feat(pthread): modify for ESP8266

1. remove "IRAM_ATTR" from pthread function
2. modify "critical" function
3. remove SMP function
4. add platform support

components/freertos/port/esp8266/include/freertos/FreeRTOSConfig.h

@@ -103,6 +103,8 @@ to exclude the API function. */
 #define INCLUDE_xTaskGetCurrentTaskHandle 1
 #define INCLUDE_uxTaskGetStackHighWaterMark 1
 
+#define INCLUDE_xSemaphoreGetMutexHolder    1
+
 /* This is the raw value as per the Cortex-M3 NVIC.  Values can be 255
 (lowest) to 0 (1?) (highest). */
 #define configKERNEL_INTERRUPT_PRIORITY 		255

components/newlib/newlib/port/include/pthread.h

@@ -0,0 +1,40 @@
+// Copyright 2018 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#ifndef __ESP_PLATFORM_PTHREAD_H__
+#define __ESP_PLATFORM_PTHREAD_H__
+
+#include <sys/types.h>
+#include <sys/time.h>
+#include <sys/features.h>
+
+// Remove this when GCC 5.2.0 is no longer supported
+#ifndef _POSIX_TIMEOUTS
+#define _POSIX_TIMEOUTS     // For pthread_mutex_timedlock
+#endif
+
+#include_next <pthread.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int pthread_condattr_getclock(const pthread_condattr_t * attr, clockid_t * clock_id);
+
+int pthread_condattr_setclock(pthread_condattr_t *attr, clockid_t clock_id);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // __ESP_PLATFORM_PTHREAD_H__

components/newlib/newlib/port/include/time.h

@@ -0,0 +1,35 @@
+// Copyright 2018 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+
+#ifndef _ESP_TIME_H
+#define _ESP_TIME_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+#include_next <time.h>
+
+#define _POSIX_TIMERS 1
+#define CLOCK_MONOTONIC (clockid_t)4
+#define CLOCK_BOOTTIME (clockid_t)4
+
+int clock_settime(clockid_t clock_id, const struct timespec *tp);
+int clock_gettime(clockid_t clock_id, struct timespec *tp);
+int clock_getres(clockid_t clock_id, struct timespec *res);
+
+#ifdef __cplusplus
+}
+#endif
+#endif /* _ESP_TIME_H */

components/newlib/newlib/port/time.c

@@ -16,6 +16,7 @@
 #include <reent.h>
 #include <sys/times.h>
 #include <sys/time.h>
+#include <sys/errno.h>
 
 #include "esp_system.h"
 #include "esp_timer.h"
@@ -106,3 +107,38 @@ unsigned int sleep(unsigned int seconds)
 
     return 0;
 }
+
+int clock_gettime (clockid_t clock_id, struct timespec *tp)
+{
+#if defined( WITH_FRC ) || defined( WITH_RTC )
+    if (tp == NULL) {
+        errno = EINVAL;
+        return -1;
+    }
+    struct timeval tv;
+    uint64_t monotonic_time_us = 0;
+    switch (clock_id) {
+        case CLOCK_REALTIME:
+            _gettimeofday_r(NULL, &tv, NULL);
+            tp->tv_sec = tv.tv_sec;
+            tp->tv_nsec = tv.tv_usec * 1000L;
+            break;
+        case CLOCK_MONOTONIC:
+#if defined( WITH_FRC )
+            monotonic_time_us = (uint64_t) esp_timer_get_time();
+#elif defined( WITH_RTC )
+            monotonic_time_us = get_rtc_time_us();
+#endif // WITH_FRC
+            tp->tv_sec = monotonic_time_us / 1000000LL;
+            tp->tv_nsec = (monotonic_time_us % 1000000LL) * 1000L;
+            break;
+        default:
+            errno = EINVAL;
+            return -1;
+    }
+    return 0;
+#else
+    errno = ENOSYS;
+    return -1;
+#endif
+}

components/pthread/CMakeLists.txt

@@ -1,7 +1,9 @@
+if(CONFIG_ENABLE_PTHREAD)
 idf_component_register(SRCS "pthread.c"
                             "pthread_cond_var.c"
                             "pthread_local_storage.c"
-                    INCLUDE_DIRS include)
+                    INCLUDE_DIRS include
+                    PRIV_REQUIRES newlib)
 
 if(GCC_NOT_5_2_0)
     set(extra_link_flags "-u pthread_include_pthread_impl")
@@ -16,3 +18,6 @@ endif()
 if(extra_link_flags)
     target_link_libraries(${COMPONENT_LIB} INTERFACE "${extra_link_flags}")
 endif()
+else()
+register_component()
+endif()

components/pthread/Kconfig

@@ -1,49 +1,37 @@
 menu "PThreads"
 
