Merge pull request #1 from discosat/dynamically-allocated-store

Add dynamically allocated proc store and locks

include/csp_proc/proc_mutex.h

@@ -0,0 +1,49 @@
+#ifndef CSP_PROC_MUTEX_H
+#define CSP_PROC_MUTEX_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define PROC_MUTEX_OK  0
+#define PROC_MUTEX_ERR 1
+
+typedef struct proc_mutex_t proc_mutex_t;
+
+/**
+ * Create a new mutex.
+ *
+ * @return A pointer to the new mutex
+ */
+proc_mutex_t * proc_mutex_create();
+
+/**
+ * Take/lock mutex.
+ *
+ * @param mutex The mutex to take
+ *
+ * @return 0 on success, 1 on failure
+ */
+int proc_mutex_take(proc_mutex_t * mutex);
+
+/**
+ * Give/unlock mutex.
+ *
+ * @param mutex The mutex to give
+ *
+ * @return 0 on success, 1 on failure
+ */
+int proc_mutex_give(proc_mutex_t * mutex);
+
+/**
+ * Destroy mutex.
+ *
+ * @param mutex The mutex to destroy
+ */
+void proc_mutex_destroy(proc_mutex_t * mutex);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // CSP_PROC_MUTEX_H

include/csp_proc/proc_runtime.h

@@ -34,7 +34,7 @@ extern "C" {
  *
  * @return 0 on success, -1 on failure
  */
-int proc_runtime_init();
+int __attribute__((weak)) proc_runtime_init();
 
 /**
  * Run a procedure stored in a given slot.
@@ -43,7 +43,7 @@ int proc_runtime_init();
  *
  * @return 0 on success, -1 on failure
  */
-int proc_runtime_run(uint8_t proc_slot);
+int __attribute__((weak)) proc_runtime_run(uint8_t proc_slot);
 
 /**
  * Used to indicate the result of an if-else instruction in an instruction handler.

include/csp_proc/proc_server.h

@@ -45,6 +45,13 @@ typedef enum {
 #define PROC_FLAG_ERROR_MASK 0b01000000
 #define PROC_FLAG_ERROR      0b01000000
 
+/**
+ * Conditionally initialize sub-components of the procedure server (proc_store, proc_runtime)
+ *
+ * @return 0 on success, -1 on failure
+ */
+int proc_server_init();
+
 /**
  * Handle incoming procedure requests
  *

include/csp_proc/proc_store.h

@@ -6,21 +6,27 @@ extern "C" {
 #endif
 
 #include <stdint.h>
+#include <csp_proc/proc_mutex.h>
 #include <csp_proc/proc_types.h>
 
-extern proc_t proc_store[MAX_PROC_SLOT + 1];
+extern proc_mutex_t * proc_store_mutex;
 
 /**
  * Delete/reinitialize a fresh procedure from the procedure storage.
  *
  * @param slot The slot to delete the procedure from
  */
-int delete_proc(uint8_t slot);
+int __attribute__((weak)) delete_proc(uint8_t slot);
 
 /**
- * Initialize/reset the procedure storage.
+ * Reset the procedure storage.
  */
-void reset_proc_store();
+void __attribute__((weak)) reset_proc_store();
+
+/**
+ * Initialize the procedure storage and any necessary resources.
+ */
+int __attribute__((weak)) proc_store_init();
 
 /**
  * Add a procedure to the procedure storage at the specified slot.
@@ -31,7 +37,7 @@ void reset_proc_store();
  *
  * @return The slot the procedure was added to, or -1 if the slot was occupied and overwrite was false
  */
-int set_proc(proc_t * proc, uint8_t slot, int overwrite);
+int __attribute__((weak)) set_proc(proc_t * proc, uint8_t slot, int overwrite);
 
