incubator-nuttx/sched/task/task_create.c

/****************************************************************************
 * sched/task/task_create.c
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Licensed to the Apache Software Foundation (ASF) under one or more
 * contributor license agreements.  See the NOTICE file distributed with
 * this work for additional information regarding copyright ownership.  The
 * ASF licenses this file to you 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.
 *
 ****************************************************************************/

/****************************************************************************
 * Included Files
 ****************************************************************************/

#include <nuttx/config.h>

#include <sys/types.h>
#include <sched.h>
#include <errno.h>
#include <debug.h>

#include <nuttx/arch.h>
#include <nuttx/kmalloc.h>
#include <nuttx/sched.h>
#include <nuttx/kthread.h>
#include <nuttx/fs/fs.h>

#include "sched/sched.h"
#include "group/group.h"
#include "task/task.h"

/****************************************************************************
 * Public Functions
 ****************************************************************************/

/****************************************************************************
 * Name: nxthread_create
 *
 * Description:
 *   This function creates and activates a new thread of the specified type
 *   with a specified priority and returns its system-assigned ID.  It is the
 *   internal, common implementation of task_create() and kthread_create().
 *   See comments with task_create() for further information.
 *
 * Input Parameters:
 *   name       - Name of the new task
 *   ttype      - Type of the new task
 *   priority   - Priority of the new task
 *   stack_addr - Address of the stack needed
 *   stack_size - Size (in bytes) of the stack needed
 *   entry      - Entry point of a new task
 *   arg        - A pointer to an array of input parameters.  The array
 *                should be terminated with a NULL argv[] value. If no
 *                parameters are required, argv may be NULL.
 *   envp       - A pointer to an array of environment strings. Terminated
 *                with a NULL entry.
 *
 * Returned Value:
 *   Returns the positive, non-zero process ID of the new task or a negated
 *   errno value to indicate the nature of any failure.  If memory is
 *   insufficient or the task cannot be created -ENOMEM will be returned.
 *
 ****************************************************************************/

int nxthread_create(FAR const char *name, uint8_t ttype, int priority,
                    FAR void *stack_addr, int stack_size, main_t entry,
                    FAR char * const argv[], FAR char * const envp[])
{
  FAR struct tcb_s *tcb;
  pid_t pid;
  int ret;

  /* Allocate a TCB for the new task. */

  tcb = kmm_zalloc(ttype == TCB_FLAG_TTYPE_KERNEL ?
                   sizeof(struct tcb_s) : sizeof(struct task_tcb_s));
  if (!tcb)
    {
      serr("ERROR: Failed to allocate TCB\n");
      return -ENOMEM;
    }

  /* Setup the task type */

  tcb->flags = ttype | TCB_FLAG_FREE_TCB;

  /* Initialize the task */

  ret = nxtask_init((FAR struct task_tcb_s *)tcb, name, priority,
                    stack_addr, stack_size, entry, argv, envp, NULL);
  if (ret < OK)
    {
      kmm_free(tcb);
      return ret;
    }

  /* Get the assigned pid before we start the task */

  pid = tcb->pid;

  /* Activate the task */

  nxtask_activate(tcb);

  return pid;
}

/****************************************************************************
 * Name: nxtask_create
 *
 * Description:
 *   This function creates and activates a new task with a specified
 *   priority and returns its system-assigned ID.
 *
 *   The entry address entry is the address of the "main" function of the
 *   task.  This function will be called once the C environment has been
 *   set up.  The specified function will be called with four arguments.
 *   Should the specified routine return, a call to exit() will
 *   automatically be made.
 *
 *   Note that four (and only four) arguments must be passed for the spawned
 *   functions.
 *
 *   nxtask_create() is identical to the function task_create(), differing
 *   only in its return value:  This function does not modify the errno
 *   variable.  This is a non-standard, internal OS function and is not
 *   intended for use by application logic.  Applications should use
 *   task_create().
 *
 * Input Parameters:
 *   name       - Name of the new task
 *   priority   - Priority of the new task
 *   stack_addr - Address of the stack needed
 *   stack_size - Size (in bytes) of the stack needed
 *   entry      - Entry point of a new task
 *   arg        - A pointer to an array of input parameters.  The array
 *                should be terminated with a NULL argv[] value. If no
 *                parameters are required, argv may be NULL.
 *   envp       - A pointer to an array of environment strings. Terminated
 *                with a NULL entry.
 *
 * Returned Value:
 *   Returns the positive, non-zero process ID of the new task or a negated
 *   errno value to indicate the nature of any failure.  If memory is
 *   insufficient or the task cannot be created -ENOMEM will be returned.
 *
 ****************************************************************************/

int nxtask_create(FAR const char *name, int priority,
                  FAR void *stack_addr, int stack_size, main_t entry,
                  FAR char * const argv[], FAR char * const envp[])
{
  return nxthread_create(name, TCB_FLAG_TTYPE_TASK, priority, stack_addr,
                         stack_size, entry, argv, envp ? envp : environ);
}

