/* ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010, 2011,2012,2013 Giovanni Di Sirio. This file is part of ChibiOS/RT. ChibiOS/RT is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 3 of the License, or (at your option) any later version. ChibiOS/RT is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . */ /** * @file chschd.c * @brief Scheduler code. * * @addtogroup scheduler * @details This module provides the default portable scheduler code. * @{ */ #include "ch.h" /*===========================================================================*/ /* Module local definitions. */ /*===========================================================================*/ /*===========================================================================*/ /* Module exported variables. */ /*===========================================================================*/ /** * @brief System data structures. */ ch_system_t ch; /*===========================================================================*/ /* Module local types. */ /*===========================================================================*/ /*===========================================================================*/ /* Module local variables. */ /*===========================================================================*/ /*===========================================================================*/ /* Module local functions. */ /*===========================================================================*/ /*===========================================================================*/ /* Module exported functions. */ /*===========================================================================*/ /** * @brief Scheduler initialization. * * @notapi */ void _scheduler_init(void) { queue_init(&ch.rlist.r_queue); ch.rlist.r_prio = NOPRIO; #if CH_CFG_USE_REGISTRY ch.rlist.r_newer = ch.rlist.r_older = (thread_t *)&ch.rlist; #endif } #if !CH_CFG_OPTIMIZE_SPEED || defined(__DOXYGEN__) /** * @brief Inserts a thread into a priority ordered queue. * @note The insertion is done by scanning the list from the highest * priority toward the lowest. * * @param[in] tp the pointer to the thread to be inserted in the list * @param[in] tqp the pointer to the threads list header * * @notapi */ void queue_prio_insert(thread_t *tp, threads_queue_t *tqp) { /* cp iterates over the queue.*/ thread_t *cp = (thread_t *)tqp; do { /* Iterate to next thread in queue.*/ cp = cp->p_next; /* Not end of queue? and cp has equal or higher priority than tp?.*/ } while ((cp != (thread_t *)tqp) && (cp->p_prio >= tp->p_prio)); /* Insertion on p_prev.*/ tp->p_next = cp; tp->p_prev = cp->p_prev; tp->p_prev->p_next = cp->p_prev = tp; } /** * @brief Inserts a thread into a queue. * * @param[in] tp the pointer to the thread to be inserted in the list * @param[in] tqp the pointer to the threads list header * * @notapi */ void queue_insert(thread_t *tp, threads_queue_t *tqp) { tp->p_next = (thread_t *)tqp; tp->p_prev = tqp->p_prev; tp->p_prev->p_next = tqp->p_prev = tp; } /** * @brief Removes the first-out thread from a queue and returns it. * @note If the queue is priority ordered then this function returns the * thread with the highest priority. * * @param[in] tqp the pointer to the threads list header * @return The removed thread pointer. * * @notapi */ thread_t *queue_fifo_remove(threads_queue_t *tqp) { thread_t *tp = tqp->p_next; (tqp->p_next = tp->p_next)->p_prev = (thread_t *)tqp; return tp; } /** * @brief Removes the last-out thread from a queue and returns it. * @note If the queue is priority ordered then this function returns the * thread with the lowest priority. * * @param[in] tqp the pointer to the threads list header * @return The removed thread pointer. * * @notapi */ thread_t *queue_lifo_remove(threads_queue_t *tqp) { thread_t *tp = tqp->p_prev; (tqp->p_prev = tp->p_prev)->p_next = (thread_t *)tqp; return tp; } /** * @brief Removes a thread from a queue and returns it. * @details The thread is removed from the queue regardless of its relative * position and regardless the used insertion method. * * @param[in] tp the pointer to the thread to be removed from the queue * @return The removed thread pointer. * * @notapi */ thread_t *queue_dequeue(thread_t *tp) { tp->p_prev->p_next = tp->p_next; tp->p_next->p_prev = tp->p_prev; return tp; } /** * @brief Pushes a thread_t on top of a stack list. * * @param[in] tp the pointer to the thread to be inserted in the list * @param[in] tlp the pointer to the threads list header * * @notapi */ void list_insert(thread_t *tp, threads_list_t *tlp) { tp->p_next = tlp->p_next; tlp->p_next = tp; } /** * @brief Pops a thread from the top of a stack list and returns it. * @pre The list must be non-empty before calling this function. * * @param[in] tlp the pointer to the threads list header * @return The removed thread pointer. * * @notapi */ thread_t *list_remove(threads_list_t *tlp) { thread_t *tp = tlp->p_next; tlp->p_next = tp->p_next; return tp; } #endif /* CH_CFG_OPTIMIZE_SPEED */ /** * @brief Inserts a thread in the Ready List. * @details The thread is positioned behind all threads with higher or equal * priority. * @pre The thread must not be already inserted in any list through its * @p p_next and @p p_prev or list corruption would occur. * @post This function does not reschedule so a call to a rescheduling * function must be performed before unlocking the kernel. Note that * interrupt handlers always reschedule on exit so an explicit * reschedule must not be performed in ISRs. * * @param[in] tp the thread to be made ready * @return The thread pointer. * * @iclass */ thread_t *chSchReadyI(thread_t *tp) { thread_t *cp; chDbgCheckClassI(); chDbgCheck(tp != NULL); chDbgAssert((tp->p_state != CH_STATE_READY) && (tp->p_state != CH_STATE_FINAL), "invalid state"); tp->p_state = CH_STATE_READY; cp = (thread_t *)&ch.rlist.r_queue; do { cp = cp->p_next; } while (cp->p_prio >= tp->p_prio); /* Insertion on p_prev.*/ tp->p_next = cp; tp->p_prev = cp->p_prev; tp->p_prev->p_next = cp->p_prev = tp; return tp; } /** * @brief Puts the current thread to sleep into the specified state. * @details The thread goes into a sleeping state. The possible * @ref thread_states are defined into @p threads.h. * * @param[in] newstate the new thread state * * @sclass */ void chSchGoSleepS(tstate_t newstate) { thread_t *otp; chDbgCheckClassS(); (otp = currp)->p_state = newstate; #if CH_CFG_TIME_QUANTUM > 0 /* The thread is renouncing its remaining time slices so it will have a new time quantum when it will wakeup.*/ otp->p_preempt = CH_CFG_TIME_QUANTUM; #endif setcurrp(queue_fifo_remove(&ch.rlist.r_queue)); #if defined(CH_CFG_IDLE_ENTER_HOOK) if (currp->p_prio == IDLEPRIO) { CH_CFG_IDLE_ENTER_HOOK(); } #endif currp->p_state = CH_STATE_CURRENT; chSysSwitch(currp, otp); } /* * Timeout wakeup callback. */ static void wakeup(void *p) { thread_t *tp = (thread_t *)p; chSysLockFromISR(); switch (tp->p_state) { case CH_STATE_READY: /* Handling the special case where the thread has been made ready by another thread with higher priority.*/ chSysUnlockFromISR(); return; case CH_STATE_SUSPENDED: *(thread_reference_t *)tp->p_u.wtobjp = NULL; break; #if CH_CFG_USE_SEMAPHORES case CH_STATE_WTSEM: chSemFastSignalI((semaphore_t *)tp->p_u.wtobjp); /* Falls into, intentional. */ #endif #if CH_CFG_USE_CONDVARS && CH_CFG_USE_CONDVARS_TIMEOUT case CH_STATE_WTCOND: #endif case CH_STATE_QUEUED: /* States requiring dequeuing.