/
rtos.cpp
1159 lines (1002 loc) · 29.2 KB
/
rtos.cpp
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//***************************************************************************
//
// file RTOS.cpp
// version 5.00
// author Marten Wensink / Wouter van Ooijen
// date 2016-06-13
//
//***************************************************************************
#include "bmptk.h"
#include "rtos.hpp"
#include "switch_to.hpp"
#include <stdlib.h>
#define task_logging (global_logging && 0)
#define debug_task_logging (global_logging && 0)
#define hartbeat_logging (global_logging && 0)
#define TASK_STATE( task ) \
( (task)->is_blocked() ? "B" : "-" ) << \
( (task)->is_suspended() ? "S" : "-" ) << \
( (task)->is_ready() ? "R" : "-" )
#define task_trace \
if (debug_task_logging) \
HWLIB_TRACE \
<< name() \
<< " " << TASK_STATE( this ) \
<< " "
#define TASK_NAME( t ) (((t) == nullptr)? "-" : (t)->name())
/*
* Some utility functions
*/
int strlen( const char * s ){
int n = 0;
while( s[ n] != '\0' ){
n++;
}
return n;
}
void strcpy( char *dest, const char * source ){
int n = 0;
do {
dest[ n ] = source[ n ];
n++;
} while( source[ n - 1 ] != '\0' );
}
const char * string_allocate( const char * str ) {
int len = strlen( str );
if( len > 16 ) len = 16;
// should be: new char[ len + 1 ]; //(char *) malloc( 1 + len);
char * result = (char *) malloc( 1 + len );
strcpy( result, str );
result[ len ] = '\0';
return result;
}
int nr_from_mask( unsigned int mask ) {
for( int i = 0; i < 32; i++ ) {
if( mask & ( 1 << i )) {
return i;
}
}
return -1;
}
void task_trampoline( void ) {
rtos::current_task()->main();
hwlib::cout
<< "\n>> Fatal error: task "
<< rtos::current_task()->name()
<< " returned from main()\n";
for(;;);
}
//***************************************************************************
//
// task
//
//***************************************************************************
rtos::task_base::task_base(
coroutine<> & cor,
unsigned int priority,
const char * tname
):
cor( cor ),
task_is_blocked( false ),
task_is_suspended( false ),
task_priority( priority ),
waitables( this ),
sleep_timer( this, "sleeper" )
{
RTOS_STATISTICS( task_name = string_allocate( tname ); )
ignore_this_activation = true;
statistics_clear();
rtos::add( this );
task_trace << "CREATED";
}
void rtos::task_base::suspend() {
task_trace << "suspend";
task_is_suspended = true;
release();
}
void rtos::task_base::resume() {
task_trace << "resume";
task_is_suspended = false;
release();
}
void rtos::task_base::unblock() {
if( ! rtos::scheduler_running ) {
return;
}
task_trace << "unblock";
task_is_blocked = false;
release();
}
void rtos::task_base::block() {
if( ! rtos::scheduler_running ) {
return;
}
task_trace << "block";
// Only a running task can block itself
if (rtos::current_task() != this) {
rtos_fatal ("task not blocked by itself");
}
if( !is_ready() ) {
rtos_fatal ("running task is not READY!?");
}
task_is_blocked = true;
release();
}
void rtos::task_base::release() {
if( ! rtos::scheduler_running ) {
task_trace << "scheduler not running";
return;
}
task_trace << "release";
// resume the main thread,
// which handles switching to another task
cor.resume_main();
}
void rtos::task_base::print( hwlib::ostream & stream, bool header ) const {
#if RTOS_STATISTICS_ENABLED
if( header ) {
stream
<< "\n" << hwlib::dec << hwlib::setfill( ' ' )
<< hwlib::setw( 16 ) << hwlib::left << "task name"
<< hwlib::setw( 6 ) << hwlib::right << "prio"
<< hwlib::setw( 5 ) << hwlib::right << "stat"
<< hwlib::setw( 11 ) << hwlib::right << "stack u/m"
<< hwlib::setw( 12 ) << hwlib::right << "rt_max (us)"
