RIOT/core/msg.c

/*
 * Copyright (C) 2014 Freie Universität Berlin
 *
 * 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     core_msg
 * @{
 *
 * @file
 * @brief       Kernel messaging implementation
 *
 * @author      Kaspar Schleiser <kaspar@schleiser.de>
 * @author      Oliver Hahm <oliver.hahm@inria.fr>
 * @author      Kévin Roussel <Kevin.Roussel@inria.fr>
 *
 * @}
 */

#include <stddef.h>
#include <inttypes.h>
#include <assert.h>
#include "sched.h"
#include "msg.h"
#include "msg_bus.h"
#include "list.h"
#include "thread.h"
#if MODULE_CORE_THREAD_FLAGS
#include "thread_flags.h"
#endif
#include "irq.h"
#include "cib.h"

#define ENABLE_DEBUG 0
#include "debug.h"

static int _msg_receive(msg_t *m, int block);
static int _msg_send(msg_t *m, kernel_pid_t target_pid, bool block,
                     unsigned state);

static int queue_msg(thread_t *target, const msg_t *m)
{
    int n = cib_put(&(target->msg_queue));

    if (n < 0) {
        DEBUG("queue_msg(): message queue of thread %" PRIkernel_pid
              " is full (or there is none)\n", target->pid);
        return 0;
    }

    DEBUG("queue_msg(): queuing message\n");
    msg_t *dest = &target->msg_array[n];

    *dest = *m;
#if MODULE_CORE_THREAD_FLAGS
    target->flags |= THREAD_FLAG_MSG_WAITING;
    thread_flags_wake(target);
#endif
    return 1;
}

int msg_send(msg_t *m, kernel_pid_t target_pid)
{
    if (irq_is_in()) {
        return msg_send_int(m, target_pid);
    }
    if (thread_getpid() == target_pid) {
        return msg_send_to_self(m);
    }
    return _msg_send(m, target_pid, true, irq_disable());
}

int msg_try_send(msg_t *m, kernel_pid_t target_pid)
{
    if (irq_is_in()) {
        return msg_send_int(m, target_pid);
    }
    if (thread_getpid() == target_pid) {
        return msg_send_to_self(m);
    }
    return _msg_send(m, target_pid, false, irq_disable());
}

static int _msg_send(msg_t *m, kernel_pid_t target_pid, bool block,
                     unsigned state)
{
#ifdef DEVELHELP
    if (!pid_is_valid(target_pid)) {
        DEBUG("msg_send(): target_pid is invalid, continuing anyways\n");
    }
#endif /* DEVELHELP */

    thread_t *target = thread_get_unchecked(target_pid);

    m->sender_pid = thread_getpid();

    if (target == NULL) {
        DEBUG("msg_send(): target thread %d does not exist\n", target_pid);
        irq_restore(state);
        return -1;
    }

    thread_t *me = thread_get_active();

    DEBUG("msg_send() %s:%i: Sending from %" PRIkernel_pid " to %" PRIkernel_pid
          ". block=%i src->state=%i target->state=%i\n", __FILE__,
          __LINE__, thread_getpid(), target_pid,
          block, (int)me->status, (int)target->status);

    if (target->status != STATUS_RECEIVE_BLOCKED) {
        DEBUG(
            "msg_send() %s:%i: Target %" PRIkernel_pid " is not RECEIVE_BLOCKED.\n",
            __FILE__, __LINE__, target_pid);

        if (queue_msg(target, m)) {
            DEBUG("msg_send() %s:%i: Target %" PRIkernel_pid
                  " has a msg_queue. Queueing message.\n", __FILE__,
                  __LINE__, target_pid);
            irq_restore(state);
            if (me->status == STATUS_REPLY_BLOCKED
                || (IS_USED(MODULE_CORE_THREAD_FLAGS) &&
                    sched_context_switch_request)
                ) {
                thread_yield_higher();
            }
            return 1;
        }

        if (!block) {
            DEBUG("msg_send: %" PRIkernel_pid ": Receiver not waiting, "
                  "block=%d\n", me->pid, block);
            irq_restore(state);
            return 0;
        }

        DEBUG("msg_send: %" PRIkernel_pid ": going send blocked.\n",
              me->pid);

        me->wait_data = m;

        int newstatus;

        if (me->status == STATUS_REPLY_BLOCKED) {
            newstatus = STATUS_REPLY_BLOCKED;
        }
        else {
            newstatus = STATUS_SEND_BLOCKED;
        }

        sched_set_status(me, newstatus);

        thread_add_to_list(&(target->msg_waiters), me);

#if MODULE_CORE_THREAD_FLAGS
        target->flags |= THREAD_FLAG_MSG_WAITING;
        thread_flags_wake(target);
#endif

        irq_restore(state);
        thread_yield_higher();

