Merge pull request #8993 from ZetaR60/RIOT_cbmplex

sys/cb_mux: Callback multiplexer

sys/cb_mux/Makefile

@@ -0,0 +1 @@
+include $(RIOTBASE)/Makefile.base

sys/cb_mux/cb_mux.c

@@ -0,0 +1,124 @@
+/*
+ * Copyright (C) 2018 Acutam Automation, LLC
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup   sys_cb_mux
+ * @{
+ *
+ * @file
+ * @brief   cb_mux implementation
+ *
+ * @author  Matthew Blue <matthew.blue.neuro@gmail.com>
+ * @}
+ */
+
+#include "cb_mux.h"
+#include "utlist.h"
+
+void cb_mux_add(cb_mux_t **head, cb_mux_t *entry)
+{
+    LL_APPEND(*head, entry);
+}
+
+void cb_mux_del(cb_mux_t **head, cb_mux_t *entry)
+{
+    LL_DELETE(*head, entry);
+}
+
+cb_mux_t *cb_mux_find_cbid(cb_mux_t *head, cb_mux_cbid_t cbid_val)
+{
+    cb_mux_t *entry;
+
+    LL_SEARCH_SCALAR(head, entry, cbid, cbid_val);
+
+    return entry;
+}
+
+cb_mux_t *cb_mux_find_low(cb_mux_t *head)
+{
+    cb_mux_t *entry;
+    cb_mux_t *entry_low = NULL;
+    cb_mux_cbid_t id = (cb_mux_cbid_t)(-1);
+
+    LL_FOREACH(head, entry) {
+        /* Entry does not have lower ID */
+        if (entry->cbid >= id) {
+            continue;
+        }
+
+        id = entry->cbid;
+        entry_low = entry;
+    }
+
+    return entry_low;
+}
+
+cb_mux_t *cb_mux_find_high(cb_mux_t *head)
+{
+    cb_mux_t *entry;
+    cb_mux_t *entry_high = NULL;
+    cb_mux_cbid_t id = 0;
+
+    LL_FOREACH(head, entry) {
+        /* Entry does not have higher ID */
+        if (entry->cbid <= id) {
+            continue;
+        }
+
+        id = entry->cbid;
+        entry_high = entry;
+    }
+
+    return entry_high;
+}
+
+cb_mux_cbid_t cb_mux_find_free_id(cb_mux_t *head)
+{
+    uint32_t free;
+    cb_mux_cbid_t block;
+    cb_mux_t *entry;
+    uint8_t num;
+
+    /* Search for free IDs in blocks of 32 IDs */
+    for (block = 0; block + 31 < (cb_mux_cbid_t)(-1); block += 32) {
+        /* Set all IDs in block to free */
+        free = 0;
+
+        LL_FOREACH(head, entry) {
+            /* cbid falls within this block */
+            if ((entry->cbid >= block) && (entry->cbid < block + 32)) {
+                /* Set cbid to taken */
+                free |= 1 << (entry->cbid & 0x1F);
+            }
+        }
+
+        /* At least one ID in block free */
+        if (~free) {
+            break;
+        }
+    }
+
+    /* Find which ID in block was free */
+    for (num = 0; num < 32; num++) {
+        if (~free & (1 << num)) {
+            return block | num;
+        }
+    }
+
+    /* No free IDs */
+    return (cb_mux_cbid_t)(-1);
+}
+
+void cb_mux_iter(cb_mux_t *head, cb_mux_iter_t func, void *arg)
+{
+    cb_mux_t *entry;
+
+    LL_FOREACH(head, entry) {
+        func(entry, arg);
+    }
+}

