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Refactor SystemTask state handling for resilience
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State transitions now happen immediately where possible
This simplifies state management in general,
and prevents bugs such as the chime issue from occurring in the first place
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@mark9064 @NeroBurner
mark9064 authored and NeroBurner committed Sep 21, 2024
1 parent b3756e4 commit c3d0590
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Showing 5 changed files with 100 additions and 88 deletions.
8 changes: 5 additions & 3 deletions src/components/ble/DfuService.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -124,9 +124,11 @@ int DfuService::WritePacketHandler(uint16_t connectionHandle, os_mbuf* om) {
bootloaderSize,
applicationSize);

// wait until SystemTask has finished waking up all devices
while (systemTask.IsSleeping()) {
vTaskDelay(50); // 50ms
// Wait until SystemTask has disabled sleeping
// This isn't quite correct, as we don't actually know
// if BleFirmwareUpdateStarted has been received yet
while (!systemTask.IsSleepDisabled()) {
vTaskDelay(pdMS_TO_TICKS(5));
}

dfuImage.Erase();
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10 changes: 8 additions & 2 deletions src/components/ble/NimbleController.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -454,9 +454,15 @@ void NimbleController::PersistBond(struct ble_gap_conn_desc& desc) {
/* Wakeup Spi and SpiNorFlash before accessing the file system
* This should be fixed in the FS driver
*/
systemTask.PushMessage(Pinetime::System::Messages::GoToRunning);
systemTask.PushMessage(Pinetime::System::Messages::DisableSleeping);
vTaskDelay(10);

// This isn't quite correct
// SystemTask could receive EnableSleeping right after passing this check
// We need some guarantee that the SystemTask has processed the above message
// before we can continue
while (!systemTask.IsSleepDisabled()) {
vTaskDelay(pdMS_TO_TICKS(5));
}

lfs_file_t file_p;

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23 changes: 20 additions & 3 deletions src/displayapp/DisplayApp.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -255,9 +255,20 @@ void DisplayApp::Refresh() {
isDimmed = true;
brightnessController.Set(Controllers::BrightnessController::Levels::Low);
}
if (IsPastSleepTime()) {
systemTask->PushMessage(System::Messages::GoToSleep);
state = States::Idle;
if (IsPastSleepTime() && uxQueueMessagesWaiting(msgQueue) == 0) {
PushMessageToSystemTask(System::Messages::GoToSleep);
// Can't set state to Idle here, something may send
// DisableSleeping before this GoToSleep arrives
// Instead we check we have no messages queued before sending GoToSleep
// This works as the SystemTask is higher priority than DisplayApp
// As soon as we send GoToSleep, SystemTask pre-empts DisplayApp
// Whenever DisplayApp is running again, it is guaranteed that
// SystemTask has handled the message
// If it responded, we will have a GoToSleep waiting in the queue
// By checking that there are no messages in the queue, we avoid
// resending GoToSleep when we already have a response
// SystemTask is resilient to duplicate messages, this is an
// optimisation to reduce pressure on the message queues
}
} else if (isDimmed) {
isDimmed = false;
Expand All @@ -273,6 +284,9 @@ void DisplayApp::Refresh() {
if (xQueueReceive(msgQueue, &msg, queueTimeout) == pdTRUE) {
switch (msg) {
case Messages::GoToSleep:
if (state != States::Running) {
break;
}
while (brightnessController.Level() != Controllers::BrightnessController::Levels::Low) {
brightnessController.Lower();
vTaskDelay(100);
Expand Down Expand Up @@ -307,6 +321,9 @@ void DisplayApp::Refresh() {
lv_disp_trig_activity(nullptr);
break;
case Messages::GoToRunning:
if (state == States::Running) {
break;
}
if (settingsController.GetAlwaysOnDisplay()) {
lcd.LowPowerOff();
} else {
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142 changes: 64 additions & 78 deletions src/systemtask/SystemTask.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -196,29 +196,11 @@ void SystemTask::Work() {
}
break;
case Messages::DisableSleeping:
GoToRunning();
doNotGoToSleep = true;
break;
case Messages::GoToRunning:
// SPI doesn't go to sleep for always on mode
if (!settingsController.GetAlwaysOnDisplay()) {
spi.Wakeup();
}

