Fix #1252, condition variable API for OSAL

CMakeLists.txt

@@ -232,6 +232,7 @@ set(OSAL_SRCLIST
     src/os/shared/src/osapi-binsem.c
     src/os/shared/src/osapi-clock.c
     src/os/shared/src/osapi-common.c
+    src/os/shared/src/osapi-condvar.c
     src/os/shared/src/osapi-countsem.c
     src/os/shared/src/osapi-dir.c
     src/os/shared/src/osapi-errors.c
@@ -357,7 +358,3 @@ else(HAS_PARENT)
     # Note that in a CFE/integrated build, it is expected this will be built separately.
     add_subdirectory(docs/src docs)
 endif(HAS_PARENT)
-
-
-
-

default_config.cmake

@@ -238,6 +238,11 @@ set(OSAL_CONFIG_MAX_MUTEXES             20
     CACHE STRING "Maximum Number of Mutexes to support"
 )
 
+# The maximum number of condition variables to support
+set(OSAL_CONFIG_MAX_CONDVARS             4
+    CACHE STRING "Maximum Number of Condition Variables to support"
+)
+
 # The maximum number of loadable modules to support
 # Note that emulating module loading for statically-linked objects also
 # requires a slot in this table, as it still assigns an OSAL ID.

osconfig.h.in

@@ -71,7 +71,14 @@
   */
 #define OS_MAX_MUTEXES                  @OSAL_CONFIG_MAX_MUTEXES@
 
- /**
+/**
+  * \brief The maximum number of condition variables to support
+  *
+  * Based on the OSAL_CONFIG_MAX_CONDVARS configuration option
+  */
+#define OS_MAX_CONDVARS                  @OSAL_CONFIG_MAX_CONDVARS@
+
+  /**
   * \brief The maximum number of modules to support
   *
   * Based on the OSAL_CONFIG_MAX_MODULES configuration option
@@ -268,4 +275,3 @@
 
