unleashed-firmware/furi/core/thread.c
Sergei Gavrilov 1d17206e23
TLSF memory allocator. Less free flash, moar free ram. (#3572)
* add tlsf as submodule
* libs: tlsf
* Furi: tlsf as allocator
* Furi: heap walker
* shmal fixshesh
* f18: tlsf
* PVS: ignore tlsf
* I like to moving
* merge upcoming changes
* memmgr: alloc aligned, realloc
* Furi: distinct name for auxiliary memory pool
* Furi: put idle and timer thread to mem2
* Furi: fix smal things in allocator
* Furi: remove aligned_free. Use free instead.
* aligned_malloc -> aligned_alloc
* aligned_alloc, parameters order
* aligned_alloc: check that alignment is correct
* unit test: malloc
* unit tests: realloc and test with memory fragmentation
* unit tests: aligned_alloc
* update api
* updater: properly read large update file

Co-authored-by: Aleksandr Kutuzov <alleteam@gmail.com>
2024-05-15 16:47:21 +01:00

670 lines
19 KiB
C

#include "thread.h"
#include "kernel.h"
#include "memmgr.h"
#include "memmgr_heap.h"
#include "check.h"
#include "common_defines.h"
#include "string.h"
#include "log.h"
#include <furi_hal_rtc.h>
#include <FreeRTOS.h>
#include <stdint.h>
#include <task.h>
#define TAG "FuriThread"
#define THREAD_NOTIFY_INDEX 1 // Index 0 is used for stream buffers
typedef struct FuriThreadStdout FuriThreadStdout;
struct FuriThreadStdout {
FuriThreadStdoutWriteCallback write_callback;
FuriString* buffer;
};
struct FuriThread {
FuriThreadState state;
int32_t ret;
FuriThreadCallback callback;
void* context;
FuriThreadStateCallback state_callback;
void* state_context;
char* name;
char* appid;
FuriThreadPriority priority;
TaskHandle_t task_handle;
size_t heap_size;
FuriThreadStdout output;
// Keep all non-alignable byte types in one place,
// this ensures that the size of this structure is minimal
bool is_service;
bool heap_trace_enabled;
configSTACK_DEPTH_TYPE stack_size;
};
static size_t __furi_thread_stdout_write(FuriThread* thread, const char* data, size_t size);
static int32_t __furi_thread_stdout_flush(FuriThread* thread);
/** Catch threads that are trying to exit wrong way */
__attribute__((__noreturn__)) void furi_thread_catch(void) { //-V1082
// If you're here it means you're probably doing something wrong
// with critical sections or with scheduler state
asm volatile("nop"); // extra magic
furi_crash("You are doing it wrong"); //-V779
__builtin_unreachable();
}
static void furi_thread_set_state(FuriThread* thread, FuriThreadState state) {
furi_assert(thread);
thread->state = state;
if(thread->state_callback) {
thread->state_callback(state, thread->state_context);
}
}
static void furi_thread_body(void* context) {
furi_check(context);
FuriThread* thread = context;
// store thread instance to thread local storage
furi_check(pvTaskGetThreadLocalStoragePointer(NULL, 0) == NULL);
vTaskSetThreadLocalStoragePointer(NULL, 0, thread);
furi_check(thread->state == FuriThreadStateStarting);
furi_thread_set_state(thread, FuriThreadStateRunning);
TaskHandle_t task_handle = xTaskGetCurrentTaskHandle();
if(thread->heap_trace_enabled == true) {
memmgr_heap_enable_thread_trace((FuriThreadId)task_handle);
}
thread->ret = thread->callback(thread->context);
if(thread->heap_trace_enabled == true) {
furi_delay_ms(33);
thread->heap_size = memmgr_heap_get_thread_memory((FuriThreadId)task_handle);
furi_log_print_format(
thread->heap_size ? FuriLogLevelError : FuriLogLevelInfo,
TAG,
"%s allocation balance: %zu",
thread->name ? thread->name : "Thread",
thread->heap_size);