// Double Tap needs the touch screen to be in normal mode
if (!settingsController.isWakeUpModeOn(Pinetime::Controllers::Settings::WakeUpMode::DoubleTap)) {
touchPanel.Wakeup();
}

spiNorFlash.Wakeup();

displayApp.PushMessage(Pinetime::Applications::Display::Messages::GoToRunning);
heartRateApp.PushMessage(Pinetime::Applications::HeartRateTask::Messages::WakeUp);

if (bleController.IsRadioEnabled() && !bleController.IsConnected()) {
nimbleController.RestartFastAdv();
}

state = SystemTaskState::Running;
GoToRunning();
break;
case Messages::TouchWakeUp: {
if (touchHandler.ProcessTouchInfo(touchPanel.GetTouchInfo())) {
Expand All @@ -235,13 +217,7 @@ void SystemTask::Work() {
break;
}
case Messages::GoToSleep:
if (doNotGoToSleep) {
break;
}
state = SystemTaskState::GoingToSleep; // Already set in PushMessage()
NRF_LOG_INFO("[systemtask] Going to sleep");
displayApp.PushMessage(Pinetime::Applications::Display::Messages::GoToSleep);
heartRateApp.PushMessage(Pinetime::Applications::HeartRateTask::Messages::GoToSleep);
GoToSleep();
break;
case Messages::OnNewTime:
if (alarmController.State() == Controllers::AlarmController::AlarmState::Set) {
Expand All @@ -250,16 +226,14 @@ void SystemTask::Work() {
break;
case Messages::OnNewNotification:
if (settingsController.GetNotificationStatus() == Pinetime::Controllers::Settings::Notification::On) {
if (state == SystemTaskState::Sleeping) {
if (IsSleeping()) {
GoToRunning();
}
displayApp.PushMessage(Pinetime::Applications::Display::Messages::NewNotification);
}
break;
case Messages::SetOffAlarm:
if (state == SystemTaskState::Sleeping) {
GoToRunning();
}
GoToRunning();
displayApp.PushMessage(Pinetime::Applications::Display::Messages::AlarmTriggered);
break;
case Messages::BleConnected:
Expand All @@ -268,10 +242,8 @@ void SystemTask::Work() {
bleDiscoveryTimer = 5;
break;
case Messages::BleFirmwareUpdateStarted:
GoToRunning();
doNotGoToSleep = true;
if (state == SystemTaskState::Sleeping) {
GoToRunning();
}
displayApp.PushMessage(Pinetime::Applications::Display::Messages::BleFirmwareUpdateStarted);
break;
case Messages::BleFirmwareUpdateFinished:
Expand All @@ -282,10 +254,8 @@ void SystemTask::Work() {
break;
case Messages::StartFileTransfer:
NRF_LOG_INFO("[systemtask] FS Started");
GoToRunning();
doNotGoToSleep = true;
if (state == SystemTaskState::Sleeping) {
GoToRunning();
}
// TODO add intent of fs access icon or something
break;
case Messages::StopFileTransfer:
Expand Down Expand Up @@ -318,6 +288,13 @@ void SystemTask::Work() {
HandleButtonAction(action);
} break;
case Messages::OnDisplayTaskSleeping:
// The state was set to GoingToSleep when GoToSleep() was called
// If the state is no longer GoingToSleep, we have since transitioned back to Running
// In this case absorb the OnDisplayTaskSleeping
// as DisplayApp is about to receive GoToRunning
if (state != SystemTaskState::GoingToSleep) {
break;
}
if (BootloaderVersion::IsValid()) {
// First versions of the bootloader do not expose their version and cannot initialize the SPI NOR FLASH
// if it's in sleep mode. Avoid bricked device by disabling sleep mode on these versions.
Expand Down Expand Up @@ -346,37 +323,23 @@ void SystemTask::Work() {
if (settingsController.GetNotificationStatus() != Controllers::Settings::Notification::Sleep &&
settingsController.GetChimeOption() == Controllers::Settings::ChimesOption::Hours &&
alarmController.State() != AlarmController::AlarmState::Alerting) {
// if sleeping, we can't send a chime to displayApp yet (SPI flash switched off)
// request running first and repush the chime message
if (state == SystemTaskState::Sleeping) {
GoToRunning();
PushMessage(msg);
} else {
displayApp.PushMessage(Pinetime::Applications::Display::Messages::Chime);
}
GoToRunning();
displayApp.PushMessage(Pinetime::Applications::Display::Messages::Chime);
}
break;
case Messages::OnNewHalfHour:
using Pinetime::Controllers::AlarmController;
if (settingsController.GetNotificationStatus() != Controllers::Settings::Notification::Sleep &&
settingsController.GetChimeOption() == Controllers::Settings::ChimesOption::HalfHours &&
alarmController.State() != AlarmController::AlarmState::Alerting) {
// if sleeping, we can't send a chime to displayApp yet (SPI flash switched off)
// request running first and repush the chime message
if (state == SystemTaskState::Sleeping) {
GoToRunning();
PushMessage(msg);
} else {
displayApp.PushMessage(Pinetime::Applications::Display::Messages::Chime);
}
GoToRunning();
displayApp.PushMessage(Pinetime::Applications::Display::Messages::Chime);
}
break;
case Messages::OnChargingEvent:
batteryController.ReadPowerState();
GoToRunning();
displayApp.PushMessage(Applications::Display::Messages::OnChargingEvent);
if (state == SystemTaskState::Sleeping) {
GoToRunning();
}
break;
case Messages::MeasureBatteryTimerExpired:
batteryController.MeasureVoltage();
Expand All @@ -385,9 +348,7 @@ void SystemTask::Work() {
nimbleController.NotifyBatteryLevel(batteryController.PercentRemaining());
break;
case Messages::OnPairing:
if (state == SystemTaskState::Sleeping) {
GoToRunning();
}
GoToRunning();
displayApp.PushMessage(Pinetime::Applications::Display::Messages::ShowPairingKey);
break;
case Messages::BleRadioEnableToggle:
Expand Down Expand Up @@ -422,14 +383,50 @@ void SystemTask::Work() {
#pragma clang diagnostic pop
}

