Rework on the task worker component (#31)

* Rework on task worker module * rework on dependeny between FreeRTOS and task worker
QuangHaiNguyen · Aug 4, 2024 · 1e2e945 · 1e2e945
1 parent 22e6929
commit 1e2e945
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Showing 8 changed files with 110 additions and 78 deletions.
diff --git a/CMakePresets.json b/CMakePresets.json
@@ -50,9 +50,7 @@
                 "rhs": "Linux"
             },
             "cacheVariables": {
-                "TARGET_PATH": "targets/linux_freertos",
-                "FREERTOS_HEAP": "4",
-                "FREERTOS_PORT": "GCC_POSIX"
+                "TARGET_PATH": "targets/linux_freertos"
             }
         },
         {

diff --git a/easy_embedded/CMakeLists.txt b/easy_embedded/CMakeLists.txt
@@ -52,7 +52,6 @@ target_include_directories(easy_embedded_lib
         # Please add interface folders here
 )
 
-
 # Link libraries -------------------------------------------------------------
 target_link_libraries(easy_embedded_lib
     PUBLIC

diff --git a/easy_embedded/service/task_worker/CMakeLists.txt b/easy_embedded/service/task_worker/CMakeLists.txt
@@ -49,13 +49,11 @@ target_include_directories(ez_task_worker_lib
 # Link libraries -------------------------------------------------------------
 target_link_libraries(ez_task_worker_lib
     PUBLIC
-        # Please add public libraries
+        $<$<BOOL:${ENABLE_FREERTOS}>:freertos_kernel>
+        $<$<BOOL:${ENABLE_THREADX}>:threadx>
     PRIVATE
         ez_utilities_lib
-        $<$<BOOL:${ENABLE_THREADX}>:threadx>
-        $<$<BOOL:${ENABLE_FREERTOS}>:freertos_kernel>
     INTERFACE
-        # Please add interface libraries
 )
 
 # End of file
diff --git a/easy_embedded/service/task_worker/ez_task_worker.h b/easy_embedded/service/task_worker/ez_task_worker.h
@@ -51,66 +51,79 @@ extern "C" {
 #define EZ_THREAD_WAIT_FOREVER  0xFFFFFFFF  /* Thread waits for event, semaphore forever */
 #define EZ_EVENT_TASK_AVAIL     0x01        /* Task avaialble event */
 
+
 #if (EZ_THREADX_PORT_ENABLE == 1)
-#define INIT_THREAD_FUNCTIONS(worker_name) \
-    static void worker_name##_thread(ULONG thread_input);\
-    static void worker_name##_thread_body(void);\
 
-#define GET_THREAD_FUNC(worker_name) \
-    worker_name##_thread\
+    #ifndef EZ_RTOS_USE_STATIC_ALLOC
+        #define EZ_RTOS_USE_STATIC_ALLOC        1
+    #endif
+
+    #define INIT_THREAD_FUNCTIONS(worker_name) \
+        static void worker_name##_thread(ULONG thread_input);\
+        static void worker_name##_thread_body(void);\
 
-#define THREAD_FUNC(worker_name) \
-    static void worker_name##_thread(ULONG thread_input)\
-    {\
-        while(1)\
+    #define GET_THREAD_FUNC(worker_name) \
+        worker_name##_thread\
+
+    #define THREAD_FUNC(worker_name) \
+        static void worker_name##_thread(ULONG thread_input)\
         {\
-            worker_name##_thread_body();\
-            if(worker_name.sleep_ticks > 0)\
-            { tx_thread_sleep(worker_name.sleep_ticks); }\
+            while(1)\
+            {\
+                worker_name##_thread_body();\
+                if(worker_name.sleep_ticks > 0)\
+                { tx_thread_sleep(worker_name.sleep_ticks); }\
+            }\
         }\
-    }\
-    static void worker_name##_thread_body(void)
-
-#define INIT_WORKER(name, worker_sleep_ticks, worker_priority, worker_stack_size) \
-    struct ezTaskWorker name =\
-    {\
-        .worker_name = #name,\
-        .sleep_ticks = worker_sleep_ticks,\
-        .priority = worker_priority,\
-        .stack_size = worker_stack_size,\
-    }
+        static void worker_name##_thread_body(void)
 
+    #define INIT_WORKER(name, worker_sleep_ticks, worker_priority, worker_stack_size) \
+        struct ezTaskWorker name =\
+        {\
+            .worker_name = #name,\
+            .sleep_ticks = worker_sleep_ticks,\
+            .priority = worker_priority,\
+            .stack_size = worker_stack_size,\
+        }
 #elif (EZ_FREERTOS_PORT_ENABLE == 1)
+
+    #ifndef EZ_RTOS_USE_STATIC_ALLOC
+        #define EZ_RTOS_USE_STATIC_ALLOC        configSUPPORT_STATIC_ALLOCATION
+    #endif
+
     #define INIT_THREAD_FUNCTIONS(worker_name) \
-    static void worker_name##_thread(void * parameters);\
-    static void worker_name##_thread_body(void);\
+        static void worker_name##_thread(void * parameters);\
+        static void worker_name##_thread_body(void);\
 
