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serialqueue: Support notification of when a command is processed

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Add ability for the host code to get a notification when the ack for a
command sent to the micro-controller is received.  This is in
preparation for improved detection of message loss between mcu and
host.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2020-02-14 20:47:08 -05:00
parent 7b90830ae5
commit c6c360c4e1
4 changed files with 79 additions and 17 deletions
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55
klippy/chelper/serialqueue.c
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@@ -1,9 +1,9 @@
// Serial port command queuing
//
// Copyright (C) 2016-2018 Kevin O'Connor <kevin@koconnor.net>
// Copyright (C) 2016-2020 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
//
// This goal of this code is to handle low-level serial port
// communications with a microcontroller (mcu). This code is written
// in C (instead of python) to reduce communication latencies and to
@@ -372,6 +372,7 @@ struct serialqueue {
struct list_head pending_queues;
int ready_bytes, stalled_bytes, need_ack_bytes, last_ack_bytes;
uint64_t need_kick_clock;
struct list_head notify_queue;
// Received messages
struct list_head receive_queue;
// Debugging
@@ -512,6 +513,25 @@ handle_message(struct serialqueue *sq, double eventtime, int len)
if (rseq != sq->receive_seq)
// New sequence number
update_receive_seq(sq, eventtime, rseq);
// Check for pending messages on notify_queue
int must_wake = 0;
while (!list_empty(&sq->notify_queue)) {
struct queue_message *qm = list_first_entry(
&sq->notify_queue, struct queue_message, node);
uint64_t wake_seq = rseq - 1 - (len > MESSAGE_MIN ? 1 : 0);
uint64_t notify_msg_sent_seq = qm->req_clock;
if (notify_msg_sent_seq > wake_seq)
break;
list_del(&qm->node);
qm->len = 0;
qm->sent_time = sq->last_receive_sent_time;
qm->receive_time = eventtime;
list_add_tail(&qm->node, &sq->receive_queue);
must_wake = 1;
}
// Process message
if (len == MESSAGE_MIN) {
// Ack/nak message
if (sq->last_ack_seq < rseq)
@@ -519,18 +539,19 @@ handle_message(struct serialqueue *sq, double eventtime, int len)
else if (rseq > sq->ignore_nak_seq && !list_empty(&sq->sent_queue))
// Duplicate Ack is a Nak - do fast retransmit
pollreactor_update_timer(&sq->pr, SQPT_RETRANSMIT, PR_NOW);
}
if (len > MESSAGE_MIN) {
// Add message to receive queue
} else {
// Data message - add to receive queue
struct queue_message *qm = message_fill(sq->input_buf, len);
qm->sent_time = (rseq > sq->retransmit_seq
? sq->last_receive_sent_time : 0.);
qm->receive_time = get_monotonic(); // must be time post read()
qm->receive_time -= sq->baud_adjust * len;
list_add_tail(&qm->node, &sq->receive_queue);
check_wake_receive(sq);
must_wake = 1;
}
if (must_wake)
check_wake_receive(sq);
}
// Callback for input activity on the serial fd
@@ -661,7 +682,13 @@ build_and_send_command(struct serialqueue *sq, double eventtime)
memcpy(&out->msg[out->len], qm->msg, qm->len);
out->len += qm->len;
sq->ready_bytes -= qm->len;
message_free(qm);
if (qm->notify_id) {
// Message requires notification - add to notify list
qm->req_clock = sq->send_seq;
list_add_tail(&qm->node, &sq->notify_queue);
} else {
message_free(qm);
}
}
// Fill header / trailer
@@ -835,6 +862,7 @@ serialqueue_alloc(int serial_fd, int write_only)
list_init(&sq->pending_queues);
list_init(&sq->sent_queue);
list_init(&sq->receive_queue);
list_init(&sq->notify_queue);
// Debugging
list_init(&sq->old_sent);
@@ -882,6 +910,7 @@ serialqueue_free(struct serialqueue *sq)
pthread_mutex_lock(&sq->lock);
message_queue_free(&sq->sent_queue);
message_queue_free(&sq->receive_queue);
message_queue_free(&sq->notify_queue);
message_queue_free(&sq->old_sent);
message_queue_free(&sq->old_receive);
while (!list_empty(&sq->pending_queues)) {
@@ -960,11 +989,13 @@ serialqueue_send_batch(struct serialqueue *sq, struct command_queue *cq
// given time and priority.
void __visible
serialqueue_send(struct serialqueue *sq, struct command_queue *cq, uint8_t *msg
, int len, uint64_t min_clock, uint64_t req_clock)
, int len, uint64_t min_clock, uint64_t req_clock
, uint64_t notify_id)
{
struct queue_message *qm = message_fill(msg, len);
qm->min_clock = min_clock;
qm->req_clock = req_clock;
qm->notify_id = notify_id;
struct list_head msgs;
list_init(&msgs);
@@ -998,7 +1029,11 @@ serialqueue_pull(struct serialqueue *sq, struct pull_queue_message *pqm)
pqm->len = qm->len;
pqm->sent_time = qm->sent_time;
pqm->receive_time = qm->receive_time;
debug_queue_add(&sq->old_receive, qm);
pqm->notify_id = qm->notify_id;
if (qm->len)
debug_queue_add(&sq->old_receive, qm);
else
message_free(qm);
pthread_mutex_unlock(&sq->lock);
return;