xref: /external/uwb/src/gki/ulinux/uwb_gki_ulinux.cc

/******************************************************************************
 *
 *  Copyright (C) 1999-2012 Broadcom Corporation
 *  Copyright 2019 NXP
 *
 *  Licensed under the Apache License, Version 2.0 (the "License");
 *  you may not use this file except in compliance with the License.
 *  You may obtain a copy of the License at:
 *
 *  http://www.apache.org/licenses/LICENSE-2.0
 *
 *  Unless required by applicable law or agreed to in writing, software
 *  distributed under the License is distributed on an "AS IS" BASIS,
 *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 *  See the License for the specific language governing permissions and
 *  limitations under the License.
 *
 ******************************************************************************/
#include <errno.h>
#include <malloc.h>
#include <pthread.h> /* must be 1st header defined  */

#include "uci_log.h"
#include "uwb_gki_int.h"

/* Temp android logging...move to android tgt config file */

#ifndef LINUX_NATIVE
#else
#define LOGV(format, ...) fprintf(stdout, LOG_TAG format, ##__VA_ARGS__)
#define LOGE(format, ...) fprintf(stderr, LOG_TAG format, ##__VA_ARGS__)
#define LOGI(format, ...) fprintf(stdout, LOG_TAG format, ##__VA_ARGS__)

#define SCHED_NORMAL 0
#define SCHED_FIFO 1
#define SCHED_RR 2
#define SCHED_BATCH 3

#endif

/* Define the structure that holds the GKI variables
 */
tGKI_CB gki_cb;

#define NANOSEC_PER_MILLISEC (1000000)
#define NSEC_PER_SEC (1000 * NANOSEC_PER_MILLISEC)

/* works only for 1ms to 1000ms heart beat ranges */
#define LINUX_SEC (1000 / TICKS_PER_SEC)
// #define GKI_TICK_TIMER_DEBUG

/* this kind of mutex go into tGKI_OS control block!!!! */
/* static pthread_mutex_t GKI_sched_mutex; */
/*static pthread_mutex_t thread_delay_mutex;
static pthread_cond_t thread_delay_cond;
static pthread_mutex_t gki_timer_update_mutex;
static pthread_cond_t   gki_timer_update_cond;
*/

typedef struct {
  uint8_t task_id;         /* GKI task id */
  TASKPTR task_entry;      /* Task entry function*/
  uint32_t params;         /* Extra params to pass to task entry function */
  pthread_cond_t* pCond;   /* for android*/
  pthread_mutex_t* pMutex; /* for android*/
} gki_pthread_info_t;
gki_pthread_info_t gki_pthread_info[GKI_MAX_TASKS];

/*******************************************************************************
**
** Function         phUwb_gki_task_entry
**
** Description      entry point of GKI created tasks
**
** Returns          void
**
*******************************************************************************/
void* phUwb_gki_task_entry(void* params) {
  pthread_t thread_id = pthread_self();
  gki_pthread_info_t* p_pthread_info = (gki_pthread_info_t*)params;
  UCI_TRACE_I(
      "gki_task_entry task_id=%i, thread_id=%lx/%lx, pCond/pMutex=%p/%p",
      p_pthread_info->task_id, gki_cb.os.thread_id[p_pthread_info->task_id],
      pthread_self(), p_pthread_info->pCond, p_pthread_info->pMutex);

  gki_cb.os.thread_id[p_pthread_info->task_id] = thread_id;
  /* Call the actual thread entry point */
  (p_pthread_info->task_entry)(p_pthread_info->params);

  UCI_TRACE_E("gki_task task_id=%i terminating", p_pthread_info->task_id);
  gki_cb.os.thread_id[p_pthread_info->task_id] = 0;

  return NULL;
}
/* end android */

/*******************************************************************************
**
** Function         phUwb_GKI_init
**
** Description      This function is called once at startup to initialize
**                  all the timer structures.
**
** Returns          void
**
*******************************************************************************/

void phUwb_GKI_init(void) {
  pthread_mutexattr_t attr;
  tGKI_OS* p_os;

  memset(&gki_cb, 0, sizeof(gki_cb));

  phUwb_gki_buffer_init();
  phUwb_gki_timers_init();
  gki_cb.com.OSTicks = (uint32_t)times(0);

  pthread_mutexattr_init(&attr);
  p_os = &gki_cb.os;
  pthread_mutex_init(&p_os->GKI_mutex, &attr);
  /* pthread_mutex_init(&GKI_sched_mutex, NULL); */
  /* pthread_mutex_init(&thread_delay_mutex, NULL); */ /* used in GKI_delay */
  /* pthread_cond_init (&thread_delay_cond, NULL); */

