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FirmIO: Fix instability and memory leak issues

pull/76/merge
Jonathan Schwartz 2026-01-07 18:35:23 +00:00 committed by Kyle Schwarz
parent 2a2d55f20d
commit 3f5150bef3
2 changed files with 141 additions and 73 deletions
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22
include/icsneo/platform/posix/firmio.h
View File

@ -19,6 +19,9 @@ class FirmIO : public Driver {
public:
static void Find(std::vector<FoundDevice>& foundDevices);
FirmIO(const device_eventhandler_t& report) : Driver(report) {
writeQueueSize = 256;
}
using Driver::Driver; // Inherit constructor
~FirmIO();
bool open() override;
@ -26,16 +29,16 @@ public:
bool close() override;
driver_finder_t getFinder() override { return FirmIO::Find; }
// bool writeQueueFull() override;
// bool writeQueueAlmostFull() override;
bool writeInternal(const std::vector<uint8_t>& b) override;
private:
std::thread readThread, writeThread;
void readTask();
void writeTask();
bool writeQueueFull() override;
bool writeQueueAlmostFull() override;
bool writeInternal(const std::vector<uint8_t>& bytes) override;
struct DataInfo {
uint32_t type;
uint32_t offset;
@ -111,7 +114,11 @@ private:
bool free(uint8_t* addr);
PhysicalAddress translate(uint8_t* addr) const;
private:
uint32_t getUsedBlocks() const { return usedBlocks; }
size_t getTotalBlocks() const { return blocks.size(); }
bool isFull() const { return usedBlocks == blocks.size(); }
struct BlockInfo {
enum class Status : uint32_t {
Free = 0,
@ -121,6 +128,7 @@ private:
uint8_t* addr;
};
private:
std::vector<BlockInfo> blocks;
std::atomic<uint32_t> usedBlocks;
@ -137,6 +145,10 @@ private:
std::mutex outMutex;
std::optional<MsgQueue> out;
std::optional<Mempool> outMemory;
std::atomic<size_t> num_read = 0;
std::atomic<size_t> num_written = 0;
std::atomic<size_t> num_freed = 0;
};
}

192
platform/posix/firmio.cpp
View File

@ -42,16 +42,16 @@ void FirmIO::Find(std::vector<FoundDevice>& found) {
Packetizer packetizer([](APIEvent::Type, APIEvent::Severity) {});
Decoder decoder([](APIEvent::Type, APIEvent::Severity) {});
using namespace std::chrono;
const auto start = steady_clock::now();
// Get an absolute wall clock to compare to
const auto overallTimeout = start + milliseconds(500);
while(!temp.readAvailable()) {
if(steady_clock::now() > overallTimeout) {
// failed to read out a serial number reponse in time
break;
}
const auto overallTimeout = steady_clock::now() + milliseconds(200);
size_t lastBufferSize = 0;
while (steady_clock::now() < overallTimeout)
{
temp.waitForRx(lastBufferSize + 1, milliseconds(100));
bool havePacket = packetizer.input(temp.getReadBuffer());
lastBufferSize = temp.getReadBuffer().size();
if(!packetizer.input(temp.getReadBuffer()))
if(!havePacket)
continue; // A full packet has not yet been read out
for(const auto& packet : packetizer.output()) {
@ -75,6 +75,7 @@ void FirmIO::Find(std::vector<FoundDevice>& found) {
};
found.push_back(foundDevice);
break; // never going to find two!
}
}
}
@ -141,17 +142,27 @@ bool FirmIO::open() {
}
}
//std::cout << "Flushed " << std::dec << i << " freeing " << toFree.size() << std::endl;
// std::cout << "Flushed " << std::dec << i << " freeing " << toFree.size() << std::endl;
while(!toFree.empty()) {
std::lock_guard<std::mutex> lk(outMutex);
out->write(&toFree.back());
auto endTime = std::chrono::steady_clock::now() + std::chrono::milliseconds(100);
while(std::chrono::steady_clock::now() < endTime && !toFree.empty()) {
bool pass = false;
{
std::scoped_lock lk(outMutex);
pass = out->write(&toFree.back());
}
if (!pass)
{
std::this_thread::sleep_for(std::chrono::milliseconds(1));
continue;
}
toFree.pop_back();
}
// Create thread
// No thread for writing since we don't need the extra buffer
// Create threads
readThread = std::thread(&FirmIO::readTask, this);
//logThread = std::thread(&FirmIO::logTask, this);
writeThread = std::thread(&FirmIO::writeTask, this);
return true;
}
@ -171,6 +182,13 @@ bool FirmIO::close() {
if(readThread.joinable())
readThread.join();
if (writeThread.joinable())
writeThread.join();
// if(logThread.joinable())
// logThread.join();
setIsClosing(false);
setIsDisconnected(false);
@ -194,7 +212,8 @@ bool FirmIO::close() {
void FirmIO::readTask() {
EventManager::GetInstance().downgradeErrorsOnCurrentThread();
Msg msg;
std::vector<Msg> toFree;
std::vector<Msg::Ref> toFree;
toFree.reserve(outMemory->getTotalBlocks());
// attempt to elevate the thread priority. PRIO_MIN is actually the highest priority but the lowest value.