 
 #endif      /* OSCONFIG_H */
-

src/os/inc/osapi-condvar.h

@@ -0,0 +1,258 @@
+/************************************************************************
+ * NASA Docket No. GSC-18,719-1, and identified as “core Flight System: Bootes”
+ *
+ * Copyright (c) 2020 United States Government as represented by the
+ * Administrator of the National Aeronautics and Space Administration.
+ * All Rights Reserved.
+ *
+ * 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.
+ ************************************************************************/
+
+/**
+ * \file
+ *
+ * Declarations and prototypes for condition variables
+ */
+
+#ifndef OSAPI_CONDVAR_H
+#define OSAPI_CONDVAR_H
+
+#include "osconfig.h"
+#include "common_types.h"
+
+#include "osapi-clock.h" /* required for OS_time_t definition */
+
+/** @brief OSAL condition variable properties */
+typedef struct
+{
+    char      name[OS_MAX_API_NAME];
+    osal_id_t creator;
+} OS_condvar_prop_t;
+
+/** @defgroup OSAPICondVar OSAL Condition Variable APIs
+ * @{
+ */
+
+/*-------------------------------------------------------------------------------------*/
+/**
+ * @brief Creates a condition variable resource
+ *
+ * A condition variable adds a more sophisticated synchronization option for mutexes,
+ * such that it can operate on arbitrary user-defined conditions rather than simply a
+ * counter or boolean (as in the case of simple semaphores).
+ *
+ * Creating a condition variable resource in OSAL will in turn create both a basic mutex
+ * as well as a synchronization overlay.  The underlying mutex is similar to the mutex
+ * functionality provided by the OSAL mutex subsystem, and can be locked and unlocked
+ * normally.
+ *
+ * This mutex is intended to protect access to any arbitrary user-defined data object that
+ * serves as the condition being tested.
+ *
+ * A task that needs a particular state of the object should follow this general flow:
+ *  - Lock the underlying mutex
+ *  - Test for the condition being waited for (a user-defined check on user-defined data)
+ *  - If condition IS NOT met, then call OS_CondVarWait() to wait, then repeat test
+ *  - If condition IS met, then unlock the underlying mutex and continue
+ *
+ * A task that changes the state of the object should follow this general flow:
+ *  - Lock the underlying mutex
+ *  - Change the state as necessary
+ *  - Call either OS_CondVarSignal() or OS_CondVarBroadcast()
+ *  - Unlock the underlying mutex
+ *
+ * @param[out]  var_id will be set to the non-zero ID of the newly-created resource @nonnull
+ * @param[in]   var_name the name of the new resource to create @nonnull
+ * @param[in]   options reserved for future use.  Should be passed as 0.
+ *
+ * @return Execution status, see @ref OSReturnCodes
+ * @retval #OS_SUCCESS @copybrief OS_SUCCESS
+ * @retval #OS_INVALID_POINTER if var_id or var_name are NULL
+ * @retval #OS_ERR_NAME_TOO_LONG name length including null terminator greater than #OS_MAX_API_NAME
+ * @retval #OS_ERR_NO_FREE_IDS if there are no more free condition variable Ids
+ * @retval #OS_ERR_NAME_TAKEN if there is already a condition variable with the same name
+ */
+int32 OS_CondVarCreate(osal_id_t *var_id, const char *var_name, uint32 options);
+
+/*-------------------------------------------------------------------------------------*/
+/**
+ * @brief Locks/Acquires the underlying mutex associated with a condition variable
+ *
+ * The mutex should always be locked by a task before reading or modifying the
+ * data object associated with a condition variable.
+ *
+ * @note This lock must be acquired by a task before invoking OS_CondVarWait() or
+ * OS_CondVarTimedWait() on the same condition variable.
+ *
+ * @param[in] var_id The object ID to operate on
+ *
+ * @return Execution status, see @ref OSReturnCodes
+ * @retval #OS_SUCCESS @copybrief OS_SUCCESS
+ * @retval #OS_ERR_INVALID_ID if the id passed in is not a valid condition variable
+ */
+int32 OS_CondVarLock(osal_id_t var_id);
+
+/*-------------------------------------------------------------------------------------*/
+/**
+ * @brief Unlocks/Releases the underlying mutex associated with a condition variable
+ *
+ * The mutex should be unlocked by a task once reading or modifying the
+ * data object associated with a condition variable is complete.
+ *
+ * @param[in] var_id The object ID to operate on
+ *
+ * @return Execution status, see @ref OSReturnCodes
+ * @retval #OS_SUCCESS @copybrief OS_SUCCESS
+ * @retval #OS_ERR_INVALID_ID if the id passed in is not a valid condition variable
+ */
+int32 OS_CondVarUnlock(osal_id_t var_id);
+
+/*-------------------------------------------------------------------------------------*/
+/**
+ * @brief Signals the condition variable resource referenced by var_id.
+ *
+ * This function may be used to indicate when the state of a data object has been
+ * changed.
+ *
+ * If there are threads blocked on the condition variable object referenced by
+ * var_id when this function is called, one of those threads will be unblocked,
+ * as determined by the scheduling policy.
+ *
+ * @param[in] var_id The object ID to operate on
+ *
+ * @return Execution status, see @ref OSReturnCodes
+ * @retval #OS_SUCCESS @copybrief OS_SUCCESS
+ * @retval #OS_ERR_INVALID_ID if the id passed in is not a valid condition variable
+ */
+int32 OS_CondVarSignal(osal_id_t var_id);
+
+/*-------------------------------------------------------------------------------------*/
+/**
+ * @brief Broadcasts the condition variable resource referenced by var_id.
+ *
+ * This function may be used to indicate when the state of a data object has been
+ * changed.
+ *
+ * If there are threads blocked on the condition variable object referenced by
+ * var_id when this function is called, all threads will be unblocked.
+ *
