esp32: Fix asserts caused by mutex memory being in pSRAM.

Also implement empty() and full() methods for the Queue class.

Author: Daniel Campora

esp32/mods/moduqueue.c

@@ -36,19 +36,23 @@ STATIC mp_obj_t mod_uqueue_queue(mp_uint_t n_args, const mp_obj_t *pos_args, mp_
     mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
 
     if (args[0].u_int <= 0) {
-        nlr_raise(mp_obj_new_exception_msg(&mp_type_ValueError, "Queue size cannot be infinite"));
+        nlr_raise(mp_obj_new_exception_msg(&mp_type_ValueError, "queue size cannot be infinite"));
     }
 
     int32_t maxsize = args[0].u_int;
-    // allocate the queue storage and the queue buffer
-    StaticQueue_t *xQueueBuffer = m_new(StaticQueue_t, 1);
-    mp_obj_t *storage = m_new(mp_obj_t, maxsize);
 
     // create the queue object
     mp_obj_queue_t *queue = m_new_obj_with_finaliser(mp_obj_queue_t);
+
+    // allocate the queue storage and the queue buffer
+    queue->buffer = heap_caps_malloc(sizeof(StaticQueue_t), MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT);
+    if (NULL == queue->buffer) {
+        nlr_raise(mp_obj_new_exception_msg(&mp_type_MemoryError, "no memory available to create the queue"));
+    }
+    queue->storage = m_new(mp_obj_t, maxsize);
     queue->base.type = &mp_queue_type;
     queue->maxsize = maxsize;
-    queue->handle = xQueueCreateStatic(maxsize, sizeof(mp_obj_t), (uint8_t *)storage, xQueueBuffer);
+    queue->handle = xQueueCreateStatic(maxsize, sizeof(mp_obj_t), (uint8_t *)queue->storage, queue->buffer);
 
     return queue;
 }
@@ -66,6 +70,15 @@ const mp_obj_module_t mp_module_uqueue = {
     .globals = (mp_obj_dict_t*)&mp_module_uqueue_globals,
 };
 
+STATIC mp_obj_t mp_queue_delete(mp_obj_t self_in) {
+    mp_obj_queue_t *self = self_in;
+    if (self->buffer) {
+        free(self->buffer);
+    }
+    return mp_const_none;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(mp_queue_delete_obj, mp_queue_delete);
+
 STATIC mp_obj_t mp_queue_put(mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
     static const mp_arg_t allowed_args[] = {
         { MP_QSTR_item,       MP_ARG_REQUIRED | MP_ARG_OBJ, },
@@ -108,11 +121,32 @@ STATIC mp_obj_t mp_queue_get(mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_
 }
 STATIC MP_DEFINE_CONST_FUN_OBJ_KW(mp_queue_get_obj, 1, mp_queue_get);
 
+STATIC mp_obj_t mp_queue_empty(mp_obj_t self_in) {
+    mp_obj_queue_t *self = self_in;
+    mp_obj_t buffer;
+    if (xQueuePeek(self->handle, &buffer, 0)) {
+        return mp_const_false;
+    }
+    return mp_const_true;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(mp_queue_empty_obj, mp_queue_empty);
+
+STATIC mp_obj_t mp_queue_full(mp_obj_t self_in) {
+    mp_obj_queue_t *self = self_in;
+    if (uxQueueSpacesAvailable(self->handle) > 0) {
+        return mp_const_false;
+    }
+    return mp_const_true;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(mp_queue_full_obj, mp_queue_full);
+
 STATIC const mp_map_elem_t queue_locals_dict_table[] = {
     // instance methods
-    // { MP_OBJ_NEW_QSTR(MP_QSTR___del__),              (mp_obj_t)&mp_queue_delete_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR___del__),                 (mp_obj_t)&mp_queue_delete_obj },
     { MP_OBJ_NEW_QSTR(MP_QSTR_put),                     (mp_obj_t)&mp_queue_put_obj },
     { MP_OBJ_NEW_QSTR(MP_QSTR_get),                     (mp_obj_t)&mp_queue_get_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_empty),                   (mp_obj_t)&mp_queue_empty_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_full),                    (mp_obj_t)&mp_queue_full_obj },
 
