322 lines
11 KiB
C
322 lines
11 KiB
C
/****************************************************************************
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* sched/task/task_create.c
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*
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* Copyright (C) 2007-2010, 2013-2014, 2016, 2018 Gregory Nutt. All rights
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* reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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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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/****************************************************************************
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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 <debug.h>
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#include <nuttx/arch.h>
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#include <nuttx/kmalloc.h>
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#include <nuttx/kthread.h>
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#include "sched/sched.h"
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#include "group/group.h"
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#include "task/task.h"
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: thread_create
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*
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* Description:
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* This function creates and activates a new thread of the specified type
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* with a specified priority and returns its system-assigned ID. It is the
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* internal, common implementation of task_create() and kthread_create().
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* See comments with task_create() for further information.
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*
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* Input Parameters:
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* name - Name of the new task
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* ttype - Type of the new task
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* priority - Priority of the new task
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* stack_size - size (in bytes) of the stack needed
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* entry - Entry point of a new task
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* arg - A pointer to an array of input parameters. Up to
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* CONFIG_MAX_TASK_ARG parameters may be provided. If fewer
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* than CONFIG_MAX_TASK_ARG parameters are passed, the list
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* should be terminated with a NULL argv[] value. If no
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* parameters are required, argv may be NULL.
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*
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* Returned Value:
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* Returns the positive, non-zero process ID of the new task or a negated
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* errno value to indicate the nature of any failure. If memory is
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* insufficient or the task cannot be created -ENOMEM will be returned.
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*
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****************************************************************************/
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static int thread_create(FAR const char *name, uint8_t ttype, int priority,
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int stack_size, main_t entry,
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FAR char * const argv[])
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{
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FAR struct task_tcb_s *tcb;
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pid_t pid;
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int ret;
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/* Allocate a TCB for the new task. */
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tcb = (FAR struct task_tcb_s *)kmm_zalloc(sizeof(struct task_tcb_s));
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if (!tcb)
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{
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serr("ERROR: Failed to allocate TCB\n");
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return -ENOMEM;
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}
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#ifdef HAVE_TASK_GROUP
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/* Allocate a new task group with privileges appropriate for the parent
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* thread type.
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*/
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ret = group_allocate(tcb, ttype);
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if (ret < 0)
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{
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goto errout_with_tcb;
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}
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#endif
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#if CONFIG_NFILE_DESCRIPTORS > 0 || CONFIG_NSOCKET_DESCRIPTORS > 0
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#if 0 /* No... there are side effects */
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/* Associate file descriptors with the new task. Exclude kernel threads;
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* kernel threads do not have file or socket descriptors. They must use
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* SYSLOG for output and the low-level psock interfaces for network I/O.
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*/
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if (ttype != TCB_FLAG_TTYPE_KERNEL)
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#endif
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{
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ret = group_setuptaskfiles(tcb);
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if (ret < OK)
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{
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goto errout_with_tcb;
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}
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}
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#endif
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/* Allocate the stack for the TCB */
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ret = up_create_stack((FAR struct tcb_s *)tcb, stack_size, ttype);
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if (ret < OK)
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{
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goto errout_with_tcb;
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}
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/* Initialize the task control block */
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ret = task_schedsetup(tcb, priority, task_start, entry, ttype);
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if (ret < OK)
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{
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goto errout_with_tcb;
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}
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/* Setup to pass parameters to the new task */
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(void)task_argsetup(tcb, name, argv);
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#ifdef HAVE_TASK_GROUP
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/* Now we have enough in place that we can join the group */
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ret = group_initialize(tcb);
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if (ret < 0)
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{
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goto errout_with_tcb;
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}
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#endif
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/* Get the assigned pid before we start the task */
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pid = (int)tcb->cmn.pid;
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/* Activate the task */
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ret = task_activate((FAR struct tcb_s *)tcb);
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if (ret < OK)
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{
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ret = -get_errno();
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DEBUGASSERT(ret < 0);
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/* The TCB was added to the active task list by task_schedsetup() */
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dq_rem((FAR dq_entry_t *)tcb, (FAR dq_queue_t *)&g_inactivetasks);
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goto errout_with_tcb;
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}
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return pid;
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errout_with_tcb:
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sched_releasetcb((FAR struct tcb_s *)tcb, ttype);
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return ret;
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: nxtask_create
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*
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* Description:
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* This function creates and activates a new task with a specified
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* priority and returns its system-assigned ID.
