| .. _module-pw_sync: |
| |
| ======= |
| pw_sync |
| ======= |
| The ``pw_sync`` module contains utilities for synchronizing between threads |
| and/or interrupts through signaling primitives and critical section lock |
| primitives. |
| |
| .. Warning:: |
| This module is still under construction, the API is not yet stable. |
| |
| .. Note:: |
| The objects in this module do not have an Init() style public API which is |
| common in many RTOS C APIs. Instead, they rely on being able to invoke the |
| native initialization APIs for synchronization primitives during C++ |
| construction. |
| In order to support global statically constructed synchronization without |
| constexpr constructors, the user and/or backend **MUST** ensure that any |
| initialization required in your environment is done prior to the creation |
| and/or initialization of the native synchronization primitives |
| (e.g. kernel initialization). |
| |
| -------------------------------- |
| Critical Section Lock Primitives |
| -------------------------------- |
| The critical section lock primitives provided by this module comply with |
| `BasicLockable <https://en.cppreference.com/w/cpp/named_req/BasicLockable>`_, |
| `Lockable <https://en.cppreference.com/w/cpp/named_req/Lockable>`_, and where |
| relevant |
| `TimedLockable <https://en.cppreference.com/w/cpp/named_req/TimedLockable>`_ C++ |
| named requirements. This means that they are compatible with existing helpers in |
| the STL's ``<mutex>`` thread support library. For example `std::lock_guard <https://en.cppreference.com/w/cpp/thread/lock_guard>`_ |
| and `std::unique_lock <https://en.cppreference.com/w/cpp/thread/unique_lock>`_ can be directly used. |
| |
| Mutex |
| ===== |
| The Mutex is a synchronization primitive that can be used to protect shared data |
| from being simultaneously accessed by multiple threads. It offers exclusive, |
| non-recursive ownership semantics where priority inheritance is used to solve |
| the classic priority-inversion problem. |
| |
| The Mutex's API is C++11 STL |
| `std::mutex <https://en.cppreference.com/w/cpp/thread/mutex>`_ like, |
| meaning it is a |
| `BasicLockable <https://en.cppreference.com/w/cpp/named_req/BasicLockable>`_ |
| and `Lockable <https://en.cppreference.com/w/cpp/named_req/Lockable>`_. |
| |
| .. list-table:: |
| |
| * - *Supported on* |
| - *Backend module* |
| * - FreeRTOS |
| - :ref:`module-pw_sync_freertos` |
| * - ThreadX |
| - :ref:`module-pw_sync_threadx` |
| * - embOS |
| - :ref:`module-pw_sync_embos` |
| * - STL |
| - :ref:`module-pw_sync_stl` |
| * - Baremetal |
| - Planned |
| * - Zephyr |
| - Planned |
| * - CMSIS-RTOS API v2 & RTX5 |
| - Planned |
| |
| C++ |
| --- |
| .. cpp:class:: pw::sync::Mutex |
| |
| .. cpp:function:: void lock() |
| |
| Locks the mutex, blocking indefinitely. Failures are fatal. |
| |
| **Precondition:** The lock isn't already held by this thread. Recursive |
| locking is undefined behavior. |
| |
| .. cpp:function:: bool try_lock() |
| |
| Tries to lock the mutex in a non-blocking manner. |
| Returns true if the mutex was successfully acquired. |
| |
| **Precondition:** The lock isn't already held by this thread. Recursive |
| locking is undefined behavior. |
| |
| .. cpp:function:: void unlock() |
| |
| Unlocks the mutex. Failures are fatal. |
| |
| **Precondition:** The mutex is held by this thread. |
| |
| |
| .. list-table:: |
| |
| * - *Safe to use in context* |
| - *Thread* |
| - *Interrupt* |
| - *NMI* |
| * - ``Mutex::Mutex`` |
| - ✔ |
| - |
| - |
| * - ``Mutex::~Mutex`` |
| - ✔ |
| - |
| - |
| * - ``void Mutex::lock`` |
| - ✔ |
| - |
| - |
| * - ``bool Mutex::try_lock`` |
| - ✔ |
| - |
| - |
| * - ``void Mutex::unlock`` |
| - ✔ |
| - |
| - |
| |
| Examples in C++ |
| ^^^^^^^^^^^^^^^ |
| .. code-block:: cpp |
| |
| #include "pw_sync/mutex.h" |
| |
| pw::sync::Mutex mutex; |
| |
| void ThreadSafeCriticalSection() { |
| mutex.lock(); |
| NotThreadSafeCriticalSection(); |
| mutex.unlock(); |
| } |
| |
| |
| Alternatively you can use C++'s RAII helpers to ensure you always unlock. |
| |
| .. code-block:: cpp |
| |
| #include <mutex> |
| |
| #include "pw_sync/mutex.h" |
| |
| pw::sync::Mutex mutex; |
| |
| void ThreadSafeCriticalSection() { |
| std::lock_guard lock(mutex); |
| NotThreadSafeCriticalSection(); |
| } |
| |
| |
| C |
| - |
| The Mutex must be created in C++, however it can be passed into C using the |
| ``pw_sync_Mutex`` opaque struct alias. |
| |
| .. cpp:function:: void pw_sync_Mutex_Lock(pw_sync_Mutex* mutex) |
| |
| Invokes the ``Mutex::lock`` member function on the given ``mutex``. |
| |
| .. cpp:function:: bool pw_sync_Mutex_TryLock(pw_sync_Mutex* mutex) |
| |
| Invokes the ``Mutex::try_lock`` member function on the given ``mutex``. |
| |
| .. cpp:function:: void pw_sync_Mutex_Unlock(pw_sync_Mutex* mutex) |
| |
| Invokes the ``Mutex::unlock`` member function on the given ``mutex``. |
| |
| .. list-table:: |
| |
| * - *Safe to use in context* |
| - *Thread* |
| - *Interrupt* |
| - *NMI* |
| * - ``void pw_sync_Mutex_Lock`` |
| - ✔ |
| - |
| - |
| * - ``bool pw_sync_Mutex_TryLock`` |
| - ✔ |
| - |
| - |
| * - ``void pw_sync_Mutex_Unlock`` |
| - ✔ |
| - |
| - |
| |
| Example in C |
| ^^^^^^^^^^^^ |
| .. code-block:: cpp |
| |
| #include "pw_sync/mutex.h" |
| |
| pw::sync::Mutex mutex; |
| |
| extern pw_sync_Mutex mutex; // This can only be created in C++. |
| |
| void ThreadSafeCriticalSection(void) { |
| pw_sync_Mutex_Lock(&mutex); |
| NotThreadSafeCriticalSection(); |
| pw_sync_Mutex_Unlock(&mutex); |
| } |
| |
| TimedMutex |
| ========== |
| The TimedMutex is an extension of the Mutex which offers timeout and deadline |
| based semantics. |
| |
| The TimedMutex's API is C++11 STL |
| `std::timed_mutex <https://en.cppreference.com/w/cpp/thread/timed_mutex>`_ like, |
| meaning it is a |
| `BasicLockable <https://en.cppreference.com/w/cpp/named_req/BasicLockable>`_, |
| `Lockable <https://en.cppreference.com/w/cpp/named_req/Lockable>`_, and |
| `TimedLockable <https://en.cppreference.com/w/cpp/named_req/TimedLockable>`_. |
| |
| Note that the ``TimedMutex`` is a derived ``Mutex`` class, meaning that |
| a ``TimedMutex`` can be used by someone who needs the basic ``Mutex``. This is |
| in contrast to the C++ STL's |
| `std::timed_mutex <https://en.cppreference.com/w/cpp/thread/timed_mutex>`_. |
| |
| |
| .. list-table:: |
| |
| * - *Supported on* |
| - *Backend module* |
| * - FreeRTOS |
| - :ref:`module-pw_sync_freertos` |
| * - ThreadX |
| - :ref:`module-pw_sync_threadx` |
| * - embOS |
| - :ref:`module-pw_sync_embos` |
| * - STL |
| - :ref:`module-pw_sync_stl` |
| * - Zephyr |
| - Planned |
| * - CMSIS-RTOS API v2 & RTX5 |
| - Planned |
| |
| C++ |
| --- |
| .. cpp:class:: pw::sync::TimedMutex |
| |
| .. cpp:function:: void lock() |
| |
| Locks the mutex, blocking indefinitely. Failures are fatal. |
| |
| **Precondition:** The lock isn't already held by this thread. Recursive |
| locking is undefined behavior. |
| |
| .. cpp:function:: bool try_lock() |
| |
| Tries to lock the mutex in a non-blocking manner. |
| Returns true if the mutex was successfully acquired. |
| |
| **Precondition:** The lock isn't already held by this thread. Recursive |
| locking is undefined behavior. |
| |
| |
| .. cpp:function:: bool try_lock_for(const chrono::SystemClock::duration& timeout) |
| |