     { MP_OBJ_NEW_QSTR(MP_QSTR_Full),                    (mp_obj_t)&mp_type_OSError },
     { MP_OBJ_NEW_QSTR(MP_QSTR_Empty),                   (mp_obj_t)&mp_type_OSError },

esp32/mods/moduqueue.h

@@ -19,6 +19,8 @@
  ******************************************************************************/
 typedef struct _mp_obj_queue_t {
     mp_obj_base_t base;
+    mp_obj_t storage;
+    StaticQueue_t *buffer;
     QueueHandle_t handle;
     uint32_t maxsize;
 } mp_obj_queue_t;

esp32/mpthreadport.c

@@ -151,8 +151,17 @@ void mp_thread_create_ex(void *(*entry)(void*), void *arg, size_t *stack_size, i
     if (esp_get_revision() > 0) {
         // for revision 1 devices we allocate from the internal memory of the malloc heap
         tcb = heap_caps_malloc(sizeof(StaticTask_t), MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT);
+        if (!tcb) {
+            goto memory_error;
+        }
         stack = heap_caps_malloc(*stack_size, MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT);
+        if (!stack) {
+            goto memory_error;
+        }
         th = heap_caps_malloc(sizeof(thread_t), MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT);
+        if (!th) {
+            goto memory_error;
+        }
     } else {
         // for revision 0 devices we allocate from the MicroPython heap which is all in the internal memory
         tcb = m_new(StaticTask_t, 1);
@@ -183,6 +192,11 @@ void mp_thread_create_ex(void *(*entry)(void*), void *arg, size_t *stack_size, i
     thread = th;
 
     mp_thread_mutex_unlock(&thread_mutex);
+
+    return;
+
+memory_error:
+    nlr_raise(mp_obj_new_exception_msg(&mp_type_MemoryError, "can't create thread"));
 }
 
 void mp_thread_create(void *(*entry)(void*), void *arg, size_t *stack_size) {
@@ -228,6 +242,17 @@ void vPortCleanUpTCB (void *tcb) {
     mp_thread_mutex_unlock(&thread_mutex);
 }
 
+mp_obj_thread_lock_t *mp_thread_new_thread_lock(void) {
+    mp_obj_thread_lock_t *self = m_new_obj(mp_obj_thread_lock_t);
+    self->mutex = heap_caps_malloc(sizeof(mp_thread_mutex_t), MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT);
+    if (NULL == self->mutex) {
+        nlr_raise(mp_obj_new_exception_msg(&mp_type_MemoryError, "can't create lock"));
+    }
+    mp_thread_mutex_init(self->mutex);
+    self->locked = false;
+    return self;
+}
+
 void mp_thread_mutex_init(mp_thread_mutex_t *mutex) {
     mutex->handle = xSemaphoreCreateMutexStatic(&mutex->buffer);
 }

esp32/mpthreadport.h

@@ -38,22 +38,28 @@
 #ifndef __MICROPY_INCLUDED_ESP32_MPTHREADPORT_H__
 #define __MICROPY_INCLUDED_ESP32_MPTHREADPORT_H__
 
-#ifndef BOOTLOADER
+#include "py/mpconfig.h"
+#include "py/mpstate.h"
+#include "py/obj.h"
 #include "freertos/FreeRTOS.h"
-#endif
 
 #define MP_THREAD_PRIORITY                  5
 
 typedef struct _mp_thread_mutex_t {
-    #ifndef BOOTLOADER
     SemaphoreHandle_t handle;
     StaticSemaphore_t buffer;
-    #endif
 } mp_thread_mutex_t;
 