void SystemTask::UpdateMotion() {
if (state == SystemTaskState::GoingToSleep || state == SystemTaskState::WakingUp) {
void SystemTask::GoToRunning() {
if (state == SystemTaskState::Running) {
return;
}
// SPI doesn't go to sleep for always on mode
if (!settingsController.GetAlwaysOnDisplay()) {
spi.Wakeup();
}

// Double Tap needs the touch screen to be in normal mode
if (!settingsController.isWakeUpModeOn(Pinetime::Controllers::Settings::WakeUpMode::DoubleTap)) {
touchPanel.Wakeup();
}

if (state == SystemTaskState::Sleeping && !(settingsController.isWakeUpModeOn(Pinetime::Controllers::Settings::WakeUpMode::RaiseWrist) ||
settingsController.isWakeUpModeOn(Pinetime::Controllers::Settings::WakeUpMode::Shake) ||
motionController.GetService()->IsMotionNotificationSubscribed())) {
spiNorFlash.Wakeup();

displayApp.PushMessage(Pinetime::Applications::Display::Messages::GoToRunning);
heartRateApp.PushMessage(Pinetime::Applications::HeartRateTask::Messages::WakeUp);

if (bleController.IsRadioEnabled() && !bleController.IsConnected()) {
nimbleController.RestartFastAdv();
}

state = SystemTaskState::Running;
};