 /**
  * Get a procedure from the procedure storage.
@@ -40,14 +46,14 @@ int set_proc(proc_t * proc, uint8_t slot, int overwrite);
  *
  * @return The procedure at the specified slot, or NULL if the slot is empty
  */
-proc_t * get_proc(uint8_t slot);
+proc_t * __attribute__((weak)) get_proc(uint8_t slot);
 
 /**
  * Get the slots of the procedures in the procedure storage with an instruction count greater than 0.
  *
  * @return A dynamically allocated array containing the slots of the procedures, terminated by -1. The caller is responsible for freeing this array.
  */
-int * get_proc_slots();
+int * __attribute__((weak)) get_proc_slots();
 
 #ifdef __cplusplus
 }

meson.build

@@ -12,8 +12,6 @@ csp_proc_inc = include_directories('include')
 csp_proc_src = files([
 	'src/proc_client.c',
 	'src/proc_pack.c',
-	'src/proc_server.c',
-	'src/proc_store.c',
 ])
 
 # Static & dynamic analysis
@@ -35,12 +33,28 @@ if get_option('slash') == true
 endif
 
 if get_option('posix') == true and get_option('freertos') == true
-    error('Cannot build with multiple runtimes enabled (choose one max)')
+    error('Cannot build for both POSIX and FreeRTOS (choose one max)')
+endif
+
+if get_option('posix') == false and get_option('freertos') == false
+	error('Must build for either POSIX or FreeRTOS (choose one)')
+endif
+
+if get_option('posix') == true
+	csp_proc_src += files([
+		'src/sync/proc_mutex_POSIX.c',
+	])
+endif
+
+if get_option('freertos') == true
+	csp_proc_src += files([
+		'src/sync/proc_mutex_FreeRTOS.c',
+	])
 endif
 
 # Default FreeRTOS-based runtime implementation
 freertos_dep = []
-if get_option('freertos') == true
+if get_option('freertos') == true and get_option('proc_runtime') == true
 	freertos_dep = dependency('freertos', fallback : ['freertos', 'freertos_dep'], required: false)
 	if freertos_dep.found()
 		csp_proc_src += files([
@@ -50,17 +64,43 @@ if get_option('freertos') == true
 			'src/proc_analyze.c',
 		])
 	endif
+	if get_option('proc_store_static') == false and get_option('proc_store_dynamic') == false
+		error('FreeRTOS runtime requires a proc store (e.g. proc_store_dynamic=true)')
+	endif
 endif
 
 # Default POSIX-based runtime implementation
 posix_dep = []
-if get_option('posix') == true
+if get_option('posix') == true and get_option('proc_runtime') == true
 	csp_proc_src += files([
 		'src/runtime/proc_runtime_instructions_common.c',
 		'src/runtime/proc_runtime_instructions_POSIX.c',
 		'src/runtime/proc_runtime_POSIX.c',
 		'src/proc_analyze.c',
 	])
+	if get_option('proc_store_static') == false and get_option('proc_store_dynamic') == false
+		error('POSIX runtime requires a proc store (e.g. proc_store_dynamic=true)')
+	endif
+endif
+
+if get_option('proc_store_static') == true and get_option('proc_store_dynamic') == true
+	error('Cannot build with multiple proc stores enabled (choose one max)')
+endif
+
+# Static store
+if get_option('proc_store_static') == true
+	csp_proc_src += files([
+		'src/store/proc_store_static.c',
+		'src/proc_server.c',  # proc server only makes sense with a proc store
+	])
+endif
+
+# Dynamic store
+if get_option('proc_store_dynamic') == true
+	csp_proc_src += files([
+		'src/store/proc_store_dynamic.c',
+		'src/proc_server.c',  # proc server only makes sense with a proc store
+	])
 endif
 
 # Configuration options
@@ -95,7 +135,7 @@ csp_proc_lib = static_library('csp_proc',
 	install : false
 )
 
-csp_proc_dep = declare_dependency(include_directories : csp_proc_inc, link_with : csp_proc_lib)
+csp_proc_dep = declare_dependency(include_directories : csp_proc_inc, link_with : csp_proc_lib, dependencies : [csp_dep, param_dep])
 
