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incubator-nuttx/sched/os_internal.h

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/****************************************************************************
* sched/os_internal.h
*
* Copyright (C) 2007-2014 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#ifndef __SCHED_OS_INTERNAL_H
#define __SCHED_OS_INTERNAL_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdbool.h>
#include <queue.h>
#include <sched.h>
#include <nuttx/kmalloc.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* Special task IDS. Any negative PID is invalid. */
#define NULL_TASK_PROCESS_ID (pid_t)0
#define INVALID_PROCESS_ID (pid_t)-1
/* Although task IDs can take the (positive, non-zero)
* range of pid_t, the number of tasks that will be supported
* at any one time is (artificially) limited by the CONFIG_MAX_TASKS
* configuration setting. Limiting the number of tasks speeds certain
* OS functions (this is the only limitation in the number of
* tasks built into the design).
*/
#define MAX_TASKS_MASK (CONFIG_MAX_TASKS-1)
#define PIDHASH(pid) ((pid) & MAX_TASKS_MASK)
/* A more efficient ways to access the errno */
#define SET_ERRNO(e) \
{ struct tcb_s *rtcb = struct tcb_s*)g_readytorun.head; rtcb->pterrno = (e); }
#define _SET_TCB_ERRNO(t,e) \
{ (t)->pterrno = (e); }
/****************************************************************************
* Public Type Definitions
****************************************************************************/
/* This structure defines the format of the hash table that is used to (1)
* determine if a task ID is unique, and (2) to map a process ID to its
* corresponding TCB.
*
* NOTE also that CPU load measurement data is retained in his table vs. in
* the TCB which would seem to be the more logic place. It is place in the
* hash table, instead, to facilitate CPU load adjustments on all threads
* during timer interrupt handling. sched_foreach() could do this too, but
* this would require a little more overhead.
*/
struct pidhash_s
{
FAR struct tcb_s *tcb; /* TCB assigned to this PID */
pid_t pid; /* The full PID value */
#ifdef CONFIG_SCHED_CPULOAD
uint32_t ticks; /* Number of ticks on this thread */
#endif
};
typedef struct pidhash_s pidhash_t;
/* This structure defines an element of the g_tasklisttable[].
* This table is used to map a task_state enumeration to the
* corresponding task list.
*/
struct tasklist_s
{
DSEG volatile dq_queue_t *list; /* Pointer to the task list */
bool prioritized; /* true if the list is prioritized */
};
typedef struct tasklist_s tasklist_t;
/****************************************************************************
* Global Variables
****************************************************************************/
/* Declared in os_start.c ***************************************************/
/* The state of a task is indicated both by the task_state field of the TCB
* and by a series of task lists. All of these tasks lists are declared
* below. Although it is not always necessary, most of these lists are
* prioritized so that common list handling logic can be used (only the
* g_readytorun, the g_pendingtasks, and the g_waitingforsemaphore lists need
* to be prioritized).
*/
/* This is the list of all tasks that are ready to run. The head of this
* list is the currently active task; the tail of this list is always the
* IDLE task.
*/
extern volatile dq_queue_t g_readytorun;
/* This is the list of all tasks that are ready-to-run, but cannot be placed
* in the g_readytorun list because: (1) They are higher priority than the
* currently active task at the head of the g_readytorun list, and (2) the
* currently active task has disabled pre-emption.
*/
extern volatile dq_queue_t g_pendingtasks;
/* This is the list of all tasks that are blocked waiting for a semaphore */
extern volatile dq_queue_t g_waitingforsemaphore;
/* This is the list of all tasks that are blocked waiting for a signal */
#ifndef CONFIG_DISABLE_SIGNALS
extern volatile dq_queue_t g_waitingforsignal;
#endif
/* This is the list of all tasks that are blocked waiting for a message
* queue to become non-empty.