void SystemTask::GoToSleep() {
if (IsSleeping()) {
return;
}
if (IsSleepDisabled()) {
return;
}
NRF_LOG_INFO("[systemtask] Going to sleep");
displayApp.PushMessage(Pinetime::Applications::Display::Messages::GoToSleep);
heartRateApp.PushMessage(Pinetime::Applications::HeartRateTask::Messages::GoToSleep);

state = SystemTaskState::GoingToSleep;
};

void SystemTask::UpdateMotion() {
if (IsSleeping() && !(settingsController.isWakeUpModeOn(Pinetime::Controllers::Settings::WakeUpMode::RaiseWrist) ||
settingsController.isWakeUpModeOn(Pinetime::Controllers::Settings::WakeUpMode::Shake) ||
motionController.GetService()->IsMotionNotificationSubscribed())) {
return;
}

Expand All @@ -452,7 +449,7 @@ void SystemTask::UpdateMotion() {
}
if (settingsController.isWakeUpModeOn(Pinetime::Controllers::Settings::WakeUpMode::LowerWrist) && state == SystemTaskState::Running &&
motionController.ShouldLowerSleep()) {
PushMessage(Messages::GoToSleep);
GoToSleep();
}
}

Expand All @@ -468,7 +465,7 @@ void SystemTask::HandleButtonAction(Controllers::ButtonActions action) {
switch (action) {
case Actions::Click:
// If the first action after fast wakeup is a click, it should be ignored.
if (!fastWakeUpDone && state != SystemTaskState::GoingToSleep) {
if (!fastWakeUpDone) {
displayApp.PushMessage(Applications::Display::Messages::ButtonPushed);
}
break;
Expand All @@ -488,17 +485,10 @@ void SystemTask::HandleButtonAction(Controllers::ButtonActions action) {
fastWakeUpDone = false;
}

void SystemTask::GoToRunning() {
if (state == SystemTaskState::Sleeping) {
state = SystemTaskState::WakingUp;
PushMessage(Messages::GoToRunning);
}
}

void SystemTask::OnTouchEvent() {
if (state == SystemTaskState::Running) {
PushMessage(Messages::OnTouchEvent);
} else if (state == SystemTaskState::Sleeping) {
} else {
if (settingsController.isWakeUpModeOn(Pinetime::Controllers::Settings::WakeUpMode::SingleTap) or
settingsController.isWakeUpModeOn(Pinetime::Controllers::Settings::WakeUpMode::DoubleTap)) {
PushMessage(Messages::TouchWakeUp);
Expand All @@ -507,10 +497,6 @@ void SystemTask::OnTouchEvent() {
}

void SystemTask::PushMessage(System::Messages msg) {
if (msg == Messages::GoToSleep && !doNotGoToSleep) {
state = SystemTaskState::GoingToSleep;
}

if (in_isr()) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
xQueueSendFromISR(systemTasksMsgQueue, &msg, &xHigherPriorityTaskWoken);
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5 changes: 3 additions & 2 deletions src/systemtask/SystemTask.h
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Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,7 @@ namespace Pinetime {
namespace System {
class SystemTask {
public:
enum class SystemTaskState { Sleeping, Running, GoingToSleep, WakingUp };
enum class SystemTaskState { Sleeping, Running, GoingToSleep };
SystemTask(Drivers::SpiMaster& spi,
Pinetime::Drivers::SpiNorFlash& spiNorFlash,
Drivers::TwiMaster& twiMaster,
Expand Down Expand Up @@ -88,7 +88,7 @@ namespace Pinetime {
};

bool IsSleeping() const {
return state == SystemTaskState::Sleeping || state == SystemTaskState::WakingUp;
return state != SystemTaskState::Running;
}

private:
Expand Down Expand Up @@ -131,6 +131,7 @@ namespace Pinetime {
bool fastWakeUpDone = false;

void GoToRunning();
void GoToSleep();
void UpdateMotion();
bool stepCounterMustBeReset = false;
static constexpr TickType_t batteryMeasurementPeriod = pdMS_TO_TICKS(10 * 60 * 1000);
Expand Down

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