From 05bb1a50b0d26b7c60c82ccb4ff8a66a501feac3 Mon Sep 17 00:00:00 2001 From: fenghuijie Date: Sat, 3 Jul 2021 17:54:58 +0800 Subject: [PATCH] =?UTF-8?q?=E6=B7=BB=E5=8A=A0idle=E5=9B=9E=E6=94=B6?= =?UTF-8?q?=E8=B5=84=E6=BA=90=E7=9A=84=E4=BF=AE=E6=94=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- include/rtthread.h | 6 +- src/Kconfig | 5 ++ src/idle.c | 154 ++++++++++++++++++++++++++++++++++++++------- src/scheduler.c | 5 -- src/thread.c | 40 +++++++----- 5 files changed, 168 insertions(+), 42 deletions(-) diff --git a/include/rtthread.h b/include/rtthread.h index 0583ce6434..f9d0b45e86 100644 --- a/include/rtthread.h +++ b/include/rtthread.h @@ -168,7 +168,6 @@ void rt_thread_idle_init(void); rt_err_t rt_thread_idle_sethook(void (*hook)(void)); rt_err_t rt_thread_idle_delhook(void (*hook)(void)); #endif -void rt_thread_idle_excute(void); rt_thread_t rt_thread_idle_gethandler(void); /* @@ -187,6 +186,7 @@ rt_uint16_t rt_critical_level(void); #ifdef RT_USING_HOOK void rt_scheduler_sethook(void (*hook)(rt_thread_t from, rt_thread_t to)); +void rt_scheduler_switchto_sethook(void (*hook)(struct rt_thread *tid)); #endif #ifdef RT_USING_SMP @@ -396,6 +396,10 @@ rt_err_t rt_mq_recv(rt_mq_t mq, rt_err_t rt_mq_control(rt_mq_t mq, int cmd, void *arg); #endif +/* defunct */ +void rt_thread_defunct_enqueue(rt_thread_t thread); +rt_thread_t rt_thread_defunct_dequeue(void); + /* * spinlock */ diff --git a/src/Kconfig b/src/Kconfig index 9a49146dff..e0582f5663 100644 --- a/src/Kconfig +++ b/src/Kconfig @@ -98,6 +98,11 @@ config IDLE_THREAD_STACK_SIZE int "The stack size of idle thread" default 256 +config SYSTEM_THREAD_STACK_SIZE + int "The stack size of system thread (for defunct etc.)" + depends on RT_USING_SMP + default IDLE_THREAD_STACK_SIZE + config RT_USING_TIMER_SOFT bool "Enable software timer with a timer thread" default y diff --git a/src/idle.c b/src/idle.c index db256a6010..a571e487cf 100644 --- a/src/idle.c +++ b/src/idle.c @@ -44,12 +44,22 @@ #define _CPUS_NR 1 #endif /* RT_USING_SMP */ -extern rt_list_t rt_thread_defunct; +static rt_list_t _rt_thread_defunct = RT_LIST_OBJECT_INIT(_rt_thread_defunct);; static struct rt_thread idle[_CPUS_NR]; ALIGN(RT_ALIGN_SIZE) static rt_uint8_t rt_thread_stack[_CPUS_NR][IDLE_THREAD_STACK_SIZE]; +#ifdef RT_USING_SMP +#ifndef SYSTEM_THREAD_STACK_SIZE +#define SYSTEM_THREAD_STACK_SIZE IDLE_THREAD_STACK_SIZE +#endif +static struct rt_thread rt_system_thread; +ALIGN(RT_ALIGN_SIZE) +static rt_uint8_t rt_system_stack[SYSTEM_THREAD_STACK_SIZE]; +static struct rt_semaphore system_sem; +#endif + #ifdef RT_USING_IDLE_HOOK #ifndef RT_IDLE_HOOK_LIST_SIZE #define RT_IDLE_HOOK_LIST_SIZE 4 @@ -127,43 +137,75 @@ rt_err_t rt_thread_idle_delhook(void (*hook)(void)) #endif /* RT_USING_IDLE_HOOK */ -#ifdef RT_USING_HEAP +#ifdef RT_USING_MODULE /* Return whether there is defunctional thread to be deleted. */ rt_inline int _has_defunct_thread(void) { /* The rt_list_isempty has prototype of "int rt_list_isempty(const rt_list_t *l)". - * So the compiler has a good reason that the rt_thread_defunct list does - * not change within rt_thread_idle_excute thus optimize the "while" loop + * So the compiler has a good reason that the _rt_thread_defunct list does + * not change within rt_thread_defunct_exceute thus optimize the "while" loop * into a "if". * * So add the volatile qualifier here. */ - const volatile rt_list_t *l = (const volatile rt_list_t *)&rt_thread_defunct; + const volatile rt_list_t *l = (const volatile rt_list_t *)&_rt_thread_defunct; return l->next != l; } -#endif /* RT_USING_HEAP */ +#endif /* RT_USING_MODULE */ + +/* enqueue