pkg/openwsn: add riot based openwsn scheduler

pkg/openwsn/Makefile

@@ -12,6 +12,7 @@ IGNORE_MODULES  := openwsn_leds \
                    openwsn_icmpv6_echo \
                    openwsn_iee802154e_security \
                    openwsn_radio \
+                   openwsn_riotos \
                    openwsn_serial \
                    openwsn_sctimer \
                    openwsn_sctimer_rtt \
@@ -41,7 +42,7 @@ OPENWSN_PATH_openapps       = openapps
 OPENWSN_PATH_openweb        = openweb
 OPENWSN_PATH_drivers        = drivers/common
 OPENWSN_PATH_crypto         = drivers/common/crypto
-OPENWSN_PATH_scheduler      = kernel/openos
+OPENWSN_PATH_openos         = kernel/openos
 OPENWSN_PATH_cjoin          = openapps/cjoin
 OPENWSN_PATH_opencoap       = openweb/opencoap
 OPENWSN_PATH_mac_low        = openstack/02a-MAClow

pkg/openwsn/Makefile.dep

@@ -12,6 +12,7 @@ ifneq (,$(filter openwsn_openstack,$(USEMODULE)))
 
   USEMODULE += openwsn_openweb
   USEMODULE += openwsn_openapps
+  USEMODULE += openwsn_scheduler
 
   DEFAULT_MODULE += auto_init_openwsn
 
@@ -19,14 +20,26 @@ ifneq (,$(filter openwsn_openstack,$(USEMODULE)))
   USEMODULE += netdev_default
 endif
 
-ifneq (,$(filter openwsn_ipv6,$(USEMODULE)))
-  DEFAULT_MODULE += openwsn_icmpv6_echo
+ifneq (,$(filter openwsn_scheduler,$(USEMODULE)))
+  ifeq (,$(filter openwsn_openos,$(USEMODULE)))
+    USEMODULE += openwsn_riotos
+  endif
 endif
 
-ifneq (,$(filter openwsn_scheduler,$(USEMODULE)))
+ifneq (,$(filter openwsn_openos,$(USEMODULE)))
   USEMODULE += core_thread_flags
 endif
 
+ifneq (,$(filter openwsn_riotos,$(USEMODULE)))
+  USEMODULE += event
+  USEMODULE += event_callback
+  USEMODULE += memarray
+endif
+
+ifneq (,$(filter openwsn_ipv6,$(USEMODULE)))
+  DEFAULT_MODULE += openwsn_icmpv6_echo
+endif
+
 ifneq (,$(filter openwsn_cjoin,$(USEMODULE)))
   USEMODULE += openwsn_opencoap
   USEMODULE += openwsn_crypto

pkg/openwsn/Makefile.include

@@ -1,3 +1,18 @@
+PSEUDOMODULES += openwsn_serial \
+                 openwsn_debugpins \
+                 openwsn_6lo_frag \
+                 openwsn_icmpv6_echo \
+                 openwsn_iee802154e_security \
+                 openwsn_leds \
+                 openwsn_scheduler \
+                 openwsn_sctimer \
+                 openwsn_sctimer_rtt \
+                 openwsn_sctimer_ztimer \
+                 openwsn_radio \
+                 #
+
+DIRS += $(RIOTBASE)/pkg/openwsn/contrib
+
 INCLUDES += -I$(PKGDIRBASE)/openwsn \
             -I$(PKGDIRBASE)/openwsn/kernel \
             -I$(PKGDIRBASE)/openwsn/inc \
@@ -17,19 +32,14 @@ INCLUDES += -I$(PKGDIRBASE)/openwsn \
             -I$(PKGDIRBASE)/openwsn/openweb/opencoap \
             -I$(RIOTBASE)/pkg/openwsn/include \
 
-DIRS += $(RIOTBASE)/pkg/openwsn/contrib
+ifneq (,$(filter openwsn_openos,$(USEMODULE)))
+  INCLUDES += -I$(PKGDIRBASE)/openwsn/kernel/openos
+endif
 
-PSEUDOMODULES += openwsn_serial \
-                 openwsn_debugpins \
-                 openwsn_6lo_frag \
-                 openwsn_icmpv6_echo \
-                 openwsn_iee802154e_security \
-                 openwsn_leds \
-                 openwsn_sctimer \
-                 openwsn_sctimer_rtt \
-                 openwsn_sctimer_ztimer \
-                 openwsn_radio \
-                 #
+ifneq (,$(filter openwsn_riotos,$(USEMODULE)))
+  INCLUDES += -I$(RIOTBASE)/pkg/openwsn/scheduler
+  DIRS += $(RIOTBASE)/pkg/openwsn/scheduler
+endif
 
