349 lines
13 KiB
C
349 lines
13 KiB
C
/********************************************************************************
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* nuttx/sched.h
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*
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* Copyright (C) 2007-2011 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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********************************************************************************/
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#ifndef __NUTTX_SCHED_H
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#define __NUTTX_SCHED_H
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/********************************************************************************
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* Included Files
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********************************************************************************/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <queue.h>
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#include <signal.h>
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#include <semaphore.h>
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#include <pthread.h>
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#include <mqueue.h>
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#include <time.h>
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#include <nuttx/irq.h>
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#include <nuttx/net.h>
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/********************************************************************************
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* Pre-processor Definitions
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********************************************************************************/
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/* Task Management Definitins ***************************************************/
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/* This is the maximum number of times that a lock can be set */
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#define MAX_LOCK_COUNT 127
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/* Values for the _TCB flags flag bits */
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#define TCB_FLAG_TTYPE_SHIFT (0) /* Bits 0-1: thread type */
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#define TCB_FLAG_TTYPE_MASK (3 << TCB_FLAG_TTYPE_SHIFT)
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# define TCB_FLAG_TTYPE_TASK (0 << TCB_FLAG_TTYPE_SHIFT) /* Normal user task */
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# define TCB_FLAG_TTYPE_PTHREAD (1 << TCB_FLAG_TTYPE_SHIFT) /* User pthread */
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# define TCB_FLAG_TTYPE_KERNEL (2 << TCB_FLAG_TTYPE_SHIFT) /* Kernel thread */
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#define TCB_FLAG_NONCANCELABLE (1 << 2) /* Bit 2: Pthread is non-cancelable */
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#define TCB_FLAG_CANCEL_PENDING (1 << 3) /* Bit 3: Pthread cancel is pending */
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#define TCB_FLAG_ROUND_ROBIN (1 << 4) /* Bit 4: Round robin sched enabled */
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/********************************************************************************
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* Global Type Definitions
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********************************************************************************/
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#ifndef __ASSEMBLY__
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/* General Task Management Types ************************************************/
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/* This is the type of the task_state field of the TCB. NOTE: the order and
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* content of this enumeration is critical since there are some OS tables indexed
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* by these values. The range of values is assumed to fit into a uint8_t in _TCB.
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*/
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enum tstate_e
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{
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TSTATE_TASK_INVALID = 0, /* INVALID - The TCB is uninitialized */
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TSTATE_TASK_PENDING, /* READY_TO_RUN - Pending preemption unlock */
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TSTATE_TASK_READYTORUN, /* READY-TO-RUN - But not running */
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TSTATE_TASK_RUNNING, /* READY_TO_RUN - And running */
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TSTATE_TASK_INACTIVE, /* BLOCKED - Initialized but not yet activated */
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TSTATE_WAIT_SEM, /* BLOCKED - Waiting for a semaphore */
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#ifndef CONFIG_DISABLE_SIGNALS
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TSTATE_WAIT_SIG, /* BLOCKED - Waiting for a signal */
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#endif
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#ifndef CONFIG_DISABLE_MQUEUE
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TSTATE_WAIT_MQNOTEMPTY, /* BLOCKED - Waiting for a MQ to become not empty. */
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TSTATE_WAIT_MQNOTFULL, /* BLOCKED - Waiting for a MQ to become not full. */
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#endif
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#ifdef CONFIG_PAGING
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TSTATE_WAIT_PAGEFILL, /* BLOCKED - Waiting for page fill */
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#endif
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NUM_TASK_STATES /* Must be last */
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};
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typedef enum tstate_e tstate_t;
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/* The following definitions are determined by tstate_t */
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#define FIRST_READY_TO_RUN_STATE TSTATE_TASK_READYTORUN
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#define LAST_READY_TO_RUN_STATE TSTATE_TASK_RUNNING
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#define FIRST_BLOCKED_STATE TSTATE_TASK_INACTIVE
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#define LAST_BLOCKED_STATE (NUM_TASK_STATES-1)
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/* The following is the form of a thread start-up function */
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typedef void (*start_t)(void);
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/* This is the entry point into the main thread of the task or into a created
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* pthread within the task.
