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trezor.loop: rewrite for utimeq, document
- faster, consumes less memory - untangle loop and ui.refresh TODO: msg.select could fill a pre-allocated list/bytearray just like utimeq.pop does TOOD: we could move to a readyness-based async model and let the consumers readinto() the messages right into the target buffers, to avoid allocating tuples inside msg.select()
This commit is contained in:
Jan Pochyla
parent
7fa2cad0d4
commit
5173a87f3e
@ -1,19 +1,18 @@
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'''
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Implements an event loop with cooperative multitasking and async I/O. Tasks in
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the form of python coroutines (either plain generators or `async` functions) are
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stepped through until completion, and can get asynchronously blocked by
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`yield`ing or `await`ing a syscall.
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See `schedule_task`, `run_forever`, and syscalls `Sleep`, `Select`, `Signal`
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and `Wait`.
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'''
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import utime
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import utimeq
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from micropython import const
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from uheapq import heappop, heappush, heapify
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from . import msg, log, ui
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if __debug__:
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# for performance stats
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import array
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log_delay_pos = 0
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log_delay_rb_len = const(10)
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log_delay_rb = array.array('i', [0] * log_delay_rb_len)
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paused_tasks = {} # {message interface: [task]}
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schedule_counter = 0
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scheduled_tasks = [] # heap: [(deadline, counter, task, value)]
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MAX_SELECT_DELAY = const(1000000)
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from trezor import msg
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from trezor import log
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# message interfaces:
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# 0x0000 - touch event interface
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@ -24,32 +23,99 @@ TOUCH_START = const(1) # event
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TOUCH_MOVE = const(2) # event
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TOUCH_END = const(4) # event
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after_step_hook = None # function, called after each task step
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_MAX_SELECT_DELAY = const(1000000) # usec delay if queue is empty
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_MAX_QUEUE_SIZE = const(64) # maximum number of scheduled tasks
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_paused_tasks = {} # {message interface: [task]}
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_scheduled_tasks = utimeq.utimeq(_MAX_QUEUE_SIZE)
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if __debug__:
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# for performance stats
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import array
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log_delay_pos = 0
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log_delay_rb_len = const(10)
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log_delay_rb = array.array('i', [0] * log_delay_rb_len)
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def schedule_task(task, value=None, deadline=None):
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global schedule_counter
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'''
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Schedule task to be executed with `value` on given `deadline` (in
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microseconds). Does not start the event loop itself, see `run_forever`.
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'''
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if deadline is None:
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deadline = utime.ticks_us()
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heappush(scheduled_tasks, (deadline, schedule_counter, task, value))
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schedule_counter += 1
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_scheduled_tasks.push(deadline, task, value)
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def unschedule_task(task):
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global scheduled_tasks
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scheduled_tasks = [t for t in scheduled_tasks if t[1] is not task]
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heapify(scheduled_tasks)
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'''
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Remove task from the time queue. Cancels previous `schedule_task`.
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'''
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global _scheduled_tasks
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task_entry = [0, 0, 0] # deadline, task, value
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queue_copy = utimeq.utimeq(_MAX_QUEUE_SIZE)
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while _scheduled_tasks:
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_scheduled_tasks.pop(task_entry)
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if task_entry[1] is not task:
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queue_copy.push(task_entry[0], task_entry[1], task_entry[2])
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_scheduled_tasks = queue_copy
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def pause_task(task, iface):
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paused_tasks.setdefault(iface, []).append(task)
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def _pause_task(task, iface):
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tasks = _paused_tasks.get(iface, None)
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if tasks is None:
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tasks = _paused_tasks[iface] = []
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tasks.append(task)
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def unpause_task(task):
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for iface in paused_tasks:
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if task in paused_tasks[iface]:
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paused_tasks[iface].remove(task)
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def _unpause_task(task):
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for iface in _paused_tasks:
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if task in _paused_tasks[iface]:
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_paused_tasks[iface].remove(task)
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def run_task(task, value):
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def run_forever():
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'''
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Loop forever, stepping through scheduled tasks and awaiting I/O events
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inbetween. Use `schedule_task` first to add a coroutine to the task queue.
