Add join to RTML_Monitor.

anmaped · Jun 18, 2024 · 74e1314 · 74e1314
1 parent d424e7d
commit 74e1314
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Showing 6 changed files with 49 additions and 45 deletions.
diff --git a/src/periodicmonitor.h b/src/periodicmonitor.h
@@ -120,11 +120,13 @@ template <char... name> class RTML_monitor {
 
   /** Sets new monitor period. */
   void setPeriod(const useconds_t &p);
+
+  int join();
 };
 
 template <char... name>
 RTML_monitor<name...>::RTML_monitor(const useconds_t period)
-    : _task(task(id, loop, 50, SCHED_OTHER, period, this)) {}
+    : _task(task(id, loop, 50, DEFAULT_SCHED, period, this)) {}
 
 template <char... name>
 RTML_monitor<name...>::RTML_monitor(const useconds_t period,
@@ -141,8 +143,8 @@ template <char... name> void *RTML_monitor<name...>::loop(void *ptr) {
 
 template <char... name> int RTML_monitor<name...>::enable() {
 
-  if (_task.st != RUNNING)
-    _task.st = RUNNING;
+  if (_task.st != ACTIVATE)
+    _task.st = ACTIVATE;
 
   return P_OK;
 }
@@ -155,7 +157,7 @@ template <char... name> int RTML_monitor<name...>::disable() {
 }
 
 template <char... name> bool RTML_monitor<name...>::isRunning() const {
-  return !_task.running;
+  return _task.st == RUNNING;
 }
 
 template <char... name>
@@ -168,4 +170,12 @@ void RTML_monitor<name...>::setPeriod(const useconds_t &p) {
   _task.period = p;
 }
 
+template <char... name> int RTML_monitor<name...>::join() {
+  void *ret = NULL;
+  if (pthread_join(_task.thread, &ret))
+    return 1;
+
+  return 0;
+}
+
 #endif // RTML_PERIODICMONITOR_H
diff --git a/src/task_compat.h b/src/task_compat.h
@@ -22,27 +22,31 @@
 #ifndef _TASK_COMPAT_H_
 #define _TASK_COMPAT_H_
 
-#ifdef __HW__
-#define STACK_SIZE 0
-#define SCHED_OTHER 0
-#define SCHED_FIFO 0
-#elif defined(__NUTTX__)
+#ifdef __NUTTX__
 #include <errno.h>
 #include <pthread.h>
 #include <sys/types.h>
 #define STACK_SIZE 6000
+#define DEFAULT_SCHED SCHED_OTHER
 #elif defined(__FREERTOS__)
 #include <FreeRTOS_POSIX.h>
 #include <FreeRTOS_POSIX/errno.h>
 #include <FreeRTOS_POSIX/pthread.h>
 #include <FreeRTOS_POSIX/sys/types.h>
 #include <FreeRTOS_POSIX/time.h>
 #define STACK_SIZE 6000
-#else
+#define DEFAULT_SCHED SCHED_OTHER
+#elif defined(__linux__)
 #include <errno.h>
 #include <pthread.h>
 #include <sys/types.h>
 #define STACK_SIZE 1000000
+#define DEFAULT_SCHED SCHED_FIFO
+#else
+#define STACK_SIZE 0
+#define SCHED_OTHER 0
+#define SCHED_FIFO 0
+#warning "Tasks are not supported!"
 #endif
 
 #include "debug_compat.h"
@@ -69,7 +73,7 @@
     return val;                                                                \
   }
 
-enum status { ACTIVATION, RUNNING, DELAY, ABORT, ABORTED, UNACTIVATE };
+enum status { ACTIVATE, UNACTIVATE, RUNNING, DELAY, ABORT, ABORTED };
 
 #ifdef __HW__
 
@@ -83,16 +87,16 @@ struct task {
 
   int priority;
 
-  bool running;
-
   status st;
 
   void *(*run)(void *);
 
   void *run_payload;
 
-  task(char const *id, void *(*loop)(void *), const int prio, const int sch_policy, const useconds_t p, void *payload=NULL): \
-    tid(id), period(p), sched_policy(sch_policy), priority(prio), run(loop), run_payload(payload) {}
+  task(char const *id, void *(*loop)(void *), const int prio,
+       const int sch_policy, const useconds_t p, void *payload = NULL)
+      : tid(id), period(p), sched_policy(sch_policy), priority(prio), run(loop),
+        run_payload(payload) {}
 };
 
 #endif
@@ -115,8 +119,6 @@ struct task {
 
   const int priority;
 
-  bool running;
-
   status st;
 
   void *(*run)(void *);
@@ -151,14 +153,13 @@ struct task {
 
     DEBUGV_APPEND("\n");
 
