[fiber] Add more concurrency classes

.github/workflows/macos.yml

@@ -20,7 +20,7 @@ jobs:
         run: |
           export HOMEBREW_NO_INSTALL_CLEANUP=1 # saves time
           brew update
-          brew unlink gcc
+          # brew unlink gcc
           brew install doxygen boost gcc@12 avr-gcc@12 arm-gcc-bin@12 cmake || true
           brew link --force avr-gcc@12
           # brew upgrade boost gcc git || true

.gitmodules

@@ -48,4 +48,4 @@
 	url = https://github.com/modm-ext/cmsis-dsp-partial.git
 [submodule "ext/nlohmann/json"]
 	path = ext/nlohmann/json
-	url = git@github.com:modm-ext/json-partial.git
+	url = https://github.com/modm-ext/json-partial.git

examples/avr/fiber/main.cpp

@@ -24,14 +24,14 @@ void
 fiber_function1()
 {
 	MODM_LOG_INFO << MODM_FILE_INFO << modm::endl;
-	while (++f1counter < cycles) { modm::fiber::yield(); total_counter++; }
+	while (++f1counter < cycles) { modm::this_fiber::yield(); total_counter++; }
 }
 
 void
 fiber_function2(uint32_t cyc)
 {
 	MODM_LOG_INFO << MODM_FILE_INFO << modm::endl;
-	while (++f2counter < cyc) { modm::fiber::yield(); total_counter++; }
+	while (++f2counter < cyc) { modm::this_fiber::yield(); total_counter++; }
 }
 
 struct Test
@@ -40,14 +40,14 @@ struct Test
 	fiber_function3()
 	{
 		MODM_LOG_INFO << MODM_FILE_INFO << modm::endl;
-		while (++f3counter < cycles) { modm::fiber::yield(); total_counter++; }
+		while (++f3counter < cycles) { modm::this_fiber::yield(); total_counter++; }
 	}
 
 	void
 	fiber_function4(uint32_t cyc)
 	{
 		MODM_LOG_INFO << MODM_FILE_INFO << modm::endl;
-		while (++f4counter < cyc) { modm::fiber::yield(); total_counter++; }
+		while (++f4counter < cyc) { modm::this_fiber::yield(); total_counter++; }
 	}
 
 	volatile uint32_t f3counter{0};

examples/generic/fiber/main.cpp

@@ -26,14 +26,14 @@ void
 fiber_function1()
 {
 	MODM_LOG_INFO << MODM_FILE_INFO << modm::endl;
-	while (++f1counter < cycles) { modm::fiber::yield(); total_counter++; }
+	while (++f1counter < cycles) { modm::this_fiber::yield(); total_counter++; }
 }
 
 void
 fiber_function2(uint32_t cyc)
 {
 	MODM_LOG_INFO << MODM_FILE_INFO << modm::endl;
-	while (++f2counter < cyc) { modm::fiber::yield(); total_counter++; }
+	while (++f2counter < cyc) { modm::this_fiber::yield(); total_counter++; }
 }
 
 struct Test
@@ -42,23 +42,23 @@ struct Test
 	fiber_function3()
 	{
 		MODM_LOG_INFO << MODM_FILE_INFO << modm::endl;
-		while (++f3counter < cycles) { modm::fiber::yield(); total_counter++; }
+		while (++f3counter < cycles) { modm::this_fiber::yield(); total_counter++; }
 	}
 
 	void
 	fiber_function4(uint32_t cyc)
 	{
 		MODM_LOG_INFO << MODM_FILE_INFO << modm::endl;
-		while (++f4counter < cyc) { modm::fiber::yield(); total_counter++; }
+		while (++f4counter < cyc) { modm::this_fiber::yield(); total_counter++; }
 	}
 
 	volatile uint32_t f3counter{0};
 	volatile uint32_t f4counter{0};
 } test;
 