-    config PTHREAD_TASK_PRIO_DEFAULT
-        int "Default task priority"
-        range 0 255
-        default 5
-        help
-            Priority used to create new tasks with default pthread parameters.
+        config ENABLE_PTHREAD
+            bool  "Enable Pthread"
+            help
+                Enable this option and then pthread is to be used.
 
-    config PTHREAD_TASK_STACK_SIZE_DEFAULT
-        int "Default task stack size"
-        default 3072
-        help
-            Stack size used to create new tasks with default pthread parameters.
+        config PTHREAD_TASK_PRIO_DEFAULT
+            int "Default task priority"
+            range 0 255
+            default 5
+            depends on ENABLE_PTHREAD
+            help
+                Priority used to create new tasks with default pthread parameters.
 
-    config PTHREAD_STACK_MIN
-        int "Minimum allowed pthread stack size"
-        default 768
-        help
-            Minimum allowed pthread stack size set in attributes passed to pthread_create
+        config PTHREAD_TASK_STACK_SIZE_DEFAULT
+            int "Default task stack size"
+            default 3072
+            depends on ENABLE_PTHREAD
+            help
+                Stack size used to create new tasks with default pthread parameters.
 
-    choice PTHREAD_TASK_CORE_DEFAULT
-        bool "Default pthread core affinity"
-        default PTHREAD_DEFAULT_CORE_NO_AFFINITY
-        depends on !FREERTOS_UNICORE
-        help
-            The default core to which pthreads are pinned.
+        config PTHREAD_STACK_MIN
+            int "Minimum allowed pthread stack size"
+            default 768
+            depends on ENABLE_PTHREAD
+            help
+                Minimum allowed pthread stack size set in attributes passed to pthread_create
 
-        config PTHREAD_DEFAULT_CORE_NO_AFFINITY
-            bool "No affinity"
-        config PTHREAD_DEFAULT_CORE_0
-            bool "Core 0"
-        config PTHREAD_DEFAULT_CORE_1
-            bool "Core 1"
-    endchoice
-
-    config PTHREAD_TASK_CORE_DEFAULT
-        int
-        default -1 if PTHREAD_DEFAULT_CORE_NO_AFFINITY || FREERTOS_UNICORE
-        default 0 if PTHREAD_DEFAULT_CORE_0
-        default 1 if PTHREAD_DEFAULT_CORE_1
-
-    config PTHREAD_TASK_NAME_DEFAULT
-        string "Default name of pthreads"
-        default "pthread"
-        help
-            The default name of pthreads.
+        config PTHREAD_TASK_NAME_DEFAULT
+            string "Default name of pthreads"
+            default "pthread"
+            depends on ENABLE_PTHREAD
+            help
+                The default name of pthreads.
 
 endmenu

components/pthread/component.mk

@@ -2,6 +2,7 @@
 # Component Makefile
 #
 
+ifdef CONFIG_ENABLE_PTHREAD
 COMPONENT_SRCDIRS := .
 
 COMPONENT_ADD_INCLUDEDIRS := include
@@ -19,3 +20,6 @@ COMPONENT_ADD_LDFLAGS += -u pthread_include_pthread_impl
 COMPONENT_ADD_LDFLAGS += -u pthread_include_pthread_cond_impl
 COMPONENT_ADD_LDFLAGS += -u pthread_include_pthread_local_storage_impl
 endif  # GCC_NOT_5_2_0
+else
+COMPONENT_SRCDIRS :=
+endif

components/pthread/pthread.c

@@ -26,7 +26,6 @@
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 #include "freertos/semphr.h"
-#include "soc/soc_memory_layout.h"
 
 #include "pthread_internal.h"
 #include "esp_pthread.h"
@@ -67,13 +66,12 @@ typedef struct {
 
 
 static SemaphoreHandle_t s_threads_mux  = NULL;
-static portMUX_TYPE s_mutex_init_lock   = portMUX_INITIALIZER_UNLOCKED;
 static SLIST_HEAD(esp_thread_list_head, esp_pthread_entry) s_threads_list
                                         = SLIST_HEAD_INITIALIZER(s_threads_list);
 static pthread_key_t s_pthread_cfg_key;
 
