/********************************************************************************
* include/sched.h
*
* Copyright (C) 2007-2009, 2011, 2013, 2015-2016 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 __INCLUDE_SCHED_H
#define __INCLUDE_SCHED_H
/********************************************************************************
* Included Files
********************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <nuttx/sched.h>
/********************************************************************************
* Pre-processor Definitions
********************************************************************************/
/* Task Management Definitions **************************************************/
/* POSIX-like scheduling policies */
#define SCHED_FIFO 1 /* FIFO priority scheduling policy */
#define SCHED_RR 2 /* Round robin scheduling policy */
#define SCHED_SPORADIC 3 /* Sporadic scheduling policy */
#define SCHED_OTHER 4 /* Not supported */
/* Maximum number of SCHED_SPORADIC replenishments */
#define SS_REPL_MAX CONFIG_SCHED_SPORADIC_MAXREPL
/* Cancellation definitions *****************************************************/
/* Cancellation states used by task_setcancelstate() */
#define TASK_CANCEL_ENABLE (0)
#define TASK_CANCEL_DISABLE (1)
/* Cancellation types used by task_setcanceltype() */
#define TASK_CANCEL_DEFERRED (0)
#define TASK_CANCEL_ASYNCHRONOUS (1)
/* Pthread definitions **********************************************************/
#define PTHREAD_KEYS_MAX CONFIG_NPTHREAD_KEYS
/* CPU affinity mask helpers ***************************************************/
/* These are not standard but are defined for Linux compatibility */
#ifdef CONFIG_SMP
/* void CPU_ZERO(FAR cpu_set_t *set); */
# define CPU_ZERO(s) do { *(s) = 0; } while (0)
/* void CPU_SET(int cpu, FAR cpu_set_t *set); */
# define CPU_SET(c,s) do { *(s) |= (1 << (c)); } while (0)
/* void CPU_CLR(int cpu, FAR cpu_set_t *set); */
# define CPU_CLR(c,s) do { *(s) &= ~(1 << (c)); } while (0)
/* int CPU_ISSET(int cpu, FAR const cpu_set_t *set); */
# define CPU_ISSET(c,s) ((*(s) & (1 << (c))) != 0)
/* int CPU_COUNT(FAR const cpu_set_t *set); */
# define CPU_COUNT(s) sched_cpu_count(s)
/* void CPU_AND(FAR cpu_set_t *destset, FAR const cpu_set_t *srcset1,
* FAR const cpu_set_t *srcset2);
*/
# define CPU_AND(d,s1,s2) do { *(d) = *(s1) & *(s2); } while (0)
/* void CPU_OR(FAR cpu_set_t *destset, FAR const cpu_set_t *srcset1,
* FAR const cpu_set_t *srcset2);
*/
# define CPU_OR(d,s1,s2) do { *(d) = *(s1) | *(s2); } while (0)
/* void CPU_XOR(FAR cpu_set_t *destset, FAR const cpu_set_t *srcset1,
* FAR const cpu_set_t *srcset2);
*/
# define CPU_XOR(d,s1,s2) do { *(d) = *(s1) ^ *(s2); } while (0)
/* int CPU_EQUAL(FAR const cpu_set_t *set1, FAR const cpu_set_t *set2); */
# define CPU_EQUAL(s1,s2) (*(s2) == *(s2))
/* REVISIT: Variably sized CPU sets are not supported */
/* FAR cpu_set_t *CPU_ALLOC(int num_cpus); */
# define CPU_ALLOC(n) (FAR cpu_set_t *)malloc(sizeof(cpu_set_t));
/* void CPU_FREE(cpu_set_t *set); */
# define CPU_ALLOC(s) free(s)
/* size_t CPU_ALLOC_SIZE(int num_cpus); */
# define CPU_ALLOC_SIZE(n) sizeof(cpu_set_t)
/* void CPU_ZERO_S(size_t setsize, FAR cpu_set_t *set); */
# define CPU_ZERO_S(n,s) CPU_ZERO_S(s)
/* void CPU_SET_S(int cpu, size_t setsize, FAR cpu_set_t *set); */
# define CPU_SET_S(c,n,s) CPU_SET(c,s)
/* void CPU_CLR_S(int cpu, size_t setsize, FAR cpu_set_t *set); */
# define CPU_CLR_S(c,n,s) CPU_CLR(c,s)
/* int CPU_ISSET_S(int cpu, size_t setsize, FAR const cpu_set_t *set); */