 // Single purpose fibers to time the yield
-modm_faststack modm::Fiber<> fiber_y1([](){ modm::fiber::yield();  counter.stop(); });
-modm_faststack modm::Fiber<> fiber_y2([](){ counter.start(); modm::fiber::yield(); });
+modm_faststack modm::Fiber<> fiber_y1([](){ modm::this_fiber::yield();  counter.stop(); });
+modm_faststack modm::Fiber<> fiber_y2([](){ counter.start(); modm::this_fiber::yield(); });
 
 modm_faststack modm::Fiber<> fiber1(fiber_function1, modm::fiber::Start::Later);
 modm_faststack modm::Fiber<> fiber2([](){ fiber_function2(cycles); }, modm::fiber::Start::Later);
@@ -71,12 +71,12 @@ extern modm::Fiber<> fiber_pong;
 extern modm::Fiber<> fiber_ping;
 modm_faststack modm::Fiber<> fiber_ping([](){
 	MODM_LOG_INFO << "ping = " << fiber_ping.stack_usage() << modm::endl;
-	modm::fiber::sleep(1s);
+	modm::this_fiber::sleep_for(1s);
 	fiber_pong.start();
 }, modm::fiber::Start::Later);
 modm_faststack modm::Fiber<> fiber_pong([](){
 	MODM_LOG_INFO << "pong = " << fiber_pong.stack_usage() << modm::endl;
-	modm::fiber::sleep(1s);
+	modm::this_fiber::sleep_for(1s);
 	fiber_ping.start();
 }, modm::fiber::Start::Later);
 

examples/linux/fiber/main.cpp

@@ -17,7 +17,7 @@ void hello()
 	for(int ii=0; ii<10; ii++)
 	{
 		MODM_LOG_INFO << "Hello ";
-		modm::fiber::yield();
+		modm::this_fiber::yield();
 	}
 }
 
@@ -28,7 +28,7 @@ struct Test
 		for(int ii=0; ii<10; ii++)
 		{
 			MODM_LOG_INFO << arg << modm::endl;
-			modm::fiber::yield();
+			modm::this_fiber::yield();
 		}
 	}
 } test;

examples/nucleo_f429zi/spi_flash_fatfs/main.cpp

@@ -319,7 +319,7 @@ modm_faststack modm::Fiber<> blinkyFiber([]()
     while(true)
     {
         Board::Leds::toggle();
-        modm::fiber::sleep(200ms);
+        modm::this_fiber::sleep_for(200ms);
     }
 });
 

examples/rp_pico/fiber/main.cpp

@@ -42,7 +42,7 @@ fiber_function1(CoreData& d)
 {
 	while (++d.f1counter < cycles)
 	{
-		modm::fiber::yield();
+		modm::this_fiber::yield();
 		d.total_counter++;
 	}
 }
@@ -52,7 +52,7 @@ fiber_function2(CoreData& d)
 {
 	while (++d.f2counter < cycles)
 	{
-		modm::fiber::yield();
+		modm::this_fiber::yield();
 		d.total_counter++;
 	}
 }

examples/stm32f3_discovery/rotation/main.cpp

@@ -69,7 +69,7 @@ modm_faststack modm::Fiber<> fiber_gyro([]()
 		}
 
 		// repeat every 5 ms
-		modm::fiber::sleep(5ms);
+		modm::this_fiber::sleep_for(5ms);
 	}
 });
 
@@ -78,7 +78,7 @@ modm_faststack modm::Fiber<> fiber_blinky([]()
 	while (true)
 	{
 		Board::LedSouth::toggle();
-		modm::fiber::sleep(1s);
+		modm::this_fiber::sleep_for(1s);
 	}
 });
 

examples/stm32f469_discovery/touchscreen/main.cpp

@@ -96,7 +96,7 @@ modm_faststack modm::Fiber<> fiber_blinky([]()
 	while(true)
 	{
 		Board::LedGreen::toggle();
-		modm::fiber::sleep(20ms);
+		modm::this_fiber::sleep_for(20ms);
 	}
 });
 

ext/gcc/assert.cpp.in

@@ -76,5 +76,9 @@ _GLIBCXX_BEGIN_NAMESPACE_VERSION
 	void
 	__throw_bad_any_cast()
 	{ __modm_stdcpp_failure("bad_any_cast"); }
+
+	void
+	__throw_system_error(int errc __attribute__((unused)))
+	{ __modm_stdcpp_failure("system_error"); }
 _GLIBCXX_END_NAMESPACE_VERSION
 } // namespace

ext/gcc/cxxabi.cpp.in

@@ -27,6 +27,9 @@ void __cxa_deleted_virtual()
 