-#define GET_THREAD_FUNC(worker_name) \
-    worker_name##_thread\
+    #define GET_THREAD_FUNC(worker_name) \
+        worker_name##_thread\
 
-#define THREAD_FUNC(worker_name) \
-    static void worker_name##_thread(void * parameters)\
-    {\
-        while(1)\
+    #define THREAD_FUNC(worker_name) \
+        static void worker_name##_thread(void * parameters)\
         {\
-            worker_name##_thread_body();\
-            if(worker_name.sleep_ticks > 0)\
-            { vTaskDelay(worker_name.sleep_ticks); }\
+            while(1)\
+            {\
+                worker_name##_thread_body();\
+                if(worker_name.sleep_ticks > 0)\
+                { vTaskDelay(worker_name.sleep_ticks); }\
+            }\
         }\
-    }\
-    static void worker_name##_thread_body(void)
-
-#define INIT_WORKER(name, worker_sleep_ticks, worker_priority, worker_stack_size) \
-    struct ezTaskWorker name =\
-    {\
-        .worker_name = #name,\
-        .sleep_ticks = worker_sleep_ticks,\
-        .priority = worker_priority,\
-        .stack_size = worker_stack_size,\
-        .semaphore_h = NULL,\
-        .events_h = NULL,\
-    }
+        static void worker_name##_thread_body(void)
+
+    #define INIT_WORKER(name, worker_sleep_ticks, worker_priority, worker_stack_size) \
+        struct ezTaskWorker name =\
+        {\
+            .worker_name = #name,\
+            .sleep_ticks = worker_sleep_ticks,\
+            .priority = worker_priority,\
+            .stack_size = worker_stack_size,\
+            .semaphore_h = NULL,\
+            .events_h = NULL,\
+        }
 #else
+    #ifndef EZ_RTOS_USE_STATIC_ALLOC
+        #define EZ_RTOS_USE_STATIC_ALLOC        1
+    #endif
     #define INIT_THREAD_FUNCTIONS(worker_name)
     #define GET_THREAD_FUNC(worker_name)
     #define THREAD_FUNC(worker_name)
@@ -141,11 +154,13 @@ struct ezTaskWorker
     uint8_t priority;               /**< Priority of the worker thread, the value must match the number of the activated RTOS */
     uint32_t stack_size;            /**< Stask size of the worker thread, in bytes */
     uint32_t sleep_ticks;           /**< Number of tick the thread must sleep before being activated again */
-    StaticTask_t thread;
-    StaticSemaphore_t sem;
-    SemaphoreHandle_t semaphore_h;
-    StaticEventGroup_t events;
-    EventGroupHandle_t events_h;
+    SemaphoreHandle_t semaphore_h;  /**< FreeRTOS Semaphore handle */
+    EventGroupHandle_t events_h;    /**< FreeRTOS Events handle*/
+#if (EZ_RTOS_USE_STATIC_ALLOC == 1)
+    StaticTask_t thread;            /**< Pointer to the memory hold the static thread block */
+    StaticSemaphore_t sem;          /**< Pointer to the memory hold the static semaphore block */
+    StaticEventGroup_t events;      /**< Pointer to the memory hold the static events block */
+#endif /* (EZ_RTOS_USE_STATIC_ALLOC == 1) */
 #else
     struct Node node;               /**< Linked list node */
 #endif /* EZ_THREADX_PORT_ENABLE == 1 */

diff --git a/easy_embedded/service/task_worker/freertos_port/ez_freertos_port.c b/easy_embedded/service/task_worker/freertos_port/ez_freertos_port.c
@@ -132,7 +132,11 @@ static EZ_RTOS_STATUS ezFreeRTOSPort_CreateThread(struct ezTaskWorker *worker,
                                                   void *thread_func)
 {
     EZ_RTOS_STATUS ret_status = RTOS_STATUS_ERR_ARG;
+#if (EZ_RTOS_USE_STATIC_ALLOC == 1)
     TaskHandle_t xHandle = NULL;
+#else
+    BaseType_t xReturned = pdFAIL;
+#endif
 
     EZTRACE("ezFreeRTOSPort_CreateThread()");
     if((worker != NULL) && (thread_func != NULL))
@@ -145,6 +149,7 @@ static EZ_RTOS_STATUS ezFreeRTOSPort_CreateThread(struct ezTaskWorker *worker,
                 worker->priority = configMAX_PRIORITIES - 1U;
             }
 
