/******************************************************************************** * include/pthread.h * * Copyright (C) 2007-2009, 2011-2012, 2015-2016 Gregory Nutt. All rights reserved. * Author: Gregory Nutt * * 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 __INCLUDE_PTHREAD_H #define __INCLUDE_PTHREAD_H /******************************************************************************** * Included Files ********************************************************************************/ #include /* Default settings */ #include /* Compiler settings, noreturn_function */ #include /* Needed for general types */ #include /* Needed by pthread_[set|get]name_np */ #include /* C99 fixed width integer types */ #include /* C99 boolean types */ #include /* For getpid */ #include /* Needed for sem_t */ #include /* Needed for sigset_t, includes this file */ #include /* Needed for struct timespec */ /******************************************************************************** * Pre-processor Definitions ********************************************************************************/ /* Standard POSIX switches */ #ifndef _POSIX_THREADS # define _POSIX_THREADS #endif #ifndef _POSIX_THREAD_ATTR_STACKSIZE # define _POSIX_THREAD_ATTR_STACKSIZE #endif /* Values for the process shared (pshared) attribute */ #define PTHREAD_PROCESS_PRIVATE 0 #define PTHREAD_PROCESS_SHARED 1 /* Values for the mutext type attribute: * * PTHREAD_MUTEX_NORMAL: This type of mutex does not detect deadlock. A thread * attempting to relock this mutex without first unlocking it will deadlock. * Attempting to unlock a mutex locked by a different thread results in undefined * behavior. Attempting to unlock an unlocked mutex results in undefined behavior. * PTHREAD_MUTEX_ERRORCHECK * This type of mutex provides error checking. A thread attempting to relock this * mutex without first unlocking it will return with an error. A thread attempting * to unlock a mutex which another thread has locked will return with an error. A * thread attempting to unlock an unlocked mutex will return with an error. * PTHREAD_MUTEX_RECURSIVE * A thread attempting to relock this mutex without first unlocking it will succeed * in locking the mutex. The relocking deadlock which can occur with mutexes of type * PTHREAD_MUTEX_NORMAL cannot occur with this type of mutex. Multiple locks of this * mutex require the same number of unlocks to release the mutex before another thread * can acquire the mutex. A thread attempting to unlock a mutex which another thread * has locked will return with an error. A thread attempting to unlock an unlocked * mutex will return with an error. * PTHREAD_MUTEX_DEFAULT * An implementation is allowed to map this mutex to one of the other mutex types. */ #ifdef CONFIG_MUTEX_TYPES # define PTHREAD_MUTEX_NORMAL 0 # define PTHREAD_MUTEX_ERRORCHECK 1 # define PTHREAD_MUTEX_RECURSIVE 2 # define PTHREAD_MUTEX_DEFAULT PTHREAD_MUTEX_NORMAL #endif /* Valid ranges for the pthread stacksize attribute */ #define PTHREAD_STACK_MIN CONFIG_PTHREAD_STACK_MIN #define PTHREAD_STACK_DEFAULT CONFIG_PTHREAD_STACK_DEFAULT /* Values for the pthread inheritsched attribute */ #define PTHREAD_INHERIT_SCHED 0 #define PTHREAD_EXPLICIT_SCHED 1 #define PTHREAD_PRIO_NONE 0 #define PTHREAD_PRIO_INHERIT 1 #define PTHREAD_PRIO_PROTECT 2 #define PTHREAD_DEFAULT_PRIORITY 100 /* Cancellation states returned by pthread_cancelstate() */ #define PTHREAD_CANCEL_ENABLE (0) #define PTHREAD_CANCEL_DISABLE (1) /* Thread return value when a pthread is canceled */ #define PTHREAD_CANCELED ((FAR void*)ERROR) /* Used to initialize a pthread_once_t */ #define PTHREAD_ONCE_INIT (false) /* This is returned by pthread_wait. It must not match any errno in errno.h */ #define PTHREAD_BARRIER_SERIAL_THREAD 0x1000 /* Definitions to map some