246 lines
6.7 KiB
C
246 lines
6.7 KiB
C
/****************************************************************************
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* sched/task/task_restart.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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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 <sched.h>
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#include <errno.h>
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#include <nuttx/irq.h>
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#include <nuttx/arch.h>
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#include "sched/sched.h"
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#include "group/group.h"
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#include "signal/signal.h"
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#include "task/task.h"
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: nxtask_restart
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*
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* Description:
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* This function "restarts" a task. The task is first terminated and then
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* reinitialized with same ID, priority, original entry point, stack size,
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* and parameters it had when it was first started.
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*
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* Input Parameters:
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* pid - The task ID of the task to delete. An ID of zero signifies the
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* calling task.
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*
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* Returned Value:
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* Zero (OK) on success; or negated errno on failure
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*
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* This function can fail if:
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* (1) A pid of zero or the pid of the calling task is provided
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* (functionality not implemented)
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* (2) The pid is not associated with any task known to the system.
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*
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****************************************************************************/
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int nxtask_restart(pid_t pid)
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{
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FAR struct tcb_s *rtcb;
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FAR struct task_tcb_s *tcb;
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FAR dq_queue_t *tasklist;
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irqstate_t flags;
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int ret;
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#ifdef CONFIG_SMP
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int cpu;
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#endif
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/* Check if the task to restart is the calling task */
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rtcb = this_task();
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if ((pid == 0) || (pid == rtcb->pid))
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{
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/* Not implemented */
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ret = -ENOSYS;
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goto errout;
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}
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/* We are restarting some other task than ourselves. Make sure that the
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* task does not change its state while we are executing. In the single
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* CPU state this could be done by disabling pre-emption. But we will
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* a little stronger medicine on the SMP case: The task make be running
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* on another CPU.
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*/
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flags = enter_critical_section();
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/* Find for the TCB associated with matching pid */
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tcb = (FAR struct task_tcb_s *)nxsched_get_tcb(pid);
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#ifndef CONFIG_DISABLE_PTHREAD
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if (!tcb || (tcb->cmn.flags & TCB_FLAG_TTYPE_MASK) ==
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TCB_FLAG_TTYPE_PTHREAD)
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#else
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if (!tcb)
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#endif
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{
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/* There is no TCB with this pid or, if there is, it is not a task. */
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ret = -ESRCH;
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goto errout_with_lock;
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}
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#ifdef CONFIG_SMP
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/* If the task is running on another CPU, then pause that CPU. We can
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* then manipulate the TCB of the restarted task and when we resume the
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* that CPU, the restart take effect.
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*/
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cpu = nxsched_pause_cpu(&tcb->cmn);
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#endif /* CONFIG_SMP */
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/* Try to recover from any bad states */
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nxtask_recover((FAR struct tcb_s *)tcb);
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/* Kill any children of this thread */
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#ifdef HAVE_GROUP_MEMBERS
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group_kill_children((FAR struct tcb_s *)tcb);
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#endif
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/* Remove the TCB from whatever list it is in. After this point, the TCB
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* should no longer be accessible to the system
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*/
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#ifdef CONFIG_SMP
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tasklist = TLIST_HEAD(tcb->cmn.task_state, tcb->cmn.cpu);
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#else
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tasklist = TLIST_HEAD(tcb->cmn.task_state);
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#endif
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dq_rem((FAR dq_entry_t *)tcb, tasklist);
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tcb->cmn.task_state = TSTATE_TASK_INVALID;
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/* Deallocate anything left in the TCB's signal queues */
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nxsig_cleanup((FAR struct tcb_s *)tcb); /* Deallocate Signal lists */
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tcb->cmn.sigprocmask = NULL_SIGNAL_SET; /* Reset sigprocmask */
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/* Reset the current task priority */
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tcb->cmn.sched_priority = tcb->cmn.init_priority;
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/* The task should restart with pre-emption disabled and not in a critical
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* section.
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*/
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tcb->cmn.lockcount = 0;
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#ifdef CONFIG_SMP
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tcb->cmn.irqcount = 0;
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#endif
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/* Reset the base task priority and the number of pending
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* reprioritizations.
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*/
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#ifdef CONFIG_PRIORITY_INHERITANCE
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tcb->cmn.base_priority = tcb->cmn.init_priority;
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# if CONFIG_SEM_NNESTPRIO > 0
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tcb->cmn.npend_reprio = 0;
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# endif
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#endif
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/* Re-initialize the processor-specific portion of the TCB. This will
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* reset the entry point and the start-up parameters
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*/
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up_initial_state((FAR struct tcb_s *)tcb);
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/* Add the task to the inactive task list */
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dq_addfirst((FAR dq_entry_t *)tcb, &g_inactivetasks);
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tcb->cmn.task_state = TSTATE_TASK_INACTIVE;
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#ifdef CONFIG_SMP
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/* Resume the paused CPU (if any) */
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if (cpu >= 0)
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{
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ret = up_cpu_resume(cpu);
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if (ret < 0)
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{
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goto errout_with_lock;
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}
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}
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#endif /* CONFIG_SMP */
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leave_critical_section(flags);
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/* Activate the task. */
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nxtask_activate((FAR struct tcb_s *)tcb);
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return OK;
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errout_with_lock:
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leave_critical_section(flags);
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errout:
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return ret;
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}
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/****************************************************************************
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* Name: task_restart
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*
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* Description:
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* This function "restarts" a task. The task is first terminated and then
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* reinitialized with same ID, priority, original entry point, stack size,
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* and parameters it had when it was first started.
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*
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* Input Parameters:
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* pid - The task ID of the task to delete. An ID of zero signifies the
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* calling task.
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*
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* Returned Value:
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* Zero (OK) on success; -1 (ERROR) on failure with the errno variable set
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* appropriately.
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*
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* This function can fail if:
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* (1) A pid of zero or the pid of the calling task is provided
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* (functionality not implemented)
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* (2) The pid is not associated with any task known to the system.
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*
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****************************************************************************/
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#ifndef CONFIG_BUILD_KERNEL
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int task_restart(pid_t pid)
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{
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int ret = nxtask_restart(pid);
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if (ret < 0)
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{
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set_errno(-ret);
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ret = ERROR;
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}
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return ret;
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}
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#endif
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