b48009644f
git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@5610 42af7a65-404d-4744-a932-0658087f49c3
456 lines
13 KiB
C
456 lines
13 KiB
C
/****************************************************************************
|
|
* sched/mq_send.c
|
|
*
|
|
* Copyright (C) 2007, 2009, 2013 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Included Files
|
|
****************************************************************************/
|
|
|
|
#include <nuttx/config.h>
|
|
|
|
#include <sys/types.h>
|
|
#include <stdint.h>
|
|
#include <fcntl.h>
|
|
#include <mqueue.h>
|
|
#include <string.h>
|
|
#include <errno.h>
|
|
#include <sched.h>
|
|
#include <debug.h>
|
|
|
|
#include <nuttx/kmalloc.h>
|
|
#include <nuttx/arch.h>
|
|
|
|
#include "os_internal.h"
|
|
#ifndef CONFIG_DISABLE_SIGNALS
|
|
# include "sig_internal.h"
|
|
#endif
|
|
#include "mq_internal.h"
|
|
|
|
/****************************************************************************
|
|
* Definitions
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Private Type Declarations
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Global Variables
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Private Variables
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Private Functions
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Public Functions
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Name: mq_verifysend
|
|
*
|
|
* Description:
|
|
* This is internal, common logic shared by both mq_send and mq_timesend.
|
|
* This function verifies the input parameters that are common to both
|
|
* functions.
|
|
*
|
|
* Parameters:
|
|
* mqdes - Message queue descriptor
|
|
* msg - Message to send
|
|
* msglen - The length of the message in bytes
|
|
* prio - The priority of the message
|
|
*
|
|
* Return Value:
|
|
* One success, 0 (OK) is returned. On failure, -1 (ERROR) is returned and
|
|
* the errno is set appropriately:
|
|
*
|
|
* EINVAL Either msg or mqdes is NULL or the value of prio is invalid.
|
|
* EPERM Message queue opened not opened for writing.
|
|
* EMSGSIZE 'msglen' was greater than the maxmsgsize attribute of the
|
|
* message queue.
|
|
*
|
|
* Assumptions:
|
|
*
|
|
****************************************************************************/
|
|
|
|
int mq_verifysend(mqd_t mqdes, const void *msg, size_t msglen, int prio)
|
|
{
|
|
/* Verify the input parameters */
|
|
|
|
if (!msg || !mqdes || prio < 0 || prio > MQ_PRIO_MAX)
|
|
{
|
|
set_errno(EINVAL);
|
|
return ERROR;
|
|
}
|
|
|
|
if ((mqdes->oflags & O_WROK) == 0)
|
|
{
|
|
set_errno(EPERM);
|
|
return ERROR;
|
|
}
|
|
|
|
if (msglen > (size_t)mqdes->msgq->maxmsgsize)
|
|
{
|
|
set_errno(EMSGSIZE);
|
|
return ERROR;
|
|
}
|
|
|
|
return OK;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: mq_msgalloc
|
|
*
|
|
* Description:
|
|
* The mq_msgalloc function will get a free message for use by the
|
|
* operating system. The message will be allocated from the g_msgfree
|
|
* list.
|
|
*
|
|
* If the list is empty AND the message is NOT being allocated from the
|
|
* interrupt level, then the message will be allocated. If a message
|
|
* cannot be obtained, the operating system is dead and therefore cannot
|
|
* continue.
|
|
*
|
|
* If the list is empty AND the message IS being allocated from the
|
|
* interrupt level. This function will attempt to get a message from
|
|
* the g_msgfreeirq list. If this is unsuccessful, the calling interrupt
|
|
* handler will be notified.
|
|
*
|
|
* Inputs:
|
|
* None
|
|
*
|
|
* Return Value:
|
|
* A reference to the allocated msg structure. On a failure to allocate,
|
|
* this function PANICs.
|
|
*
|
|
****************************************************************************/
|
|
|
|
FAR mqmsg_t *mq_msgalloc(void)
|
|
{
|
|
FAR mqmsg_t *mqmsg;
|
|
irqstate_t saved_state;
|
|
|
|
/* If we were called from an interrupt handler, then try to get the message
|
|
* from generally available list of messages. If this fails, then try the
|
|
* list of messages reserved for interrupt handlers
|
|
*/
|
|
|
|
if (up_interrupt_context())
|
|
{
|
|
/* Try the general free list */
|
|
|
|
mqmsg = (FAR mqmsg_t*)sq_remfirst(&g_msgfree);
|
|
if (!mqmsg)
|
|
{
|
|
/* Try the free list reserved for interrupt handlers */
|
|
|
|
mqmsg = (FAR mqmsg_t*)sq_remfirst(&g_msgfreeirq);
|
|
}
|
|
}
|
|
|
|
/* We were not called from an interrupt handler. */
|
|
|
|
else
|
|
{
|
|
/* Try to get the message from the generally available free list.
