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use expected for event queue next event (#1859) 

* use expected for event queue next event

* minor cleanup

* tests
This commit is contained in:
Matthew Kennedy 2020-10-05 10:53:34 -07:00 committed by GitHub
parent a46dd3678c
commit c885db32f0
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GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 35 additions and 34 deletions
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6
firmware/controllers/system/timer/event_queue.cpp
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@ -82,8 +82,7 @@ bool EventQueue::insertTask(scheduling_s *scheduling, efitime_t timeX, action_s
* This method is always invoked under a lock * This method is always invoked under a lock
* @return Get the timestamp of the soonest pending action, skipping all the actions in the past * @return Get the timestamp of the soonest pending action, skipping all the actions in the past
*/ */
efitime_t EventQueue::getNextEventTime(efitime_t nowX) const { expected<efitime_t> EventQueue::getNextEventTime(efitime_t nowX) const {
if (head != NULL) { if (head != NULL) {
if (head->momentX <= nowX) { if (head->momentX <= nowX) {
/** /**
@ -99,7 +98,8 @@ efitime_t EventQueue::getNextEventTime(efitime_t nowX) const {
return head->momentX; return head->momentX;
} }
} }
return EMPTY_QUEUE;
return unexpected;
} }
/** /**

8
firmware/controllers/system/timer/event_queue.h
View File

@ -7,14 +7,10 @@
#include "scheduler.h" #include "scheduler.h"
#include "utlist.h" #include "utlist.h"
#include "expected.h"
#pragma once #pragma once
/**
* this is a large value which is expected to be larger than any real time
*/
#define EMPTY_QUEUE 0x0FFFFFFFFFFFFFFFLL
#define QUEUE_LENGTH_LIMIT 1000 #define QUEUE_LENGTH_LIMIT 1000
// templates do not accept field names so we use a macro here // templates do not accept field names so we use a macro here
@ -58,7 +54,7 @@ public:
int executeAll(efitime_t now); int executeAll(efitime_t now);
bool executeOne(efitime_t now); bool executeOne(efitime_t now);
efitime_t getNextEventTime(efitime_t nowUs) const; expected<efitime_t> getNextEventTime(efitime_t nowUs) const;
void clear(void); void clear(void);
int size(void) const; int size(void) const;
scheduling_s *getElementAtIndexForUnitText(int index); scheduling_s *getElementAtIndexForUnitText(int index);

19
firmware/controllers/system/timer/single_timer_executor.cpp
View File

@ -35,11 +35,6 @@
#include "engine.h" #include "engine.h"
EXTERN_ENGINE; EXTERN_ENGINE;
/**
* these fields are global in order to facilitate debugging
*/
static efitime_t nextEventTimeNt = 0;
uint32_t hwSetTimerDuration; uint32_t hwSetTimerDuration;
void globalTimerCallback() { void globalTimerCallback() {
@ -154,12 +149,16 @@ void SingleTimerExecutor::scheduleTimerCallback() {
* Let's grab fresh time value * Let's grab fresh time value
*/ */
efitick_t nowNt = getTimeNowNt(); efitick_t nowNt = getTimeNowNt();
nextEventTimeNt = queue.getNextEventTime(nowNt); expected<efitick_t> nextEventTimeNt = queue.getNextEventTime(nowNt);
efiAssertVoid(CUSTOM_ERR_6625, nextEventTimeNt > nowNt, "setTimer constraint");
if (nextEventTimeNt == EMPTY_QUEUE) if (!nextEventTimeNt) {
return; // no pending events in the queue return; // no pending events in the queue
}
efiAssertVoid(CUSTOM_ERR_6625, nextEventTimeNt.Value > nowNt, "setTimer constraint");
int32_t hwAlarmTime = NT2US((int32_t)nextEventTimeNt.Value - (int32_t)nowNt);
int32_t hwAlarmTime = NT2US((int32_t)nextEventTimeNt - (int32_t)nowNt);
setHardwareUsTimer(hwAlarmTime == 0 ? 1 : hwAlarmTime); setHardwareUsTimer(hwAlarmTime == 0 ? 1 : hwAlarmTime);
} }