| Tries to lock the mutex. Blocks until specified the timeout has elapsed or |
| the lock is acquired, whichever comes first. |
| Returns true if the mutex was successfully acquired. |
| |
| **Precondition:** The lock isn't already held by this thread. Recursive |
| locking is undefined behavior. |
| |
| .. cpp:function:: bool try_lock_until(const chrono::SystemClock::time_point& deadline) |
| |
| Tries to lock the mutex. Blocks until specified deadline has been reached |
| or the lock is acquired, whichever comes first. |
| Returns true if the mutex was successfully acquired. |
| |
| **Precondition:** The lock isn't already held by this thread. Recursive |
| locking is undefined behavior. |
| |
| .. cpp:function:: void unlock() |
| |
| Unlocks the mutex. Failures are fatal. |
| |
| **Precondition:** The mutex is held by this thread. |
| |
| |
| .. list-table:: |
| |
| * - *Safe to use in context* |
| - *Thread* |
| - *Interrupt* |
| - *NMI* |
| * - ``TimedMutex::TimedMutex`` |
| - ✔ |
| - |
| - |
| * - ``TimedMutex::~TimedMutex`` |
| - ✔ |
| - |
| - |
| * - ``void TimedMutex::lock`` |
| - ✔ |
| - |
| - |
| * - ``bool TimedMutex::try_lock`` |
| - ✔ |
| - |
| - |
| * - ``bool TimedMutex::try_lock_for`` |
| - ✔ |
| - |
| - |
| * - ``bool TimedMutex::try_lock_until`` |
| - ✔ |
| - |
| - |
| * - ``void TimedMutex::unlock`` |
| - ✔ |
| - |
| - |
| |
| Examples in C++ |
| ^^^^^^^^^^^^^^^ |
| .. code-block:: cpp |
| |
| #include "pw_chrono/system_clock.h" |
| #include "pw_sync/timed_mutex.h" |
| |
| pw::sync::TimedMutex mutex; |
| |
| bool ThreadSafeCriticalSectionWithTimeout( |
| const SystemClock::duration timeout) { |
| if (!mutex.try_lock_for(timeout)) { |
| return false; |
| } |
| NotThreadSafeCriticalSection(); |
| mutex.unlock(); |
| return true; |
| } |
| |
| |
| Alternatively you can use C++'s RAII helpers to ensure you always unlock. |
| |
| .. code-block:: cpp |
| |
| #include <mutex> |
| |
| #include "pw_chrono/system_clock.h" |
| #include "pw_sync/timed_mutex.h" |
| |
| pw::sync::TimedMutex mutex; |
| |
| bool ThreadSafeCriticalSectionWithTimeout( |
| const SystemClock::duration timeout) { |
| std::unique_lock lock(mutex, std::defer_lock); |
| if (!lock.try_lock_for(timeout)) { |
| return false; |
| } |
| NotThreadSafeCriticalSection(); |
| return true; |
| } |
| |
| |
| |
| C |
| - |
| The TimedMutex must be created in C++, however it can be passed into C using the |
| ``pw_sync_TimedMutex`` opaque struct alias. |
| |
| .. cpp:function:: void pw_sync_TimedMutex_Lock(pw_sync_TimedMutex* mutex) |
| |
| Invokes the ``TimedMutex::lock`` member function on the given ``mutex``. |
| |
| .. cpp:function:: bool pw_sync_TimedMutex_TryLock(pw_sync_TimedMutex* mutex) |
| |
| Invokes the ``TimedMutex::try_lock`` member function on the given ``mutex``. |
| |
| .. cpp:function:: bool pw_sync_TimedMutex_TryLockFor(pw_sync_TimedMutex* mutex, pw_chrono_SystemClock_Duration timeout) |
| |
| Invokes the ``TimedMutex::try_lock_for`` member function on the given ``mutex``. |
| |
| .. cpp:function:: bool pw_sync_TimedMutex_TryLockUntil(pw_sync_TimedMutex* mutex, pw_chrono_SystemClock_TimePoint deadline) |
| |
| Invokes the ``TimedMutex::try_lock_until`` member function on the given ``mutex``. |
| |
| .. cpp:function:: void pw_sync_TimedMutex_Unlock(pw_sync_TimedMutex* mutex) |
| |
| Invokes the ``TimedMutex::unlock`` member function on the given ``mutex``. |
| |
| .. list-table:: |
| |
| * - *Safe to use in context* |
| - *Thread* |
| - *Interrupt* |
| - *NMI* |
| * - ``void pw_sync_TimedMutex_Lock`` |
| - ✔ |
| - |
| - |
| * - ``bool pw_sync_TimedMutex_TryLock`` |
| - ✔ |
| - |
| - |
| * - ``bool pw_sync_TimedMutex_TryLockFor`` |
| - ✔ |
| - |
| - |
| * - ``bool pw_sync_TimedMutex_TryLockUntil`` |
| - ✔ |
| - |
| - |
| * - ``void pw_sync_TimedMutex_Unlock`` |
| - ✔ |
| - |
| - |
| |
| Example in C |
| ^^^^^^^^^^^^ |
| .. code-block:: cpp |
| |
| #include "pw_chrono/system_clock.h" |
| #include "pw_sync/timed_mutex.h" |
| |
| pw::sync::TimedMutex mutex; |
| |
| extern pw_sync_TimedMutex mutex; // This can only be created in C++. |
| |
| bool ThreadSafeCriticalSectionWithTimeout( |
| const pw_chrono_SystemClock_Duration timeout) { |
| if (!pw_sync_TimedMutex_TryLockFor(&mutex, timeout)) { |
| return false; |
| } |
| NotThreadSafeCriticalSection(); |
| pw_sync_TimedMutex_Unlock(&mutex); |
| return true; |
| } |
| |
| RecursiveMutex |
| ============== |
| ``pw_sync`` provides ``pw::sync::RecursiveMutex``, a recursive mutex |
| implementation. At this time, this facade can only be used internally by |
| Pigweed. |
| |
| InterruptSpinLock |
| ================= |
| The InterruptSpinLock is a synchronization primitive that can be used to protect |
| shared data from being simultaneously accessed by multiple threads and/or |
| interrupts as a targeted global lock, with the exception of Non-Maskable |
| Interrupts (NMIs). It offers exclusive, non-recursive ownership semantics where |
| IRQs up to a backend defined level of "NMIs" will be masked to solve |
| priority-inversion. |
| |
| This InterruptSpinLock relies on built-in local interrupt masking to make it |
| interrupt safe without requiring the caller to separately mask and unmask |
| interrupts when using this primitive. |
| |
| Unlike global interrupt locks, this also works safely and efficiently on SMP |
| systems. On systems which are not SMP, spinning is not required but some state |
| may still be used to detect recursion. |
| |
| The InterruptSpinLock is a |
| `BasicLockable <https://en.cppreference.com/w/cpp/named_req/BasicLockable>`_ |
| and |
| `Lockable <https://en.cppreference.com/w/cpp/named_req/Lockable>`_. |
| |
| .. list-table:: |
| |
| * - *Supported on* |
| - *Backend module* |
| * - FreeRTOS |
| - :ref:`module-pw_sync_freertos` |
| * - ThreadX |
| - :ref:`module-pw_sync_threadx` |
| * - embOS |
| - :ref:`module-pw_sync_embos` |
| * - STL |
| - :ref:`module-pw_sync_stl` |
| * - Baremetal |
| - Planned, not ready for use |
| * - Zephyr |
| - Planned |
| * - CMSIS-RTOS API v2 & RTX5 |
| - Planned |
| |
| C++ |
| --- |
| .. cpp:class:: pw::sync::InterruptSpinLock |
| |
| .. cpp:function:: void lock() |
| |
| Locks the spinlock, blocking indefinitely. Failures are fatal. |
| |
| **Precondition:** Recursive locking is undefined behavior. |
| |
| .. cpp:function:: bool try_lock() |
| |
| Tries to lock the spinlock in a non-blocking manner. |
| Returns true if the spinlock was successfully acquired. |
| |
| **Precondition:** Recursive locking is undefined behavior. |
| |
| .. cpp:function:: void unlock() |
| |
| Unlocks the mutex. Failures are fatal. |
| |
| **Precondition:** The spinlock is held by the caller. |
| |
| .. list-table:: |
| |
| * - *Safe to use in context* |
| - *Thread* |
| - *Interrupt* |
| - *NMI* |
| * - ``InterruptSpinLock::InterruptSpinLock`` |
| - ✔ |
| - ✔ |
| - |
| * - ``InterruptSpinLock::~InterruptSpinLock`` |
| - ✔ |
| - ✔ |
| - |
| * - ``void InterruptSpinLock::lock`` |
| - ✔ |
| - ✔ |
| - |
| * - ``bool InterruptSpinLock::try_lock`` |
| - ✔ |
| - ✔ |
| - |
| * - ``void InterruptSpinLock::unlock`` |
| - ✔ |
| - ✔ |
| - |
| |
| Examples in C++ |
| ^^^^^^^^^^^^^^^ |
| .. code-block:: cpp |
| |
| #include "pw_sync/interrupt_spin_lock.h" |
| |
| pw::sync::InterruptSpinLock interrupt_spin_lock; |
| |
| void InterruptSafeCriticalSection() { |
| interrupt_spin_lock.lock(); |
