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// -*- coding: utf-8 -*-
//
// Copyright 2023 Michael Büsch <m@bues.ch>
//
// Licensed under the Apache License version 2.0
// or the MIT license, at your option.
// SPDX-License-Identifier: Apache-2.0 OR MIT
//
#[macro_export]
macro_rules! define_timeslice_sched {
(
name: $name:ident,
num_objs: $num_objs:literal,
tasks: {
$(
{
name: $taskname:ident,
period: $timebase:literal ms,
cpu: $core:literal,
stack: $stack_kib:literal kiB
}
),*
}
) => {
paste::paste! {
pub mod $name {
use std::{
sync::{
atomic::{
AtomicBool,
AtomicU32,
Ordering::{
Relaxed,
SeqCst,
},
fence,
},
Arc,
Condvar,
Mutex,
},
thread,
time::Duration,
};
use $crate::meas::RuntimeMeas;
/// Time slice scheduler tasks.
pub trait Ops {
$(
/// Run the user code for this time base.
fn $taskname(&self) {
}
)*
}
/// Time slice scheduler handler trait object.
pub type OpsObject = Arc<dyn Ops + Send + Sync + 'static>;
/// Time slice scheduler.
#[doc(hidden)]
pub struct TimeSliceSched {
initialized: AtomicBool,
baseperiod: AtomicU32,
count: AtomicU32,
count_mod: AtomicU32,
$(
[<trigflag_ $taskname>]: Arc<(Mutex<bool>, Condvar)>,
)*
rt: RuntimeMeas,
}
lazy_static::lazy_static! {
/// Time slice scheduler instance.
#[doc(hidden)]
static ref TIMESLICESCHED: TimeSliceSched = TimeSliceSched {
initialized: AtomicBool::new(false),
baseperiod: AtomicU32::new(0),
count: AtomicU32::new(0),
count_mod: AtomicU32::new(0),
$(
[<trigflag_ $taskname>]: Arc::new((Mutex::new(false),
Condvar::new())),
)*
rt: RuntimeMeas::new(),
};
/// Time slice scheduler instance.
#[doc(hidden)]
static ref TIMESLICESCHED_OS: Mutex<Option<$crate::hal::Timer<'static>>> = Mutex::new(None);
}
/// Time slice scheduler initialization.
#[inline]
pub fn init(objs: [OpsObject; $num_objs]) {
TimeSliceSched::init(objs);
}
/// Print the task and CPU runtime load.
pub fn rt_print() {
TIMESLICESCHED.rt.print_cpus();
$(
TIMESLICESCHED.rt.print_task(
std::stringify!($taskname),
$timebase,
$core
);
)*
}
#[inline]
pub fn rt_is_enabled() -> bool {
TIMESLICESCHED.rt.is_enabled()
}
#[inline]
pub fn rt_enable(enable: bool) {
TIMESLICESCHED.rt.enable(enable);
}
impl TimeSliceSched {
/// Initialize the time slice scheduler, once.
fn init(objs: [OpsObject; $num_objs]) {
assert!(!TIMESLICESCHED.initialized.swap(true, Relaxed));
let objs = Arc::new(objs);
// Calculate base period and counter modulo.
let mut min_timebase = u32::MAX;
let mut max_timebase = u32::MIN;
$(
min_timebase = min_timebase.min($timebase);
max_timebase = max_timebase.max($timebase);
)*
let baseperiod = min_timebase;
let count_mod = max_timebase / baseperiod;
// Spawn all handler threads.
$(
// Clone shared variable refs.
let [<thread_trigflag_ $taskname>] = Arc::clone(&TIMESLICESCHED.[<trigflag_ $taskname>]);
let [<thread_objs_ $taskname>] = Arc::clone(&objs);
let core: usize = $core;
let stack: usize = ($stack_kib) * 1024;
$crate::hal::task_spawn(
std::concat!(std::stringify!($name), "_cpu", $core, "\0"),
core,
stack,
move || {
assert_eq!($crate::hal::current_core(), core);
let (flag_mutex, trig_condvar) = &*[<thread_trigflag_ $taskname>];
loop {
// Wait for the thread flag to be set.
{
let mut flag = flag_mutex.lock().unwrap();
while !*flag {
flag = trig_condvar.wait(flag).unwrap();
}
*flag = false;
}
let begin = TIMESLICESCHED.rt.meas_begin();
// Execute all handlers for this task.
for obj in &*[<thread_objs_ $taskname>] {
obj.$taskname();
}
TIMESLICESCHED.rt.meas_end(std::stringify!($taskname), $core, begin);
}
}
);
)*
TIMESLICESCHED.baseperiod.store(baseperiod, Relaxed);
TIMESLICESCHED.count.store(0, Relaxed);
TIMESLICESCHED.count_mod.store(count_mod, Relaxed);
fence(SeqCst);
*TIMESLICESCHED_OS.lock().unwrap() = Some($crate::hal::Timer::new(
|| TIMESLICESCHED.base_tick_handler(),
Duration::from_millis(baseperiod as u64)
));
}
/// Base timer tick handler.
fn base_tick_handler(&self) {
let baseperiod = self.baseperiod.load(Relaxed);
let count = self.count.load(Relaxed);
$(
if count % ($timebase / baseperiod) == 0 {
let ([<flag_ $taskname>], [<trig_ $taskname>]) = &*self.[<trigflag_ $taskname>];
*[<flag_ $taskname>].lock().unwrap() = true;
[<trig_ $taskname>].notify_one();
}
)*
let count_mod = self.count_mod.load(Relaxed);
let count = (count + 1) % count_mod;
self.count.store(count, Relaxed);
}
}
}
}
}
}
// vim: ts=4 sw=4 expandtab