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Tasks yield back to the scheduler on any I/O, usually by calling `await` on
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a `Syscall`.
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'''
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if __debug__:
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global log_delay_pos
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task_entry = [0, 0, 0] # deadline, task, value
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while True:
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# compute the maximum amount of time we can wait for a message
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if _scheduled_tasks:
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delay = utime.ticks_diff(
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_scheduled_tasks.min_time(), utime.ticks_us())
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else:
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delay = _MAX_SELECT_DELAY
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if __debug__:
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# add current delay to ring buffer for performance stats
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log_delay_rb[log_delay_pos] = delay
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log_delay_pos = (log_delay_pos + 1) % log_delay_rb_len
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msg_entry = msg.select(delay)
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if msg_entry:
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# message received, run tasks paused on the interface
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msg_iface, *msg_value = msg_entry
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msg_tasks = _paused_tasks.pop(msg_iface, ())
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for task in msg_tasks:
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_step_task(task, msg_value)
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else:
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# timeout occurred, run the first scheduled task
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if _scheduled_tasks:
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_scheduled_tasks.pop(task_entry)
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_step_task(task_entry[1], task_entry[2])
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def _step_task(task, value):
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try:
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if isinstance(value, Exception):
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result = task.throw(value)
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@ -66,79 +132,77 @@ def run_task(task, value):
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schedule_task(task)
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else:
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log.error(__name__, '%s is unknown syscall', result)
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# after every task step, refresh the screen
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# TODO: do not complect the event loop and display
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ui.display.refresh()
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if after_step_hook:
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after_step_hook()
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def handle_message(m):
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if not paused_tasks:
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return
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iface, *value = m
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tasks = paused_tasks.pop(iface, ())
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for task in tasks:
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run_task(task, value)
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def handle_timeout():
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if not scheduled_tasks:
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return
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_, _, task, value = heappop(scheduled_tasks)
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run_task(task, value)
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def run_forever():
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if __debug__:
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global log_delay_pos
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while True:
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if scheduled_tasks:
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deadline = scheduled_tasks[0][0]
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delay = utime.ticks_diff(deadline, utime.ticks_us())
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else:
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delay = MAX_SELECT_DELAY
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if __debug__:
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# add current delay to ring buffer for performance stats
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log_delay_rb[log_delay_pos] = delay
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log_delay_pos = (log_delay_pos + 1) % log_delay_rb_len
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m = msg.select(delay)
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if m:
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handle_message(m)
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else:
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handle_timeout()
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class Syscall():
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class Syscall:
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'''
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When tasks want to perform any I/O, or do any sort of communication with the
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scheduler, they do so through instances of a class derived from `Syscall`.
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'''
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def __iter__(self):
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# support `yield from` or `await` on syscalls
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return (yield self)
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class Sleep(Syscall):
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'''
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Pause current task and resume it after given delay. Although the delay is
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given in microseconds, sub-millisecond precision is not guaranteed. Result
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value is the calculated deadline.
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Example:
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planned = await loop.Sleep(1000 * 1000) # sleep for 1ms
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print('missed by %d us', utime.ticks_diff(utime.ticks_us(), planned))
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'''
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def __init__(self, delay_us):
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self.deadline = utime.ticks_add(utime.ticks_us(), delay_us)
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def handle(self, task):
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schedule_task(task, self, self.deadline)
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schedule_task(task, self.deadline, self.deadline)
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class Select(Syscall):
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'''
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Pause current task, and resume only after a message on `msg_iface` is
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received. Messages are received either from an USB interface, or the
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touch display. Result value a tuple of message values.
