diff options
Diffstat (limited to 'nuttx/include/nuttx/sched.h')
| -rw-r--r-- | nuttx/include/nuttx/sched.h | 382 |
1 files changed, 382 insertions, 0 deletions
diff --git a/nuttx/include/nuttx/sched.h b/nuttx/include/nuttx/sched.h new file mode 100644 index 000000000..241af6210 --- /dev/null +++ b/nuttx/include/nuttx/sched.h @@ -0,0 +1,382 @@ +/******************************************************************************** + * include/nuttx/sched.h + * + * Copyright (C) 2007-2012 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. + * + ********************************************************************************/ + +#ifndef __INCLUDE_NUTTX_SCHED_H +#define __INCLUDE_NUTTX_SCHED_H + +/******************************************************************************** + * Included Files + ********************************************************************************/ + +#include <nuttx/config.h> + +#include <sys/types.h> +#include <stdint.h> +#include <queue.h> +#include <signal.h> +#include <semaphore.h> +#include <pthread.h> +#include <mqueue.h> +#include <time.h> + +#include <nuttx/irq.h> +#include <nuttx/net/net.h> + +/******************************************************************************** + * Pre-processor Definitions + ********************************************************************************/ + +/* Task Management Definitins ***************************************************/ + +/* This is the maximum number of times that a lock can be set */ + +#define MAX_LOCK_COUNT 127 + +/* Values for the _TCB flags flag bits */ + +#define TCB_FLAG_TTYPE_SHIFT (0) /* Bits 0-1: thread type */ +#define TCB_FLAG_TTYPE_MASK (3 << TCB_FLAG_TTYPE_SHIFT) +# define TCB_FLAG_TTYPE_TASK (0 << TCB_FLAG_TTYPE_SHIFT) /* Normal user task */ +# define TCB_FLAG_TTYPE_PTHREAD (1 << TCB_FLAG_TTYPE_SHIFT) /* User pthread */ +# define TCB_FLAG_TTYPE_KERNEL (2 << TCB_FLAG_TTYPE_SHIFT) /* Kernel thread */ +#define TCB_FLAG_NONCANCELABLE (1 << 2) /* Bit 2: Pthread is non-cancelable */ +#define TCB_FLAG_CANCEL_PENDING (1 << 3) /* Bit 3: Pthread cancel is pending */ +#define TCB_FLAG_ROUND_ROBIN (1 << 4) /* Bit 4: Round robin sched enabled */ + +/******************************************************************************** + * Global Type Definitions + ********************************************************************************/ + +#ifndef __ASSEMBLY__ + +/* General Task Management Types ************************************************/ + +/* This is the type of the task_state field of the TCB. NOTE: the order and + * content of this enumeration is critical since there are some OS tables indexed + * by these values. The range of values is assumed to fit into a uint8_t in _TCB. + */ + +enum tstate_e +{ + TSTATE_TASK_INVALID = 0, /* INVALID - The TCB is uninitialized */ + TSTATE_TASK_PENDING, /* READY_TO_RUN - Pending preemption unlock */ + TSTATE_TASK_READYTORUN, /* READY-TO-RUN - But not running */ + TSTATE_TASK_RUNNING, /* READY_TO_RUN - And running */ + + TSTATE_TASK_INACTIVE, /* BLOCKED - Initialized but not yet activated */ + TSTATE_WAIT_SEM, /* BLOCKED - Waiting for a semaphore */ +#ifndef CONFIG_DISABLE_SIGNALS + TSTATE_WAIT_SIG, /* BLOCKED - Waiting for a signal */ +#endif +#ifndef CONFIG_DISABLE_MQUEUE + TSTATE_WAIT_MQNOTEMPTY, /* BLOCKED - Waiting for a MQ to become not empty. */ + TSTATE_WAIT_MQNOTFULL, /* BLOCKED - Waiting for a MQ to become not full. */ +#endif +#ifdef CONFIG_PAGING + TSTATE_WAIT_PAGEFILL, /* BLOCKED - Waiting for page fill */ +#endif + NUM_TASK_STATES /* Must be last */ +}; +typedef enum tstate_e tstate_t; + +/* The following definitions are determined by tstate_t */ + +#define FIRST_READY_TO_RUN_STATE TSTATE_TASK_READYTORUN +#define LAST_READY_TO_RUN_STATE TSTATE_TASK_RUNNING +#define FIRST_BLOCKED_STATE TSTATE_TASK_INACTIVE +#define LAST_BLOCKED_STATE (NUM_TASK_STATES-1) + +/* The following is the form of a thread