634 lines
25 KiB
ReStructuredText
634 lines
25 KiB
ReStructuredText
.. _mailboxes_v2:
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Mailboxes
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#########
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A :dfn:`mailbox` is a kernel object that provides enhanced message queue
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capabilities that go beyond the capabilities of a message queue object.
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A mailbox allows threads to send and receive messages of any size
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synchronously or asynchronously.
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.. contents::
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:local:
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:depth: 2
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Concepts
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********
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Any number of mailboxes can be defined. Each mailbox is referenced
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by its memory address.
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A mailbox has the following key properties:
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* A **send queue** of messages that have been sent but not yet received.
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* A **receive queue** of threads that are waiting to receive a message.
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A mailbox must be initialized before it can be used. This sets both of its
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queues to empty.
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A mailbox allows threads, but not ISRs, to exchange messages.
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A thread that sends a message is known as the **sending thread**,
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while a thread that receives the message is known as the **receiving thread**.
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Each message may be received by only one thread (i.e. point-to-multipoint and
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broadcast messaging is not supported).
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Messages exchanged using a mailbox are handled non-anonymously,
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allowing both threads participating in an exchange to know
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(and even specify) the identity of the other thread.
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Message Format
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==============
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A **message descriptor** is a data structure that specifies where a message's
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data is located, and how the message is to be handled by the mailbox.
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Both the sending thread and the receiving thread supply a message descriptor
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when accessing a mailbox. The mailbox uses the message descriptors to perform
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a message exchange between compatible sending and receiving threads.
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The mailbox also updates certain message descriptor fields during the exchange,
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allowing both threads to know what has occurred.
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A mailbox message contains zero or more bytes of **message data**.
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The size and format of the message data is application-defined, and can vary
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from one message to the next. There are two forms of message data:
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* A **message buffer** is an area of memory provided by the thread
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that sends or receives the message. An array or structure variable
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can often be used for this purpose.
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* A **message block** is an area of memory allocated from a memory pool.
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A message may *not* have both a message buffer and a message block.
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A message that has neither form of message data is called an **empty message**.
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.. note::
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A message whose message buffer or memory block exists, but contains
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zero bytes of actual data, is *not* an empty message.
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Message Lifecycle
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=================
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The life cycle of a message is straightforward. A message is created when
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it is given to a mailbox by the sending thread. The message is then owned
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by the mailbox until it is given to a receiving thread. The receiving thread
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may retrieve the message data when it receives the message from the mailbox,
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or it may perform data retrieval during a second, subsequent mailbox operation.
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Only when data retrieval has occurred is the message deleted by the mailbox.
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Thread Compatibility
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====================
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A sending thread can specify the address of the thread to which the message
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is sent, or it send it to any thread by specifying :c:macro:`K_ANY`.
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Likewise, a receiving thread can specify the address of the thread from which
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it wishes to receive a message, or it can receive a message from any thread
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by specifying :c:macro:`K_ANY`.
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A message is exchanged only when the requirements of both the sending thread
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and receiving thread are satisfied; such threads are said to be **compatible**.
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For example, if thread A sends a message to thread B (and only thread B)
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it will be received by thread B if thread B tries to receive a message
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from thread A or if thread B tries to receive from any thread.
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The exchange will not occur if thread B tries to receive a message
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from thread C. The message can never be received by thread C,
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even if it tries to receive a message from thread A (or from any thread).
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Message Flow Control
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====================
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Mailbox messages can be exchanged **synchronously** or **asynchronously**.
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In a synchronous exchange, the sending thread blocks until the message
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has been fully processed by the receiving thread. In an asynchronous exchange,
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the sending thread does not wait until the message has been received
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by another thread before continuing; this allows the sending thread to do
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other work (such as gather data that will be used in the next message)
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*before* the message is given to a receiving thread and fully processed.
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The technique used for a given message exchange is determined
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by the sending thread.
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The synchronous exchange technique provides an implicit form of flow control,
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preventing a sending thread from generating messages faster than they can be
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consumed by receiving threads. The asynchronous exchange technique provides an
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explicit form of flow control, which allows a sending thread to determine
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if a previously sent message still exists before sending a subsequent message.
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Implementation
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**************
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Defining a Mailbox
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==================
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A mailbox is defined using a variable of type :c:type:`struct k_mbox`.
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It must then be initialized by calling :cpp:func:`k_mbox_init()`.
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The following code defines and initializes an empty mailbox.
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.. code-block:: c
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struct k_mbox my_mailbox;
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k_mbox_init(&my_mailbox);
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Alternatively, a mailbox can be defined and initialized at compile time
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by calling :c:macro:`K_MBOX_DEFINE()`.
