Merge pull request #15038 from jia200x/pr/openthread/refactor

pkg/openthread: migrate to event loop

pkg/openthread/Makefile.dep

@@ -3,4 +3,5 @@ USEMODULE += openthread_contrib
 USEMODULE += openthread_contrib_netdev
 USEMODULE += l2util
 USEMODULE += xtimer
+USEMODULE += event
 FEATURES_REQUIRED += cpp

pkg/openthread/contrib/netdev/openthread_netdev.c

@@ -26,55 +26,79 @@
 #include "openthread/ip6.h"
 #include "openthread/platform/alarm-milli.h"
 #include "openthread/platform/uart.h"
-#include "openthread/tasklet.h"
 #include "openthread/thread.h"
 #include "random.h"
 #include "ot.h"
+#include "event.h"
 
 #define ENABLE_DEBUG (0)
 #include "debug.h"
 
-#define OPENTHREAD_QUEUE_LEN      (8)
+static otInstance *sInstance;   /**< global OpenThread instance */
-static msg_t _queue[OPENTHREAD_QUEUE_LEN];
+static netdev_t *_dev;          /**< netdev descriptor for OpenThread */
+static event_queue_t ev_queue;  /**< the event queue for OpenThread */
 
-static kernel_pid_t _pid;
+static void _ev_isr_handler(event_t *event)
-static otInstance *sInstance;
+{
-
+    (void) event;
-uint8_t ot_call_command(char* command, void *arg, void* answer) {
+    _dev->driver->isr(_dev);
-    ot_job_t job;
-
-    job.command = command;
-    job.arg = arg;
-    job.answer = answer;
-
-    msg_t msg, reply;
-    msg.type = OPENTHREAD_JOB_MSG_TYPE_EVENT;
-    msg.content.ptr = &job;
-    msg_send_receive(&msg, &reply, openthread_get_pid());
-    return (uint8_t)reply.content.value;
 }
 
-/* OpenThread will call this when switching state from empty tasklet to non-empty tasklet. */
+static event_t ev_isr = {
-void otTaskletsSignalPending(otInstance *aInstance) {
+    .handler = _ev_isr_handler
-    (void) aInstance;
+};
+
+event_queue_t *openthread_get_evq(void)
+{
+    return &ev_queue;
 }
 
-static void *_openthread_event_loop(void *arg) {
+otInstance* openthread_get_instance(void)
-    (void)arg;
+{
-    _pid = thread_getpid();
+    return sInstance;
+}
 
-    /* enable OpenThread UART */
+static void _event_cb(netdev_t *dev, netdev_event_t event) {
-    otPlatUartEnable();
+    switch (event) {
+        case NETDEV_EVENT_ISR:
+            event_post(&ev_queue, &ev_isr);
+            break;
+        case NETDEV_EVENT_RX_COMPLETE:
+            DEBUG("openthread_netdev: Reception of a packet\n");
+            recv_pkt(sInstance, dev);
+            break;
+        case NETDEV_EVENT_TX_COMPLETE:
+        case NETDEV_EVENT_TX_NOACK:
+        case NETDEV_EVENT_TX_MEDIUM_BUSY:
+            DEBUG("openthread_netdev: Transmission of a packet\n");
+            send_pkt(sInstance, dev, event);
+            break;
+        default:
+            break;
+    }
+}
+
+static void *_openthread_event_loop(void *arg)
+{
+    _dev = arg;
+    netdev_t *netdev = arg;
+
+    event_queue_init(&ev_queue);
+
+    netdev->driver->init(netdev);
+    netdev->event_callback = _event_cb;
+
+    netopt_enable_t enable = NETOPT_ENABLE;
+    netdev->driver->set(netdev, NETOPT_TX_END_IRQ, &enable, sizeof(enable));
+    netdev->driver->set(netdev, NETOPT_RX_END_IRQ, &enable, sizeof(enable));
 
     /* init OpenThread */
     sInstance = otInstanceInitSingle();
 
-    msg_init_queue(_queue, OPENTHREAD_QUEUE_LEN);
+    /* enable OpenThread UART */
-    netdev_t *dev;
+    otPlatUartEnable();
-    msg_t msg, reply;
 