<< hwlib::setw( 11 ) << hwlib::right << "active"
<< "\n";
}
stream
<< hwlib::dec
<< hwlib::setw( 16 ) << hwlib::left << task_name
<< hwlib::setw( 6 ) << hwlib::right << task_priority
<< hwlib::setw( 3 ) << hwlib::right << TASK_STATE( this )
<< hwlib::setw( 6 ) << hwlib::right << cor.stack_used()
<< '/'
<< hwlib::setw( 5 ) << hwlib::left << cor.stack_size
<< hwlib::setw( 11 ) << hwlib::right << runtime_max
<< hwlib::setw( 11 ) << hwlib::right << activations
<< "\n";
#endif
}
//***************************************************************************
//
// event
//
//***************************************************************************
bool rtos::event :: operator==( const event & rhs ) const {
if( t != rhs.t ) {
rtos_fatal ("comparing incompatible waitables");
}
return mask == rhs.mask;
}
bool rtos::event :: operator!=( const event & rhs ) const {
if( t != rhs.t ) {
rtos_fatal ("comparing incompatible waitables");
}
return mask != rhs.mask;
}
bool rtos::event :: operator==( const waitable & rhs ) const {
return *this == (event)rhs;
}
bool rtos::event :: operator!=( const waitable & rhs ) const {
return *this != (event)rhs;
}
rtos::event rtos::event :: operator+( const event & rhs ) const {
if( t != rhs.t ) {
rtos_fatal ("adding incompatible waitables");
}
return event( t, mask | rhs.mask );
}
void rtos::event::print( hwlib::ostream & s ) const {
s
<< "event t=" << t->name()
<< " m=0x" << hwlib::hex << mask;
}
//***************************************************************************
//
// waitable
//
//***************************************************************************
rtos::waitable::waitable( task_base * t, const char * arg_name ) :
event( t, 0 )
{
RTOS_STATISTICS( waitable_name = string_allocate( arg_name ); )
mask = t->waitables.waitable_allocate();
}
//***************************************************************************
//
// flag
//
//***************************************************************************
rtos::flag::flag( task_base * t, const char * name ):
waitable( t, name )
#if RTOS_STATISTICS_ENABLED
, n_sets( 0 )
, n_gets( 0 )
#endif
{
RTOS_STATISTICS( rtos::add( this ); )
}
void rtos::flag::set() {
RTOS_STATISTICS( n_sets++; )
waitable::set();
}
void rtos::flag::print( hwlib::ostream & stream, bool header ) const {
#if RTOS_STATISTICS_ENABLED
if( header ) {
stream << hwlib::setfill( ' ' )
<< hwlib::setw( 18 ) << hwlib::left << "flag name"
<< hwlib::setw( 18 ) << hwlib::left << "client"
<< hwlib::setw( 2 ) << hwlib::right << "fn"
<< hwlib::setw( 12 ) << hwlib::right << "sets"
<< hwlib::setw( 11 ) << hwlib::right << "gets"
<< "\n";
}
stream
<< hwlib::dec
<< hwlib::setw( 18 ) << hwlib::left << waitable_name
<< hwlib::setw( 18 ) << hwlib::left << TASK_NAME( t )
<< hwlib::setw( 2 ) << hwlib::right << nr_from_mask( mask )
<< hwlib::setw( 12 ) << hwlib::right << n_sets
<< hwlib::setw( 11 ) << hwlib::right << n_gets
<< "\n";
#endif
}
//***************************************************************************
//
// timer
//
//***************************************************************************
rtos::timer::timer( task_base * t, const char * name ):
waitable( t, name ),
callback( name )
#if RTOS_STATISTICS_ENABLED
, n_sets( 0 )
, n_cancels( 0 )
#endif
{
RTOS_STATISTICS( rtos::add( this ); )
}
void rtos::timer::set( unsigned long int time ) {
RTOS_STATISTICS( n_sets++; )
rtos::callback::start( time );
}
void rtos::timer::cancel() {
RTOS_STATISTICS( n_cancels++; )
rtos::callback::cancel();
rtos::waitable::clear();
}
void rtos::timer::start( unsigned long int time ) {
RTOS_STATISTICS( n_sets++; )
