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Refactored scheduler
This commit is contained in:
Pavel Kirienko
@@ -4,26 +4,69 @@
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#pragma once
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#include <uavcan/timer.hpp>
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#include <uavcan/internal/linked_list.hpp>
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#include <uavcan/internal/transport/dispatcher.hpp>
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namespace uavcan
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{
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class Scheduler;
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class MonotonicDeadlineHandler : public LinkedListNode<MonotonicDeadlineHandler>, Noncopyable
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{
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uint64_t monotonic_deadline_;
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protected:
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Scheduler& scheduler_;
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MonotonicDeadlineHandler(Scheduler& scheduler)
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: monotonic_deadline_(0)
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, scheduler_(scheduler)
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{ }
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virtual ~MonotonicDeadlineHandler() { stop(); }
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public:
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virtual void onMonotonicDeadline(uint64_t monotonic_timestamp) = 0;
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void startWithDeadline(uint64_t monotonic_deadline);
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void startWithDelay(uint64_t delay_usec);
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void stop();
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bool isRunning() const;
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uint64_t getMonotonicDeadline() const { return monotonic_deadline_; }
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};
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class MonotonicDeadlineScheduler : Noncopyable
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{
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LinkedListRoot<MonotonicDeadlineHandler> handlers_; // Ordered by deadline, lowest first
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public:
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void add(MonotonicDeadlineHandler* mdh);
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void remove(MonotonicDeadlineHandler* mdh);
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bool doesExist(const MonotonicDeadlineHandler* mdh) const;
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unsigned int getNumHandlers() const { return handlers_.getLength(); }
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uint64_t pollAndGetMonotonicTimestamp(ISystemClock& sysclock);
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uint64_t getEarliestDeadline() const;
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};
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class Scheduler : Noncopyable
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{
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enum { DefaultTimerResolutionMs = 5 };
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enum { DefaultMonotonicDeadlineResolutionMs = 5 };
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enum { DefaultCleanupPeriodMs = 1000 };
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LinkedListRoot<TimerBase> ordered_timers_; // Ordered by deadline, lowest first
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MonotonicDeadlineScheduler deadline_scheduler_;
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Dispatcher dispatcher_;
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uint64_t prev_cleanup_ts_;
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uint64_t timer_resolution_;
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uint64_t monotonic_deadline_resolution_;
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uint64_t cleanup_period_;
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uint64_t computeDispatcherSpinDeadline(uint64_t spin_deadline) const;
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uint64_t pollTimersAndGetMonotonicTimestamp();
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void pollCleanup(uint64_t mono_ts, uint32_t num_frames_processed_with_last_spin);
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public:
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@@ -31,25 +74,21 @@ public:
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NodeID self_node_id)
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: dispatcher_(can_driver, allocator, sysclock, otr, self_node_id)
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, prev_cleanup_ts_(sysclock.getMonotonicMicroseconds())
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, timer_resolution_(DefaultTimerResolutionMs * 1000)
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, monotonic_deadline_resolution_(DefaultMonotonicDeadlineResolutionMs * 1000)
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, cleanup_period_(DefaultCleanupPeriodMs * 1000)
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{ }
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int spin(uint64_t monotonic_deadline);
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void registerOneShotTimer(TimerBase* timer);
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void unregisterOneShotTimer(TimerBase* timer);
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bool isOneShotTimerRegistered(const TimerBase* timer) const;
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unsigned int getNumOneShotTimers() const { return ordered_timers_.getLength(); }
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MonotonicDeadlineScheduler& getMonotonicDeadlineScheduler() { return deadline_scheduler_; }
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Dispatcher& getDispatcher() { return dispatcher_; }
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ISystemClock& getSystemClock() { return dispatcher_.getSystemClock(); }
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uint64_t getMonotonicTimestamp() const { return dispatcher_.getSystemClock().getMonotonicMicroseconds(); }
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uint64_t getUtcTimestamp() const { return dispatcher_.getSystemClock().getUtcMicroseconds(); }
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uint64_t getTimerResolution() const { return timer_resolution_; }
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void setTimerResolution(uint64_t res_usec) { timer_resolution_ = res_usec; }
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uint64_t getMonotonicDeadlineResolution() const { return monotonic_deadline_resolution_; }
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void setMonotonicDeadlineResolution(uint64_t res_usec) { monotonic_deadline_resolution_ = res_usec; }
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uint64_t getCleanupPeriod() const { return cleanup_period_; }