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The following code has the same effect as the code segment above.
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.. code-block:: c
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K_MBOX_DEFINE(my_mailbox);
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Message Descriptors
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===================
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A message descriptor is a structure of type :c:type:`struct k_mbox_msg`.
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Only the fields listed below should be used; any other fields are for
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internal mailbox use only.
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*info*
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A 32-bit value that is exchanged by the message sender and receiver,
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and whose meaning is defined by the application. This exchange is
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bi-directional, allowing the sender to pass a value to the receiver
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during any message exchange, and allowing the receiver to pass a value
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to the sender during a synchronous message exchange.
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*size*
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The message data size, in bytes. Set it to zero when sending an empty
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message, or when sending a message buffer or message block with no
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actual data. When receiving a message, set it to the maximum amount
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of data desired, or to zero if the message data is not wanted.
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The mailbox updates this field with the actual number of data bytes
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exchanged once the message is received.
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*tx_data*
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A pointer to the sending thread's message buffer. Set it to :c:macro:`NULL`
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when sending a memory block, or when sending an empty message.
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Leave this field uninitialized when receiving a message.
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*tx_block*
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The descriptor for the sending thread's memory block. Set tx_block.pool_id
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to :c:macro:`NULL` when sending an empty message. Leave this field
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uninitialized when sending a message buffer, or when receiving a message.
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*tx_target_thread*
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The address of the desired receiving thread. Set it to :c:macro:`K_ANY`
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to allow any thread to receive the message. Leave this field uninitialized
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when receiving a message. The mailbox updates this field with
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the actual receiver's address once the message is received.
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*rx_source_thread*
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The address of the desired sending thread. Set it to :c:macro:`K_ANY`
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to receive a message sent by any thread. Leave this field uninitialized
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when sending a message. The mailbox updates this field
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with the actual sender's address once the message is received.
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Sending a Message
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=================
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A thread sends a message by first creating its message data, if any.
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A message buffer is typically used when the data volume is small,
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and the cost of copying the data is less than the cost of allocating
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and freeing a message block.
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Next, the sending thread creates a message descriptor that characterizes
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the message to be sent, as described in the previous section.
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Finally, the sending thread calls a mailbox send API to initiate the
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message exchange. The message is immediately given to a compatible receiving
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thread, if one is currently waiting. Otherwise, the message is added
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to the mailbox's send queue.
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Any number of messages may exist simultaneously on a send queue.
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The messages in the send queue are sorted according to the priority
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of the sending thread. Messages of equal priority are sorted so that
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the oldest message can be received first.
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For a synchronous send operation, the operation normally completes when a
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receiving thread has both received the message and retrieved the message data.
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If the message is not received before the waiting period specified by the
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sending thread is reached, the message is removed from the mailbox's send queue
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and the send operation fails. When a send operation completes successfully
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the sending thread can examine the message descriptor to determine
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which thread received the message, how much data was exchanged,
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and the application-defined info value supplied by the receiving thread.
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.. note::
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A synchronous send operation may block the sending thread indefinitely,
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even when the thread specifies a maximum waiting period.
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The waiting period only limits how long the mailbox waits
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before the message is received by another thread. Once a message is received
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there is *no* limit to the time the receiving thread may take to retrieve
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the message data and unblock the sending thread.
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For an asynchronous send operation, the operation always completes immediately.
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This allows the sending thread to continue processing regardless of whether the
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message is given to a receiving thread immediately or added to the send queue.
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The sending thread may optionally specify a semaphore that the mailbox gives
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when the message is deleted by the mailbox, for example, when the message
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has been received and its data retrieved by a receiving thread.
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The use of a semaphore allows the sending thread to easily implement
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a flow control mechanism that ensures that the mailbox holds no more than
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an application-specified number of messages from a sending thread
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(or set of sending threads) at any point in time.
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.. note::
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A thread that sends a message asynchronously has no way to determine
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which thread received the message, how much data was exchanged, or the
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application-defined info value supplied by the receiving thread.
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Sending an Empty Message
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------------------------
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This code uses a mailbox to synchronously pass 4 byte random values
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to any consuming thread that wants one. The message "info" field is
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large enough to carry the information being exchanged, so the data
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portion of the message isn't used.
