delay / esp_delay: transparently manage recurrent scheduled functions (#8802)

Recurrent scheduled functions will always be running in background.

esp_delay()'s interval (intvl_ms) is internally kept to its highest value allowing to honor recurrent scheduled functions requirements.

It transparently allows to keep with the arduino and nonos-sdk trivial programming way and still use background services or drivers running regularly.

cores/esp8266/Schedule.cpp

@@ -17,6 +17,7 @@
 */
 
 #include <assert.h>
+#include <numeric>
 
 #include "Schedule.h"
 #include "PolledTimeout.h"
@@ -34,6 +35,7 @@ static scheduled_fn_t* sFirst = nullptr;
 static scheduled_fn_t* sLast = nullptr;
 static scheduled_fn_t* sUnused = nullptr;
 static int sCount = 0;
+static uint32_t recurrent_max_grain_mS = 0;
 
 typedef std::function<bool(void)> mRecFuncT;
 struct recurrent_fn_t
@@ -130,9 +132,39 @@ bool schedule_recurrent_function_us(const std::function<bool(void)>& fn,
     }
     rLast = item;
 
+    // grain needs to be recomputed
+    recurrent_max_grain_mS = 0;
+
     return true;
 }
 
+uint32_t compute_scheduled_recurrent_grain ()
+{
+    if (recurrent_max_grain_mS == 0)
+    {
+        if (rFirst)
+        {
+            uint32_t recurrent_max_grain_uS = rFirst->callNow.getTimeout();
+            for (auto it = rFirst->mNext; it; it = it->mNext)
+                recurrent_max_grain_uS = std::gcd(recurrent_max_grain_uS, it->callNow.getTimeout());
+            if (recurrent_max_grain_uS)
+                // round to the upper millis
+                recurrent_max_grain_mS = recurrent_max_grain_uS <= 1000? 1: (recurrent_max_grain_uS + 999) / 1000;
+        }
+
+#ifdef DEBUG_ESP_CORE
+        static uint32_t last_grain = 0;
+        if (recurrent_max_grain_mS != last_grain)
+        {
+            ::printf(":rsf %u->%u\n", last_grain, recurrent_max_grain_mS);
+            last_grain = recurrent_max_grain_mS;
+        }
+#endif
+    }
+
+    return recurrent_max_grain_mS;
+}
+
 void run_scheduled_functions()
 {
     // prevent scheduling of new functions during this run
@@ -226,6 +258,9 @@ void run_scheduled_recurrent_functions()
             }
 
             delete(to_ditch);
+
+            // grain needs to be recomputed
+            recurrent_max_grain_mS = 0;
         }
         else
         {

cores/esp8266/Schedule.h

@@ -39,6 +39,11 @@
 // scheduled function happen more often: every yield() (vs every loop()),
 // and time resolution is microsecond (vs millisecond). Details are below.
 
+// compute_scheduled_recurrent_grain() is used by delay() to give a chance to
+// all recurrent functions to run per their timing requirement.
+
+uint32_t compute_scheduled_recurrent_grain ();
+
 // scheduled functions called once:
 //
 // * internal queue is FIFO.

cores/esp8266/core_esp8266_main.cpp

@@ -22,6 +22,9 @@
 
 //This may be used to change user task stack size:
 //#define CONT_STACKSIZE 4096
+
+#include <numeric>
+
 #include <Arduino.h>
 #include "Schedule.h"
 extern "C" {
@@ -165,10 +168,18 @@ extern "C" void esp_delay(unsigned long ms) __attribute__((weak, alias("__esp_de
 bool esp_try_delay(const uint32_t start_ms, const uint32_t timeout_ms, const uint32_t intvl_ms) {
     uint32_t expired = millis() - start_ms;
     if (expired >= timeout_ms) {
-        return true;
+        return true; // expired
     }
-    esp_delay(std::min((timeout_ms - expired), intvl_ms));
+
-    return false;
+    // compute greatest chunked delay with respect to scheduled recurrent functions
+    uint32_t grain_ms = std::gcd(intvl_ms, compute_scheduled_recurrent_grain());
+
+    // recurrent scheduled functions will be called from esp_delay()->esp_suspend()
+    esp_delay(grain_ms > 0 ?
+        std::min((timeout_ms - expired), grain_ms):
+        (timeout_ms - expired));
+
+    return false; // expiration must be checked again
 }
 
 extern "C" void __yield() {

cores/esp8266/core_esp8266_wiring.cpp

@@ -34,7 +34,9 @@ static uint32_t micros_overflow_count = 0;
 #define REPEAT 1
 
 void __delay(unsigned long ms) {
-    esp_delay(ms);
+    // Use API letting recurrent scheduled functions run in background
+    // but stay blocked in delay until ms is expired.
+    esp_delay(ms, [](){ return true; });
 }
 
 void delay(unsigned long ms) __attribute__ ((weak, alias("__delay"))); 

cores/esp8266/coredecls.h

@@ -1,6 +1,5 @@
 
-#ifndef __COREDECLS_H
+#pragma once
-#define __COREDECLS_H
 
 #include "core_esp8266_features.h"
 