*/
#ifndef CONFIG_DISABLE_MQUEUE
extern volatile dq_queue_t g_waitingformqnotempty;
#endif
/* This is the list of all tasks that are blocked waiting for a message
* queue to become non-full.
*/
#ifndef CONFIG_DISABLE_MQUEUE
extern volatile dq_queue_t g_waitingformqnotfull;
#endif
/* This is the list of all tasks that are blocking waiting for a page fill */
#ifdef CONFIG_PAGING
extern volatile dq_queue_t g_waitingforfill;
#endif
/* This the list of all tasks that have been initialized, but not yet
* activated. NOTE: This is the only list that is not prioritized.
*/
extern volatile dq_queue_t g_inactivetasks;
/* These are lists of dayed memory deallocations that need to be handled
* within the IDLE loop or worker thread. These deallocations get queued
* by sched_kufree and sched_kfree() if the OS needs to deallocate memory
* while it is within an interrupt handler.
*/
extern volatile sq_queue_t g_delayed_kufree;
#if defined(CONFIG_NUTTX_KERNEL) && defined(CONFIG_MM_KERNEL_HEAP)
extern volatile sq_queue_t g_delayed_kfree;
#endif
/* This is the value of the last process ID assigned to a task */
extern volatile pid_t g_lastpid;
/* The following hash table is used for two things:
*
* 1. This hash table greatly speeds the determination of a new unique
* process ID for a task, and
* 2. Is used to quickly map a process ID into a TCB.
*
* It has the side effects of using more memory and limiting the number
* of tasks to CONFIG_MAX_TASKS.
*/
extern pidhash_t g_pidhash[CONFIG_MAX_TASKS];
/* This is a table of task lists. This table is indexed by the task state
* enumeration type (tstate_t) and provides a pointer to the associated
* static task list (if there is one) as well as a boolean indication as to
* if the list is an ordered list or not.
*/
extern const tasklist_t g_tasklisttable[NUM_TASK_STATES];
#ifdef CONFIG_SCHED_CPULOAD
/* This is the total number of clock tick counts. Essentially the
* 'denominator' for all CPU load calculations.
*/
extern volatile uint32_t g_cpuload_total;
#endif
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
int os_bringup(void);
#ifdef CONFIG_SCHED_CHILD_STATUS
void weak_function task_initialize(void);
#endif
void task_start(void);
int task_schedsetup(FAR struct task_tcb_s *tcb, int priority, start_t start,
main_t main, uint8_t ttype);
int task_argsetup(FAR struct task_tcb_s *tcb, FAR const char *name, FAR char * const argv[]);
int task_exit(void);
int task_terminate(pid_t pid, bool nonblocking);
void task_exithook(FAR struct tcb_s *tcb, int status, bool nonblocking);
void task_recover(FAR struct tcb_s *tcb);
bool sched_addreadytorun(FAR struct tcb_s *rtrtcb);
bool sched_removereadytorun(FAR struct tcb_s *rtrtcb);
bool sched_addprioritized(FAR struct tcb_s *newTcb, DSEG dq_queue_t *list);
bool sched_mergepending(void);
void sched_addblocked(FAR struct tcb_s *btcb, tstate_t task_state);
void sched_removeblocked(FAR struct tcb_s *btcb);
int sched_setpriority(FAR struct tcb_s *tcb, int sched_priority);
#ifdef CONFIG_PRIORITY_INHERITANCE
int sched_reprioritize(FAR struct tcb_s *tcb, int sched_priority);
#else
# define sched_reprioritize(tcb,sched_priority) sched_setpriority(tcb,sched_priority)
#endif
#if defined(CONFIG_SCHED_CPULOAD) && !defined(CONFIG_SCHED_CPULOAD_EXTCLK)
void weak_function sched_process_cpuload(void);
#endif
bool sched_verifytcb(FAR struct tcb_s *tcb);
int sched_releasetcb(FAR struct tcb_s *tcb, uint8_t ttype);
#endif /* __SCHED_OS_INTERNAL_H */
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