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bf21a64ab2
Add feature to bind CoTask and CoTimer to the specified CoScheduler Improve functional safety TODO: 1. Compatibility with coroutine API highly intensive IO, sockets, etc 2. Fix running fail on arm64
533 lines
25 KiB
C
533 lines
25 KiB
C
/*********************************************************************************************************
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* ------------------------------------------------------------------------------------------------------
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* file description
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* ------------------------------------------------------------------------------------------------------
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* \file coroutine.h
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* \unit coroutine
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* \brief This is a C language coroutine library
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* \author Lamdonn
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* \version v0.2.0
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* \license GPL-2.0
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* \copyright Copyright (C) 2025 Lamdonn.
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********************************************************************************************************/
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#ifndef __coroutine_H
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#define __coroutine_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Version infomation */
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#define COROUTINE_V_MAJOR 0
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#define COROUTINE_V_MINOR 2
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#define COROUTINE_V_PATCH 0
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#include "coroutine_cfg.h"
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#include <stdint.h>
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#include <stdlib.h>
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#include <string.h>
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#include <stdarg.h>
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#include <stdbool.h>
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#include <setjmp.h>
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/**
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* \brief: Coroutine task
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*/
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typedef struct CoTask* CoTask_t;
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/**
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* \brief: Coroutine timer
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*/
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typedef struct CoTimer* CoTimer_t;
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/**
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* \brief: Coroutine task entry function
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* \param arg: Task argument address
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* \return: Task return value address
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*/
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typedef void *(*CoTaskEntry_t)(void *arg);
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/**
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* \brief: Coroutine timer entry function
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*/
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typedef void (*CoTimerEntry_t)(void);
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/**
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* \brief: Coroutine lock function
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* \note: Use coroutines for multi-thread, protect the security of multi-thread shared resources, lock
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*/
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typedef void (*CoLock_t)(void);
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/**
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* \brief: Coroutine unlock function
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* \note: Use coroutines for multi-thread, protect the security of multi-thread shared resources, unlock
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*/
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typedef void (*CoUnlock_t)(void);
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/**
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* \brief: Coroutine malloc function
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* \param size: Allocate memory size
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* \return: Allocate memory address
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* \note: Use coroutines for multi-thread, protect the security of multi-thread shared resources, malloc
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*/
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typedef void *(*CoMalloc_t)(size_t size);
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/**
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* \brief: Coroutine free function
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* \param block: Free memory address
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* \note: Use coroutines for multi-thread, protect the security of multi-thread shared resources, free
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*/
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typedef void (*CoFree_t)(void *block);
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/**
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* \brief: Coroutine tick function
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* \return: Current tick value
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* \note: The time base on which the coroutine schedule depends, such as system tick.
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*/
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typedef uint64_t (*CoTick_t)(void);
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/**
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* \brief: Coroutine event
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* \note: Used for synchronization between coroutines
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*/
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typedef struct
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{
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uint32_t flag; /**< Event flag, 32 bit storage, each bit can individually represent an event */
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} CoEvent;
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/**
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* \brief: Coroutine scheduler initialize parameter
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* \note: Coroutine scheduler initialize parameter is used to initialize the coroutine scheduler.
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*/
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typedef struct CoSchedulerInitPara
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{
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CoLock_t lock; /**< Coroutine scheduler lock function */
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CoUnlock_t unlock; /**< Coroutine scheduler unlock function */
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CoMalloc_t malloc; /**< Coroutine scheduler malloc function */
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CoFree_t free; /**< Coroutine scheduler free function */
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} CoSchedulerInitPara;
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/**
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* \brief: Coroutine task create parameter
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* \note: Coroutine task create parameter is used to create a coroutine task.
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*/
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typedef struct CoTaskCreatePara
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{
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void *pStack; /**< Coroutine task stack address */
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size_t stackSize; /**< Coroutine task stack size */
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void *arg; /**< Coroutine task argument */
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int schedulerId; /**< Coroutine task scheduler id */
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} CoTaskCreatePara;
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/**
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* \brief: Coroutine timer create parameter
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* \note: Coroutine timer create parameter is used to create a coroutine timer.