memmgr_heap_disable_thread_trace((FuriThreadId)task_handle);
}
furi_check(thread->state == FuriThreadStateRunning);
if(thread->is_service) {
FURI_LOG_W(
TAG,
"%s service thread TCB memory will not be reclaimed",
thread->name ? thread->name : "<unknown service>");
}
// flush stdout
__furi_thread_stdout_flush(thread);
furi_thread_set_state(thread, FuriThreadStateStopped);
vTaskDelete(NULL);
furi_thread_catch();
}
FuriThread* furi_thread_alloc(void) {
FuriThread* thread = malloc(sizeof(FuriThread));
thread->output.buffer = furi_string_alloc();
thread->is_service = false;
FuriThread* parent = NULL;
if(xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
// TLS is not available, if we called not from thread context
parent = pvTaskGetThreadLocalStoragePointer(NULL, 0);
if(parent && parent->appid) {
furi_thread_set_appid(thread, parent->appid);
} else {
furi_thread_set_appid(thread, "unknown");
}
} else {
// if scheduler is not started, we are starting driver thread
furi_thread_set_appid(thread, "driver");
}
FuriHalRtcHeapTrackMode mode = furi_hal_rtc_get_heap_track_mode();
if(mode == FuriHalRtcHeapTrackModeAll) {
thread->heap_trace_enabled = true;
} else if(mode == FuriHalRtcHeapTrackModeTree && furi_thread_get_current_id()) {
if(parent) thread->heap_trace_enabled = parent->heap_trace_enabled;
} else {
thread->heap_trace_enabled = false;
}
return thread;
}
FuriThread* furi_thread_alloc_ex(
const char* name,
uint32_t stack_size,
FuriThreadCallback callback,
void* context) {
FuriThread* thread = furi_thread_alloc();
furi_thread_set_name(thread, name);
furi_thread_set_stack_size(thread, stack_size);
furi_thread_set_callback(thread, callback);
furi_thread_set_context(thread, context);
return thread;
}
void furi_thread_free(FuriThread* thread) {
furi_check(thread);
// Ensure that use join before free
furi_check(thread->state == FuriThreadStateStopped);
furi_check(thread->task_handle == NULL);
if(thread->name) free(thread->name);
if(thread->appid) free(thread->appid);
furi_string_free(thread->output.buffer);
free(thread);
}
void furi_thread_set_name(FuriThread* thread, const char* name) {
furi_check(thread);
furi_check(thread->state == FuriThreadStateStopped);
if(thread->name) free(thread->name);
thread->name = name ? strdup(name) : NULL;
}
void furi_thread_set_appid(FuriThread* thread, const char* appid) {
furi_check(thread);
furi_check(thread->state == FuriThreadStateStopped);
if(thread->appid) free(thread->appid);
thread->appid = appid ? strdup(appid) : NULL;
}
void furi_thread_mark_as_service(FuriThread* thread) {
thread->is_service = true;
}
void furi_thread_set_stack_size(FuriThread* thread, size_t stack_size) {
furi_check(thread);
furi_check(thread->state == FuriThreadStateStopped);
furi_check(stack_size % 4 == 0);
thread->stack_size = stack_size;
}
void furi_thread_set_callback(FuriThread* thread, FuriThreadCallback callback) {
furi_check(thread);
furi_check(thread->state == FuriThreadStateStopped);
thread->callback = callback;
}
void furi_thread_set_context(FuriThread* thread, void* context) {
furi_check(thread);
furi_check(thread->state == FuriThreadStateStopped);
thread->context = context;
}
void furi_thread_set_priority(FuriThread* thread, FuriThreadPriority priority) {
furi_check(thread);
furi_check(thread->state == FuriThreadStateStopped);
furi_check(priority >= FuriThreadPriorityIdle && priority <= FuriThreadPriorityIsr);
thread->priority = priority;
}
FuriThreadPriority furi_thread_get_priority(FuriThread* thread) {
furi_check(thread);