start-up function */ + +typedef void (*start_t)(void); + +/* This is the entry point into the main thread of the task or into a created + * pthread within the task. + */ + +union entry_u +{ + pthread_startroutine_t pthread; + main_t main; +}; +typedef union entry_u entry_t; + +/* These is the types of the functions that are executed with exit() is called + * (if registered via atexit() on on_exit()). + */ + +#ifdef CONFIG_SCHED_ATEXIT +typedef void (*atexitfunc_t)(void); +#endif + +#ifdef CONFIG_SCHED_ONEXIT +typedef void (*onexitfunc_t)(int exitcode, FAR void *arg); +#endif + +/* POSIX Message queue */ + +typedef struct msgq_s msgq_t; + +/* The structure used to maintain environment variables */ + +#ifndef CONFIG_DISABLE_ENVIRON +struct environ_s +{ + unsigned int ev_crefs; /* Reference count used when environment + * is shared by threads */ + size_t ev_alloc; /* Number of bytes allocated in environment */ + char ev_env[1]; /* Environment strings */ +}; +typedef struct environ_s environ_t; +# define SIZEOF_ENVIRON_T(alloc) (sizeof(environ_t) + alloc - 1) +#endif + +/* This structure describes a reference counted D-Space region */ + +struct dspace_s +{ + uint32_t crefs; /* This is the number of pthreads that shared the + * the same D-Space */ + uint8_t region[1]; /* Beginning of the allocated region */ +}; + +#define SIZEOF_DSPACE_S(n) (sizeof(struct dspace_s) - 1 + (n)) + +/* This is the task control block (TCB) */ + +struct _TCB +{ + /* Fields used to support list management *************************************/ + + FAR struct _TCB *flink; /* link in DQ of TCBs */ + FAR struct _TCB *blink; + + /* Task Management Fields *****************************************************/ + + pid_t pid; /* This is the ID of the thread */ + start_t start; /* Thread start function */ + entry_t entry; /* Entry Point into the thread */ + +#ifdef CONFIG_SCHED_ATEXIT +# if defined(CONFIG_SCHED_ATEXIT_MAX) && CONFIG_SCHED_ATEXIT_MAX > 1 + atexitfunc_t atexitfunc[CONFIG_SCHED_ATEXIT_MAX]; +# else + atexitfunc_t atexitfunc; /* Called when exit is called. */ +# endif +#endif + +#ifdef CONFIG_SCHED_ONEXIT +# if defined(CONFIG_SCHED_ONEXIT_MAX) && CONFIG_SCHED_ONEXIT_MAX > 1 + onexitfunc_t onexitfunc[CONFIG_SCHED_ONEXIT_MAX]; + FAR void *onexitarg[CONFIG_SCHED_ONEXIT_MAX]; +# else + onexitfunc_t onexitfunc; /* Called when exit is called. */ + FAR void *onexitarg; /* The argument passed to the function */ +# endif +#endif + +#ifdef CONFIG_SCHED_WAITPID + sem_t exitsem; /* Support for waitpid */ + int *stat_loc; /* Location to return exit status */ +#endif + + uint8_t sched_priority; /* Current priority of the thread */ + +#ifdef CONFIG_PRIORITY_INHERITANCE +# if CONFIG_SEM_NNESTPRIO > 0 + uint8_t npend_reprio; /* Number of nested reprioritizations */ + uint8_t pend_reprios[CONFIG_SEM_NNESTPRIO]; +# endif + uint8_t base_priority; /* "Normal" priority of the thread */ +#endif + + uint8_t task_state; /* Current state of the thread */ + uint16_t flags; /* Misc. general status flags */ + int16_t lockcount; /* 0=preemptable (not-locked) */ + +#ifndef CONFIG_DISABLE_PTHREAD + FAR void *joininfo; /* Detach-able info to support join */ +#endif + +#if CONFIG_RR_INTERVAL > 0 + int timeslice; /* RR timeslice interval remaining */ +#endif + + /* Values needed to restart a task ********************************************/ + + uint8_t init_priority; /* Initial priority of the task */ + char *argv[CONFIG_MAX_TASK_ARGS+1]; /* Name+start-up parameters */ + +#ifndef CONFIG_DISABLE_ENVIRON + FAR environ_t *envp; /* Environment variables */ +#endif + + /* Stack-Related Fields *******************************************************/ + +#ifndef CONFIG_CUSTOM_STACK + size_t adj_stack_size; /* Stack size after adjustment */ + /* for hardware, processor, etc. */ + /* (for debug purposes only) */ + FAR void *stack_alloc_ptr; /* Pointer to allocated stack */ + /* Need to deallocate stack */ + FAR