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Replace sorted_list/vector with callback_list doubly-linked list for timers and frame callbacks

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This commit is contained in:
Ian Gulliver
2026-04-11 14:26:53 +09:00
parent aa349e1a36
commit fec0a0f765
5 changed files with 187 additions and 122 deletions
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87
firmware/include/callback_list.h Normal file
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@@ -0,0 +1,87 @@
#pragma once
#include <cstdint>
#include <new>
#include <utility>
template <typename T, int N>
struct callback_list {
struct node {
alignas(T) uint8_t storage[sizeof(T)];
node* prev = nullptr;
node* next = nullptr;
bool active = false;
T& value() { return *reinterpret_cast<T*>(storage); }
const T& value() const { return *reinterpret_cast<const T*>(storage); }
};
node nodes[N];
node* free_head = &nodes[0];
node sentinel;
callback_list() {
for (int i = 0; i < N - 1; i++) nodes[i].next = &nodes[i + 1];
nodes[N - 1].next = nullptr;
sentinel.prev = &sentinel;
sentinel.next = &sentinel;
}
bool empty() const { return sentinel.next == &sentinel; }
node* insert(T value) {
if (!free_head) return nullptr;
node* n = alloc(std::move(value));
link_before(&sentinel, n);
return n;
}
template <typename Less>
node* insert_sorted(T value, Less&& less) {
if (!free_head) return nullptr;
node* n = alloc(std::move(value));
node* pos = sentinel.next;
while (pos != &sentinel && !less(n->value(), pos->value()))
pos = pos->next;
link_before(pos, n);
return n;
}
void remove(node* n) {
if (!n || !n->active) return;
n->prev->next = n->next;
n->next->prev = n->prev;
n->active = false;
n->value().~T();
n->next = free_head;
n->prev = nullptr;
free_head = n;
}
node* front() { return sentinel.next != &sentinel ? sentinel.next : nullptr; }
template <typename Fn>
void for_each(Fn&& fn) {
node* cur = sentinel.next;
while (cur != &sentinel) {
node* next = cur->next;
fn(cur);
cur = next;
}
}
private:
node* alloc(T value) {
node* n = free_head;
free_head = n->next;
new (n->storage) T(std::move(value));
n->active = true;
return n;
}
void link_before(node* pos, node* n) {
n->prev = pos->prev;
n->next = pos;
pos->prev->next = n;
pos->prev = n;
}
};

13
firmware/include/net.h
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@@ -6,6 +6,7 @@
#include "ipv4.h"
#include "span_writer.h"
#include "msgpack.h"
#include "callback_list.h"
struct net_state {
eth::mac_addr mac;
@@ -15,11 +16,19 @@ struct net_state {
using net_handler = std::function<void(std::span<const uint8_t> payload,
std::function<void(std::span<const uint8_t>)> send)>;
using net_frame_callback = std::function<void(std::span<const uint8_t> frame)>;
using net_frame_callback = std::function<bool(std::span<const uint8_t> frame)>;
struct frame_callback_entry {
net_frame_callback fn;
};
using frame_cb_list = callback_list<frame_callback_entry, 16>;
using frame_cb_handle = frame_cb_list::node*;
bool net_init();
const net_state& net_get_state();
void net_set_handler(net_handler handler);
void net_add_frame_callback(net_frame_callback cb);
frame_cb_handle net_add_frame_callback(net_frame_callback cb);
void net_remove_frame_callback(frame_cb_handle h);
void net_poll(std::span<uint8_t> tx);
void net_send_raw(std::span<const uint8_t> data);

37
firmware/include/timer_queue.h
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@@ -1,26 +1,25 @@
#pragma once
#include <functional>
#include "pico/time.h"
#include "sorted_list.h"
#include "callback_list.h"
struct timer_entry {
absolute_time_t when;
std::function<void()> fn;
