async_context_freertos: Add support for configSUPPORT_STATIC_ALLOCATION #2436
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The implementation of async_context_freertos currently assumes that FreeRTOS has been configured with `configSUPPORT_DYNAMIC_ALLOCATION`, which causes it to allocate semaphores, timers and tasks from the heap. However, some projects may prefer `configSUPPORT_STATIC_ALLOCATION`, which requires memory to be allocated ahead of time. This change allows async_context_freertos to support either static or dynamic allocation. The way this works is when `configSUPPORT_STATIC_ALLOCATION` is enabled, `async_context_freertos` struct will reserve extra space for the static objects (e.g. `StaticSemaphore_t`) and it will prefer to use the static creation functions (e.g. `xSemaphoreCreateBinaryStatic()`). For the task creation, the user will be responsible for allocating the stack memory and passing it in through the config. If a stack is not provided, then it will fallback to using dynamic allocation for the stack (e.g. `xTaskCreate()`).
kilograham
reviewed
Apr 23, 2025
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| if (!self->lock_mutex || | ||
| !self->work_needed_sem || | ||
| !self->timer_handle || | ||
| pdPASS != xTaskCreate(async_context_task, "async_context_task", config->task_stack_size, self, | ||
| config->task_priority, &self->task_handle)) { | ||
| !(self->task_handle || |
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this seems a bit wordy.
Maybe just do
!self->timer_handle ||
#if configSUPPORT_STATIC_ALLOCATION
!self->task_handle
#else
pdPASS != xTaskCreate(async_context_task, "async_context_task", config->task_stack_size, self, ... )
#endif
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What I was trying to do here is make it so that if someone has both configSUPPORT_STATIC_ALLOCATION and configSUPPORT_DYNAMIC_ALLOCATION enabled, and they don't provide a task_stack, then it will fallback to using xTaskCreate(). I'm open to suggestions on making this cleaner.
kilograham
reviewed
Apr 23, 2025
| @@ -68,9 +76,21 @@ typedef struct async_context_freertos_config { | |||
| struct async_context_freertos { | |||
| async_context_t core; | |||
| SemaphoreHandle_t lock_mutex; | |||
| #if configSUPPORT_STATIC_ALLOCATION | |||
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Just for style; i think i'd put all the _bufs in a single #ifdef after the handles (I donl think there is any particular code size reason for them being close together)
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The implementation of async_context_freertos currently assumes that FreeRTOS has been configured with
configSUPPORT_DYNAMIC_ALLOCATION, which causes it to allocate semaphores, timers and tasks from the heap. However, some projects may preferconfigSUPPORT_STATIC_ALLOCATION, which requires memory to be allocated ahead of time. This change allows async_context_freertos to support either static or dynamic allocation.The way this works is when
configSUPPORT_STATIC_ALLOCATIONis enabled,async_context_freertosstruct will reserve extra space for the static objects (e.g.StaticSemaphore_t) and it will prefer to use the static creation functions (e.g.xSemaphoreCreateBinaryStatic()). For the task creation, the user will be responsible for allocating the stack memory and passing it in through the config. If a stack is not provided, then it will fallback to using dynamic allocation for the stack (e.g.xTaskCreate()).