769 lines
23 KiB
C
769 lines
23 KiB
C
/****************************************************************************
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* sched/task/task_setup.c
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*
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* Copyright (C) 2007-2013 Gregory Nutt. All rights 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 <stdint.h>
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#include <sched.h>
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#include <string.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 "sched/sched.h"
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#include "pthread/pthread.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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* Pre-processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Private Type Declarations
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****************************************************************************/
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/****************************************************************************
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* Global Variables
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****************************************************************************/
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/****************************************************************************
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* Private Variables
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****************************************************************************/
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/* This is the name for un-named tasks */
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static const char g_noname[] = "<noname>";
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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static int task_assignpid(FAR struct tcb_s* tcb);
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: task_assignpid
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*
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* Description:
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* This function assigns the next unique task ID to a task.
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*
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* Inputs:
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* tcb - TCB of task
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*
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* Return:
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* OK on success; ERROR on failure (errno is not set)
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*
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****************************************************************************/
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static int task_assignpid(FAR struct tcb_s *tcb)
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{
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pid_t next_pid;
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int hash_ndx;
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int tries;
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/* Disable pre-emption. This should provide sufficient protection
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* for the following operation.
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*/
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(void)sched_lock();
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/* We'll try every allowable pid */
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for (tries = 0; tries < CONFIG_MAX_TASKS; tries++)
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{
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/* Get the next process ID candidate */
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next_pid = ++g_lastpid;
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/* Verify that the next_pid is in the valid range */
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if (next_pid <= 0)
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{
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g_lastpid = 1;
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next_pid = 1;
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}
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/* Get the hash_ndx associated with the next_pid */
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hash_ndx = PIDHASH(next_pid);
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/* Check if there is a (potential) duplicate of this pid */
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if (!g_pidhash[hash_ndx].tcb)
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{
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/* Assign this PID to the task */
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g_pidhash[hash_ndx].tcb = tcb;
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g_pidhash[hash_ndx].pid = next_pid;
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#ifdef CONFIG_SCHED_CPULOAD
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g_pidhash[hash_ndx].ticks = 0;
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#endif
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tcb->pid = next_pid;
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(void)sched_unlock();
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return OK;
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}
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}
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/* If we get here, then the g_pidhash[] table is completely full.
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* We cannot allow another task to be started.
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*/
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(void)sched_unlock();
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return ERROR;
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}
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/****************************************************************************
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* Name: task_saveparent
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*
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* Description:
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* Save the task ID of the parent task in the child task's TCB and allocate
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* a child status structure to catch the child task's exit status.
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*
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* Parameters:
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* tcb - The TCB of the new, child task.
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* ttype - Type of the new thread: task, pthread, or kernel thread
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*
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* Returned Value:
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* None
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*
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* Assumptions:
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* The parent of the new task is the task at the head of the ready-to-run
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* list.
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*
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****************************************************************************/
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#ifdef CONFIG_SCHED_HAVE_PARENT
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static inline void task_saveparent(FAR struct tcb_s *tcb, uint8_t ttype)
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{
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FAR struct tcb_s *rtcb = (FAR struct tcb_s*)g_readytorun.head;
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#if defined(HAVE_GROUP_MEMBERS) || defined(CONFIG_SCHED_CHILD_STATUS)
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DEBUGASSERT(tcb && tcb->group && rtcb->group);
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#else
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#endif
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#ifdef HAVE_GROUP_MEMBERS
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/* Save the ID of the parent tasks' task group in the child's task group.
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* Do nothing for pthreads. The parent and the child are both members of
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* the same task group.
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*/
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#ifndef CONFIG_DISABLE_PTHREAD
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if ((tcb->flags & TCB_FLAG_TTYPE_MASK) != TCB_FLAG_TTYPE_PTHREAD)
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#endif
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{
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/* This is a new task in a new task group, we have to copy the ID from
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* the parent's task group structure to child's task group.
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*/
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tcb->group->tg_pgid = rtcb->group->tg_gid;
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}
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#else
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DEBUGASSERT(tcb);
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/* Save the parent task's ID in the child task's TCB. I am not sure if
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* this makes sense for the case of pthreads or not, but I don't think it
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* is harmful in any event.
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*/
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tcb->ppid = rtcb->pid;
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#endif
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#ifdef CONFIG_SCHED_CHILD_STATUS
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/* Tasks can also suppress retention of their child status by applying
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* the SA_NOCLDWAIT flag with sigaction().
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*/
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if ((rtcb->group->tg_flags && GROUP_FLAG_NOCLDWAIT) == 0)
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{
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FAR struct child_status_s *child;
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/* Make sure that there is not already a structure for this PID in the
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* parent TCB. There should not be.