 
-static int IRAM_ATTR pthread_mutex_lock_internal(esp_pthread_mutex_t *mux, TickType_t tmo);
+static int pthread_mutex_lock_internal(esp_pthread_mutex_t *mux, TickType_t tmo);
 
 static void esp_pthread_cfg_key_destructor(void *value)
 {
@@ -170,7 +168,7 @@ esp_err_t esp_pthread_get_cfg(esp_pthread_cfg_t *p)
 
 static int get_default_pthread_core(void)
 {
-    return CONFIG_PTHREAD_TASK_CORE_DEFAULT == -1 ? tskNO_AFFINITY : CONFIG_PTHREAD_TASK_CORE_DEFAULT;
+    return 0;
 }
 
 esp_pthread_cfg_t esp_pthread_get_default_config(void)
@@ -235,7 +233,6 @@ int pthread_create(pthread_t *thread, const pthread_attr_t *attr,
 
     uint32_t stack_size = CONFIG_PTHREAD_TASK_STACK_SIZE_DEFAULT;
     BaseType_t prio = CONFIG_PTHREAD_TASK_PRIO_DEFAULT;
-    BaseType_t core_id = get_default_pthread_core();
     const char *task_name = CONFIG_PTHREAD_TASK_NAME_DEFAULT;
 
     esp_pthread_cfg_t *pthread_cfg = pthread_getspecific(s_pthread_cfg_key);
@@ -261,10 +258,6 @@ int pthread_create(pthread_t *thread, const pthread_attr_t *attr,
             task_name = pthread_cfg->thread_name;
         }
 
-        if (pthread_cfg->pin_to_core >= 0 && pthread_cfg->pin_to_core < portNUM_PROCESSORS) {
-            core_id = pthread_cfg->pin_to_core;
-        }
-
         task_arg->cfg = *pthread_cfg;
     }
 
@@ -295,7 +288,7 @@ int pthread_create(pthread_t *thread, const pthread_attr_t *attr,
                                              task_arg,
                                              prio,
                                              &xHandle,
-                                             core_id);
+                                             0);
 
     if (res != pdPASS) {
         ESP_LOGE(TAG, "Failed to create task!");
@@ -453,7 +446,7 @@ void pthread_exit(void *value_ptr)
     }
     xSemaphoreGive(s_threads_mux);
 
-    ESP_LOGD(TAG, "Task stk_wm = %d", uxTaskGetStackHighWaterMark(NULL));
+    ESP_LOGD(TAG, "Task stk_wm = %ld", uxTaskGetStackHighWaterMark(NULL));
 
     if (detached) {
         vTaskDelete(NULL);
@@ -503,21 +496,7 @@ int pthread_once(pthread_once_t *once_control, void (*init_routine)(void))
         return EINVAL;
     }
 
-    uint32_t res = 1;
-#if defined(CONFIG_ESP32_SPIRAM_SUPPORT)
-    if (esp_ptr_external_ram(once_control)) {
-        uxPortCompareSetExtram((uint32_t *) &once_control->init_executed, 0, &res);
-    } else {
-#endif
-        uxPortCompareSet((uint32_t *) &once_control->init_executed, 0, &res);
-#if defined(CONFIG_ESP32_SPIRAM_SUPPORT)
-    }
-#endif
-    // Check if compare and set was successful
-    if (res == 0) {
-        ESP_LOGV(TAG, "%s: call init_routine %p", __FUNCTION__, once_control);
-        init_routine();
-    }
+    once_control->init_executed = 1;
 
     return 0;
 }
@@ -599,7 +578,7 @@ int pthread_mutex_destroy(pthread_mutex_t *mutex)
     return 0;
 }
 
-static int IRAM_ATTR pthread_mutex_lock_internal(esp_pthread_mutex_t *mux, TickType_t tmo)
+static int pthread_mutex_lock_internal(esp_pthread_mutex_t *mux, TickType_t tmo)
 {
     if (!mux) {
         return EINVAL;
@@ -627,16 +606,16 @@ static int pthread_mutex_init_if_static(pthread_mutex_t *mutex)
 {
     int res = 0;
     if ((intptr_t) *mutex == PTHREAD_MUTEX_INITIALIZER) {
-        portENTER_CRITICAL(&s_mutex_init_lock);
+        portENTER_CRITICAL();
         if ((intptr_t) *mutex == PTHREAD_MUTEX_INITIALIZER) {
             res = pthread_mutex_init(mutex, NULL);
         }
-        portEXIT_CRITICAL(&s_mutex_init_lock);
+        portEXIT_CRITICAL();
     }
     return res;
 }
 
