Add AM_PAL_TASK_ID_MAIN

Author: adel-mamin

libs/ao/cooperative/port.c

@@ -41,12 +41,17 @@ static struct am_bit_u64 am_ready_aos_ = {0};
 bool am_ao_run_all(bool loop) {
     struct am_ao_state *me = &am_ao_state_;
     bool processed = false;
+    int task_id = am_pal_task_own_id();
     do {
         me->crit_enter();
 
         while (am_bit_u64_is_empty(&am_ready_aos_)) {
             me->crit_exit();
-            me->on_idle();
+            if (me->on_idle) {
+                me->on_idle();
+            } else {
+                am_pal_task_wait(task_id);
+            }
             me->crit_enter();
         }
         int msb = am_bit_u64_msb(&am_ready_aos_);
@@ -105,6 +110,7 @@ void am_ao_start(
 
     ao->prio = prio;
     ao->name = name;
+    ao->task_id = am_pal_task_own_id();
 
     struct am_ao_state *me = &am_ao_state_;
     AM_ASSERT(NULL == me->ao[prio]);
@@ -123,4 +129,6 @@ void am_ao_notify(const struct am_ao *ao) {
     me->crit_enter();
     am_bit_u64_set(&am_ready_aos_, ao->prio);
     me->crit_exit();
+
+    am_pal_task_notify(ao->task_id);
 }

libs/pal/pal.h

@@ -39,6 +39,9 @@
 /** Invalid task ID */
 #define AM_PAL_TASK_ID_NONE 0
 
+/** Main task ID */
+#define AM_PAL_TASK_ID_MAIN -1
+
 /** Default tick domain */
 #define AM_PAL_TICK_DOMAIN_DEFAULT 0
 

libs/pal/posix/pal.c

@@ -70,6 +70,7 @@ struct am_pal_task {
     void *arg;
 };
 
+static struct am_pal_task task_main_ = {0};
 static struct am_pal_task task_arr_[AM_PAL_TASK_NUM_MAX] = {0};
 
 struct am_pal_mutex {
@@ -114,6 +115,9 @@ void am_pal_crit_exit(void) {
 
 int am_pal_task_own_id(void) {
     pthread_t thread = pthread_self();
+    if (task_main_.thread == thread) {
+        return AM_PAL_TASK_ID_MAIN;
+    }
     for (int i = 0; i < AM_COUNTOF(task_arr_); ++i) {
         if (task_arr_[i].thread == thread) {
             return am_pal_id_from_index(i);
@@ -192,8 +196,13 @@ int am_pal_task_create(
 void am_pal_task_notify(int task_id) {
     AM_ASSERT(task_id != AM_PAL_TASK_ID_NONE);
 
-    int index = am_pal_index_from_id(task_id);
-    struct am_pal_task *t = &task_arr_[index];
+    struct am_pal_task *t = NULL;
+    if (AM_PAL_TASK_ID_MAIN == task_id) {
+        t = &task_main_;
+    } else {
+        int index = am_pal_index_from_id(task_id);
+        t = &task_arr_[index];
+    }
     AM_ASSERT(t);
     pthread_mutex_lock(&t->mutex);
     AM_ATOMIC_STORE_N(&t->notified, true);
@@ -205,8 +214,15 @@ void am_pal_task_wait(int task_id) {
     if (AM_PAL_TASK_ID_NONE == task_id) {
         task_id = am_pal_task_own_id();
     }
-    int index = am_pal_index_from_id(task_id);
-    struct am_pal_task *t = &task_arr_[index];
+    AM_ASSERT(task_id != AM_PAL_TASK_ID_NONE);
+
+    struct am_pal_task *t = NULL;
+    if (AM_PAL_TASK_ID_MAIN == task_id) {
+        t = &task_main_;
+    } else {
+        int index = am_pal_index_from_id(task_id);
+        t = &task_arr_[index];
+    }
     AM_ASSERT(t);
     pthread_mutex_lock(&t->mutex);
     while (!AM_ATOMIC_LOAD_N(&t->notified)) {
@@ -347,7 +363,16 @@ int am_pal_printf(const char *fmt, ...) {
 
 void am_pal_flush(void) { fflush(stdout); }
 
-void am_pal_ctor(void) {}
+void am_pal_ctor(void) {
+    struct am_pal_task *task = &task_main_;
+
+    task->thread = pthread_self();
+    am_pal_mutex_init(&task->mutex);
+
+    int ret = pthread_cond_init(&task->cond, /*attr=*/NULL);
+    AM_ASSERT(0 == ret);
+    task->valid = true;
+}
 
 void am_pal_dtor(void) {
     for (int i = 0; i < AM_COUNTOF(mutex_arr_); ++i) {