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def __init__(self, iface):
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self.iface = iface
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Example:
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hid_report, = await loop.Select(0xABCD) # await USB HID report
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event, x, y = await loop.Select(loop.TOUCH) # await touch event
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'''
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def __init__(self, msg_iface):
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self.msg_iface = msg_iface
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def handle(self, task):
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pause_task(task, self.iface)
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_pause_task(task, self.msg_iface)
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NO_VALUE = ()
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_NO_VALUE = ()
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class Signal(Syscall):
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'''
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Pause current task, and let other running task to resume it later with a
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result value or an exception.
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Example:
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# in task #1:
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signal = loop.Signal()
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result = await signal
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print('awaited result:', result)
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# in task #2:
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signal.send('hello from task #2')
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# prints in the next iteration of the event loop
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'''
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def __init__(self):
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self.value = NO_VALUE
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self.value = _NO_VALUE
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self.task = None
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def handle(self, task):
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@ -150,13 +214,35 @@ class Signal(Syscall):
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self._deliver()
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def _deliver(self):
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if self.task is not None and self.value is not NO_VALUE:
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if self.task is not None and self.value is not _NO_VALUE:
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schedule_task(self.task, self.value)
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self.task = None
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self.value = NO_VALUE
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self.value = _NO_VALUE
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class Wait(Syscall):
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'''
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Execute one or more children tasks and wait until one or more of them exit.
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Return value of `Wait` is the return value of task that triggered the
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completion. By default, `Wait` returns after the first child completes, and
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other running children are killed (by cancelling any pending schedules and
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calling `close()`).
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Example:
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# async def wait_for_touch(): ...
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# async def animate_logo(): ...
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touch_task = wait_for_touch()
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animation_task = animate_logo()
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waiter = loop.Wait((touch_task, animation_task))
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result = await waiter
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if animation_task in waiter.finished:
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print('animation task returned', result)
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else:
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print('touch task returned', result)
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Note: You should not directly `yield` a `Wait` instance, see logic in
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`Wait.__iter__` for explanation. Always use `await`.
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'''
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def __init__(self, children, wait_for=1, exit_others=True):
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self.children = children
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@ -175,8 +261,8 @@ class Wait(Syscall):
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def exit(self):
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for task in self.scheduled:
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if task not in self.finished:
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_unpause_task(task)
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unschedule_task(task)
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unpause_task(task)
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task.close()
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async def _wait(self, child):
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@ -199,6 +285,6 @@ class Wait(Syscall):
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return (yield self)
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except:
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# exception was raised on the waiting task externally with
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# close() or throw(), kill the child tasks and re-raise
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# close() or throw(), kill the children tasks and re-raise
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self.exit()
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raise
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@ -1,16 +1,20 @@
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import sys
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import math
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import utime
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from TrezorUi import Display
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from trezor import loop, res
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display = Display()
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if sys.platform not in ('trezor', 'pyboard'): # stmhal
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loop.after_step_hook = display.refresh
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def rgbcolor(r: int, g: int, b: int) -> int:
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return ((r & 0xF8) << 8) | ((g & 0xFC) << 3) | ((b & 0xF8) >> 3)
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LIGHT_RED = rgbcolor(0xFF, 0x00, 0x00)
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RED = rgbcolor(0x66, 0x00, 0x00)
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PINK = rgbcolor(0xE9, 0x1E, 0x63)
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@ -54,6 +58,7 @@ ICON_RESET = 'trezor/res/header_icons/reset.toig'
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ICON_WIPE = 'trezor/res/header_icons/wipe.toig'
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ICON_RECOVERY = 'trezor/res/header_icons/recovery.toig'
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def in_area(pos: tuple, area: tuple) -> bool:
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x, y = pos
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ax, ay, aw, ah = area
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@ -101,8 +106,7 @@ def animate_pulse(func, ca, cb, speed=200000, delay=30000):
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def header(title, icon=ICON_RESET, fg=BLACK, bg=PM_DARK_BLUE):
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display.bar(0, 0, 240, 32, bg)
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if icon is not None:
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image = res.load(icon)
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display.icon(8, 4, image, fg, bg)
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display.icon(8, 4, res.load(icon), fg, bg)
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display.text(8 + 24 + 8, 23, title, BOLD, fg, bg)
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