  /* Initialiase GKI_timer_update suspend variables & mutexes to be in running
   * state.
   * this works too even if GKI_NO_TICK_STOP is defined in btld.txt */
  p_os->no_timer_suspend = GKI_TIMER_TICK_RUN_COND;
  pthread_mutex_init(&p_os->gki_timer_mutex, NULL);
  pthread_cond_init(&p_os->gki_timer_cond, NULL);
}

/*******************************************************************************
**
** Function         phUwb_GKI_create_task
**
** Description      This function is called to create a new OSS task.
**
** Parameters:      task_entry  - (input) pointer to the entry function of the
**                                        task
**                  task_id     - (input) Task id is mapped to priority
**                  taskname    - (input) name given to the task
**                  stack       - (input) pointer to the top of the stack
**                                        (highest memory location)
**                  stacksize   - (input) size of the stack allocated for the
**                                        task
**
** Returns          GKI_SUCCESS if all OK, GKI_FAILURE if any problem
**
** NOTE             This function take some parameters that may not be needed
**                  by your particular OS. They are here for compatability
**                  of the function prototype.
**
*******************************************************************************/
uint8_t phUwb_GKI_create_task(TASKPTR task_entry, uint8_t task_id,
                              int8_t* taskname, uint16_t* stack,
                              uint16_t stacksize, void* pCondVar,
                              void* pMutex) {
  struct sched_param param;
  int policy, ret = 0;
  pthread_condattr_t attr;
  pthread_attr_t attr1;

  pthread_condattr_init(&attr);
  pthread_condattr_setclock(&attr, CLOCK_MONOTONIC);
  UCI_TRACE_I(
      "GKI_create_task func=0x%p  id=%d  name=%s  stack=0x%p  stackSize=%d",
      task_entry, task_id, taskname, stack, stacksize);

  if (task_id >= GKI_MAX_TASKS) {
    UCI_TRACE_I("Error! task ID > max task allowed");
    return (GKI_FAILURE);
  }

  gki_cb.com.OSRdyTbl[task_id] = TASK_READY;
  gki_cb.com.OSTName[task_id] = taskname;
  gki_cb.com.OSWaitTmr[task_id] = 0;
  gki_cb.com.OSWaitEvt[task_id] = 0;

  /* Initialize mutex and condition variable objects for events and timeouts */
  pthread_mutex_init(&gki_cb.os.thread_evt_mutex[task_id], NULL);
  pthread_cond_init(&gki_cb.os.thread_evt_cond[task_id], &attr);
  pthread_mutex_init(&gki_cb.os.thread_timeout_mutex[task_id], NULL);
  pthread_cond_init(&gki_cb.os.thread_timeout_cond[task_id], &attr);

  pthread_attr_init(&attr1);
/* by default, pthread creates a joinable thread */
#if (FALSE == GKI_PTHREAD_JOINABLE)
  pthread_attr_setdetachstate(&attr1, PTHREAD_CREATE_DETACHED);

  UCI_TRACE_I("GKI creating task %i, pCond/pMutex=%p/%p", task_id, pCondVar,
              pMutex);
#else
  UCI_TRACE_I("GKI creating JOINABLE task %i", task_id);
#endif

  /* On Android, the new tasks starts running before
   * 'gki_cb.os.thread_id[task_id]' is initialized */
  /* Pass task_id to new task so it can initialize gki_cb.os.thread_id[task_id]
   * for it calls GKI_wait */
  gki_pthread_info[task_id].task_id = task_id;
  gki_pthread_info[task_id].task_entry = task_entry;
  gki_pthread_info[task_id].params = 0;
  gki_pthread_info[task_id].pCond = (pthread_cond_t*)pCondVar;
  gki_pthread_info[task_id].pMutex = (pthread_mutex_t*)pMutex;

  ret = pthread_create(&gki_cb.os.thread_id[task_id], &attr1,
                       phUwb_gki_task_entry, &gki_pthread_info[task_id]);

  if (ret != 0) {
    UCI_TRACE_I("pthread_create failed(%d), %s!", ret, taskname);
    return GKI_FAILURE;
  }

  if (pthread_getschedparam(gki_cb.os.thread_id[task_id], &policy, &param) ==
      0) {
    {
      policy = SCHED_RR;
      param.sched_priority = 30 - task_id - 2;
    }
    pthread_setschedparam(gki_cb.os.thread_id[task_id], policy, &param);
  }