*/ queue_dequeue(tp); } tp->p_u.rdymsg = MSG_TIMEOUT; chSchReadyI(tp); chSysUnlockFromISR(); } /** * @brief Puts the current thread to sleep into the specified state with * timeout specification. * @details The thread goes into a sleeping state, if it is not awakened * explicitly within the specified timeout then it is forcibly * awakened with a @p MSG_TIMEOUT low level message. The possible * @ref thread_states are defined into @p threads.h. * * @param[in] newstate the new thread state * @param[in] time the number of ticks before the operation timeouts, the * special values are handled as follow: * - @a TIME_INFINITE the thread enters an infinite sleep * state, this is equivalent to invoking * @p chSchGoSleepS() but, of course, less efficient. * - @a TIME_IMMEDIATE this value is not allowed. * . * @return The wakeup message. * @retval MSG_TIMEOUT if a timeout occurs. * * @sclass */ msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time) { chDbgCheckClassS(); if (TIME_INFINITE != time) { virtual_timer_t vt; chVTDoSetI(&vt, time, wakeup, currp); chSchGoSleepS(newstate); if (chVTIsArmedI(&vt)) chVTDoResetI(&vt); } else chSchGoSleepS(newstate); return currp->p_u.rdymsg; } /** * @brief Wakes up a thread. * @details The thread is inserted into the ready list or immediately made * running depending on its relative priority compared to the current * thread. * @pre The thread must not be already inserted in any list through its * @p p_next and @p p_prev or list corruption would occur. * @note It is equivalent to a @p chSchReadyI() followed by a * @p chSchRescheduleS() but much more efficient. * @note The function assumes that the current thread has the highest * priority. * * @param[in] ntp the thread to be made ready * @param[in] msg the wakeup message * * @sclass */ void chSchWakeupS(thread_t *ntp, msg_t msg) { chDbgCheckClassS(); /* Storing the message to be retrieved by the target thread when it will restart execution.*/ ntp->p_u.rdymsg = msg; /* If the waken thread has a not-greater priority than the current one then it is just inserted in the ready list else it made running immediately and the invoking thread goes in the ready list instead.*/ if (ntp->p_prio <= currp->p_prio) { chSchReadyI(ntp); } else { thread_t *otp = chSchReadyI(currp); setcurrp(ntp); #if defined(CH_CFG_IDLE_LEAVE_HOOK) if (otp->p_prio == IDLEPRIO) { CH_CFG_IDLE_LEAVE_HOOK(); } #endif ntp->p_state = CH_STATE_CURRENT; chSysSwitch(ntp, otp); } } /** * @brief Performs a reschedule if a higher priority thread is runnable. * @details If a thread with a higher priority than the current thread is in * the ready list then make the higher priority thread running. * * @sclass */ void chSchRescheduleS(void) { chDbgCheckClassS(); if (chSchIsRescRequiredI()) chSchDoRescheduleAhead(); } /** * @brief Evaluates if preemption is required. * @details The decision is taken by comparing the relative priorities and * depending on the state of the round robin timeout counter. * @note Not a user function, it is meant to be invoked by the scheduler * itself or from within the port layer. * * @retval true if there is a thread that must go in running state * immediately. * @retval false if preemption is not required. * * @special */ bool chSchIsPreemptionRequired(void) { tprio_t p1 = firstprio(&ch.rlist.r_queue); tprio_t p2 = currp->p_prio; #if CH_CFG_TIME_QUANTUM > 0 /* If the running thread has not reached its time quantum, reschedule only if the first thread on the ready queue has a higher priority. Otherwise, if the running thread has used up its time quantum, reschedule if the first thread on the ready queue has equal or higher priority.*/ return currp->p_preempt ? p1 > p2 : p1 >= p2; #else /* If the round robin preemption feature is not enabled then performs a simpler comparison.