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refactor(simu): use C++ native threads (#6449)

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Co-authored-by: raphaelcoeffic <1050031+raphaelcoeffic@users.noreply.github.com>
Co-authored-by: Malte Langermann <malte@langermann.net>
This commit is contained in:
Raphael Coeffic
2025-07-20 13:57:52 +02:00
committed by GitHub
co-authored by raphaelcoeffic Malte Langermann
parent 4eddda034d
commit 7d91cdd428
18 changed files with 47 additions and 230 deletions
Download Patch File Download Diff File Expand all files Collapse all files
companion/src/CMakeLists.txt
+1 -3
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@@ -74,7 +74,6 @@ if(WIN32)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mno-ms-bitfields")
endif()
else()
set(PTHREAD_LIBRARY pthread)
link_directories(/usr/local/lib)
endif()
@@ -192,7 +191,6 @@ target_link_libraries(common
Qt5::Xml
Qt5::Widgets
Qt5::SerialPort
${PTHREAD_LIBRARY}
${SDL2_LIBRARIES}
${WIN_LINK_LIBRARIES}
)
@@ -656,4 +654,4 @@ if (CMAKE_SYSTEM_NAME STREQUAL "Linux")
set(CPACK_EXTERNAL_PACKAGE_SCRIPT "${CMAKE_BINARY_DIR}/CPackExternal.cmake")
endif()
include(CPack)
include(CPack)
companion/targets/windows/companion.nsi.in
-1
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@@ -203,7 +203,6 @@ Section "un.EdgeTX Companion @VERSION_FAMILY@"
Delete "$INSTDIR\libgcc_s_dw2-1.dll"
Delete "$INSTDIR\libgcc_s_seh-1.dll"
Delete "$INSTDIR\libstdc++-6.dll"
Delete "$INSTDIR\libwinpthread-1.dll"
Delete "$INSTDIR\Uninstall.exe"
radio/src/CMakeLists.txt
+4 -4
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@@ -492,15 +492,15 @@ if(NATIVE_BUILD)
${RADIOLIB_NATIVE_SRC}
)
# Add SIMU and POSIX_THREAD here PUBLIC, so it can be imported by other targets
# Add SIMU and NATIVE_THREAD here PUBLIC, so it can be imported by other targets
# via INTERFACE_COMPILE_OPTIONS
target_compile_options(radiolib_native PUBLIC -DSIMU -DPOSIX_THREADS)
target_compile_options(radiolib_native PUBLIC -DSIMU -DNATIVE_THREADS)
target_sources(radiolib_native PUBLIC
os/async_native.cpp
os/sleep_native.cpp
os/task_pthread.cpp
os/task_native.cpp
os/time_native.cpp
os/timer_pthread.cpp
os/timer_native.cpp
)
add_dependencies(radiolib_native ${RADIO_DEPENDENCIES})
set_property(TARGET radiolib_native PROPERTY POSITION_INDEPENDENT_CODE ON)
radio/src/os/async_native.cpp
+1 -1
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@@ -20,7 +20,7 @@
*/
#include "async.h"
#include "timer_pthread_impl.h"
#include "timer_native_impl.h"
bool async_call(async_func_t func, volatile bool* excl_flag, void* param1,
uint32_t param2)
radio/src/os/task.h
+2 -3
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@@ -21,12 +21,11 @@
#pragma once
#include <stdint.h>
#include <stdbool.h>
// OS specific implementation
#if defined(POSIX_THREADS)
#include "task_pthread.h"
#if defined(NATIVE_THREADS)
#include "task_native.h"
#elif defined(FREE_RTOS)
#include "task_freertos.h"
#endif
radio/src/os/task_pthread.cpp → radio/src/os/task_native.cpp
+18 -14
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@@ -21,10 +21,10 @@
#include "task.h"
#include "debug.h"
#include "timer_pthread_impl.h"
#include "timer_native_impl.h"
#include <pthread.h>
#include <chrono>
#include <memory>
#include <vector>
#include <mutex>
#include <string>
@@ -33,7 +33,7 @@ static std::condition_variable _stop_cv;
static std::mutex _stop_m;
static std::mutex _tasks_m;
static std::vector<pthread_t> _tasks;
static std::vector<task_handle_t*> _tasks;
static bool _stop_tasks = false;
void task_sleep_ms(uint32_t ms)
@@ -56,7 +56,7 @@ static void stop_tasks()
_stop_tasks = true;
}
static bool next_task_to_stop(pthread_t& task)
static bool next_task_to_stop(task_handle_t*& task)
{
std::lock_guard lock(_tasks_m);
@@ -75,9 +75,10 @@ void task_shutdown_all()
stop_tasks();
_stop_cv.notify_all();
pthread_t task;
task_handle_t* task = nullptr;
while (next_task_to_stop(task)) {
pthread_join(task, nullptr);
task->_thread_handle->join();
task->_thread_handle = {};
}
timer_queue::destroy();
@@ -89,7 +90,7 @@ struct run_context {
std::string name;
};
static void* _task_stub(void* p)