| NotThreadSafeCriticalSection(); |
| interrupt_spin_lock.unlock(); |
| } |
| |
| |
| Alternatively you can use C++'s RAII helpers to ensure you always unlock. |
| |
| .. code-block:: cpp |
| |
| #include <mutex> |
| |
| #include "pw_sync/interrupt_spin_lock.h" |
| |
| pw::sync::InterruptSpinLock interrupt_spin_lock; |
| |
| void InterruptSafeCriticalSection() { |
| std::lock_guard lock(interrupt_spin_lock); |
| NotThreadSafeCriticalSection(); |
| } |
| |
| |
| C |
| - |
| The InterruptSpinLock must be created in C++, however it can be passed into C using the |
| ``pw_sync_InterruptSpinLock`` opaque struct alias. |
| |
| .. cpp:function:: void pw_sync_InterruptSpinLock_Lock(pw_sync_InterruptSpinLock* interrupt_spin_lock) |
| |
| Invokes the ``InterruptSpinLock::lock`` member function on the given ``interrupt_spin_lock``. |
| |
| .. cpp:function:: bool pw_sync_InterruptSpinLock_TryLock(pw_sync_InterruptSpinLock* interrupt_spin_lock) |
| |
| Invokes the ``InterruptSpinLock::try_lock`` member function on the given ``interrupt_spin_lock``. |
| |
| .. cpp:function:: void pw_sync_InterruptSpinLock_Unlock(pw_sync_InterruptSpinLock* interrupt_spin_lock) |
| |
| Invokes the ``InterruptSpinLock::unlock`` member function on the given ``interrupt_spin_lock``. |
| |
| .. list-table:: |
| |
| * - *Safe to use in context* |
| - *Thread* |
| - *Interrupt* |
| - *NMI* |
| * - ``void pw_sync_InterruptSpinLock_Lock`` |
| - ✔ |
| - ✔ |
| - |
| * - ``bool pw_sync_InterruptSpinLock_TryLock`` |
| - ✔ |
| - ✔ |
| - |
| * - ``void pw_sync_InterruptSpinLock_Unlock`` |
| - ✔ |
| - ✔ |
| - |
| |
| Example in C |
| ^^^^^^^^^^^^ |
| .. code-block:: cpp |
| |
| #include "pw_chrono/system_clock.h" |
| #include "pw_sync/interrupt_spin_lock.h" |
| |
| pw::sync::InterruptSpinLock interrupt_spin_lock; |
| |
| extern pw_sync_InterruptSpinLock interrupt_spin_lock; // This can only be created in C++. |
| |
| void InterruptSafeCriticalSection(void) { |
| pw_sync_InterruptSpinLock_Lock(&interrupt_spin_lock); |
| NotThreadSafeCriticalSection(); |
| pw_sync_InterruptSpinLock_Unlock(&interrupt_spin_lock); |
| } |
| |
| Thread Safety Lock Annotations |
| ============================== |
| Pigweed's critical section lock primitives support Clang's thread safety |
| analysis extension for C++. The analysis is completely static at compile-time. |
| This is only supported when building with Clang. The annotations are no-ops when |
| using different compilers. |
| |
| Pigweed provides the ``pw_sync/lock_annotations.h`` header file with macro |
| definitions to allow developers to document the locking policies of |
| multi-threaded code. The annotations can also help program analysis tools to |
| identify potential thread safety issues. |
| |
| More information on Clang's thread safety analysis system can be found |
| `here <https://clang.llvm.org/docs/ThreadSafetyAnalysis.html>`_. |
| |
| Enabling Clang's Analysis |
| ------------------------- |
| In order to enable the analysis, Clang requires that the ``-Wthread-safety`` |
| compilation flag be used. In addition, if any STL components like |
| ``std::lock_guard`` are used, the STL's built in annotations have to be manually |
| enabled, typically by setting the ``_LIBCPP_ENABLE_THREAD_SAFETY_ANNOTATIONS`` |
| macro. |
| |
| If using GN, the ``pw_build:clang_thread_safety_warnings`` config is provided |
| to do this for you, when added to your clang toolchain definition's default |
| configs. |
| |
| Why use lock annotations? |
| ------------------------- |
| Lock annotations can help warn you about potential race conditions in your code |
| when using locks: you have to remember to grab lock(s) before entering a |
| critical section, yuou have to remember to unlock it when you leave, and you |
| have to avoid deadlocks. |
| |
| Clang's lock annotations let you inform the compiler and anyone reading your |
| code which variables are guarded by which locks, which locks should or cannot be |
| held when calling which function, which order locks should be acquired in, etc. |
| |
| Using Lock Annotations |
| ---------------------- |
| When referring to locks in the arguments of the attributes, you should |
| use variable names or more complex expressions (e.g. ``my_object->lock_``) |
| that evaluate to a concrete lock object whenever possible. If the lock |
| you want to refer to is not in scope, you may use a member pointer |
| (e.g. ``&MyClass::lock_``) to refer to a lock in some (unknown) object. |
| |
| Annotating Lock Usage |
| ^^^^^^^^^^^^^^^^^^^^^ |
| .. cpp:function:: PW_GUARDED_BY(x) |
| |
| Documents if a shared field or global variable needs to be protected by a |
| lock. ``PW_GUARDED_BY()`` allows the user to specify a particular lock that |
| should be held when accessing the annotated variable. |
| |
| Although this annotation (and ``PW_PT_GUARDED_BY``, below) cannot be applied |
| to local variables, a local variable and its associated lock can often be |
| combined into a small class or struct, thereby allowing the annotation. |
| |
| Example: |
| |
| .. code-block:: cpp |
| |
| class Foo { |
| Mutex mu_; |
| int p1_ PW_GUARDED_BY(mu_); |
| ... |
| }; |
| |
| .. cpp:function:: PW_PT_GUARDED_BY(x) |
| |
| Documents if the memory location pointed to by a pointer should be guarded |
| by a lock when dereferencing the pointer. |
| |
| Example: |
| |
| .. code-block:: cpp |
| |
| class Foo { |
| Mutex mu_; |
| int *p1_ PW_PT_GUARDED_BY(mu_); |
| ... |
| }; |
| |
| Note that a pointer variable to a shared memory location could itself be a |
| shared variable. |
| |
| Example: |
| |
| .. code-block:: cpp |
| |
| // `q_`, guarded by `mu1_`, points to a shared memory location that is |
| // guarded by `mu2_`: |
| int *q_ PW_GUARDED_BY(mu1_) PW_PT_GUARDED_BY(mu2_); |
| |
| .. cpp:function:: PW_ACQUIRED_AFTER(...) |
| .. cpp:function:: PW_ACQUIRED_BEFORE(...) |
| |
| Documents the acquisition order between locks that can be held |
| simultaneously by a thread. For any two locks that need to be annotated |
| to establish an acquisition order, only one of them needs the annotation. |
| (i.e. You don't have to annotate both locks with both ``PW_ACQUIRED_AFTER`` |
| and ``PW_ACQUIRED_BEFORE``.) |
| |
| As with ``PW_GUARDED_BY``, this is only applicable to locks that are shared |
| fields or global variables. |
| |
| Example: |
| |
| .. code-block:: cpp |
| |
| Mutex m1_; |
| Mutex m2_ PW_ACQUIRED_AFTER(m1_); |
| |
| .. cpp:function:: PW_EXCLUSIVE_LOCKS_REQUIRED(...) |
| .. cpp:function:: PW_SHARED_LOCKS_REQUIRED(...) |
| |
| Documents a function that expects a lock to be held prior to entry. |
| The lock is expected to be held both on entry to, and exit from, the |
| function. |
| |
| An exclusive lock allows read-write access to the guarded data member(s), and |
| only one thread can acquire a lock exclusively at any one time. A shared lock |
| allows read-only access, and any number of threads can acquire a shared lock |
| concurrently. |
| |
| Generally, non-const methods should be annotated with |
| ``PW_EXCLUSIVE_LOCKS_REQUIRED``, while const methods should be annotated with |
| ``PW_SHARED_LOCKS_REQUIRED``. |
| |
| Example: |
| |
| .. code-block:: cpp |
| |
| Mutex mu1, mu2; |
| int a PW_GUARDED_BY(mu1); |
| int b PW_GUARDED_BY(mu2); |
| |
| void foo() PW_EXCLUSIVE_LOCKS_REQUIRED(mu1, mu2) { ... } |
