Implement z_task_detach and z_task_drop (#705)

eclipse-zenoh · Oct 3, 2024 · 548b58f · 548b58f
1 parent 2b48da3
commit 548b58f
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Showing 13 changed files with 84 additions and 8 deletions.
diff --git a/docs/api.rst b/docs/api.rst
@@ -762,14 +762,8 @@ Functions
 ^^^^^^^^^
 .. autocfunction:: platform_common.h::z_task_init
 .. autocfunction:: platform_common.h::z_task_join
-.. TODO: implement .. autocfunction:: platform_common.h::z_task_detach
-
-Ownership Functions
-^^^^^^^^^^^^^^^^^^^
-
-See details at :ref:`owned_types_concept`
-
-.. c:function:: void z_task_drop(z_moved_task_t * task) 
+.. autocfunction:: platform_common.h::z_task_detach
+.. autocfunction:: platform_common.h::z_task_drop
 
 Session
 =======

diff --git a/include/zenoh-pico/system/platform_common.h b/include/zenoh-pico/system/platform_common.h
@@ -113,12 +113,48 @@ _Z_OWNED_FUNCTIONS_SYSTEM_DEF(task)
 
 z_result_t _z_task_init(_z_task_t *task, z_task_attr_t *attr, void *(*fun)(void *), void *arg);
 z_result_t _z_task_join(_z_task_t *task);
+z_result_t _z_task_detach(_z_task_t *task);
 z_result_t _z_task_cancel(_z_task_t *task);
 void _z_task_free(_z_task_t **task);
 
+/**
+ * Constructs a new task.
+ *
+ * Parameters:
+ *   task: An uninitialized memory location where task will be constructed.
+ *   attr: Attributes of the task.
+ *   fun: Function to be executed by the task.
+ *   arg: Argument that will be passed to the function `fun`.
+ *
+ * Returns:
+ *   ``0`` in case of success, negative error code otherwise.
+ */
 z_result_t z_task_init(z_owned_task_t *task, z_task_attr_t *attr, void *(*fun)(void *), void *arg);
+
+/**
+ * Joins the task and releases all allocated resources
+ *
+ * Returns:
+ *   ``0`` in case of success, negative error code otherwise.
+ */
 z_result_t z_task_join(z_moved_task_t *task);
 
+/**
+ * Detaches the task and releases all allocated resources.
+ *
+ * Returns:
+ *   ``0`` in case of success, negative error code otherwise.
+ */
+z_result_t z_task_detach(z_moved_task_t *task);
+
+/**
+ * Drop the task. Same as :c:func:`z_task_detach`. Use :c:func:`z_task_join` to wait for the task completion.
+ *
+ * Returns:
+ *   ``0`` in case of success, negative error code otherwise.
+ */
+z_result_t z_task_drop(z_moved_task_t *task);
+
 /*------------------ Mutex ------------------*/
 _Z_OWNED_TYPE_VALUE(_z_mutex_t, mutex)
 _Z_OWNED_FUNCTIONS_SYSTEM_DEF(mutex)

diff --git a/src/system/arduino/esp32/system.c b/src/system/arduino/esp32/system.c
@@ -87,6 +87,11 @@ z_result_t _z_task_join(_z_task_t *task) {
     return _z_task_cancel(task);
 }
 
+z_result_t _z_task_detach(_z_task_t *task) {
+    // Note: task/thread detach not supported on FreeRTOS API, so we force its deletion instead.
+    return _z_task_cancel(task);
+}
+
 z_result_t _z_task_cancel(_z_task_t *task) {
     vTaskDelete(*task);
     return 0;

diff --git a/src/system/arduino/opencr/system.c b/src/system/arduino/opencr/system.c
@@ -67,6 +67,8 @@ z_result_t _z_task_init(_z_task_t *task, z_task_attr_t *attr, void *(*fun)(void
 
 z_result_t _z_task_join(_z_task_t *task) { return -1; }
 
+z_result_t _z_task_detach(_z_task_t *task) { return -1; }
+
 z_result_t _z_task_cancel(_z_task_t *task) { return -1; }
 
 void _z_task_free(_z_task_t **task) {

diff --git a/src/system/emscripten/system.c b/src/system/emscripten/system.c
@@ -13,6 +13,7 @@
 //
 
 #include <emscripten/html5.h>
+#include <pthread.h>
 #include <stddef.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -50,6 +51,8 @@ z_result_t _z_task_init(_z_task_t *task, pthread_attr_t *attr, void *(*fun)(void
 
 z_result_t _z_task_join(_z_task_t *task) { _Z_CHECK_SYS_ERR(pthread_join(*task, NULL)); }
 
