Realtime multitask monitor for mruby/c. More...

#include "mrubyc.h"
#include "_autogen_class_rrt0.h"

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Macros
#define	MRBC_SCHEDULER_EXIT 0
#define	MRBC_MUTEX_TRACE(...)
#define	DEPRECATED(msg)
#define	NUM_TCB_QUEUE 4
#define	q_dormant_ (tcb_queue_[0])
#define	q_ready_ (tcb_queue_[1])
#define	q_waiting_ (tcb_queue_[2])
#define	q_suspended_ (tcb_queue_[3])

Functions
void	mrbc_task_q_insert (mrbc_tcb *p_tcb)
void	mrbc_task_q_delete (mrbc_tcb *p_tcb)
mrbc_tcb *	mrbc_task_q_waiting_head (void)
static void	preempt_running_task (void)
static int	get_timed_wakeup_tick (const mrbc_tcb t, uint32_t out)
void	mrbc_tick (void)
mrbc_tcb *	mrbc_tcb_new (int regs_size, enum MrbcTaskState task_state, int priority)
mrbc_tcb *	mrbc_create_task (const void byte_code, mrbc_tcb tcb)
int	mrbc_delete_task (mrbc_tcb *tcb)
void	mrbc_set_task_name (mrbc_tcb tcb, const char name)
mrbc_tcb *	mrbc_find_task (const char *name)
int	mrbc_start_task (mrbc_tcb *tcb)
static void	terminate_task (mrbc_tcb *tcb)
int	mrbc_run (void)
void	mrbc_sleep_ms (mrbc_tcb *tcb, uint32_t ms)
uint32_t	mrbc_deadline_after_ms (mrbc_int_t ms, int *p_overflow)
int	mrbc_deadline_reached (uint32_t deadline)
void	mrbc_register_wakeup (uint32_t wakeup_tick)
void	mrbc_wakeup_task (mrbc_tcb *tcb)
void	mrbc_relinquish (mrbc_tcb *tcb)
void	mrbc_change_priority (mrbc_tcb *tcb, int priority)
void	mrbc_suspend_task (mrbc_tcb *tcb)
void	mrbc_resume_task (mrbc_tcb *tcb)
void	mrbc_terminate_task (mrbc_tcb *tcb)
void	mrbc_join_task (mrbc_tcb tcb, const mrbc_tcb tcb_join)
mrbc_mutex *	mrbc_mutex_init (mrbc_mutex *mutex)
int	mrbc_mutex_lock (mrbc_mutex mutex, mrbc_tcb tcb)
int	mrbc_mutex_unlock (mrbc_mutex mutex, mrbc_tcb tcb)
int	mrbc_mutex_trylock (mrbc_mutex mutex, mrbc_tcb tcb)
void	mrbc_cleanup (void)
static void	c_sleep (mrbc_vm *vm, mrbc_value v[], int argc)
static mrbc_value	sub_task_get (mrbc_vm vm, mrbc_tcb tcb)
void	mrbc_init (void *heap_ptr, unsigned int size)

Variables
static mrbc_tcb *	tcb_queue_ [NUM_TCB_QUEUE]
static volatile uint32_t	tick_
static volatile uint32_t	wakeup_tick_ = ((uint32_t)1 << 16)

Detailed Description

Realtime multitask monitor for mruby/c.

Copyright (C) 2015-      Kyushu Institute of Technology.
Copyright (C) 2015-2026  Shimane IT Open-Innovation Center.
Copyright (C) 2026-      Shimane Institute for Industrial Technology.

This file is distributed under BSD 3-Clause License.

Definition in file rrt0.c.

Macro Definition Documentation

◆ DEPRECATED

#define DEPRECATED ( msg )

Value:

  do { \
  static const char msg1[] = "Warning: "; \
  static const char msg2[] = " method will be removed in future version.\n"; \
  mrbc_hal_write(2, msg1, sizeof(msg1)-1); \
  mrbc_hal_write(2, msg, strlen(msg)); \
  mrbc_hal_write(2, msg2, sizeof(msg2)-1); \
} while(0)

Definition at line 37 of file rrt0.c.

◆ MRBC_MUTEX_TRACE

#define MRBC_MUTEX_TRACE ( ... )

Value:

((void)0)

Definition at line 32 of file rrt0.c.