TaskHandle_t hTask = furi_thread_get_id(thread);
return (FuriThreadPriority)uxTaskPriorityGet(hTask);
}
void furi_thread_set_current_priority(FuriThreadPriority priority) {
furi_check(priority <= FuriThreadPriorityIsr);
UBaseType_t new_priority = priority ? priority : FuriThreadPriorityNormal;
vTaskPrioritySet(NULL, new_priority);
}
FuriThreadPriority furi_thread_get_current_priority(void) {
return (FuriThreadPriority)uxTaskPriorityGet(NULL);
}
void furi_thread_set_state_callback(FuriThread* thread, FuriThreadStateCallback callback) {
furi_check(thread);
furi_check(thread->state == FuriThreadStateStopped);
thread->state_callback = callback;
}
void furi_thread_set_state_context(FuriThread* thread, void* context) {
furi_check(thread);
furi_check(thread->state == FuriThreadStateStopped);
thread->state_context = context;
}
FuriThreadState furi_thread_get_state(FuriThread* thread) {
furi_check(thread);
return thread->state;
}
void furi_thread_start(FuriThread* thread) {
furi_check(thread);
furi_check(thread->callback);
furi_check(thread->state == FuriThreadStateStopped);
furi_check(thread->stack_size > 0 && thread->stack_size < (UINT16_MAX * sizeof(StackType_t)));
furi_thread_set_state(thread, FuriThreadStateStarting);
uint32_t stack = thread->stack_size / sizeof(StackType_t);
UBaseType_t priority = thread->priority ? thread->priority : FuriThreadPriorityNormal;
if(thread->is_service) {
thread->task_handle = xTaskCreateStatic(
furi_thread_body,
thread->name,
stack,
thread,
priority,
memmgr_aux_pool_alloc(sizeof(StackType_t) * stack),
memmgr_aux_pool_alloc(sizeof(StaticTask_t)));
} else {
BaseType_t ret = xTaskCreate(
furi_thread_body, thread->name, stack, thread, priority, &thread->task_handle);
furi_check(ret == pdPASS);
}
furi_check(thread->task_handle);
}
void furi_thread_cleanup_tcb_event(TaskHandle_t task) {
FuriThread* thread = pvTaskGetThreadLocalStoragePointer(task, 0);
if(thread) {
// clear thread local storage
vTaskSetThreadLocalStoragePointer(task, 0, NULL);
furi_check(thread->task_handle == task);
thread->task_handle = NULL;
}
}
bool furi_thread_join(FuriThread* thread) {
furi_check(thread);
furi_check(furi_thread_get_current() != thread);
// !!! IMPORTANT NOTICE !!!
//
// If your thread exited, but your app stuck here: some other thread uses
// all cpu time, which delays kernel from releasing task handle
while(thread->task_handle) {
furi_delay_ms(10);
}
return true;
}
FuriThreadId furi_thread_get_id(FuriThread* thread) {
furi_check(thread);
return thread->task_handle;
}
void furi_thread_enable_heap_trace(FuriThread* thread) {
furi_check(thread);
furi_check(thread->state == FuriThreadStateStopped);
thread->heap_trace_enabled = true;
}
void furi_thread_disable_heap_trace(FuriThread* thread) {
furi_check(thread);
furi_check(thread->state == FuriThreadStateStopped);
thread->heap_trace_enabled = false;
}
size_t furi_thread_get_heap_size(FuriThread* thread) {
furi_check(thread);
furi_check(thread->heap_trace_enabled == true);
return thread->heap_size;
}
int32_t furi_thread_get_return_code(FuriThread* thread) {
furi_check(thread);
furi_check(thread->state == FuriThreadStateStopped);
return thread->ret;
}
FuriThreadId furi_thread_get_current_id(void) {
return xTaskGetCurrentTaskHandle();
}
FuriThread* furi_thread_get_current(void) {
FuriThread* thread = pvTaskGetThreadLocalStoragePointer(NULL, 0);
return thread;
}
void furi_thread_yield(void) {
furi_check(!FURI_IS_IRQ_MODE());
taskYIELD();
}
/* Limits */
#define MAX_BITS_TASK_NOTIFY 31U
