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The Big Refactoring of 2019: scheduler should not be global #655

This commit is contained in:
rusefi 2019-01-09 07:57:43 -05:00
parent dbac37c59d
commit 5ffcc396eb
12 changed files with 35 additions and 16 deletions
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4
firmware/controllers/PwmTester.cpp
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@ -73,7 +73,7 @@ static void testCallback(void *arg) {
/** /**
* this would re-schedule another callback in 2ms from now * this would re-schedule another callback in 2ms from now
*/ */
scheduleForLater("test", &ioTest, MS2US(2), testCallback, NULL); engine->executor.scheduleForLater("test", &ioTest, MS2US(2), testCallback, NULL);
} }
void initPwmTester(void) { void initPwmTester(void) {
@ -97,7 +97,7 @@ void initPwmTester(void) {
/** /**
* this would schedule a callback in 2ms from now * this would schedule a callback in 2ms from now
*/ */
scheduleForLater("test", &ioTest, MS2US(2), testCallback, NULL); engine->executor.scheduleForLater("test", &ioTest, MS2US(2), testCallback, NULL);
} }
#endif #endif

4
firmware/controllers/system/SingleTimerExecutor.cpp
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@ -62,6 +62,10 @@ SingleTimerExecutor::SingleTimerExecutor() {
queue.setLateDelay(US2NT(100)); queue.setLateDelay(US2NT(100));
} }
void SingleTimerExecutor::scheduleForLater(scheduling_s *scheduling, int delayUs, schfunc_t callback, void *param) {
scheduleByTimestamp(scheduling, getTimeNowUs() + delayUs, callback, param);
}
/** /**
* callback would be executed either on ISR thread or current thread if we would need to execute right away * callback would be executed either on ISR thread or current thread if we would need to execute right away
*/ */

1
firmware/controllers/system/SingleTimerExecutor.h
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@ -15,6 +15,7 @@ class SingleTimerExecutor : public ExecutorInterface {
public: public:
SingleTimerExecutor(); SingleTimerExecutor();
void scheduleByTimestamp(scheduling_s *scheduling, efitimeus_t timeUs, schfunc_t callback, void *param); void scheduleByTimestamp(scheduling_s *scheduling, efitimeus_t timeUs, schfunc_t callback, void *param);
void scheduleForLater(scheduling_s *scheduling, int delayUs, schfunc_t callback, void *param);
void onTimerCallback(); void onTimerCallback();
int timerCallbackCounter; int timerCallbackCounter;
int scheduleCounter; int scheduleCounter;

1
firmware/controllers/system/scheduler.h
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@ -36,6 +36,7 @@ void scheduleByTimestamp(scheduling_s *scheduling, efitimeus_t time, schfunc_t c
class ExecutorInterface { class ExecutorInterface {
virtual void scheduleByTimestamp(scheduling_s *scheduling, efitimeus_t timeUs, schfunc_t callback, void *param) = 0; virtual void scheduleByTimestamp(scheduling_s *scheduling, efitimeus_t timeUs, schfunc_t callback, void *param) = 0;
virtual void scheduleForLater(scheduling_s *scheduling, int delayUs, schfunc_t callback, void *param) = 0;
}; };
#endif /* SCHEDULER_H_ */ #endif /* SCHEDULER_H_ */

4
firmware/controllers/system/signal_executor_sleep.cpp
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@ -91,6 +91,10 @@ void scheduleForLater(scheduling_s *scheduling, int delayUs, schfunc_t callback,
} }
} }
void SleepExecutor::scheduleForLater(scheduling_s *scheduling, int delayUs, schfunc_t callback, void *param) {
::scheduleForLater(scheduling, delayUs, callback, param);
}
void initSignalExecutorImpl(void) { void initSignalExecutorImpl(void) {
} }

1
firmware/controllers/system/signal_executor_sleep.h
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@ -13,6 +13,7 @@
class SleepExecutor : public ExecutorInterface { class SleepExecutor : public ExecutorInterface {
public: public:
void scheduleByTimestamp(scheduling_s *scheduling, efitimeus_t timeUs, schfunc_t callback, void *param); void scheduleByTimestamp(scheduling_s *scheduling, efitimeus_t timeUs, schfunc_t callback, void *param);
void scheduleForLater(scheduling_s *scheduling, int delayUs, schfunc_t callback, void *param);
}; };
#endif /* SIGNAL_EXECUTOR_SLEEP_H_ */ #endif /* SIGNAL_EXECUTOR_SLEEP_H_ */

2
firmware/controllers/tachometer.cpp
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@ -34,7 +34,7 @@ static void tachSignalCallback(trigger_event_e ckpSignalType,
} else { } else {
durationMs = engineConfiguration->tachPulseDuractionMs; durationMs = engineConfiguration->tachPulseDuractionMs;
} }
scheduleForLater(&tachTurnSignalOff, (int)MS2US(durationMs), (schfunc_t) &turnTachPinLow, NULL); engine->executor.scheduleForLater(&tachTurnSignalOff, (int)MS2US(durationMs), (schfunc_t) &turnTachPinLow, NULL);
} }
void initTachometer(void) { void initTachometer(void) {