rtos::callback::start( time );
}
void rtos::timer::print( hwlib::ostream & stream, bool header ) const {
#if RTOS_STATISTICS_ENABLED
if( header ) {
stream
<< hwlib::dec << hwlib::setfill( ' ' )
<< hwlib::setw( 18 ) << hwlib::left << "timer name"
<< hwlib::setw( 18 ) << hwlib::left << "client"
<< hwlib::setw( 2 ) << hwlib::right << "fn"
<< hwlib::setw( 12 ) << hwlib::right << "sets"
<< hwlib::setw( 11 ) << hwlib::right << "cancels"
<< "\n";
}
stream
<< hwlib::dec
<< hwlib::setw( 18 ) << hwlib::left << waitable_name
<< hwlib::setw( 18 ) << hwlib::left << TASK_NAME( t )
<< hwlib::setw( 2 ) << hwlib::right << nr_from_mask( mask )
<< hwlib::setw( 12 ) << hwlib::right << n_sets
<< hwlib::setw( 11 ) << hwlib::right << n_cancels
<< "\n";
#endif
}
//***************************************************************************
//
// clock
//
//***************************************************************************
rtos::clock::clock(
task_base * t,
unsigned long int _period,
const char *name
):
waitable( t, name ),
callback( name ),
period( _period )
#if RTOS_STATISTICS_ENABLED
, ticks( 0 )
#endif
{
callback::start( period );
RTOS_STATISTICS( rtos::add( this ); )
}
void rtos::clock::time_up() {
RTOS_STATISTICS( ticks++; )
callback::restart( period );
waitable::set();
}
void rtos::clock::print( hwlib::ostream & stream, bool header ) const {
#if RTOS_STATISTICS_ENABLED
if( header ) {
stream
<< hwlib::dec << hwlib::setfill( ' ' )
<< hwlib::setw( 18 ) << hwlib::left << "clock name"
<< hwlib::setw( 18 ) << hwlib::left << "client"
<< hwlib::setw( 2 ) << hwlib::right << "fn"
<< hwlib::setw( 12 ) << hwlib::right << "period (us)"
<< hwlib::setw( 11 ) << hwlib::right << "ticks"
<< "\n";
}
stream
<< hwlib::dec
<< hwlib::setw( 18 ) << hwlib::left << waitable_name
<< hwlib::setw( 18 ) << hwlib::left << TASK_NAME( t )
<< hwlib::setw( 2 ) << hwlib::right << nr_from_mask( mask )
<< hwlib::setw( 12 ) << hwlib::right << period
<< hwlib::setw( 11 ) << hwlib::right << ticks
<< "\n";
#endif
}
//***************************************************************************
//
// waitable_set
//
//***************************************************************************
unsigned int rtos::waitable_set :: waitable_allocate( void ) {
if( used > 8 * sizeof( current_waitables )) {
rtos_fatal ("max 32 waitables per group");
}
return 1 << used++;
}
void rtos::waitable_set::set ( const waitable &w ) {
//HWLIB_TRACE << current_waitables << " |= " << w.mask;
//HWLIB_TRACE << *w.t;
// set the waitable bit
current_waitables |= w.mask;
// the client will figure out whether he is runnable again
if( requested_waitables != 0 ) {
w.t->unblock();
}
}
void rtos::waitable_set::clear( const waitable & w ) {
//HWLIB_TRACE << current_waitables << " &=~ " << w.mask;
//HWLIB_TRACE << *w.t;
current_waitables &= ~ w.mask;
}
rtos::event rtos::waitable_set::wait ( unsigned int mask ) {
//HWLIB_TRACE << hwlib::hex << mask;
//HWLIB_TRACE << *client;
//HWLIB_TRACE << hwlib::hex << current_waitables;
for( ; ; ) {
// try to find a waitable for which we are waiting
for (unsigned int i = 0 ; i < used; i++) {
if( current_waitables & mask & ( 1U << i )) {
// clear the waitable
//HWLIB_TRACE << current_waitables << " &=~ " << (1U << i);
//HWLIB_TRACE << *client;
current_waitables &= ~(1U << i);
#if RTOS_STATISTICS_ENABLED
// update statistics
for( flag * f = flags; f != nullptr; f = f->next_flag ) {
if (f->t == client && f->mask == (1U << i)) {
f->n_gets++;
break;
}
}
#endif
//HWLIB_TRACE;
// return an event for the waitable
return event( client, 1U << i );
}
}
//HWLIB_TRACE;
// no waitable found? wait for better times..