        DEBUG("msg_send: %" PRIkernel_pid ": Back from send block.\n",
              me->pid);
    }
    else {
        DEBUG("msg_send: %" PRIkernel_pid ": Direct msg copy from %"
              PRIkernel_pid " to %" PRIkernel_pid ".\n",
              me->pid, thread_getpid(), target_pid);
        /* copy msg to target */
        msg_t *target_message = target->wait_data;
        *target_message = *m;
        sched_set_status(target, STATUS_PENDING);

        irq_restore(state);
        thread_yield_higher();
    }

    return 1;
}

int msg_send_to_self(msg_t *m)
{
    unsigned state = irq_disable();

    m->sender_pid = thread_getpid();
    int res = queue_msg(thread_get_active(), m);

    irq_restore(state);
    return res;
}

static int _msg_send_oneway(msg_t *m, kernel_pid_t target_pid)
{
#ifdef DEVELHELP
    if (!pid_is_valid(target_pid)) {
        DEBUG("%s: target_pid is invalid, continuing anyways\n", __func__);
    }
#endif /* DEVELHELP */

    thread_t *target = thread_get_unchecked(target_pid);

    if (target == NULL) {
        DEBUG("%s: target thread %d does not exist\n", __func__, target_pid);
        return -1;
    }

    if (target->status == STATUS_RECEIVE_BLOCKED) {
        DEBUG("%s: Direct msg copy from %" PRIkernel_pid " to %"
              PRIkernel_pid ".\n", __func__, thread_getpid(), target_pid);

        /* copy msg to target */
        msg_t *target_message = (msg_t *)target->wait_data;
        *target_message = *m;

        sched_set_status(target, STATUS_PENDING);

        /* Interrupts are disabled here, we can set / reuse
           sched_context_switch_request. */
        sched_context_switch_request = 1;

        return 1;
    }
    else {
        DEBUG("%s: Receiver not waiting.\n", __func__);
        return (queue_msg(target, m));
    }
}

int msg_send_int(msg_t *m, kernel_pid_t target_pid)
{
    int res;

    m->sender_pid = KERNEL_PID_ISR;

    res = _msg_send_oneway(m, target_pid);

    return res;
}

int msg_send_bus(msg_t *m, msg_bus_t *bus)
{
    const bool in_irq = irq_is_in();
    const uint32_t event_mask = (1UL << (m->type & 0x1F));
    int count = 0;

    m->sender_pid = (in_irq ? KERNEL_PID_ISR : thread_getpid())
                    | MSB_BUS_PID_FLAG;

    unsigned state = irq_disable();

    for (list_node_t *e = bus->subs.next; e; e = e->next) {
        msg_bus_entry_t *subscriber = container_of(e, msg_bus_entry_t, next);

        if ((subscriber->event_mask & event_mask) == 0) {
            continue;
        }

        if (_msg_send_oneway(m, subscriber->pid) > 0) {
            ++count;
        }
    }

    irq_restore(state);

    if (sched_context_switch_request && !in_irq) {
        thread_yield_higher();
    }

    return count;
}

int msg_send_receive(msg_t *m, msg_t *reply, kernel_pid_t target_pid)
{
    assert(thread_getpid() != target_pid);
    unsigned state = irq_disable();
    thread_t *me = thread_get_active();

    sched_set_status(me, STATUS_REPLY_BLOCKED);
    me->wait_data = reply;

    /* we reuse (abuse) reply for sending, because wait_data might be
     * overwritten if the target is not in RECEIVE_BLOCKED */
    *reply = *m;
    /* msg_send blocks until reply received */
    return _msg_send(reply, target_pid, true, state);
}

int msg_reply(msg_t *m, msg_t *reply)
{
    unsigned state = irq_disable();

    thread_t *target = thread_get_unchecked(m->sender_pid);

    assert(target != NULL);

    if (target->status != STATUS_REPLY_BLOCKED) {
        DEBUG("msg_reply(): %" PRIkernel_pid ": Target \"%" PRIkernel_pid
              "\" not waiting for reply.", thread_getpid(),
              target->pid);
        irq_restore(state);
        return -1;
    }

    DEBUG("msg_reply(): %" PRIkernel_pid ": Direct msg copy.\n",
          thread_getpid());
    /* copy msg to target */
    msg_t *target_message = (msg_t *)target->wait_data;

    *target_message = *reply;
    sched_set_status(target, STATUS_PENDING);
    uint16_t target_prio = target->priority;

    irq_restore(state);
    sched_switch(target_prio);

    return 1;
}

int msg_reply_int(msg_t *m, msg_t *reply)
{
    thread_t *target = thread_get_unchecked(m->sender_pid);

    /* msg_reply_int() can only be used to reply to existing threads */
    assert(target != NULL);

    if (target->status != STATUS_REPLY_BLOCKED) {
        DEBUG("msg_reply_int(): %" PRIkernel_pid ": Target \"%" PRIkernel_pid
              "\" not waiting for reply.", thread_getpid(),
              target->pid);
        return -1;
    }

    msg_t *target_message = (msg_t *)target->wait_data;