/****************************************************************************
 * Name: task_create
 *
 * Description:
 *   This function creates and activates a new task with a specified
 *   priority and returns its system-assigned ID.
 *
 *   The entry address entry is the address of the "main" function of the
 *   task.  This function will be called once the C environment has been
 *   set up.  The specified function will be called with four arguments.
 *   Should the specified routine return, a call to exit() will
 *   automatically be made.
 *
 *   Note that four (and only four) arguments must be passed for the spawned
 *   functions.
 *
 * Input Parameters:
 *   name       - Name of the new task
 *   priority   - Priority of the new task
 *   stack_size - size (in bytes) of the stack needed
 *   entry      - Entry point of a new task
 *   arg        - A pointer to an array of input parameters.  The array
 *                should be terminated with a NULL argv[] value. If no
 *                parameters are required, argv may be NULL.
 *
 * Returned Value:
 *   Returns the non-zero process ID of the new task or ERROR if memory is
 *   insufficient or the task cannot be created.  The errno will be set in
 *   the failure case to indicate the nature of the error.
 *
 ****************************************************************************/

#ifndef CONFIG_BUILD_KERNEL
int task_create_with_stack(FAR const char *name, int priority,
                           FAR void *stack_addr, int stack_size,
                           main_t entry, FAR char * const argv[])
{
  int ret = nxtask_create(name, priority, stack_addr,
                          stack_size, entry, argv, NULL);
  if (ret < 0)
    {
      set_errno(-ret);
      ret = ERROR;
    }

  return ret;
}

int task_create(FAR const char *name, int priority,
                int stack_size, main_t entry, FAR char * const argv[])
{
  return task_create_with_stack(name, priority, NULL,
                                stack_size, entry, argv);
}
#endif

/****************************************************************************
 * Name: kthread_create_with_stack
 *
 * Description:
 *   This function creates and activates a kernel thread task with
 *   kernel-mode privileges. It is identical to kthread_create() except
 *   that it get the stack memory from caller.
 *
 * Input Parameters:
 *   name       - Name of the new task
 *   priority   - Priority of the new task
 *   stack_addr - Stack buffer of the new task
 *   stack_size - Stack size of the new task
 *   entry      - Entry point of a new task
 *   arg        - A pointer to an array of input parameters.  The array
 *                should be terminated with a NULL argv[] value. If no
 *                parameters are required, argv may be NULL.
 *
 * Returned Value:
 *   Returns the positive, non-zero process ID of the new task or a negated
 *   errno value to indicate the nature of any failure.  If memory is
 *   insufficient or the task cannot be created -ENOMEM will be returned.
 *
 ****************************************************************************/

int kthread_create_with_stack(FAR const char *name, int priority,
                              FAR void *stack_addr, int stack_size,
                              main_t entry, FAR char * const argv[])
{
  return nxthread_create(name, TCB_FLAG_TTYPE_KERNEL, priority,
                         stack_addr, stack_size, entry, argv, NULL);
}

/****************************************************************************
 * Name: kthread_create
 *
 * Description:
 *   This function creates and activates a kernel thread task with kernel-
 *   mode privileges.  It is identical to task_create() except that it
 *   configures the newly started thread to run in kernel model.
 *
 * Input Parameters:
 *   name       - Name of the new task
 *   priority   - Priority of the new task
 *   stack_size - size (in bytes) of the stack needed
 *   entry      - Entry point of a new task
 *   arg        - A pointer to an array of input parameters.  The array
 *                should be terminated with a NULL argv[] value. If no
 *                parameters are required, argv may be NULL.
 *
 * Returned Value:
 *   Returns the positive, non-zero process ID of the new task or a negated
 *   errno value to indicate the nature of any failure.  If memory is
 *   insufficient or the task cannot be created -ENOMEM will be returned.
 *
 ****************************************************************************/

int kthread_create(FAR const char *name, int priority,
                   int stack_size, main_t entry, FAR char * const argv[])
{
  return kthread_create_with_stack(name, priority,
                                   NULL, stack_size, entry, argv);
}