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*/
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child = group_findchild(rtcb->group, tcb->pid);
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DEBUGASSERT(!child);
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if (!child)
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{
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/* Allocate a new status structure */
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child = group_allocchild();
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}
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/* Did we successfully find/allocate the child status structure? */
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DEBUGASSERT(child);
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if (child)
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{
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/* Yes.. Initialize the structure */
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child->ch_flags = ttype;
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child->ch_pid = tcb->pid;
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child->ch_status = 0;
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/* Add the entry into the TCB list of children */
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group_addchild(rtcb->group, child);
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}
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}
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#else
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DEBUGASSERT(rtcb->nchildren < UINT16_MAX);
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rtcb->nchildren++;
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#endif
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}
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#else
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# define task_saveparent(tcb,ttype)
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#endif
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/****************************************************************************
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* Name: task_dupdspace
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*
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* Description:
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* When a new task or thread is created from a PIC module, then that
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* module (probably) intends the task or thread to execute in the same
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* D-Space. This function will duplicate the D-Space for that purpose.
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*
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* Parameters:
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* tcb - The TCB of the new task.
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*
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* Returned Value:
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* None
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*
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* Assumptions:
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* The parent of the new task is the task at the head of the ready-to-run
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* list.
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*
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****************************************************************************/
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#ifdef CONFIG_PIC
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static inline void task_dupdspace(FAR struct tcb_s *tcb)
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{
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FAR struct tcb_s *rtcb = (FAR struct tcb_s*)g_readytorun.head;
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if (rtcb->dspace != NULL)
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{
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/* Copy the D-Space structure reference and increment the reference
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* count on the memory. The D-Space memory will persist until the
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* last thread exits (see sched_releasetcb()).
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*/
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tcb->dspace = rtcb->dspace;
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tcb->dspace->crefs++;
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}
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}
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#else
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# define task_dupdspace(tcb)
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#endif
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/****************************************************************************
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* Name: thread_schedsetup
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*
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* Description:
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* This functions initializes the common portions of the Task Control Block
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* (TCB) in preparation for starting a new thread.
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*
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* thread_schedsetup() is called from task_schedsetup() and
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* pthread_schedsetup().
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*
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* Input Parameters:
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* tcb - Address of the new task's TCB
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* priority - Priority of the new task
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* start - Thread startup routine
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* entry - Thread user entry point
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* ttype - Type of the new thread: task, pthread, or kernel thread
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*
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* Return Value:
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* OK on success; ERROR on failure.
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*
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* This function can only failure is it is unable to assign a new, unique
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* task ID to the TCB (errno is not set).
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*
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****************************************************************************/
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static int thread_schedsetup(FAR struct tcb_s *tcb, int priority,
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start_t start, CODE void *entry, uint8_t ttype)
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{
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int ret;
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/* Assign a unique task ID to the task. */
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ret = task_assignpid(tcb);
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if (ret == OK)
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{
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/* Save task priority and entry point in the TCB */
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tcb->sched_priority = (uint8_t)priority;
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#ifdef CONFIG_PRIORITY_INHERITANCE
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tcb->base_priority = (uint8_t)priority;
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#endif
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tcb->start = start;
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tcb->entry.main = (main_t)entry;
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/* Save the thread type. This setting will be needed in
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* up_initial_state() is called.
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*/
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ttype &= TCB_FLAG_TTYPE_MASK;
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tcb->flags &= ~TCB_FLAG_TTYPE_MASK;
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tcb->flags |= ttype;
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/* Save the task ID of the parent task in the TCB and allocate
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* a child status structure.
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*/
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task_saveparent(tcb, ttype);
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/* exec(), pthread_create(), task_create(), and vfork() all
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* inherit the signal mask of the parent thread.
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*/
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#ifndef CONFIG_DISABLE_SIGNALS
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(void)sigprocmask(SIG_SETMASK, NULL, &tcb->sigprocmask);
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#endif
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/* Initialize the task state. It does not get a valid state
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* until it is activated.
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*/
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tcb->task_state = TSTATE_TASK_INVALID;
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/* Clone the parent tasks D-Space (if it was running PIC). This
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* must be done before calling up_initial_state() so that the
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* state setup will take the PIC address base into account.