  UCI_TRACE_I("Leaving GKI_create_task %p %d %lx %s %p %d", task_entry, task_id,
              gki_cb.os.thread_id[task_id], taskname, stack, stacksize);

  return (GKI_SUCCESS);
}

/*******************************************************************************
**
** Function         phUwb_GKI_shutdown
**
** Description      shutdowns the GKI tasks/threads in from max task id to 0 and
**                  frees pthread resources!
**                  IMPORTANT: in case of join method, GKI_shutdown must be
**                  called outside a GKI thread context!
**
** Returns          void
**
*******************************************************************************/
#define WAKE_LOCK_ID "brcm_uwba"
#define PARTIAL_WAKE_LOCK 1
extern "C" int acquire_wake_lock(int lock, const char* id);
extern "C" int release_wake_lock(const char* id);

void phUwb_GKI_shutdown(void) {
  uint8_t task_id;
  volatile int* p_run_cond = &gki_cb.os.no_timer_suspend;
  int oldCOnd = 0;
#if (FALSE != GKI_PTHREAD_JOINABLE)
  int result;
#endif

  /* release threads and set as TASK_DEAD. going from low to high priority fixes
   * GKI_exception problem due to btu->hci sleep request events  */
  for (task_id = GKI_MAX_TASKS; task_id > 0; task_id--) {
    if (gki_cb.com.OSRdyTbl[task_id - 1] != TASK_DEAD) {
      gki_cb.com.OSRdyTbl[task_id - 1] = TASK_DEAD;

      /* paranoi settings, make sure that we do not execute any mailbox events
       */
      gki_cb.com.OSWaitEvt[task_id - 1] &=
          ~(TASK_MBOX_0_EVT_MASK | TASK_MBOX_1_EVT_MASK | TASK_MBOX_2_EVT_MASK |
            TASK_MBOX_3_EVT_MASK);
      phUwb_GKI_send_event(task_id - 1, EVENT_MASK(GKI_SHUTDOWN_EVT));

#if (FALSE == GKI_PTHREAD_JOINABLE)
      int i = 0;
      if((task_id - 1) != BTU_TASK) {
        while ((gki_cb.com.OSWaitEvt[task_id - 1] != 0) && (++i < 10))
          usleep(50 * 1000);
      } else {
        usleep(50 * 1000);
        UCI_TRACE_D("%s: Wait not needed for UWBA_TASK with task id %d", __func__,(task_id - 1));
      }
#else
      /* wait for proper Arnold Schwarzenegger task state */
      result = pthread_join(gki_cb.os.thread_id[task_id - 1], NULL);
      if (result < 0) {
        UCI_TRACE_I("FAILED: result: %d", result);
      }
#endif
      UCI_TRACE_I("task %s dead", gki_cb.com.OSTName[task_id - 1]);
      phUwb_GKI_exit_task(task_id - 1);
    }
  }
/*    pthread_mutex_destroy(&GKI_sched_mutex); */
/*    pthread_mutex_destroy(&thread_delay_mutex);
 pthread_cond_destroy (&thread_delay_cond); */
  if (gki_cb.os.gki_timer_wake_lock_on) {
    UCI_TRACE_I("GKI_shutdown :  release_wake_lock(brcm_btld)");
    release_wake_lock(WAKE_LOCK_ID);
    gki_cb.os.gki_timer_wake_lock_on = 0;
  }
  oldCOnd = *p_run_cond;
  *p_run_cond = GKI_TIMER_TICK_EXIT_COND;
  if (oldCOnd == GKI_TIMER_TICK_STOP_COND)
    pthread_cond_signal(&gki_cb.os.gki_timer_cond);
  /* Destroy mutex and condition variable objects */
  pthread_mutex_destroy(&gki_cb.os.GKI_mutex);
}