 #if defined(MODULE_OPENTHREAD_CLI)
-    serial_msg_t* serialBuffer;
     otCliUartInit(sInstance);
     /* Init default parameters */
     otPanId panid = OPENTHREAD_PANID;
@@ -91,94 +115,21 @@ static void *_openthread_event_loop(void *arg) {
     diagInit(sInstance);
 #endif
 
-    ot_job_t *job;
     while (1) {
-        otTaskletsProcess(sInstance);
+        event_loop(&ev_queue);
-        if (otTaskletsArePending(sInstance) == false) {
-            msg_receive(&msg);
-            switch (msg.type) {
-                case OPENTHREAD_XTIMER_MSG_TYPE_EVENT:
-                    /* Tell OpenThread a time event was received */
-                    otPlatAlarmMilliFired(sInstance);
-                    break;
-                case OPENTHREAD_NETDEV_MSG_TYPE_EVENT:
-                    /* Received an event from driver */
-                    dev = msg.content.ptr;
-                    dev->driver->isr(dev);
-                    break;
-#ifdef MODULE_OPENTHREAD_CLI
-                case OPENTHREAD_SERIAL_MSG_TYPE_EVENT:
-                    /* Tell OpenThread about the reception of a CLI command */
-                    serialBuffer = (serial_msg_t*)msg.content.ptr;
-                    otPlatUartReceived((uint8_t*) serialBuffer->buf,serialBuffer->length);
-                    serialBuffer->serial_buffer_status = OPENTHREAD_SERIAL_BUFFER_STATUS_FREE;
-                    break;
-#endif
-                case OPENTHREAD_JOB_MSG_TYPE_EVENT:
-                    job = msg.content.ptr;
-                    reply.content.value = ot_exec_command(sInstance, job->command, job->arg, job->answer);
-                    msg_reply(&msg, &reply);
-                    break;
-            }
-        }
     }
 
     return NULL;
 }
 
-static void _event_cb(netdev_t *dev, netdev_event_t event) {
-    switch (event) {
-        case NETDEV_EVENT_ISR:
-            {
-                msg_t msg;
-                assert(_pid != KERNEL_PID_UNDEF);
-
-                msg.type = OPENTHREAD_NETDEV_MSG_TYPE_EVENT;
-                msg.content.ptr = dev;
-
-                if (msg_send(&msg, _pid) <= 0) {
-                    DEBUG("openthread_netdev: possibly lost interrupt.\n");
-                }
-                break;
-            }
-
-        case NETDEV_EVENT_RX_COMPLETE:
-            DEBUG("openthread_netdev: Reception of a packet\n");
-            recv_pkt(sInstance, dev);
-            break;
-        case NETDEV_EVENT_TX_COMPLETE:
-        case NETDEV_EVENT_TX_NOACK:
-        case NETDEV_EVENT_TX_MEDIUM_BUSY:
-            DEBUG("openthread_netdev: Transmission of a packet\n");
-            send_pkt(sInstance, dev, event);
-            break;
-        default:
-            break;
-    }
-}
-
-/* get OpenThread thread pid */
-kernel_pid_t openthread_get_pid(void) {
-    return _pid;
-}
-
 /* starts OpenThread thread */
 int openthread_netdev_init(char *stack, int stacksize, char priority,
                            const char *name, netdev_t *netdev) {
-    netdev->driver->init(netdev);
+    if (thread_create(stack, stacksize,
-    netdev->event_callback = _event_cb;
-
-    netopt_enable_t enable = NETOPT_ENABLE;
-    netdev->driver->set(netdev, NETOPT_TX_END_IRQ, &enable, sizeof(enable));
-    netdev->driver->set(netdev, NETOPT_RX_END_IRQ, &enable, sizeof(enable));
-
-    _pid = thread_create(stack, stacksize,
                          priority, THREAD_CREATE_STACKTEST,
-                         _openthread_event_loop, NULL, name);
+                         _openthread_event_loop, netdev, name) < 0) {
-
-    if (_pid <= 0) {
         return -EINVAL;
     }
 