| void bar() const PW_SHARED_LOCKS_REQUIRED(mu1, mu2) { ... } |
| |
| .. cpp:function:: PW_LOCKS_EXCLUDED(...) |
| |
| Documents that the caller must not hold the given lock. This annotation is |
| often used to prevent deadlocks. Pigweed's mutex implementation is not |
| re-entrant, so a deadlock will occur if the function acquires the mutex a |
| second time. |
| |
| Example: |
| |
| .. code-block:: cpp |
| |
| Mutex mu; |
| int a PW_GUARDED_BY(mu); |
| |
| void foo() PW_LOCKS_EXCLUDED(mu) { |
| mu.lock(); |
| ... |
| mu.unlock(); |
| } |
| |
| .. cpp:function:: PW_LOCK_RETURNED(...) |
| |
| Documents a function that returns a lock without acquiring it. For example, |
| a public getter method that returns a pointer to a private lock should |
| be annotated with ``PW_LOCK_RETURNED``. |
| |
| Example: |
| |
| .. code-block:: cpp |
| |
| class Foo { |
| public: |
| Mutex* mu() PW_LOCK_RETURNED(mu) { return μ } |
| |
| private: |
| Mutex mu; |
| }; |
| |
| .. cpp:function:: PW_NO_LOCK_SAFETY_ANALYSIS() |
| |
| Turns off thread safety checking within the body of a particular function. |
| This annotation is used to mark functions that are known to be correct, but |
| the locking behavior is more complicated than the analyzer can handle. |
| |
| Annotating Lock Objects |
| ^^^^^^^^^^^^^^^^^^^^^^^ |
| In order of lock usage annotation to work, the lock objects themselves need to |
| be annotated as well. In case you are providing your own lock or psuedo-lock |
| object, you can use the macros in this section to annotate it. |
| |
| As an example we've annotated a Lock and a RAII ScopedLocker object for you, see |
| the macro documentation after for more details: |
| |
| .. code-block:: cpp |
| |
| class PW_LOCKABLE("Lock") Lock { |
| public: |
| void Lock() PW_EXCLUSIVE_LOCK_FUNCTION(); |
| |
| void ReaderLock() PW_SHARED_LOCK_FUNCTION(); |
| |
| void Unlock() PW_UNLOCK_FUNCTION(); |
| |
| void ReaderUnlock() PW_SHARED_TRYLOCK_FUNCTION(); |
| |
| bool TryLock() PW_EXCLUSIVE_TRYLOCK_FUNCTION(true); |
| |
| bool ReaderTryLock() PW_SHARED_TRYLOCK_FUNCTION(true); |
| |
| void AssertHeld() PW_ASSERT_EXCLUSIVE_LOCK(); |
| |
| void AssertReaderHeld() PW_ASSERT_SHARED_LOCK(); |
| }; |
| |
| |
| // Tag types for selecting a constructor. |
| struct adopt_lock_t {} inline constexpr adopt_lock = {}; |
| struct defer_lock_t {} inline constexpr defer_lock = {}; |
| struct shared_lock_t {} inline constexpr shared_lock = {}; |
| |
| class PW_SCOPED_LOCKABLE ScopedLocker { |
| // Acquire lock, implicitly acquire *this and associate it with lock. |
| ScopedLocker(Lock *lock) PW_EXCLUSIVE_LOCK_FUNCTION(lock) |
| : lock_(lock), locked(true) { |
| lock->Lock(); |
| } |
| |
| // Assume lock is held, implicitly acquire *this and associate it with lock. |
| ScopedLocker(Lock *lock, adopt_lock_t) PW_EXCLUSIVE_LOCKS_REQUIRED(lock) |
| : lock_(lock), locked(true) {} |
| |
| // Acquire lock in shared mode, implicitly acquire *this and associate it |
| // with lock. |
| ScopedLocker(Lock *lock, shared_lock_t) PW_SHARED_LOCK_FUNCTION(lock) |
| : lock_(lock), locked(true) { |
| lock->ReaderLock(); |
| } |
| |
| // Assume lock is held in shared mode, implicitly acquire *this and associate |
| // it with lock. |
| ScopedLocker(Lock *lock, adopt_lock_t, shared_lock_t) |
| PW_SHARED_LOCKS_REQUIRED(lock) : lock_(lock), locked(true) {} |
| |
| // Assume lock is not held, implicitly acquire *this and associate it with |
| // lock. |
| ScopedLocker(Lock *lock, defer_lock_t) PW_LOCKS_EXCLUDED(lock) |
| : lock_(lock), locked(false) {} |
| |
| // Release *this and all associated locks, if they are still held. |
| // There is no warning if the scope was already unlocked before. |
| ~ScopedLocker() PW_UNLOCK_FUNCTION() { |
| if (locked) |
| lock_->GenericUnlock(); |
| } |
| |
| // Acquire all associated locks exclusively. |
| void Lock() PW_EXCLUSIVE_LOCK_FUNCTION() { |
| lock_->Lock(); |
| locked = true; |
| } |
| |
| // Try to acquire all associated locks exclusively. |
| bool TryLock() PW_EXCLUSIVE_TRYLOCK_FUNCTION(true) { |
| return locked = lock_->TryLock(); |
| } |
| |
| // Acquire all associated locks in shared mode. |
| void ReaderLock() PW_SHARED_LOCK_FUNCTION() { |
| lock_->ReaderLock(); |
| locked = true; |
| } |
| |
| // Try to acquire all associated locks in shared mode. |
| bool ReaderTryLock() PW_SHARED_TRYLOCK_FUNCTION(true) { |
| return locked = lock_->ReaderTryLock(); |
| } |
| |
| // Release all associated locks. Warn on double unlock. |
| void Unlock() PW_UNLOCK_FUNCTION() { |
| lock_->Unlock(); |
| locked = false; |
| } |
| |
| // Release all associated locks. Warn on double unlock. |
| void ReaderUnlock() PW_UNLOCK_FUNCTION() { |
| lock_->ReaderUnlock(); |
| locked = false; |
| } |
| |
| private: |
| Lock* lock_; |
| bool locked_; |
| }; |
| |
| .. cpp:function:: PW_LOCKABLE(name) |
| |
| Documents if a class/type is a lockable type (such as the ``pw::sync::Mutex`` |
| class). The name is used in the warning messages. This can also be useful on |
| classes which have locking like semantics but aren't actually locks. |
| |
| .. cpp:function:: PW_SCOPED_LOCKABLE() |
| |
| Documents if a class does RAII locking. The name is used in the warning |
| messages. |
| |
| The constructor should use ``LOCK_FUNCTION()`` to specify the lock that is |
| acquired, and the destructor should use ``UNLOCK_FUNCTION()`` with no |
| arguments; the analysis will assume that the destructor unlocks whatever the |
| constructor locked. |
| |
| .. cpp:function:: PW_EXCLUSIVE_LOCK_FUNCTION() |
| |
| Documents functions that acquire a lock in the body of a function, and do |
| not release it. |
| |
| .. cpp:function:: PW_SHARED_LOCK_FUNCTION() |
| |
| Documents functions that acquire a shared (reader) lock in the body of a |
| function, and do not release it. |
| |
| .. cpp:function:: PW_UNLOCK_FUNCTION() |
| |
| Documents functions that expect a lock to be held on entry to the function, |
| and release it in the body of the function. |
| |
| .. cpp:function:: PW_EXCLUSIVE_TRYLOCK_FUNCTION(try_success) |
| .. cpp:function:: PW_SHARED_TRYLOCK_FUNCTION(try_success) |
| |
| Documents functions that try to acquire a lock, and return success or failure |
| (or a non-boolean value that can be interpreted as a boolean). |
| The first argument should be ``true`` for functions that return ``true`` on |
| success, or ``false`` for functions that return `false` on success. The second |
| argument specifies the lock that is locked on success. If unspecified, this |
| lock is assumed to be ``this``. |
| |
| .. cpp:function:: PW_ASSERT_EXCLUSIVE_LOCK() |
| .. cpp:function:: PW_ASSERT_SHARED_LOCK() |
| |
| Documents functions that dynamically check to see if a lock is held, and fail |
| if it is not held. |
| |
| ----------------------------- |
| Critical Section Lock Helpers |
| ----------------------------- |
| |
| Virtual Lock Interfaces |
| ======================= |
| Virtual lock interfaces can be useful when lock selection cannot be templated. |
| |
| Why use virtual locks? |
| ---------------------- |
| Virtual locks enable depending on locks without templating implementation code |
| on the type, while retaining flexibility with respect to the concrete lock type. |
| Pigweed tries to avoid pushing policy on to users, and virtual locks are one way |
| to accomplish that without templating everything. |
| |
