RPC: gracefully handle timeouts

Author: facchinm

libraries/RPC/src/RPC.cpp

@@ -149,13 +149,13 @@ int RPCClass::begin(long unsigned int np, uint16_t nd) {
   // Ideally this should execute only once
   disableCM4Autoboot();
 
-	eventThread = new rtos::Thread(osPriorityHigh);
+	eventThread = new rtos::Thread(osPriorityHigh, 4096);
 	eventThread->start(&eventHandler);
 
-  dispatcherThread = new rtos::Thread(osPriorityNormal);
+  dispatcherThread = new rtos::Thread(osPriorityNormal, 4096);
   dispatcherThread->start(mbed::callback(this, &RPCClass::dispatch));
 
-  responseThread = new rtos::Thread(osPriorityNormal);
+  responseThread = new rtos::Thread(osPriorityNormal, 4096);
   responseThread->start(mbed::callback(this, &RPCClass::response));
 
 	/* Initialize OpenAmp and libmetal libraries */
@@ -196,13 +196,13 @@ int RPCClass::begin(long unsigned int np, uint16_t nd) {
 
 int RPCClass::begin(long unsigned int np, uint16_t nd) {
 
-  eventThread = new rtos::Thread(osPriorityHigh);
+  eventThread = new rtos::Thread(osPriorityHigh, 4096);
   eventThread->start(&eventHandler);
 
-  dispatcherThread = new rtos::Thread(osPriorityNormal);
+  dispatcherThread = new rtos::Thread(osPriorityNormal, 4096);
   dispatcherThread->start(mbed::callback(this, &RPCClass::dispatch));
 
-  responseThread = new rtos::Thread(osPriorityNormal);
+  responseThread = new rtos::Thread(osPriorityNormal, 4096);
   responseThread->start(mbed::callback(this, &RPCClass::response));
 
   /* Initialize OpenAmp and libmetal libraries */

libraries/RPC/src/RPC.h

@@ -81,6 +81,10 @@ class RPCClass : public Stream, public rpc::detail::dispatcher {
         delete client;
       }
 
+    void setTimeout(uint32_t milliseconds) {
+      _timeout = milliseconds;
+    }
+
 		template <typename... Args>
     	RPCLIB_MSGPACK::object_handle call(std::string const &func_name,
                                        Args... args) {
@@ -98,8 +102,15 @@ class RPCClass : public Stream, public rpc::detail::dispatcher {
     		}
     		mtx.unlock();
 
+    		clients[i]->setTimeout(_timeout);
+    		has_timed_out = false;
+
     		// thread start and client .call
     		clients[i]->call(func_name, args...);
+
+    		if (clients[i]->timedOut()) {
+    			has_timed_out = true;
+    		}
     		RPCLIB_MSGPACK::object_handle ret = std::move(clients[i]->result);
 
     		mtx.lock();
@@ -111,6 +122,10 @@ class RPCClass : public Stream, public rpc::detail::dispatcher {
 
 		rpc::client* clients[10];
 
+		bool timedOut() {
+			return has_timed_out;
+		}
+
 	private:
 		RingBufferN<256> rx_buffer;
 		bool initialized = false;
@@ -133,6 +148,9 @@ class RPCClass : public Stream, public rpc::detail::dispatcher {
 
 		mbed::Callback<void()> _rx;
 
+		uint32_t _timeout = osWaitForever;
+		bool has_timed_out = false;
+
 		//rpc::detail::response response;
 		RPCLIB_MSGPACK::object_handle call_result;
 

libraries/RPC/src/RPC_client.h

@@ -28,12 +28,13 @@ class client {
 
       send_msgpack(buffer);
 
-      osSignalWait(0, osWaitForever);
-
-      //getResult(result);
-
+      auto e = osSignalWait(0, timeout);
       delete buffer;
 
+      if (e.status != osEventSignal) {
+        has_timed_out = true;
+      }
+
       RPCLIB_MSGPACK::object_handle q = std::move(result);
       return q;
     }
@@ -62,11 +63,22 @@ class client {
       delete buffer;
     }
 
+    void setTimeout(uint32_t milliseconds) {
+      timeout = milliseconds;
+    }
+
+    bool timedOut() {
+      return has_timed_out;
+    }
+
   protected:
     osThreadId callThreadId;
     friend class arduino::RPCClass;
     RPCLIB_MSGPACK::object_handle result;
 
+    uint32_t timeout = osWaitForever;
+    bool has_timed_out = false;
+
   private:
     enum class request_type { call = 0, notification = 2 };;