*/ return p1 > p2; #endif } /** * @brief Switches to the first thread on the runnable queue. * @details The current thread is positioned in the ready list behind all * threads having the same priority. The thread regains its time * quantum. * @note Not a user function, it is meant to be invoked by the scheduler * itself or from within the port layer. * * @special */ void chSchDoRescheduleBehind(void) { thread_t *otp; otp = currp; /* Picks the first thread from the ready queue and makes it current.*/ setcurrp(queue_fifo_remove(&ch.rlist.r_queue)); #if defined(CH_CFG_IDLE_LEAVE_HOOK) if (otp->p_prio == IDLEPRIO) { CH_CFG_IDLE_LEAVE_HOOK(); } #endif currp->p_state = CH_STATE_CURRENT; #if CH_CFG_TIME_QUANTUM > 0 otp->p_preempt = CH_CFG_TIME_QUANTUM; #endif chSchReadyI(otp); chSysSwitch(currp, otp); } /** * @brief Switches to the first thread on the runnable queue. * @details The current thread is positioned in the ready list ahead of all * threads having the same priority. * @note Not a user function, it is meant to be invoked by the scheduler * itself or from within the port layer. * * @special */ void chSchDoRescheduleAhead(void) { thread_t *otp, *cp; otp = currp; /* Picks the first thread from the ready queue and makes it current.*/ setcurrp(queue_fifo_remove(&ch.rlist.r_queue)); #if defined(CH_CFG_IDLE_LEAVE_HOOK) if (otp->p_prio == IDLEPRIO) { CH_CFG_IDLE_LEAVE_HOOK(); } #endif currp->p_state = CH_STATE_CURRENT; otp->p_state = CH_STATE_READY; cp = (thread_t *)&ch.rlist.r_queue; do { cp = cp->p_next; } while (cp->p_prio > otp->p_prio); /* Insertion on p_prev.*/ otp->p_next = cp; otp->p_prev = cp->p_prev; otp->p_prev->p_next = cp->p_prev = otp; chSysSwitch(currp, otp); } /** * @brief Switches to the first thread on the runnable queue. * @details The current thread is positioned in the ready list behind or * ahead of all threads having the same priority depending on * if it used its whole time slice. * @note Not a user function, it is meant to be invoked by the scheduler * itself or from within the port layer. * * @special */ void chSchDoReschedule(void) { #if CH_CFG_TIME_QUANTUM > 0 /* If CH_CFG_TIME_QUANTUM is enabled then there are two different scenarios to handle on preemption: time quantum elapsed or not.*/ if (currp->p_preempt == 0) { /* The thread consumed its time quantum so it is enqueued behind threads with same priority level, however, it acquires a new time quantum.*/ chSchDoRescheduleBehind(); } else { /* The thread didn't consume all its time quantum so it is put ahead of threads with equal priority and does not acquire a new time quantum.*/ chSchDoRescheduleAhead(); } #else /* !(CH_CFG_TIME_QUANTUM > 0) */ /* If the round-robin mechanism is disabled then the thread goes always ahead of its peers.*/ chSchDoRescheduleAhead(); #endif /* !(CH_CFG_TIME_QUANTUM > 0) */ } /** @} */ /* Literal.String.Heredoc */ .highlight .si { color: #3333bb; background-color: #fff0f0 } /* Literal.String.Interpol */ .highlight .sx { color: #22bb22; background-color: #f0fff0 } /* Literal.String.Other */ .highlight .sr { color: #008800; background-color: #fff0ff } /* Literal.String.Regex */ .highlight .s1 { color: #dd2200; background-color: #fff0f0 } /* Literal.String.Single */ .highlight .ss { color: #aa6600; background-color: #fff0f0 } /* Literal.String.Symbol */ .highlight .bp { color: #003388 } /* Name.Builtin.Pseudo */ .highlight .fm { color: #0066bb; font-weight: bold } /* Name.Function.Magic */ .highlight .vc { color: #336699 } /* Name.Variable.Class */ .highlight .vg { color: #dd7700 } /* Name.Variable.Global */ .highlight .vi { color: #3333bb } /* Name.Variable.Instance */ .highlight .vm { color: #336699 } /* Name.Variable.Magic */ .highlight .il { color: #0000DD; font-weight: bold } /* Literal.Number.Integer.Long */
This page discusses the design of new Google Mock features.