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.. code-block:: c
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void producer_thread(void)
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{
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struct k_mbox_msg send_msg;
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while (1) {
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/* generate random value to send */
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uint32_t random_value = sys_rand32_get();
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/* prepare to send empty message */
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send_msg.info = random_value;
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send_msg.size = 0;
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send_msg.tx_data = NULL;
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send_msg.tx_block.pool_id = NULL;
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send_msg.tx_target_thread = K_ANY;
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/* send message and wait until a consumer receives it */
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k_mbox_put(&my_mailbox, &send_msg, K_FOREVER);
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}
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}
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Sending Data Using a Message Buffer
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-----------------------------------
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This code uses a mailbox to synchronously pass variable-sized requests
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from a producing thread to any consuming thread that wants it.
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The message "info" field is used to exchange information about
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the maximum size message buffer that each thread can handle.
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.. code-block:: c
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void producer_thread(void)
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{
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char buffer[100];
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int buffer_bytes_used;
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struct k_mbox_msg send_msg;
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while (1) {
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/* generate data to send */
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...
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buffer_bytes_used = ... ;
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memcpy(buffer, source, buffer_bytes_used);
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/* prepare to send message */
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send_msg.info = buffer_bytes_used;
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send_msg.size = buffer_bytes_used;
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send_msg.tx_data = buffer;
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send_msg.tx_target_thread = K_ANY;
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/* send message and wait until a consumer receives it */
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k_mbox_put(&my_mailbox, &send_msg, K_FOREVER);
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/* info, size, and tx_target_thread fields have been updated */
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/* verify that message data was fully received */
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if (send_msg.size < buffer_bytes_used) {
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printf("some message data dropped during transfer!");
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printf("receiver only had room for %d bytes", send_msg.info);
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}
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}
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}
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Sending Data Using a Message Block
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----------------------------------
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This code uses a mailbox to send asynchronous messages. A semaphore is used
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to hold off the sending of a new message until the previous message
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has been consumed, so that a backlog of messages doesn't build up
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when the consuming thread is unable to keep up.
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The message data is stored in a memory block obtained from ``TXPOOL``,
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thereby eliminating unneeded data copying when exchanging large messages.
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.. code-block:: c
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/* define a semaphore, indicating that no message has been sent */
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K_SEM_DEFINE(my_sem, 1, 1);
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void producer_thread(void)
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{
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struct k_mbox_msg send_msg;
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volatile char *hw_buffer;
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while (1) {
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/* allocate a memory block to hold the message data */
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k_mem_pool_alloc(&send_msg.tx_block, TXPOOL, 4096, K_FOREVER);
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/* keep overwriting the hardware-generated data in the block */
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/* until the previous message has been received by the consumer */
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do {
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memcpy(send_msg.tx_block.pointer_to_data, hw_buffer, 4096);
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} while (k_sem_take(&my_sem, K_NO_WAIT) != 0);
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/* finish preparing to send message */
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send_msg.size = 4096;
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send_msg.rx_target_thread = K_ANY;
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/* send message containing most current data and loop around */
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k_mbox_async_put(&my_mailbox, &send_msg, MY_SEMA);
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}
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}
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Receiving a Message
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===================
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A thread receives a message by first creating a message descriptor that
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characterizes the message it wants to receive. It then calls one of the
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mailbox receive APIs. The mailbox searches its send queue and takes the message
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from the first compatible thread it finds. If no compatible thread exists,
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the receiving thread may choose to wait for one. If no compatible thread
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appears before the waiting period specified by the receiving thread is reached,
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the receive operation fails.
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Once a receive operation completes successfully the receiving thread
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can examine the message descriptor to determine which thread sent the message,
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how much data was exchanged,
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and the application-defined info value supplied by the sending thread.
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Any number of receiving threads may wait simultaneously on a mailboxes's
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receive queue. The threads are sorted according to their priority;
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threads of equal priority are sorted so that the one that started waiting
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first can receive a message first.
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.. note::
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Receiving threads do not always receive messages in a first in, first out
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(FIFO) order, due to the thread compatibility constraints specified by the
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message descriptors. For example, if thread A waits to receive a message
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only from thread X and then thread B waits to receive a message from
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thread Y, an incoming message from thread Y to any thread will be given
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to thread B and thread A will continue to wait.
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The receiving thread controls both the quantity of data it retrieves from an
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incoming message and where the data ends up. The thread may choose to take
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all of the data in the message, to take only the initial part of the data,
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or to take no data at all. Similarly, the thread may choose to have the data
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copied into a message buffer of its choice or to have it placed in a message
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block. A message buffer is typically used when the volume of data
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involved is small, and the cost of copying the data is less than the cost
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of allocating and freeing a memory pool block.
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The following sections outline various approaches a receiving thread may use
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when retrieving message data.
