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	VM2TCB(p)
#define	MRBC_MUTEX_TRACE(...)
#define	NUM_TASK_QUEUE 4
#define	q_dormant_ (task_queue_[0])
#define	q_ready_ (task_queue_[1])
#define	q_waiting_ (task_queue_[2])
#define	q_suspended_ (task_queue_[3])

Functions
static void	q_insert_task (mrbc_tcb *p_tcb)
static void	q_delete_task (mrbc_tcb *p_tcb)
static void	preempt_running_task (void)
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)
int	mrbc_run (void)
void	mrbc_sleep_ms (mrbc_tcb *tcb, uint32_t ms)
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)
void	mrbc_init (void *heap_ptr, unsigned int size)

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

Detailed Description

Realtime multitask monitor for mruby/c.

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

This file is distributed under BSD 3-Clause License.

Definition in file rrt0.c.

Macro Definition Documentation

◆ 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 28 of file rrt0.c.

◆ NUM_TASK_QUEUE

#define NUM_TASK_QUEUE 4

Definition at line 38 of file rrt0.c.

◆ q_dormant_

#define q_dormant_ (task_queue_[0])

Definition at line 40 of file rrt0.c.

◆ q_ready_

#define q_ready_ (task_queue_[1])

Definition at line 41 of file rrt0.c.

◆ q_suspended_

#define q_suspended_ (task_queue_[3])

Definition at line 43 of file rrt0.c.

◆ q_waiting_

#define q_waiting_ (task_queue_[2])

Definition at line 42 of file rrt0.c.

◆ VM2TCB

#define VM2TCB ( p )

Value:

((mrbc_tcb *)((uint8_t *)p - offsetof(mrbc_tcb, vm)))

mrbc_tcb

struct RTcb mrbc_tcb

Task control block.

Definition at line 31 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 858 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 580 of file rrt0.c.

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◆ mrbc_cleanup()

void mrbc_cleanup ( void )

clenaup all resources.

Definition at line 844 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 227 of file rrt0.c.

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◆ mrbc_delete_task()

int mrbc_delete_task ( mrbc_tcb * tcb )

Delete a task.

Parameters

tcb	Task control block.

Returns: Pointer to mrbc_tcb or NULL.

Definition at line 262 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 300 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 1479 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 671 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 696 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 716 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 817 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 760 of file rrt0.c.

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◆ mrbc_relinquish()

void mrbc_relinquish ( mrbc_tcb * tcb )

Relinquish control to other tasks.

Parameters

tcb	target task.

Definition at line 567 of file rrt0.c.

◆ mrbc_resume_task()

void mrbc_resume_task ( mrbc_tcb * tcb )

resume the task

Parameters

tcb	target task.

Definition at line 619 of file rrt0.c.

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◆ mrbc_run()

int mrbc_run ( void )

execute

Definition at line 347 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 282 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 507 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.

Return values

int	zero / no error.

Definition at line 323 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 600 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 or NULL.

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 200 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 651 of file rrt0.c.

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◆ mrbc_tick()

void mrbc_tick ( void )

Tick timer interrupt handler.

Definition at line 142 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 531 of file rrt0.c.

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◆ preempt_running_task()

void preempt_running_task ( void )

inlinestatic

preempt running task

Definition at line 126 of file rrt0.c.

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◆ q_delete_task()

void q_delete_task ( mrbc_tcb * p_tcb )

static

Delete task(TCB) from task queue

Parameters

p_tcb Pointer to target TCB

Definition at line 96 of file rrt0.c.

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◆ q_insert_task()

void q_insert_task ( mrbc_tcb * p_tcb )

static

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 62 of file rrt0.c.

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Variable Documentation

◆ task_queue_

mrbc_tcb* task_queue_[NUM_TASK_QUEUE]

static

Definition at line 39 of file rrt0.c.

◆ tick_

volatile uint32_t tick_

static

Definition at line 44 of file rrt0.c.

◆ wakeup_tick_

volatile uint32_t wakeup_tick_ = (1 << 16)

static

Definition at line 45 of file rrt0.c.

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ MRBC_MUTEX_TRACE

◆ MRBC_SCHEDULER_EXIT

◆ NUM_TASK_QUEUE

◆ q_dormant_

◆ q_ready_

◆ q_suspended_

◆ q_waiting_

◆ VM2TCB

Function Documentation

◆ c_sleep()

◆ mrbc_change_priority()

◆ mrbc_cleanup()

◆ mrbc_create_task()

◆ mrbc_delete_task()

◆ mrbc_find_task()

◆ mrbc_init()

◆ mrbc_join_task()

◆ mrbc_mutex_init()

◆ mrbc_mutex_lock()

◆ mrbc_mutex_trylock()

◆ mrbc_mutex_unlock()

◆ mrbc_relinquish()

◆ mrbc_resume_task()

◆ mrbc_run()

◆ mrbc_set_task_name()

◆ mrbc_sleep_ms()

◆ mrbc_start_task()

◆ mrbc_suspend_task()

◆ mrbc_tcb_new()

◆ mrbc_terminate_task()

◆ mrbc_tick()

◆ mrbc_wakeup_task()

◆ preempt_running_task()

◆ q_delete_task()

◆ q_insert_task()

Variable Documentation

◆ task_queue_

◆ tick_

◆ wakeup_tick_