|
|
* Disable interrupts -- we might be called from an interrupt handler.
|
|
*/
|
|
|
|
saved_state = irqsave();
|
|
mqmsg = (FAR mqmsg_t*)sq_remfirst(&g_msgfree);
|
|
irqrestore(saved_state);
|
|
|
|
/* If we cannot a message from the free list, then we will have to allocate one. */
|
|
|
|
if (!mqmsg)
|
|
{
|
|
mqmsg = (FAR mqmsg_t *)kmalloc((sizeof (mqmsg_t)));
|
|
|
|
/* Check if we got an allocated message */
|
|
|
|
if (mqmsg)
|
|
{
|
|
mqmsg->type = MQ_ALLOC_DYN;
|
|
}
|
|
|
|
/* No? We are dead */
|
|
|
|
else
|
|
{
|
|
sdbg("Out of messages\n");
|
|
PANIC((uint32_t)OSERR_OUTOFMESSAGES);
|
|
}
|
|
}
|
|
}
|
|
|
|
return mqmsg;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: mq_waitsend
|
|
*
|
|
* Description:
|
|
* This is internal, common logic shared by both mq_send and mq_timesend.
|
|
* This function waits until the message queue is not full.
|
|
*
|
|
* Parameters:
|
|
* mqdes - Message queue descriptor
|
|
*
|
|
* Return Value:
|
|
* On success, mq_send() returns 0 (OK); on error, -1 (ERROR) is
|
|
* returned, with errno set to indicate the error:
|
|
*
|
|
* EAGAIN The queue was empty, and the O_NONBLOCK flag was set for the
|
|
* message queue description referred to by mqdes.
|
|
* EINTR The call was interrupted by a signal handler.
|
|
* ETIMEOUT A timeout expired before the message queue became non-full
|
|
* (mq_timedsend only).
|
|
*
|
|
* Assumptions/restrictions:
|
|
* - The caller has verified the input parameters using mq_verifysend().
|
|
* - Interrupts are disabled.
|
|
*
|
|
****************************************************************************/
|
|
|
|
int mq_waitsend(mqd_t mqdes)
|
|
{
|
|
FAR struct tcb_s *rtcb;
|
|
FAR msgq_t *msgq;
|
|
|
|
/* Get a pointer to the message queue */
|
|
|
|
msgq = mqdes->msgq;
|
|
|
|
/* Verify that the queue is indeed full as the caller thinks */
|
|
|
|
if (msgq->nmsgs >= msgq->maxmsgs)
|
|
{
|
|
/* Should we block until there is sufficient space in the
|
|
* message queue?
|
|
*/
|
|
|
|
if ((mqdes->oflags & O_NONBLOCK) != 0)
|
|
{
|
|
/* No... We will return an error to the caller. */
|
|
|
|
set_errno(EAGAIN);
|
|
return ERROR;
|
|
}
|
|
|
|
/* Yes... We will not return control until the message queue is
|
|
* available or we receive a signal or at timout occurs.
|
|
*/
|
|
|
|
else
|
|
{
|
|
/* Loop until there are fewer than max allowable messages in the
|
|
* receiving message queue
|
|
*/
|
|
|
|
while (msgq->nmsgs >= msgq->maxmsgs)
|
|
{
|
|
/* Block until the message queue is no longer full.
|
|
* When we are unblocked, we will try again
|
|
*/
|
|
|
|
rtcb = (FAR struct tcb_s*)g_readytorun.head;
|
|
rtcb->msgwaitq = msgq;
|
|
msgq->nwaitnotfull++;
|
|
|
|
set_errno(OK);
|
|
up_block_task(rtcb, TSTATE_WAIT_MQNOTFULL);
|
|
|
|
/* When we resume at this point, either (1) the message queue
|
|
* is no longer empty, or (2) the wait has been interrupted by
|
|
* a signal. We can detect the latter case be examining the
|
|
* errno value (should be EINTR or ETIMEOUT).
|
|
*/
|
|
|
|
if (get_errno() != OK)
|
|
{
|
|
return ERROR;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
return OK;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: mq_dosend
|
|
*
|
|
* Description:
|
|
* This is internal, common logic shared by both mq_send and mq_timesend.
|
|
* This function adds the specificied message (msg) to the message queue
|
|
* (mqdes). Then it notifies any tasks that were waiting for message
|
|
* queue notifications setup by mq_notify. And, finally, it awakens any
|
|
* tasks that were waiting for the message not empty event.