requested_waitables = mask;
client->block();
requested_waitables = 0;
}
}
//***************************************************************************
//
// mutex
//
//***************************************************************************
rtos::mutex::mutex( const char * name ) :
owner( nullptr ),
waiters( nullptr )
#if RTOS_STATISTICS_ENABLED
, wait_count( 0 )
#endif
{
RTOS_STATISTICS( mutex_name = string_allocate( name ); )
RTOS_STATISTICS( rtos::add( this ); )
}
void rtos::mutex::wait( void ) {
RTOS_STATISTICS( wait_count++; )
if( owner == nullptr ) {
owner = rtos::current_task();
}
else {
task_base * t = rtos::current_task();
task_base ** p = &waiters;
// get p to point to the last pointer
while( *p != nullptr ) {
p = & (*p)-> next_mutex_waiter;
}
// insert t after the last pointer
*p = t;
t->next_mutex_waiter = nullptr;
// we'll wait for better times...
t->block();
}
}
void rtos::mutex::signal( void ) {
if( owner != rtos::current_task()) {
rtos_fatal ("mutex not signaled by owner task");
}
else {
task_base * t = waiters;
if ( t != nullptr ) {
// remove task t from the queue
waiters = waiters->next_mutex_waiter;
// t is now the owner of the mutex and can run again
owner = t;
t->unblock();
}
else
owner = nullptr;
}
}
void rtos::mutex::print( hwlib::ostream & stream, bool header ) const {
#if RTOS_STATISTICS_ENABLED
if( header ) {
stream << hwlib::setfill( ' ' )
<< hwlib::setw( 18 ) << hwlib::left << "mutex name"
<< hwlib::setw( 19 ) << hwlib::left << "owner"
<< hwlib::setw( 13 ) << hwlib::right << "waits"
<< hwlib::setw( 11 ) << hwlib::right << "waiters"
<< "\n";
}
stream << hwlib::setw ( 18 ) << hwlib::left << mutex_name;
if( owner == nullptr ) {
stream << hwlib::setw( 19 ) << hwlib::left << "-";
}
else {
stream << hwlib::setw( 19 ) << hwlib::left << owner->task_name;
}
stream
<< hwlib::dec
<< hwlib::setw( 13 ) << hwlib::right << wait_count
<< hwlib::setw( 6 ) << hwlib::right << "[ ";
if (waiters == nullptr)
stream << '-';
for( task_base *t = waiters; t != nullptr; t = t->next_mutex_waiter ) {
stream << hwlib::left << t->task_name;
if (t->next_mutex_waiter != nullptr)
stream << ", ";
}
stream << " ]\n";
#endif
}
rtos::mutex::~mutex( void ) {
rtos_fatal ("mutex destructor called");
}
//***************************************************************************
//
// callback
//
//***************************************************************************
rtos::callback::callback( const char * name ) :
time_to_wait( -1 )
{
RTOS_STATISTICS( object_name = string_allocate( name ); )
rtos::add( this );
}
//***************************************************************************
//
// channel
//
//***************************************************************************
rtos::channel_base::channel_base( task_base * t, const char * name ):
waitable( t, name ),
#if RTOS_STATISTICS_ENABLED
writes( 0 ),
ignores( 0 ),
#endif
qSize( 0 ),
head( 0 ),
tail ( 0 )
{
#if RTOS_STATISTICS_ENABLED
channel_name = string_allocate( name );
rtos::add( this );
#endif
}
void rtos::channel_base::print( hwlib::ostream & stream, bool header ) const {