# Macros for Defining Actions #

## Problem ##

Due to the lack of closures in C++, it currently requires some
non-trivial effort to define a custom action in Google Mock.  For
example, suppose you want to "increment the value pointed to by the
second argument of the mock function and return it", you could write:

```
int IncrementArg1(Unused, int* p, Unused) {
  return ++(*p);
}

... WillOnce(Invoke(IncrementArg1));
```

There are several things unsatisfactory about this approach:

  * Even though the action only cares about the second argument of the mock function, its definition needs to list other arguments as dummies.  This is tedious.
  * The defined action is usable only in mock functions that takes exactly 3 arguments - an unnecessary restriction.
  * To use the action, one has to say `Invoke(IncrementArg1)`, which isn't as nice as `IncrementArg1()`.

The latter two problems can be overcome using `MakePolymorphicAction()`,
but it requires much more boilerplate code:

```
class IncrementArg1Action {
 public:
  template <typename Result, typename ArgumentTuple>
  Result Perform(const ArgumentTuple& args) const {
    return ++(*tr1::get<1>(args));
  }
};

PolymorphicAction<IncrementArg1Action> IncrementArg1() {
  return MakePolymorphicAction(IncrementArg1Action());
}

... WillOnce(IncrementArg1());
```

Our goal is to allow defining custom actions with the least amount of
boiler-plate C++ requires.

## Solution ##

We propose to introduce a new macro:
```
ACTION(name) { statements; }
```

Using this in a namespace scope will define an action with the given
name that executes the statements.  Inside the statements, you can
refer to the K-th (0-based) argument of the mock function as `argK`.
For example:
```
ACTION(IncrementArg1) { return ++(*arg1); }
```
allows you to write
```
... WillOnce(IncrementArg1());
```

Note that you don't need to specify the types of the mock function
arguments, as brevity is a top design goal here.  Rest assured that
your code is still type-safe though: you'll get a compiler error if
`*arg1` doesn't support the `++` operator, or if the type of
`++(*arg1)` isn't compatible with the mock function's return type.

Another example:
```
ACTION(Foo) {
  (*arg2)(5);
  Blah();
  *arg1 = 0;
  return arg0;
}
```
defines an action `Foo()` that invokes argument #2 (a function pointer)
with 5, calls function `Blah()`, sets the value pointed to by argument
#1 to 0, and returns argument #0.

For more convenience and flexibility, you can also use the following
pre-defined symbols in the body of `ACTION`:

| `argK_type` | The type of the K-th (0-based) argument of the mock function |
|:------------|:-------------------------------------------------------------|
| `args`      | All arguments of the mock function as a tuple                |
| `args_type` | The type of all arguments of the mock function as a tuple    |
| `return_type` | The return type of the mock function                         |
| `function_type` | The type of the mock function                                |

For example, when using an `ACTION` as a stub action for mock function:
```
int DoSomething(bool flag, int* ptr);
```
we have:
| **Pre-defined Symbol** | **Is Bound To** |
|:-----------------------|:----------------|
| `arg0`                 | the value of `flag` |
| `arg0_type`            | the type `bool` |
| `arg1`                 | the value of `ptr` |
| `arg1_type`            | the type `int*` |
| `args`                 | the tuple `(flag, ptr)` |
| `args_type`            | the type `std::tr1::tuple<bool, int*>` |
| `return_type`          | the type `int`  |
| `function_type`        | the type `int(bool, int*)` |

## Parameterized actions ##

Sometimes you'll want to parameterize the action.   For that we propose
another macro
```
ACTION_P(name, param) { statements; }
```

For example,
```
ACTION_P(Add, n) { return arg0 + n; }
```
will allow you to write
```
// Returns argument #0 + 5.
... WillOnce(Add(5));
```

For convenience, we use the term _arguments_ for the values used to
invoke the mock function, and the term _parameters_ for the values
used to instantiate an action.

Note that you don't need to provide the type of the parameter either.
Suppose the parameter is named `param`, you can also use the
Google-Mock-defined symbol `param_type` to refer to the type of the
parameter as inferred by the compiler.

We will also provide `ACTION_P2`, `ACTION_P3`, and etc to support
multi-parameter actions.  For example,
```
ACTION_P2(ReturnDistanceTo, x, y) {
  double dx = arg0 - x;
  double dy = arg1 - y;
  return sqrt(dx*dx + dy*dy);
}
```
lets you write
```
... WillOnce(ReturnDistanceTo(5.0, 26.5));
```

You can view `ACTION` as a degenerated parameterized action where the
number of parameters is 0.

## Advanced Usages ##

### Overloading Actions ###

You can easily define actions overloaded on the number of parameters:
```
ACTION_P(Plus, a) { ... }
ACTION_P2(Plus, a, b) { ... }
```

### Restricting the Type of an Argument or Parameter ###

For maximum brevity and reusability, the `ACTION*` macros don't let
you specify the types of the mock function arguments and the action
parameters.  Instead, we let the compiler infer the types for us.