non-standard, BSD thread management interfaces to * the non-standard Linux-like prctl() interface. Since these are simple * mappings to prctl, they will return 0 on success and -1 on failure with the * err number in errno. This is an inconsistency with the pthread interfaces. */ #define pthread_setname_np(thread, name) \ prctl((int)PR_SET_NAME, (char*)name, (int)thread) #define pthread_getname_np(thread, name) \ prctl((int)PR_GET_NAME, (char*)name, (int)thread) /******************************************************************************** * Public Type Definitions ********************************************************************************/ #ifdef __cplusplus extern "C" { #endif /* pthread-specific types */ typedef int pthread_key_t; #define __PTHREAD_KEY_T_DEFINED 1 typedef FAR void *pthread_addr_t; #define __PTHREAD_ADDR_T_DEFINED 1 typedef pthread_addr_t (*pthread_startroutine_t)(pthread_addr_t); typedef pthread_startroutine_t pthread_func_t; struct pthread_attr_s { uint8_t priority; /* Priority of the pthread */ uint8_t policy; /* Pthread scheduler policy */ uint8_t inheritsched; /* Inherit parent priority/policy? */ #ifdef CONFIG_SCHED_SPORADIC uint8_t low_priority; /* Low scheduling priority */ uint8_t max_repl; /* Maximum pending replenishments */ #endif #ifdef CONFIG_SMP cpu_set_t affinity; /* Set of permitted CPUs for the thread */ #endif size_t stacksize; /* Size of the stack allocated for the pthread */ #ifdef CONFIG_SCHED_SPORADIC struct timespec repl_period; /* Replenishment period */ struct timespec budget; /* Initial budget */ #endif }; typedef struct pthread_attr_s pthread_attr_t; #define __PTHREAD_ATTR_T_DEFINED 1 typedef pid_t pthread_t; #define __PTHREAD_T_DEFINED 1 typedef int pthread_condattr_t; #define __PTHREAD_CONDATTR_T_DEFINED 1 struct pthread_cond_s { sem_t sem; }; typedef struct pthread_cond_s pthread_cond_t; #define __PTHREAD_COND_T_DEFINED 1 #define PTHREAD_COND_INITIALIZER {SEM_INITIALIZER(0)} struct pthread_mutexattr_s { uint8_t pshared; /* PTHREAD_PROCESS_PRIVATE or PTHREAD_PROCESS_SHARED */ #ifdef CONFIG_MUTEX_TYPES uint8_t type; /* Type of the mutex. See PTHREAD_MUTEX_* definitions */ #endif }; typedef struct pthread_mutexattr_s pthread_mutexattr_t; #define __PTHREAD_MUTEXATTR_T_DEFINED 1 struct pthread_mutex_s { int pid; /* ID of the holder of the mutex */ sem_t sem; /* Semaphore underlying the implementation of the mutex */ #ifdef CONFIG_MUTEX_TYPES uint8_t type; /* Type of the mutex. See PTHREAD_MUTEX_* definitions */ int nlocks; /* The number of recursive locks held */ #endif }; typedef struct pthread_mutex_s pthread_mutex_t; #define __PTHREAD_MUTEX_T_DEFINED 1 #ifdef CONFIG_MUTEX_TYPES # define PTHREAD_MUTEX_INITIALIZER {-1, SEM_INITIALIZER(1), PTHREAD_MUTEX_DEFAULT, 0} #else # define PTHREAD_MUTEX_INITIALIZER {-1, SEM_INITIALIZER(1)} #endif struct pthread_barrierattr_s { int pshared; }; typedef struct pthread_barrierattr_s pthread_barrierattr_t; #define __PTHREAD_BARRIERATTR_T_DEFINED 1 struct pthread_barrier_s { sem_t sem; unsigned int count; }; typedef struct pthread_barrier_s pthread_barrier_t; #define __PTHREAD_BARRIER_T_DEFINED 1 typedef bool pthread_once_t; #define __PTHREAD_ONCE_T_DEFINED 1 /* Forward references */ struct sched_param; /* Defined in sched.h */ /******************************************************************************** * Public Function Prototypes ********************************************************************************/ /* Initializes a thread attributes object (attr) with default values for all of * the individual attributes used by a given implementation. */ int pthread_attr_init(FAR pthread_attr_t *attr); /* An attributes object can be deleted when it is no longer needed. */ int pthread_attr_destroy(pthread_attr_t *attr); /* Set or obtain the default scheduling algorithm */ int pthread_attr_setschedpolicy(FAR pthread_attr_t *attr, int policy); int pthread_attr_getschedpolicy(FAR const pthread_attr_t *attr, int *policy); int pthread_attr_setschedparam(FAR pthread_attr_t *attr, FAR const struct sched_param *param); int pthread_attr_getschedparam(FAR const pthread_attr_t *attr, FAR struct sched_param *param); int pthread_attr_setinheritsched(FAR pthread_attr_t *attr, int inheritsched); int pthread_attr_getinheritsched(FAR const pthread_attr_t *attr, FAR int *inheritsched); #ifdef CONFIG_SMP /* Set or obtain thread affinity attributes */ int pthread_attr_setaffinity_np(FAR pthread_attr_t *attr, size_t cpusetsize, FAR const cpu_set_t *cpuset); int pthread_attr_getaffinity_np(FAR const pthread_attr_t *attr, size_t cpusetsize, cpu_set_t *cpuset); #endif /* Set or obtain the default stack size */ int pthread_attr_setstacksize(FAR pthread_attr_t *attr, long stacksize); int pthread_attr_getstacksize(FAR const pthread_attr_t *attr, long *stackaddr); /* To create a thread object and runnable thread, a routine must be specified * as the new thread's start routine. An argument may be passed to this * routine, as an untyped address; an untyped address may also be returned as * the routine's value. An attributes object may be used to specify details * about the kind of thread being created. */ int pthread_create(FAR pthread_t *thread, FAR const pthread_attr_t *attr, pthread_startroutine_t startroutine, pthread_addr_t arg); /* A thread object may be "detached" to specify that the return value and * completion status will not be requested. */ int pthread_detach(pthread_t thread); /* A thread may terminate it's own execution or the execution of another * thread. */ void pthread_exit(pthread_addr_t value) noreturn_function; int pthread_cancel(pthread_t thread); int pthread_setcancelstate(int state, FAR int *oldstate); void pthread_testcancel(void); /* A thread can await termination of another thread and retrieve the return * value of the thread. */ int pthread_join(pthread_t thread, FAR pthread_addr_t *value); /* A thread may tell the scheduler that its processor can be made available. */ void pthread_yield(void); /* A thread may obtain a copy of its own thread handle. */ #define pthread_self() ((pthread_t)getpid()) /* Compare two thread IDs. */ #define pthread_equal(t1,t2) ((t1) == (t2)) /* Thread scheduling parameters */ int pthread_getschedparam(pthread_t thread, FAR int *policy, FAR struct sched_param *param); int pthread_setschedparam(pthread_t thread, int policy, FAR const struct sched_param *param); int pthread_setschedprio(pthread_t thread, int prio); #ifdef CONFIG_SMP /* Thread affinity */ int pthread_setaffinity_np(pthread_t thread, size_t cpusetsize, FAR const cpu_set_t *cpuset); int pthread_getaffinity_np(pthread_t thread, size_t cpusetsize, FAR cpu_set_t *cpuset); #endif /* Thread-specific Data Interfaces */ int pthread_key_create(FAR pthread_key_t *key, CODE void (*destructor)(FAR void*)); int pthread_setspecific(pthread_key_t key, FAR const void *value); FAR void *pthread_getspecific(pthread_key_t key); int pthread_key_delete(pthread_key_t key); /* Create, operate on, and destroy mutex attributes. */ int pthread_mutexattr_init(FAR pthread_mutexattr_t *attr); int pthread_mutexattr_destroy(FAR pthread_mutexattr_t *attr); int pthread_mutexattr_getpshared(FAR const pthread_mutexattr_t *attr, FAR int *pshared); int pthread_mutexattr_setpshared(FAR pthread_mutexattr_t *attr, int pshared); #ifdef CONFIG_MUTEX_TYPES int pthread_mutexattr_gettype(const pthread_mutexattr_t *attr, int *type); int pthread_mutexattr_settype(pthread_mutexattr_t *attr, int type); #endif /* The following routines create, delete, lock and unlock mutexes. */ int pthread_mutex_init(FAR pthread_mutex_t *mutex, FAR const pthread_mutexattr_t *attr); int