pthread: Added support for pthread condition variables

This is required for std::condition_variable support

Signed-off-by: Amey Inamdar <amey.inamdar@gmail.com>

components/pthread/pthread_cond_var.c

@@ -0,0 +1,211 @@
+// Copyright 2017 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.
+
+// This is a simple implementation of pthread condition variables. In essence,
+// the waiter creates its own semaphore to wait on and pushes it in the cond var
+// specific list. Upon notify and broadcast, all the waiters for the given cond
+// var are woken up.
+
+#include <errno.h>
+#include <pthread.h>
+#include <string.h>
+#include "esp_err.h"
+#include "esp_attr.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+#include "freertos/list.h"
+
+#include <rom/queue.h>
+#include <sys/time.h>
+
+#define LOG_LOCAL_LEVEL CONFIG_LOG_DEFAULT_LEVEL
+#include "esp_log.h"
+const static char *TAG = "esp_pthread";
+
+typedef struct esp_pthread_cond_waiter {
+    SemaphoreHandle_t   wait_sem;           ///< task specific semaphore to wait on
+    TAILQ_ENTRY(esp_pthread_cond_waiter) link;  ///< stash on the list of semaphores to be notified
+} esp_pthread_cond_waiter_t;
+
+typedef struct esp_pthread_cond {
+    _lock_t lock;                      ///< lock that protects the list of semaphores
+    TAILQ_HEAD(, esp_pthread_cond_waiter) waiter_list;  ///< head of the list of semaphores
+} esp_pthread_cond_t;
+
+int pthread_cond_signal(pthread_cond_t *cv)
+{
+    ESP_LOGV(TAG, "%s %p", __FUNCTION__, cv);
+
+    if (cv == NULL || *cv == (pthread_cond_t) 0) {
+        return EINVAL;
+    }
+
+    esp_pthread_cond_t *cond = (esp_pthread_cond_t *) *cv;
+
+    _lock_acquire_recursive(&cond->lock);
+    esp_pthread_cond_waiter_t *entry;
+    entry = TAILQ_FIRST(&cond->waiter_list);
+    if (entry) {
+        xSemaphoreGive(entry->wait_sem);
+    }
+    _lock_release_recursive(&cond->lock);
+
+    return 0;
+}
+
+int pthread_cond_broadcast(pthread_cond_t *cv)
+{
+    ESP_LOGV(TAG, "%s %p", __FUNCTION__, cv);
+
+    if (cv == NULL || *cv == (pthread_cond_t) 0) {
+        return EINVAL;
+    }
+
+    esp_pthread_cond_t *cond = (esp_pthread_cond_t *) *cv;
+
+    _lock_acquire_recursive(&cond->lock);
+    esp_pthread_cond_waiter_t *entry;
+    TAILQ_FOREACH(entry, &cond->waiter_list, link) {
+        xSemaphoreGive(entry->wait_sem);
+    }
+    _lock_release_recursive(&cond->lock);
+
+    return 0;
+}
+
+int pthread_cond_wait(pthread_cond_t *cv, pthread_mutex_t *mut)
+{
+    ESP_LOGV(TAG, "%s %p %p", __FUNCTION__, cv, mut);
+
+    return pthread_cond_timedwait(cv, mut, NULL);
+}
+
+int pthread_cond_timedwait(pthread_cond_t *cv, pthread_mutex_t *mut, const struct timespec *to)
+{
+    int ret;
+    TickType_t timeout_ticks;
+
+    ESP_LOGV(TAG, "%s %p %p %p", __FUNCTION__, cv, mut, to);
+
+    if (cv == NULL || *cv == (pthread_cond_t) 0) {
+        return EINVAL;
+    }
+
+    esp_pthread_cond_t *cond = (esp_pthread_cond_t *) *cv;
+
+    if (to == NULL) {
+        timeout_ticks = portMAX_DELAY;
+    } else {
+        struct timeval abs_time, cur_time, diff_time;
+        long timeout_msec;
+
+        gettimeofday(&cur_time, NULL);
+
+        abs_time.tv_sec = to->tv_sec;
+        abs_time.tv_usec = to->tv_nsec / 1000;
+
+        if (timercmp(&abs_time, &cur_time, <)) {
+            /* As per the pthread spec, if the time has already
+             * passed, no sleep is required.
+             */
+            timeout_msec = 0;
+        } else {
+            timersub(&abs_time, &cur_time, &diff_time);
+            timeout_msec = (diff_time.tv_sec * 1000) + (diff_time.tv_usec / 1000);
+        }
+
+        if (timeout_msec <= 0) {
+            return ETIMEDOUT;
+        }
+
+        timeout_ticks = timeout_msec / portTICK_PERIOD_MS;
+    }
+
+    esp_pthread_cond_waiter_t w;
+    w.wait_sem = xSemaphoreCreateCounting(1, 0); /* First get will block */
+
+    _lock_acquire_recursive(&cond->lock);
+    TAILQ_INSERT_TAIL(&cond->waiter_list, &w, link);
+    _lock_release_recursive(&cond->lock);
+    pthread_mutex_unlock(mut);
+
+    if (xSemaphoreTake(w.wait_sem, timeout_ticks) == pdTRUE) {
+        ret = 0;
+    } else {
+        ret = ETIMEDOUT;
+    }
+
+    _lock_acquire_recursive(&cond->lock);
+    TAILQ_REMOVE(&cond->waiter_list, &w, link);
+    _lock_release_recursive(&cond->lock);
+    vSemaphoreDelete(w.wait_sem);
+
+    pthread_mutex_lock(mut);
+    return ret;
+}
+
+int pthread_condattr_init(pthread_condattr_t *attr)
+{
+    ESP_LOGV(TAG, "%s not yet implemented (%p)", __FUNCTION__, attr);
+    return ENOSYS;
+}
+
+int pthread_cond_init(pthread_cond_t *cv, const pthread_condattr_t *att)
+{
+    (void) att; /* Unused argument as of now */
+
+    ESP_LOGV(TAG, "%s %p %p", __FUNCTION__, cv, att);
+
+    if (cv == NULL) {
+        return EINVAL;
+    }
+
+    esp_pthread_cond_t *cond = (esp_pthread_cond_t *) calloc(1, sizeof(esp_pthread_cond_t));
+    if (cond == NULL) {
+        return ENOMEM;
+    }
+
+    _lock_init_recursive(&cond->lock);
+    TAILQ_INIT(&cond->waiter_list);
+
+    *cv = (pthread_cond_t) cond;
+    return 0;
+}
+
+int pthread_cond_destroy(pthread_cond_t *cv)
+{
+    int ret = 0;
+
+    ESP_LOGV(TAG, "%s %p", __FUNCTION__, cv);
+    if (cv == NULL || *cv == (pthread_cond_t) 0) {
+        return EINVAL;
+    }
+
+    esp_pthread_cond_t *cond = (esp_pthread_cond_t *) *cv;
+
+    _lock_acquire_recursive(&cond->lock);
+    if (!TAILQ_EMPTY(&cond->waiter_list)) {
+        ret = EBUSY;
+    }
+    _lock_release_recursive(&cond->lock);
+
+    if (ret == 0) {
+        *cv = (pthread_cond_t) 0;
+        _lock_close_recursive(&cond->lock);
+        free(cond);
+    }
+
+    return ret;
+}