#define MAX_BITS_EVENT_GROUPS 24U
#define THREAD_FLAGS_INVALID_BITS (~((1UL << MAX_BITS_TASK_NOTIFY) - 1U))
#define EVENT_FLAGS_INVALID_BITS (~((1UL << MAX_BITS_EVENT_GROUPS) - 1U))
uint32_t furi_thread_flags_set(FuriThreadId thread_id, uint32_t flags) {
TaskHandle_t hTask = (TaskHandle_t)thread_id;
uint32_t rflags;
BaseType_t yield;
if((hTask == NULL) || ((flags & THREAD_FLAGS_INVALID_BITS) != 0U)) {
rflags = (uint32_t)FuriStatusErrorParameter;
} else {
rflags = (uint32_t)FuriStatusError;
if(FURI_IS_IRQ_MODE()) {
yield = pdFALSE;
(void)xTaskNotifyIndexedFromISR(hTask, THREAD_NOTIFY_INDEX, flags, eSetBits, &yield);
(void)xTaskNotifyAndQueryIndexedFromISR(
hTask, THREAD_NOTIFY_INDEX, 0, eNoAction, &rflags, NULL);
portYIELD_FROM_ISR(yield);
} else {
(void)xTaskNotifyIndexed(hTask, THREAD_NOTIFY_INDEX, flags, eSetBits);
(void)xTaskNotifyAndQueryIndexed(hTask, THREAD_NOTIFY_INDEX, 0, eNoAction, &rflags);
}
}
/* Return flags after setting */
return (rflags);
}
uint32_t furi_thread_flags_clear(uint32_t flags) {
TaskHandle_t hTask;
uint32_t rflags, cflags;
if(FURI_IS_IRQ_MODE()) {
rflags = (uint32_t)FuriStatusErrorISR;
} else if((flags & THREAD_FLAGS_INVALID_BITS) != 0U) {
rflags = (uint32_t)FuriStatusErrorParameter;
} else {
hTask = xTaskGetCurrentTaskHandle();
if(xTaskNotifyAndQueryIndexed(hTask, THREAD_NOTIFY_INDEX, 0, eNoAction, &cflags) ==
pdPASS) {
rflags = cflags;
cflags &= ~flags;
if(xTaskNotifyIndexed(hTask, THREAD_NOTIFY_INDEX, cflags, eSetValueWithOverwrite) !=
pdPASS) {
rflags = (uint32_t)FuriStatusError;
}
} else {
rflags = (uint32_t)FuriStatusError;
}
}
/* Return flags before clearing */
return (rflags);
}
uint32_t furi_thread_flags_get(void) {
TaskHandle_t hTask;
uint32_t rflags;
if(FURI_IS_IRQ_MODE()) {
rflags = (uint32_t)FuriStatusErrorISR;
} else {
hTask = xTaskGetCurrentTaskHandle();
if(xTaskNotifyAndQueryIndexed(hTask, THREAD_NOTIFY_INDEX, 0, eNoAction, &rflags) !=
pdPASS) {
rflags = (uint32_t)FuriStatusError;
}
}
return (rflags);
}
uint32_t furi_thread_flags_wait(uint32_t flags, uint32_t options, uint32_t timeout) {
uint32_t rflags, nval;
uint32_t clear;
TickType_t t0, td, tout;
BaseType_t rval;
if(FURI_IS_IRQ_MODE()) {
rflags = (uint32_t)FuriStatusErrorISR;
} else if((flags & THREAD_FLAGS_INVALID_BITS) != 0U) {
rflags = (uint32_t)FuriStatusErrorParameter;
} else {
if((options & FuriFlagNoClear) == FuriFlagNoClear) {
clear = 0U;
} else {
clear = flags;
}
rflags = 0U;
tout = timeout;
t0 = xTaskGetTickCount();
do {
rval = xTaskNotifyWaitIndexed(THREAD_NOTIFY_INDEX, 0, clear, &nval, tout);
if(rval == pdPASS) {
rflags &= flags;
rflags |= nval;
if((options & FuriFlagWaitAll) == FuriFlagWaitAll) {
if((flags & rflags) == flags) {
break;
} else {
if(timeout == 0U) {
rflags = (uint32_t)FuriStatusErrorResource;
break;
}
}
} else {
if((flags & rflags) != 0) {
break;
} else {
if(timeout == 0U) {
rflags = (uint32_t)FuriStatusErrorResource;
break;
}
}
}
/* Update timeout */
td = xTaskGetTickCount() - t0;
if(td > tout) {
tout = 0;
} else {
tout -= td;
}
} else {
if(timeout == 0) {
rflags = (uint32_t)FuriStatusErrorResource;
} else {
rflags = (uint32_t)FuriStatusErrorTimeout;
}
}
} while(rval != pdFAIL);
}
/* Return flags before clearing */
return (rflags);
}
uint32_t furi_thread_enumerate(FuriThreadId* thread_array, uint32_t array_item_count) {
uint32_t i, count;
TaskStatus_t* task;
if(FURI_IS_IRQ_MODE() || (thread_array == NULL) || (array_item_count == 0U)) {
count = 0U;
} else {
vTaskSuspendAll();