 %% if with_threadsafe_statics
 #include <atomic>
+%% if with_fibers
+#include <modm/processing/fiber.hpp>
+%% endif
 %% if is_avr
 %#
 // Even thought the actual guard size is uint64_t on AVR, we only need to access
@@ -71,6 +74,10 @@ __cxa_guard_acquire(guard_type *guard)
 			// We got called from inside an interrupt, but we cannot yield back
 			modm_assert(not is_in_irq, "stat.rec",
 					"Recursive initialization of a function static!", guard);
+%% if with_fibers
+			// we're not in an interrupt, try to yield back to the initializing fiber
+			modm::this_fiber::yield();
+%% endif
 		}
 		value = UNINITIALIZED;
 	}

ext/gcc/module_c++.lb

@@ -92,6 +92,7 @@ def build(env):
         "with_threadsafe_statics": with_threadsafe_statics,
         "with_memory_traits": env.has_module(":architecture:memory"),
         "with_heap": env.has_module(":platform:heap"),
+        "with_fibers": env.has_module(":processing:fiber"),
         "is_avr": is_avr,
         "is_cortex_m": is_cortex_m,
     }

src/modm/architecture/detect.hpp

@@ -203,15 +203,19 @@
 #	define MODM_CPU_ARM		1
 #	define MODM_ALIGNMENT	4
 #	if defined __ARM_ARCH_6SM__ || defined __ARM_ARCH_6M__
+#		define MODM_CPU_CORTEX_M	1
 #		define MODM_CPU_CORTEX_M0	1
 #		define MODM_CPU_STRING		"ARM Cortex-M0"
 #	elif defined __ARM_ARCH_7M__
+#		define MODM_CPU_CORTEX_M	1
 #		define MODM_CPU_CORTEX_M3	1
 #		define MODM_CPU_STRING		"ARM Cortex-M3"
 #	elif defined __ARM_ARCH_7EM__
+#		define MODM_CPU_CORTEX_M	1
 #		define MODM_CPU_CORTEX_M4	1
 #		define MODM_CPU_STRING		"ARM Cortex-M4"
 #	elif defined __ARM_ARCH_8M_MAIN__
+#		define MODM_CPU_CORTEX_M	1
 #		define MODM_CPU_CORTEX_M33	1
 #		define MODM_CPU_STRING		"ARM Cortex-M33"
 #	elif defined __ARM_ARCH_ISA_A64

src/modm/driver/inertial/bmi088_impl.hpp

@@ -225,7 +225,7 @@ void
 Bmi088<Transport>::timerWait()
 {
 	while (timer_.isArmed()) {
-		modm::fiber::yield();
+		modm::this_fiber::yield();
 	}
 }
 

src/modm/driver/inertial/bmi088_transport_impl.hpp

@@ -57,7 +57,7 @@ Bmi088SpiTransport<SpiMaster, AccCs, GyroCs>::readRegisters(uint8_t startReg,
 	}
 
 	while (!this->acquireMaster()) {
-		modm::fiber::yield();
+		modm::this_fiber::yield();
 	}
 	Cs::reset();
 
@@ -95,7 +95,7 @@ bool
 Bmi088SpiTransport<SpiMaster, AccCs, GyroCs>::writeRegister(uint8_t reg, uint8_t data)
 {
 	while (!this->acquireMaster()) {
-		modm::fiber::yield();
+		modm::this_fiber::yield();
 	}
 	Cs::reset();
 

src/modm/platform/spi/at90_tiny_mega/spi_master.cpp.in

@@ -45,7 +45,7 @@ modm::platform::SpiMaster{{ id }}::transfer(uint8_t data)
 	// start transfer by copying data into register
 	SPDR{{ id }} = data;
 
-	do modm::fiber::yield();
+	do modm::this_fiber::yield();
 	while (!(SPSR{{ id }} & (1 << SPIF{{ id }})));
 
 	return SPDR{{ id }};

src/modm/platform/spi/at90_tiny_mega_uart/uart_spi_master.cpp.in

@@ -62,7 +62,7 @@ modm::platform::UartSpiMaster{{id}}::transfer(uint8_t data)
 %% if use_fiber
 	// wait for transmit register empty
 	while (!((UCSR{{id}}A & (1 << UDRE{{id}}))))
-		modm::fiber::yield();
+		modm::this_fiber::yield();
 
