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-rw-r--r--nuttx/sched/task_create.c269
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diff --git a/nuttx/sched/task_create.c b/nuttx/sched/task_create.c
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+/****************************************************************************
+ * 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
+}
+
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