|
|
*
|
|
* Parameters:
|
|
* mqdes - Message queue descriptor
|
|
* msg - Message to send
|
|
* msglen - The length of the message in bytes
|
|
* prio - The priority of the message
|
|
*
|
|
* Return Value:
|
|
* This function always returns OK.
|
|
*
|
|
* Assumptions/restrictions:
|
|
*
|
|
****************************************************************************/
|
|
|
|
int mq_dosend(mqd_t mqdes, FAR mqmsg_t *mqmsg, const void *msg, size_t msglen, int prio)
|
|
{
|
|
FAR struct tcb_s *btcb;
|
|
FAR msgq_t *msgq;
|
|
FAR mqmsg_t *next;
|
|
FAR mqmsg_t *prev;
|
|
irqstate_t saved_state;
|
|
|
|
/* Get a pointer to the message queue */
|
|
|
|
sched_lock();
|
|
msgq = mqdes->msgq;
|
|
|
|
/* Construct the message header info */
|
|
|
|
mqmsg->priority = prio;
|
|
mqmsg->msglen = msglen;
|
|
|
|
/* Copy the message data into the message */
|
|
|
|
memcpy((void*)mqmsg->mail, (const void*)msg, msglen);
|
|
|
|
/* Insert the new message in the message queue */
|
|
|
|
saved_state = irqsave();
|
|
|
|
/* Search the message list to find the location to insert the new
|
|
* message. Each is list is maintained in ascending priority order.
|
|
*/
|
|
|
|
for (prev = NULL, next = (FAR mqmsg_t*)msgq->msglist.head;
|
|
next && prio <= next->priority;
|
|
prev = next, next = next->next);
|
|
|
|
/* Add the message at the right place */
|
|
|
|
if (prev)
|
|
{
|
|
sq_addafter((FAR sq_entry_t*)prev, (FAR sq_entry_t*)mqmsg,
|
|
&msgq->msglist);
|
|
}
|
|
else
|
|
{
|
|
sq_addfirst((FAR sq_entry_t*)mqmsg, &msgq->msglist);
|
|
}
|
|
|
|
/* Increment the count of messages in the queue */
|
|
|
|
msgq->nmsgs++;
|
|
irqrestore(saved_state);
|
|
|
|
/* Check if we need to notify any tasks that are attached to the
|
|
* message queue
|
|
*/
|
|
|
|
#ifndef CONFIG_DISABLE_SIGNALS
|
|
if (msgq->ntmqdes)
|
|
{
|
|
/* Remove the message notification data from the message queue. */
|
|
|
|
#ifdef CONFIG_CAN_PASS_STRUCTS
|
|
union sigval value = msgq->ntvalue;
|
|
#else
|
|
void *sival_ptr = msgq->ntvalue.sival_ptr;
|
|
#endif
|
|
int signo = msgq->ntsigno;
|
|
int pid = msgq->ntpid;
|
|
|
|
/* Detach the notification */
|
|
|
|
msgq->ntpid = INVALID_PROCESS_ID;
|
|
msgq->ntsigno = 0;
|
|
msgq->ntvalue.sival_int = 0;
|
|
msgq->ntmqdes = NULL;
|
|
|
|
/* Queue the signal -- What if this returns an error? */
|
|
|
|
#ifdef CONFIG_CAN_PASS_STRUCTS
|
|
sig_mqnotempty(pid, signo, value);
|
|
#else
|
|
sig_mqnotempty(pid, signo, sival_ptr);
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
/* Check if any tasks are waiting for the MQ not empty event. */
|
|
|
|
saved_state = irqsave();
|
|
if (msgq->nwaitnotempty > 0)
|
|
{
|
|
/* Find the highest priority task that is waiting for
|
|
* this queue to be non-empty in g_waitingformqnotempty
|
|
* list. sched_lock() should give us sufficent protection since
|
|
* interrupts should never cause a change in this list
|
|
*/
|
|
|
|
for (btcb = (FAR struct tcb_s*)g_waitingformqnotempty.head;
|
|
btcb && btcb->msgwaitq != msgq;
|
|
btcb = btcb->flink);
|
|
|
|
/* If one was found, unblock it */
|
|
|
|
if (!btcb)
|
|
{
|
|
PANIC(OSERR_MQNONEMPTYCOUNT);
|
|
}
|
|
else
|
|
{
|
|
btcb->msgwaitq = NULL;
|
|
msgq->nwaitnotempty--;
|
|
up_unblock_task(btcb);
|
|
}
|
|
}
|
|
|
|
irqrestore(saved_state);
|
|
sched_unlock();
|
|
return OK;
|
|
}
|
|
|