};
inline bool operator<(const timer_entry& a, const timer_entry& b) {
return absolute_time_diff_us(b.when, a.when) < 0;
}
using timer_handle = sorted_list<timer_entry, 16>::node*;
using timer_handle = callback_list<timer_entry, 16>::node*;
struct timer_queue {
sorted_list<timer_entry, 16> queue;
callback_list<timer_entry, 16> list;
alarm_id_t alarm = -1;
volatile bool irq_pending = false;
timer_handle schedule(absolute_time_t when, std::function<void()> fn) {
auto* n = queue.insert({when, std::move(fn)});
auto* n = list.insert_sorted({when, std::move(fn)},
[](const timer_entry& a, const timer_entry& b) {
return absolute_time_diff_us(b.when, a.when) < 0;
});
arm();
return n;
}
@@ -30,25 +29,25 @@ struct timer_queue {
}
bool cancel(timer_handle h) {
bool removed = queue.remove(h);
if (removed) arm();
return removed;
if (!h || !h->active) return false;
list.remove(h);
arm();
return true;
}
void run() {
if (!irq_pending) return;
irq_pending = false;
while (!queue.empty()) {
auto& front = queue.front();
if (absolute_time_diff_us(get_absolute_time(), front.when) > 0) break;
auto fn = std::move(front.fn);
queue.pop_front();
while (auto* n = list.front()) {
if (absolute_time_diff_us(get_absolute_time(), n->value().when) > 0) break;
auto fn = std::move(n->value().fn);
list.remove(n);
fn();
}
arm();
}
bool empty() const { return queue.empty(); }
bool empty() const { return list.empty(); }
private:
static int64_t alarm_cb(alarm_id_t, void* user_data) {
@@ -59,7 +58,7 @@ private:
void arm() {
if (alarm >= 0) cancel_alarm(alarm);
alarm = -1;
if (!queue.empty())
alarm = add_alarm_at(queue.front().when, alarm_cb, this, false);
if (auto* n = list.front())
alarm = add_alarm_at(n->value().when, alarm_cb, this, false);
}
};

19
firmware/lib/net.cpp
View File

@@ -1,5 +1,4 @@
#include "net.h"
#include <vector>
#include "pico/unique_id.h"
#include "pico/time.h"
#include "eth.h"
@@ -18,7 +17,7 @@ static constexpr uint16_t PICOMAP_PORT = __builtin_bswap16(28781);
static net_state state;
static w6300::socket_id raw_socket{0};
static net_handler msg_handler;
static std::vector<net_frame_callback> frame_callbacks;
static frame_cb_list frame_callbacks;
void net_send_raw(std::span<const uint8_t> data) {
dlog_if_slow("net_send_raw", 1000, [&]{
@@ -72,10 +71,10 @@ static void process_frame(std::span<const uint8_t> frame, span_writer& tx) {
if (!mac_match(eth_hdr.dst)) return;
auto cbs = std::move(frame_callbacks);
frame_callbacks.clear();
for (auto& cb : cbs)
cb(frame);
frame_callbacks.for_each([&](frame_cb_list::node* n) {
if (n->value().fn(frame))
frame_callbacks.remove(n);
});
switch (eth_hdr.ethertype) {
case eth::ETH_ARP:
@@ -123,8 +122,12 @@ void net_set_handler(net_handler handler) {
msg_handler = std::move(handler);
}
void net_add_frame_callback(net_frame_callback cb) {
frame_callbacks.push_back(std::move(cb));
frame_cb_handle net_add_frame_callback(net_frame_callback cb) {
return frame_callbacks.insert({std::move(cb)});
}
void net_remove_frame_callback(frame_cb_handle h) {
frame_callbacks.remove(h);
}
void net_poll(std::span<uint8_t> tx) {

153
firmware/lib/test_handlers.cpp
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@@ -43,39 +43,25 @@ static void discover_peer(peer_callback on_found, fail_callback on_timeout) {
ipv4::ip4_addr our_ip = ns.ip;
auto timer = std::make_shared<timer_handle>(nullptr);
auto cb = std::make_shared<std::function<void(std::span<const uint8_t>)>>();
*cb = [our_ip, timer, cb, on_found = std::move(on_found)](std::span<const uint8_t> frame) {
auto cb_id = std::make_shared<frame_cb_handle>(nullptr);
