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+/****************************************************************************
+ * 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, &param);
+ 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;
+}
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