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mruby-task: implement posix hal for timer and interrupt control

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add hardware abstraction layer with posix implementation:
- setitimer: generates periodic sigalrm for tick-based scheduling
- signal handler: calls mrb_tick on each timer interrupt
- sigprocmask: enables/disables interrupts by blocking sigalrm
- usleep: idle cpu implementation for posix platforms

the hal is initialized during gem init and starts the periodic
timer automatically. non-posix platforms get stub implementations.

tick period is configurable via MRB_TICK_UNIT (default 4ms).

Co-authored-by: Claude <noreply@anthropic.com>
This commit is contained in:
Yukihiro "Matz" Matsumoto
2025-10-04 14:20:26 +09:00
parent e3120cd7c0
commit b7b06a0857
1 changed files with 77 additions and 6 deletions
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mrbgems/mruby-task/src/task.c
+77 -6
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@@ -421,34 +421,102 @@ mrb_f_sleep_ms(mrb_state *mrb, mrb_value self)
}
/*
* HAL stub implementations (temporary)
* These will be replaced with real implementations in Phase 6
* HAL POSIX implementation
*/
#ifdef __unix__
#include <signal.h>
#include <sys/time.h>
#include <unistd.h>
static mrb_state *global_mrb = NULL;
static sigset_t alarm_mask;
static void
sigalrm_handler(int sig)
{
(void)sig;
if (global_mrb) {
mrb_tick(global_mrb);
}
}
void
mrb_task_hal_init(mrb_state *mrb)
{
/* TODO: Initialize hardware timer */
struct sigaction sa;
struct itimerval timer;
global_mrb = mrb;
/* Set up SIGALRM mask for interrupt control */
sigemptyset(&alarm_mask);
sigaddset(&alarm_mask, SIGALRM);
/* Set up signal handler */
sa.sa_handler = sigalrm_handler;
sa.sa_flags = 0;
sigemptyset(&sa.sa_mask);
sigaction(SIGALRM, &sa, NULL);
/* Set up periodic timer (MRB_TICK_UNIT ms) */
timer.it_value.tv_sec = 0;
timer.it_value.tv_usec = MRB_TICK_UNIT * 1000;
timer.it_interval.tv_sec = 0;
timer.it_interval.tv_usec = MRB_TICK_UNIT * 1000;
setitimer(ITIMER_REAL, &timer, NULL);
}
void
mrb_task_enable_irq(void)
{
/* TODO: Enable interrupts */
sigprocmask(SIG_UNBLOCK, &alarm_mask, NULL);
}
void
mrb_task_disable_irq(void)
{
/* TODO: Disable interrupts */
sigprocmask(SIG_BLOCK, &alarm_mask, NULL);
}
void
mrb_task_hal_idle_cpu(mrb_state *mrb)
{
/* TODO: Put CPU in idle state */
(void)mrb;
/* On POSIX, just pause briefly */
usleep(MRB_TICK_UNIT * 1000);
}
#else
/* Stub implementation for non-POSIX platforms */
void
mrb_task_hal_init(mrb_state *mrb)
{
(void)mrb;
/* TODO: Platform-specific timer initialization */
}
void
mrb_task_enable_irq(void)
{
/* TODO: Platform-specific interrupt enable */
}
void
mrb_task_disable_irq(void)
{
/* TODO: Platform-specific interrupt disable */
}
void
mrb_task_hal_idle_cpu(mrb_state *mrb)
{
(void)mrb;
/* TODO: Platform-specific idle/sleep */
}
#endif
/*
* Task class methods
*/
@@ -860,6 +928,9 @@ mrb_mruby_task_gem_init(mrb_state *mrb)
{
struct RClass *task_class;
/* Initialize HAL (timer and interrupts) */
mrb_task_hal_init(mrb);
task_class = mrb_define_class(mrb, "Task", mrb->object_class);
MRB_SET_INSTANCE_TT(task_class, MRB_TT_DATA);