int err = setpriority(PRIO_PROCESS, 0, -1);
@ -208,7 +227,6 @@ void FirmIO::readTask() {
FD_SET(fd, &rfds);
tv.tv_usec = 50000; // 50ms
int ret = ::select(fd + 1, &rfds, NULL, NULL, &tv);
// std::cout << "select returned " << ret << ' ' << errno << std::endl;
if(ret < 0)
report(APIEvent::Type::FailedToRead, APIEvent::Severity::Error);
if(ret <= 0)
@ -221,24 +239,12 @@ void FirmIO::readTask() {
if(ret < int(sizeof(interruptCount)) || interruptCount < 1)
continue;
toFree.clear();
int i = 0;
while(in->read(&msg) && i++ < 1000) {
while(in->read(&msg)) {
switch(msg.command) {
case Msg::Command::ComData: {
if(toFree.empty() || toFree.back().payload.free.refCount == 6) {
toFree.emplace_back();
toFree.back().command = Msg::Command::ComFree;
toFree.back().payload.free.refCount = 0;
}
// Add this ref to the list of payloads to free
// After we process these, we'll send this list back to the device
// so that it can free these entries
toFree.back().payload.free.ref[toFree.back().payload.free.refCount] = msg.payload.data.ref;
toFree.back().payload.free.refCount++;
// std::cout << "Got some data @ 0x" << std::hex << msg.payload.data.addr << " " << std::dec << msg.payload.data.len << std::endl;
toFree.push_back(msg.payload.data.ref);
++num_read;
// Translate the physical address back to our virtual address space
uint8_t* addr = reinterpret_cast<uint8_t*>(msg.payload.data.addr - PHY_ADDR_BASE + vbase);
@ -251,58 +257,95 @@ void FirmIO::readTask() {
}
break;
case Msg::Command::ComFree: {
std::lock_guard<std::mutex> lk(outMutex);
// std::cout << "Got some free " << std::hex << msg.payload.free.ref[0] << std::endl;
std::scoped_lock lk(outMutex);
for(uint32_t i = 0; i < msg.payload.free.refCount; i++)
outMemory->free(reinterpret_cast<uint8_t*>(msg.payload.free.ref[i]));
break;
}
default:
// std::cout << "invalid command: " << std::hex << static_cast<uint32_t>(msg.command) << std::dec << std::endl;
break;
}
if (isClosing() || isDisconnected())
break;
}
while(!toFree.empty()) {
std::lock_guard<std::mutex> lk(outMutex);
out->write(&toFree.back());
toFree.pop_back();
while (toFree.size()) {
Msg freeMsg = { Msg::Command::ComFree };
freeMsg.payload.free.refCount = std::min(static_cast<uint32_t>(toFree.size()), 6u);
for (size_t i = 0; i < freeMsg.payload.free.refCount; ++i) {
freeMsg.payload.free.ref[i] = toFree[i];
}
std::scoped_lock lk(outMutex);
if (!out->write(&freeMsg)) {
break;
}
num_freed += freeMsg.payload.free.refCount;
toFree.erase(toFree.begin(), toFree.begin() + freeMsg.payload.free.refCount);
}
}
while (toFree.size())
{
Msg freeMsg = { Msg::Command::ComFree };
freeMsg.payload.free.refCount = std::min(static_cast<uint32_t>(toFree.size()), 6u);
for (size_t i = 0; i < freeMsg.payload.free.refCount; ++i) {
freeMsg.payload.free.ref[i] = toFree[i];
}
std::scoped_lock lk(outMutex);
if (!out->write(&freeMsg)) {
std::this_thread::sleep_for(std::chrono::milliseconds(1));
continue;
}
toFree.erase(toFree.begin(), toFree.begin() + freeMsg.payload.free.refCount);
}
// std::cout << "FirmIO readTask exiting: " << "closing=" << isClosing() << " disconnected=" << isDisconnected() << std::endl;
}
void FirmIO::writeTask() {
return; // We're overriding Driver::writeInternal() and doing the work there
}
constexpr uint32_t genInterrupt = 0x01;
std::pair<std::optional<WriteOperation>, uint8_t*> op;
while (!isClosing() && !isDisconnected()) {