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void setCleanupPeriod(uint64_t period_usec) { cleanup_period_ = period_usec; }
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@@ -5,80 +5,71 @@
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#pragma once
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#include <stdint.h>
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#include <uavcan/scheduler.hpp>
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#include <uavcan/internal/util.hpp>
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#include <uavcan/internal/linked_list.hpp>
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namespace uavcan
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{
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class Scheduler;
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class TimerBase;
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class Timer;
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struct TimerEvent
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{
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uint64_t scheduled_monotonic_deadline;
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uint64_t monotonic_timestamp;
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TimerBase* timer;
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Timer* timer;
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TimerEvent(uint64_t scheduled_monotonic_deadline, uint64_t monotonic_timestamp, TimerBase& timer)
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TimerEvent(Timer* timer, uint64_t scheduled_monotonic_deadline, uint64_t monotonic_timestamp)
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: scheduled_monotonic_deadline(scheduled_monotonic_deadline)
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, monotonic_timestamp(monotonic_timestamp)
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, timer(&timer)
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, timer(timer)
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{ }
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};
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class TimerBase : public LinkedListNode<TimerBase>, Noncopyable
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class Timer : private MonotonicDeadlineHandler
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{
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friend class Scheduler;
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uint64_t monotonic_deadline_;
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uint64_t period_;
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Scheduler& scheduler_;
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void handleOneShotTimeout(uint64_t ts_monotonic);
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void genericStart();
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void onMonotonicDeadline(uint64_t monotonic_timestamp);
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public:
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static const uint64_t InfinitePeriod = 0xFFFFFFFFFFFFFFFFUL;
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TimerBase(Scheduler& scheduler)
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: monotonic_deadline_(0)
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using MonotonicDeadlineHandler::stop;
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using MonotonicDeadlineHandler::isRunning;
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using MonotonicDeadlineHandler::getMonotonicDeadline;
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Timer(Scheduler& scheduler)
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: MonotonicDeadlineHandler(scheduler)
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, period_(InfinitePeriod)
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, scheduler_(scheduler)
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{ }
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virtual ~TimerBase() { stop(); }
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uint64_t getMonotonicDeadline() const { return monotonic_deadline_; }
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void startOneShotDeadline(uint64_t monotonic_deadline_usec);
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void startOneShotDelay(uint64_t delay_usec);
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void startOneShotWithDeadline(uint64_t monotonic_deadline);
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void startOneShotWithDelay(uint64_t delay_usec);
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void startPeriodic(uint64_t period_usec);
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void stop();
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bool isRunning() const;
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uint64_t getPeriod() const { return period_; }
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virtual void onTimerEvent(TimerEvent& event) = 0;
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virtual void onTimerEvent(const TimerEvent& event) = 0;
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};
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template <typename Functor>
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class Timer : public TimerBase
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class TimerEventForwarder : public Timer
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{
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Functor functor_;
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public:
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Timer(Scheduler& node, Functor functor)
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: TimerBase(node)
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TimerEventForwarder(Scheduler& node, Functor functor)
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: Timer(node)
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, functor_(functor)
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{ }
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const Functor& getFunctor() const { return functor_; }
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void onTimerEvent(TimerEvent& event)
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void onTimerEvent(const TimerEvent& event)
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{
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functor_(event);
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}
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+95
-61
@@ -9,57 +9,124 @@
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namespace uavcan
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{
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/*
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* MonotonicDeadlineHandler
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*/
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void MonotonicDeadlineHandler::startWithDeadline(uint64_t monotonic_deadline)
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{
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assert(monotonic_deadline > 0);
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stop();