-int IRAM_ATTR pthread_mutex_lock(pthread_mutex_t *mutex)
+int pthread_mutex_lock(pthread_mutex_t *mutex)
 {
     if (!mutex) {
         return EINVAL;
@@ -648,7 +627,7 @@ int IRAM_ATTR pthread_mutex_lock(pthread_mutex_t *mutex)
     return pthread_mutex_lock_internal((esp_pthread_mutex_t *)*mutex, portMAX_DELAY);
 }
 
-int IRAM_ATTR pthread_mutex_timedlock(pthread_mutex_t *mutex, const struct timespec *timeout)
+int pthread_mutex_timedlock(pthread_mutex_t *mutex, const struct timespec *timeout)
 {
     if (!mutex) {
         return EINVAL;
@@ -670,7 +649,7 @@ int IRAM_ATTR pthread_mutex_timedlock(pthread_mutex_t *mutex, const struct times
     return res;
 }
 
-int IRAM_ATTR pthread_mutex_trylock(pthread_mutex_t *mutex)
+int pthread_mutex_trylock(pthread_mutex_t *mutex)
 {
     if (!mutex) {
         return EINVAL;
@@ -682,7 +661,7 @@ int IRAM_ATTR pthread_mutex_trylock(pthread_mutex_t *mutex)
     return pthread_mutex_lock_internal((esp_pthread_mutex_t *)*mutex, 0);
 }
 
-int IRAM_ATTR pthread_mutex_unlock(pthread_mutex_t *mutex)
+int pthread_mutex_unlock(pthread_mutex_t *mutex)
 {
     esp_pthread_mutex_t *mux;
 

components/pthread/pthread_cond_var.c

@@ -25,7 +25,6 @@
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 #include "freertos/semphr.h"
-#include "freertos/list.h"
 
 #include <sys/queue.h>
 #include <sys/time.h>

components/pthread/pthread_local_storage.c

@@ -42,8 +42,6 @@ typedef struct key_entry_t_ {
 // List of all keys created with pthread_key_create()
 SLIST_HEAD(key_list_t, key_entry_t_) s_keys = SLIST_HEAD_INITIALIZER(s_keys);
 
-static portMUX_TYPE s_keys_lock = portMUX_INITIALIZER_UNLOCKED;
-
 // List of all value entries associated with a thread via pthread_setspecific()
 typedef struct value_entry_t_ {
     pthread_key_t key;
@@ -62,7 +60,7 @@ int pthread_key_create(pthread_key_t *key, pthread_destructor_t destructor)
         return ENOMEM;
     }
 
-    portENTER_CRITICAL(&s_keys_lock);
+    portENTER_CRITICAL();
 
     const key_entry_t *head = SLIST_FIRST(&s_keys);
     new_key->key = (head == NULL) ? 1 : (head->key + 1);
@@ -71,27 +69,27 @@ int pthread_key_create(pthread_key_t *key, pthread_destructor_t destructor)
 
     SLIST_INSERT_HEAD(&s_keys, new_key, next);
 
-    portEXIT_CRITICAL(&s_keys_lock);
+    portEXIT_CRITICAL();
     return 0;
 }
 
 static key_entry_t *find_key(pthread_key_t key)
 {
-    portENTER_CRITICAL(&s_keys_lock);
+    portENTER_CRITICAL();
     key_entry_t *result = NULL;;
     SLIST_FOREACH(result, &s_keys, next) {
         if(result->key == key) {
             break;
         }
     }
-    portEXIT_CRITICAL(&s_keys_lock);
+    portEXIT_CRITICAL();
     return result;
 }
 
 int pthread_key_delete(pthread_key_t key)
 {
 
-    portENTER_CRITICAL(&s_keys_lock);
+    portENTER_CRITICAL();
 
     /* Ideally, we would also walk all tasks' thread local storage value_list here
        and delete any values associated with this key. We do not do this...
@@ -103,7 +101,7 @@ int pthread_key_delete(pthread_key_t key)
         free(entry);
     }
 
-    portEXIT_CRITICAL(&s_keys_lock);
+    portEXIT_CRITICAL();
 
     return 0;
 }