+#if (EZ_RTOS_USE_STATIC_ALLOC == 1)
             xHandle = xTaskCreateStatic(thread_func,
                                         worker->worker_name,
                                         worker->stack_size,
@@ -153,9 +158,20 @@ static EZ_RTOS_STATUS ezFreeRTOSPort_CreateThread(struct ezTaskWorker *worker,
                                         &TaskStack[used_stack_size],
                                         &worker->thread);
             used_stack_size += worker->stack_size;
+#else
+            xReturned = xTaskCreate(thread_func,
+                                  worker->worker_name,
+                                  worker->stack_size,
+                                  NULL,
+                                  worker->priority,
+                                  NULL);
+#endif /* (EZ_RTOS_USE_STATIC_ALLOC == 1) */
         }
-
+#if (EZ_RTOS_USE_STATIC_ALLOC == 1)
         if(xHandle == NULL)
+#else
+        if(xReturned == pdFAIL)
+#endif /* (EZ_RTOS_USE_STATIC_ALLOC == 1) */
         {
             ret_status = RTOS_STATUS_ERR;
             EZERROR("Create thread failed");
@@ -200,8 +216,11 @@ static EZ_RTOS_STATUS ezFreeRTOSPort_CreateSemaphore(struct ezTaskWorker *worker
     EZTRACE("ezFreeRTOSPort_CreateSemaphore()");
     if(worker != NULL)
     {
+#if (EZ_RTOS_USE_STATIC_ALLOC == 1)
         worker->semaphore_h = xSemaphoreCreateMutexStatic(&worker->sem);
-
+#else
+        worker->semaphore_h = xSemaphoreCreateMutex();
+#endif /* (EZ_RTOS_USE_STATIC_ALLOC == 1) */
         if(worker->semaphore_h == NULL)
         {
             EZERROR("Create semaphore failed");
@@ -359,7 +378,11 @@ static EZ_RTOS_STATUS ezFreeRTOSPort_CreateEvent(struct ezTaskWorker *worker)
     EZTRACE("ezFreeRTOSPort_CreateEvent()");
     if(worker != NULL)
     {
+#if (EZ_RTOS_USE_STATIC_ALLOC == 1)
         worker->events_h = xEventGroupCreateStatic(&worker->events);
+#else
+        worker->events_h = xEventGroupCreate();
+#endif /* (EZ_RTOS_USE_STATIC_ALLOC == 1) */
 
         if(worker->events_h == NULL)
         {

diff --git a/extern/CMakeLists.txt b/extern/CMakeLists.txt
@@ -80,18 +80,6 @@ if(ENABLE_FREERTOS)
         message(STATUS "freertos completed")
     endif()
 
-    add_library(freertos_config INTERFACE)
-
-    target_include_directories(freertos_config SYSTEM
-    INTERFACE
-        ${CMAKE_SOURCE_DIR}/targets/linux_freertos/
-    )
-
-    target_compile_definitions(freertos_config
-    INTERFACE
-        projCOVERAGE_TEST=0
-)
-
-    add_subdirectory(freertos)
+    add_subdirectory(${CMAKE_SOURCE_DIR}/extern/freertos)
 endif()
 
diff --git a/targets/linux_freertos/CMakeLists.txt b/targets/linux_freertos/CMakeLists.txt
@@ -40,14 +40,26 @@ target_include_directories(ez_target
         # Please add interface folders here
 )
 
+# Config RTOS -----------------------------------------------------------------
+set(FREERTOS_HEAP "4" CACHE INTERNAL "")
+set(FREERTOS_PORT "GCC_POSIX" CACHE INTERNAL "")
+
+add_library(freertos_config INTERFACE)
+target_include_directories(freertos_config SYSTEM
+INTERFACE
+    ${CMAKE_SOURCE_DIR}/targets/linux_freertos/
+)
+target_compile_definitions(freertos_config
+INTERFACE
+    projCOVERAGE_TEST=0
+)
 
 # Link libraries -------------------------------------------------------------
 target_link_libraries(ez_target
     PUBLIC
         # Please add public libraries
     PRIVATE
         easy_embedded_lib
-        freertos_kernel
     INTERFACE
         # Please add interface libraries
 )

diff --git a/targets/linux_freertos/main.c b/targets/linux_freertos/main.c
@@ -41,10 +41,9 @@
 #include "ez_logging.h"
 #include "ez_easy_embedded.h"
 #include "ez_task_worker.h"
-#include <FreeRTOS.h>
-#include <task.h>
 #include "ez_freertos_port.h"
 
+
 /******************************************************************************
 * Module Preprocessor Macros
 *******************************************************************************/
-Original file line number
+Diff line change
@@ Expand Up / @@ -52,7 +52,6 @@ target_include_directories(easy_embedded_lib @@
             # Please add interface folders here
     )
     # Link libraries -------------------------------------------------------------
     target_link_libraries(easy_embedded_lib
         PUBLIC
@@ Expand Down @@