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author | patacongo <patacongo@42af7a65-404d-4744-a932-0658087f49c3> | 2012-09-17 18:18:44 +0000 |
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committer | patacongo <patacongo@42af7a65-404d-4744-a932-0658087f49c3> | 2012-09-17 18:18:44 +0000 |
commit | 57623d42ebb04f0a0b9e6eb7c0847a3ece2aa0ff (patch) | |
tree | 25d07d14e920d31c0b1947c9ca586f2a01fc32d8 /nuttx/sched/task_create.c | |
download | px4-firmware-57623d42ebb04f0a0b9e6eb7c0847a3ece2aa0ff.tar.gz px4-firmware-57623d42ebb04f0a0b9e6eb7c0847a3ece2aa0ff.tar.bz2 px4-firmware-57623d42ebb04f0a0b9e6eb7c0847a3ece2aa0ff.zip |
Resync new repository with old repo r5166
git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5153 42af7a65-404d-4744-a932-0658087f49c3
Diffstat (limited to 'nuttx/sched/task_create.c')
-rw-r--r-- | nuttx/sched/task_create.c | 269 |
1 files changed, 269 insertions, 0 deletions
diff --git a/nuttx/sched/task_create.c b/nuttx/sched/task_create.c new file mode 100644 index 000000000..4d92c9bb0 --- /dev/null +++ b/nuttx/sched/task_create.c @@ -0,0 +1,269 @@ +/**************************************************************************** + * sched/task_create.c + * + * Copyright (C) 2007-2010 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 <sched.h> +#include <errno.h> +#include <debug.h> + +#include <nuttx/arch.h> +#include <nuttx/kmalloc.h> + +#include "os_internal.h" +#include "env_internal.h" + +/**************************************************************************** + * Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Type Declarations + ****************************************************************************/ + +/**************************************************************************** + * Global Variables + ****************************************************************************/ + +/**************************************************************************** + * Private Variables + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: thread_create + * + * Description: + * This function creates and activates a new thread of the specified type + * with a specified priority and returns its system-assigned ID. It is the + * internal, commn implementation of task_create() and kernel_thread(). + * See comments with task_create() for further information. + * + * Input Parameters: + * name - Name of the new task + * type - Type of the new task + * priority - Priority of the new task + * stack_size - size (in bytes) of the stack needed + * entry - Entry point of a new task + * arg - 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: + * Returns the non-zero process ID of the new task or ERROR if memory is + * insufficient or the task cannot be created. The errno will be set to + * indicate the nature of the error (always ENOMEM). + * + ****************************************************************************/ + +#ifndef CONFIG_CUSTOM_STACK +static int thread_create(const char *name, uint8_t type, int priority, + int stack_size, main_t entry, const char **argv) +#else +static int thread_create(const char *name, uint8_t type, int priority, + main_t entry, const char **argv) +#endif +{ + FAR _TCB *tcb; + pid_t pid; + int ret; + + /* Allocate a TCB for the new task. */ + + tcb = (FAR _TCB*)kzalloc(sizeof(_TCB)); + if (!tcb) + { + goto errout; + } + + /* Associate file descriptors with the new task */ + +#if CONFIG_NFILE_DESCRIPTORS > 0 || CONFIG_NSOCKET_DESCRIPTORS > 0 + ret = sched_setuptaskfiles(tcb); + if (ret != OK) + { + goto errout_with_tcb; + } +#endif + + /* Clone the parent's task environment */ + + (void)env_dup(tcb); + + /* Allocate the stack for the TCB */ + +#ifndef CONFIG_CUSTOM_STACK + ret = up_create_stack(tcb, stack_size); + if (ret != OK) + { + goto errout_with_tcb; + } +#endif + + /* Mark the type of this thread (this setting will be needed in + * task_schedsetup() when up_initial_state() is called. + */ + + tcb->flags |= type; + + /* Initialize the task control block */ + + ret = task_schedsetup(tcb, priority, task_start, entry); + if (ret != OK) + { + goto errout_with_tcb; + } + + /* Setup to pass parameters to the new task */ + + (void)task_argsetup(tcb, name, argv); + + /* Get the assigned pid before we start the task */ + + pid = (int)tcb->pid; + + /* Activate the task */ + + ret = task_activate(tcb); + if (ret != OK) + { + dq_rem((FAR dq_entry_t*)tcb, (dq_queue_t*)&g_inactivetasks); + goto errout_with_tcb; + } + + return pid; + +errout_with_tcb: + sched_releasetcb(tcb); + +errout: + errno = ENOMEM; + return ERROR; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: task_create + * + * Description: + * This function creates and activates a new task with a specified + * priority and returns its system-assigned ID. + * + * The entry address entry is the address of the "main" function of the + * task. This function will be called once the C environment has been + * set up. The specified function will be called with four arguments. + * Should the specified routine return, a call to exit() will + * automatically be made. + * + * Note that four (and only four) arguments must be passed for the spawned + * functions. + * + * Input Parameters: + * name - Name of the new task + * priority - Priority of the new task + * stack_size - size (in bytes) of the stack needed + * entry - Entry point of a new task + * arg - 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: + * Returns the non-zero process ID of the new task or ERROR if memory is + * insufficient or the task cannot be created. The errno will be set to + * indicate the nature of the error (always ENOMEM). + * + ****************************************************************************/ + +#ifndef CONFIG_CUSTOM_STACK +int task_create(const char *name, int priority, + int stack_size, main_t entry, const char *argv[]) +#else +int task_create(const char *name, int priority, + main_t entry, const char *argv[]) +#endif +{ +#ifndef CONFIG_CUSTOM_STACK + return thread_create(name, TCB_FLAG_TTYPE_TASK, priority, stack_size, entry, argv); +#else + return thread_create(name, TCB_FLAG_TTYPE_TASK, priority, entry, argv); +#endif +} + +/**************************************************************************** + * Name: kernel_thread + * + * Description: + * This function creates and activates a kernel thread task with kernel- + * mode privileges. It is identical to task_create() except that it + * configures the newly started thread to run in kernel model. + * + * Input Parameters: + * (same as task_create()) + * + * Return Value: + * (same as task_create()) + * + ****************************************************************************/ + +#ifndef CONFIG_CUSTOM_STACK +int kernel_thread(const char *name, int priority, + int stack_size, main_t entry, const char *argv[]) +#else +int kernel_thread(const char *name, int priority, + main_t entry, const char *argv[]) +#endif +{ +#ifndef CONFIG_CUSTOM_STACK + return thread_create(name, TCB_FLAG_TTYPE_KERNEL, priority, stack_size, entry, argv); +#else + return thread_create(name, TCB_FLAG_TTYPE_KERNEL, priority, entry, argv); +#endif +} + |