8
firmware/controllers/trigger/main_trigger_callback.cpp
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@ -208,7 +208,7 @@ static void sescheduleByTimestamp(scheduling_s *scheduling, efitimeus_t time, sc
printf("seScheduleByTime %s %s %d sch=%d\r\n", direction, param->name, (int)time, (int)scheduling); printf("seScheduleByTime %s %s %d sch=%d\r\n", direction, param->name, (int)time, (int)scheduling);
#endif /* FUEL_MATH_EXTREME_LOGGING || EFI_UNIT_TEST */ #endif /* FUEL_MATH_EXTREME_LOGGING || EFI_UNIT_TEST */
scheduleByTimestamp(scheduling, time, callback, pair); engine->executor.scheduleByTimestamp(scheduling, time, callback, pair);
} }
static ALWAYS_INLINE void handleFuelInjectionEvent(int injEventIndex, InjectionEvent *event, static ALWAYS_INLINE void handleFuelInjectionEvent(int injEventIndex, InjectionEvent *event,
@ -289,8 +289,8 @@ static ALWAYS_INLINE void handleFuelInjectionEvent(int injEventIndex, InjectionE
// todo: sequential need this logic as well, just do not forget to clear flag pair->isScheduled = true; // todo: sequential need this logic as well, just do not forget to clear flag pair->isScheduled = true;
scheduling_s * sDown = &pair->signalTimerDown; scheduling_s * sDown = &pair->signalTimerDown;
scheduleForLater(sUp, (int) injectionStartDelayUs, (schfunc_t) &startSimultaniousInjection, engine); engine->executor.scheduleForLater(sUp, (int) injectionStartDelayUs, (schfunc_t) &startSimultaniousInjection, engine);
scheduleForLater(sDown, (int) injectionStartDelayUs + durationUs, engine->executor.scheduleForLater(sDown, (int) injectionStartDelayUs + durationUs,
(schfunc_t) &endSimultaniousInjection, event); (schfunc_t) &endSimultaniousInjection, event);
} else { } else {
@ -579,7 +579,7 @@ void startPrimeInjectionPulse(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
if (pulseLength > 0) { if (pulseLength > 0) {
startSimultaniousInjection(engine); startSimultaniousInjection(engine);
efitimeus_t turnOffDelayUs = (efitimeus_t)efiRound(MS2US(pulseLength), 1.0f); efitimeus_t turnOffDelayUs = (efitimeus_t)efiRound(MS2US(pulseLength), 1.0f);
scheduleForLater(sDown, turnOffDelayUs, (schfunc_t) &endSimultaniousInjectionOnlyTogglePins, engine); engine->executor.scheduleForLater(sDown, turnOffDelayUs, (schfunc_t) &endSimultaniousInjectionOnlyTogglePins, engine);
} }
} }
#if EFI_PROD_CODE || defined(__DOXYGEN__) #if EFI_PROD_CODE || defined(__DOXYGEN__)

6
firmware/controllers/trigger/spark_logic.cpp
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@ -224,7 +224,7 @@ static ALWAYS_INLINE void handleSparkEvent(bool limitedSpark, uint32_t trgEventI
* This way we make sure that coil dwell started while spark was enabled would fire and not burn * This way we make sure that coil dwell started while spark was enabled would fire and not burn
* the coil. * the coil.
*/ */
scheduleForLater(sUp, chargeDelayUs, (schfunc_t) &turnSparkPinHigh, iEvent); engine->executor.scheduleForLater(sUp, chargeDelayUs, (schfunc_t) &turnSparkPinHigh, iEvent);
} }
/** /**
* Spark event is often happening during a later trigger event timeframe * Spark event is often happening during a later trigger event timeframe
@ -264,7 +264,7 @@ static ALWAYS_INLINE void handleSparkEvent(bool limitedSpark, uint32_t trgEventI
scheduleMsg(logger, "scheduling sparkDown ind=%d %d %s now=%d %d later id=%d", trgEventIndex, getRevolutionCounter(), iEvent->getOutputForLoggins()->name, (int)getTimeNowUs(), (int)timeTillIgnitionUs, iEvent->sparkId); scheduleMsg(logger, "scheduling sparkDown ind=%d %d %s now=%d %d later id=%d", trgEventIndex, getRevolutionCounter(), iEvent->getOutputForLoggins()->name, (int)getTimeNowUs(), (int)timeTillIgnitionUs, iEvent->sparkId);
#endif /* FUEL_MATH_EXTREME_LOGGING */ #endif /* FUEL_MATH_EXTREME_LOGGING */
scheduleForLater(sDown, (int) timeTillIgnitionUs, (schfunc_t) &turnSparkPinLow, iEvent); engine->executor.scheduleForLater(sDown, (int) timeTillIgnitionUs, (schfunc_t) &turnSparkPinLow, iEvent);
} else { } else {
#if SPARK_EXTREME_LOGGING || defined(__DOXYGEN__) #if SPARK_EXTREME_LOGGING || defined(__DOXYGEN__)
scheduleMsg(logger, "to queue sparkDown ind=%d %d %s %d for %d", trgEventIndex, getRevolutionCounter(), iEvent->getOutputForLoggins()->name, (int)getTimeNowUs(), iEvent->sparkPosition.eventIndex); scheduleMsg(logger, "to queue sparkDown ind=%d %d %s %d for %d", trgEventIndex, getRevolutionCounter(), iEvent->getOutputForLoggins()->name, (int)getTimeNowUs(), iEvent->sparkPosition.eventIndex);
@ -368,7 +368,7 @@ void handleSpark(bool limitedSpark, uint32_t trgEventIndex, int rpm
float timeTillIgnitionUs = ENGINE(rpmCalculator.oneDegreeUs) * current->sparkPosition.angleOffset; float timeTillIgnitionUs = ENGINE(rpmCalculator.oneDegreeUs) * current->sparkPosition.angleOffset;
scheduleForLater(sDown, (int) timeTillIgnitionUs, (schfunc_t) &turnSparkPinLow, current); engine->executor.scheduleForLater(sDown, (int) timeTillIgnitionUs, (schfunc_t) &turnSparkPinLow, current);
} }
} }