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*/
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task_dupdspace(tcb);
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/* Initialize the processor-specific portion of the TCB */
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up_initial_state(tcb);
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/* Add the task to the inactive task list */
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sched_lock();
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dq_addfirst((FAR dq_entry_t*)tcb, (dq_queue_t*)&g_inactivetasks);
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tcb->task_state = TSTATE_TASK_INACTIVE;
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sched_unlock();
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}
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return ret;
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}
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/****************************************************************************
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* Name: task_namesetup
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*
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* Description:
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* Assign the task name.
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*
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* Input Parameters:
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* tcb - Address of the new task's TCB
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* name - Name of the new task
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*
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* Return Value:
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* None
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*
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****************************************************************************/
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#if CONFIG_TASK_NAME_SIZE > 0
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static void task_namesetup(FAR struct task_tcb_s *tcb, FAR const char *name)
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{
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/* Give a name to the unnamed tasks */
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if (!name)
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{
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name = (FAR char *)g_noname;
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}
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/* Copy the name into the TCB */
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strncpy(tcb->cmn.name, name, CONFIG_TASK_NAME_SIZE);
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}
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#else
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# define task_namesetup(t,n)
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#endif /* CONFIG_TASK_NAME_SIZE */
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/****************************************************************************
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* Name: task_tcbargsetup
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*
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* Description:
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* This functions is called only from task_argsetup() in the "normal"
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* case, where the argv[] array is a structure in the TCB. This function
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* will clone all of the arguments using strdup.
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*
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* Input Parameters:
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* tcb - Address of the new task's TCB
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* argv - A pointer to an array of input parameters.
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* Up to CONFIG_MAX_TASK_ARG parameters may be
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* provided. If fewer than CONFIG_MAX_TASK_ARG
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* parameters are passed, the list should be
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* terminated with a NULL argv[] value.
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* If no parameters are required, argv may be NULL.
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*
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* Return Value:
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* OK. This function always succeeds.
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*
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****************************************************************************/
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#if defined(CONFIG_CUSTOM_STACK) || (!defined(CONFIG_BUILD_PROTECTED) && \
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!defined(CONFIG_BUILD_KERNEL))
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static int task_tcbargsetup(FAR struct task_tcb_s *tcb,
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FAR char * const argv[])
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{
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int i;
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/* Save the name as the first argument */
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#if CONFIG_TASK_NAME_SIZE > 0
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tcb->argv[0] = tcb->cmn.name;
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#else
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tcb->argv[0] = (FAR char *)g_noname;
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#endif /* CONFIG_TASK_NAME_SIZE */
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|
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/* For tasks, the life of the argument must be as long as the life of the
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* task and the arguments must be strings. So for tasks, we have to dup
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* the strings.
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*
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* The first NULL argument terminates the list of arguments. The argv
|
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* pointer may be NULL if no parameters are passed.
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*/
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i = 1;
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if (argv)
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{
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for (; i < CONFIG_MAX_TASK_ARGS+1 && argv[i-1]; i++)
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{
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tcb->argv[i] = strdup(argv[i-1]);
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}
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}
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|
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/* Nullify any unused argument storage */
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for (; i < CONFIG_MAX_TASK_ARGS+1; i++)
|
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{
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tcb->argv[i] = NULL;
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}
|
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return OK;
|
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}
|
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#endif /* CONFIG_CUSTOM_STACK || (!CONFIG_BUILD_PROTECTED && !CONFIG_BUILD_KERNEL) */
|
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|
|
/****************************************************************************
|
|
* Name: task_stackargsetup
|
|
*
|
|
* Description:
|
|
* This functions is called only from task_argsetup() for the case of the
|
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* kernel build where the argv[] array and all strings are copied to the
|
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* task's stack. This is done because the TCB (and kernel allocated
|
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* strings) are only accessible in kernel-mode. Data on the stack, on the
|
|
* other hand, is guaranteed to be accessible no matter what mode the
|
|
* task runs in.
|
|
*
|
|
* Input Parameters:
|
|
* tcb - Address of the new task's TCB
|
|
* argv - A pointer to an array of input parameters.
|
|
* Up to CONFIG_MAX_TASK_ARG parameters may be
|
|
* provided. If fewer than CONFIG_MAX_TASK_ARG
|
|
* parameters are passed, the list should be
|
|
* terminated with a NULL argv[] value.
|
|
* If no parameters are required, argv may be NULL.