Sometimes, however, we may want to be more explicit about the types.
There are several tricks to do that.  For example:
```
ACTION(Foo) {
  // Makes sure arg0 can be converted to int.
  int n = arg0;
  ... use n instead of arg0 here ...
}

ACTION_P(Bar, param) {
  // Makes sure the type of arg1 is const char*.
  ::testing::StaticAssertTypeEq<const char*, arg1_type>();

  // Makes sure param can be converted to bool.
  bool flag = param;
}
```
where `StaticAssertTypeEq` is a compile-time assertion we plan to add to
Google Test (the name is chosen to match `static_assert` in C++0x).

### Using the ACTION Object's Type ###

If you are writing a function that returns an `ACTION` object, you'll
need to know its type.  The type depends on the macro used to define
the action and the parameter types.  The rule is relatively simple:
| **Given Definition** | **Expression** | **Has Type** |
|:---------------------|:---------------|:-------------|
| `ACTION(Foo)`        | `Foo()`        | `FooAction`  |
| `ACTION_P(Bar, param)` | `Bar(int_value)` | `BarActionP<int>` |
| `ACTION_P2(Baz, p1, p2)` | `Baz(bool_value, int_value)` | `BazActionP2<bool, int>` |
| ...                  | ...            | ...          |

Note that we have to pick different suffixes (`Action`, `ActionP`,
`ActionP2`, and etc) for actions with different numbers of parameters,
or the action definitions cannot be overloaded on the number of
parameters.

## When to Use ##

While the new macros are very convenient, please also consider other
means of implementing actions (e.g. via `ActionInterface` or
`MakePolymorphicAction()`), especially if you need to use the defined
action a lot.  While the other approaches require more work, they give
you more control on the types of the mock function arguments and the
action parameters, which in general leads to better compiler error
messages that pay off in the long run.  They also allow overloading
actions based on parameter types, as opposed to just the number of
parameters.

## Related Work ##

As you may have realized, the `ACTION*` macros resemble closures (also
known as lambda expressions or anonymous functions).  Indeed, both of
them seek to lower the syntactic overhead for defining a function.

C++0x will support lambdas, but they are not part of C++ right now.
Some non-standard libraries (most notably BLL or Boost Lambda Library)
try to alleviate this problem.  However, they are not a good choice
for defining actions as:

  * They are non-standard and not widely installed.  Google Mock only depends on standard libraries and `tr1::tuple`, which is part of the new C++ standard and comes with gcc 4+.  We want to keep it that way.
  * They are not trivial to learn.
  * They will become obsolete when C++0x's lambda feature is widely supported.  We don't want to make our users use a dying library.
  * Since they are based on operators, they are rather ad hoc: you cannot use statements, and you cannot pass the lambda arguments to a function, for example.
  * They have subtle semantics that easily confuses new users.  For example, in expression `_1++ + foo++`, `foo` will be incremented only once where the expression is evaluated, while `_1` will be incremented every time the unnamed function is invoked.  This is far from intuitive.

`ACTION*` avoid all these problems.

## Future Improvements ##

There may be a need for composing `ACTION*` definitions (i.e. invoking
another `ACTION` inside the definition of one `ACTION*`).  We are not
sure we want it yet, as one can get a similar effect by putting
`ACTION` definitions in function templates and composing the function
templates.  We'll revisit this based on user feedback.

The reason we don't allow `ACTION*()` inside a function body is that
the current C++ standard doesn't allow function-local types to be used
to instantiate templates.  The upcoming C++0x standard will lift this
restriction.  Once this feature is widely supported by compilers, we
can revisit the implementation and add support for using `ACTION*()`
inside a function.

C++0x will also support lambda expressions.  When they become
available, we may want to support using lambdas as actions.

# Macros for Defining Matchers #

Once the macros for defining actions are implemented, we plan to do
the same for matchers:

```
MATCHER(name) { statements; }
```

where you can refer to the value being matched as `arg`.  For example,
given:

```
MATCHER(IsPositive) { return arg > 0; }
```

you can use `IsPositive()` as a matcher that matches a value iff it is
greater than 0.

We will also add `MATCHER_P`, `MATCHER_P2`, and etc for parameterized
matchers.