◆ MRBC_SCHEDULER_EXIT

#define MRBC_SCHEDULER_EXIT 0

Definition at line 29 of file rrt0.c.

◆ NUM_TCB_QUEUE

#define NUM_TCB_QUEUE 4

Definition at line 48 of file rrt0.c.

◆ q_dormant_

#define q_dormant_ (tcb_queue_[0])

Definition at line 50 of file rrt0.c.

◆ q_ready_

#define q_ready_ (tcb_queue_[1])

Definition at line 51 of file rrt0.c.

◆ q_suspended_

#define q_suspended_ (tcb_queue_[3])

Definition at line 53 of file rrt0.c.

◆ q_waiting_

#define q_waiting_ (tcb_queue_[2])

Definition at line 52 of file rrt0.c.

Function Documentation

◆ c_sleep()

void c_sleep	(	mrbc_vm *	vm,
		mrbc_value	v[],
		int	argc )

static

(method) sleep for a specified number of seconds (CRuby compatible)

Definition at line 975 of file rrt0.c.

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◆ get_timed_wakeup_tick()

int get_timed_wakeup_tick	(	const mrbc_tcb *	t,
		uint32_t *	out )

static

Get the timed wakeup tick of a waiting task, if it has one.

A SLEEP task always has a deadline; a QUEUE task has one only when popped with a timeout (queue.wakeup_tick != MRBC_WAIT_FOREVER). Other wait reasons have no timed wakeup.

Parameters

t	task control block.
out	receives the wakeup tick when the function returns non-zero.

Returns: non-zero if the task has a timed wakeup.

Definition at line 191 of file rrt0.c.

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◆ mrbc_change_priority()

void mrbc_change_priority	(	mrbc_tcb *	tcb,
		int	priority )

change task priority.

Parameters

tcb	target task.
priority	priority value. between 1 and 255.

Definition at line 702 of file rrt0.c.

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◆ mrbc_cleanup()

void mrbc_cleanup ( void )

clenaup all resources.

Definition at line 961 of file rrt0.c.

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◆ mrbc_create_task()

mrbc_tcb * mrbc_create_task	(	const void *	byte_code,
		mrbc_tcb *	tcb )

Create a task specifying bytecode to be executed.

Parameters

byte_code	pointer to VM byte code.
tcb	Task control block with parameter, or NULL.

Returns: Pointer to mrbc_tcb or NULL.

Definition at line 298 of file rrt0.c.

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◆ mrbc_deadline_after_ms()

uint32_t mrbc_deadline_after_ms	(	mrbc_int_t	ms,
		int *	p_overflow )

Convert a millisecond timeout into an absolute wakeup tick (deadline).

Parameters

ms	timeout in milliseconds (must be >= 0).
p_overflow	set to non-zero when the deadline is too far ahead to be expressed in the 31-bit signed tick window.

Returns: absolute deadline tick, normalized so that it never equals the MRBC_WAIT_FOREVER sentinel.

Definition at line 603 of file rrt0.c.

◆ mrbc_deadline_reached()

int mrbc_deadline_reached ( uint32_t deadline )

Test whether an absolute deadline tick has been reached.

Parameters

deadline absolute deadline tick from mrbc_deadline_after_ms().

Returns: non-zero if the current tick is at or past the deadline.

Definition at line 625 of file rrt0.c.

◆ mrbc_delete_task()

int mrbc_delete_task ( mrbc_tcb * tcb )

Delete a task.

Parameters

tcb	target task.

Returns: 0 on success, or a negative value on error.

Definition at line 332 of file rrt0.c.

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◆ mrbc_find_task()

mrbc_tcb * mrbc_find_task ( const char * name )

find task by name

Parameters

name task name

Returns: pointer to mrbc_tcb or NULL

Definition at line 370 of file rrt0.c.

◆ mrbc_init()

void mrbc_init	(	void *	heap_ptr,
		unsigned int	size )

initialize

Parameters

heap_ptr	heap memory buffer.
size	its size.

Definition at line 1634 of file rrt0.c.

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◆ mrbc_join_task()

void mrbc_join_task	(	mrbc_tcb *	tcb,
		const mrbc_tcb *	tcb_join )

join the task.

