Prune on_idle AO callback

Author: adel-mamin

apps/examples/dpp/main.c

@@ -149,7 +149,8 @@ int main(void) {
 
     uint32_t now_ticks = am_pal_time_get_tick(AM_PAL_TICK_DOMAIN_DEFAULT);
     for (;;) {
-        while (am_ao_run_all()) {}
+        while (am_ao_run_all()) {
+        }
         am_pal_sleep_till_ticks(AM_PAL_TICK_DOMAIN_DEFAULT, now_ticks + 1);
         now_ticks += 1;
         am_timer_tick(AM_PAL_TICK_DOMAIN_DEFAULT);

apps/examples/meson.build

@@ -59,8 +59,8 @@ e = executable(
         libtimer_dep,
         libbit_dep])
 
-ringbuf_example = executable(
-    'ringbuf-example',
+ringbuf_preemptive_example = executable(
+    'ringbuf_preemptive_example',
     [
         'ringbuf' / 'main.c',
         'ringbuf' / 'reader.c',
@@ -73,6 +73,22 @@ ringbuf_example = executable(
         libassert_dep
     ])
 
+ringbuf_cooperative_example = executable(
+    'ringbuf_cooperative_example',
+    [
+        'ringbuf' / 'main.c',
+        'ringbuf' / 'reader.c',
+        'ringbuf' / 'writer.c'
+    ],
+    dependencies: [
+        libao_cooperative_dep,
+        libpal_dep,
+        libringbuf_dep,
+        libassert_dep,
+        libbit_dep
+    ])
+
 if unit_test
-    test('threaded', ringbuf_example, suite: 'ringbuf')
+    test('threaded_preemptive', ringbuf_preemptive_example, suite: 'ringbuf')
+    test('threaded_cooperative', ringbuf_cooperative_example, suite: 'ringbuf')
 endif

libs/ao/ao.c

@@ -245,8 +245,6 @@ void am_ao_stop(struct am_ao *ao) {
     me->ao[ao->prio] = NULL;
 }
 
-static void am_ao_on_idle_stub(void) {}
-
 static void am_ao_debug_stub(const struct am_ao *ao, const struct am_event *e) {
     (void)ao;
     (void)e;
@@ -263,10 +261,6 @@ void am_ao_state_ctor(const struct am_ao_state_cfg *cfg) {
     me->startup_mutex = am_pal_mutex_create();
     am_pal_mutex_lock(me->startup_mutex);
 
-    me->on_idle = cfg->on_idle;
-    if (!me->on_idle) {
-        me->on_idle = am_ao_on_idle_stub;
-    }
     me->debug = cfg->debug;
     if (!me->debug) {
         me->debug = am_ao_debug_stub;

libs/ao/ao.h

@@ -62,8 +62,6 @@ struct am_ao {
 
 /** AO state configuration. */
 struct am_ao_state_cfg {
-    /** User callback on idle state, when no AO is running. */
-    void (*on_idle)(void);
     /** Debug callback. */
     void (*debug)(const struct am_ao *ao, const struct am_event *e);
 
@@ -220,13 +218,6 @@ void am_ao_start(
 void am_ao_stop(struct am_ao *ao);
 
 struct am_ao_cfg {
-    /**
-     * User callback for idle condition actions (e.g. sleep mode)
-     * The interrupts are disabled when the callback is called.
-     * The function must unlock interrupts internally, ideally
-     * atomically with a transition to a sleep mode.
-     */
-    void (*on_idle)(void);
     /** Debug callback. */
     void (*debug)(const struct am_ao *ao, const struct am_event *e);
     /** Enter critical section. */

libs/ao/cooperative/port.c

@@ -42,39 +42,33 @@ bool am_ao_run_all(void) {
     struct am_ao_state *me = &am_ao_state_;
     me->crit_enter();
 
-    while (am_bit_u64_is_empty(&am_ready_aos_)) {
-        me->crit_exit();
-        if (me->on_idle) {
-            me->on_idle();
-        } else {
-            int task_id = am_pal_task_own_id();
-            am_pal_task_wait(task_id);
-        }
-        me->crit_enter();
-    }
-    int msb = am_bit_u64_msb(&am_ready_aos_);
-
-    me->crit_exit();
+    while (!am_bit_u64_is_empty(&am_ready_aos_)) {
+        int msb = am_bit_u64_msb(&am_ready_aos_);
 
-    struct am_ao *ao = me->ao[msb];
-    AM_ASSERT(ao);
+        me->crit_exit();
 
-    const struct am_event *e = am_event_pop_front(&ao->event_queue);
-    if (!e) {
-        me->crit_enter();
-        if (am_queue_is_empty(&ao->event_queue)) {
-            am_bit_u64_clear(&am_ready_aos_, ao->prio);
+        struct am_ao *ao = me->ao[msb];
+        AM_ASSERT(ao);
+        AM_ASSERT(ao->prio == msb);
+
+        const struct am_event *e = am_event_pop_front(&ao->event_queue);
+        if (!e) {
+            me->crit_enter();
+            if (am_queue_is_empty(&ao->event_queue)) {
+                am_bit_u64_clear(&am_ready_aos_, ao->prio);
+            }
+            me->crit_exit();
+            continue;
         }
-        me->crit_exit();
-        return false;
-    }
-    me->debug(ao, e);
-    AM_ATOMIC_STORE_N(&ao->last_event, e->id);
-    am_hsm_dispatch(&ao->hsm, e);
-    AM_ATOMIC_STORE_N(&ao->last_event, AM_EVT_INVALID);
-    am_event_free(&e);
+        me->debug(ao, e);
+        AM_ATOMIC_STORE_N(&ao->last_event, e->id);
+        am_hsm_dispatch(&ao->hsm, e);
+        AM_ATOMIC_STORE_N(&ao->last_event, AM_EVT_INVALID);
+        am_event_free(&e);
 
-    return true;
+        return true;
+    }
+    return false;
 }
 
 void am_ao_start(

libs/ao/meson.build

@@ -60,11 +60,22 @@ libao_preemptive_dep = declare_dependency(
 
 if unit_test
     e = executable(
-        'minimal',
+        'minimal_preemptive',
         [
             'tests' / 'minimal.c'
         ],
         dependencies: [libao_preemptive_dep, libassert_dep, libpal_dep],
         include_directories: [include_directories('tests')])
-    test('minimal', e, suite: 'ao')
+    test('minimal_preemptive', e, suite: 'ao')
+
+    e = executable(
+        'minimal_cooperative',
+        [
+            'tests' / 'minimal.c'
+        ],
+        dependencies: [
+            libao_cooperative_dep, libassert_dep, libpal_dep, libbit_dep
+        ],
+        include_directories: [include_directories('tests')])
+    test('minimal_cooperative', e, suite: 'ao')
 endif

libs/ao/tests/minimal.c

@@ -127,13 +127,14 @@ int main(void) {
         /*nqueue=*/AM_COUNTOF(m_queue_loopback_test),
         /*stack=*/NULL,
         /*stack_size=*/0,
-        /*name=*/"loopback",
+        /*name=*/"loopback_test",
         /*init_event=*/NULL
     );
 
     uint32_t now_ticks = am_pal_time_get_tick(AM_PAL_TICK_DOMAIN_DEFAULT);
     for (;;) {
-        while (am_ao_run_all()) {}
+        while (am_ao_run_all()) {
+        }
         am_pal_sleep_till_ticks(AM_PAL_TICK_DOMAIN_DEFAULT, now_ticks + 1);
         now_ticks += 1;
         am_timer_tick(AM_PAL_TICK_DOMAIN_DEFAULT);