Skip to content

Concurrent features #7

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 2 commits into from
Jul 30, 2025
Merged

Concurrent features #7

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
aab4a2d
mod: concurrent bridge calls
eigen-value Jul 30, 2025
c5b6347
rem: commented muxes
eigen-value Jul 30, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
34 changes: 11 additions & 23 deletions src/bridge.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -26,8 +26,6 @@ class BridgeClass {

struct k_mutex read_mutex;
struct k_mutex write_mutex;
struct k_mutex server_mutex;
struct k_mutex client_mutex;

k_tid_t upd_tid;
k_thread_stack_t *upd_stack_area;
Expand All @@ -46,8 +44,6 @@ class BridgeClass {

k_mutex_init(&read_mutex);
k_mutex_init(&write_mutex);
k_mutex_init(&server_mutex);
k_mutex_init(&client_mutex);

client = new RPCClient(*transport);
server = new RPCServer(*transport);
Expand Down Expand Up @@ -85,26 +81,25 @@ class BridgeClass {

void update() {

if (k_mutex_lock(&server_mutex, K_MSEC(10)) != 0) return;

// Lock read mutex
if (k_mutex_lock(&read_mutex, K_MSEC(10)) != 0 ) return;

if (!server->get_rpc()) {
RPCRequest<> req;
if (!server->get_rpc(req)) {
k_mutex_unlock(&read_mutex);
k_msleep(1);
return;
}

k_mutex_unlock(&read_mutex);

server->process_request();
server->process_request(req);

// Lock write mutex
while (true) {

if (k_mutex_lock(&write_mutex, K_MSEC(10)) == 0){
server->send_response();
server->send_response(req);
k_mutex_unlock(&write_mutex);
k_msleep(1);
break;
Expand All @@ -114,19 +109,17 @@ class BridgeClass {

}

k_mutex_unlock(&server_mutex);

}

template<typename RType, typename... Args>
bool call(const MsgPack::str_t method, RType& result, Args&&... args) {

k_mutex_lock(&client_mutex, K_FOREVER);
uint32_t msg_id_wait;

// Lock write mutex
while (true) {
if (k_mutex_lock(&write_mutex, K_MSEC(10)) == 0) {
client->send_rpc(method, std::forward<Args>(args)...);
client->send_rpc(method, msg_id_wait, std::forward<Args>(args)...);
k_mutex_unlock(&write_mutex);
k_msleep(1);
break;
Expand All @@ -138,7 +131,7 @@ class BridgeClass {
// Lock read mutex
while(true) {
if (k_mutex_lock(&read_mutex, K_MSEC(10)) == 0 ) {
if (client->get_response(result)) {
if (client->get_response(msg_id_wait, result)) {
k_mutex_unlock(&read_mutex);
k_msleep(1);
break;
Expand All @@ -153,8 +146,6 @@ class BridgeClass {

return (client->lastError.code == NO_ERR);

k_mutex_unlock(&client_mutex);

}

template<typename... Args>
Expand All @@ -174,26 +165,25 @@ class BridgeClass {

void update_safe() {

if (k_mutex_lock(&server_mutex, K_MSEC(10)) != 0) return;

// Lock read mutex
if (k_mutex_lock(&read_mutex, K_MSEC(10)) != 0 ) return;

if (!server->get_rpc()) {
RPCRequest<> req;
if (!server->get_rpc(req, "__safe__")) {
k_mutex_unlock(&read_mutex);
k_msleep(1);
return;
}

k_mutex_unlock(&read_mutex);

server->process_request("__safe__");
server->process_request(req);

// Lock write mutex
while (true) {

if (k_mutex_lock(&write_mutex, K_MSEC(10)) == 0){
server->send_response();
server->send_response(req);
k_mutex_unlock(&write_mutex);
k_msleep(1);
break;
Expand All @@ -202,8 +192,6 @@ class BridgeClass {
}

}

k_mutex_unlock(&server_mutex);

}

Expand Down