Support blocking task.

Ubiquitous/XiZi_AIoT/softkernel/include/task.h

@@ -85,6 +85,7 @@ struct TaskMicroDescriptor {
     /* task communication resources */
     struct double_list_node cli_sess_listhead;
     struct double_list_node svr_sess_listhead;
+    bool current_ipc_handled;
     struct KBuddy* massive_ipc_allocator;
     struct TraceTag server_identifier;
 
@@ -103,6 +104,7 @@ struct SchedulerRightGroup {
 
 struct XiziTaskManager {
     struct double_list_node task_list_head[TASK_MAX_PRIORITY]; /* list of task control blocks that are allocated */
+    struct double_list_node task_blocked_list_head;
     struct slab_allocator task_allocator;
     struct slab_allocator task_buddy_allocator;
     uint32_t next_pid;
@@ -120,8 +122,13 @@ struct XiziTaskManager {
     struct TaskMicroDescriptor* (*next_runnable_task)(void);
     /* function that's runing by kernel thread context, schedule use tasks */
     void (*task_scheduler)(struct SchedulerRightGroup);
+
+    /* handle task state */
     /* call to yield current use task */
     void (*task_yield_noschedule)(struct TaskMicroDescriptor* task, bool is_blocking);
+    /* block and unblock task */
+    void (*task_block)(struct TaskMicroDescriptor* task);
+    void (*task_unblock)(struct TaskMicroDescriptor* task);
     /* set task priority */
     void (*set_cur_task_priority)(int priority);
 };

Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_poll_session.c

@@ -55,6 +55,15 @@ int sys_poll_session(struct Session* userland_session_arr, int arr_capacity)
             return -1;
         }
         // update session_backend
+        // if current session is handled
+        if (server_session->head != userland_session_arr[i].head) {
+            struct TaskMicroDescriptor* client = SERVER_SESSION_BACKEND(server_session)->client;
+            if (client->state == BLOCKED) {
+                xizi_task_manager.task_unblock(client);
+            } else {
+                client->current_ipc_handled = true;
+            }
+        }
         server_session->head = userland_session_arr[i].head;
         server_session->tail = userland_session_arr[i].tail;
         doubleListDel(cur_node);

Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_state.c

@@ -85,6 +85,14 @@ void show_tasks(void)
             LOG_PRINTF("  %d   %s  %d       %d\n", task->pid, task->name, task->priority, task->mem_size >> 10);
         }
     }
+
+    DOUBLE_LIST_FOR_EACH_ENTRY(task, &xizi_task_manager.task_blocked_list_head, node)
+    {
+        LOG_PRINTF("  BLOCK ");
+        _padding(task->name);
+        LOG_PRINTF("  %d   %s  %d       %d\n", task->pid, task->name, task->priority, task->mem_size >> 10);
+    }
+
     LOG_PRINTF("******************************************************\n");
     return;
 }

Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_yield.c

@@ -35,6 +35,16 @@ Modification:
 
 int sys_yield(task_yield_reason reason)
 {
-    xizi_task_manager.task_yield_noschedule(cur_cpu()->task, false);
+    struct TaskMicroDescriptor* cur_task = cur_cpu()->task;
+    xizi_task_manager.task_yield_noschedule(cur_task, false);
+
+    // handle ipc block
+    if ((reason & SYS_TASK_YIELD_BLOCK_IPC) != 0) {
+        if (cur_task->current_ipc_handled) {
+            cur_task->current_ipc_handled = false;
+        } else {
+            xizi_task_manager.task_block(cur_task);
+        }
+    }
     return 0;
 }

Ubiquitous/XiZi_AIoT/softkernel/task/task.c

@@ -48,6 +48,7 @@ static void _task_manager_init()
     for (int i = 0; i < TASK_MAX_PRIORITY; i++) {
         doubleListNodeInit(&xizi_task_manager.task_list_head[i]);
     }
+    doubleListNodeInit(&xizi_task_manager.task_blocked_list_head);
     // init task (slab) allocator
     slab_init(&xizi_task_manager.task_allocator, sizeof(struct TaskMicroDescriptor));
     slab_init(&xizi_task_manager.task_buddy_allocator, sizeof(struct KBuddy));
@@ -271,11 +272,7 @@ static void _task_yield_noschedule(struct TaskMicroDescriptor* task, bool blocki
     // rearrage current task position
     doubleListDel(&task->node);
     if (task->state == RUNNING) {
-        if (!blocking) {
+        task->state = READY;
-            task->state = READY;
-        } else {
-            task->state = BLOCKED;
-        }
     }
     task->remain_tick = TASK_CLOCK_TICK;
     if (task == cur_cpu()->task) {
@@ -284,6 +281,28 @@ static void _task_yield_noschedule(struct TaskMicroDescriptor* task, bool blocki
     doubleListAddOnBack(&task->node, &xizi_task_manager.task_list_head[task->priority]);
 }
 
+static void _task_block(struct TaskMicroDescriptor* task)
+{
+    assert(task != NULL);
+    assert(task->state != RUNNING);
+    doubleListDel(&task->node);
+    if (xizi_task_manager.task_list_head[task->priority].next == &xizi_task_manager.task_list_head[task->priority]) {
+        ready_task_priority &= ~(1 << task->priority);
+    }
+    task->state = BLOCKED;
+    doubleListAddOnHead(&task->node, &xizi_task_manager.task_blocked_list_head);
+}
+
+static void _task_unblock(struct TaskMicroDescriptor* task)
+{
+    assert(task != NULL);
+    assert(task->state == BLOCKED);
+    doubleListDel(&task->node);
+    task->state = READY;
+    doubleListAddOnHead(&task->node, &xizi_task_manager.task_list_head[task->priority]);
+    ready_task_priority |= (1 << task->priority);
+}
+
 static void _set_cur_task_priority(int priority)
 {
     if (priority < 0 || priority >= TASK_MAX_PRIORITY) {
@@ -312,6 +331,9 @@ struct XiziTaskManager xizi_task_manager = {
 
     .next_runnable_task = max_priority_runnable_task,
     .task_scheduler = _scheduler,
+
+    .task_block = _task_block,
+    .task_unblock = _task_unblock,
     .task_yield_noschedule = _task_yield_noschedule,
     .set_cur_task_priority = _set_cur_task_priority
 };

Ubiquitous/XiZi_AIoT/softkernel/trap/abort_handler.c

@@ -65,6 +65,7 @@ void dabort_handler(struct trapframe* r)
     sys_exit(cur_task);
     assert(cur_cpu()->task == NULL);
     context_switch(&cur_task->main_thread.context, cur_cpu()->scheduler);
+    panic("dabort end should never be reashed.\n");
 }
 
 void iabort_handler(struct trapframe* r)
@@ -83,4 +84,5 @@ void iabort_handler(struct trapframe* r)
     sys_exit(cur_task);
     assert(cur_cpu()->task == NULL);
     context_switch(&cur_task->main_thread.context, cur_cpu()->scheduler);
+    panic("iabort end should never be reashed.\n");
 }