add cancel to scheduler (#3201)

* fw

* for tests

* simulator

* sim

Co-authored-by: Matthew Kennedy <makenne@microsoft.com>

firmware/controllers/system/timer/scheduler.h

@@ -67,4 +67,5 @@ struct ExecutorInterface {
 	virtual void scheduleByTimestamp(const char *msg, scheduling_s *scheduling, efitimeus_t timeUs, action_s action) = 0;
 	virtual void scheduleByTimestampNt(const char *msg, scheduling_s *scheduling, efitime_t timeUs, action_s action) = 0;
 	virtual void scheduleForLater(scheduling_s *scheduling, int delayUs, action_s action) = 0;
+	virtual void cancel(scheduling_s* scheduling) = 0;
 };

firmware/controllers/system/timer/signal_executor_sleep.cpp

@@ -91,4 +91,12 @@ void SleepExecutor::scheduleForLater(scheduling_s *scheduling, int delayUs, acti
 	doScheduleForLater(scheduling, delayUs, action);
 }
 
+void SleepExecutor::cancel(scheduling_s* s) {
+	if (chVTIsArmedI(&s->timer)) {
+		chVTResetI(&s->timer);
+	}
+
+	s->action = {};
+}
+
 #endif /* EFI_SIGNAL_EXECUTOR_SLEEP */

firmware/controllers/system/timer/signal_executor_sleep.h

@@ -14,4 +14,5 @@ public:
 	void scheduleByTimestamp(const char *msg, scheduling_s *scheduling, efitimeus_t timeUs, action_s action) override;
 	void scheduleByTimestampNt(const char *msg, scheduling_s *scheduling, efitick_t timeNt, action_s action) override;
 	void scheduleForLater(scheduling_s *scheduling, int delayUs, action_s action) override;
+	void cancel(scheduling_s* s) override;
 };

firmware/controllers/system/timer/single_timer_executor.cpp

@@ -90,6 +90,13 @@ void SingleTimerExecutor::scheduleByTimestampNt(const char *msg, scheduling_s* s
 	}
 }
 
+void SingleTimerExecutor::cancel(scheduling_s* scheduling) {
+	// Lock for queue removal - we may already be locked, but that's ok
+	chibios_rt::CriticalSectionLocker csl;
+
+	queue.remove(scheduling);
+}
+
 void SingleTimerExecutor::onTimerCallback() {
 	timerCallbackCounter++;
 

firmware/controllers/system/timer/single_timer_executor.h

@@ -16,6 +16,8 @@ public:
 	void scheduleByTimestamp(const char *msg, scheduling_s *scheduling, efitimeus_t timeUs, action_s action) override;
 	void scheduleByTimestampNt(const char *msg, scheduling_s *scheduling, efitime_t timeNt, action_s action) override;
 	void scheduleForLater(scheduling_s *scheduling, int delayUs, action_s action) override;
+	void cancel(scheduling_s* scheduling) override;
+
 	void onTimerCallback();
 	int timerCallbackCounter = 0;
 	int scheduleCounter = 0;

unit_tests/global_execution_queue.cpp

@@ -70,6 +70,15 @@ void TestExecutor::scheduleByTimestampNt(const char *msg, scheduling_s* scheduli
 	scheduleByTimestamp("test", scheduling, NT2US(timeNt), action);
 }
 
+void TestExecutor::cancel(scheduling_s* s) {
+	if (m_mockExecutor) {
+		m_mockExecutor->cancel(s);
+		return;
+	}
+
+	schedulingQueue.remove(s);
+}
+
 void TestExecutor::setMockExecutor(ExecutorInterface* exec) {
 	m_mockExecutor = exec;
 }

unit_tests/global_execution_queue.h

@@ -17,6 +17,8 @@ public:
 	void scheduleByTimestamp(const char *msg, scheduling_s *scheduling, efitimeus_t timeUs, action_s action) override;
 	void scheduleByTimestampNt(const char *msg, scheduling_s *scheduling, efitick_t timeNt, action_s action) override;
 	void scheduleForLater(scheduling_s *scheduling, int delayUs, action_s action) override;
+	void cancel(scheduling_s* scheduling) override;
+
 	void clear();
 	int executeAll(efitime_t now);
 	int size();

unit_tests/mocks.h

@@ -58,6 +58,7 @@ public:
 	MOCK_METHOD(void, scheduleByTimestamp, (const char *msg, scheduling_s *scheduling, efitimeus_t timeUs, action_s action), (override));
 	MOCK_METHOD(void, scheduleByTimestampNt, (const char *msg, scheduling_s *scheduling, efitime_t timeUs, action_s action), (override));
 	MOCK_METHOD(void, scheduleForLater, (scheduling_s *scheduling, int delayUs, action_s action), (override));
+	MOCK_METHOD(void, cancel, (scheduling_s*), (override));
 };
 
 class MockAirmass : public AirmassVeModelBase {