/*******************************************************************************
 **
 ** Function        phUwb_GKI_run
 **
 ** Description     This function runs a task
 **
 ** Parameters:     start: TRUE start system tick (again), FALSE stop
 **
 ** Returns         void
 **
 ******************************************************************************/
void phUwb_gki_system_tick_start_stop_cback(bool start) {
  tGKI_OS* p_os = &gki_cb.os;
  volatile int* p_run_cond = &p_os->no_timer_suspend;
#ifdef GKI_TICK_TIMER_DEBUG
  static volatile int wake_lock_count;
#endif
  if (start == false) {
    /* this can lead to a race condition. however as we only read this variable
     * in the timer loop
     * we should be fine with this approach. otherwise uncomment below mutexes.
     */
    /* GKI_disable(); */
    *p_run_cond = GKI_TIMER_TICK_STOP_COND;
/* GKI_enable(); */
#ifdef GKI_TICK_TIMER_DEBUG
    UCI_TRACE_I(">>> STOP wake_lock_count:%d", --wake_lock_count);
#endif
    release_wake_lock(WAKE_LOCK_ID);
    gki_cb.os.gki_timer_wake_lock_on = 0;
  } else {
    /* restart GKI_timer_update() loop */
    acquire_wake_lock(PARTIAL_WAKE_LOCK, WAKE_LOCK_ID);
    gki_cb.os.gki_timer_wake_lock_on = 1;
    *p_run_cond = GKI_TIMER_TICK_RUN_COND;
    pthread_mutex_lock(&p_os->gki_timer_mutex);
    pthread_cond_signal(&p_os->gki_timer_cond);
    pthread_mutex_unlock(&p_os->gki_timer_mutex);

#ifdef GKI_TICK_TIMER_DEBUG
    UCI_TRACE_I(">>> START wake_lock_count:%d", ++wake_lock_count);
#endif
  }
}

/*******************************************************************************
**
** Function         phUwb_GKI_run
**
** Description      This function runs a task
**
** Parameters:      p_task_id  - (input) pointer to task id
**
** Returns          void
**
** NOTE             This function is only needed for operating systems where
**                  starting a task is a 2-step process. Most OS's do it in
**                  one step, If your OS does it in one step, this function
**                  should be empty.
*******************************************************************************/
void phUwb_GKI_run(__attribute__((unused)) void* p_task_id) {
  UCI_TRACE_I("%s enter", __func__);
  struct timespec delay;
  int err = 0;
  volatile int* p_run_cond = &gki_cb.os.no_timer_suspend;

#ifndef GKI_NO_TICK_STOP
  /* register start stop function which disable timer loop in GKI_run() when no
   * timers are
   * in any GKI/BTA/BTU this should save power when BTLD is idle! */
  phUwb_GKI_timer_queue_register_callback(
      phUwb_gki_system_tick_start_stop_cback);
  UCI_TRACE_I("Start/Stop GKI_timer_update_registered!");
#endif
  UCI_TRACE_I("GKI_run, run_cond(%p)=%d ", p_run_cond, *p_run_cond);
  for (; GKI_TIMER_TICK_EXIT_COND != *p_run_cond;) {
    do {
      /* adjust hear bit tick in btld by changning TICKS_PER_SEC!!!!! this
       * formula works only for
       * 1-1000ms heart beat units! */
      delay.tv_sec = LINUX_SEC / 1000;
      delay.tv_nsec = 1000 * 1000 * (LINUX_SEC % 1000);

      /* [u]sleep can't be used because it uses SIGALRM */
      do {
        err = nanosleep(&delay, &delay);
      } while (err < 0 && errno == EINTR);

      if (GKI_TIMER_TICK_RUN_COND != *p_run_cond) break;  // GKI has shutdown

      /* the unit should be alsways 1 (1 tick). only if you vary for some reason
       * heart beat tick
       * e.g. power saving you may want to provide more ticks
       */
      phUwb_GKI_timer_update(1);
    } while (GKI_TIMER_TICK_RUN_COND == *p_run_cond);

/* currently on reason to exit above loop is no_timer_suspend ==
 * GKI_TIMER_TICK_STOP_COND
 * block timer main thread till re-armed by  */
#ifdef GKI_TICK_TIMER_DEBUG
    UCI_TRACE_I(">>> SUSPENDED");
#endif
    if (GKI_TIMER_TICK_EXIT_COND != *p_run_cond) {
      pthread_mutex_lock(&gki_cb.os.gki_timer_mutex);
      pthread_cond_wait(&gki_cb.os.gki_timer_cond, &gki_cb.os.gki_timer_mutex);
      pthread_mutex_unlock(&gki_cb.os.gki_timer_mutex);
    }
    /* potentially we need to adjust os gki_cb.com.OSTicks */