sys/include/cb_mux.h

@@ -0,0 +1,143 @@
+/*
+ * Copyright (C) 2018 Acutam Automation, LLC
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @defgroup    sys_cb_mux Callback multiplexer
+ * @ingroup     sys
+ * @brief       cb_mux provides utilities for storing, retrieving, and managing
+ *              callback information in a singly linked list.
+ *
+ * If an API provides the ability to call multiple callbacks, cb_mux can
+ * simplify handling of an arbitrary number of callbacks by requiring memory
+ * for a cb_mux entry to be passed along with other arguments. The cb_mux entry
+ * is then attached to a list using cb_mux_add. The code implementing that API
+ * can manage the list using the various utility functions that cb_mux provides.
+ *
+ * @{
+ *
+ * @file
+ * @brief       cb_mux interface definitions
+ *
+ * @author      Matthew Blue <matthew.blue.neuro@gmail.com>
+ */
+
+#ifndef CB_MUX_H
+#define CB_MUX_H
+
+#include <stdint.h>
+
+/* For alternate cb_mux_cbid_t */
+#include "periph_cpu.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifndef HAVE_CB_MUX_CBID_T
+/**
+ * @brief   cb_mux identifier type
+ */
+typedef unsigned int cb_mux_cbid_t;
+#endif
+
+/**
+ * @brief   cb_mux callback type
+ */
+typedef void (*cb_mux_cb_t)(void *);
+
+/**
+ * @brief   cb_mux list entry structure
+ */
+typedef struct cb_mux {
+    struct cb_mux *next;  /**< next entry in the cb_mux list */
+    cb_mux_cbid_t cbid;   /**< identifier for this callback */
+    void *info;           /**< optional extra information */
+    cb_mux_cb_t cb;       /**< callback function */
+    void *arg;            /**< argument for callback function */
+} cb_mux_t;
+
+/**
+ * @brief   cb_mux iterate function callback type for cb_mux_iter
+ */
+typedef void (*cb_mux_iter_t)(cb_mux_t *, void *);
+
+/**
+ * @brief   Add a new entry to the end of a cb_mux list
+ *
+ * @param[in] head   double pointer to first list entry
+ * @param[in] entry  entry to add
+ */
+void cb_mux_add(cb_mux_t **head, cb_mux_t *entry);
+
+/**
+ * @brief   Remove a entry from a cb_mux list
+ *
+ * @param[in] head   double pointer to first list entry
+ * @param[in] entry  entry to remove
+ */
+void cb_mux_del(cb_mux_t **head, cb_mux_t *entry);
+
+/**
+ * @brief   Find an entry in the list by ID
+ *
+ * @param[in] head      pointer to first list entry
+ * @param[in] cbid_val  ID to find
+ *
+ * @return pointer to the list entry
+ */
+cb_mux_t *cb_mux_find_cbid(cb_mux_t *head, cb_mux_cbid_t cbid_val);
+
+/**
+ * @brief   Find the entry with the lowest ID
+ *
+ * If there are multiple hits, this returns the oldest.
+ *
+ * @param[in] head   pointer to first list entry
+ *
+ * @return pointer to the list entry
+ */
+cb_mux_t *cb_mux_find_low(cb_mux_t *head);
+
+/**
+ * @brief   Find the entry with the highest ID
+ *
+ * If there are multiple hits, this returns the oldest.
+ *
+ * @param[in] head   pointer to first list entry
+ *
+ * @return pointer to the list entry
+ */
+cb_mux_t *cb_mux_find_high(cb_mux_t *head);
+
+/**
+ * @brief   Find the lowest unused ID
+ *
+ * Returns highest possible ID on failure
+ *
+ * @param[in] head   pointer to first list entry
+ *
+ * @return lowest unused ID
+ */
+cb_mux_cbid_t cb_mux_find_free_id(cb_mux_t *head);
+
+/**
+ * @brief   Run a function on every item in the cb_mux list
+ *
+ * @param[in] head  pointer to first list entry
+ * @param[in] func  function to run on each entry
+ * @param[in] arg   argument for the function
+ */
+void cb_mux_iter(cb_mux_t *head, cb_mux_iter_t func, void *arg);
+
+#ifdef __cplusplus
+}
+#endif
+
+/** @} */
+
+#endif /* CB_MUX_H */

tests/cb_mux/Makefile

@@ -0,0 +1,10 @@
+include ../Makefile.tests_common
+
+USEMODULE += cb_mux
+
+TEST_ON_CI_WHITELIST += all
+
+include $(RIOTBASE)/Makefile.include
+
+test:
+	./tests/01-run.py