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*/
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typedef struct CoTimerCreatePara
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{
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uint64_t ms; /**< Coroutine timer ms, indicates the ms interval */
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uint64_t tick; /**< Coroutine timer tick, indicates the tick interval */
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int schedulerId; /**< Coroutine timer scheduler id */
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} CoTimerCreatePara;
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/**
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* \brief: Coroutine task wait parameter
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* \note: Coroutine task wait parameter is used to blocking task waiting for event or timeout.
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*/
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typedef struct CoTaskWaitPara
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{
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CoEvent *pEvent; /**< Coroutine task wait event pointer */
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uint64_t ms; /**< Coroutine task wait timeout in ms */
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uint64_t tick; /**< Coroutine task wait timeout in tick */
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} CoTaskWaitPara;
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/**
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* \brief: Coroutine task create parameter default value
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* \note: Coroutine task create parameter default value is used to create a coroutine task.
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*/
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#define COROUTINE_E_OK (0) /**< Coroutine task create parameter default value, indicates success */
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#define COROUTINE_E_INVALID_PARAMETER (-1) /**< Coroutine task create parameter default value, indicates invalid parameter */
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#define COROUTINE_E_INVALID_TICK (-2) /**< Coroutine task create parameter default value, indicates invalid tick function */
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#define COROUTINE_E_INVALID_TICK_INTERVAL (-3) /**< Coroutine task create parameter default value, indicates invalid tick interval */
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#define COROUTINE_E_INVALID_LOCK (-4) /**< Coroutine task create parameter default value, indicates invalid lock function */
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#define COROUTINE_E_INVALID_MHOOK (-5) /**< Coroutine task create parameter default value, indicates invalid memory hook function */
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#define COROUTINE_E_TCB_MEM_STACK_FAIL (-6) /**< Coroutine task create parameter default value, indicates memory stack fail */
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/**
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* \brief: Coroutine event default value
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* \note: Coroutine event default value is used to initialize the coroutine event.
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*/
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#define COEVENT_STATIC_VALUE ((CoEvent){.flag=0})
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/**
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* \brief: Coroutine scheduler initialize function
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* \param pScheduler: [Non-default parameter] Coroutine scheduler pointer
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* \param tick: [Non-default parameter] Coroutine scheduler tick function, must be specified
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* \param tickInterval: [Non-default parameter] Coroutine scheduler tick interval, indicates how many ns each tick is, must be specified
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* \param lock: [Default parameter] Coroutine scheduler lock function,
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* for use on multiple threads, you must specify as follows .lock=thread_lock
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* \param unlock: [Default parameter] Coroutine scheduler unlock function,
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* for use on multiple threads, you must specify as follows .unlock=thread_unlock
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* \param malloc: [Default parameter] Coroutine scheduler malloc function,
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* if you need to allocate memory dynamically (CoTask, CoTimer, stack, etc),
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* you must specify as follows .malloc=mallloc
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* \param free: [Default parameter] Coroutine scheduler free function,
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* if you need to free memory dynamically (CoTask, CoTimer, stack, etc),
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* you must specify as follows .free=free
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* \return: Coroutine task create parameter default value, indicates success
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* \note: Coroutine scheduler initialize function is used to initialize the coroutine scheduler.
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* It must be called once before any other coroutine scheduler function.
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* Only one initialization is allowed within a single thread
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* It will initialize the coroutine scheduler with the given parameter.
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* The coroutine scheduler will use the given tick function to measure the load of each task.
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* The tick function must be called periodically with the given tick interval.
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* The coroutine scheduler will use the given lock function to protect the shared resources.
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* The coroutine scheduler will use the given malloc function to allocate memory for the tasks.
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* The coroutine scheduler will use the given free function to free memory of the tasks.
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* \warning: The coroutine scheduler will not check the validity of the given parameter.
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* You must ensure that the given parameter is valid.
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* \example:
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* CoScheduler_Init(0, GetTimerMs, 1000000);
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* \example:
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* CoScheduler_Init(0, GetTimerUsec, 1000);
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* \example:
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* CoScheduler_Init(0, GetTimerUsec, 1000, .lock=thread_lock, .unlock=thread_unlock);
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* \example:
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* CoScheduler_Init(0, GetTimerUsec, 1000, .malloc=mallloc, .free=free);
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*/
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#define CoScheduler_Init(CoSchedulerId, tick, tickInterval, ...) CoScheduler_InitP(CoSchedulerId, tick, tickInterval, (CoSchedulerInitPara[1]){[0]={.lock=NULL,.unlock=NULL,.malloc=NULL,.free=NULL,__VA_ARGS__}})
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/**
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* \brief: Coroutine scheduler initialize function
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* \param pScheduler: Coroutine scheduler pointer
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* \param tick: Coroutine scheduler tick function
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* \param tickInterval: Coroutine scheduler tick interval, indicates how many ns each tick is
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* \param pPara: Coroutine scheduler initialize parameter pointer
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* \return: Coroutine task create parameter default value, indicates success
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* \note: Coroutine scheduler initialize function is used to initialize the coroutine scheduler.