 
 # Tests

meson_options.txt

@@ -1,9 +1,12 @@
 option('build_tests', type: 'boolean', value: false, description: 'Build the test suite')
 
-option('slash', type: 'boolean', value: false, description: 'Build slash (yields)', yield: true)
-option('freertos', type: 'boolean', value: false, description: 'Build the default FreeRTOS-based runtime (yields)', yield: true)
-option('posix', type: 'boolean', value: false, description: 'Build the default POSIX-based runtime (yields)', yield: true)
+option('slash', type: 'boolean', value: false, description: 'Build slash', yield: true)
+option('freertos', type: 'boolean', value: false, description: 'Build for FreeRTOS system', yield: true)
+option('posix', type: 'boolean', value: true, description: 'Build for POSIX system', yield: true)
+option('proc_runtime', type: 'boolean', value: false, description: 'Build the runtime module')
 option('proc_analysis', type: 'boolean', value: false, description: 'Build the analysis module')
+option('proc_store_static', type: 'boolean', value: false, description: 'Build the proc store with static memory allocation')
+option('proc_store_dynamic', type: 'boolean', value: true, description: 'Build the proc store with dynamic memory allocation')
 
 option('RESERVED_PROC_SLOTS', type : 'string', value : '', description : 'The number of reserved procedure slots.')
 option('MAX_PROC_BLOCK_TIMEOUT_MS', type : 'string', value : '', description : 'The maximum time block instructions will wait before timing out.')

src/proc_server.c

@@ -5,8 +5,29 @@
 
 #include <stdlib.h>
 #include <csp/csp_types.h>
+#include <csp/csp.h>
 
-int __attribute__((weak)) proc_runtime_run(uint8_t proc_slot);
+int proc_server_init() {
+	int ret = 0;
+
+	if (proc_store_init != NULL) {
+		csp_print("Initializing proc store\n");
+		ret = proc_store_init();
+		if (ret != 0) {
+			return ret;
+		}
+	}
+
+	if (proc_runtime_init != NULL) {
+		csp_print("Initializing proc runtime\n");
+		ret = proc_runtime_init();
+		if (ret != 0) {
+			return ret;
+		}
+	}
+	csp_print("Proc server initialized\n");
+	return ret;
+}
 
 static void proc_serve_del_request(csp_packet_t * packet) {
 	uint8_t slot = packet->data[1];
@@ -22,7 +43,7 @@ static void proc_serve_del_request(csp_packet_t * packet) {
 static void proc_serve_pull_request(csp_packet_t * packet) {
 	uint8_t slot = packet->data[1];
 	proc_t * procedure = get_proc(slot);
-	if (procedure == NULL || procedure->instruction_count == 0) {
+	if (procedure == NULL) {
 		printf("Procedure not found\n");
 		packet->data[0] = PROC_PULL_RESPONSE;
 		packet->data[0] |= PROC_FLAG_END;
@@ -72,7 +93,17 @@ static void proc_serve_push_request(csp_packet_t * packet) {
 		return;
 	}
 
-	set_proc(procedure, packet->data[1], 1);
+	ret = set_proc(procedure, packet->data[1], 0);
+	if (ret < 0) {
+		printf("Failed to set procedure\n");
+		free_proc(procedure);
+		packet->data[0] = PROC_PUSH_RESPONSE;
+		packet->data[0] |= PROC_FLAG_END;
+		packet->data[0] |= PROC_FLAG_ERROR;
+		packet->length = 1;
+		csp_sendto_reply(packet, packet, CSP_O_SAME);
+		return;
+	}
 
 	packet->data[0] = PROC_PUSH_RESPONSE;
 	packet->data[0] |= PROC_FLAG_END;