-    return _pid;
+    return 0;
 }

pkg/openthread/contrib/platform_alarm.c

@@ -28,8 +28,25 @@
 #define ENABLE_DEBUG (0)
 #include "debug.h"
 
-static xtimer_t ot_timer;
+static void _ev_timer_handler(event_t *event)
-static msg_t ot_alarm_msg;
+{
+    (void) event;
+    otPlatAlarmMilliFired(openthread_get_instance());
+}
+
+static event_t ev_timer = {
+    .handler = _ev_timer_handler
+};
+
+void _timeout_cb(void *arg)
+{
+    (void) arg;
+    event_post(openthread_get_evq(), &ev_timer);
+}
+
+static xtimer_t ot_timer = {
+    .callback = _timeout_cb,
+};
 
 /**
  * Set the alarm to fire at @p aDt milliseconds after @p aT0.
@@ -44,14 +61,13 @@ void otPlatAlarmMilliStartAt(otInstance *aInstance, uint32_t aT0, uint32_t aDt)
     (void)aT0;
 
     DEBUG("openthread: otPlatAlarmStartAt: aT0: %" PRIu32 ", aDT: %" PRIu32 "\n", aT0, aDt);
-    ot_alarm_msg.type = OPENTHREAD_XTIMER_MSG_TYPE_EVENT;
 
     if (aDt == 0) {
-        msg_send(&ot_alarm_msg, thread_getpid());
+        event_post(openthread_get_evq(), &ev_timer);
     }
     else {
         int dt = aDt * US_PER_MS;
-        xtimer_set_msg(&ot_timer, dt, &ot_alarm_msg, thread_getpid());
+        xtimer_set(&ot_timer, dt);
     }
 }
 

pkg/openthread/contrib/platform_functions_wrapper.c

@@ -77,13 +77,14 @@ const ot_command_t otCommands[] =
     { "thread", &ot_thread },
 };
 
-uint8_t ot_exec_command(otInstance *ot_instance, const char* command, void *arg, void* answer) {
+void _exec_cmd(event_t *event) {
+    ot_job_t *job = (ot_job_t*) event;
+
     uint8_t res = 0xFF;
     /* Check running thread */
-    if (openthread_get_pid() == thread_getpid()) {
     for (uint8_t i = 0; i < ARRAY_SIZE(otCommands); i++) {
-            if (strcmp(command, otCommands[i].name) == 0) {
+        if (strcmp(job->command, otCommands[i].name) == 0) {
-                res = (*otCommands[i].function)(ot_instance, arg, answer);
+            res = (*otCommands[i].function)(openthread_get_instance(), job->arg, job->answer);
             break;
         }
     }
@@ -91,12 +92,22 @@ uint8_t ot_exec_command(otInstance *ot_instance, const char* command, void *arg,
         DEBUG("Wrong ot_COMMAND name\n");
         res = 1;
     }
-    } else {
+    job->status = res;
-        DEBUG("ERROR: ot_exec_job needs to run in OpenThread thread\n");
 }
-    return res;
+
+uint8_t ot_call_command(char* command, void *arg, void* answer)
+{
+    ot_job_t job = {.ev.handler = _exec_cmd};
+
+    job.command = command;
+    job.arg = arg;
+    job.answer = answer;
+
+    event_post(openthread_get_evq(), &job.ev);
+    return job.status;
 }
 
+
 void output_bytes(const char* name, const uint8_t *aBytes, uint8_t aLength)
 {
 #if ENABLE_DEBUG

pkg/openthread/contrib/platform_misc.c

@@ -19,10 +19,31 @@
 
 #include "openthread/platform/misc.h"
 #include "periph/pm.h"
+#include "ot.h"
+#include "openthread/tasklet.h"
 
 #define ENABLE_DEBUG (0)
 #include "debug.h"
 