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* It must be called once before any other coroutine scheduler function.
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* Only one initialization is allowed within a single thread
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* It will initialize the coroutine scheduler with the given parameter.
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* The coroutine scheduler will use the given tick function to measure the load of each task.
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* The tick function must be called periodically with the given tick interval.
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* The coroutine scheduler will use the given lock function to protect the shared resources.
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* The coroutine scheduler will use the given malloc function to allocate memory for the tasks.
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* The coroutine scheduler will use the given free function to free memory of the tasks.
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*/
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int CoScheduler_InitP(uint32_t CoSchedulerId, CoTick_t tick, uint32_t tickInterval, CoSchedulerInitPara *pPara);
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/**
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* \brief: Coroutine scheduler start function
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* \param pScheduler: Coroutine scheduler pointer
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* \return: Coroutine task create parameter default value, indicates success
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* \note: Coroutine scheduler start function is used to start the coroutine scheduler.
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* It must be called once after the coroutine scheduler is initialized.
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* It will start the coroutine scheduler and run the tasks.
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* \example:
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* CoScheduler_Init(0, GetTimerUsec, 1000);
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* testCoroutine = CoTask_Create(test, g_StackTest, sizeof(g_StackTest), 0);
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* CoScheduler_Start(0);
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*/
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int CoScheduler_Start(uint32_t CoSchedulerId);
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/**
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* \brief: Coroutine scheduler exit function
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* \param pScheduler: Coroutine scheduler pointer
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* \return: Coroutine task create parameter default value, indicates success
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* \note: Coroutine scheduler exit function is used to exit the coroutine scheduler.
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* It must be called once after the coroutine scheduler is started.
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* It will exit the coroutine scheduler and stop the tasks.
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*/
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int CoScheduler_Exit(uint32_t CoSchedulerId);
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/**
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* \brief: Coroutine scheduler task count function
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* \param pScheduler: Coroutine scheduler pointer
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* \return: Coroutine scheduler task count, indicates the number of tasks in the coroutine scheduler
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* \note: Coroutine scheduler task count function is used to get the number of tasks in the coroutine scheduler.
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*/
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int CoScheduler_TaskCount(uint32_t CoSchedulerId);
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/**
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* \brief: Coroutine scheduler timer count function
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* \param pScheduler: Coroutine scheduler pointer
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* \return: Coroutine scheduler timer count, indicates the number of timers in the coroutine scheduler
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* \note: Coroutine scheduler timer count function is used to get the number of timers in the coroutine scheduler.
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*/
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int CoScheduler_TimerCount(uint32_t CoSchedulerId);
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/**
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* \brief: Coroutine scheduler current load function
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* \param pScheduler: Coroutine scheduler pointer
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* \return: Coroutine scheduler current load, indicates the load of the coroutine scheduler
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* \note: Coroutine scheduler current load function is used to get the current load of the coroutine scheduler.
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* The load is the number of ticks that the coroutine scheduler has run.
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* The load is updated periodically with the given tick interval.
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*/
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#if (COROUTINE_ENABLE_LOADING_CALCULATE > 0)
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uint16_t CoScheduler_CurLoad(uint32_t CoSchedulerId);
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#endif
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/**
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* \brief: Coroutine scheduler maximum load function
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* \param pScheduler: Coroutine scheduler pointer
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* \return: Coroutine scheduler maximum load, indicates the maximum load of the coroutine scheduler
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* \note: Coroutine scheduler maximum load function is used to get the maximum load of the coroutine scheduler.
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* The load is the number of ticks that the coroutine scheduler has run.
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* The load is updated periodically with the given tick interval.