#ifdef GKI_TICK_TIMER_DEBUG
    UCI_TRACE_I(">>> RESTARTED run_cond: %d", *p_run_cond);
#endif
  } /* for */
  UCI_TRACE_I("%s exit", __func__);
}

/*******************************************************************************
**
** Function         phUwb_GKI_wait
**
** Description      This function is called by tasks to wait for a specific
**                  event or set of events. The task may specify the duration
**                  that it wants to wait for, or 0 if infinite.
**
** Parameters:      flag -    (input) the event or set of events to wait for
**                  timeout - (input) the duration that the task wants to wait
**                                    for the specific events (in system ticks)
**
**
** Returns          the event mask of received events or zero if timeout
**
*******************************************************************************/
uint16_t phUwb_GKI_wait(uint16_t flag, uint32_t timeout) {
  uint16_t evt;
  uint8_t rtask;
  struct timespec abstime = {0, 0};
  int sec;
  int nano_sec;

  rtask = phUwb_GKI_get_taskid();
  if (rtask >= GKI_MAX_TASKS) {
    UCI_TRACE_E("%s() Exiting thread; rtask %d >= %d", __func__, rtask,
                GKI_MAX_TASKS);
    return EVENT_MASK(GKI_SHUTDOWN_EVT);
  }

  gki_pthread_info_t* p_pthread_info = &gki_pthread_info[rtask];
  if (p_pthread_info->pCond != NULL && p_pthread_info->pMutex != NULL) {
    int ret;
    UCI_TRACE_I("GKI_wait task=%i, pCond/pMutex = %p/%p", rtask,
                p_pthread_info->pCond, p_pthread_info->pMutex);
    ret = pthread_mutex_lock(p_pthread_info->pMutex);
    ret = pthread_cond_signal(p_pthread_info->pCond);
    ret = pthread_mutex_unlock(p_pthread_info->pMutex);
    p_pthread_info->pMutex = NULL;
    p_pthread_info->pCond = NULL;
  }
  gki_cb.com.OSWaitForEvt[rtask] = flag;

  /* protect OSWaitEvt[rtask] from modification from an other thread */
  pthread_mutex_lock(&gki_cb.os.thread_evt_mutex[rtask]);

  if (!(gki_cb.com.OSWaitEvt[rtask] & flag)) {
    if (timeout) {
      if (clock_gettime(CLOCK_MONOTONIC, &abstime) == -1) {
        UCI_TRACE_E("phUwb_GKI_wait: fail get time");
      } else {
        /* add timeout */
        sec = timeout / 1000;
        nano_sec = (timeout % 1000) * NANOSEC_PER_MILLISEC;
        abstime.tv_nsec += nano_sec;
        if (abstime.tv_nsec > NSEC_PER_SEC) {
          abstime.tv_sec += (abstime.tv_nsec / NSEC_PER_SEC);
          abstime.tv_nsec = abstime.tv_nsec % NSEC_PER_SEC;
        }
        abstime.tv_sec += sec;
      }

      int waitResult =
          pthread_cond_timedwait(&gki_cb.os.thread_evt_cond[rtask],
                                 &gki_cb.os.thread_evt_mutex[rtask], &abstime);
      if ((waitResult != 0) && (waitResult != ETIMEDOUT))
        UCI_TRACE_E("phUwb_GKI_wait::wait: fail timed wait; error=0x%X",
                    waitResult);

    } else {
      pthread_cond_wait(&gki_cb.os.thread_evt_cond[rtask],
                        &gki_cb.os.thread_evt_mutex[rtask]);
    }