|
|
*
|
|
* Return Value:
|
|
* zero on success; a negated errno on failure.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#if !defined(CONFIG_CUSTOM_STACK) && (defined(CONFIG_BUILD_PROTECTED) || \
|
|
defined(CONFIG_BUILD_KERNEL))
|
|
static int task_stackargsetup(FAR struct task_tcb_s *tcb,
|
|
FAR char * const argv[])
|
|
{
|
|
FAR char **stackargv;
|
|
FAR const char *name;
|
|
FAR char *str;
|
|
size_t strtablen;
|
|
size_t argvlen;
|
|
int nbytes;
|
|
int argc;
|
|
int i;
|
|
|
|
/* Get the name string that we will use as the first argument */
|
|
|
|
#if CONFIG_TASK_NAME_SIZE > 0
|
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name = tcb->cmn.name;
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#else
|
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name = (FAR const char *)g_noname;
|
|
#endif /* CONFIG_TASK_NAME_SIZE */
|
|
|
|
/* Get the size of the task name (including the NUL terminator) */
|
|
|
|
strtablen = (strlen(name) + 1);
|
|
|
|
/* Count the number of arguments and get the accumulated size of the
|
|
* argument strings (including the null terminators). The argument count
|
|
* does not include the task name in that will be in argv[0].
|
|
*/
|
|
|
|
argc = 0;
|
|
if (argv)
|
|
{
|
|
for (; argc <= CONFIG_MAX_TASK_ARGS; argc++)
|
|
{
|
|
/* A NULL argument terminates the list */
|
|
|
|
if (!argv[argc])
|
|
{
|
|
break;
|
|
}
|
|
|
|
/* Add the size of this argument (with NUL terminator) */
|
|
|
|
strtablen += (strlen(argv[argc]) + 1);
|
|
}
|
|
}
|
|
|
|
/* Allocate a stack frame to hold argv[] array and the strings. NOTE
|
|
* that argc + 2 entries are needed: The number of arguments plus the
|
|
* task name plus a NULL argv[] entry to terminate the list.
|
|
*/
|
|
|
|
argvlen = (argc + 2)*sizeof(FAR char*);
|
|
stackargv = (FAR char **)up_stack_frame(&tcb->cmn, argvlen + strtablen);
|
|
|
|
DEBUGASSERT(stackargv != NULL);
|
|
if (stackargv == NULL)
|
|
{
|
|
return -ENOMEM;
|
|
}
|
|
|
|
/* Get the address of the string table that will lie immediately after
|
|
* the argv[] array and mark it as a null string.
|
|
*/
|
|
|
|
str = (FAR char *)stackargv + argvlen;
|
|
|
|
/* Copy the task name. Increment str to skip over the task name and its
|
|
* NUL terminator in the string buffer.
|
|
*/
|
|
|
|
stackargv[0] = str;
|
|
nbytes = strlen(name) + 1;
|
|
strcpy(str, name);
|
|
str += nbytes;
|
|
|
|
/* Copy each argument */
|
|
|
|
for (i = 0; i < argc; i++)
|
|
{
|
|
/* Save the pointer to the location in the string buffer and copy
|
|
* the argument into the buffer. Increment str to skip over the
|
|
* argument and its NUL terminator in the string buffer.
|
|
*/
|
|
|
|
stackargv[i+1] = str;
|
|
nbytes = strlen(argv[i]) + 1;
|
|
strcpy(str, argv[i]);
|
|
str += nbytes;
|
|
}
|
|
|
|
/* Put a terminator entry at the end of the argv[] array. Then save the
|
|
* argv[] arry pointer in the TCB where it will be recovered later by
|
|
* task_start().
|
|
*/
|
|
|
|
stackargv[argc + 1] = NULL;
|
|
tcb->argv = stackargv;
|
|
|
|
return OK;
|
|
}
|
|
#endif /* !CONFIG_CUSTOM_STACK && (CONFIG_BUILD_PROTECTED || CONFIG_BUILD_KERNEL) */
|
|
|
|
/****************************************************************************
|
|
* Public Functions
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Name: task_schedsetup
|
|
*
|
|
* Description:
|
|
* This functions initializes a Task Control Block (TCB) in preparation
|
|
* for starting a new task.
|
|
*
|
|
* task_schedsetup() is called from task_init() and task_start().
|
|
*
|
|
* Input Parameters:
|
|
* tcb - Address of the new task's TCB
|
|
* priority - Priority of the new task
|
|
* start - Start-up function (probably task_start())
|
|
* main - Application start point of the new task
|
|
* ttype - Type of the new thread: task or kernel thread
|
|
*
|
|
* Return Value:
|
|
* OK on success; ERROR on failure.
|
|
*
|
|
* This function can only failure is it is unable to assign a new, unique
|
|
* task ID to the TCB (errno is not set).