components/pthread/test/test_cxx_cond_var.cpp

@@ -0,0 +1,48 @@
+#include <iostream>
+#include <thread>
+#include <condition_variable>
+#include <chrono>
+#include <mutex>
+#include <atomic>
+#include "unity.h"
+
+#if __GTHREADS && __GTHREADS_CXX0X
+
+std::condition_variable cv;
+std::mutex cv_m;
+std::atomic<int> i{0};
+
+static void waits(int idx, int timeout_ms)
+{
+    std::unique_lock<std::mutex> lk(cv_m);
+    auto now = std::chrono::system_clock::now();
+
+    if(cv.wait_until(lk, now + std::chrono::milliseconds(timeout_ms), [](){return i == 1;}))
+        std::cout << "Thread " << idx << " finished waiting. i == " << i << '\n';
+    else
+        std::cout << "Thread " << idx << " timed out. i == " << i << '\n';
+}
+
+static void signals(int signal_ms)
+{
+    std::this_thread::sleep_for(std::chrono::milliseconds(signal_ms));
+    std::cout << "Notifying...\n";
+    cv.notify_all();
+    std::this_thread::sleep_for(std::chrono::milliseconds(signal_ms));
+    i = 1;
+    std::cout << "Notifying again...\n";
+    cv.notify_all();
+}
+
+TEST_CASE("C++ condition_variable", "[std::condition_variable]")
+{
+    i = 0;
+    std::thread t1(waits, 1, 100), t2(waits, 2, 800), t3(signals, 200);
+
+    t1.join();
+    t2.join();
+    t3.join();
+
+    std::cout << "All threads joined\n";
+}
+#endif

components/pthread/test/test_cxx_std_future.cpp

@@ -0,0 +1,31 @@
+#include <iostream>
+#include <future>
+#include <thread>
+#include "unity.h"
+ 
+#if __GTHREADS && __GTHREADS_CXX0X
+TEST_CASE("C++ future", "[std::future]")
+{
+    // future from a packaged_task
+    std::packaged_task<int()> task([]{ return 7; }); // wrap the function
+    std::future<int> f1 = task.get_future();  // get a future
+    std::thread t(std::move(task)); // launch on a thread
+ 
+    // future from an async()
+    std::future<int> f2 = std::async(std::launch::async, []{ return 8; });
+ 
+    // future from a promise
+    std::promise<int> p;
+    std::future<int> f3 = p.get_future();
+    std::thread( [&p]{ p.set_value_at_thread_exit(9); }).detach();
+ 
+    std::cout << "Waiting..." << std::flush;
+    f1.wait();
+    f2.wait();
+    f3.wait();
+    std::cout << "Done!\nResults are: "
+              << f1.get() << ' ' << f2.get() << ' ' << f3.get() << '\n';
+    t.join();
+}
+#endif
+