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author | px4dev <px4@purgatory.org> | 2012-08-04 15:12:36 -0700 |
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committer | px4dev <px4@purgatory.org> | 2012-08-04 15:12:36 -0700 |
commit | 8a365179eafdf3aea98e60ab9f5882b200d4c759 (patch) | |
tree | 4f38d6d4cd80bd0b6e22e2bb534c3f117ce44e56 /nuttx/sched/pthread_create.c | |
download | px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.tar.gz px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.tar.bz2 px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.zip |
Fresh import of the PX4 firmware sources.
Diffstat (limited to 'nuttx/sched/pthread_create.c')
-rw-r--r-- | nuttx/sched/pthread_create.c | 435 |
1 files changed, 435 insertions, 0 deletions
diff --git a/nuttx/sched/pthread_create.c b/nuttx/sched/pthread_create.c new file mode 100644 index 000000000..5fdf3b88d --- /dev/null +++ b/nuttx/sched/pthread_create.c @@ -0,0 +1,435 @@ +/**************************************************************************** + * sched/pthread_create.c + * + * Copyright (C) 2007-2009, 2011 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 <stdbool.h> +#include <string.h> +#include <pthread.h> +#include <sched.h> +#include <debug.h> +#include <errno.h> +#include <queue.h> + +#include <nuttx/kmalloc.h> +#include <nuttx/pthread.h> +#include <nuttx/arch.h> + +#include "os_internal.h" +#include "clock_internal.h" +#include "env_internal.h" +#include "pthread_internal.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Type Declarations + ****************************************************************************/ + +/**************************************************************************** + * Global Variables + ****************************************************************************/ + +/* Default pthread attributes */ + +pthread_attr_t g_default_pthread_attr = PTHREAD_ATTR_INITIALIZER; + +/**************************************************************************** + * Private Variables + ****************************************************************************/ + +/* This is the name for name-less pthreads */ + +static const char g_pthreadname[] = "<pthread>"; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: pthread_argsetup + * + * Description: + * This functions sets up parameters in the Task Control Block (TCB) in + * preparation for starting a new thread. + * + * pthread_argsetup() is called from task_init() and task_start() to create + * a new task (with arguments cloned via strdup) or pthread_create() which + * has one argument passed by value (distinguished by the pthread boolean + * argument). + * + * 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: + * None + * + ****************************************************************************/ + +static void pthread_argsetup(FAR _TCB *tcb, pthread_addr_t arg) +{ + int i; + +#if CONFIG_TASK_NAME_SIZE > 0 + /* Copy the pthread name into the TCB */ + + strncpy(tcb->name, g_pthreadname, CONFIG_TASK_NAME_SIZE); + + /* Save the name as the first argument in the TCB */ + + tcb->argv[0] = tcb->name; +#else + /* Save the name as the first argument in the TCB */ + + tcb->argv[0] = (char *)g_pthreadname; +#endif /* CONFIG_TASK_NAME_SIZE */ + + /* For pthreads, args are strictly pass-by-value; that actual + * type wrapped by pthread_addr_t is unknown. + */ + + tcb->argv[1] = (char*)arg; + + /* Nullify the remaining, unused argument storage */ + + for (i = 2; i < CONFIG_MAX_TASK_ARGS+1; i++) + { + tcb->argv[i] = NULL; + } +} + +/**************************************************************************** + * Name: pthread_addjoininfo + * + * Description: + * Add a join_t to the local data set. + * + * Parameters: + * pjoin + * + * Return Value: + * None + * + * Assumptions: + * The caller has provided protection from re-entrancy. + * + ****************************************************************************/ + +static void pthread_addjoininfo(FAR join_t *pjoin) +{ + pjoin->next = NULL; + if (!g_pthread_tail) + { + g_pthread_head = pjoin; + } + else + { + g_pthread_tail->next = pjoin; + } + + g_pthread_tail = pjoin; +} + +/**************************************************************************** + * Name: pthread_start + * + * Description: + * This function is the low level entry point into the + * pthread + * + * Parameters: + * None + * + ****************************************************************************/ + +static void pthread_start(void) +{ + FAR _TCB *ptcb = (FAR _TCB*)g_readytorun.head; + FAR join_t *pjoin = (FAR join_t*)ptcb->joininfo; + pthread_addr_t exit_status; + + /* Sucessfully spawned, add the pjoin to our data set. + * Don't re-enable pre-emption until this is done. + */ + + (void)pthread_takesemaphore(&g_join_semaphore); + pthread_addjoininfo(pjoin); + (void)pthread_givesemaphore(&g_join_semaphore); + + /* Report to the spawner that we successfully started. */ + + pjoin->started = true; + (void)pthread_givesemaphore(&pjoin->data_sem); + + /* Pass control to the thread entry point. The argument is + * argv[1]. argv[0] (the thread name) and argv[2-4] are not made + * available to the pthread. + */ + + exit_status = (*ptcb->entry.pthread)((pthread_addr_t)ptcb->argv[1]); + + /* The thread has returned */ + + pthread_exit(exit_status); +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: pthread_create + * + * Description: + * This function creates and activates a new thread with a specified + * attributes. + * + * Input Parameters: + * thread + * attr + * start_routine + * arg + * + * Returned value: + * OK (0) on success; a (non-negated) errno value on failure. The errno + * variable is not set. + * + ****************************************************************************/ + +int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr, + pthread_startroutine_t start_routine, pthread_addr_t arg) +{ + FAR _TCB *ptcb; + FAR join_t *pjoin; + int status; + int priority; +#if CONFIG_RR_INTERVAL > 0 + int policy; +#endif + pid_t pid; + + /* If attributes were not supplied, use the default attributes */ + + if (!attr) + { + attr = &g_default_pthread_attr; + } + + /* Allocate a TCB for the new task. */ + + ptcb = (FAR _TCB*)kzalloc(sizeof(_TCB)); + if (!ptcb) + { + return ENOMEM; + } + + /* Associate file descriptors with the new task */ + + status = sched_setuppthreadfiles(ptcb); + if (status != OK) + { + sched_releasetcb(ptcb); + return status; + } + + /* Share the parent's envionment */ + + (void)env_share(ptcb); + + /* Allocate a detachable structure to support pthread_join logic */ + + pjoin = (FAR join_t*)kzalloc(sizeof(join_t)); + if (!pjoin) + { + sched_releasetcb(ptcb); + return ENOMEM; + } + + /* Allocate the stack for the TCB */ + + status = up_create_stack(ptcb, attr->stacksize); + if (status != OK) + { + sched_releasetcb(ptcb); + sched_free(pjoin); + return ENOMEM; + } + + /* Should we use the priority and scheduler specified in the + * pthread attributes? Or should we use the current thread's + * priority and scheduler? + */ + + if (attr->inheritsched == PTHREAD_INHERIT_SCHED) + { + /* Get the priority for this thread. */ + + struct sched_param param; + status = sched_getparam(0, ¶m); + if (status == OK) + { + priority = param.sched_priority; + } + else + { + priority = SCHED_FIFO; + } + + /* Get the scheduler policy for this thread */ + +#if CONFIG_RR_INTERVAL > 0 + policy = sched_getscheduler(0); + if (policy == ERROR) + { + policy = SCHED_FIFO; + } +#endif + } + else + { + /* Use the priority and scheduler from the attributes */ + + priority = attr->priority; +#if CONFIG_RR_INTERVAL > 0 + policy = attr->policy; +#endif + } + + /* Mark this task as a pthread (this setting will be needed in + * task_schedsetup() when up_initial_state() is called. + */ + + ptcb->flags |= TCB_FLAG_TTYPE_PTHREAD; + + /* Initialize the task control block */ + + status = task_schedsetup(ptcb, priority, pthread_start, + (main_t)start_routine); + if (status != OK) + { + + sched_releasetcb(ptcb); + sched_free(pjoin); + return EBUSY; + } + + /* Configure the TCB for a pthread receiving on parameter + * passed by value + */ + + pthread_argsetup(ptcb, arg); + + /* Attach the join info to the TCB. */ + + ptcb->joininfo = (void*)pjoin; + + /* If round robin scheduling is selected, set the appropriate flag + * in the TCB. + */ + +#if CONFIG_RR_INTERVAL > 0 + if (policy == SCHED_RR) + { + ptcb->flags |= TCB_FLAG_ROUND_ROBIN; + ptcb->timeslice = CONFIG_RR_INTERVAL / MSEC_PER_TICK; + } +#endif + + /* Get the assigned pid before we start the task (who knows what + * could happen to ptcb after this!). Copy this ID into the join structure + * as well. + */ + + pid = (int)ptcb->pid; + pjoin->thread = (pthread_t)pid; + + /* Initialize the semaphores in the join structure to zero. */ + + status = sem_init(&pjoin->data_sem, 0, 0); + if (status == OK) + { + status = sem_init(&pjoin->exit_sem, 0, 0); + } + + /* Activate the task */ + + sched_lock(); + if (status == OK) + { + status = task_activate(ptcb); + } + + if (status == OK) + { + /* Wait for the task to actually get running and to register + * its join_t + */ + + (void)pthread_takesemaphore(&pjoin->data_sem); + + /* Return the thread information to the caller */ + + if (thread) *thread = (pthread_t)pid; + if (!pjoin->started) status = ERROR; + + sched_unlock(); + (void)sem_destroy(&pjoin->data_sem); + } + else + { + sched_unlock(); + dq_rem((FAR dq_entry_t*)ptcb, (dq_queue_t*)&g_inactivetasks); + (void)sem_destroy(&pjoin->data_sem); + (void)sem_destroy(&pjoin->exit_sem); + sched_releasetcb(ptcb); + sched_free(pjoin); + return EIO; + } + + return OK; +} |