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monotonic_deadline_ = monotonic_deadline;
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scheduler_.getMonotonicDeadlineScheduler().add(this);
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}
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struct TimerInsertionComparator
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void MonotonicDeadlineHandler::startWithDelay(uint64_t delay_usec)
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{
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startWithDeadline(scheduler_.getMonotonicTimestamp() + delay_usec);
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}
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void MonotonicDeadlineHandler::stop()
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{
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scheduler_.getMonotonicDeadlineScheduler().remove(this);
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}
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bool MonotonicDeadlineHandler::isRunning() const
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{
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return scheduler_.getMonotonicDeadlineScheduler().doesExist(this);
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}
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/*
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* MonotonicDeadlineScheduler
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*/
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struct MonotonicDeadlineHandlerInsertionComparator
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{
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const uint64_t ts;
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TimerInsertionComparator(uint64_t ts) : ts(ts) { }
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bool operator()(const TimerBase* t) const
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MonotonicDeadlineHandlerInsertionComparator(uint64_t ts) : ts(ts) { }
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bool operator()(const MonotonicDeadlineHandler* t) const
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{
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return t->getMonotonicDeadline() > ts;
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}
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};
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uint64_t Scheduler::computeDispatcherSpinDeadline(uint64_t spin_deadline) const
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void MonotonicDeadlineScheduler::add(MonotonicDeadlineHandler* mdh)
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{
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uint64_t timer_deadline = std::numeric_limits<uint64_t>::max();
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TimerBase* const timer = ordered_timers_.get();
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if (timer)
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timer_deadline = timer->getMonotonicDeadline();
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const uint64_t earliest = std::min(timer_deadline, spin_deadline);
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const uint64_t ts = getMonotonicTimestamp();
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if (earliest > ts)
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{
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if (ts - earliest > timer_resolution_)
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return ts + timer_resolution_;
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}
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return earliest;
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assert(mdh);
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handlers_.insertBefore(mdh, MonotonicDeadlineHandlerInsertionComparator(mdh->getMonotonicDeadline()));
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}
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uint64_t Scheduler::pollTimersAndGetMonotonicTimestamp()
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void MonotonicDeadlineScheduler::remove(MonotonicDeadlineHandler* mdh)
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{
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assert(mdh);
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handlers_.remove(mdh);
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}
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bool MonotonicDeadlineScheduler::doesExist(const MonotonicDeadlineHandler* mdh) const
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{
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assert(mdh);
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const MonotonicDeadlineHandler* p = handlers_.get();
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#if UAVCAN_DEBUG
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uint64_t prev_deadline = 0;
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#endif
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while (p)
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{
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#if UAVCAN_DEBUG
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if (prev_deadline > p->getMonotonicDeadline()) // Self check
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std::abort();
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prev_deadline = p->getMonotonicDeadline();
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#endif
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if (p == mdh)
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return true;
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p = p->getNextListNode();
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}
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return false;
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}
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uint64_t MonotonicDeadlineScheduler::pollAndGetMonotonicTimestamp(ISystemClock& sysclock)
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{
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while (true)
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{
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TimerBase* const timer = ordered_timers_.get();
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if (!timer)
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return getMonotonicTimestamp();
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MonotonicDeadlineHandler* const mdh = handlers_.get();
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if (!mdh)
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return sysclock.getMonotonicMicroseconds();
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#if UAVCAN_DEBUG
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if (timer->getNextListNode()) // Order check
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assert(timer->getMonotonicDeadline() <= timer->getNextListNode()->getMonotonicDeadline());
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if (mdh->getNextListNode()) // Order check
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assert(mdh->getMonotonicDeadline() <= mdh->getNextListNode()->getMonotonicDeadline());