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Retrieving Data at Receive Time
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-------------------------------
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The most straightforward way for a thread to retrieve message data is to
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specify a message buffer when the message is received. The thread indicates
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both the location of the message buffer (which must not be :c:macro:`NULL`)
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and its size.
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The mailbox copies the message's data to the message buffer as part of the
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receive operation. If the message buffer is not big enough to contain all of the
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message's data, any uncopied data is lost. If the message is not big enough
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to fill all of the buffer with data, the unused portion of the message buffer is
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left unchanged. In all cases the mailbox updates the receiving thread's
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message descriptor to indicate how many data bytes were copied (if any).
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The immediate data retrieval technique is best suited for small messages
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where the maximum size of a message is known in advance.
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.. note::
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This technique can be used when the message data is actually located
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in a memory block supplied by the sending thread. The mailbox copies
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the data into the message buffer specified by the receiving thread, then
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frees the meessage block back to its memory pool. This allows
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a receiving thread to retrieve message data without having to know
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whether the data was sent using a message buffer or a message block.
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The following code uses a mailbox to process variable-sized requests from any
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producing thread, using the immediate data retrieval technique. The message
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"info" field is used to exchange information about the maximum size
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message buffer that each thread can handle.
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.. code-block:: c
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void consumer_thread(void)
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{
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struct k_mbox_msg recv_msg;
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char buffer[100];
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int i;
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int total;
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while (1) {
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/* prepare to receive message */
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recv_msg.info = 100;
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recv_msg.size = 100;
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recv_msg.rx_source_thread = K_ANY;
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/* get a data item, waiting as long as needed */
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k_mbox_get(&my_mailbox, &recv_msg, buffer, K_FOREVER);
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/* info, size, and rx_source_thread fields have been updated */
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/* verify that message data was fully received */
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if (recv_msg.info != recv_msg.size) {
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printf("some message data dropped during transfer!");
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printf("sender tried to send %d bytes", recv_msg.info);
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}
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/* compute sum of all message bytes (from 0 to 100 of them) */
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total = 0;
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for (i = 0; i < recv_msg.size; i++) {
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total += buffer[i];
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}
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}
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}
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Retrieving Data Later Using a Message Buffer
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--------------------------------------------
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A receiving thread may choose to defer message data retrieval at the time
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the message is received, so that it can retrieve the data into a message buffer
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at a later time.
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The thread does this by specifying a message buffer location of :c:macro:`NULL`
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and a size indicating the maximum amount of data it is willing to retrieve
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later.
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The mailbox does not copy any message data as part of the receive operation.
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However, the mailbox still updates the receiving thread's message descriptor
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to indicate how many data bytes are available for retrieval.
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The receiving thread must then respond as follows:
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* If the message descriptor size is zero, then either the sender's message
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contained no data or the receiving thread did not want to receive any data.
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The receiving thread does not need to take any further action, since
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the mailbox has already completed data retrieval and deleted the message.
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* If the message descriptor size is non-zero and the receiving thread still
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wants to retrieve the data, the thread must call :c:func:`k_mbox_data_get()`
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and supply a message buffer large enough to hold the data. The mailbox copies
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the data into the message buffer and deletes the message.
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* If the message descriptor size is non-zero and the receiving thread does *not*
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want to retrieve the data, the thread must call :c:func:`k_mbox_data_get()`.
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and specify a message buffer of :c:macro:`NULL`. The mailbox deletes
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the message without copying the data.
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The subsequent data retrieval technique is suitable for applications where
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immediate retrieval of message data is undesirable. For example, it can be
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used when memory limitations make it impractical for the receiving thread to
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always supply a message buffer capable of holding the largest possible
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incoming message.
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.. note::
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This technique can be used when the message data is actually located
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in a memory block supplied by the sending thread. The mailbox copies
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the data into the message buffer specified by the receiving thread, then
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frees the message block back to its memory pool. This allows
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a receiving thread to retrieve message data without having to know
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whether the data was sent using a message buffer or a message block.