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*/
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#if (COROUTINE_ENABLE_LOADING_CALCULATE > 0)
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uint16_t CoScheduler_MaxLoad(uint32_t CoSchedulerId);
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#endif
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/**
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* \brief: Coroutine task create function
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* \param entry: [Non-default parameter] Coroutine task entry function, indicates the entry function of the coroutine task, must be specified
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* \param stack: [Default parameter] Coroutine task stack, indicates the stack of the coroutine task.
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* If not specified, it is allocated via the scheduler's malloc function.
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* \param stackSize: [Default parameter] Coroutine task stack size, indicates the size of the coroutine task stack
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* If not specified, it is the default stack size `COROUTINE_STACK_DEFAULT_SIZE`.
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* \param arg: [Default parameter] Coroutine task argument, indicates the argument of the coroutine task
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* \param schedulerId: [Default parameter] Coroutine timer scheduler id, indicates the scheduler id of the coroutine timer
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* Negative value means the auto distribution.
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* \return: Coroutine task handle, indicates the created coroutine task
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* \note: Coroutine task create function is used to create a coroutine task.
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* It will create a coroutine task with the given parameter.
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* The coroutine task will run in the coroutine scheduler.
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* \example:
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* CoTask_t testCoroutine = CoTask_Create(test);
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* \example:
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* CoTask_t testCoroutine = CoTask_Create(test, g_StackTest, sizeof(g_StackTest));
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* \example:
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* CoTask_t testCoroutine = CoTask_Create(test, .stackSize=4096);
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* \example:
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* int arg = 4096;
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* CoTask_t testCoroutine = CoTask_Create(test, .arg=&arg);
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*/
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#define CoTask_Create(entry, ...) CoTask_CreateP(entry, (CoTaskCreatePara[1]){[0]={.pStack=NULL,.stackSize=0,.arg=NULL,.schedulerId=-1,__VA_ARGS__}})
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/**
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* \brief: Coroutine task create function, it is recommended to use @ref `CoTask_Create` instead
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* \param pPara: Coroutine task create parameter pointer
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* \return: Coroutine task handle, indicates the created coroutine task
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* \note: Coroutine task create function is used to create a coroutine task.
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* It will create a coroutine task with the given parameter.
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* The coroutine task will run in the coroutine scheduler.
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*/
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CoTask_t CoTask_CreateP(CoTaskEntry_t entry, CoTaskCreatePara *pPara);
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/**
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* \brief: Coroutine task delete function
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* \param CoTask: Coroutine task handle, indicates the coroutine task to be deleted
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* \return: Coroutine task delete parameter default value, indicates success
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* \note: Coroutine task delete function is used to delete a coroutine task.
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* It will delete the given coroutine task.
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* The coroutine task must be in the deleted state.
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*/
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int CoTask_Delete(CoTask_t CoTask);
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/**
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* \brief: Coroutine task self function
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* \return: Coroutine task handle, indicates the current coroutine task
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* \note: Coroutine task self function is used to get the current coroutine task.
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* It will return the handle of the current coroutine task.
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*/
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CoTask_t CoTask_Self(void);
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/**
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* \brief: Coroutine task scheduler id function
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* \return: Coroutine task scheduler id, indicates the scheduler id of the coroutine task
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* \note: Coroutine task scheduler id function is used to get the scheduler id of the coroutine task.
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*/
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int CoTask_SchedulerId(void);
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/**
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* \brief: Coroutine task stack max used function
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* \param CoTask: Coroutine task handle, indicates the coroutine task to get the stack max used
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* \return: Coroutine task stack max used, indicates the maximum stack used of the coroutine task
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* \note: Coroutine task stack max used function is used to get the maximum stack used of the coroutine task.
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* The stack used is the maximum stack used of the coroutine task.
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* The stack used is updated periodically with the given tick interval.
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*/
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#if (COROUTINE_ENABLE_STACK_CALCULATE > 0)
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size_t CoTask_StackMaxUsed(CoTask_t CoTask);
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#endif
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/**
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* \brief: Coroutine task stack current used function
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* \param CoTask: Coroutine task handle, indicates the coroutine task to get the stack current used
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* \return: Coroutine task stack current used, indicates the current stack used of the coroutine task
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* \note: Coroutine task stack current used function is used to get the current stack used of the coroutine task.
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* The stack used is the current stack used of the coroutine task.