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#endif
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const uint64_t ts = getMonotonicTimestamp();
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if (ts < timer->getMonotonicDeadline())
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const uint64_t ts = sysclock.getMonotonicMicroseconds();
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if (ts < mdh->getMonotonicDeadline())
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return ts;
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ordered_timers_.remove(timer);
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timer->handleOneShotTimeout(ts); // This timer can be re-registered immediately
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handlers_.remove(mdh);
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mdh->onMonotonicDeadline(ts); // This handler can be re-registered immediately
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}
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assert(0);
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return 0;
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}
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uint64_t MonotonicDeadlineScheduler::getEarliestDeadline() const
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{
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const MonotonicDeadlineHandler* const mdh = handlers_.get();
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if (mdh)
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return mdh->getMonotonicDeadline();
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return std::numeric_limits<uint64_t>::max();
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}
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/*
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* Scheduler
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*/
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uint64_t Scheduler::computeDispatcherSpinDeadline(uint64_t spin_deadline) const
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{
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const uint64_t earliest = std::min(deadline_scheduler_.getEarliestDeadline(), spin_deadline);
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const uint64_t ts = getMonotonicTimestamp();
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if (earliest > ts)
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{
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if (ts - earliest > monotonic_deadline_resolution_)
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return ts + monotonic_deadline_resolution_;
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}
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return earliest;
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}
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void Scheduler::pollCleanup(uint64_t mono_ts, uint32_t num_frames_processed_with_last_spin)
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{
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// cleanup will be performed less frequently if the stack handles more frames per second
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@@ -82,7 +149,7 @@ int Scheduler::spin(uint64_t monotonic_deadline)
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if (retval < 0)
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break;
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const uint64_t ts = pollTimersAndGetMonotonicTimestamp();
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const uint64_t ts = deadline_scheduler_.pollAndGetMonotonicTimestamp(getSystemClock());
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pollCleanup(ts, retval);
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if (ts >= monotonic_deadline)
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break;
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@@ -90,37 +157,4 @@ int Scheduler::spin(uint64_t monotonic_deadline)
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return retval;
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}
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void Scheduler::registerOneShotTimer(TimerBase* timer)
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{
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assert(timer);
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ordered_timers_.insertBefore(timer, TimerInsertionComparator(timer->getMonotonicDeadline()));
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}
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void Scheduler::unregisterOneShotTimer(TimerBase* timer)
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{
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assert(timer);
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ordered_timers_.remove(timer);
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}
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bool Scheduler::isOneShotTimerRegistered(const TimerBase* timer) const
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{
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assert(timer);
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const TimerBase* p = ordered_timers_.get();
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#if UAVCAN_DEBUG
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uint64_t prev_deadline = 0;
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#endif
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while (p)
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{
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#if UAVCAN_DEBUG
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if (prev_deadline > p->getMonotonicDeadline()) // Self check
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std::abort();
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prev_deadline = p->getMonotonicDeadline();
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#endif
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if (p == timer)
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return true;
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p = p->getNextListNode();
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}
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return false;
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}
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}
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+12
-36
@@ -4,65 +4,41 @@
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#include <cassert>
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#include <uavcan/timer.hpp>
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#include <uavcan/scheduler.hpp>
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namespace uavcan
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{
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const uint64_t TimerBase::InfinitePeriod;
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const uint64_t Timer::InfinitePeriod;
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void TimerBase::handleOneShotTimeout(uint64_t ts_monotonic)
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void Timer::onMonotonicDeadline(uint64_t monotonic_timestamp)