    /* TODO: check, this is probably neither not needed depending on
     phtread_cond_wait() implmentation,
     e.g. it looks like it is implemented as a counter in which case multiple
     cond_signal
     should NOT be lost! */
    // we are waking up after waiting for some events, so refresh variables
    // no need to call GKI_disable() here as we know that we will have some
    // events as we've been waking up after condition pending or timeout
    if (gki_cb.com.OSTaskQFirst[rtask][0])
      gki_cb.com.OSWaitEvt[rtask] |= TASK_MBOX_0_EVT_MASK;
    if (gki_cb.com.OSTaskQFirst[rtask][1])
      gki_cb.com.OSWaitEvt[rtask] |= TASK_MBOX_1_EVT_MASK;
    if (gki_cb.com.OSTaskQFirst[rtask][2])
      gki_cb.com.OSWaitEvt[rtask] |= TASK_MBOX_2_EVT_MASK;
    if (gki_cb.com.OSTaskQFirst[rtask][3])
      gki_cb.com.OSWaitEvt[rtask] |= TASK_MBOX_3_EVT_MASK;

    if (gki_cb.com.OSRdyTbl[rtask] == TASK_DEAD) {
      gki_cb.com.OSWaitEvt[rtask] = 0;
      /* unlock thread_evt_mutex as pthread_cond_wait() does auto lock when cond
       * is met */
      pthread_mutex_unlock(&gki_cb.os.thread_evt_mutex[rtask]);
      UCI_TRACE_E("GKI TASK_DEAD received. exit thread %d...", rtask);

      gki_cb.os.thread_id[rtask] = 0;
      return (EVENT_MASK(GKI_SHUTDOWN_EVT));
    }
  }

  /* Clear the wait for event mask */
  gki_cb.com.OSWaitForEvt[rtask] = 0;

  /* Return only those bits which user wants... */
  evt = gki_cb.com.OSWaitEvt[rtask] & flag;

  /* Clear only those bits which user wants... */
  gki_cb.com.OSWaitEvt[rtask] &= ~flag;

  /* unlock thread_evt_mutex as pthread_cond_wait() does auto lock mutex when
   * cond is met */
  pthread_mutex_unlock(&gki_cb.os.thread_evt_mutex[rtask]);
  return (evt);
}

/*******************************************************************************
**
** Function         phUwb_GKI_send_event
**
** Description      This function is called by tasks to send events to other
**                  tasks. Tasks can also send events to themselves.
**
** Parameters:      task_id -  (input) The id of the task to which the event has
**                                     to be sent
**                  event   -  (input) The event that has to be sent
**
**
** Returns          GKI_SUCCESS if all OK, else GKI_FAILURE
**
*******************************************************************************/
uint8_t phUwb_GKI_send_event(uint8_t task_id, uint16_t event) {
  /* use efficient coding to avoid pipeline stalls */
  if (task_id < GKI_MAX_TASKS) {
    /* protect OSWaitEvt[task_id] from manipulation in GKI_wait() */
    pthread_mutex_lock(&gki_cb.os.thread_evt_mutex[task_id]);

    /* Set the event bit */
    gki_cb.com.OSWaitEvt[task_id] |= event;

    pthread_cond_signal(&gki_cb.os.thread_evt_cond[task_id]);

    pthread_mutex_unlock(&gki_cb.os.thread_evt_mutex[task_id]);

    return (GKI_SUCCESS);
  }
  return (GKI_FAILURE);
}

/*******************************************************************************
**
** Function         phUwb_GKI_isend_event
**
** Description      This function is called from ISRs to send events to other
**                  tasks. The only difference between this function and
**                  GKI_send_event is that this function assumes interrupts are
**                  already disabled.
**
** Parameters:      task_id -  (input) The destination task Id for the event.
**                  event   -  (input) The event flag
**
** Returns          GKI_SUCCESS if all OK, else GKI_FAILURE
**
** NOTE             This function is NOT called by the Widcomm stack and
**                  profiles. If you want to use it in your own implementation,
**                  put your code here, otherwise you can delete the entire
**                  body of the function.
**
*******************************************************************************/
uint8_t phUwb_GKI_isend_event(uint8_t task_id, uint16_t event) {
  UCI_TRACE_I("GKI_isend_event %d %x", task_id, event);
  UCI_TRACE_I("GKI_isend_event %d %x done", task_id, event);
  return phUwb_GKI_send_event(task_id, event);
}

/*******************************************************************************
**
** Function         phUwb_GKI_get_taskid
**
** Description      This function gets the currently running task ID.
**
** Returns          task ID
**
** NOTE             The Widcomm upper stack and profiles may run as a single
**                  task. If you only have one GKI task, then you can hard-code
**                  this function to return a '1'. Otherwise, you should have
**                  some OS-specific method to determine the current task.
**
*******************************************************************************/
uint8_t phUwb_GKI_get_taskid(void) {
  uint8_t i;
  pthread_t thread_id = pthread_self();
  for (i = 0; i < GKI_MAX_TASKS; i++) {
    if (gki_cb.os.thread_id[i] == thread_id) {
      return (i);
    }
  }
  return (0xFF);
}