count = uxTaskGetNumberOfTasks();
task = pvPortMalloc(count * sizeof(TaskStatus_t));
configRUN_TIME_COUNTER_TYPE total_run_time;
if(task != NULL) {
count = uxTaskGetSystemState(task, count, &total_run_time);
for(i = 0U; (i < count) && (i < array_item_count); i++) {
thread_array[i] = (FuriThreadId)task[i].xHandle;
}
count = i;
}
(void)xTaskResumeAll();
vPortFree(task);
}
return (count);
}
const char* furi_thread_get_name(FuriThreadId thread_id) {
TaskHandle_t hTask = (TaskHandle_t)thread_id;
const char* name;
if(FURI_IS_IRQ_MODE() || (hTask == NULL)) {
name = NULL;
} else {
name = pcTaskGetName(hTask);
}
return (name);
}
const char* furi_thread_get_appid(FuriThreadId thread_id) {
TaskHandle_t hTask = (TaskHandle_t)thread_id;
const char* appid = "system";
if(!FURI_IS_IRQ_MODE() && (hTask != NULL)) {
FuriThread* thread = (FuriThread*)pvTaskGetThreadLocalStoragePointer(hTask, 0);
if(thread) {
appid = thread->appid;
}
}
return (appid);
}
uint32_t furi_thread_get_stack_space(FuriThreadId thread_id) {
TaskHandle_t hTask = (TaskHandle_t)thread_id;
uint32_t sz;
if(FURI_IS_IRQ_MODE() || (hTask == NULL)) {
sz = 0U;
} else {
sz = (uint32_t)(uxTaskGetStackHighWaterMark(hTask) * sizeof(StackType_t));
}
return (sz);
}
static size_t __furi_thread_stdout_write(FuriThread* thread, const char* data, size_t size) {
if(thread->output.write_callback != NULL) {
thread->output.write_callback(data, size);
} else {
furi_log_tx((const uint8_t*)data, size);
}
return size;
}
static int32_t __furi_thread_stdout_flush(FuriThread* thread) {
FuriString* buffer = thread->output.buffer;
size_t size = furi_string_size(buffer);
if(size > 0) {
__furi_thread_stdout_write(thread, furi_string_get_cstr(buffer), size);
furi_string_reset(buffer);
}
return 0;
}
void furi_thread_set_stdout_callback(FuriThreadStdoutWriteCallback callback) {
FuriThread* thread = furi_thread_get_current();
furi_check(thread);
__furi_thread_stdout_flush(thread);
thread->output.write_callback = callback;
}
FuriThreadStdoutWriteCallback furi_thread_get_stdout_callback(void) {
FuriThread* thread = furi_thread_get_current();
furi_check(thread);
return thread->output.write_callback;
}
size_t furi_thread_stdout_write(const char* data, size_t size) {
FuriThread* thread = furi_thread_get_current();
furi_check(thread);
if(size == 0 || data == NULL) {
return __furi_thread_stdout_flush(thread);
} else {
if(data[size - 1] == '\n') {
// if the last character is a newline, we can flush buffer and write data as is, wo buffers
__furi_thread_stdout_flush(thread);
__furi_thread_stdout_write(thread, data, size);
} else {
// string_cat doesn't work here because we need to write the exact size data
for(size_t i = 0; i < size; i++) {
furi_string_push_back(thread->output.buffer, data[i]);
if(data[i] == '\n') {
__furi_thread_stdout_flush(thread);
}
}
}
}
return size;
}
int32_t furi_thread_stdout_flush(void) {
FuriThread* thread = furi_thread_get_current();
furi_check(thread);
return __furi_thread_stdout_flush(thread);
}
void furi_thread_suspend(FuriThreadId thread_id) {
furi_check(thread_id);
TaskHandle_t hTask = (TaskHandle_t)thread_id;
vTaskSuspend(hTask);
}
void furi_thread_resume(FuriThreadId thread_id) {
furi_check(thread_id);
TaskHandle_t hTask = (TaskHandle_t)thread_id;
if(FURI_IS_IRQ_MODE()) {
xTaskResumeFromISR(hTask);
} else {
vTaskResume(hTask);
}
}
bool furi_thread_is_suspended(FuriThreadId thread_id) {
furi_check(thread_id);
TaskHandle_t hTask = (TaskHandle_t)thread_id;
return eTaskGetState(hTask) == eSuspended;
}