static void* _task_stub(run_context* p)
{
std::unique_ptr<run_context> ctx{(run_context*)p};
auto name = ctx->name.c_str();
@@ -109,9 +110,8 @@ void task_create(task_handle_t* h, task_func_t func, const char* name,
h->_stack_size = stack_size;
run_context* ctx = new run_context{func, name};
if (pthread_create(&h->_thread_handle, nullptr, _task_stub, (void*)ctx) == 0) {
_tasks.emplace_back(h->_thread_handle);
}
h->_thread_handle = std::make_unique<std::thread>([=]() { _task_stub(ctx); });
if (h->_thread_handle) _tasks.emplace_back(h);
}
bool task_running()
@@ -132,22 +132,26 @@ unsigned task_get_stack_size(task_handle_t* h)
void mutex_create(mutex_handle_t* h)
{
pthread_mutex_init(h, nullptr);
(void)h;
}
bool mutex_lock(mutex_handle_t* h)
{
return pthread_mutex_lock(h) == 0;
if (!h) return false;
h->lock();
return true;
}
void mutex_unlock(mutex_handle_t* h)
{
pthread_mutex_unlock(h);
if (!h) return;
h->unlock();
}
bool mutex_trylock(mutex_handle_t* h)
{
return pthread_mutex_trylock(h) == 0;
if (!h) return false;
return h->try_lock();
}
radio/src/os/task_pthread.h → radio/src/os/task_native.h
+9 -6
View File
@@ -21,19 +21,22 @@
#pragma once
#include "time.h"
#include "time_native.h"
#include <pthread.h>
#include <semaphore.h>
#include <thread>
#include <mutex>
#include <memory>
#define TASK_DEFINE_STACK(name, size) void* name
using _thread_ptr_t = std::unique_ptr<std::thread>;
struct task_handle_t {
pthread_t _thread_handle;
uint32_t _stack_size;
_thread_ptr_t _thread_handle;
uint32_t _stack_size;
};
typedef pthread_mutex_t mutex_handle_t;
typedef std::mutex mutex_handle_t;
bool task_running();
radio/src/os/time.h
+1 -1
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@@ -24,7 +24,7 @@
#include <stdint.h>
// OS specific implementation
#if defined(POSIX_THREADS)
#if defined(NATIVE_THREADS)
#include "time_native.h"
#elif defined(FREE_RTOS)
#include "time_freertos.h"
radio/src/os/timer.h
+2 -3
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@@ -21,12 +21,11 @@
#pragma once
#include <stdint.h>
#include <stdbool.h>
// OS specific implementation
#if defined(POSIX_THREADS)
#include "timer_pthread.h"
#if defined(NATIVE_THREADS)
#include "timer_native.h"
#elif defined(FREE_RTOS)
#include "timer_freertos.h"
#endif
radio/src/os/timer_pthread.cpp → radio/src/os/timer_native.cpp
+1 -1
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@@ -1,6 +1,6 @@
#include "timer.h"
#include "debug.h"
#include "timer_pthread_impl.h"
#include "timer_native_impl.h"
#include <algorithm>
radio/src/os/timer_pthread.h → radio/src/os/timer_native.h
View File
radio/src/os/timer_pthread_impl.h → radio/src/os/timer_native_impl.h
+1 -1
View File
@@ -1,4 +1,4 @@
#include "timer_pthread.h"
#include "timer_native.h"
#include <condition_variable>
#include <deque>
radio/src/rtos.h
+1 -8
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@@ -21,20 +21,13 @@
#pragma once
#include <stdint.h>
#include <stdbool.h>
#ifdef __cplusplus
extern "C++" {
#endif
#if defined(SIMU)
#include <pthread.h>
#include <semaphore.h>
static inline void RTOS_START()
{
}
static inline void RTOS_START() {}
#elif defined(FREE_RTOS)
radio/src/targets/simu/CMakeLists.txt
+3 -4
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@@ -201,9 +201,8 @@ set(STB_DIR ${RADIO_SRC_DIR}/thirdparty/stb)
target_include_directories(simu PUBLIC ${STB_DIR})
target_link_libraries(simu PUBLIC imgui)
target_link_libraries(simu PUBLIC
pthread
${SDL2_LIBRARIES}
)
target_link_libraries(simu PUBLIC
${SDL2_LIBRARIES}
)
PrintTargetReport("simu/libsimulator")
radio/src/targets/simu/simpgmspace.cpp
+1 -1
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@@ -36,7 +36,7 @@
#include "os/sleep.h"
#include "os/task.h"
#include "os/timer_pthread_impl.h"
#include "os/timer_native_impl.h"
#include <errno.h>
#include <stdarg.h>
radio/src/targets/simu/simueeprom.cpp
-178
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@@ -1,178 +0,0 @@
/*
* Copyright (C) EdgeTX
*
* Based on code named
* opentx - https://github.com/opentx/opentx
* th9x - http://code.google.com/p/th9x
* er9x - http://code.google.com/p/er9x
