pass out the size of the array pointed to by *ppxTimerTaskStackBuffer.
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Note that, as the array is necessarily of type StackType_t,
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configMINIMAL_STACK_SIZE is specified in words, not bytes. */
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*pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
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}
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