From c13006241e72b8baf0942d7a0b4c4b1a9725f485 Mon Sep 17 00:00:00 2001
From: jonny <jonny@wwad.de>
Date: Sun, 8 Sep 2024 09:25:32 +0200
Subject: [PATCH] Move mode specific delay outside mutex + logging
(control.cpp)
potentially fix rare deadlock assuming handle loop takes mutex too fast
again so changeMode never takes it
---
board_single/main/control.cpp | 49 +++++++++++++++++++++++++++++------
1 file changed, 41 insertions(+), 8 deletions(-)
diff --git a/board_single/main/control.cpp b/board_single/main/control.cpp
index 4a05547..9cde36e 100644
--- a/board_single/main/control.cpp
+++ b/board_single/main/control.cpp
@@ -120,21 +120,55 @@ void controlledArmchair::startHandleLoop()
{
while (1)
{
+ // === handle current mode ===
// mutex to prevent race condition with actions beeing run at mode change and previous mode still beeing executed
+ ESP_LOGV(TAG, "handle(): requesting mutex...");
if (xSemaphoreTake(handleIteration_mutex, MUTEX_TIMEOUT / portTICK_PERIOD_MS) == pdTRUE)
{
+ ESP_LOGV(TAG, "handle(): got mutex!");
//--- handle current mode ---
ESP_LOGV(TAG, "control loop executing... mode='%s'", controlModeStr[(int)mode]);
handle();
+ ESP_LOGV(TAG, "handle(): releasing mutex");
xSemaphoreGive(handleIteration_mutex);
} // end mutex
- else {
+ else
+ {
ESP_LOGE(TAG, "mutex timeout - stuck in changeMode? -> RESTART");
esp_restart();
}
- //--- slow loop ---
+ // ==== run mode specific delay ===
+ // outsourced here to not block the mutex by just waiting
+ switch (mode)
+ {
+ default:
+ case controlMode_t::IDLE:
+ vTaskDelay(500 / portTICK_PERIOD_MS);
+ break;
+ case controlMode_t::JOYSTICK:
+ vTaskDelay(50 / portTICK_PERIOD_MS);
+ break;
+ case controlMode_t::MASSAGE:
+ vTaskDelay(10 / portTICK_PERIOD_MS);
+ break;
+ case controlMode_t::HTTP:
+ // has 500ms timeout waiting for new events, thus blocks mutex...
+ break;
+ case controlMode_t::AUTO:
+ vTaskDelay(20 / portTICK_PERIOD_MS);
+ break;
+ case controlMode_t::ADJUST_CHAIR:
+ vTaskDelay(100 / portTICK_PERIOD_MS);
+ break;
+ case controlMode_t::MENU_SETTINGS:
+ case controlMode_t::MENU_MODE_SELECT:
+ vTaskDelay(500 / portTICK_PERIOD_MS);
+ break;
+ }
+
+ //=== slow loop, timeout ===
// this section is run approx every 5s (+500ms)
if (esp_log_timestamp() - timestamp_SlowLoopLastRun > 5000)
{
@@ -150,12 +184,14 @@ void controlledArmchair::startHandleLoop()
}
+
//-------------------------------------
//---------- Handle control -----------
//-------------------------------------
// function that repeatedly generates motor commands and runs actions depending on the current mode
void controlledArmchair::handle()
{
+ //note: mode specific delays are outsourced to startHandleLoop() to not block the mutex
switch (mode)
{
@@ -166,7 +202,6 @@ void controlledArmchair::handle()
//------- handle IDLE -------
case controlMode_t::IDLE:
- vTaskDelay(500 / portTICK_PERIOD_MS);
// TODO repeatedly set motors to idle, in case driver bugs? Currently 15s motorctl timeout would have to pass
#ifdef JOYSTICK_LOG_IN_IDLE
// get joystick data and log it
@@ -180,7 +215,6 @@ void controlledArmchair::handle()
//------- handle JOYSTICK mode -------
case controlMode_t::JOYSTICK:
- vTaskDelay(50 / portTICK_PERIOD_MS);
// get current joystick data with getData method of evaluatedJoystick
stickDataLast = stickData;
stickData = joystick_l->getData();
@@ -205,7 +239,6 @@ void controlledArmchair::handle()
//------- handle MASSAGE mode -------
case controlMode_t::MASSAGE:
- vTaskDelay(10 / portTICK_PERIOD_MS);
//--- read joystick ---
// only update joystick data when input not frozen
stickDataLast = stickData;
@@ -250,7 +283,6 @@ void controlledArmchair::handle()
//------- handle AUTO mode -------
case controlMode_t::AUTO:
- vTaskDelay(20 / portTICK_PERIOD_MS);
// generate commands
commands = automatedArmchair->generateCommands(&instruction);
//--- apply commands to motors ---
@@ -291,7 +323,6 @@ void controlledArmchair::handle()
//------- handle ADJUST_CHAIR mode -------
case controlMode_t::ADJUST_CHAIR:
- vTaskDelay(100 / portTICK_PERIOD_MS);
//--- read joystick ---
stickDataLast = stickData;
stickData = joystick_l->getData();
@@ -308,7 +339,6 @@ void controlledArmchair::handle()
case controlMode_t::MENU_SETTINGS:
case controlMode_t::MENU_MODE_SELECT:
// nothing to do here, display task handles the menu
- vTaskDelay(500 / portTICK_PERIOD_MS);
break;
// TODO: add other modes here
@@ -457,8 +487,10 @@ void controlledArmchair::changeMode(controlMode_t modeNew, bool noBeep)
// mutex to wait for current handle iteration (control-task) to finish
// prevents race conditions where operations when changing mode are run but old mode gets handled still
ESP_LOGI(TAG, "changeMode: waiting for current handle() iteration to finish...");
+ ESP_LOGV(TAG, "changemode(): requesting mutex...");
if (xSemaphoreTake(handleIteration_mutex, MUTEX_TIMEOUT / portTICK_PERIOD_MS) == pdTRUE)
{
+ ESP_LOGV(TAG, "changemode(): got mutex!");
// copy previous mode
modePrevious = mode;
// store time changed (needed for timeout)
@@ -569,6 +601,7 @@ void controlledArmchair::changeMode(controlMode_t modeNew, bool noBeep)
mode = modeNew;
// unlock mutex for control task to continue handling modes
+ ESP_LOGV(TAG, "changemode(): releasing mutex");
xSemaphoreGive(handleIteration_mutex);
} // end mutex
else