* gruvin9x - http://code.google.com/p/gruvin9x
*
* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*/
#include "edgetx.h"
const char * eepromFile = nullptr;
FILE * fp = nullptr;
uint32_t eeprom_pointer;
uint8_t * eeprom_buffer_data;
volatile int32_t eeprom_buffer_size;
bool eeprom_read_operation;
bool eeprom_thread_running = false;
uint8_t * eeprom = nullptr;
sem_t * eeprom_write_sem;
void eepromReadBlock (uint8_t * buffer, size_t address, size_t size)
{
assert(size);
if (fp) {
// TRACE("EEPROM read (pos=%d, size=%d)", pointer_eeprom, size);
if (fseek(fp, address, SEEK_SET) < 0)
perror("error in fseek");
if (fread(buffer, size, 1, fp) <= 0)
perror("error in fread");
}
else if (eeprom) {
memcpy(buffer, &eeprom[address], size);
}
}
void eepromSimuWriteBlock(uint8_t * buffer, size_t address, size_t size)
{
assert(size);
if (fp) {
// TRACE("EEPROM write (pos=%d, size=%d)", pointer_eeprom, size);
if (fseek(fp, address, SEEK_SET) < 0)
perror("error in fseek");
if (fwrite(buffer, size, 1, fp) <= 0)
perror("error in fwrite");
}
else if (eeprom) {
memcpy(&eeprom[address], buffer, size);
}
}
volatile uint8_t eepromTransferComplete = 1;
void * eeprom_thread_function(void *)
{
eeprom_thread_running = true;
while (!sem_wait(eeprom_write_sem)) {
if (!eeprom_thread_running)
return nullptr;
assert(eeprom_buffer_size);
if (eeprom_read_operation) {
eepromReadBlock(eeprom_buffer_data, eeprom_pointer, eeprom_buffer_size);
}
else {
eepromSimuWriteBlock(eeprom_buffer_data, eeprom_pointer, eeprom_buffer_size);
}
eepromTransferComplete = 1;
}
return nullptr;
}
uint8_t eepromReadStatus()
{
return 1;
}
uint8_t eepromIsTransferComplete()
{
return eepromTransferComplete;
}
void eepromTransmitData(uint32_t address, uint8_t * buffer, uint32_t size, bool read)
{
eeprom_pointer = address;
eeprom_buffer_data = buffer;
eeprom_buffer_size = size;
eeprom_read_operation = read;
eepromTransferComplete = 0;
sem_post(eeprom_write_sem);
}
#if defined(EEPROM_BLOCK_SIZE)
void eepromBlockErase(uint32_t address)
{
static uint8_t erasedBlock[EEPROM_BLOCK_SIZE]; // can't be on the stack!
memset(erasedBlock, 0xff, sizeof(erasedBlock));
eepromTransmitData(address, erasedBlock, EEPROM_BLOCK_SIZE, false);
}
#endif
void eepromStartRead(uint8_t * buffer, size_t address, size_t size)
{
assert(size);
eepromTransmitData(address, buffer, size, true);
}
void eepromStartWrite(uint8_t * buffer, size_t address, size_t size)
{
assert(size);
eepromTransmitData(address, buffer, size, false);
}
bool _eeprom_write_simu_delay = true;
void eepromWriteBlock(uint8_t * buffer, size_t address, size_t size)
{
eepromStartWrite(buffer, address, size);
while (!eepromIsTransferComplete()) {
if (_eeprom_write_simu_delay)
sleep(1/*ms*/);
}
}
pthread_t eeprom_thread_pid;
void startEepromThread(const char * filename)
{
eepromFile = filename;
if (eepromFile) {
fp = fopen(eepromFile, "rb+");
if (!fp)
fp = fopen(eepromFile, "wb+");
if (!fp)
perror("error in fopen");
}
#ifdef __APPLE__
eeprom_write_sem = sem_open("eepromsem", O_CREAT, S_IRUSR | S_IWUSR, 0);
#else
eeprom_write_sem = (sem_t *)malloc(sizeof(sem_t));
sem_init(eeprom_write_sem, 0, 0);
#endif
RTOS_CREATE_TASK(eeprom_thread_pid, eeprom_thread_function, "eeprom");
}
void stopEepromThread()
{
eeprom_thread_running = false;
sem_post(eeprom_write_sem);
pthread_join(eeprom_thread_pid, nullptr);
#ifdef __APPLE__
sem_close(eeprom_write_sem);
#else
sem_destroy(eeprom_write_sem);
free(eeprom_write_sem);
#endif
if (fp)
fclose(fp);
}
radio/src/targets/simu/simufatfs.cpp
+1
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@@ -39,6 +39,7 @@
#include <stdarg.h>
#include <stdio.h>
#include <sys/stat.h>
#include <time.h>
#if MSVC_BUILD
#include <direct.h>
radio/src/tests/CMakeLists.txt
+1 -1
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@@ -45,6 +45,6 @@ if(Qt5Widgets_FOUND)
target_compile_options(gtests-radio PRIVATE ${SIMU_SRC_OPTIONS})
add_dependencies(gtests-radio gtests-radio-lib)
target_link_libraries(gtests-radio gtests-radio-lib pthread Qt5::Core Qt5::Widgets)
target_link_libraries(gtests-radio gtests-radio-lib Qt5::Core Qt5::Widgets)
message(STATUS "Added optional gtests target")
endif()