[Photon/P1] Fixes thread priority issues

hal/src/photon/socket_hal.cpp

@@ -32,6 +32,8 @@
 #include <vector>
 #include "lwip/api.h"
 #include "network_interface.h"
+#include "spark_wiring_thread.h"
+#include "spark_wiring_vector.h"
 
 wiced_result_t wiced_last_error( wiced_tcp_socket_t* socket);
 
@@ -208,13 +210,12 @@ class tcp_server_client_t {
 struct tcp_server_t : public wiced_tcp_server_t
 {
     tcp_server_t() {
-        wiced_rtos_init_semaphore(&accept_lock);
-        wiced_rtos_set_semaphore(&accept_lock);
+        os_mutex_create(&accept_lock);
         memset(clients, 0, sizeof(clients));
     }
 
     ~tcp_server_t() {
-        wiced_rtos_deinit_semaphore(&accept_lock);
+        os_mutex_destroy(accept_lock);
     }
 
     /**
@@ -240,14 +241,14 @@ struct tcp_server_t : public wiced_tcp_server_t
     wiced_result_t accept(wiced_tcp_socket_t* socket) {
         wiced_result_t result;
         if ((result=wiced_tcp_accept(socket))==WICED_SUCCESS) {
-            wiced_rtos_get_semaphore(&accept_lock, WICED_WAIT_FOREVER);
+            os_mutex_lock(accept_lock);
 
             int idx = index(socket);
             if (idx>=0) {
                 clients[idx] = new tcp_server_client_t(this, socket);
-                to_accept.insert(to_accept.end(), idx);
+                to_accept.append(idx);
             }
-            wiced_rtos_set_semaphore(&accept_lock);
+            os_mutex_unlock(accept_lock);
         }
         return result;
     }
@@ -257,13 +258,13 @@ struct tcp_server_t : public wiced_tcp_server_t
      * @return The next client, or NULL
      */
     tcp_server_client_t* next_accept() {
-        wiced_rtos_get_semaphore(&accept_lock, WICED_WAIT_FOREVER);
+        os_mutex_lock(accept_lock);
         int index = -1;
         if (to_accept.size()) {
             index = *to_accept.begin();
-            to_accept.erase(to_accept.begin());
+            to_accept.removeAt(0);
         }
-        wiced_rtos_set_semaphore(&accept_lock);
+        os_mutex_unlock(accept_lock);
         return index>=0 ? clients[index] : NULL;
     }
 
@@ -273,12 +274,12 @@ struct tcp_server_t : public wiced_tcp_server_t
      * @return
      */
     wiced_result_t notify_disconnected(wiced_tcp_socket_t* socket) {
-        wiced_rtos_get_semaphore(&accept_lock, WICED_WAIT_FOREVER);
+        os_mutex_lock(accept_lock);
         int idx = index(socket);
         tcp_server_client_t* client = clients[idx];
         if (client)
             client->notify_disconnected();
-        wiced_rtos_set_semaphore(&accept_lock);
+        os_mutex_unlock(accept_lock);
         return WICED_SUCCESS;
     }
 
@@ -316,8 +317,8 @@ struct tcp_server_t : public wiced_tcp_server_t
     // for each server instance, maintain an associated tcp_server_client_t instance
     tcp_server_client_t* clients[WICED_MAXIMUM_NUMBER_OF_SERVER_SOCKETS];
 
-    wiced_semaphore_t accept_lock;
-    std::vector<int> to_accept;
+    os_mutex_t accept_lock;
+    spark::Vector<int> to_accept;
 };
 
 void tcp_server_client_t::close() {
@@ -443,24 +444,6 @@ class socket_t
    bool isOpen() { return !closed && is_inner_open(); }
 };
 
-/**
- * Lock/unlock a semaphore via RAII
- */
-class SemaphoreLock
-{
-    wiced_semaphore_t& sem;
-
-public:
-
-    SemaphoreLock(wiced_semaphore_t& sem_) : sem(sem_) {
-        wiced_rtos_get_semaphore(&sem, NEVER_TIMEOUT);
-    }
-
-    ~SemaphoreLock() {
-        wiced_rtos_set_semaphore(&sem);
-    }
-};
-
 /**
  * Maintains a singly linked list of sockets. Access to the list is not
  * made thread-safe - callers should use SocketListLock to correctly serialize
@@ -469,19 +452,16 @@ class SemaphoreLock
 struct SocketList
 {
     socket_t* items;
-    wiced_semaphore_t semaphore;
+    Mutex mutex;
 
 public:
 