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The following code uses a mailbox's deferred data retrieval mechanism
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to get message data from a producing thread only if the message meets
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certain criteria, thereby eliminating unneeded data copying. The message
|
|
"info" field supplied by the sender is used to classify the message.
|
|
|
|
.. code-block:: c
|
|
|
|
void consumer_thread(void)
|
|
{
|
|
struct k_mbox_msg recv_msg;
|
|
char buffer[10000];
|
|
|
|
while (1) {
|
|
/* prepare to receive message */
|
|
recv_msg.size = 10000;
|
|
recv_msg.rx_source_thread = K_ANY;
|
|
|
|
/* get message, but not its data */
|
|
k_mbox_get(&my_mailbox, &recv_msg, NULL, K_FOREVER);
|
|
|
|
/* get message data for only certain types of messages */
|
|
if (is_message_type_ok(recv_msg.info)) {
|
|
/* retrieve message data and delete the message */
|
|
k_mbox_data_get(&recv_msg, buffer);
|
|
|
|
/* process data in "buffer" */
|
|
...
|
|
} else {
|
|
/* ignore message data and delete the message */
|
|
k_mbox_data_get(&recv_msg, NULL);
|
|
}
|
|
}
|
|
}
|
|
|
|
Retrieving Data Later Using a Message Block
|
|
-------------------------------------------
|
|
|
|
A receiving thread may choose to retrieve message data into a memory block,
|
|
rather than a message buffer. This is done in much the same way as retrieving
|
|
data subsequently into a message buffer --- the receiving thread first
|
|
receives the message without its data, then retrieves the data by calling
|
|
:c:func:`k_mbox_data_block_get()`. The mailbox fills in the block descriptor
|
|
supplied by the receiving thread, allowing the thread to access the data.
|
|
The mailbox also deletes the received message, since data retrieval
|
|
has been completed. The receiving thread is then responsible for freeing
|
|
the message block back to the memory pool when the data is no longer needed.
|
|
|
|
This technique is best suited for applications where the message data has
|
|
been sent using a memory block.
|
|
|
|
.. note::
|
|
This technique can be used when the message data is located in a message
|
|
buffer supplied by the sending thread. The mailbox automatically allocates
|
|
a memory block and copies the message data into it. However, this is much
|
|
less efficient than simply retrieving the data into a message buffer
|
|
supplied by the receiving thread. In addition, the receiving thread
|
|
must be designed to handle cases where the data retrieval operation fails
|
|
because the mailbox cannot allocate a suitable message block from the memory
|
|
pool. If such cases are possible, the receiving thread must either try
|
|
retrieving the data at a later time or instruct the mailbox to delete
|
|
the message without retrieving the data.
|
|
|
|
The following code uses a mailbox to receive messages sent using a memory block,
|
|
thereby eliminating unneeded data copying when processing a large message.
|
|
(The messages may be sent synchronously or asynchronously.)
|
|
|
|
.. code-block:: c
|
|
|
|
void consumer_thread(void)
|
|
{
|
|
struct k_mbox_msg recv_msg;
|
|
struct k_mem_block recv_block;
|
|
|
|
int total;
|
|
char *data_ptr;
|
|
int i;
|
|
|
|
while (1) {
|
|
/* prepare to receive message */
|
|
recv_msg.size = 10000;
|
|
recv_msg.rx_source_thread = K_ANY;
|
|
|
|
/* get message, but not its data */
|
|
k_mbox_get(&my_mailbox, &recv_msg, NULL, K_FOREVER);
|
|
|
|
/* get message data as a memory block and discard message */
|
|
k_mbox_data_block_get(&recv_msg, RXPOOL, &recv_block, K_FOREVER);
|
|
|
|
/* compute sum of all message bytes in memory block */
|
|
total = 0;
|
|
data_ptr = (char *)(recv_block.pointer_to_data);
|
|
for (i = 0; i < recv_msg.size; i++) {
|
|
total += data_ptr++;
|
|
}
|
|
|
|
/* release memory block containing data */
|
|
k_mem_pool_free(&recv_block);
|
|
}
|
|
}
|
|
|
|
.. note::
|
|
An incoming message that was sent using a message buffer is also processed
|
|
correctly by this algorithm, since the mailbox automatically creates
|
|
a memory block containing the message data using ``RXPOOL``. However,
|
|
the performance benefit of using the memory block approach is lost.
|
|
|
|
Suggested Uses
|
|
**************
|
|
|
|
Use a mailbox to transfer data items between threads whenever the capabilities
|
|
of a message queue are insufficient.
|
|
|
|
Configuration Options
|
|
*********************
|
|
|
|
Related configuration options:
|
|
|
|
* :option:`CONFIG_NUM_MBOX_ASYNC_MSGS`
|
|
|
|
APIs
|
|
****
|
|
|
|
The following APIs for a mailbox are provided by :file:`kernel.h`:
|
|
|
|
* :cpp:func:`k_mbox_put()`
|
|
* :cpp:func:`k_mbox_async_put()`
|
|
* :cpp:func:`k_mbox_get()`
|
|
* :cpp:func:`k_mbox_data_get()`
|
|
* :cpp:func:`k_mbox_data_block_get()`
|