 %% if not extended
 	if(dataOrder == DataOrder::MsbFirst) {
@@ -72,7 +72,7 @@ modm::platform::UartSpiMaster{{id}}::transfer(uint8_t data)
 	UDR{{id}} = data;
 
 	// wait for receive register not empty
-	do modm::fiber::yield();
+	do modm::this_fiber::yield();
 	while (!((UCSR{{id}}A & (1 << RXC{{id}}))));
 
 	data = UDR{{id}};

src/modm/platform/spi/rp/spi_master.cpp.in

@@ -30,12 +30,12 @@ modm::platform::SpiMaster{{ id }}::transfer(uint8_t data)
 {
 %% if use_fiber
 	// wait for previous transfer to finish
-	while (txFifoFull()) modm::fiber::yield();
+	while (txFifoFull()) modm::this_fiber::yield();
 
 	// start transfer by copying data into register
 	write(data);
 
-	while (rxFifoEmpty()) modm::fiber::yield();
+	while (rxFifoEmpty()) modm::this_fiber::yield();
 
 	return read();
 %% else

src/modm/platform/spi/rp/spi_master_dma_impl.hpp.in

@@ -123,16 +123,16 @@ modm::platform::SpiMaster{{ id }}_Dma<DmaChannelRx, DmaChannelTx>::transfer(
 	startTransfer(tx, rx, length);
 
 	while (Dma::TxChannel::isBusy() or (rx and Dma::RxChannel::isBusy()))
-		modm::fiber::yield();
+		modm::this_fiber::yield();
 
 	while (!txFifoEmpty() or (rx and !rxFifoEmpty()) or isBusy())
-		modm::fiber::yield();
+		modm::this_fiber::yield();
 
 	if (!rx) {
 		// Drain RX FIFO, then wait for shifting to finish (which
 		// may be *after* TX FIFO drains), then drain RX FIFO again
 		while (!rxFifoEmpty()) read();
-		while (isBusy()) modm::fiber::yield();
+		while (isBusy()) modm::this_fiber::yield();
 
 		// Don't leave overrun flag set
 		spi{{ id }}_hw->icr = SPI_SSPICR_RORIC_BITS;

src/modm/platform/spi/sam/spi_master.cpp.in

@@ -26,14 +26,14 @@ modm::platform::SpiMaster{{ id }}::transfer(uint8_t data)
 
 	// wait for previous transfer to finish
 	while (!isTransmitDataRegisterEmpty())
-		modm::fiber::yield();
+		modm::this_fiber::yield();
 
 	// start transfer by copying data into register
 	write(data);
 
 	// wait for current transfer to finish
 	while(!isReceiveDataRegisterFull())
-		modm::fiber::yield();
+		modm::this_fiber::yield();
 
 	return read();
 %% else

src/modm/platform/spi/sam_x7x/spi_master.cpp.in

@@ -23,14 +23,14 @@ modm::platform::SpiMaster{{ id }}::transfer(uint8_t data)
 %% if use_fiber
 	// wait for previous transfer to finish
 	while(!(SpiHal{{ id }}::readStatusFlags() & StatusFlag::TxRegisterEmpty))
-		modm::fiber::yield();
+		modm::this_fiber::yield();
 
 	// start transfer by copying data into register
 	SpiHal{{ id }}::write(data);
 
 	// wait for current transfer to finish
 	while(!(SpiHal{{ id }}::readStatusFlags() & StatusFlag::RxRegisterFull))
-		modm::fiber::yield();
+		modm::this_fiber::yield();
 
 	// read the received byte
 	SpiHal{{ id }}::read(data);

src/modm/platform/spi/stm32/spi_master.cpp.in

@@ -22,14 +22,14 @@ modm::platform::SpiMaster{{ id }}::transfer(uint8_t data)
 %% if use_fiber
 	// wait for previous transfer to finish
 	while(!SpiHal{{ id }}::isTransmitRegisterEmpty())
-		modm::fiber::yield();
+		modm::this_fiber::yield();
 
 	// start transfer by copying data into register
 	SpiHal{{ id }}::write(data);
 
 	// wait for current transfer to finish
 	while(!SpiHal{{ id }}::isReceiveRegisterNotEmpty())
-		modm::fiber::yield();
+		modm::this_fiber::yield();
 
 	// read the received byte
 	SpiHal{{ id }}::read(data);