/**************************************************************************** * sched/mqueue/mq_timedreceive.c * * 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 #include #include #include #include #include #include #include #include #include #include #include #include #include "sched/sched.h" #include "clock/clock.h" #include "mqueue/mqueue.h" /**************************************************************************** * Private Functions ****************************************************************************/ /**************************************************************************** * Name: nxmq_rcvtimeout * * Description: * This function is called if the timeout elapses before the message queue * becomes non-empty. * * Input Parameters: * argc - the number of arguments (should be 1) * pid - the task ID of the task to wakeup * * Returned Value: * None * * Assumptions: * ****************************************************************************/ static void nxmq_rcvtimeout(int argc, wdparm_t pid, ...) { FAR struct tcb_s *wtcb; irqstate_t flags; /* Disable interrupts. This is necessary because an interrupt handler may * attempt to send a message while we are doing this. */ flags = enter_critical_section(); /* Get the TCB associated with this pid. It is possible that task may no * longer be active when this watchdog goes off. */ wtcb = nxsched_get_tcb((pid_t)pid); /* It is also possible that an interrupt/context switch beat us to the * punch and already changed the task's state. */ if (wtcb && wtcb->task_state == TSTATE_WAIT_MQNOTEMPTY) { /* Restart with task with a timeout error */ nxmq_wait_irq(wtcb, ETIMEDOUT); } /* Interrupts may now be re-enabled. */ leave_critical_section(flags); } /**************************************************************************** * Public Functions ****************************************************************************/ /**************************************************************************** * Name: nxmq_timedreceive * * Description: * This function receives the oldest of the highest priority messages from * the message queue specified by "mqdes." If the message queue is empty * and O_NONBLOCK was not set, nxmq_timedreceive() will block until a * message is added to the message queue (or until a timeout occurs). * * nxmq_timedreceive() is an internal OS interface. It is functionally * equivalent to mq_timedreceive() except that: * * - It is not a cancellation point, and * - It does not modify the errno value. * * See comments with mq_timedreceive() for a more complete description of * the behavior of this function * * Input Parameters: * mqdes - Message Queue Descriptor * msg - Buffer to receive the message * msglen - Size of the buffer in bytes * prio - If not NULL, the location to store message priority. * abstime - the absolute time to wait until a timeout is declared. * * Returned Value: * This is an internal OS interface and should not be used by applications. * It follows the NuttX internal error return policy: Zero (OK) is * returned on success. A negated errno value is returned on failure. * (see mq_timedreceive() for the list list valid return values). * ****************************************************************************/ ssize_t nxmq_timedreceive(mqd_t mqdes, FAR char *msg, size_t msglen, FAR unsigned int *prio, FAR const struct timespec *abstime) { FAR struct tcb_s *rtcb = this_task(); FAR struct mqueue_msg_s *mqmsg; irqstate_t flags; int ret; DEBUGASSERT(up_interrupt_context() == false && rtcb->waitdog == NULL); /* Verify the input parameters and, in case of an error, set * errno appropriately. */ ret = nxmq_verify_receive(mqdes, msg, msglen); if (ret < 0) { return ret; } if (!abstime || abstime->tv_nsec < 0 || abstime->tv_nsec >= 1000000000) { return -EINVAL; } /* Create a watchdog. We will not actually need this watchdog * unless the queue is not empty, but we will reserve it up front * before we enter the following critical section. */ rtcb->waitdog = wd_create(); if (!rtcb->waitdog) { return -ENOMEM; } /* Get the next message from the message queue. We will disable * pre-emption until we have completed the message received. This * is not too bad because if the receipt takes a long time, it will * be because we are blocked waiting for a message and pre-emption * will be re-enabled while we are blocked */ sched_lock(); /* Furthermore, nxmq_wait_receive() expects to have interrupts disabled * because messages can be sent from interrupt level. */ flags = enter_critical_section(); /* Check if the message queue is empty. If it is NOT empty, then we * will not need to start timer. */ if (mqdes->msgq->msglist.head == NULL) { sclock_t ticks; /* Convert the timespec to clock ticks. We must have interrupts * disabled here so that this time stays valid until the wait begins. */ int result = clock_abstime2ticks(CLOCK_REALTIME, abstime, &ticks); /* If the time has already expired and the message queue is empty, * return immediately. */ if (result == OK && ticks <= 0) { result = ETIMEDOUT; } /* Handle any time-related errors */ if (result != OK) { leave_critical_section(flags); sched_unlock(); wd_delete(rtcb->waitdog); rtcb->waitdog = NULL; return -result; } /* Start the watchdog */ wd_start(rtcb->waitdog, ticks, nxmq_rcvtimeout, 1, getpid()); } /* Get the message from the message queue */ ret = nxmq_wait_receive(mqdes, &mqmsg); /* Stop the watchdog timer (this is not harmful in the case where * it was never started) */ wd_cancel(rtcb->waitdog); /* We can now restore interrupts */ leave_critical_section(flags); /* Check if we got a message from the message queue. We might * not have a message if: * * - The message queue is empty and O_NONBLOCK is set in the mqdes * - The wait was interrupted by a signal * - The watchdog timeout expired */ if (ret >= 0) { DEBUGASSERT(mqmsg != NULL); ret = nxmq_do_receive(mqdes, mqmsg, msg, prio); } sched_unlock(); wd_delete(rtcb->waitdog); rtcb->waitdog = NULL; return ret; } /**************************************************************************** * Name: mq_timedreceive * * Description: * This function receives the oldest of the highest priority messages from * the message queue specified by "mqdes." If the size of the buffer in * bytes (msglen) is less than the "mq_msgsize" attribute of the message * queue, mq_timedreceive will return an error. Otherwise, the selected * message is removed from the queue and copied to "msg." * * If the message queue is empty and O_NONBLOCK was not set, * mq_timedreceive() will block until a message is added to the message * queue (or until a timeout occurs). If more than one task is waiting * to receive a message, only the task with the highest priority that has * waited the longest will be unblocked. * * mq_timedreceive() behaves just like mq_receive(), except that if the * queue is empty and the O_NONBLOCK flag is not enabled for the message * queue description, then abstime points to a structure which specifies a * ceiling on the time for which the call will block. This ceiling is an * absolute timeout in seconds and nanoseconds since the Epoch (midnight * on the morning of 1 January 1970). * * If no message is available, and the timeout has already expired by the * time of the call, mq_timedreceive() returns immediately. * * Input Parameters: * mqdes - Message Queue Descriptor * msg - Buffer to receive the message * msglen - Size of the buffer in bytes * prio - If not NULL, the location to store message priority. * abstime - the absolute time to wait until a timeout is declared. * * Returned Value: * One success, the length of the selected message in bytes is returned. * On failure, -1 (ERROR) is returned and the errno is set appropriately: * * EAGAIN The queue was empty, and the O_NONBLOCK flag was set * for the message queue description referred to by 'mqdes'. * EPERM Message queue opened not opened for reading. * EMSGSIZE 'msglen' was less than the maxmsgsize attribute of the * message queue. * EINTR The call was interrupted by a signal handler. * EINVAL Invalid 'msg' or 'mqdes' or 'abstime' * ETIMEDOUT The call timed out before a message could be transferred. * ****************************************************************************/ ssize_t mq_timedreceive(mqd_t mqdes, FAR char *msg, size_t msglen, FAR unsigned int *prio, FAR const struct timespec *abstime) { int ret; /* mq_timedreceive() is a cancellation point */ enter_cancellation_point(); /* Let nxmq_timedreceive do all of the work */ ret = nxmq_timedreceive(mqdes, msg, msglen, prio, abstime); if (ret < 0) { set_errno(-ret); ret = ERROR; } leave_cancellation_point(); return ret; }