 # Set OpenWSN configurations flags, see $(PKG_SOURCE_DIR)/openwsn-fw/inc/config.h
 

pkg/openwsn/scheduler/Makefile

@@ -0,0 +1,3 @@
+MODULE = openwsn_riotos
+
+include $(RIOTBASE)/Makefile.base

pkg/openwsn/scheduler/scheduler.c

@@ -0,0 +1,99 @@
+/*
+ * Copyright (C) 2020 Inria
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     pkg_openwsn
+ * @{
+ *
+ * @file
+ * @brief       Event based implementation of OpenWSN scheduler
+ *
+ * @author      Francisco Molina <francois-xavier.molina@inria.fr>
+ *
+ * @}
+ */
+#include "event.h"
+#include "event/callback.h"
+#include "memarray.h"
+#include "periph/pm.h"
+
+#include "scheduler.h"
+#include "debugpins.h"
+#include "leds.h"
+
+#ifndef LOG_LEVEL
+#define LOG_LEVEL   LOG_ERROR
+#endif
+#include "log.h"
+
+static scheduler_vars_t _scheduler_vars;
+/* event queues for every priority */
+static event_queue_t _queues[TASKPRIO_MAX];
+
+#if SCHEDULER_DEBUG_ENABLE
+scheduler_dbg_t scheduler_dbg;
+#endif
+
+void scheduler_init(void)
+{
+#if SCHEDULER_DEBUG_ENABLE
+    memset(&scheduler_dbg, 0, sizeof(scheduler_dbg_t));
+#endif
+    memset(&_scheduler_vars, 0, sizeof(scheduler_vars_t));
+    memarray_init(&_scheduler_vars.memarray, &_scheduler_vars.task_buff,
+                  sizeof(event_callback_t), TASK_LIST_DEPTH);
+
+    event_queues_init_detached(_queues, TASKPRIO_MAX);
+}
+
+void scheduler_start(unsigned state)
+{
+    irq_restore(state);
+
+    /* claim all queues */
+    event_queues_claim(_queues, TASKPRIO_MAX);
+
+    /* wait for events */
+    event_t *event;
+    while ((event = event_wait_multi(_queues, TASKPRIO_MAX))) {
+        debugpins_task_clr();
+        event->handler(event);
+        /* remove from task list */
+        memarray_free(&_scheduler_vars.memarray, event);
+#if SCHEDULER_DEBUG_ENABLE
+        scheduler_dbg.numTasksCur--;
+#endif
+        debugpins_task_set();
+    }
+}
+
+void scheduler_push_task(task_cbt cb, task_prio_t prio)
+{
+    unsigned state = irq_disable();
+    /* get a free event from the queue */
+    event_callback_t *event = memarray_calloc(&_scheduler_vars.memarray);
+
+    if (!event) {
+        /* task list has overflown. This should never happen! */
+        LOG_ERROR("[openos/scheduler]: critical, task list overflow\n");
+        leds_error_blink();
+        pm_off();
+    }
+
+    event_callback_init(event, (void (*)(void *)) cb, NULL);
+    event_post(&_queues[prio], (event_t *)event);
+
+#if SCHEDULER_DEBUG_ENABLE
+    scheduler_dbg.numTasksCur++;
+    if (scheduler_dbg.numTasksCur > scheduler_dbg.numTasksMax) {
+        scheduler_dbg.numTasksMax = scheduler_dbg.numTasksCur;
+    }
+#endif
+
+    irq_restore(state);
+}

pkg/openwsn/scheduler/scheduler_types.h

@@ -0,0 +1,56 @@
+/*
+ * Copyright (C) 2020 Inria
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     pkg_openwsn
+ * @{
+ *
+ *
+ * @file
+ * @brief       RIOT scheduler types variable declaration
+ *
+ * @author      Francisco Molina <francois-xavier.molina@inria.fr>
+ *
+ * @}
+ */
+
+#ifndef SCHEDULER_TYPES_H
+#define SCHEDULER_TYPES_H
+
+#include "opendefs.h"
+#include "scheduler.h"
+#include "event/callback.h"
+#include "memarray.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief   OpenWSN scheduler variables structure
+ */
+typedef struct {
+    event_callback_t task_buff[TASK_LIST_DEPTH]; /**< Task buffer */
+    memarray_t memarray; /**< Memarray management */
+} scheduler_vars_t;
+
+#if SCHEDULER_DEBUG_ENABLE
+/**
+ * @brief   OpenWSN scheduler debug variables
+ */
+typedef struct {
+    uint8_t numTasksCur;    /**< Current task number */
+    uint8_t numTasksMax;    /**< Current peak queued tasks */
+} scheduler_dbg_t;
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* SCHEDULER_TYPES_H */

sys/shell/commands/sc_openwsn.c

@@ -541,6 +541,7 @@ static int _queue_cmd(int argc, char **argv)
     return -1;
 }
 
+#if SCHEDULER_DEBUG_ENABLE
 static int _scheduler_cmd(char *arg)
 {
     (void)arg;
@@ -551,6 +552,7 @@ static int _scheduler_cmd(char *arg)
 
     return 0;
 }
+#endif
 
 static void _print_usage(void)
 {
@@ -559,7 +561,9 @@ static void _print_usage(void)
     puts("\topenwsn queue: Openqueue management commands");
     puts("\topenwsn cell: cell management commands");
     puts("\topenwsn 6top: 6top request commands");
+#if SCHEDULER_DEBUG_ENABLE
     puts("\topenwsn sched: show openos scheduler information");
+#endif
 }
 
 int _openwsn_handler(int argc, char **argv)
@@ -585,9 +589,11 @@ int _openwsn_handler(int argc, char **argv)
         return _cell_cmd(argc - 1, &argv[1]);
     }
 
+#if SCHEDULER_DEBUG_ENABLE
     if (!strcmp(argv[1], "sched")) {
         return _scheduler_cmd(NULL);
     }
+#endif
 
     if (!strcmp(argv[1], "6top")) {
         if (!ieee154e_isSynch()) {

tests/pkg_openwsn/Makefile

@@ -15,7 +15,7 @@ BOARD_WHITELIST = \
 # OpenWSN Modules
 USEPKG += openwsn
 USEMODULE += openwsn_openstack
-USEMODULE += openwsn_scheduler
+
 # Optional OpenWSN Modules
 ## Enable Constrained Join Protocol (CoJP)
 USEMODULE += openwsn_cjoin