tests/cb_mux/main.c

@@ -0,0 +1,135 @@
+/*
+ * Copyright (C) 2018 Acutam Automation, LLC
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     tests
+ * @{
+ *
+ * @file
+ * @brief       cb_mux test application
+ *
+ * @author      Matthew Blue <matthew.blue.neuro@gmail.com>
+ * @}
+ */
+
+#include <stdio.h>
+
+#include "cb_mux.h"
+
+/* Head of cb_mux list */
+cb_mux_t *cb_mux_head;
+
+/* Flags for mux_iter */
+enum {
+    ITER_TEST = 1
+};
+
+/* Function to iterate over cb_mux list */
+void mux_iter(cb_mux_t *entry, void *arg)
+{
+    (void)arg;
+
+    entry->info = (void *)((uintptr_t)entry->info | (1 << ITER_TEST));
+}
+
+/* Test callback */
+void cb(void *arg)
+{
+    printf("Callback %u executed\n", (uint8_t)(uintptr_t)arg);
+}
+
+int main(void)
+{
+    cb_mux_t entries[5];
+    cb_mux_cbid_t num;
+    cb_mux_t *entry;
+
+    puts("cb_mux test routine");
+
+    for (num = 0; num < 5; num++) {
+        entries[num].cb = cb;
+        entries[num].arg = (void *)num;
+        entries[num].cbid = num;
+    }
+
+    puts("Test list addition, retrieval, execution of 5 CBs");
+
+    for (num = 0; num < 5; num++) {
+        cb_mux_add(&cb_mux_head, &(entries[num]));
+    }
+
+    for (num = 0; num < 5; num++) {
+        entry = cb_mux_find_cbid(cb_mux_head, num);
+
+        if (entry->cb == NULL) {
+            puts("[FAILED] Unexpected NULL pointer");
+            return 1;
+        }
+
+        entry->cb(entry->arg);
+    }
+
+    puts("Test list deletion of CB 0, 2, 4, execution of 1, 3");
+
+    cb_mux_del(&cb_mux_head, &(entries[0]));
+    cb_mux_del(&cb_mux_head, &(entries[2]));
+    cb_mux_del(&cb_mux_head, &(entries[4]));
+
+    for (num = 0; num < 5; num++) {
+        entry = cb_mux_find_cbid(cb_mux_head, num);
+
+        if (entry == NULL) {
+            continue;
+        }
+
+        entry->cb(entry->arg);
+    }
+
+    puts("Test execution of CB with lowest ID (1)");
+
+    entry = cb_mux_find_low(cb_mux_head);
+    if (entry->cb == NULL) {
+        puts("[FAILED] Unexpected NULL pointer");
+        return 1;
+    }
+    entry->cb(entry->arg);
+
+    puts("Test execution of CB with highest ID (3)");
+
+    entry = cb_mux_find_high(cb_mux_head);
+    if (entry->cb == NULL) {
+        puts("[FAILED] Unexpected NULL pointer");
+        return 1;
+    }
+    entry->cb(entry->arg);
+
+    puts("Re-adding list entries (0, 2, 4) by finding next free ID");
+
+    num = cb_mux_find_free_id(cb_mux_head);
+    while (num < 5) {
+        cb_mux_add(&cb_mux_head, &(entries[num]));
+
+        printf("Added entry %i\n", num);
+
+        num = cb_mux_find_free_id(cb_mux_head);
+    }
+
+    puts("Test iteration of a function over list");
+
+    cb_mux_iter(cb_mux_head, mux_iter, NULL);
+
+    for (num = 0; num < 5; num++) {
+        if ((uintptr_t)entries[num].info & (1 << ITER_TEST)) {
+            printf("Entry %i was updated correctly\n", num);
+        }
+    }
+
+    puts("Tests complete!");
+
+    return 0;
+}

tests/cb_mux/tests/01-run.py

@@ -0,0 +1,44 @@
+#!/usr/bin/env python3
+
+# Copyright (C) 2018 Acutam Automation, LLC
+#
+# This file is subject to the terms and conditions of the GNU Lesser
+# General Public License v2.1. See the file LICENSE in the top level
+# directory for more details.
+
+import os
+import sys
+
+
+def testfunc(child):
+    child.expect_exact("cb_mux test routine")
+    child.expect_exact("Test list addition, retrieval, execution of 5 CBs")
+    child.expect_exact("Callback 0 executed")
+    child.expect_exact("Callback 1 executed")
+    child.expect_exact("Callback 2 executed")
+    child.expect_exact("Callback 3 executed")
+    child.expect_exact("Callback 4 executed")
+    child.expect_exact("Test list deletion of CB 0, 2, 4, execution of 1, 3")
+    child.expect_exact("Callback 1 executed")
+    child.expect_exact("Callback 3 executed")
+    child.expect_exact("Test execution of CB with lowest ID (1)")
+    child.expect_exact("Callback 1 executed")
+    child.expect_exact("Test execution of CB with highest ID (3)")
+    child.expect_exact("Callback 3 executed")
+    child.expect_exact("Re-adding list entries (0, 2, 4) by finding next free ID")
+    child.expect_exact("Added entry 0")
+    child.expect_exact("Added entry 2")
+    child.expect_exact("Added entry 4")
+    child.expect_exact("Test iteration of a function over list")
+    child.expect_exact("Entry 0 was updated correctly")
+    child.expect_exact("Entry 1 was updated correctly")
+    child.expect_exact("Entry 2 was updated correctly")
+    child.expect_exact("Entry 3 was updated correctly")
+    child.expect_exact("Entry 4 was updated correctly")
+    child.expect_exact("Tests complete!")
+
+
+if __name__ == "__main__":
+    sys.path.append(os.path.join(os.environ['RIOTBASE'], 'dist/tools/testrunner'))
+    from testrunner import run
+    sys.exit(run(testfunc))