     SocketList() : items(NULL)
     {
-        wiced_rtos_init_semaphore(&semaphore);
-        wiced_rtos_set_semaphore(&semaphore);
     }
 
     ~SocketList()
     {
-        wiced_rtos_deinit_semaphore(&semaphore);
     }
 
     /**
@@ -550,11 +530,11 @@ struct SocketList
     friend class SocketListLock;
 };
 
-struct SocketListLock : SemaphoreLock
+struct SocketListLock : std::lock_guard<Mutex>
 {
     SocketListLock(SocketList& list) :
-        SemaphoreLock(list.semaphore)
-    {}
+        std::lock_guard<Mutex>(list.mutex)
+    {};
 };
 
 class ServerSocketList : public SocketList

system/src/active_object.cpp

@@ -41,7 +41,9 @@ void ActiveObjectBase::start_thread()
 
 void ActiveObjectBase::run()
 {
-    std::lock_guard<std::mutex> lck (_start);
+    /* XXX: We shouldn't constantly hold a mutex. This breaks priority inhertiance mechanisms in FreeRTOS. */
+    /* It's not even used anywhere */
+    // std::lock_guard<std::mutex> lck (_start);
     started = true;
 
     uint32_t last_background_run = 0;

user/tests/app/tcp_server/README.md

@@ -1,4 +1,4 @@
-Flash server application to the device:
+Flash server application to the device (add USE_THREADING=y option to enable threading):
 $ cd ~/firmware/modules
 $ make -s all program-dfu PLATFORM=photon TEST=app/tcp_server
 

user/tests/app/tcp_server/server.cpp

@@ -2,6 +2,10 @@
 
 SYSTEM_MODE(MANUAL)
 
+#if USE_THREADING == 1
+SYSTEM_THREAD(ENABLED)
+#endif
+
 // Assertion macro to use in Errorable classes
 #define CHECK(_expr) \
         do { \
@@ -284,7 +288,8 @@ class NetworkManager: public Errorable {
         }
         addr_ = IPAddress();
         WiFi.connect();
-        if (!WiFi.ready()) {
+        if (!waitFor(WiFi.ready, 10000)) {
+            WiFi.disconnect();
             setError("Unable to connect to network");
             return false;
         }

user/tests/app/tcp_server/test.mk

@@ -0,0 +1,7 @@
+ifeq ("${USE_THREADING}","y")
+USE_THREADING_VALUE=1
+else
+USE_THREADING_VALUE=0
+endif
+
+CFLAGS += -DUSE_THREADING=${USE_THREADING_VALUE}

wiring/src/spark_wiring_tcpserver.cpp

@@ -26,9 +26,12 @@
 #include "spark_wiring_tcpclient.h"
 #include "spark_wiring_tcpserver.h"
 #include "spark_wiring_network.h"
+#include "spark_wiring_thread.h"
 
 using namespace spark;
 
+static TCPClient* s_invalid_client = NULL;
+
 class TCPServerClient : public TCPClient
 {
 
@@ -48,7 +51,11 @@ class TCPServerClient : public TCPClient
 
 TCPServer::TCPServer(uint16_t port, network_interface_t nif) : _port(port), _nif(nif), _sock(socket_handle_invalid()), _client(socket_handle_invalid())
 {
-
+    SINGLE_THREADED_BLOCK() {
+        if (!s_invalid_client) {
+            s_invalid_client = new TCPClient(socket_handle_invalid());
+        }
+    }
 }
 
 bool TCPServer::begin()
@@ -90,15 +97,15 @@ TCPClient TCPServer::available()
     if((!Network.from(_nif).ready()) || (_sock == SOCKET_INVALID))
     {
         _sock = SOCKET_INVALID;
-        _client = TCPClient(SOCKET_INVALID);
+        _client = *s_invalid_client;
         return _client;
     }
 
     int sock = socket_accept(_sock);
 
     if (!socket_handle_valid(sock))
     {
-        _client = TCPClient(SOCKET_INVALID);
+        _client = *s_invalid_client;
     }
     else
     {