+z_result_t _z_task_detach(_z_task_t *task) { _Z_CHECK_SYS_ERR(pthread_detach(*task)); }
+
 z_result_t _z_task_cancel(_z_task_t *task) { _Z_CHECK_SYS_ERR(pthread_cancel(*task)); }
 
 void _z_task_free(_z_task_t **task) {

diff --git a/src/system/espidf/system.c b/src/system/espidf/system.c
@@ -115,6 +115,11 @@ z_result_t _z_task_join(_z_task_t *task) {
     return 0;
 }
 
+z_result_t _z_task_detach(_z_task_t *task) {
+    // Not implemented
+    return _Z_ERR_GENERIC;
+}
+
 z_result_t z_task_cancel(_z_task_t *task) {
     vTaskDelete(task->handle);
     return 0;

diff --git a/src/system/flipper/system.c b/src/system/flipper/system.c
@@ -87,6 +87,8 @@ z_result_t _z_task_join(_z_task_t* task) {
     return furi_thread_join(*task);
 }
 
+z_result_t _z_task_detach(_z_task_t* task) { return -1; }
+
 z_result_t _z_task_cancel(_z_task_t* task) { return -1; }
 
 void _z_task_free(_z_task_t** task) {

diff --git a/src/system/freertos_plus_tcp/system.c b/src/system/freertos_plus_tcp/system.c
@@ -124,6 +124,11 @@ z_result_t _z_task_join(_z_task_t *task) {
     return 0;
 }
 
+z_result_t _z_task_detach(_z_task_t *task) {
+    // Not implemented
+    return _Z_ERR_GENERIC;
+}
+
 z_result_t _z_task_cancel(_z_task_t *task) {
     vTaskDelete(task->handle);
     return 0;

diff --git a/src/system/mbed/system.cpp b/src/system/mbed/system.cpp
@@ -53,6 +53,11 @@ z_result_t _z_task_join(_z_task_t *task) {
     return res;
 }
 
+z_result_t _z_task_detach(_z_task_t *task) {
+    // Not implemented
+    return _Z_ERR_GENERIC;
+}
+
 z_result_t _z_task_cancel(_z_task_t *task) {
     int res = ((Thread *)*task)->terminate();
     delete ((Thread *)*task);

diff --git a/src/system/platform_common.c b/src/system/platform_common.c
@@ -34,6 +34,15 @@ z_result_t z_task_join(z_moved_task_t *task) {
     return ret;
 }
 
+z_result_t z_task_detach(z_moved_task_t *task) {
+    _z_task_t *ptr = &task->_this._val;
+    z_result_t ret = _z_task_detach(ptr);
+    _z_task_free(&ptr);
+    return ret;
+}
+
+z_result_t z_task_drop(z_moved_task_t *task) { return z_task_detach(task); }
+
 /*------------------ Mutex ------------------*/
 _Z_OWNED_FUNCTIONS_SYSTEM_IMPL(_z_mutex_t, mutex)
 

diff --git a/src/system/unix/system.c b/src/system/unix/system.c
@@ -110,6 +110,8 @@ z_result_t _z_task_init(_z_task_t *task, z_task_attr_t *attr, void *(*fun)(void
 
 z_result_t _z_task_join(_z_task_t *task) { _Z_CHECK_SYS_ERR(pthread_join(*task, NULL)); }
 
+z_result_t _z_task_detach(_z_task_t *task) { _Z_CHECK_SYS_ERR(pthread_detach(*task)); }
+
 z_result_t _z_task_cancel(_z_task_t *task) { _Z_CHECK_SYS_ERR(pthread_cancel(*task)); }
 
 void _z_task_free(_z_task_t **task) {

diff --git a/src/system/windows/system.c b/src/system/windows/system.c
@@ -76,6 +76,12 @@ z_result_t _z_task_join(_z_task_t *task) {
     return ret;
 }
 
+z_result_t _z_task_detach(_z_task_t *task) {
+    z_result_t ret = _Z_RES_OK;
+    CloseHandle(*task);
+    return ret;
+}
+
 z_result_t _z_task_cancel(_z_task_t *task) {
     z_result_t ret = _Z_RES_OK;
     TerminateThread(*task, 0);

diff --git a/src/system/zephyr/system.c b/src/system/zephyr/system.c
@@ -85,6 +85,8 @@ z_result_t _z_task_init(_z_task_t *task, z_task_attr_t *attr, void *(*fun)(void
 
 z_result_t _z_task_join(_z_task_t *task) { _Z_CHECK_SYS_ERR(pthread_join(*task, NULL)); }
 
+z_result_t _z_task_detach(_z_task_t *task) { _Z_CHECK_SYS_ERR(pthread_detach(*task)); }
+
 z_result_t _z_task_cancel(_z_task_t *task) { _Z_CHECK_SYS_ERR(pthread_cancel(*task)); }
 
 void _z_task_free(_z_task_t **task) {