-    running = false;
-    st = ACTIVATION;
+    st = UNACTIVATE;
 
     return 0;
   }
 
   task(char const *id, void *(*loop)(void *), const int prio,
-       const int sch_policy, const useconds_t p, void *payload=NULL)
+       const int sch_policy, const useconds_t p, void *payload = NULL)
       : tid(id), period(p), sched_policy(sch_policy), priority(prio), run(loop),
         run_payload(payload) {
     create_task(
@@ -168,8 +169,8 @@ struct task {
 
           // trap to block task start
           for (;;) {
-            if(ttask->st == RUNNING) {
-              ttask->running = true;
+            if (ttask->st == ACTIVATE) {
+              ttask->st = RUNNING;
               break;
             }
           }
@@ -227,7 +228,6 @@ struct task {
             ttask->run(ttask->run_payload);
 
             if (ttask->st == ABORT) {
-              ttask->running = false;
               ttask->st = ABORTED;
               return NULL;
             }

diff --git a/tests/custom-rtm-monitor/Rtm_monitor_8ea7.h b/tests/custom-rtm-monitor/Rtm_monitor_8ea7.h
@@ -48,7 +48,7 @@ template <class T> class Rtm_monitor_8ea7_0 : public RTML_monitor<'8','e','a','7
 
 public:
   Rtm_monitor_8ea7_0(useconds_t p, T &trc)
-      : RTML_monitor(p, SCHED_OTHER, 50), trace(trc), _out(T_UNKNOWN) {
+      : RTML_monitor(p, DEFAULT_SCHED, 50), trace(trc), _out(T_UNKNOWN) {
     tzero = clockgettime() + 3000000000L;
   }
   Rtm_monitor_8ea7_0(useconds_t p, T &trc, int sche, int prio)
@@ -57,6 +57,7 @@ template <class T> class Rtm_monitor_8ea7_0 : public RTML_monitor<'8','e','a','7
   }
 
   three_valued_type &getVeredict() { return _out; }
+
 };
 
 #endif // RTM_MONITOR_8EA7_H
diff --git a/tests/rtm_monitor_test1.cpp b/tests/rtm_monitor_test1.cpp
@@ -42,10 +42,7 @@ int main() {
 
   rtm_mon0.disable();
 
-  // wait till all tasks are finished (threads are not destroyed)
-  while (rtm_mon0.isRunning()) {
-    nanosleep((const struct timespec[]){{1, 0L}}, NULL);
-  };
+  rtm_mon0.join();
 
   auto v = rtm_mon0.getVeredict();
 
@@ -68,8 +65,6 @@ int rtm_monitor_test1() {
 
 #else
 
-#include <stdio.h>
-
 extern "C" int rtm_monitor_test1();
 
 int rtm_monitor_test1() {

diff --git a/tests/rtm_monitor_test2.cpp b/tests/rtm_monitor_test2.cpp
@@ -48,10 +48,7 @@ int main() {
 
   rtm_mon0.disable();
 
-  // wait till all tasks are finished (threads are not destroyed)
-  while (rtm_mon0.isRunning()) {
-    nanosleep((const struct timespec[]){{1, 0L}}, NULL);
-  };
+  rtm_mon0.join();
 
   auto v = rtm_mon0.getVeredict();
 
@@ -75,8 +72,6 @@ int rtm_monitor_test2() {
 
 #else
 
-#include <stdio.h>
-
 extern "C" int rtm_monitor_test2();
 
 int rtm_monitor_test2() {

diff --git a/tests/rtmlib_atomic_reader_and_writer.cpp b/tests/rtmlib_atomic_reader_and_writer.cpp
@@ -130,9 +130,9 @@ int rtmlib_atomic_reader_and_writer() {
   __attribute__((unused)) __task producer_1 =
       __task("producer1", producer1, PRIO, SCHED_OTHER, 6000);
 
-  consumer_1.st = RUNNING;
-  consumer_2.st = RUNNING;
-  producer_1.st = RUNNING;
+  consumer_1.st = ACTIVATE;
+  consumer_2.st = ACTIVATE;
+  producer_1.st = ACTIVATE;
 
   // random load
   nanosleep((const struct timespec[]){{30, 0L}}, NULL);
@@ -143,10 +143,15 @@ int rtmlib_atomic_reader_and_writer() {
 
   printf("Waiting running tasks...\n");
 
-  // wait till all tasks are finished (threads are not destroyed)
-  while (consumer_1.st != ABORTED || consumer_2.st != ABORTED ||
-         producer_1.st != ABORTED) {
-  };
+  void *ret = NULL;
+  if (pthread_join(consumer_1.thread, &ret))
+    return 1;
+
+  if (pthread_join(consumer_2.thread, &ret))
+    return 1;
+
+  if (pthread_join(producer_1.thread, &ret))
+    return 1;
 
   printf("%s \033[0;32msuccess.\e[0m\n", __FILE__);
 
@@ -155,8 +160,6 @@ int rtmlib_atomic_reader_and_writer() {
 
 #else
 
-#include <stdio.h>
-
 extern "C" int rtmlib_atomic_reader_and_writer();
 
 int rtmlib_atomic_reader_and_writer() {