| A case when virtual locks are useful is when the concrete lock type changes at |
| run time. For example, access to flash may be protected at run time by an |
| internal mutex, however at crash time we may want to switch to a no-op lock. A |
| virtual lock interface could be used here to minimize the code-size cost that |
| would occur otherwise if the flash driver were templated. |
| |
| VirtualBasicLock |
| ---------------- |
| The ``VirtualBasicLock`` interface meets the |
| `BasicLockable <https://en.cppreference.com/w/cpp/named_req/BasicLockable>`_ C++ |
| named requirement. Our critical section lock primitives offer optional virtual |
| versions, including: |
| |
| * ``pw::sync::VirtualMutex`` |
| * ``pw::sync::VirtualTimedMutex`` |
| * ``pw::sync::VirtualInterruptSpinLock`` |
| |
| Borrowable |
| ========== |
| The Borrowable is a helper construct that enables callers to borrow an object |
| which is guarded by a lock, enabling a containerized style of external locking. |
| |
| Users who need access to the guarded object can ask to acquire a |
| ``BorrowedPointer`` which permits access while the lock is held. |
| |
| This class is compatible with locks which comply with |
| `BasicLockable <https://en.cppreference.com/w/cpp/named_req/BasicLockable>`_, |
| `Lockable <https://en.cppreference.com/w/cpp/named_req/Lockable>`_, and |
| `TimedLockable <https://en.cppreference.com/w/cpp/named_req/TimedLockable>`_ |
| C++ named requirements. |
| |
| By default the selected lock type is a ``pw::sync::VirtualBasicLockable``. If |
| this virtual interface is used, the templated lock parameter can be skipped. |
| |
| External vs Internal locking |
| ---------------------------- |
| Before we explain why Borrowable is useful, it's important to understand the |
| trade-offs when deciding on using internal and/or external locking. |
| |
| Internal locking is when the lock is hidden from the caller entirely and is used |
| internally to the API. For example: |
| |
| .. code-block:: cpp |
| |
| class BankAccount { |
| public: |
| void Deposit(int amount) { |
| std::lock_guard lock(mutex_); |
| balance_ += amount; |
| } |
| |
| void Withdraw(int amount) { |
| std::lock_guard lock(mutex_); |
| balance_ -= amount; |
| } |
| |
| void Balance() const { |
| std::lock_guard lock(mutex_); |
| return balance_; |
| } |
| |
| private: |
| int balance_ PW_GUARDED_BY(mutex_); |
| pw::sync::Mutex mutex_; |
| }; |
| |
| Internal locking guarantees that any concurrent calls to its public member |
| functions don't corrupt an instance of that class. This is typically ensured by |
| having each member function acquire a lock on the object upon entry. This way, |
| for any instance, there can only be one member function call active at any |
| moment, serializing the operations. |
| |
| One common issue that pops up is that member functions may have to call other |
| member functions which also require locks. This typically results in a |
| duplication of the public API into an internal mirror where the lock is already |
| held. This along with having to modify every thread-safe public member function |
| may results in an increased code size. |
| |
| However, with the per-method locking approach, it is not possible to perform a |
| multi-method thread-safe transaction. For example, what if we only wanted to |
| withdraw money if the balance was high enough? With the current API there would |
| be a risk that money is withdrawn after we've checked the balance. |
| |
| This is usually why external locking is used. This is when the lock is exposed |
| to the caller and may be used externally to the public API. External locking |
| can take may forms which may even include mixing internal and external locking. |
| In its most simplistic form it is an external lock used along side each |
| instance, e.g.: |
| |
| .. code-block:: cpp |
| |
| class BankAccount { |
| public: |
| void Deposit(int amount) { |
| balance_ += amount; |
| } |
| |
| void Withdraw(int amount) { |
| balance_ -= amount; |
| } |
| |
| void Balance() const { |
| return balance_; |
| } |
| |
| private: |
| int balance_; |
| }; |
| |
| pw::sync::Mutex bobs_account_mutex; |
| BankAccount bobs_account PW_GUARDED_BY(bobs_account_mutex); |
| |
| The lock is acquired before the bank account is used for a transaction. In |
| addition, we do not have to modify every public function and its trivial to |
| call other public member functions from a public member function. However, as |
| you can imagine instantiating and passing around the instances and their locks |
| can become error prone. |
| |
| This is why ``Borrowable`` exists. |
| |
| Why use Borrowable? |
| ------------------- |
| ``Borrowable`` offers code-size efficient way to enable external locking that is |
| easy and safe to use. It is effectively a container which holds references to a |
| protected instance and its lock which provides RAII-style access. |
| |
| .. code-block:: cpp |
| |
| pw::sync::Mutex bobs_account_mutex; |
| BankAccount bobs_account PW_GUARDED_BY(bobs_account_mutex); |
| pw::sync::Borrowable<BankAccount, pw::sync::Mutex> bobs_acount( |
| bobs_account, bobs_account_mutex); |
| |
| This construct is useful when sharing objects or data which are transactional in |
| nature where making individual operations threadsafe is insufficient. See the |
| section on internal vs external locking tradeoffs above. |
| |
| It can also offer a code-size and stack-usage efficient way to separate timeout |
| constraints between the acquiring of the shared object and timeouts used for the |
| shared object's API. For example, imagine you have an I2c bus which is used by |
| several threads and you'd like to specify an ACK timeout of 50ms. It'd be ideal |
| if the duration it takes to gain exclusive access to the I2c bus does not eat |
| into the ACK timeout you'd like to use for the transaction. Borrowable can help |
| you do exactly this if you provide access to the I2c bus through a |
| ``Borrowable``. |
| |
| C++ |
| --- |
| .. cpp:class:: template <typename GuardedType, typename Lock = pw::sync::VirtualBasicLockable> pw::sync::BorrowedPointer |
| |
| The BorrowedPointer is an RAII handle which wraps a pointer to a borrowed |
| object along with a held lock which is guarding the object. When destroyed, |
| the lock is released. |
| |
| This object is moveable, but not copyable. |
| |
| .. cpp:function:: GuardedType* operator->() |
| |
| Provides access to the borrowed object's members. |
| |
| .. cpp:function:: GuardedType& operator*() |
| |
| Provides access to the borrowed object directly. |
| |
| **Warning:** The member of pointer member access operator, operator->(), is |
| recommended over this API as this is prone to leaking references. However, |
| this is sometimes necessary. |
| |
| **Warning:** Be careful not to leak references to the borrowed object. |
| |
| .. cpp:class:: template <typename GuardedType, typename Lock = pw::sync::VirtualBasicLockable> pw::sync::Borrowable |
| |
| .. cpp:function:: BorrowedPointer<GuardedType, Lock> acquire() |
| |
| Blocks indefinitely until the object can be borrowed. Failures are fatal. |
| |
| .. cpp:function:: std::optional<BorrowedPointer<GuardedType, Lock>> try_acquire() |
| |
| Tries to borrow the object in a non-blocking manner. Returns a |
| BorrowedPointer on success, otherwise std::nullopt (nothing). |