#if RTOS_STATISTICS_ENABLED
if( header ) {
stream << hwlib::setfill( ' ' )
<< hwlib::setw( 18 ) << hwlib::left << "channel name"
<< hwlib::setw( 18 ) << hwlib::left << "owner"
<< hwlib::setw( 2 ) << hwlib::right << "fn"
<< hwlib::setw( 12 ) << hwlib::right << "writes"
<< hwlib::setw( 11 ) << hwlib::right << "ignores"
<< hwlib::setw( 8 ) << hwlib::right << "queued"
<< "\n";
}
stream
<< hwlib::dec
<< hwlib::setw( 18 ) << hwlib::left << channel_name
<< hwlib::setw( 18 ) << hwlib::left << t->task_name
<< hwlib::setw( 2 ) << hwlib::right << nr_from_mask( mask )
<< hwlib::setw( 12 ) << hwlib::right << writes
<< hwlib::setw( 11 ) << hwlib::right << ignores
<< hwlib::setw( 8 ) << hwlib::right << qSize
<< "\n";
#endif
}
//***************************************************************************
//
// pool
//
//***************************************************************************
rtos::pool_base::pool_base( const char * name )
#if RTOS_STATISTICS_ENABLED
: reads( 0 ),
writes( 0 )
#endif
{
RTOS_STATISTICS( pool_name = string_allocate( name ); )
RTOS_STATISTICS( rtos::add( this ); )
}
void rtos::pool_base::print( hwlib::ostream & stream, bool header ) const {
#if RTOS_STATISTICS_ENABLED
if( header ) {
stream << hwlib::setfill( ' ' )
<< hwlib::setw( 18 ) << hwlib::left << "pool name"
<< hwlib::setw( 10 ) << hwlib::left << "writes"
<< hwlib::setw( 10 ) << hwlib::left << "reads"
<< "\n";
}
stream << hwlib::dec
<< hwlib::setw( 18 ) << hwlib::left << pool_name
<< hwlib::setw( 10 ) << hwlib::left << writes
<< hwlib::setw( 10 ) << hwlib::left << reads
<< "\n";
#endif
}
//***************************************************************************
//
// mailbox
//
//***************************************************************************
rtos::mailbox_base::mailbox_base( const char * name )
#if RTOS_STATISTICS_ENABLED
: writer( nullptr),
reader( nullptr ),
writes( 0 ),
reads( 0 )
#endif
{
RTOS_STATISTICS( mailbox_name = string_allocate( name ); )
RTOS_STATISTICS( rtos::add( this ); )
}
void rtos::mailbox_base::print( hwlib::ostream & stream, bool header ) const {
#if RTOS_STATISTICS_ENABLED
if( header ) {
stream << hwlib::setfill( ' ' )
<< hwlib::setw( 18 ) << hwlib::left << "mailbox name"
<< hwlib::setw( 18 ) << hwlib::left << "writer"
<< hwlib::setw( 18 ) << hwlib::left << "reader"
<< hwlib::setw( 10 ) << hwlib::left << "writes"
<< hwlib::setw( 10 ) << hwlib::left << "reads"
<< "\n";
}
stream << hwlib::dec
<< hwlib::setw( 18 ) << hwlib::left << mailbox_name
<< hwlib::setw( 18 ) << hwlib::left << TASK_NAME( writer )
<< hwlib::setw( 18 ) << hwlib::left << TASK_NAME( reader )
<< hwlib::setw( 10 ) << hwlib::left << writes
<< hwlib::setw( 10 ) << hwlib::left << reads
<< "\n";
#endif
}
//***************************************************************************
//
// << operators
//
//***************************************************************************
hwlib::ostream & operator<< ( hwlib::ostream & s, const rtos::task_base & t ) {
t.print( s, false );
return s;
}
hwlib::ostream & operator<< ( hwlib::ostream & s, const rtos::flag & f ) {
f.print( s, false );