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* The stack used is updated periodically with the given tick interval.
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*/
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#if (COROUTINE_ENABLE_STACK_CALCULATE > 0)
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size_t CoTask_StackCurUsed(CoTask_t CoTask);
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#endif
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/**
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* \brief: Coroutine task wait function, blocking task waiting for event or timeout.
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* \param pEvent: [Default parameter] Coroutine event pointer, indicates the event to wait
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* \param ms: [Default parameter] Coroutine task wait ms, indicates the ms to wait
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* \param tick: [Default parameter] Coroutine task wait tick, indicates the tick to wait
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* \return: Coroutine event value, indicates the event value that triggered the coroutine task
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* \note: Coroutine task wait event function is used to wait for the given event.
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* @ref `CoEvent_Init` must first be called to initialize the event.
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* @ref `CoEvent_Notify` notifies the occurrence of the event
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* It will block the current coroutine task.
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* The event value is a bit mask, each bit represents an event.
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* If multiple events are triggered, the corresponding bits will be set.
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* \note: Coroutine task wait ms function is used to wait for the given ms.
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* It will block the current coroutine task.
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* \note: Coroutine task wait tick function is used to wait for the given tick.
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* It will block the current coroutine task.
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* \example:
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* void *test(void *arg)
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* {
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* while (1)
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* {
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* // Give up access to the scheduler without waiting, similar to yeild
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* CoTask_Wait();
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*
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* // Wait for 1000 ms
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* CoTask_Wait(.ms=1000);
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*
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* // Wait for 1000000 tick
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* CoTask_Wait(.tick=1000000);
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*
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* // Wait for 1000 ms or event, if no any events occur within 1000 ms, and will timeout blocking
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* CoTask_Wait(.pEvent=&g_Event, .ms=1000);
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*
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* // Always wait for the event, and judge every events
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* uint32_t evs = CoTask_Wait(.pEvent=&g_Event);
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* if (evs & 0x01)
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* {
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* printf("event 0x01 triggered\n");
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* }
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* if (evs & 0x02)
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* {
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* printf("event 0x02 triggered\n");
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* }
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* }
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* }
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*/
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#define CoTask_Wait(...) CoTask_WaitP((CoTaskWaitPara[1]){[0]={.pEvent=NULL,.ms=0,.tick=0,__VA_ARGS__}})
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/**
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* \brief: Coroutine task wait function, it is recommended to use @ref `CoTask_Wait` instead
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* \param pPara: Coroutine task wait parameter pointer
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* \return: Coroutine event value, indicates the event value that triggered the coroutine task
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* \note: Coroutine task wait function is used to wait for the given event or timeout.
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* It will block the current coroutine task.
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* The event value is a bit mask, each bit represents an event.
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* If multiple events are triggered, the corresponding bits will be set.
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*/
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uint32_t CoTask_WaitP(CoTaskWaitPara *pPara);
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/**
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* \brief: Coroutine task wait functions, the version of the macro definition used is often used
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* \param m: Coroutine task wait ms, indicates the ms to wait
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* \param t: Coroutine task wait tick, indicates the tick to wait
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* \param e: Coroutine event pointer, indicates the event to wait
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* \return: Coroutine event value, indicates the event value that triggered the coroutine task
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*/
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#define CoTask_WaitMs(m) CoTask_Wait(.ms=m)
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#define CoTask_WaitTick(t) CoTask_Wait(.tick=t)
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#define CoTask_WaitEvent(e) CoTask_Wait(.pEvent=e)
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#define CoTask_WaitEventMs(e, m) CoTask_Wait(.pEvent=e, .ms=m)
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#define CoTask_WaitEventTick(e, t) CoTask_Wait(.pEvent=e, .tick=t)
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/**
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* \brief: Coroutine timer create function
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* \param entry: [Non-default parameter] Coroutine timer entry, indicates the timer entry function
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* \param ms: [Default parameter] Coroutine timer ms, indicates the ms interval
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* \param tick: [Default parameter] Coroutine timer tick, indicates the tick interval
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* \param schedulerId: [Default parameter] Coroutine timer scheduler id, indicates the scheduler id of the coroutine timer
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* Negative value means the auto distribution.
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* \return: Coroutine timer handle, indicates the created timer
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* \note: One of the ms and tick parameters must be set
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* \note: Coroutine timer create function is used to create a timer with the given ms or tick interval.
