bbf990f417
git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@5613 42af7a65-404d-4744-a932-0658087f49c3
550 lines
16 KiB
C
550 lines
16 KiB
C
/****************************************************************************
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* sched/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 "os_internal.h"
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#include "pthread_internal.h"
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#include "group_internal.h"
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/****************************************************************************
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* 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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g_pidhash[hash_ndx].tcb = tcb;
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g_pidhash[hash_ndx].pid = next_pid;
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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 rotuine
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* entry - Thred 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, FAR 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 thrad 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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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: task_schedsetup
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*
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* Description:
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* This functions initializes a Task Control Block (TCB) in preparation
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* for starting a new task.
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*
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* task_schedsetup() is called from task_init() and task_start().
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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 - Startup function (probably task_start())
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* main - Application start point of the new task
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* ttype - Type of the new thread: task 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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int task_schedsetup(FAR struct task_tcb_s *tcb, int priority, start_t start,
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main_t main, uint8_t ttype)
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{
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int ret;
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/* Perform common thread setup */
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ret = thread_schedsetup((FAR struct tcb_s *)tcb, priority, start,
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(FAR void *)main, ttype);
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if (ret == OK)
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{
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/* Save task restart priority */
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tcb->init_priority = (uint8_t)priority;
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}
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return ret;
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}
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/****************************************************************************
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* Name: pthread_schedsetup
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*
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* Description:
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* This functions initializes a Task Control Block (TCB) in preparation
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* for starting a new pthread.
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*
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* pthread_schedsetup() is called from pthread_create(),
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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 - Startup function (probably pthread_start())
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* entry - Entry point of the new pthread
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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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#ifndef CONFIG_DISABLE_PTHREAD
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int pthread_schedsetup(FAR struct pthread_tcb_s *tcb, int priority, start_t start,
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pthread_startroutine_t entry)
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{
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/* Perform common thread setup */
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return thread_schedsetup((FAR struct tcb_s *)tcb, priority, start,
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(FAR void *)entry, TCB_FLAG_TTYPE_PTHREAD);
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}
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#endif
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/****************************************************************************
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* Name: task_argsetup
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*
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* Description:
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* This functions sets up parameters in the Task Control
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* Block (TCB) in preparation for starting a new thread.
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*
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* task_argsetup() is called only from task_init() and
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* task_start() to create a new task. Argumens are
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* cloned via 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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* name - Name of the new task (not used)
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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
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*
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****************************************************************************/
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int task_argsetup(FAR struct task_tcb_s *tcb, const char *name,
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FAR char * const argv[])
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{
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int i;
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#if CONFIG_TASK_NAME_SIZE > 0
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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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/* Save the name as the first argument */
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tcb->argv[0] = tcb->cmn.name;
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#else
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/* Save the name as the first argument */
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tcb->argv[0] = (char *)g_noname;
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#endif /* CONFIG_TASK_NAME_SIZE */
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/* For tasks, the life of the argument must be as long as
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* the life of the task and the arguments must be strings.
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* So for tasks, we have to to dup the strings.
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*
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* The first NULL argument terminates the list of
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* arguments. The argv pointer may be NULL if no
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* 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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/* 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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