+static void _ev_tasklets_handler(event_t *event)
+{
+    (void) event;
+    otInstance *instance = openthread_get_instance();
+    while (otTaskletsArePending(instance)) {
+        otTaskletsProcess(instance);
+    }
+}
+
+static event_t ev_tasklet = {
+    .handler = _ev_tasklets_handler
+};
+
+/* OpenThread will call this when switching state from empty tasklet to non-empty tasklet. */
+void otTaskletsSignalPending(otInstance *aInstance) {
+    (void) aInstance;
+    event_post(openthread_get_evq(), &ev_tasklet);
+}
+
 void otPlatReset(otInstance *aInstance)
 {
     (void)aInstance;

pkg/openthread/contrib/platform_uart.c

@@ -25,6 +25,7 @@
 #include "periph/uart.h"
 #include "openthread/platform/uart.h"
 #include "ot.h"
+#include "event.h"
 
 #define ENABLE_DEBUG (0)
 #include "debug.h"
@@ -34,6 +35,18 @@
 static serial_msg_t gSerialMessage[OPENTHREAD_NUMBER_OF_SERIAL_BUFFER];
 static uint16_t frameLength = 0;
 
+static void _ev_serial_handler(event_t *event)
+{
+    (void) event;
+    /* Tell OpenThread about the reception of a CLI command */
+    otPlatUartReceived((uint8_t*)gSerialMessage[0].buf, gSerialMessage[0].length);
+    gSerialMessage[0].serial_buffer_status = OPENTHREAD_SERIAL_BUFFER_STATUS_FREE;
+}
+
+static event_t ev_serial = {
+    .handler = _ev_serial_handler
+};
+
 static void uart_handler(void* arg, char c) {
     (void)arg;
 
@@ -47,10 +60,7 @@ static void uart_handler(void* arg, char c) {
                 gSerialMessage[0].buf[frameLength] = c;
                 frameLength++;
                 gSerialMessage[0].length = frameLength;
-                msg_t msg;
+                event_post(openthread_get_evq(), &ev_serial);
-                msg.type = OPENTHREAD_SERIAL_MSG_TYPE_EVENT;
-                msg.content.ptr = &gSerialMessage[0];
-                msg_send_int(&msg, openthread_get_pid());
                 frameLength = 0;
             }
             break;

pkg/openthread/include/ot.h

@@ -34,22 +34,7 @@ extern "C" {
 #include "net/netdev.h"
 #include "thread.h"
 #include "openthread/instance.h"
-
+#include "event.h"
-/**
- * @name    Openthread message types
- * @{
- */
-/** @brief   xtimer message receiver event */
-#define OPENTHREAD_XTIMER_MSG_TYPE_EVENT                    (0x2235)
-/** @brief   message received from driver */
-#define OPENTHREAD_NETDEV_MSG_TYPE_EVENT                    (0x2236)
-/** @brief   event indicating a serial (UART) message was sent to OpenThread */
-#define OPENTHREAD_SERIAL_MSG_TYPE_EVENT                    (0x2237)
-/** @brief   event for frame reception */
-#define OPENTHREAD_MSG_TYPE_RECV                            (0x2238)
-/** @brief   event indicating an OT_JOB message */
-#define OPENTHREAD_JOB_MSG_TYPE_EVENT                       (0x2240)
-/** @} */
 
 /**
  * @name    Openthread constants
@@ -90,6 +75,8 @@ typedef struct {
  * @brief   Struct containing an OpenThread job
  */
 typedef struct {
+    event_t ev;                             /**< Event associated to the OpenThread job */
+    int status;                             /**< Status of the job */
     const char *command;                    /**< A pointer to the job name string. */
     void *arg;                              /**< arg for the job **/
     void *answer;                           /**< answer from the job **/
@@ -112,6 +99,20 @@ void recv_pkt(otInstance *aInstance, netdev_t *dev);
  */
 void send_pkt(otInstance *aInstance, netdev_t *dev, netdev_event_t event);
 
+/**
+ * @brief Get OpenThread event queue
+ *
+ * @return pointer to the event queue
+ */
+event_queue_t *openthread_get_evq(void);
+
+/**
+ * @brief Get pointer to the OpenThread instance
+ *
+ * @return pointer to the OpenThread instance
+ */
+otInstance* openthread_get_instance(void);
+
 /**
  * @brief   Bootstrap OpenThread
  */