+ * Note that although all threads are unblocked, because the mutex is re-acquired
+ * before the wait function returns, only a single task will be testing the condition
+ * at a given time.  The order with which each blocked task runs is determined by the
+ * scheduling policy.
+ *
+ * @param[in] var_id The object ID to operate on
+ *
+ * @return Execution status, see @ref OSReturnCodes
+ * @retval #OS_SUCCESS @copybrief OS_SUCCESS
+ * @retval #OS_ERR_INVALID_ID if the id passed in is not a valid condition variable
+ */
+int32 OS_CondVarBroadcast(osal_id_t var_id);
+
+/*-------------------------------------------------------------------------------------*/
+/**
+ * @brief Waits on the condition variable object referenced by var_id.
+ *
+ * The calling task will be blocked until another task calls the function
+ * OS_CondVarSignal() or OS_CondVarBroadcast() on the same condition variable.
+ *
+ * The underlying mutex associated with the condition variable must be locked and
+ * owned by the calling task at the time this function is invoked.  As part of this
+ * call, the mutex will be unlocked as the task blocks.  This is done in such a way
+ * that there is no possibility that another task could aquire the mutex before the
+ * calling task has actually blocked.
+ *
+ * This atomicity with respect to blocking the task and unlocking the mutex is a
+ * critical difference between condition variables and other synchronization
+ * primitives.  It avoids a window of opportunity where inherent in the simpler
+ * synchronization resource types where the state of the data could change between
+ * the time that the calling task tested the state and the time that the task
+ * actually blocks on the sync resource.
+ *
+ * @param[in] var_id The object ID to operate on
+ *
+ * @return Execution status, see @ref OSReturnCodes
+ * @retval #OS_SUCCESS @copybrief OS_SUCCESS
+ * @retval #OS_ERR_INVALID_ID the id passed in is not a valid condvar
+ */
+int32 OS_CondVarWait(osal_id_t var_id);
+
+/*-------------------------------------------------------------------------------------*/
+/**
+ * @brief Time-limited wait on the condition variable object referenced by var_id.
+ *
+ * Identical in operation to OS_CondVarWait(), except that the maximum amount of
+ * time that the task will be blocked is limited.
+ *
+ * The abs_wakeup_time refers to the absolute time of the system clock at which the
+ * task should be unblocked to run, regardless of the state of the condition variable.
+ * This refers to the same system clock that is the subject of the OS_GetLocalTime() API.
+ *
+ * @param[in] var_id The object ID to operate on
+ * @param[in] abs_wakeup_time The system time at which the task should be unblocked @nonnull
+ *
+ * @return Execution status, see @ref OSReturnCodes
+ * @retval #OS_SUCCESS @copybrief OS_SUCCESS
+ * @retval #OS_ERR_INVALID_ID the id passed in is not a valid condvar
+ */
+int32 OS_CondVarTimedWait(osal_id_t var_id, const OS_time_t *abs_wakeup_time);
+
+/*-------------------------------------------------------------------------------------*/
+/**
+ * @brief Deletes the specified condition variable.
+ *
+ * Delete the condition variable and releases any related system resources.
+ *
+ * @param[in] var_id The object ID to delete
+ *
+ * @return Execution status, see @ref OSReturnCodes
+ * @retval #OS_SUCCESS @copybrief OS_SUCCESS
+ * @retval #OS_ERR_INVALID_ID if the id passed in is not a valid condvar
+ */
+int32 OS_CondVarDelete(osal_id_t var_id);
+
+/*-------------------------------------------------------------------------------------*/
+/**
+ * @brief Find an existing condition variable ID by name
+ *
+ * This function tries to find an existing condition variable ID given the name.
+ * The id is returned through var_id.
+ *
+ * @param[out] var_id will be set to the ID of the existing resource
+ * @param[in]  var_name the name of the existing resource to find @nonnull
+ *
+ * @return Execution status, see @ref OSReturnCodes
+ * @retval #OS_SUCCESS @copybrief OS_SUCCESS
+ * @retval #OS_INVALID_POINTER is var_id or var_name are NULL pointers
+ * @retval #OS_ERR_NAME_TOO_LONG name length including null terminator greater than #OS_MAX_API_NAME
+ * @retval #OS_ERR_NAME_NOT_FOUND if the name was not found in the table
+ */
+int32 OS_CondVarGetIdByName(osal_id_t *var_id, const char *var_name);
+
+/*-------------------------------------------------------------------------------------*/
+/**
+ * @brief Fill a property object buffer with details regarding the resource
+ *
+ * This function will fill a structure to contain the information
+ * (name and creator) about the specified condition variable.
+ *
+ * @param[in]  var_id The object ID to operate on
+ * @param[out] condvar_prop The property object buffer to fill @nonnull
+ *
+ * @return Execution status, see @ref OSReturnCodes
+ * @retval #OS_SUCCESS @copybrief OS_SUCCESS
+ * @retval #OS_ERR_INVALID_ID if the id passed in is not a valid semaphore
+ * @retval #OS_INVALID_POINTER if the mut_prop pointer is null
+ */
+int32 OS_CondVarGetInfo(osal_id_t var_id, OS_condvar_prop_t *condvar_prop);
+/**@}*/
+
+#endif /* OSAPI_CONDVAR_H */

src/os/inc/osapi-idmap.h

@@ -48,6 +48,7 @@
 #define OS_OBJECT_TYPE_OS_MODULE   0x0A /**< @brief Object module type */
 #define OS_OBJECT_TYPE_OS_FILESYS  0x0B /**< @brief Object file system type */
 #define OS_OBJECT_TYPE_OS_CONSOLE  0x0C /**< @brief Object console type */
+#define OS_OBJECT_TYPE_OS_CONDVAR  0x0D /**< @brief Object condition variable type */
 #define OS_OBJECT_TYPE_USER        0x10 /**< @brief Object user type */
 /**@}*/
 

src/os/inc/osapi.h

@@ -64,6 +64,7 @@ extern "C"
 #include "osapi-binsem.h"
 #include "osapi-clock.h"
 #include "osapi-common.h"
+#include "osapi-condvar.h"
 #include "osapi-constants.h"
 #include "osapi-countsem.h"
 #include "osapi-dir.h"