a thread to defunct queue + * it must be called between rt_hw_interrupt_disable and rt_hw_interrupt_enable + */ +void rt_thread_defunct_enqueue(rt_thread_t thread) +{ + rt_list_insert_after(&_rt_thread_defunct, &thread->tlist); +#ifdef RT_USING_SMP + rt_sem_release(&system_sem); +#endif +} + +/* dequeue a thread from defunct queue + * it must be called between rt_hw_interrupt_disable and rt_hw_interrupt_enable + */ +rt_thread_t rt_thread_defunct_dequeue(void) +{ + rt_thread_t thread = RT_NULL; + rt_list_t *l = &_rt_thread_defunct; + + if (l->next != l) + { + thread = rt_list_entry(l->next, + struct rt_thread, + tlist); + rt_list_remove(&(thread->tlist)); + } + return thread; +} /** * @ingroup Thread * * This function will perform system background job when system idle. */ -void rt_thread_idle_excute(void) +static void rt_defunct_execute(void) { - /* Loop until there is no dead thread. So one call to rt_thread_idle_excute + /* Loop until there is no dead thread. So one call to rt_defunct_execute * will do all the cleanups. */ - /* disable interrupt */ - - RT_DEBUG_NOT_IN_INTERRUPT; - -#ifdef RT_USING_HEAP while (1) { rt_base_t lock; rt_thread_t thread; + void (*cleanup)(struct rt_thread *tid); +#ifdef RT_USING_MODULE + struct rt_dlmodule *module = RT_NULL; +#endif + RT_DEBUG_NOT_IN_INTERRUPT; + + /* disable interrupt */ lock = rt_hw_interrupt_disable(); +#ifdef RT_USING_MODULE /* check whether list is empty */ if (!_has_defunct_thread()) { @@ -171,18 +213,56 @@ void rt_thread_idle_excute(void) break; } /* get defunct thread */ - thread = rt_list_entry(rt_thread_defunct.next, + thread = rt_list_entry(_rt_thread_defunct.next, struct rt_thread, tlist); + module = (struct rt_dlmodule*)thread->module_id; + if (module) + { + dlmodule_destroy(module); + } /* remove defunct thread */ rt_list_remove(&(thread->tlist)); - /* release thread's stack */ - RT_KERNEL_FREE(thread->stack_addr); - /* delete thread object */ - rt_object_delete((rt_object_t)thread); - rt_hw_interrupt_enable(lock); +#else + thread = rt_thread_defunct_dequeue(); + if (!thread) + { + rt_hw_interrupt_enable(lock); + break; + } +#endif + /* invoke thread cleanup */ + cleanup = thread->cleanup; + if (cleanup != RT_NULL) + { + rt_hw_interrupt_enable(lock); + cleanup(thread); + lock = rt_hw_interrupt_disable(); + } + +#ifdef RT_USING_SIGNALS + rt_thread_free_sig(thread); +#endif + + /* if it's a system object, not delete it */ + if (rt_object_is_systemobject((rt_object_t)thread) == RT_TRUE) + { + /* detach this object */ + rt_object_detach((rt_object_t)thread); + /* enable interrupt */ + rt_hw_interrupt_enable(lock); + } + else + { + rt_hw_interrupt_enable(lock); +#ifdef RT_USING_HEAP + /* release thread's stack */ + RT_KERNEL_FREE(thread->stack_addr); + /* delete thread object */ + rt_object_delete((rt_object_t)thread); +#endif + } } -#endif /* RT_USING_HEAP */ } extern void rt_system_power_manager(void); @@ -214,13 +294,27 @@ static void rt_thread_idle_entry(void *parameter) } #endif /* RT_USING_IDLE_HOOK */ - rt_thread_idle_excute(); +#ifndef RT_USING_SMP + rt_defunct_execute(); +#endif /* RT_USING_SMP */ + #ifdef RT_USING_PM rt_system_power_manager(); #endif /* RT_USING_PM */ } } +#ifdef RT_USING_SMP +static void rt_thread_system_entry(void *parameter) +{ + while (1) + { + rt_sem_take(&system_sem, RT_WAITING_FOREVER); + rt_defunct_execute(); + } +} +#endif + /** * @ingroup SystemInit * @@ -250,6 +344,24 @@ void rt_thread_idle_init(void) /* startup */ rt_thread_startup(&idle[i]); } + +#ifdef RT_USING_SMP + RT_ASSERT(RT_THREAD_PRIORITY_MAX > 2); + + rt_sem_init(&system_sem, "defunct", 