Parameters

tcb	target task.
tcb_join	join task.

Definition at line 789 of file rrt0.c.

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◆ mrbc_mutex_init()

mrbc_mutex * mrbc_mutex_init ( mrbc_mutex * mutex )

mutex initialize

Parameters

mutex pointer to mrbc_mutex or NULL.

Definition at line 814 of file rrt0.c.

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◆ mrbc_mutex_lock()

int mrbc_mutex_lock	(	mrbc_mutex *	mutex,
		mrbc_tcb *	tcb )

mutex lock

Parameters

mutex	pointer to mutex.
tcb	pointer to TCB.

Definition at line 833 of file rrt0.c.

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◆ mrbc_mutex_trylock()

int mrbc_mutex_trylock	(	mrbc_mutex *	mutex,
		mrbc_tcb *	tcb )

mutex trylock

Parameters

mutex	pointer to mutex.
tcb	pointer to TCB.

Definition at line 934 of file rrt0.c.

◆ mrbc_mutex_unlock()

int mrbc_mutex_unlock	(	mrbc_mutex *	mutex,
		mrbc_tcb *	tcb )

mutex unlock

Parameters

mutex	pointer to mutex.
tcb	pointer to TCB.

Definition at line 877 of file rrt0.c.

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◆ mrbc_register_wakeup()

void mrbc_register_wakeup ( uint32_t wakeup_tick )

Lower the global next-wakeup tick to account for a new deadline.

The caller must hold the IRQ lock; this only updates wakeup_tick_ when the given deadline is earlier than the currently scheduled one.

Parameters

wakeup_tick absolute deadline tick to register.

Definition at line 639 of file rrt0.c.

◆ mrbc_relinquish()

void mrbc_relinquish ( mrbc_tcb * tcb )

Relinquish control to other tasks.

Parameters

tcb	target task.

Definition at line 689 of file rrt0.c.

◆ mrbc_resume_task()

void mrbc_resume_task ( mrbc_tcb * tcb )

resume the task

Parameters

tcb	target task.

Definition at line 741 of file rrt0.c.

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◆ mrbc_run()

int mrbc_run ( void )

execute

Definition at line 448 of file rrt0.c.

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◆ mrbc_set_task_name()

void mrbc_set_task_name	(	mrbc_tcb *	tcb,
		const char *	name )

set the task name.

Parameters

tcb	target task.
name	task name

Definition at line 352 of file rrt0.c.

◆ mrbc_sleep_ms()

void mrbc_sleep_ms	(	mrbc_tcb *	tcb,
		uint32_t	ms )

Alternative to mrbc_run for Wasm build

sleep for a specified number of milliseconds.

Parameters

tcb	target task.
ms	sleep milliseconds.

Definition at line 575 of file rrt0.c.

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◆ mrbc_start_task()

int mrbc_start_task ( mrbc_tcb * tcb )

Start execution of dormant task.

Parameters

tcb	target task.

Returns: 0 on success, or a negative value on error.

Definition at line 393 of file rrt0.c.

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◆ mrbc_suspend_task()

void mrbc_suspend_task ( mrbc_tcb * tcb )

Suspend the task.

Parameters

tcb	target task.

Definition at line 722 of file rrt0.c.

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◆ mrbc_task_q_delete()

void mrbc_task_q_delete ( mrbc_tcb * p_tcb )

Delete task(TCB) from task queue

Parameters

p_tcb Pointer to target TCB

Definition at line 128 of file rrt0.c.

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◆ mrbc_task_q_insert()

void mrbc_task_q_insert ( mrbc_tcb * p_tcb )

Insert task(TCB) to task queue

Parameters

p_tcb Pointer to target TCB

Put the task (TCB) into a queue by each state. TCB must be free. (must not be in another queue) The queue is sorted in priority_preemption order. If the same priority_preemption value is in the TCB and queue, it will be inserted at the end of the same value in queue.

Definition at line 94 of file rrt0.c.

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◆ mrbc_task_q_waiting_head()

mrbc_tcb * mrbc_task_q_waiting_head ( void )

get the head of the WAITING task queue.