| |
| .. cpp:function:: template <class Rep, class Period> std::optional<BorrowedPointer<GuardedType, Lock>> try_acquire_for(std::chrono::duration<Rep, Period> timeout) |
| |
| Tries to borrow the object. Blocks until the specified timeout has elapsed |
| or the object has been borrowed, whichever comes first. Returns a |
| BorrowedPointer on success, otherwise std::nullopt (nothing). |
| |
| .. cpp:function:: template <class Rep, class Period> std::optional<BorrowedPointer<GuardedType, Lock>> try_acquire_until(std::chrono::duration<Rep, Period> deadline) |
| |
| Tries to borrow the object. Blocks until the specified deadline has been |
| reached or the object has been borrowed, whichever comes first. Returns a |
| BorrowedPointer on success, otherwise std::nullopt (nothing). |
| |
| Example in C++ |
| ^^^^^^^^^^^^^^ |
| |
| .. code-block:: cpp |
| |
| #include <chrono> |
| |
| #include "pw_bytes/span.h" |
| #include "pw_i2c/initiator.h" |
| #include "pw_status/try.h" |
| #include "pw_status/result.h" |
| #include "pw_sync/borrow.h" |
| #include "pw_sync/mutex.h" |
| |
| class ExampleI2c : public pw::i2c::Initiator; |
| |
| pw::sync::VirtualMutex i2c_mutex; |
| ExampleI2c i2c; |
| pw::sync::Borrowable<ExampleI2c> borrowable_i2c(i2c, i2c_mutex); |
| |
| pw::Result<ConstByteSpan> ReadI2cData(ByteSpan buffer) { |
| // Block indefinitely waiting to borrow the i2c bus. |
| pw::sync::BorrowedPointer<ExampleI2c> borrowed_i2c = |
| borrowable_i2c.acquire(); |
| |
| // Execute a sequence of transactions to get the needed data. |
| PW_TRY(borrowed_i2c->WriteFor(kFirstWrite, std::chrono::milliseconds(50))); |
| PW_TRY(borrowed_i2c->WriteReadFor(kSecondWrite, buffer, |
| std::chrono::milliseconds(10))); |
| |
| // Borrowed i2c pointer is returned when the scope exits. |
| return buffer; |
| } |
| |
| -------------------- |
| Signaling Primitives |
| -------------------- |
| |
| Native signaling primitives tend to vary more compared to critial section locks |
| across different platforms. For example, although common signaling primtives |
| like semaphores are in most if not all RTOSes and even POSIX, it was not in the |
| STL before C++20. Likewise many C++ developers are surprised that conditional |
| variables tend to not be natively supported on RTOSes. Although you can usually |
| build any signaling primitive based on other native signaling primitives, this |
| may come with non-trivial added overhead in ROM, RAM, and execution efficiency. |
| |
| For this reason, Pigweed intends to provide some simpler signaling primitives |
| which exist to solve a narrow programming need but can be implemented as |
| efficiently as possible for the platform that it is used on. |
| |
| This simpler but highly portable class of signaling primitives is intended to |
| ensure that a portability efficiency tradeoff does not have to be made up front. |
| Today this is class of simpler signaling primitives is limited to the |
| ``pw::sync::ThreadNotification`` and ``pw::sync::TimedThreadNotification``. |
| |
| ThreadNotification |
| ================== |
| The ThreadNotification is a synchronization primitive that can be used to |
| permit a SINGLE thread to block and consume a latching, saturating |
| notification from multiple notifiers. |
| |
| .. Note:: |
| Although only a single thread can block on a ThreadNotification at a time, |
| many instances may be used by a single thread just like binary semaphores. |
| This is in contrast to some native RTOS APIs, such as direct task |
| notifications, which re-use the same state within a thread's context. |
| |
| .. Warning:: |
| This is a single consumer/waiter, multiple producer/notifier API! |
| The acquire APIs must only be invoked by a single consuming thread. As a |
| result, having multiple threads receiving notifications via the acquire API |
| is unsupported. |
| |
| This is effectively a subset of the ``pw::sync::BinarySemaphore`` API, except |
| that only a single thread can be notified and block at a time. |
| |
| The single consumer aspect of the API permits the use of a smaller and/or |
| faster native APIs such as direct thread signaling. This should be |
| backed by the most efficient native primitive for a target, regardless of |
| whether that is a semaphore, event flag group, condition variable, or something |
| else. |
| |
| The ThreadNotification is initialized to being empty (latch is not set). |
| |
| Generic BinarySemaphore-based Backend |
| ------------------------------------- |
| This module provides a generic backend for ``pw::sync::ThreadNotification`` via |
| ``pw_sync:binary_semaphore_thread_notification`` which uses a |
| ``pw::sync::BinarySemaphore`` as the backing primitive. See |
| :ref:`BinarySemaphore <module-pw_sync-binary-semaphore>` for backend |
| availability. |
| |
| Optimized Backend |
| ----------------- |
| .. list-table:: |
| |
| * - *Supported on* |
| - *Optimized backend module* |
| * - FreeRTOS |
| - ``pw_sync_freertos:thread_notification`` |
| * - ThreadX |
| - Not possible, use ``pw_sync:binary_semaphore_thread_notification`` |
| * - embOS |
| - Not needed, use ``pw_sync:binary_semaphore_thread_notification`` |
| * - STL |
| - Not planned, use ``pw_sync:binary_semaphore_thread_notification`` |
| * - Baremetal |
| - Planned |
| * - Zephyr |
| - Planned |
| * - CMSIS-RTOS API v2 & RTX5 |
| - Planned |
| |
| C++ |
| --- |
| .. cpp:class:: pw::sync::ThreadNotification |
| |
| .. cpp:function:: void acquire() |
| |
| Blocks indefinitely until the thread is notified, i.e. until the |
| notification latch can be cleared because it was set. |
| |
| Clears the notification latch. |
| |
| **IMPORTANT:** This should only be used by a single consumer thread. |
| |
| .. cpp:function:: bool try_acquire() |
| |
| Returns whether the thread has been notified, i.e. whether the notificion |
| latch was set and resets the latch regardless. |
| |
| Clears the notification latch. |
| |
| Returns true if the thread was notified, meaning the the internal latch was |
| reset successfully. |
| |
| **IMPORTANT:** This should only be used by a single consumer thread. |
| |
| .. cpp:function:: void release() |
| |
| Notifies the thread in a saturating manner, setting the notification latch. |
| |
| Raising the notification multiple time without it being acquired by the |
| consuming thread is equivalent to raising the notification once to the |
| thread. The notification is latched in case the thread was not waiting at |
| the time. |
| |
| This is IRQ and thread safe. |
| |
| .. list-table:: |
| |
| * - *Safe to use in context* |
| - *Thread* |
| - *Interrupt* |
| - *NMI* |
| * - ``ThreadNotification::ThreadNotification`` |
| - ✔ |
| - |
| - |
| * - ``ThreadNotification::~ThreadNotification`` |
| - ✔ |
| - |
| - |
| * - ``void ThreadNotification::acquire`` |
| - ✔ |
| - |
| - |
| * - ``bool ThreadNotification::try_acquire`` |
| - ✔ |
| - |
| - |
| * - ``void ThreadNotification::release`` |
| - ✔ |
| - ✔ |
| - |
| |
| Examples in C++ |
| ^^^^^^^^^^^^^^^ |
| .. code-block:: cpp |
| |
| #include "pw_sync/thread_notification.h" |
| #include "pw_thread/thread_core.h" |
| |
| class FooHandler() : public pw::thread::ThreadCore { |
| // Public API invoked by other threads and/or interrupts. |
| void NewFooAvailable() { |
| new_foo_notification_.release(); |
| } |
| |