+typedef struct _mp_obj_thread_lock_t {
+    mp_obj_base_t base;
+    mp_thread_mutex_t *mutex;
+    volatile bool locked;
+} mp_obj_thread_lock_t;
+
 void mp_thread_preinit(void *stack);
 void mp_thread_init(void);
 void mp_thread_gc_others(void);
 void mp_thread_deinit(void);
+mp_obj_thread_lock_t *mp_thread_new_thread_lock(void);
 
 #endif // __MICROPY_INCLUDED_ESP32_MPTHREADPORT_H__

py/modthread.c

@@ -47,19 +47,14 @@
 
 STATIC const mp_obj_type_t mp_type_thread_lock;
 
-typedef struct _mp_obj_thread_lock_t {
-    mp_obj_base_t base;
-    mp_thread_mutex_t mutex;
-    volatile bool locked;
-} mp_obj_thread_lock_t;
-
-STATIC mp_obj_thread_lock_t *mp_obj_new_thread_lock(void) {
-    mp_obj_thread_lock_t *self = m_new_obj(mp_obj_thread_lock_t);
-    self->base.type = &mp_type_thread_lock;
-    mp_thread_mutex_init(&self->mutex);
-    self->locked = false;
-    return self;
+STATIC mp_obj_t thread_lock_delete(mp_obj_t self_in) {
+    mp_obj_thread_lock_t *self = MP_OBJ_TO_PTR(self_in);
+    if (self->mutex) {
+        free(self->mutex);
+    }
+    return mp_const_none;
 }
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(thread_lock_delete_obj, thread_lock_delete);
 
 STATIC mp_obj_t thread_lock_acquire(size_t n_args, const mp_obj_t *args) {
     mp_obj_thread_lock_t *self = MP_OBJ_TO_PTR(args[0]);
@@ -69,7 +64,7 @@ STATIC mp_obj_t thread_lock_acquire(size_t n_args, const mp_obj_t *args) {
         // TODO support timeout arg
     }
     MP_THREAD_GIL_EXIT();
-    int ret = mp_thread_mutex_lock(&self->mutex, wait);
+    int ret = mp_thread_mutex_lock(self->mutex, wait);
     MP_THREAD_GIL_ENTER();
     if (ret == 0) {
         return mp_const_false;
@@ -87,7 +82,7 @@ STATIC mp_obj_t thread_lock_release(mp_obj_t self_in) {
     // TODO check if already unlocked
     self->locked = false;
     MP_THREAD_GIL_EXIT();
-    mp_thread_mutex_unlock(&self->mutex);
+    mp_thread_mutex_unlock(self->mutex);
     MP_THREAD_GIL_ENTER();
     return mp_const_none;
 }
@@ -106,6 +101,7 @@ STATIC mp_obj_t thread_lock___exit__(size_t n_args, const mp_obj_t *args) {
 STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(thread_lock___exit___obj, 4, 4, thread_lock___exit__);
 
 STATIC const mp_rom_map_elem_t thread_lock_locals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR___del__), MP_ROM_PTR(&thread_lock_delete_obj) },
     { MP_ROM_QSTR(MP_QSTR_acquire), MP_ROM_PTR(&thread_lock_acquire_obj) },
     { MP_ROM_QSTR(MP_QSTR_release), MP_ROM_PTR(&thread_lock_release_obj) },
     { MP_ROM_QSTR(MP_QSTR_locked), MP_ROM_PTR(&thread_lock_locked_obj) },
@@ -266,7 +262,9 @@ STATIC mp_obj_t mod_thread_exit(void) {
 STATIC MP_DEFINE_CONST_FUN_OBJ_0(mod_thread_exit_obj, mod_thread_exit);
 
 STATIC mp_obj_t mod_thread_allocate_lock(void) {
-    return MP_OBJ_FROM_PTR(mp_obj_new_thread_lock());
+    mp_obj_thread_lock_t *self = mp_thread_new_thread_lock();
+    self->base.type = &mp_type_thread_lock;
+    return MP_OBJ_FROM_PTR(self);
 }
 STATIC MP_DEFINE_CONST_FUN_OBJ_0(mod_thread_allocate_lock_obj, mod_thread_allocate_lock);