1, RT_IPC_FLAG_FIFO); + + /* create defunct thread */ + rt_thread_init(&rt_system_thread, + "tsystem", + rt_thread_system_entry, + RT_NULL, + rt_system_stack, + sizeof(rt_system_stack), + RT_THREAD_PRIORITY_MAX - 2, + 32); + /* startup */ + rt_thread_startup(&rt_system_thread); +#endif } /** diff --git a/src/scheduler.c b/src/scheduler.c index eec660a8aa..956d95d7cc 100644 --- a/src/scheduler.c +++ b/src/scheduler.c @@ -47,8 +47,6 @@ struct rt_thread *rt_current_thread = RT_NULL; rt_uint8_t rt_current_priority; #endif /* RT_USING_SMP */ -rt_list_t rt_thread_defunct; - #ifdef RT_USING_HOOK static void (*rt_scheduler_hook)(struct rt_thread *from, struct rt_thread *to); @@ -224,9 +222,6 @@ void rt_system_scheduler_init(void) /* initialize ready table */ rt_memset(rt_thread_ready_table, 0, sizeof(rt_thread_ready_table)); #endif /* RT_THREAD_PRIORITY_MAX > 32 */ - - /* initialize thread defunct */ - rt_list_init(&rt_thread_defunct); } /** diff --git a/src/thread.c b/src/thread.c index c0a8f0ee74..88cc7b61ba 100644 --- a/src/thread.c +++ b/src/thread.c @@ -32,8 +32,6 @@ #include #include -extern rt_list_t rt_thread_defunct; - #ifdef RT_USING_HOOK static void (*rt_thread_suspend_hook)(rt_thread_t thread); static void (*rt_thread_resume_hook) (rt_thread_t thread); @@ -131,7 +129,7 @@ static void _rt_thread_exit(void) else { /* insert to defunct thread list */ - rt_list_insert_after(&rt_thread_defunct, &(thread->tlist)); + rt_thread_defunct_enqueue(thread); } /* switch to next task */ @@ -379,17 +377,22 @@ rt_err_t rt_thread_detach(rt_thread_t thread) /* release thread timer */ rt_timer_detach(&(thread->thread_timer)); - /* disable interrupt */ - lock = rt_hw_interrupt_disable(); - /* change stat */ thread->stat = RT_THREAD_CLOSE; - /* detach thread object */ - rt_object_detach((rt_object_t)thread); - - /* enable interrupt */ - rt_hw_interrupt_enable(lock); + if (rt_object_is_systemobject((rt_object_t)thread) == RT_TRUE) + { + rt_object_detach((rt_object_t)thread); + } + else + { + /* disable interrupt */ + lock = rt_hw_interrupt_disable(); + /* insert to defunct thread list */ + rt_thread_defunct_enqueue(thread); + /* enable interrupt */ + rt_hw_interrupt_enable(lock); + } return RT_EOK; } @@ -484,7 +487,7 @@ rt_err_t rt_thread_delete(rt_thread_t thread) thread->stat = RT_THREAD_CLOSE; /* insert to defunct thread list */ - rt_list_insert_after(&rt_thread_defunct, &(thread->tlist)); + rt_thread_defunct_enqueue(thread); /* enable interrupt */ rt_hw_interrupt_enable(lock); @@ -847,12 +850,12 @@ rt_err_t rt_thread_resume(rt_thread_t thread) rt_timer_stop(&thread->thread_timer); - /* enable interrupt */ - rt_hw_interrupt_enable(temp); - /* insert to schedule ready list */ rt_schedule_insert_thread(thread); + /* enable interrupt */ + rt_hw_interrupt_enable(temp); + RT_OBJECT_HOOK_CALL(rt_thread_resume_hook, (thread)); return RT_EOK; } @@ -867,6 +870,7 @@ RTM_EXPORT(rt_thread_resume); void rt_thread_timeout(void *parameter) { struct rt_thread *thread; + register rt_base_t temp; thread = (struct rt_thread *)parameter; @@ -875,6 +879,9 @@ void rt_thread_timeout(void *parameter) RT_ASSERT((thread->stat & RT_THREAD_STAT_MASK) == RT_THREAD_SUSPEND); RT_ASSERT(rt_object_get_type((rt_object_t)thread) == RT_Object_Class_Thread); + /* disable interrupt */ + temp = rt_hw_interrupt_disable(); + /* set error number */ thread->error = -RT_ETIMEOUT; @@ -884,6 +891,9 @@ void rt_thread_timeout(void *parameter) /* insert to schedule ready list */ rt_schedule_insert_thread(thread); + /* enable interrupt */ + rt_hw_interrupt_enable(temp); + /* do schedule */ rt_schedule(); } -- GitLab