| private: |
| pw::sync::ThreadNotification new_foo_notification_; |
| |
| // Thread function. |
| void Run() override { |
| while (true) { |
| new_foo_notification_.acquire(); |
| HandleFoo(); |
| } |
| } |
| |
| void HandleFoo(); |
| } |
| |
| TimedThreadNotification |
| ======================= |
| The TimedThreadNotification is an extension of the ThreadNotification which |
| offers timeout and deadline based semantics. |
| |
| The TimedThreadNotification is initialized to being empty (latch is not set). |
| |
| .. Warning:: |
| This is a single consumer/waiter, multiple producer/notifier API! |
| The acquire APIs must only be invoked by a single consuming thread. As a |
| result, having multiple threads receiving notifications via the acquire API |
| is unsupported. |
| |
| Generic BinarySemaphore-based Backend |
| ------------------------------------- |
| This module provides a generic backend for ``pw::sync::TimedThreadNotification`` |
| via ``pw_sync:binary_semaphore_timed_thread_notification`` which uses a |
| ``pw::sync::BinarySemaphore`` as the backing primitive. See |
| :ref:`BinarySemaphore <module-pw_sync-binary-semaphore>` for backend |
| availability. |
| |
| Optimized Backend |
| ----------------- |
| .. list-table:: |
| |
| * - *Supported on* |
| - *Backend module* |
| * - FreeRTOS |
| - ``pw_sync_freertos:timed_thread_notification`` |
| * - ThreadX |
| - Not possible, use ``pw_sync:binary_semaphore_timed_thread_notification`` |
| * - embOS |
| - Not needed, use ``pw_sync:binary_semaphore_timed_thread_notification`` |
| * - STL |
| - Not planned, use ``pw_sync:binary_semaphore_timed_thread_notification`` |
| * - Zephyr |
| - Planned |
| * - CMSIS-RTOS API v2 & RTX5 |
| - Planned |
| |
| C++ |
| --- |
| .. cpp:class:: pw::sync::TimedThreadNotification |
| |
| .. cpp:function:: void acquire() |
| |
| Blocks indefinitely until the thread is notified, i.e. until the |
| notification latch can be cleared because it was set. |
| |
| Clears the notification latch. |
| |
| **IMPORTANT:** This should only be used by a single consumer thread. |
| |
| .. cpp:function:: bool try_acquire() |
| |
| Returns whether the thread has been notified, i.e. whether the notificion |
| latch was set and resets the latch regardless. |
| |
| Clears the notification latch. |
| |
| Returns true if the thread was notified, meaning the the internal latch was |
| reset successfully. |
| |
| **IMPORTANT:** This should only be used by a single consumer thread. |
| |
| .. cpp:function:: void release() |
| |
| Notifies the thread in a saturating manner, setting the notification latch. |
| |
| Raising the notification multiple time without it being acquired by the |
| consuming thread is equivalent to raising the notification once to the |
| thread. The notification is latched in case the thread was not waiting at |
| the time. |
| |
| This is IRQ and thread safe. |
| |
| .. cpp:function:: bool try_acquire_for(chrono::SystemClock::duration timeout) |
| |
| Blocks until the specified timeout duration has elapsed or the thread |
| has been notified (i.e. notification latch can be cleared because it was |
| set), whichever comes first. |
| |
| Clears the notification latch. |
| |
| Returns true if the thread was notified, meaning the the internal latch was |
| reset successfully. |
| |
| **IMPORTANT:** This should only be used by a single consumer thread. |
| |
| .. cpp:function:: bool try_acquire_until(chrono::SystemClock::time_point deadline) |
| |
| Blocks until the specified deadline time has been reached the thread has |
| been notified (i.e. notification latch can be cleared because it was set), |
| whichever comes first. |
| |
| Clears the notification latch. |
| |
| Returns true if the thread was notified, meaning the the internal latch was |
| reset successfully. |
| |
| **IMPORTANT:** This should only be used by a single consumer thread. |
| |
| .. list-table:: |
| |
| * - *Safe to use in context* |
| - *Thread* |
| - *Interrupt* |
| - *NMI* |
| * - ``TimedThreadNotification::TimedThreadNotification`` |
| - ✔ |
| - |
| - |
| * - ``TimedThreadNotification::~TimedThreadNotification`` |
| - ✔ |
| - |
| - |
| * - ``void TimedThreadNotification::acquire`` |
| - ✔ |
| - |
| - |
| * - ``bool TimedThreadNotification::try_acquire`` |
| - ✔ |
| - |
| - |
| * - ``bool TimedThreadNotification::try_acquire_for`` |
| - ✔ |
| - |
| - |
| * - ``bool TimedThreadNotification::try_acquire_until`` |
| - ✔ |
| - |
| - |
| * - ``void TimedThreadNotification::release`` |
| - ✔ |
| - ✔ |
| - |
| |
| Examples in C++ |
| ^^^^^^^^^^^^^^^ |
| .. code-block:: cpp |
| |
| #include "pw_sync/timed_thread_notification.h" |
| #include "pw_thread/thread_core.h" |
| |
| class FooHandler() : public pw::thread::ThreadCore { |
| // Public API invoked by other threads and/or interrupts. |
| void NewFooAvailable() { |
| new_foo_notification_.release(); |
| } |
| |
| private: |
| pw::sync::TimedThreadNotification new_foo_notification_; |
| |
| // Thread function. |
| void Run() override { |
| while (true) { |
| if (new_foo_notification_.try_acquire_for(kNotificationTimeout)) { |
| HandleFoo(); |
| } |
| DoOtherStuff(); |
| } |
| } |
| |
| void HandleFoo(); |
| void DoOtherStuff(); |
| } |
| |
| CountingSemaphore |
| ================= |
| The CountingSemaphore is a synchronization primitive that can be used for |
| counting events and/or resource management where receiver(s) can block on |
| acquire until notifier(s) signal by invoking release. |
| |
| Note that unlike Mutexes, priority inheritance is not used by semaphores meaning |
| semaphores are subject to unbounded priority inversions. Due to this, Pigweed |
| does not recommend semaphores for mutual exclusion. |
| |
| The CountingSemaphore is initialized to being empty or having no tokens. |
| |
| The entire API is thread safe, but only a subset is interrupt safe. |
| |
| .. Note:: |
| If there is only a single consuming thread, we recommend using a |
| ThreadNotification instead which can be much more efficient on some RTOSes |
| such as FreeRTOS. |
| |
| .. Warning:: |
| Releasing multiple tokens is often not natively supported, meaning you may |
| end up invoking the native kernel API many times, i.e. once per token you |
| are releasing! |
| |
| .. list-table:: |
| |
| * - *Supported on* |
| - *Backend module* |
| * - FreeRTOS |
| - :ref:`module-pw_sync_freertos` |
| * - ThreadX |
| - :ref:`module-pw_sync_threadx` |
| * - embOS |
| - :ref:`module-pw_sync_embos` |
| * - STL |
| - :ref:`module-pw_sync_stl` |
| * - Zephyr |
| - Planned |
| * - CMSIS-RTOS API v2 & RTX5 |
| - Planned |
| |
| C++ |
| --- |
| .. cpp:class:: pw::sync::CountingSemaphore |
| |
| .. cpp:function:: void acquire() |
| |
| Decrements the internal counter by 1 or blocks indefinitely until it can. |
| This is thread safe, but not IRQ safe. |
| |
| .. cpp:function:: bool try_acquire() noexcept |
| |
| Tries to decrement by the internal counter by 1 without blocking. |
| Returns true if the internal counter was decremented successfully. |
| This is thread and IRQ safe. |
| |
| .. cpp:function:: bool try_acquire_for(chrono::SystemClock::duration timeout) |
| |
| Tries to decrement the internal counter by 1. Blocks until the specified |
| timeout has elapsed or the counter was decremented by 1, whichever comes |
| first. |