|
|
*
|
|
****************************************************************************/
|
|
|
|
int task_schedsetup(FAR struct task_tcb_s *tcb, int priority, start_t start,
|
|
main_t main, uint8_t ttype)
|
|
{
|
|
int ret;
|
|
|
|
/* Perform common thread setup */
|
|
|
|
ret = thread_schedsetup((FAR struct tcb_s *)tcb, priority, start,
|
|
(CODE void *)main, ttype);
|
|
if (ret == OK)
|
|
{
|
|
/* Save task restart priority */
|
|
|
|
tcb->init_priority = (uint8_t)priority;
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: pthread_schedsetup
|
|
*
|
|
* Description:
|
|
* This functions initializes a Task Control Block (TCB) in preparation
|
|
* for starting a new pthread.
|
|
*
|
|
* pthread_schedsetup() is called from pthread_create(),
|
|
*
|
|
* Input Parameters:
|
|
* tcb - Address of the new task's TCB
|
|
* priority - Priority of the new task
|
|
* start - Start-up function (probably pthread_start())
|
|
* entry - Entry point of the new pthread
|
|
* ttype - Type of the new thread: task, pthread, or kernel thread
|
|
*
|
|
* Return Value:
|
|
* OK on success; ERROR on failure.
|
|
*
|
|
* This function can only failure is it is unable to assign a new, unique
|
|
* task ID to the TCB (errno is not set).
|
|
*
|
|
****************************************************************************/
|
|
|
|
#ifndef CONFIG_DISABLE_PTHREAD
|
|
int pthread_schedsetup(FAR struct pthread_tcb_s *tcb, int priority, start_t start,
|
|
pthread_startroutine_t entry)
|
|
{
|
|
/* Perform common thread setup */
|
|
|
|
return thread_schedsetup((FAR struct tcb_s *)tcb, priority, start,
|
|
(CODE void *)entry, TCB_FLAG_TTYPE_PTHREAD);
|
|
}
|
|
#endif
|
|
|
|
/****************************************************************************
|
|
* Name: task_argsetup
|
|
*
|
|
* Description:
|
|
* This functions sets up parameters in the Task Control Block (TCB) in
|
|
* preparation for starting a new thread.
|
|
*
|
|
* task_argsetup() is called only from task_init() and task_start() to
|
|
* create a new task. In the "normal" case, the argv[] array is a
|
|
* structure in the TCB, the arguments are cloned via strdup.
|
|
*
|
|
* In the kernel build case, the argv[] array and all strings are copied
|
|
* to the task's stack. This is done because the TCB (and kernel allocated
|
|
* strings) are only accessible in kernel-mode. Data on the stack, on the
|
|
* other hand, is guaranteed to be accessible no matter what mode the
|
|
* task runs in.
|
|
*
|
|
* Input Parameters:
|
|
* tcb - Address of the new task's TCB
|
|
* name - Name of the new task (not used)
|
|
* argv - A pointer to an array of input parameters.
|
|
* Up to CONFIG_MAX_TASK_ARG parameters may be
|
|
* provided. If fewer than CONFIG_MAX_TASK_ARG
|
|
* parameters are passed, the list should be
|
|
* terminated with a NULL argv[] value.
|
|
* If no parameters are required, argv may be NULL.
|
|
*
|
|
* Return Value:
|
|
* OK
|
|
*
|
|
****************************************************************************/
|
|
|
|
int task_argsetup(FAR struct task_tcb_s *tcb, FAR const char *name,
|
|
FAR char * const argv[])
|
|
{
|
|
int ret;
|
|
|
|
/* Setup the task name */
|
|
|
|
task_namesetup(tcb, name);
|
|
|
|
#if !defined(CONFIG_CUSTOM_STACK) && (defined(CONFIG_BUILD_PROTECTED) || \
|
|
defined(CONFIG_BUILD_KERNEL))
|
|
/* In the kernel build case, the argv[] array and all strings are copied
|
|
* to the task's stack. This is done because the TCB (and kernel allocated
|
|
* strings) are only accessible in kernel-mode. Data on the stack, on the
|
|
* other hand, is guaranteed to be accessible no matter what mode the
|
|
* task runs in.
|
|
*/
|
|
|
|
ret = task_stackargsetup(tcb, argv);
|
|
|
|
#else
|
|
/* In the "normal" case, the argv[] array is a structure in the TCB, the
|
|
* arguments are cloned via strdup.
|
|
*/
|
|
|
|
ret = task_tcbargsetup(tcb, argv);
|
|
|
|
#endif /* !CONFIG_CUSTOM_STACK && (CONFIG_BUILD_PROTECTED || CONFIG_BUILD_KERNEL) */
|
|
|
|
return ret;
|
|
}
|