pthread_mutex_destroy(FAR pthread_mutex_t *mutex); int pthread_mutex_lock(FAR pthread_mutex_t *mutex); int pthread_mutex_trylock(FAR pthread_mutex_t *mutex); int pthread_mutex_unlock(FAR pthread_mutex_t *mutex); /* Operations on condition variables */ int pthread_condattr_init(FAR pthread_condattr_t *attr); int pthread_condattr_destroy(FAR pthread_condattr_t *attr); /* A thread can create and delete condition variables. */ int pthread_cond_init(FAR pthread_cond_t *cond, FAR const pthread_condattr_t *attr); int pthread_cond_destroy(FAR pthread_cond_t *cond); /* A thread can signal to and broadcast on a condition variable. */ int pthread_cond_broadcast(FAR pthread_cond_t *cond); int pthread_cond_signal(FAR pthread_cond_t *cond); /* A thread can wait for a condition variable to be signalled or broadcast. */ int pthread_cond_wait(FAR pthread_cond_t *cond, FAR pthread_mutex_t *mutex); /* A thread can perform a timed wait on a condition variable. */ int pthread_cond_timedwait(FAR pthread_cond_t *cond, FAR pthread_mutex_t *mutex, FAR const struct timespec *abstime); /* Barrier attributes */ int pthread_barrierattr_destroy(FAR pthread_barrierattr_t *attr); int pthread_barrierattr_init(FAR pthread_barrierattr_t *attr); int pthread_barrierattr_getpshared(FAR const pthread_barrierattr_t *attr, FAR int *pshared); int pthread_barrierattr_setpshared(FAR pthread_barrierattr_t *attr, int pshared); /* Barriers */ int pthread_barrier_destroy(FAR pthread_barrier_t *barrier); int pthread_barrier_init(FAR pthread_barrier_t *barrier, FAR const pthread_barrierattr_t *attr, unsigned int count); int pthread_barrier_wait(FAR pthread_barrier_t *barrier); /* Pthread initialization */ int pthread_once(FAR pthread_once_t *once_control, CODE void (*init_routine)(void)); /* Pthread signal management APIs */ int pthread_kill(pthread_t thread, int sig); int pthread_sigmask(int how, FAR const sigset_t *set, FAR sigset_t *oset); #ifdef __cplusplus } #endif /******************************************************************************** * Minimal Type Definitions ********************************************************************************/ #else /* __INCLUDE_PTHREAD_H */ #include #include /* Avoid circular dependencies by assuring that simple type definitions are * available in any inclusion ordering. */ #ifndef __PTHREAD_KEY_T_DEFINED typedef int pthread_key_t; # define __PTHREAD_KEY_T_DEFINED 1 #endif #ifndef __PTHREAD_ADDR_T_DEFINED typedef FAR void *pthread_addr_t; # define __PTHREAD_ADDR_T_DEFINED 1 #endif #ifndef __PTHREAD_ATTR_T_DEFINED struct pthread_attr_s; typedef struct pthread_attr_s pthread_attr_t; # define __PTHREAD_ATTR_T_DEFINED 1 #endif #ifndef __PTHREAD_T_DEFINED typedef pid_t pthread_t; # define __PTHREAD_T_DEFINED 1 #endif #ifndef __PTHREAD_CONDATTR_T_DEFINED typedef int pthread_condattr_t; # define __PTHREAD_CONDATTR_T_DEFINED 1 #endif #ifndef __PTHREAD_COND_T_DEFINED struct pthread_cond_s; typedef struct pthread_cond_s pthread_cond_t; # define __PTHREAD_COND_T_DEFINED 1 #endif #ifndef __PTHREAD_MUTEXATTR_T_DEFINED struct pthread_mutexattr_s; typedef struct pthread_mutexattr_s pthread_mutexattr_t; # define __PTHREAD_MUTEXATTR_T_DEFINED 1 #endif #ifndef __PTHREAD_MUTEX_T_DEFINED struct pthread_mutex_s; typedef struct pthread_mutex_s pthread_mutex_t; # define __PTHREAD_MUTEX_T_DEFINED 1 #endif #ifndef __PTHREAD_BARRIERATTR_T_DEFINED struct pthread_barrierattr_s; typedef struct pthread_barrierattr_s pthread_barrierattr_t; # define __PTHREAD_BARRIERATTR_T_DEFINED 1 #endif #ifndef __PTHREAD_BARRIER_T_DEFINED struct pthread_barrier_s; typedef struct pthread_barrier_s pthread_barrier_t; # define __PTHREAD_BARRIER_T_DEFINED 1 #endif #ifndef __PTHREAD_ONCE_T_DEFINED typedef bool pthread_once_t; # define __PTHREAD_ONCE_T_DEFINED 1 #endif #endif /* __INCLUDE_PTHREAD_H */