| Returns true if the internal counter was decremented successfully. |
| This is thread safe, but not IRQ safe. |
| |
| .. cpp:function:: bool try_acquire_until(chrono::SystemClock::time_point deadline) |
| |
| Tries to decrement the internal counter by 1. Blocks until the specified |
| deadline has been reached or the counter was decremented by 1, whichever |
| comes first. |
| Returns true if the internal counter was decremented successfully. |
| This is thread safe, but not IRQ safe. |
| |
| .. cpp:function:: void release(ptrdiff_t update = 1) |
| |
| Atomically increments the internal counter by the value of update. |
| Any thread(s) waiting for the counter to be greater than 0, i.e. |
| blocked in acquire, will subsequently be unblocked. |
| This is thread and IRQ safe. |
| |
| **Precondition:** update >= 0 |
| |
| **Precondition:** update <= max() - counter |
| |
| .. cpp:function:: static constexpr ptrdiff_t max() noexcept |
| |
| Returns the internal counter's maximum possible value. |
| |
| .. list-table:: |
| |
| * - *Safe to use in context* |
| - *Thread* |
| - *Interrupt* |
| - *NMI* |
| * - ``CountingSemaphore::CountingSemaphore`` |
| - ✔ |
| - |
| - |
| * - ``CountingSemaphore::~CountingSemaphore`` |
| - ✔ |
| - |
| - |
| * - ``void CountingSemaphore::acquire`` |
| - ✔ |
| - |
| - |
| * - ``bool CountingSemaphore::try_acquire`` |
| - ✔ |
| - ✔ |
| - |
| * - ``bool CountingSemaphore::try_acquire_for`` |
| - ✔ |
| - |
| - |
| * - ``bool CountingSemaphore::try_acquire_until`` |
| - ✔ |
| - |
| - |
| * - ``void CountingSemaphore::release`` |
| - ✔ |
| - ✔ |
| - |
| * - ``void CountingSemaphore::max`` |
| - ✔ |
| - ✔ |
| - ✔ |
| |
| Examples in C++ |
| ^^^^^^^^^^^^^^^ |
| As an example, a counting sempahore can be useful to run periodic tasks at |
| frequencies near or higher than the system clock tick rate in a way which lets |
| you detect whether you ever fall behind. |
| |
| .. code-block:: cpp |
| |
| #include "pw_sync/counting_semaphore.h" |
| #include "pw_thread/thread_core.h" |
| |
| class PeriodicWorker() : public pw::thread::ThreadCore { |
| // Public API invoked by a higher frequency timer interrupt. |
| void TimeToExecute() { |
| periodic_run_semaphore_.release(); |
| } |
| |
| private: |
| pw::sync::CountingSemaphore periodic_run_semaphore_; |
| |
| // Thread function. |
| void Run() override { |
| while (true) { |
| size_t behind_by_n_cycles = 0; |
| periodic_run_semaphore_.acquire(); // Wait to run until it's time. |
| while (periodic_run_semaphore_.try_acquire()) { |
| ++behind_by_n_cycles; |
| } |
| if (behind_by_n_cycles > 0) { |
| PW_LOG_WARNING("Not keeping up, behind by %d cycles", |
| behind_by_n_cycles); |
| } |
| DoPeriodicWork(); |
| } |
| } |
| |
| void DoPeriodicWork(); |
| } |
| |
| |
| |
| .. _module-pw_sync-binary-semaphore: |
| |
| BinarySemaphore |
| =============== |
| BinarySemaphore is a specialization of CountingSemaphore with an arbitrary token |
| limit of 1. Note that that ``max()`` is >= 1, meaning it may be released up to |
| ``max()`` times but only acquired once for those N releases. |
| |
| Implementations of BinarySemaphore are typically more efficient than the |
| default implementation of CountingSemaphore. |
| |
| The BinarySemaphore is initialized to being empty or having no tokens. |
| |
| The entire API is thread safe, but only a subset is interrupt safe. |
| |
| .. Note:: |
| If there is only a single consuming thread, we recommend using a |
| ThreadNotification instead which can be much more efficient on some RTOSes |
| such as FreeRTOS. |
| |
| |
| .. list-table:: |
| |
| * - *Supported on* |
| - *Backend module* |
| * - FreeRTOS |
| - :ref:`module-pw_sync_freertos` |
| * - ThreadX |
| - :ref:`module-pw_sync_threadx` |
| * - embOS |
| - :ref:`module-pw_sync_embos` |
| * - STL |
| - :ref:`module-pw_sync_stl` |
| * - Zephyr |
| - Planned |
| * - CMSIS-RTOS API v2 & RTX5 |
| - Planned |
| |
| C++ |
| --- |
| .. cpp:class:: pw::sync::BinarySemaphore |
| |
| .. cpp:function:: void acquire() |
| |
| Decrements the internal counter to 0 or blocks indefinitely until it can. |
| This is thread safe, but not IRQ safe. |
| |
| .. cpp:function:: bool try_acquire() noexcept |
| |
| Tries to decrement by the internal counter to 0 without blocking. |
| Returns true if the internal counter was decremented successfully. |
| This is thread and IRQ safe. |
| |
| .. cpp:function:: bool try_acquire_for(chrono::SystemClock::duration timeout) |
| |
| Tries to decrement the internal counter to 0. Blocks until the specified |
| timeout has elapsed or the counter was decremented to 0, whichever comes |
| first. |
| Returns true if the internal counter was decremented successfully. |
| This is thread safe, but not IRQ safe. |
| |
| .. cpp:function:: bool try_acquire_until(chrono::SystemClock::time_point deadline) |
| |
| Tries to decrement the internal counter to 0. Blocks until the specified |
| deadline has been reached or the counter was decremented to 0, whichever |
| comes first. |
| Returns true if the internal counter was decremented successfully. |
| This is thread safe, but not IRQ safe. |
| |
| .. cpp:function:: void release() |
| |
| Atomically increments the internal counter by 1. |
| Any thread(s) waiting for the counter to be greater than 0, i.e. |
| blocked in acquire, will subsequently be unblocked. |
| This is thread and IRQ safe. |
| |
| There exists an overflow risk if one releases more than max() times |
| between acquires because many RTOS implementations internally |
| increment the counter past one where it is only cleared when acquired. |
| |
| **Precondition:** 1 <= max() - counter |
| |
| .. cpp:function:: static constexpr ptrdiff_t max() noexcept |
| |
| Returns the internal counter's maximum possible value. |
| |
| .. list-table:: |
| |
| * - *Safe to use in context* |
| - *Thread* |
| - *Interrupt* |
| - *NMI* |
| * - ``BinarySemaphore::BinarySemaphore`` |
| - ✔ |
| - |
| - |
| * - ``BinarySemaphore::~BinarySemaphore`` |
| - ✔ |
| - |
| - |
| * - ``void BinarySemaphore::acquire`` |
| - ✔ |
| - |
| - |
| * - ``bool BinarySemaphore::try_acquire`` |
| - ✔ |
| - ✔ |
| - |
| * - ``bool BinarySemaphore::try_acquire_for`` |
| - ✔ |
| - |
| - |
| * - ``bool BinarySemaphore::try_acquire_until`` |
| - ✔ |
| - |
| - |
| * - ``void BinarySemaphore::release`` |
| - ✔ |
| - ✔ |
| - |
| * - ``void BinarySemaphore::max`` |
| - ✔ |
| - ✔ |
| - ✔ |
| |
| Examples in C++ |
| ^^^^^^^^^^^^^^^ |
| .. code-block:: cpp |
| |
| #include "pw_sync/binary_semaphore.h" |
| #include "pw_thread/thread_core.h" |
| |
| class FooHandler() : public pw::thread::ThreadCore { |
| // Public API invoked by other threads and/or interrupts. |
| void NewFooAvailable() { |
| new_foo_semaphore_.release(); |
| } |
| |
| private: |
| pw::sync::BinarySemaphore new_foo_semaphore_; |
| |
| // Thread function. |
| void Run() override { |
| while (true) { |
| if (new_foo_semaphore_.try_acquire_for(kNotificationTimeout)) { |
| HandleFoo(); |
| } |
| DoOtherStuff(); |
| } |
| } |
| |
| void HandleFoo(); |
| void DoOtherStuff(); |
| } |
| |
| Conditional Variables |
| ===================== |
| ``pw::sync::ConditionVariable`` provides a condition variable implementation |
| that provides semantics and an API very similar to `std::condition_variable |
| <https://en.cppreference.com/w/cpp/thread/condition_variable>`_ in the C++ |
| Standard Library. |