*cb_id = net_add_frame_callback([our_ip, timer, cb_id, on_found = std::move(on_found)](std::span<const uint8_t> frame) -> bool {
parse_buffer pb(frame);
auto* eth_hdr = pb.consume<eth::header>();
if (!eth_hdr || eth_hdr->ethertype != eth::ETH_IPV4) {
net_add_frame_callback(*cb);
return;
}
if (!eth_hdr || eth_hdr->ethertype != eth::ETH_IPV4) return false;
auto* ip = pb.consume<ipv4::header>();
if (!ip || ip->protocol != 17) {
net_add_frame_callback(*cb);
return;
}
if (!ip || ip->protocol != 17) return false;
size_t options_len = ip->header_len() - sizeof(ipv4::header);
if (options_len > 0 && !pb.skip(options_len)) {
net_add_frame_callback(*cb);
return;
}
if (options_len > 0 && !pb.skip(options_len)) return false;
auto* uhdr = pb.consume<udp::header>();
if (!uhdr || uhdr->src_port != PICOMAP_PORT) {
net_add_frame_callback(*cb);
return;
}
if (ip->src == our_ip) {
net_add_frame_callback(*cb);
return;
}
if (!uhdr || uhdr->src_port != PICOMAP_PORT) return false;
if (ip->src == our_ip) return false;
dispatch_cancel_timer(*timer);
on_found({eth_hdr->src, ip->src});
};
net_add_frame_callback(*cb);
return true;
});
*timer = dispatch_schedule_ms(5000, [on_timeout = std::move(on_timeout)]() {
*timer = dispatch_schedule_ms(5000, [cb_id, on_timeout = std::move(on_timeout)]() {
net_remove_frame_callback(*cb_id);
on_timeout();
});
}
@@ -88,23 +74,18 @@ static void test_discovery_igmp(const responder& resp) {
net_send_raw(buf.span());
auto timer = std::make_shared<timer_handle>(nullptr);
auto cb = std::make_shared<std::function<void(std::span<const uint8_t>)>>();
*cb = [resp, timer, cb](std::span<const uint8_t> frame) {
auto cb_id = std::make_shared<frame_cb_handle>(nullptr);
*cb_id = net_add_frame_callback([resp, timer](std::span<const uint8_t> frame) -> bool {
ipv4::ip4_addr group;
if (!igmp::parse_report(frame, group)) {
net_add_frame_callback(*cb);
return;
}
if (group != igmp::PICOMAP_DISCOVERY_GROUP) {
net_add_frame_callback(*cb);
return;
}
if (!igmp::parse_report(frame, group)) return false;
if (group != igmp::PICOMAP_DISCOVERY_GROUP) return false;
dispatch_cancel_timer(*timer);
resp.respond(ResponseTest{true, {"got IGMP report for " + ipv4::to_string(group)}});
};
net_add_frame_callback(*cb);
return true;
});
*timer = dispatch_schedule_ms(5000, [resp]() {
*timer = dispatch_schedule_ms(5000, [cb_id, resp]() {
net_remove_frame_callback(*cb_id);
resp.respond(ResponseTest{false, {"no IGMP report within 5s"}});
});
}
@@ -131,23 +112,21 @@ static void test_ping(const responder& resp, ipv4::ip4_addr dst_ip) {
ipv4::ip4_addr our_ip = ns.ip;
auto timer = std::make_shared<timer_handle>(nullptr);
auto cb = std::make_shared<std::function<void(std::span<const uint8_t>)>>();
*cb = [resp, ping_id, our_ip, timer, cb](std::span<const uint8_t> frame) {
auto cb_id = std::make_shared<frame_cb_handle>(nullptr);
*cb_id = net_add_frame_callback([resp, ping_id, our_ip, timer](std::span<const uint8_t> frame) -> bool {
ipv4::ip4_addr src_ip;
if (!icmp::parse_echo_reply(frame, src_ip, ping_id)) {
net_add_frame_callback(*cb);
return;
}
if (!icmp::parse_echo_reply(frame, src_ip, ping_id)) return false;
dispatch_cancel_timer(*timer);
if (src_ip == our_ip) {
resp.respond(ResponseTest{false, {"got reply from self: " + ipv4::to_string(src_ip)}});
return;
return true;
}
resp.respond(ResponseTest{true, {"reply from " + ipv4::to_string(src_ip)}});
};
net_add_frame_callback(*cb);
return true;
});
*timer = dispatch_schedule_ms(5000, [resp]() {
*timer = dispatch_schedule_ms(5000, [cb_id, resp]() {
net_remove_frame_callback(*cb_id);
resp.respond(ResponseTest{false, {"no reply from non-self host within 5s"}});