return s;
}
hwlib::ostream & operator<< ( hwlib::ostream & s, const rtos::event & e ) {
e.print( s );
return s;
}
hwlib::ostream & operator<< ( hwlib::ostream & s, const rtos::timer & t ) {
t.print( s, false );
return s;
}
hwlib::ostream & operator<< ( hwlib::ostream & s, const rtos::clock & c ) {
c.print( s, false );
return s;
}
hwlib::ostream & operator<< ( hwlib::ostream & s, const rtos::channel_base & cb ) {
cb.print( s, false );
return s;
}
hwlib::ostream & operator<< ( hwlib::ostream & s, const rtos::mutex & m ) {
m.print( s, false );
return s;
}
hwlib::ostream & operator<< ( hwlib::ostream & s, const rtos::mailbox_base & mb ) {
mb.print( s, false );
return s;
}
hwlib::ostream & operator<< ( hwlib::ostream & s, const rtos::pool_base & pb ) {
pb.print( s, false );
return s;
}
//***************************************************************************
//
// RTOS
//
//***************************************************************************
// Reference to the task currently executed:
rtos::task_base * rtos::rtos_current_task = nullptr;
// timer list head
rtos::callback * rtos::timerList = nullptr;
// list of tasks, highest prority first
rtos::task_base * rtos::taskList = nullptr;
// flag set to clear statistics
bool rtos::must_clear = false;
// not running yet
bool rtos::scheduler_running = false;
const char * rtos::task_base::name( void ) const {
#if RTOS_STATISTICS_ENABLED
return task_name;
#else
return "";
#endif
}
// adding various objects to the RTOS lists
#if RTOS_STATISTICS_ENABLED
rtos::flag * rtos::flags = nullptr;
rtos::timer * rtos::timers = nullptr;
rtos::clock * rtos::clocks = nullptr;
rtos::mutex * rtos::mutexes = nullptr;
rtos::channel_base * rtos::channels = nullptr;
rtos::mailbox_base * rtos::mailboxes = nullptr;
rtos::pool_base * rtos::pools = nullptr;
void rtos::add( flag * f ) {
f->next_flag = flags;
flags = f;
}
void rtos::add( timer * t ) {
t->next_timer = timers;
timers = t;
}
void rtos::add( clock * c ) {
c->next_clock = clocks;
clocks = c;
}
void rtos::add( mutex * m ) {
m->next_mutex = mutexes;
mutexes = m;
}
void rtos::add( channel_base * cb ) {
cb->next_channel = channels;
channels = cb;
}
void rtos::add( mailbox_base * mb ) {
mb->next_mailbox = mailboxes;
mailboxes = mb;
}
void rtos::add( pool_base * pb ) {
pb->next_pool = pools;
pools = pb;
}
#endif
void rtos::print( hwlib::ostream & stream ) {
// global info
stream << "\n\nRTOS version : "
<< RTOS_VERSION << "\n";
// if(0) stream << "HEAP free : "
// << hwlib::dec << bmptk_heap_free()
// << " (" << hwlib::dec << bmptk_heap_used()
// << " used of " << bmptk_heap_size() << ")\n";
// if(0)stream << "MAIN STACK free : "
// << hwlib::dec << bmptk_stack_free()
// << " (" << bmptk_stack_used()
// << " used of " << bmptk_stack_size() << ")\n";
#if RTOS_STATISTICS_ENABLED
bool header;
if( rtos_current_task != nullptr ) {
rtos_current_task->ignore_this_activation = true;
}
// tasks
header = true;
for( task_base * t = taskList; t != nullptr; t = t->nextTask ) {
t->print( stream, header );
header = false;
}
if( header ) {
stream << "no tasks\n";
}
stream << "\n";