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{
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assert(!scheduler_.isOneShotTimerRegistered(this));
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assert(!isRunning());
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if (period_ != InfinitePeriod)
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{
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monotonic_deadline_ += period_;
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genericStart();
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}
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startWithDeadline(getMonotonicDeadline() + period_);
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// Application can re-register the timer with different params, it's OK
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TimerEvent event(monotonic_deadline_, ts_monotonic, *this);
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onTimerEvent(event);
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onTimerEvent(TimerEvent(this, getMonotonicDeadline(), monotonic_timestamp));
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}
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void TimerBase::genericStart()
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void Timer::startOneShotWithDeadline(uint64_t monotonic_deadline_usec)
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{
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scheduler_.registerOneShotTimer(this);
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}
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void TimerBase::startOneShotDeadline(uint64_t monotonic_deadline_usec)
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{
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assert(monotonic_deadline_usec > 0);
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stop();
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period_ = InfinitePeriod;
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monotonic_deadline_ = monotonic_deadline_usec;
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genericStart();
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MonotonicDeadlineHandler::startWithDeadline(monotonic_deadline_usec);
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}
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void TimerBase::startOneShotDelay(uint64_t delay_usec)
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void Timer::startOneShotWithDelay(uint64_t delay_usec)
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{
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stop();
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startOneShotDeadline(scheduler_.getMonotonicTimestamp() + delay_usec);
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period_ = InfinitePeriod;
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MonotonicDeadlineHandler::startWithDelay(delay_usec);
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}
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void TimerBase::startPeriodic(uint64_t period_usec)
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void Timer::startPeriodic(uint64_t period_usec)
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{
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assert(period_usec != InfinitePeriod);
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stop();
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period_ = period_usec;
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monotonic_deadline_ = scheduler_.getMonotonicTimestamp() + period_usec;
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genericStart();
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}
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void TimerBase::stop()
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{
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scheduler_.unregisterOneShotTimer(this);
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}
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bool TimerBase::isRunning() const
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{
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return scheduler_.isOneShotTimerRegistered(this);
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MonotonicDeadlineHandler::startWithDelay(period_usec);
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}
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||||
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}
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||||
@@ -3,7 +3,7 @@
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*/
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||||
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#include <gtest/gtest.h>
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#include <uavcan/scheduler.hpp>
|
||||
#include <uavcan/timer.hpp>
|
||||
#include "common.hpp"
|
||||
#include "transport/can/iface_mock.hpp"
|
||||
|
||||
@@ -46,21 +46,19 @@ TEST(Scheduler, Timers)
|
||||
*/
|
||||
{
|
||||
TimerCallCounter tcc;
|
||||
uavcan::Timer<TimerCallCounter::Binder> a(sch, TimerCallCounter::Binder(&tcc, &TimerCallCounter::callA));
|
||||
uavcan::Timer<TimerCallCounter::Binder> b(sch, TimerCallCounter::Binder(&tcc, &TimerCallCounter::callB));
|
||||
uavcan::TimerEventForwarder<TimerCallCounter::Binder>
|
||||
a(sch, TimerCallCounter::Binder(&tcc, &TimerCallCounter::callA));
|
||||
uavcan::TimerEventForwarder<TimerCallCounter::Binder>
|
||||
b(sch, TimerCallCounter::Binder(&tcc, &TimerCallCounter::callB));
|
||||
|
||||
ASSERT_EQ(0, sch.getNumOneShotTimers());
|
||||
ASSERT_FALSE(sch.isOneShotTimerRegistered(&a));
|
||||
ASSERT_FALSE(sch.isOneShotTimerRegistered(&b));
|
||||
ASSERT_EQ(0, sch.getMonotonicDeadlineScheduler().getNumHandlers());
|
||||
|
||||
const uint64_t start_ts = clock_driver.getMonotonicMicroseconds();
|
||||
|
||||
a.startOneShotDeadline(start_ts + 100000);
|
||||
a.startOneShotWithDeadline(start_ts + 100000);
|
||||
b.startPeriodic(1000);
|
||||
|
||||
ASSERT_EQ(2, sch.getNumOneShotTimers());
|
||||
ASSERT_TRUE(sch.isOneShotTimerRegistered(&a));
|
||||
ASSERT_TRUE(sch.isOneShotTimerRegistered(&b));
|
||||
ASSERT_EQ(2, sch.getMonotonicDeadlineScheduler().getNumHandlers());
|
||||
|
||||
/*
|
||||
* Spinning
|
||||
@@ -89,17 +87,15 @@ TEST(Scheduler, Timers)
|
||||
/*
|
||||
* Deinitialization
|
||||
*/
|
||||
ASSERT_EQ(1, sch.getNumOneShotTimers());
|
||||
ASSERT_EQ(1, sch.getMonotonicDeadlineScheduler().getNumHandlers());
|
||||
|
||||
ASSERT_FALSE(sch.isOneShotTimerRegistered(&a));
|
||||
ASSERT_FALSE(a.isRunning());
|
||||
ASSERT_EQ(uavcan::TimerBase::InfinitePeriod, a.getPeriod());
|
||||
ASSERT_EQ(uavcan::Timer::InfinitePeriod, a.getPeriod());
|
||||
|
||||
ASSERT_TRUE(sch.isOneShotTimerRegistered(&b));
|
||||
ASSERT_TRUE(b.isRunning());
|
||||
ASSERT_EQ(1000, b.getPeriod());
|
||||
}
|
||||
|
||||
ASSERT_EQ(0, sch.getNumOneShotTimers()); // Both timers were destroyed now
|
||||
ASSERT_EQ(0, sch.getMonotonicDeadlineScheduler().getNumHandlers()); // Both timers were destroyed now
|
||||
ASSERT_EQ(0, sch.spin(clock_driver.getMonotonicMicroseconds() + 1000)); // Spin some more without timers
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user