    *target_message = *reply;
    sched_set_status(target, STATUS_PENDING);
    sched_context_switch_request = 1;
    return 1;
}

int msg_try_receive(msg_t *m)
{
    return _msg_receive(m, 0);
}

int msg_receive(msg_t *m)
{
    return _msg_receive(m, 1);
}

static int _msg_receive(msg_t *m, int block)
{
    unsigned state = irq_disable();

    DEBUG("_msg_receive: %" PRIkernel_pid ": _msg_receive.\n",
          thread_getpid());

    thread_t *me = thread_get_active();

    int queue_index = -1;

    if (thread_has_msg_queue(me)) {
        queue_index = cib_get(&(me->msg_queue));
    }

    /* no message, fail */
    if ((!block) && ((!me->msg_waiters.next) && (queue_index == -1))) {
        irq_restore(state);
        return -1;
    }

    if (queue_index >= 0) {
        DEBUG("_msg_receive: %" PRIkernel_pid ": _msg_receive(): We've got a "
              "queued message.\n", thread_getpid());
        *m = me->msg_array[queue_index];
    }
    else {
        me->wait_data = (void *)m;
    }

    list_node_t *next = list_remove_head(&me->msg_waiters);

    if (next == NULL) {
        DEBUG("_msg_receive: %" PRIkernel_pid ": _msg_receive(): No thread in "
              "waiting list.\n", thread_getpid());

        if (queue_index < 0) {
            DEBUG("_msg_receive(): %" PRIkernel_pid ": No msg in queue. Going "
                  "blocked.\n", thread_getpid());
            sched_set_status(me, STATUS_RECEIVE_BLOCKED);

            irq_restore(state);
            thread_yield_higher();

            /* sender copied message */
            assert(thread_get_active()->status != STATUS_RECEIVE_BLOCKED);
        }
        else {
            irq_restore(state);
        }

        return 1;
    }
    else {
        DEBUG("_msg_receive: %" PRIkernel_pid ": _msg_receive(): Waking up "
              "waiting thread.\n", thread_getpid());

        thread_t *sender =
            container_of((clist_node_t *)next, thread_t, rq_entry);

        if (queue_index >= 0) {
            /* We've already got a message from the queue. As there is a
             * waiter, take it's message into the just freed queue space.
             */
            m = &(me->msg_array[cib_put(&(me->msg_queue))]);
        }

        /* copy msg */
        msg_t *sender_msg = (msg_t *)sender->wait_data;
        *m = *sender_msg;

        /* remove sender from queue */
        uint16_t sender_prio = THREAD_PRIORITY_IDLE;
        if (sender->status != STATUS_REPLY_BLOCKED) {
            sender->wait_data = NULL;
            sched_set_status(sender, STATUS_PENDING);
            sender_prio = sender->priority;
        }

        irq_restore(state);
        if (sender_prio < THREAD_PRIORITY_IDLE) {
            sched_switch(sender_prio);
        }
        return 1;
    }

    DEBUG("This should have never been reached!\n");
}

static unsigned _msg_avail(thread_t *thread)
{
    DEBUG("msg_available: %" PRIkernel_pid ": msg_available.\n",
          thread->pid);

    unsigned queue_count = 0;

    if (thread_has_msg_queue(thread)) {
        queue_count = cib_avail(&(thread->msg_queue));
    }

    return queue_count;
}

unsigned msg_avail_thread(kernel_pid_t pid)
{
    return _msg_avail(thread_get(pid));
}

unsigned msg_avail(void)
{
    return _msg_avail(thread_get_active());
}

unsigned msg_queue_capacity(kernel_pid_t pid)
{
    DEBUG("msg_queue_capacity: %" PRIkernel_pid ": msg_queue_capacity.\n",
          pid);

    thread_t *thread = thread_get(pid);

    assert(thread != NULL);

    int queue_cap = 0;

    if (thread_has_msg_queue(thread)) {
        queue_cap = cib_size(&(thread->msg_queue));
    }

    return queue_cap;
}

void msg_init_queue(msg_t *array, int num)
{
    thread_t *me = thread_get_active();

    me->msg_array = array;
    cib_init(&(me->msg_queue), num);
}

void msg_queue_print(void)
{
    unsigned state = irq_disable();
    thread_t *thread = thread_get_active();

    unsigned msg_counter = msg_avail();

    if (msg_counter < 1) {
        /* no msg queue */
        irq_restore(state);
        printf("No messages or no message queue\n");
        return;
    }
    cib_t *msg_queue = &thread->msg_queue;
    msg_t *msg_array = thread->msg_array;
    int first_msg = cib_peek(msg_queue);

    printf("Message queue of thread %" PRIkernel_pid "\n", thread->pid);
    printf("    size: %u (avail: %u)\n", msg_queue->mask + 1, msg_counter);

    for (unsigned i = 0; i < msg_counter; i++) {
        msg_t *m = &msg_array[(first_msg + i) & msg_queue->mask];
        printf("    * %u: sender: %" PRIkernel_pid ", type: 0x%04" PRIu16
               ", content: %" PRIu32 " (%p)\n", i, m->sender_pid, m->type,
               m->content.value, m->content.ptr);
    }
    irq_restore(state);
}