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*
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* The entry address entry is the address of the "main" function of the
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* task. This function will be called once the C environment has been
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* set up. The specified function will be called with four arguments.
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* Should the specified routine return, a call to exit() will
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* automatically be made.
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*
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* Note that four (and only four) arguments must be passed for the spawned
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* functions.
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*
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* nxtask_create() is identical to the function task_create(), differing
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* only in its return value: This function does not modify the errno
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* variable. This is a non-standard, internal OS function and is not
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* intended for use by application logic. Applications should use
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* task_create().
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*
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* Input Parameters:
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* name - Name of the new task
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* priority - Priority of the new task
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* stack_size - size (in bytes) of the stack needed
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* entry - Entry point of a new task
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* arg - A pointer to an array of input parameters. Up to
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* CONFIG_MAX_TASK_ARG parameters may be provided. If fewer
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* than CONFIG_MAX_TASK_ARG parameters are passed, the list
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* should be terminated with a NULL argv[] value. If no
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* parameters are required, argv may be NULL.
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*
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* Returned Value:
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* Returns the positive, non-zero process ID of the new task or a negated
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* errno value to indicate the nature of any failure. If memory is
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* insufficient or the task cannot be created -ENOMEM will be returned.
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*
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****************************************************************************/
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int nxtask_create(FAR const char *name, int priority,
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int stack_size, main_t entry, FAR char * const argv[])
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{
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return thread_create(name, TCB_FLAG_TTYPE_TASK, priority, stack_size,
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entry, argv);
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}
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/****************************************************************************
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* Name: task_create
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*
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* Description:
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* This function creates and activates a new task with a specified
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* priority and returns its system-assigned ID.
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*
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* The entry address entry is the address of the "main" function of the
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* task. This function will be called once the C environment has been
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* set up. The specified function will be called with four arguments.
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* Should the specified routine return, a call to exit() will
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* automatically be made.
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*
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* Note that four (and only four) arguments must be passed for the spawned
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* functions.
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*
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* Input Parameters:
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* name - Name of the new task
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* priority - Priority of the new task
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* stack_size - size (in bytes) of the stack needed
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* entry - Entry point of a new task
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* arg - A pointer to an array of input parameters. Up to
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* CONFIG_MAX_TASK_ARG parameters may be provided. If fewer
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* than CONFIG_MAX_TASK_ARG parameters are passed, the list
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* should be terminated with a NULL argv[] value. If no
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* parameters are required, argv may be NULL.
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*
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* Returned Value:
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* Returns the non-zero process ID of the new task or ERROR if memory is
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* insufficient or the task cannot be created. The errno will be set in
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* the failure case to indicate the nature of the error.
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*
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****************************************************************************/
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#ifndef CONFIG_BUILD_KERNEL
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int task_create(FAR const char *name, int priority,
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int stack_size, main_t entry, FAR char * const argv[])
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{
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int ret = nxtask_create(name, priority, stack_size, entry, argv);
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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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/****************************************************************************
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* Name: kthread_create
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*
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* Description:
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* This function creates and activates a kernel thread task with kernel-
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* mode privileges. It is identical to task_create() except that it
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* configures the newly started thread to run in kernel model.
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*
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* Input Parameters:
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* name - Name of the new task
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* priority - Priority of the new task
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* stack_size - size (in bytes) of the stack needed
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* entry - Entry point of a new task
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* arg - A pointer to an array of input parameters. Up to
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* CONFIG_MAX_TASK_ARG parameters may be provided. If fewer
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* than CONFIG_MAX_TASK_ARG parameters are passed, the list
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* should be terminated with a NULL argv[] value. If no
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* parameters are required, argv may be NULL.
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*
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* Returned Value:
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* Returns the positive, non-zero process ID of the new task or a negated
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* errno value to indicate the nature of any failure. If memory is
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* insufficient or the task cannot be created -ENOMEM will be returned.
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*
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****************************************************************************/
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int kthread_create(FAR const char *name, int priority,
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int stack_size, main_t entry, FAR char *const argv[])
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{
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return thread_create(name, TCB_FLAG_TTYPE_KERNEL, priority, stack_size,
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entry, argv);
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}
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