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*/
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union entry_u
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{
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pthread_startroutine_t pthread;
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main_t main;
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};
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typedef union entry_u entry_t;
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/* This is the type of the function that is executed with exit() is called
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* (if registered via atexit()).
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*/
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#ifdef CONFIG_SCHED_ATEXIT
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typedef void (*exitfunc_t)(void);
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#endif
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/* POSIX Message queue */
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typedef struct msgq_s msgq_t;
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/* The structure used to maintain environment variables */
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#ifndef CONFIG_DISABLE_ENVIRON
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struct environ_s
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{
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unsigned int ev_crefs; /* Reference count used when environment
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* is shared by threads */
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size_t ev_alloc; /* Number of bytes allocated in environment */
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char ev_env[1]; /* Environment strings */
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};
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typedef struct environ_s environ_t;
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# define SIZEOF_ENVIRON_T(alloc) (sizeof(environ_t) + alloc - 1)
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#endif
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/* This structure describes a reference counted D-Space region */
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struct dspace_s
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{
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uint32_t crefs; /* This is the number of pthreads that shared the
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* the same D-Space */
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uint8_t region[1]; /* Beginning of the allocated region */
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};
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#define SIZEOF_DSPACE_S(n) (sizeof(struct dspace_s) - 1 + (n))
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/* This is the task control block (TCB) */
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struct _TCB
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{
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/* Fields used to support list management *************************************/
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FAR struct _TCB *flink; /* link in DQ of TCBs */
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FAR struct _TCB *blink;
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/* Task Management Fields *****************************************************/
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pid_t pid; /* This is the ID of the thread */
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start_t start; /* Thread start function */
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entry_t entry; /* Entry Point into the thread */
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#ifdef CONFIG_SCHED_ATEXIT
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exitfunc_t exitfunc; /* Called if exit is called. */
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#endif
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#ifdef CONFIG_SCHED_WAITPID /* Experimental */
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sem_t exitsem; /* Support for waitpid */
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int *stat_loc; /* Location to return exit status */
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#endif
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uint8_t sched_priority; /* Current priority of the thread */
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#ifdef CONFIG_PRIORITY_INHERITANCE
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# if CONFIG_SEM_NNESTPRIO > 0
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uint8_t npend_reprio; /* Number of nested reprioritizations */
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uint8_t pend_reprios[CONFIG_SEM_NNESTPRIO];
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# endif
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uint8_t base_priority; /* "Normal" priority of the thread */
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#endif
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uint8_t task_state; /* Current state of the thread */
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uint16_t flags; /* Misc. general status flags */
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int16_t lockcount; /* 0=preemptable (not-locked) */
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#ifndef CONFIG_DISABLE_PTHREAD
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FAR void *joininfo; /* Detach-able info to support join */
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#endif
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#if CONFIG_RR_INTERVAL > 0
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int timeslice; /* RR timeslice interval remaining */
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#endif
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/* Values needed to restart a task ********************************************/
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uint8_t init_priority; /* Initial priority of the task */
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char *argv[CONFIG_MAX_TASK_ARGS+1]; /* Name+start-up parameters */
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#ifndef CONFIG_DISABLE_ENVIRON
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FAR environ_t *envp; /* Environment variables */
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#endif
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/* Stack-Related Fields *******************************************************/
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#ifndef CONFIG_CUSTOM_STACK
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size_t adj_stack_size; /* Stack size after adjustment */
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/* for hardware, processor, etc. */
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/* (for debug purposes only) */
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FAR void *stack_alloc_ptr; /* Pointer to allocated stack */
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/* Need to deallocate stack */
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FAR void *adj_stack_ptr; /* Adjusted stack_alloc_ptr for HW */
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/* The initial stack pointer value */
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#endif
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/* External Module Support ****************************************************/