});
}
@@ -163,6 +142,7 @@ static void test_ping_global(const responder& resp) {
struct ping_rate_state {
responder resp;
timer_handle timer = nullptr;
frame_cb_handle cb_handle = nullptr;
uint16_t ping_id;
uint16_t sent = 0;
uint16_t received = 0;
@@ -190,44 +170,6 @@ static void ping_rate_send_one(std::shared_ptr<ping_rate_state> st) {
st->sent++;
}
static void ping_rate_recv(std::shared_ptr<ping_rate_state> st,
std::shared_ptr<std::function<void(std::span<const uint8_t>)>> cb,
std::span<const uint8_t> frame) {
ipv4::ip4_addr src_ip;
if (!icmp::parse_echo_reply(frame, src_ip, st->ping_id)) {
net_add_frame_callback(*cb);
return;
}
if (src_ip == st->our_ip) {
net_add_frame_callback(*cb);
return;
}
st->received++;
if (st->received >= st->target) {
dispatch_cancel_timer(st->timer);
uint32_t elapsed_us = time_us_32() - st->start_us;
uint32_t elapsed_ms = elapsed_us / 1000;
uint32_t pps = static_cast<uint32_t>(
static_cast<uint64_t>(st->received) * 1000000 / elapsed_us);
uint64_t total_bytes = static_cast<uint64_t>(st->received) * 2 * st->frame_size();
uint32_t kbps = static_cast<uint32_t>(total_bytes * 1000 / elapsed_us);
char msg[128];
snprintf(msg, sizeof(msg),
"%u rt in %lu ms, %lu pps, %lu bytes, %lu KB/s",
st->received, static_cast<unsigned long>(elapsed_ms),
static_cast<unsigned long>(pps),
static_cast<unsigned long>(total_bytes),
static_cast<unsigned long>(kbps));
st->resp.respond(ResponseTest{true, {msg}});
return;
}
if (st->sent < st->target)
ping_rate_send_one(st);
net_add_frame_callback(*cb);
}
static void start_ping_rate(const responder& resp, uint16_t target,
uint16_t payload_len, uint16_t pipeline) {
auto& ns = net_get_state();
@@ -245,16 +187,41 @@ static void start_ping_rate(const responder& resp, uint16_t target,
st->peer = peer;
st->start_us = time_us_32();
auto cb = std::make_shared<std::function<void(std::span<const uint8_t>)>>();
*cb = [st, cb](std::span<const uint8_t> frame) {
ping_rate_recv(st, cb, frame);
};
for (uint16_t i = 0; i < st->pipeline && st->sent < st->target; i++)
ping_rate_send_one(st);
net_add_frame_callback(*cb);
st->cb_handle = net_add_frame_callback([st](std::span<const uint8_t> frame) -> bool {
ipv4::ip4_addr src_ip;
if (!icmp::parse_echo_reply(frame, src_ip, st->ping_id)) return false;
if (src_ip == st->our_ip) return false;
st->received++;
if (st->received >= st->target) {
dispatch_cancel_timer(st->timer);
uint32_t elapsed_us = time_us_32() - st->start_us;
uint32_t elapsed_ms = elapsed_us / 1000;
uint32_t pps = static_cast<uint32_t>(
static_cast<uint64_t>(st->received) * 1000000 / elapsed_us);
uint64_t total_bytes = static_cast<uint64_t>(st->received) * 2 * st->frame_size();
uint32_t kbps = static_cast<uint32_t>(total_bytes * 1000 / elapsed_us);
char msg[128];
snprintf(msg, sizeof(msg),
"%u rt in %lu ms, %lu pps, %lu bytes, %lu KB/s",
st->received, static_cast<unsigned long>(elapsed_ms),
static_cast<unsigned long>(pps),
static_cast<unsigned long>(total_bytes),
static_cast<unsigned long>(kbps));
st->resp.respond(ResponseTest{true, {msg}});
return true;
}
if (st->sent < st->target)
ping_rate_send_one(st);
return false;
});
st->timer = dispatch_schedule_ms(10000, [st]() {
net_remove_frame_callback(st->cb_handle);
uint32_t elapsed_us = time_us_32() - st->start_us;
char msg[64];
snprintf(msg, sizeof(msg), "timeout after %u/%u rt in %lu ms",
@@ -269,7 +236,7 @@ static void start_ping_rate(const responder& resp, uint16_t target,
}
static void test_ping_rate(const responder& resp) {
start_ping_rate(resp, 8192, 0, 1);
start_ping_rate(resp, 8192, 0, 2);
}
static void test_ping_rate_1k(const responder& resp) {