2
firmware/hw_layer/servo.cpp
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@ -63,7 +63,7 @@ static msg_t seThread(void *arg) {
float durationMs = 0 + position * 0.02f; float durationMs = 0 + position * 0.02f;
scheduleForLater(&servoTurnSignalOff, (int)MS2US(durationMs), (schfunc_t) &servoTachPinLow, pin); engine->executor.scheduleForLater(&servoTurnSignalOff, (int)MS2US(durationMs), (schfunc_t) &servoTachPinLow, pin);
chThdSleepMilliseconds(19); chThdSleepMilliseconds(19);

17
unit_tests/global_execution_queue.cpp
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@ -22,19 +22,26 @@ void scheduleForLater(scheduling_s *scheduling, int delayUs,
scheduleByTimestamp(scheduling, getTimeNowUs() + delayUs, callback, param); scheduleByTimestamp(scheduling, getTimeNowUs() + delayUs, callback, param);
} }
void TestExecutor::scheduleForLater(scheduling_s *scheduling, int delayUs, schfunc_t callback, void *param) {
if (debugSignalExecutor) {
printf("scheduleTask %d\r\n", delayUs);
}
scheduleByTimestamp(scheduling, getTimeNowUs() + delayUs, callback, param);
}
void TestExecutor::scheduleByTimestamp(scheduling_s *scheduling, efitimeus_t timeUs, schfunc_t callback, void *param) { void TestExecutor::scheduleByTimestamp(scheduling_s *scheduling, efitimeus_t timeUs, schfunc_t callback, void *param) {
if (debugSignalExecutor) { if (debugSignalExecutor) {
printf("scheduleByTime %d\r\n", time); printf("scheduleByTime %d\r\n", timeUs);
} }
schedulingQueue.insertTask(scheduling, time, callback, param); schedulingQueue.insertTask(scheduling, timeUs, callback, param);
} }
void scheduleByTimestamp(scheduling_s *scheduling, void scheduleByTimestamp(scheduling_s *scheduling,
efitimeus_t time, schfunc_t callback, void *param) { efitimeus_t timeUs, schfunc_t callback, void *param) {
if (debugSignalExecutor) { if (debugSignalExecutor) {
printf("scheduleByTime %d\r\n", time); printf("scheduleByTime %d\r\n", timeUs);
} }
schedulingQueue.insertTask(scheduling, time, callback, param); schedulingQueue.insertTask(scheduling, timeUs, callback, param);
} }
void initSignalExecutorImpl(void) { void initSignalExecutorImpl(void) {

1
unit_tests/global_execution_queue.h
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@ -13,6 +13,7 @@
class TestExecutor : public ExecutorInterface { class TestExecutor : public ExecutorInterface {
public: public:
void scheduleByTimestamp(scheduling_s *scheduling, efitimeus_t timeUs, schfunc_t callback, void *param); void scheduleByTimestamp(scheduling_s *scheduling, efitimeus_t timeUs, schfunc_t callback, void *param);
void scheduleForLater(scheduling_s *scheduling, int delayUs, schfunc_t callback, void *param);
}; };
#endif /* GLOBAL_EXECUTION_QUEUE_H_ */ #endif /* GLOBAL_EXECUTION_QUEUE_H_ */