/*******************************************************************************
**
** Function         phUwb_GKI_enable
**
** Description      This function enables interrupts.
**
** Returns          void
**
*******************************************************************************/
void phUwb_GKI_enable(void) {
  pthread_mutex_unlock(&gki_cb.os.GKI_mutex);
  /*     pthread_mutex_xx is nesting save, no need for this: already_disabled =
   * 0; */
  return;
}

/*******************************************************************************
**
** Function         phUwb_GKI_disable
**
** Description      This function disables interrupts.
**
** Returns          void
**
*******************************************************************************/

void phUwb_GKI_disable(void) {
  UCI_TRACE_I("GKI_disable");
  pthread_mutex_lock(&gki_cb.os.GKI_mutex);
  UCI_TRACE_I("Leaving GKI_disable");
  return;
}

/*******************************************************************************
**
** Function         phUwb_GKI_exception
**
** Description      This function throws an exception.
**                  This is normally only called for a nonrecoverable error.
**
** Parameters:      code    -  (input) The code for the error
**                  msg     -  (input) The message that has to be logged
**
** Returns          void
**
*******************************************************************************/

void phUwb_GKI_exception(uint16_t code, std::string msg) {
  uint8_t task_id;

  UCI_TRACE_E("Task State Table");

  for (task_id = 0; task_id < GKI_MAX_TASKS; task_id++) {
    UCI_TRACE_E("TASK ID [%d] task name [%s] state [%d]", task_id,
                gki_cb.com.OSTName[task_id], gki_cb.com.OSRdyTbl[task_id]);
  }

  UCI_TRACE_E("%d %s", code, msg.c_str());
  UCI_TRACE_E(
      "********************************************************************");
  UCI_TRACE_E("* %d %s", code, msg.c_str());
  UCI_TRACE_E(
      "********************************************************************");

  UCI_TRACE_E("%d %s done", code, msg.c_str());

  return;
}

/*******************************************************************************
**
** Function         phUwb_GKI_os_malloc
**
** Description      This function allocates memory
**
** Parameters:      size -  (input) The size of the memory that has to be
**                  allocated
**
** Returns          the address of the memory allocated, or NULL if failed
**
** NOTE             This function is called by the Widcomm stack when
**                  dynamic memory allocation is used.
**
*******************************************************************************/
void* phUwb_GKI_os_malloc(uint32_t size) { return (malloc(size)); }

/*******************************************************************************
**
** Function         phUwb_GKI_os_free
**
** Description      This function frees memory
**
** Parameters:      size -  (input) The address of the memory that has to be
**                  freed
**
** Returns          void
**
** NOTE             This function is NOT called by the Widcomm stack and
**                  profiles. It is only called from within GKI if dynamic
**
*******************************************************************************/
void phUwb_GKI_os_free(void* p_mem) {
  if (p_mem != NULL) free(p_mem);
  return;
}

/*******************************************************************************
**
** Function         phUwb_GKI_exit_task
**
** Description      This function is called to stop a GKI task.
**
** Parameters:      task_id  - (input) the id of the task that has to be stopped
**
** Returns          void
**
** NOTE             This function is NOT called by the Widcomm stack and
**                  profiles. If you want to use it in your own implementation,
**                  put specific code here to kill a task.
**
*******************************************************************************/
void phUwb_GKI_exit_task(uint8_t task_id) {
  if (task_id >= GKI_MAX_TASKS) {
    return;
  }
  phUwb_GKI_disable();
  gki_cb.com.OSRdyTbl[task_id] = TASK_DEAD;

  /* Destroy mutex and condition variable objects */
  pthread_mutex_destroy(&gki_cb.os.thread_evt_mutex[task_id]);
  pthread_cond_destroy(&gki_cb.os.thread_evt_cond[task_id]);
  pthread_mutex_destroy(&gki_cb.os.thread_timeout_mutex[task_id]);
  pthread_cond_destroy(&gki_cb.os.thread_timeout_cond[task_id]);

  phUwb_GKI_enable();

  UCI_TRACE_I("GKI_exit_task %d done", task_id);
  return;
}