@@ -55,14 +54,15 @@ inline void esp_suspend(T&& blocked) {
 // Try to delay until timeout_ms has expired since start_ms.
 // Returns true if timeout_ms has completely expired on entry.
 // Otherwise returns false after delaying for the relative
-// remainder of timeout_ms, or an absolute intvl_ms, whichever is shorter.
+// remainder of timeout_ms, or an absolute intvl_ms, whichever is shorter
+// and possibly amended by recurrent scheduled functions timing grain.
 // The delay may be asynchronously cancelled, before that timeout is reached.
 bool esp_try_delay(const uint32_t start_ms, const uint32_t timeout_ms, const uint32_t intvl_ms);
 
 // This overload of esp_delay() delays for a duration of at most timeout_ms milliseconds.
-// Whenever it is resumed, as well as every intvl_ms millisconds, it performs
+// Whenever it is resumed, as well as at most every intvl_ms millisconds and depending on
-// the blocked callback, and if that returns true, it keeps delaying for the remainder
+// recurrent scheduled functions, it performs the blocked callback, and if that returns true,
-// of the original timeout_ms period.
+// it keeps delaying for the remainder of the original timeout_ms period.
 template <typename T>
 inline void esp_delay(const uint32_t timeout_ms, T&& blocked, const uint32_t intvl_ms) {
     const auto start_ms = millis();
@@ -79,5 +79,3 @@ inline void esp_delay(const uint32_t timeout_ms, T&& blocked) {
 }
 
 #endif // __cplusplus
-
-#endif // __COREDECLS_H

libraries/ESP8266WiFi/src/ESP8266WiFiGeneric.cpp

@@ -451,9 +451,8 @@ bool ESP8266WiFiGenericClass::mode(WiFiMode_t m) {
     //tasks to wait correctly.
     constexpr unsigned int timeoutValue = 1000; //1 second
     if(can_yield()) {
-        // The final argument, intvl_ms, to esp_delay influences how frequently
+        // check opmode every 100ms or give up after timeout
-        // the scheduled recurrent functions (Schedule.h) are probed.
+        esp_delay(timeoutValue, [m]() { return wifi_get_opmode() != m; }, 100);
-        esp_delay(timeoutValue, [m]() { return wifi_get_opmode() != m; }, 5);
 
         //if at this point mode still hasn't been reached, give up
         if(wifi_get_opmode() != (uint8) m) {
@@ -642,11 +641,8 @@ static int hostByNameImpl(const char* aHostname, IPAddress& aResult, uint32_t ti
     // We need to wait for c/b to fire *or* we exit on our own timeout
     // (which also requires us to notify the c/b that it is supposed to delete the pending obj)
     case ERR_INPROGRESS:
-        // Re-check every 10ms, we expect this to happen fast
+        // sleep until dns_found_callback is called or timeout is reached
-        esp_delay(timeout_ms,
+        esp_delay(timeout_ms, [&]() { return !pending->done; });
-            [&]() {
-                return !pending->done;
-            }, 10);
 
         if (pending->done) {
             if ((pending->addr).isSet()) {

libraries/ESP8266WiFi/src/ESP8266WiFiMulti.cpp

@@ -84,13 +84,13 @@ static void printWiFiStatus(wl_status_t status)
 static wl_status_t waitWiFiConnect(uint32_t connectTimeoutMs)
 {
     wl_status_t status = WL_CONNECT_FAILED;
-    // The final argument, intvl_ms, to esp_delay influences how frequently
+    // Wait for WiFi to connect
-    // the scheduled recurrent functions (Schedule.h) are probed.
+    // stop waiting upon status checked every 100ms or when timeout is reached
     esp_delay(connectTimeoutMs,
         [&status]() {
             status = WiFi.status();
             return status != WL_CONNECTED && status != WL_CONNECT_FAILED;
-        }, 0);
+        }, 100);
 
     // Check status
     if (status == WL_CONNECTED) {
@@ -236,13 +236,12 @@ int8_t ESP8266WiFiMulti::startScan()
     WiFi.scanNetworks(true);
 
     // Wait for WiFi scan change or timeout
-    // The final argument, intvl_ms, to esp_delay influences how frequently
+    // stop waiting upon status checked every 100ms or when timeout is reached
-    // the scheduled recurrent functions (Schedule.h) are probed.
     esp_delay(WIFI_SCAN_TIMEOUT_MS,
         [&scanResult]() {
             scanResult = WiFi.scanComplete();
             return scanResult < 0;
-        }, 0);
+        }, 100);
     // Check for scan timeout which may occur when scan does not report completion
     if (scanResult < 0) {
         DEBUG_WIFI_MULTI("[WIFIM] Scan timeout\n");

libraries/ESP8266WiFi/src/include/ClientContext.h

@@ -144,8 +144,7 @@ public:
         _connect_pending = true;
         _op_start_time = millis();
         // will resume on timeout or when _connected or _notify_error fires
-        // give scheduled functions a chance to run (e.g. Ethernet uses recurrent)
+        esp_delay(_timeout_ms, [this]() { return this->_connect_pending; });
-        esp_delay(_timeout_ms, [this]() { return this->_connect_pending; }, 1);
         _connect_pending = false;
         if (!_pcb) {
             DEBUGV(":cabrt\r\n");
@@ -485,8 +484,7 @@ protected:
 
             _send_waiting = true;
             // will resume on timeout or when _write_some_from_cb or _notify_error fires
-            // give scheduled functions a chance to run (e.g. Ethernet uses recurrent)
+            esp_delay(_timeout_ms, [this]() { return this->_send_waiting; });
-            esp_delay(_timeout_ms, [this]() { return this->_send_waiting; }, 1);
             _send_waiting = false;
         } while(true);