Provided so that out-of-file features (e.g. Task::Queue) can scan the tasks that are currently in the WAITING state.

Returns: Pointer to the first TCB in the waiting queue, or NULL.

Definition at line 163 of file rrt0.c.

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◆ mrbc_tcb_new()

mrbc_tcb * mrbc_tcb_new	(	int	regs_size,
		enum MrbcTaskState	task_state,
		int	priority )

create (allocate) TCB.

Parameters

regs_size	num of allocated registers.
task_state	task initial state.
priority	task priority.

Returns: pointer to TCB.

Code example

//  If you want specify default value, see below.
//    regs_size:  MAX_REGS_SIZE (in vm_config.h)
//    task_state: MRBC_TASK_DEFAULT_STATE
//    priority:   MRBC_TASK_DEFAULT_PRIORITY
mrbc_tcb *tcb;
tcb = mrbc_tcb_new( MAX_REGS_SIZE, MRBC_TASK_DEFAULT_STATE, MRBC_TASK_DEFAULT_PRIORITY );
mrbc_create_task( byte_code, tcb );

Definition at line 273 of file rrt0.c.

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◆ mrbc_terminate_task()

void mrbc_terminate_task ( mrbc_tcb * tcb )

terminate the task.

Parameters

tcb	target task.

Note: This API simply ends the task. note that this does not affect the lock status of mutex.

Definition at line 774 of file rrt0.c.

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◆ mrbc_tick()

void mrbc_tick ( void )

Tick timer interrupt handler.

Definition at line 213 of file rrt0.c.

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◆ mrbc_wakeup_task()

void mrbc_wakeup_task ( mrbc_tcb * tcb )

wake up the task.

Parameters

tcb	target task.

Definition at line 652 of file rrt0.c.

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◆ preempt_running_task()

void preempt_running_task ( void )

inlinestatic

preempt running task

Definition at line 172 of file rrt0.c.

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◆ sub_task_get()

mrbc_value sub_task_get	(	mrbc_vm *	vm,
		mrbc_tcb *	tcb )

static

Definition at line 1030 of file rrt0.c.

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◆ terminate_task()

void terminate_task ( mrbc_tcb * tcb )

static

Definition at line 414 of file rrt0.c.

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Variable Documentation

◆ tcb_queue_

mrbc_tcb* tcb_queue_[NUM_TCB_QUEUE]

static

Definition at line 49 of file rrt0.c.

◆ tick_

volatile uint32_t tick_

static

Definition at line 54 of file rrt0.c.

◆ wakeup_tick_

volatile uint32_t wakeup_tick_ = ((uint32_t)1 << 16)

static

Definition at line 55 of file rrt0.c.

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ DEPRECATED

◆ MRBC_MUTEX_TRACE

◆ MRBC_SCHEDULER_EXIT

◆ NUM_TCB_QUEUE

◆ q_dormant_

◆ q_ready_

◆ q_suspended_

◆ q_waiting_

Function Documentation

◆ c_sleep()

◆ get_timed_wakeup_tick()

◆ mrbc_change_priority()

◆ mrbc_cleanup()

◆ mrbc_create_task()

◆ mrbc_deadline_after_ms()

◆ mrbc_deadline_reached()

◆ mrbc_delete_task()

◆ mrbc_find_task()

◆ mrbc_init()

◆ mrbc_join_task()

◆ mrbc_mutex_init()

◆ mrbc_mutex_lock()

◆ mrbc_mutex_trylock()

◆ mrbc_mutex_unlock()

◆ mrbc_register_wakeup()

◆ mrbc_relinquish()

◆ mrbc_resume_task()

◆ mrbc_run()

◆ mrbc_set_task_name()

◆ mrbc_sleep_ms()

◆ mrbc_start_task()

◆ mrbc_suspend_task()

◆ mrbc_task_q_delete()

◆ mrbc_task_q_insert()

◆ mrbc_task_q_waiting_head()

◆ mrbc_tcb_new()

◆ mrbc_terminate_task()

◆ mrbc_tick()

◆ mrbc_wakeup_task()

◆ preempt_running_task()

◆ sub_task_get()

◆ terminate_task()

Variable Documentation

◆ tcb_queue_

◆ tick_

◆ wakeup_tick_