25
firmware/hw_layer/microsecond_timer.cpp
View File

@ -65,7 +65,9 @@ static volatile bool hwStarted = false;
*/ */
void setHardwareUsTimer(int32_t deltaTimeUs) { void setHardwareUsTimer(int32_t deltaTimeUs) {
efiAssertVoid(OBD_PCM_Processor_Fault, hwStarted, "HW.started"); efiAssertVoid(OBD_PCM_Processor_Fault, hwStarted, "HW.started");
setHwTimerCounter++; setHwTimerCounter++;
/** /**
* #259 BUG error: not positive deltaTimeUs * #259 BUG error: not positive deltaTimeUs
* Once in a while we night get an interrupt where we do not expect it * Once in a while we night get an interrupt where we do not expect it
@ -74,8 +76,12 @@ void setHardwareUsTimer(int32_t deltaTimeUs) {
timerFreezeCounter++; timerFreezeCounter++;
warning(CUSTOM_OBD_LOCAL_FREEZE, "local freeze cnt=%d", timerFreezeCounter); warning(CUSTOM_OBD_LOCAL_FREEZE, "local freeze cnt=%d", timerFreezeCounter);
} }
if (deltaTimeUs < 2)
deltaTimeUs = 2; // for some reason '1' does not really work // We need the timer to fire after we return - 1 doesn't work as it may actually schedule in the past
if (deltaTimeUs < 2) {
deltaTimeUs = 2;
}
efiAssertVoid(CUSTOM_DELTA_NOT_POSITIVE, deltaTimeUs > 0, "not positive deltaTimeUs"); efiAssertVoid(CUSTOM_DELTA_NOT_POSITIVE, deltaTimeUs > 0, "not positive deltaTimeUs");
if (deltaTimeUs >= TOO_FAR_INTO_FUTURE_US) { if (deltaTimeUs >= TOO_FAR_INTO_FUTURE_US) {
// we are trying to set callback for too far into the future. This does not look right at all // we are trying to set callback for too far into the future. This does not look right at all
@ -83,16 +89,21 @@ void setHardwareUsTimer(int32_t deltaTimeUs) {
return; return;
} }
// If already set, reset the timer
if (GPTDEVICE.state == GPT_ONESHOT) { if (GPTDEVICE.state == GPT_ONESHOT) {
gptStopTimerI(&GPTDEVICE); gptStopTimerI(&GPTDEVICE);
} }
if (GPTDEVICE.state != GPT_READY) { if (GPTDEVICE.state != GPT_READY) {
firmwareError(CUSTOM_HW_TIMER, "HW timer state %d/%d", GPTDEVICE.state, setHwTimerCounter); firmwareError(CUSTOM_HW_TIMER, "HW timer state %d/%d", GPTDEVICE.state, setHwTimerCounter);
return; return;
} }
if (hasFirmwareError()) { if (hasFirmwareError()) {
return; return;
} }
// Start the timer
gptStartOneShotI(&GPTDEVICE, deltaTimeUs); gptStartOneShotI(&GPTDEVICE, deltaTimeUs);
lastSetTimerTimeNt = getTimeNowNt(); lastSetTimerTimeNt = getTimeNowNt();
@ -103,8 +114,7 @@ void setHardwareUsTimer(int32_t deltaTimeUs) {
void globalTimerCallback(); void globalTimerCallback();
static void hwTimerCallback(GPTDriver *gptp) { static void hwTimerCallback(GPTDriver*) {
(void)gptp;
timerCallbackCounter++; timerCallbackCounter++;
isTimerPending = false; isTimerPending = false;
@ -148,8 +158,7 @@ static constexpr GPTConfig gpt5cfg = { 1000000, /* 1 MHz timer clock.*/
static scheduling_s watchDogBuddy; static scheduling_s watchDogBuddy;
static void watchDogBuddyCallback(void *arg) { static void watchDogBuddyCallback(void*) {
(void)arg;
/** /**
* the purpose of this periodic activity is to make watchdogControllerInstance * the purpose of this periodic activity is to make watchdogControllerInstance
* watchdog happy by ensuring that we have scheduler activity even in case of very broken configuration * watchdog happy by ensuring that we have scheduler activity even in case of very broken configuration
@ -161,9 +170,7 @@ static void watchDogBuddyCallback(void *arg) {
static volatile bool testSchedulingHappened = false; static volatile bool testSchedulingHappened = false;
static efitimems_t testSchedulingStart; static efitimems_t testSchedulingStart;
static void timerValidationCallback(void *arg) { static void timerValidationCallback(void*) {
(void)arg;
testSchedulingHappened = true; testSchedulingHappened = true;
efitimems_t actualTimeSinceScheduling = (currentTimeMillis() - testSchedulingStart); efitimems_t actualTimeSinceScheduling = (currentTimeMillis() - testSchedulingStart);

11
unit_tests/tests/test_signal_executor.cpp
View File

@ -6,7 +6,6 @@
*/ */
#include "global.h" #include "global.h"
#include <time.h>
#include "test_signal_executor.h" #include "test_signal_executor.h"
#include "io_pins.h" #include "io_pins.h"
@ -91,7 +90,7 @@ TEST(misc, testSignalExecutor) {
print("*************************************** testSignalExecutor\r\n"); print("*************************************** testSignalExecutor\r\n");
EventQueue eq; EventQueue eq;
ASSERT_EQ(EMPTY_QUEUE, eq.getNextEventTime(0)); ASSERT_EQ(eq.getNextEventTime(0), unexpected);
scheduling_s s1; scheduling_s s1;
scheduling_s s2; scheduling_s s2;
scheduling_s s3; scheduling_s s3;
@ -131,7 +130,7 @@ TEST(misc, testSignalExecutor) {
callbackCounter = 0; callbackCounter = 0;
eq.insertTask(&s1, 10, callback); eq.insertTask(&s1, 10, callback);
ASSERT_EQ(10, eq.getNextEventTime(0)); ASSERT_EQ(10, eq.getNextEventTime(0).value_or(-1));
eq.executeAll(1); eq.executeAll(1);
ASSERT_EQ( 0, callbackCounter) << "callbacks not expected"; ASSERT_EQ( 0, callbackCounter) << "callbacks not expected";
@ -139,14 +138,14 @@ TEST(misc, testSignalExecutor) {
eq.executeAll(11); eq.executeAll(11);
ASSERT_EQ(1, callbackCounter); ASSERT_EQ(1, callbackCounter);
ASSERT_EQ(EMPTY_QUEUE, eq.getNextEventTime(0)); ASSERT_EQ(eq.getNextEventTime(0), unexpected);
eq.insertTask(&s1, 10, callback); eq.insertTask(&s1, 10, callback);
eq.insertTask(&s2, 13, callback); eq.insertTask(&s2, 13, callback);
ASSERT_EQ(10, eq.getNextEventTime(0)); ASSERT_EQ(10, eq.getNextEventTime(0).value_or(-1));
eq.executeAll(1); eq.executeAll(1);
ASSERT_EQ(10, eq.getNextEventTime(0)); ASSERT_EQ(10, eq.getNextEventTime(0).value_or(-1));
eq.executeAll(100); eq.executeAll(100);
ASSERT_EQ(0, eq.size()); ASSERT_EQ(0, eq.size());