# define CPU_ISSET_S(c,n,s) CPU_ISSET(c,s)
/* int CPU_COUNT_S(size_t setsize, FAR const cpu_set_t *set); */
# define CPU_COUNT_S(n,s) CPU_COUNT(s)
/* void CPU_AND_S(size_t setsize, FAR cpu_set_t *destset,
* FAR const cpu_set_t *srcset1,
* FAR const cpu_set_t *srcset2);
*/
# define CPU_AND_S(n,d,s1,s2) CPU_AND(d,s1,s2)
/* void CPU_OR_S(size_t setsize, FAR cpu_set_t *destset,
* FAR const cpu_set_t *srcset1,
* FAR const cpu_set_t *srcset2);
*/
# define CPU_OR_S(n,d,s1,s2) CPU_OR(d,s1,s2)
/* void CPU_XOR_S(size_t setsize, FAR cpu_set_t *destset,
* FAR const cpu_set_t *srcset1,
* FAR const cpu_set_t *srcset2);
*/
# define CPU_XOR_S(n,d,s1,s2) CPU_XOR(d,s1,s2)
/* int CPU_EQUAL_S(size_t setsize, FAR const cpu_set_t *set1,
* FAR const cpu_set_t *set2);
*/
# define CPU_EQUAL_S(n,s1,s2) CPU_EQUAL(s1,s2)
#endif /* CONFIG_SMP */
/********************************************************************************
* Public Type Definitions
********************************************************************************/
/* This is the POSIX-like scheduling parameter structure */
struct sched_param
{
int sched_priority; /* Base thread priority */
#ifdef CONFIG_SCHED_SPORADIC
int sched_ss_low_priority; /* Low scheduling priority for sporadic
* server */
struct timespec sched_ss_repl_period; /* Replenishment period for sporadic
* server. */
struct timespec sched_ss_init_budget; /* Initial budget for sporadic server */
int sched_ss_max_repl; /* Maximum pending replenishments for
* sporadic server. */
#endif
};
/********************************************************************************
* Public Data
********************************************************************************/
#ifndef __ASSEMBLY__
#undef EXTERN
#if defined(__cplusplus)
#define EXTERN extern "C"
extern "C"
{
#else
#define EXTERN extern
#endif
/********************************************************************************
* Public Function Prototypes
********************************************************************************/
/* Task Control Interfaces (non-standard) */
int task_init(FAR struct tcb_s *tcb, const char *name, int priority,
FAR uint32_t *stack, uint32_t stack_size, main_t entry,
FAR char * const argv[]);
int task_activate(FAR struct tcb_s *tcb);
#ifndef CONFIG_BUILD_KERNEL
int task_create(FAR const char *name, int priority, int stack_size,
main_t entry, FAR char * const argv[]);
#endif
int task_delete(pid_t pid);
int task_restart(pid_t pid);
int task_setcancelstate(int state, FAR int *oldstate);
int task_setcanceltype(int type, FAR int *oldtype);
void task_testcancel(void);
/* Task Scheduling Interfaces (based on POSIX APIs) */
int sched_setparam(pid_t pid, const struct sched_param *param);
int sched_getparam(pid_t pid, struct sched_param *param);
int sched_setscheduler(pid_t pid, int policy,
FAR const struct sched_param *param);
int sched_getscheduler(pid_t pid);
int sched_yield(void);
int sched_get_priority_max(int policy);
int sched_get_priority_min(int policy);
int sched_rr_get_interval(pid_t pid, FAR struct timespec *interval);
#ifdef CONFIG_SMP
/* Task affinity */
int sched_setaffinity(pid_t pid, size_t cpusetsize,
FAR const cpu_set_t *mask);
int sched_getaffinity(pid_t pid, size_t cpusetsize, FAR cpu_set_t *mask);
int sched_cpu_count(FAR const cpu_set_t *set);
#endif /* CONFIG_SMP */
/* Task Switching Interfaces (non-standard) */
int sched_lock(void);
int sched_unlock(void);
int sched_lockcount(void);
/* Queries */
bool sched_idletask(void);
#undef EXTERN
#if defined(__cplusplus)
}
#endif
#endif /* __ASSEMBLY__ */
#endif /* __INCLUDE_SCHED_H */