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#ifdef CONFIG_PIC
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FAR struct dspace_s *dspace; /* Allocated area for .bss and .data */
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#endif
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/* POSIX Thread Specific Data *************************************************/
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#if !defined(CONFIG_DISABLE_PTHREAD) && CONFIG_NPTHREAD_KEYS > 0
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FAR void *pthread_data[CONFIG_NPTHREAD_KEYS];
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#endif
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/* POSIX Semaphore Control Fields *********************************************/
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sem_t *waitsem; /* Semaphore ID waiting on */
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/* POSIX Signal Control Fields ************************************************/
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#ifndef CONFIG_DISABLE_SIGNALS
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sigset_t sigprocmask; /* Signals that are blocked */
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sigset_t sigwaitmask; /* Waiting for pending signals */
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sq_queue_t sigactionq; /* List of actions for signals */
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sq_queue_t sigpendingq; /* List of Pending Signals */
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sq_queue_t sigpendactionq; /* List of pending signal actions */
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sq_queue_t sigpostedq; /* List of posted signals */
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siginfo_t sigunbinfo; /* Signal info when task unblocked */
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#endif
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/* POSIX Named Message Queue Fields *******************************************/
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#ifndef CONFIG_DISABLE_MQUEUE
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sq_queue_t msgdesq; /* List of opened message queues */
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FAR msgq_t *msgwaitq; /* Waiting for this message queue */
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#endif
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/* Library related fields *****************************************************/
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int pterrno; /* Current per-thread errno */
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/* File system support ********************************************************/
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#if CONFIG_NFILE_DESCRIPTORS > 0
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FAR struct filelist *filelist; /* Maps file descriptor to file */
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#endif
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#if CONFIG_NFILE_STREAMS > 0
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FAR struct streamlist *streams; /* Holds C buffered I/O info */
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#endif
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/* Network socket *************************************************************/
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#if CONFIG_NSOCKET_DESCRIPTORS > 0
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FAR struct socketlist *sockets; /* Maps file descriptor to file */
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#endif
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/* State save areas ***********************************************************/
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/* The form and content of these fields are processor-specific. */
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struct xcptcontext xcp; /* Interrupt register save area */
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#if CONFIG_TASK_NAME_SIZE > 0
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char name[CONFIG_TASK_NAME_SIZE]; /* Task name */
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#endif
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};
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typedef struct _TCB _TCB;
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/* This is the callback type used by sched_foreach() */
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typedef void (*sched_foreach_t)(FAR _TCB *tcb, FAR void *arg);
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#endif /* __ASSEMBLY__ */
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/********************************************************************************
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* Global Function Prototypes
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********************************************************************************/
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#ifndef __ASSEMBLY__
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#undef EXTERN
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#if defined(__cplusplus)
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#define EXTERN extern "C"
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extern "C" {
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#else
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#define EXTERN extern
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#endif
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/* TCB helpers */
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EXTERN FAR _TCB *sched_self(void);
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/* File system helpers */
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#if CONFIG_NFILE_DESCRIPTORS > 0
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EXTERN FAR struct filelist *sched_getfiles(void);
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#if CONFIG_NFILE_STREAMS > 0
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EXTERN FAR struct streamlist *sched_getstreams(void);
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#endif /* CONFIG_NFILE_STREAMS */
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#endif /* CONFIG_NFILE_DESCRIPTORS */
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#if CONFIG_NSOCKET_DESCRIPTORS > 0
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EXTERN FAR struct socketlist *sched_getsockets(void);
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#endif /* CONFIG_NSOCKET_DESCRIPTORS */
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/* sched_foreach will enumerate over each task and provide the
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* TCB of each task to a user callback functions. Interrupts
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* will be disabled throughout this enumeration!
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*/
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EXTERN void sched_foreach(sched_foreach_t handler, FAR void *arg);
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#undef EXTERN
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#if defined(__cplusplus)
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}
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#endif
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#endif /* __ASSEMBLY__ */
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#endif /* __NUTTX_SCHED_H */
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