if (!op.first) {
writeQueue.wait_dequeue_timed(op.first, std::chrono::milliseconds(100));
continue;
}
bool FirmIO::writeQueueFull() {
return out->isFull();
}
if (!op.second) {
op.second = outMemory->alloc(static_cast<uint32_t>(op.first->bytes.size()));
if (op.second == nullptr) {
std::this_thread::sleep_for(std::chrono::milliseconds(1));
continue;
}
memcpy(op.second, op.first->bytes.data(), op.first->bytes.size());
}
bool FirmIO::writeQueueAlmostFull() {
// TODO: Better implementation here
return writeQueueFull();
Msg msg = { Msg::Command::ComData };
msg.payload.data.addr = outMemory->translate(op.second);
msg.payload.data.len = op.first->bytes.size();
msg.payload.data.ref = reinterpret_cast<Msg::Ref>(op.second);
std::scoped_lock lk(outMutex);
if(!out->write(&msg))
{
std::this_thread::sleep_for(std::chrono::milliseconds(1));
continue;
}
++num_written;
::write(fd, &genInterrupt, sizeof(genInterrupt));
op.first.reset();
op.second = nullptr;
}
std::cout << "FirmIO writeTask exiting: " << "closing=" << isClosing() << " disconnected=" << isDisconnected() << std::endl;
}
bool FirmIO::writeInternal(const std::vector<uint8_t>& bytes) {
if(bytes.empty() || bytes.size() > Mempool::BlockSize)
{
// std::cout << "Invalid write size of " << bytes.size() << std::endl;
return false;
std::lock_guard<std::mutex> lk(outMutex);
uint8_t* sharedData = outMemory->alloc(bytes.size());
if(sharedData == nullptr)
return false;
// std::cout << "coping " << bytes.size() << " bytes of data" << std::endl;
memcpy(sharedData, bytes.data(), bytes.size());
Msg msg = { Msg::Command::ComData };
msg.payload.data.addr = outMemory->translate(sharedData);
msg.payload.data.len = static_cast<uint32_t>(bytes.size());
msg.payload.data.ref = reinterpret_cast<Msg::Ref>(sharedData);
if(!out->write(&msg))
return false;
uint32_t genInterrupt = 0x01;
return ::write(fd, &genInterrupt, sizeof(genInterrupt)) == sizeof(genInterrupt);
}
return writeQueue.enqueue(WriteOperation(bytes));
}
bool FirmIO::MsgQueue::read(Msg* msg) {
@ -369,13 +412,17 @@ bool FirmIO::Mempool::free(uint8_t* addr) {
return b.addr == addr;
});
if(found == blocks.end())
if(found == blocks.end()) {
// std::cout << "failed to free block address " << std::hex << reinterpret_cast<uintptr_t>(addr) << std::dec << std::endl;
return false; // Invalid address
}
if(found->status != BlockInfo::Status::Used)
if(found->status != BlockInfo::Status::Used) {
// std::cout << "invalid state for free of block address " << std::hex << reinterpret_cast<uintptr_t>(addr) << std::dec << std::endl;
return false; // Double free
}
usedBlocks--;
--usedBlocks;
found->status = BlockInfo::Status::Free;
return true;
}
@ -383,3 +430,12 @@ bool FirmIO::Mempool::free(uint8_t* addr) {
FirmIO::Mempool::PhysicalAddress FirmIO::Mempool::translate(uint8_t* addr) const {
return reinterpret_cast<PhysicalAddress>(addr - virtualAddress + physicalAddress);
}
// void FirmIO::logTask()
// {
// while (!isClosing() && !isDisconnected()) {
// std::cout << "FirmIO Stats: RX Count: " << num_read << " TX Count: " << num_written << " Used Blocks (out): " << outMemory->getUsedBlocks() << " Freed Blocks: " << num_freed << std::endl;
// std::this_thread::sleep_for(std::chrono::seconds(1));
// }
// std::cout << "FirmIO logTask exiting: " << "closing=" << isClosing() << " disconnected=" << isDisconnected() << std::endl;
// }