// flags
header = true;
for( flag * f = flags; f != nullptr; f = f->next_flag ) {
f->print( stream, header );
header = false;
}
if( header ) {
stream << "no flags\n";
}
stream << "\n";
// timers
header = true;
for( timer * t = timers; t != nullptr; t = t->next_timer ) {
t->print( stream, header );
header = false;
}
if( header ) {
stream << "no timers\n";
}
stream << "\n";
// clocks
header = true;
for( clock * c = clocks; c != nullptr; c = c->next_clock ) {
c->print( stream, header );
header = false;
}
if( header ) {
stream << "no clocks\n";
}
stream << "\n";
// channels
header = true;
for( channel_base * cb = channels; cb != nullptr; cb = cb->next_channel ) {
cb->print( stream, header );
header = false;
}
if( header ) {
stream << "no channels\n";
}
stream << "\n";
// mutexes
header = true;
for( mutex * m = mutexes; m != nullptr; m = m->next_mutex ) {
m->print( stream, header );
header = false;
}
if( header ) {
stream << "no mutexes\n";
}
stream << "\n";
// mailboxes
header = true;
for( mailbox_base * mb = mailboxes; mb != nullptr; mb = mb->next_mailbox ) {
mb->print( stream, header );
header = false;
}
if( header ) {
stream << "no mailboxes\n";
}
stream << "\n";
// pools
header = true;
for( pool_base * pb = pools; pb != nullptr; pb = pb->next_pool ) {
pb->print( stream, header );
header = false;
}
if( header ) {
stream << "no pools\n";
}
stream << "\n";
#endif
}
long long int last_run_time = 0;
void rtos::beat( void ) {
//HWLIB_TRACE;
// get the elapse time since last beat, and reset it to 0
auto new_run_time = hwlib::now_us();
auto elapsed = new_run_time - last_run_time;
last_run_time = new_run_time;
//HWLIB_TRACE;
if (elapsed > 0) {
// service the callback timer queue
for ( callback * t = timerList; t != nullptr; t = t->nextTimer ) {
#if ( hartbeat_logging == 1 )
HWLIB_TRACE
RTOS_STATISTICS( << t->object_name )
<< "@" << hwlib::hex << (int) t << hwlib::dec
<< " ttw=" << t->time_to_wait
<< " elapsed=" << elapsed ;
#endif
if( t->time_to_wait >= 0 ) {
t->time_to_wait -= elapsed;
if( t->time_to_wait < 0 ) {
#if ( hartbeat_logging == 1 )
HWLIB_TRACE << "time up!";
#endif
t->time_up();
}
}
}
}
// find the highest-priority ready task and run it, then return
// rtos_current_task is a class attribute, used by current_task
for (
rtos_current_task = taskList;
rtos_current_task != nullptr;
rtos_current_task = rtos_current_task->nextTask
) {
if (rtos_current_task->is_ready()) {
#if ( hartbeat_logging == 1 )
HWLIB_TRACE
<< "resume " << rtos_current_task->name()
<< " prio=" << (int) rtos_current_task->priority()
<< "\n";
#endif
auto start = hwlib::now_us();
rtos_current_task->cor.resume();
auto end = hwlib::now_us();
#if ( hartbeat_logging == 1 )
HWLIB_TRACE << "back from " << rtos_current_task->name() << "\n";
#endif
unsigned long int runtime = end - start;
if( !rtos_current_task->ignore_this_activation ){
if (rtos_current_task->activations > 1 &&
runtime > rtos_current_task->runtime_max ){
rtos_current_task->runtime_max = runtime;
}
}
#if ( hartbeat_logging == 1 )
if( runtime > 10 * ms ) {
HWLIB_TRACE
<< rtos_current_task->name()
<< " runtime=" << runtime;
}