tests/cb_mux_bench/Makefile

@@ -0,0 +1,11 @@
+include ../Makefile.tests_common
+
+USEMODULE += cb_mux \
+             xtimer
+
+TEST_ON_CI_WHITELIST += all
+
+include $(RIOTBASE)/Makefile.include
+
+test:
+	./tests/01-run.py

tests/cb_mux_bench/main.c

@@ -0,0 +1,90 @@
+/*
+ * Copyright (C) 2018 Acutam Automation, LLC
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     tests
+ * @{
+ *
+ * @file
+ * @brief       cb_mux benchmark application
+ *
+ * @author      Matthew Blue <matthew.blue.neuro@gmail.com>
+ * @}
+ */
+
+#include <stdio.h>
+
+#include "cb_mux.h"
+#include "xtimer.h"
+
+/* Number of entries in the cb_mux list */
+#define NUM_ENTRIES (20U)
+
+/* Fail if us greater than threshold */
+#define FAIL_THRESH (200UL)
+
+/* Head of cb_mux list */
+cb_mux_t *cb_mux_head;
+
+/* cb_mux list entries */
+cb_mux_t entries[NUM_ENTRIES];
+
+/* Timing */
+unsigned long time_prev, time_curr;
+
+void cb(void *arg)
+{
+    (void)arg;
+    time_curr = xtimer_now_usec();
+}
+
+int main(void)
+{
+    unsigned long xtimer_delay, time_diff;
+    uint8_t num;
+    cb_mux_t *entry;
+
+    puts("cb_mux benchmark application");
+
+    /* Delay due to fetching timer with xtimer */
+    time_prev = xtimer_now_usec();
+    xtimer_delay = time_prev - xtimer_now_usec();
+
+    /* Test for worst case: finding last entry */
+    entries[NUM_ENTRIES - 1].cbid = 1;
+
+    printf("Populating cb_mux list with %u items\n", NUM_ENTRIES);
+
+    for (num = 0; num < NUM_ENTRIES; num++) {
+        entries[num].cb = cb;
+        cb_mux_add(&cb_mux_head, &(entries[num]));
+    }
+
+    puts("Finding the last list entry");
+
+    time_prev = xtimer_now_usec();
+
+    entry = cb_mux_find_cbid(cb_mux_head, 1);
+    entry->cb(entry->arg);
+
+    time_diff = time_curr - time_prev - xtimer_delay;
+
+    printf("List walk time: %lu us\n", time_diff);
+
+    if (time_diff > FAIL_THRESH) {
+        printf("Walk time greater than threshold of %lu us\n", FAIL_THRESH);
+        puts("[FAILURE]");
+        return 1;
+    }
+    else {
+        printf("Walk time less than threshold of %lu us\n", FAIL_THRESH);
+        puts("[SUCCESS]");
+    }
+
+    return 0;
+}

tests/cb_mux_bench/tests/01-run.py

@@ -0,0 +1,25 @@
+#!/usr/bin/env python3
+
+# Copyright (C) 2018 Acutam Automation, LLC
+#
+# This file is subject to the terms and conditions of the GNU Lesser
+# General Public License v2.1. See the file LICENSE in the top level
+# directory for more details.
+
+import os
+import sys
+
+
+def testfunc(child):
+    child.expect_exact("cb_mux benchmark application")
+    child.expect(u"Populating cb_mux list with \d+ items")
+    child.expect_exact("Finding the last list entry")
+    child.expect(u"List walk time: \d+ us")
+    child.expect(u"Walk time less than threshold of \d+ us")
+    child.expect_exact("[SUCCESS]")
+
+
+if __name__ == "__main__":
+    sys.path.append(os.path.join(os.environ['RIOTBASE'], 'dist/tools/testrunner'))
+    from testrunner import run
+    sys.exit(run(testfunc))