void *adj_stack_ptr; /* Adjusted stack_alloc_ptr for HW */ + /* The initial stack pointer value */ +#endif + + /* External Module Support ****************************************************/ + +#ifdef CONFIG_PIC + FAR struct dspace_s *dspace; /* Allocated area for .bss and .data */ +#endif + + /* POSIX Thread Specific Data *************************************************/ + +#if !defined(CONFIG_DISABLE_PTHREAD) && CONFIG_NPTHREAD_KEYS > 0 + FAR void *pthread_data[CONFIG_NPTHREAD_KEYS]; +#endif + + /* POSIX Semaphore Control Fields *********************************************/ + + sem_t *waitsem; /* Semaphore ID waiting on */ + + /* POSIX Signal Control Fields ************************************************/ + +#ifndef CONFIG_DISABLE_SIGNALS + sigset_t sigprocmask; /* Signals that are blocked */ + sigset_t sigwaitmask; /* Waiting for pending signals */ + sq_queue_t sigactionq; /* List of actions for signals */ + sq_queue_t sigpendingq; /* List of Pending Signals */ + sq_queue_t sigpendactionq; /* List of pending signal actions */ + sq_queue_t sigpostedq; /* List of posted signals */ + siginfo_t sigunbinfo; /* Signal info when task unblocked */ +#endif + + /* POSIX Named Message Queue Fields *******************************************/ + +#ifndef CONFIG_DISABLE_MQUEUE + sq_queue_t msgdesq; /* List of opened message queues */ + FAR msgq_t *msgwaitq; /* Waiting for this message queue */ +#endif + + /* Library related fields *****************************************************/ + + int pterrno; /* Current per-thread errno */ + + /* File system support ********************************************************/ + +#if CONFIG_NFILE_DESCRIPTORS > 0 + FAR struct filelist *filelist; /* Maps file descriptor to file */ +#endif + +#if CONFIG_NFILE_STREAMS > 0 + FAR struct streamlist *streams; /* Holds C buffered I/O info */ +#endif + + /* Network socket *************************************************************/ + +#if CONFIG_NSOCKET_DESCRIPTORS > 0 + FAR struct socketlist *sockets; /* Maps file descriptor to file */ +#endif + + /* State save areas ***********************************************************/ + /* The form and content of these fields are processor-specific. */ + + struct xcptcontext xcp; /* Interrupt register save area */ + +#if CONFIG_TASK_NAME_SIZE > 0 + char name[CONFIG_TASK_NAME_SIZE]; /* Task name */ +#endif + +}; + +/* Certain other header files may also define this time to avoid circular header + * file inclusion issues. + */ + +#ifndef __TCB_DEFINED__ +typedef struct _TCB _TCB; +#define __TCB_DEFINED__ +#endif + +/* This is the callback type used by sched_foreach() */ + +typedef void (*sched_foreach_t)(FAR _TCB *tcb, FAR void *arg); + +#endif /* __ASSEMBLY__ */ + +/******************************************************************************** + * Global Function Prototypes + ********************************************************************************/ + +#ifndef __ASSEMBLY__ +#undef EXTERN +#if defined(__cplusplus) +#define EXTERN extern "C" +extern "C" { +#else +#define EXTERN extern +#endif + +/* TCB helpers */ + +EXTERN FAR _TCB *sched_self(void); + +/* File system helpers */ + +#if CONFIG_NFILE_DESCRIPTORS > 0 +EXTERN FAR struct filelist *sched_getfiles(void); +#if CONFIG_NFILE_STREAMS > 0 +EXTERN FAR struct streamlist *sched_getstreams(void); +#endif /* CONFIG_NFILE_STREAMS */ +#endif /* CONFIG_NFILE_DESCRIPTORS */ + +#if CONFIG_NSOCKET_DESCRIPTORS > 0 +EXTERN FAR struct socketlist *sched_getsockets(void); +#endif /* CONFIG_NSOCKET_DESCRIPTORS */ + +/* sched_foreach will enumerate over each task and provide the + * TCB of each task to a user callback functions. Interrupts + * will be disabled throughout this enumeration! + */ + +EXTERN void sched_foreach(sched_foreach_t handler, FAR void *arg); + +#undef EXTERN +#if defined(__cplusplus) +} +#endif +#endif /* __ASSEMBLY__ */ + +#endif /* __INCLUDE_NUTTX_SCHED_H */ |