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* The timer will call the given entry function periodically with the given ms or tick interval.
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* \example:
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* CoTimer_t timer = CoTimer_Create(timer_entry, .ms=100); // create a timer with 100ms interval
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*/
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#define CoTimer_Create(entry, ...) CoTimer_CreateP(entry, (CoTimerCreatePara[1]){[0]={.ms=0,.tick=0,.schedulerId=-1,__VA_ARGS__}})
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/**
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* \brief: Coroutine timer create function, it is recommended to use @ref `CoTimer_Create` instead
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* \param pPara: Coroutine timer create parameter pointer
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* \return: Coroutine timer handle, indicates the created timer
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* \note: Coroutine timer create function is used to create a timer with the given ms or tick interval.
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* The timer will call the given entry function periodically with the given ms or tick interval.
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*/
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CoTimer_t CoTimer_CreateP(CoTimerEntry_t entry, CoTimerCreatePara *pPara);
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/**
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* \brief: Coroutine timer create ms function, it is recommended to use @ref `CoTimer_CreateMs` instead
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* \param entry: Coroutine timer entry, indicates the timer entry function
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* \param m: Coroutine timer ms, indicates the ms interval
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* \param t: Coroutine timer tick, indicates the tick interval
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* \return: Coroutine timer handle, indicates the created timer
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* \note: Coroutine timer create ms function is used to create a timer with the given ms interval.
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|
* The timer will call the given entry function periodically with the given ms interval.
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|
* \example:
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* CoTimer_t timer = CoTimer_CreateMs(timer_entry, 100); // create a timer with 100ms interval
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*/
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#define CoTimer_CreateMs(entry, m) CoTimer_Create(entry, .ms=m)
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#define CoTimer_CreateTick(entry, t) CoTimer_Create(entry, .tick=t)
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|
/**
|
|
* \brief: Coroutine timer delete function
|
|
* \param Timer: Coroutine timer handle, indicates the timer to delete
|
|
* \note: Coroutine timer delete function is used to delete the given timer.
|
|
* It must be called after @ref `CoTimer_CreateTick` or @ref `CoTimer_CreateMs`.
|
|
* \example:
|
|
* CoTimer_Delete(timer); // delete the timer
|
|
*/
|
|
void CoTimer_Delete(CoTimer_t Timer);
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|
|
|
/**
|
|
* \brief: Coroutine timer self function
|
|
* \return: Coroutine timer handle, indicates the current timer
|
|
* \note: Coroutine timer self function is used to get the handle of the current timer.
|
|
* \example:
|
|
* CoTimer_t timer = CoTimer_Self(); // get the current timer
|
|
*/
|
|
CoTimer_t CoTimer_Self(void);
|
|
|
|
/**
|
|
* \brief: Coroutine timer scheduler id function
|
|
* \return: Coroutine timer scheduler id, indicates the scheduler id of the coroutine timer
|
|
* \note: Coroutine timer scheduler id function is used to get the scheduler id of the coroutine timer.
|
|
*/
|
|
int CoTimer_SchedulerId(void);
|
|
|
|
/**
|
|
* \brief: Coroutine event initialize function
|
|
* \param pEvent: Coroutine event pointer, indicates the event to initialize
|
|
* \note: Coroutine event initialize function is used to initialize the given event.
|
|
* It must be called before @ref `CoTask_WaitEvent`.
|
|
* \example:
|
|
* CoEvent_Init(&g_Event);
|
|
*/
|
|
void CoEvent_Init(CoEvent *pEvent);
|
|
|
|
/**
|
|
* \brief: Coroutine event notify function
|
|
* \param pEvent: Coroutine event pointer, indicates the event to notify
|
|
* \param evs: Coroutine event value, indicates the event value to notify
|
|
* \note: Coroutine event notify function is used to notify the occurrence of the event.
|
|
* It will set the corresponding bits in the event value.
|
|
* \example:
|
|
* CoEvent_Notify(&g_Event, 0x01); // notify event 0x01
|
|
* \example:
|
|
* CoEvent_Notify(&g_Event, 0x01 | 0x02); // notify event 0x01 and 0x02
|
|
*/
|
|
void CoEvent_Notify(CoEvent *pEvent, uint32_t evs);
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif // !__coroutine_H
|