/************************************************************
* sched.h
*
* Copyright (C) 2007 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
*
* 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 Gregory Nutt 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 __SCHED_H
#define __SCHED_H
/************************************************************
* Included Files
************************************************************/
#include <nuttx/config.h>
#include <queue.h>
#include <signal.h>
#include <semaphore.h>
#include <pthread.h>
#include <mqueue.h>
#include <time.h>
#include <nuttx/irq.h>
/************************************************************
* Definitions
************************************************************/
/* Task Management Definitins *******************************/
/* This is the number of arguments that are passed to tasks
* on start-up. This number was selected because this is the
* number of parameters that can be passed to a MIPS function
* in registers
. */
#define NUM_TASK_ARGS 4
/* 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_PTHREAD 0x0001 /* Thread is a pthread */
#define TCB_FLAG_NONCANCELABLE 0x0002 /* Pthread is non-cancelable */
#define TCB_FLAG_CANCEL_PENDING 0x0004 /* Pthread cancel is pending */
#define TCB_FLAG_ROUND_ROBIN 0x0008 /* Round robin sched enabled */
/* Pthread definitions **************************************/
#define PTHREAD_KEYS_MAX CONFIG_NPTHREAD_KEYS
/************************************************************
* 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.
*/
typedef enum tstate_e
{
TSTATE_TASK_INVALID = 0, /* INVALID - TCB has not yet been initialized */
TSTATE_TASK_PENDING = 1, /* READY_TO_RUN - Pending preemption unlock */
TSTATE_TASK_READYTORUN = 2, /* READY-TO-RUN - But not running */
TSTATE_TASK_RUNNING = 3, /* READY_TO_RUN - And running */
TSTATE_TASK_INACTIVE = 4, /* BLOCKED - Initialized but not yet activated */
TSTATE_WAIT_SEM = 5, /* BLOCKED - Waiting for a semaphore */
#ifndef CONFIG_DISABLE_MQUEUE
TSTATE_WAIT_SIG = 6, /* 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
};
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
#ifndef CONFIG_DISABLE_MQUEUE
# define LAST_BLOCKED_STATE TSTATE_WAIT_MQNOTFULL
# ifndef CONFIG_DISABLE_SIGNALS
# define NUM_TASK_STATES 9
# else
# define NUM_TASK_STATES 8
# endif
#else
# ifndef CONFIG_DISABLE_SIGNALS
# define LAST_BLOCKED_STATE TSTATE_WAIT_SIG
# define NUM_TASK_STATES 7
# else
# define LAST_BLOCKED_STATE TSTATE_WAIT_SEM
# define NUM_TASK_STATES 6
# endif
#endif
/* 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;
/* This is the type of the function that is executed with
* exit() is called (if registered via atexit()).
*/
typedef void (*exitfunc_t)(void);
/* POSIX Message queue */
typedef struct msgq_s msgq_t;
/* 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 */
exitfunc_t exitfunc; /* Called if exit is called. */
ubyte sched_priority; /* Current priority of the thread */
tstate_t task_state; /* Current state of the thread */
uint16 flags; /* Misc. general status flags */
sint16 lockcount; /* 0=preemptable (not-locked) */
FAR void *joininfo; /* Detach-able info to support join */
#if CONFIG_RR_INTERVAL > 0
int timeslice; /* RR timeslice interval remaining */
#endif
/* Values needed to restart a task **********************************/
ubyte init_priority; /* Initial priority of the task */
FAR char *argv[NUM_TASK_ARGS+1]; /* Name + start-up parameters */
/* Stack-Related Fields *********************************************/
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 StatckAllocPtr for HW */
/* The initial stack pointer value */
/* 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 errno; /* 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
/* 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
};
typedef struct _TCB _TCB;
#endif /* __ASSEMBLY__ */
/************************************************************
* Global Function Prototypes
************************************************************/
#ifndef __ASSEMBLY__
#undef EXTERN
#if defined(__cplusplus)
#define EXTERN extern "C"
extern "C" {
#else
#define EXTERN extern
#endif
/* Task Control Interfaces (non-standard) */
EXTERN STATUS task_init(FAR _TCB *tcb, const char *name, int priority,
FAR uint32 *stack, uint32 stack_size, main_t entry,
FAR char *arg1, FAR char *arg2,
FAR char *arg3, FAR char *arg4);
EXTERN STATUS task_activate(FAR _TCB *tcb);
EXTERN int task_create(const char *name, int priority, int stack_size, main_t main,
FAR char *arg1, FAR char *arg2,
FAR char *arg3, FAR char *arg4);
EXTERN STATUS task_delete(pid_t pid);
EXTERN STATUS task_restart(pid_t pid);
/* Task Scheduling Interfaces (based on POSIX APIs) */
EXTERN int sched_setparam(pid_t pid,
const struct sched_param *param);
EXTERN int sched_getparam(pid_t pid,
struct sched_param *param);
EXTERN int sched_setscheduler(pid_t pid, int policy,
const struct sched_param *param);
EXTERN int sched_getscheduler(pid_t pid);
EXTERN int sched_yield(void);
EXTERN int sched_get_priority_max(int policy);
EXTERN int sched_get_priority_min(int policy);
EXTERN int sched_rr_get_interval(pid_t pid,
struct timespec *interval);
/* Task Switching Interfaces (non-standard) */
EXTERN STATUS sched_lock(void);
EXTERN STATUS sched_unlock(void);
EXTERN sint32 sched_lockcount(void);
/* If instrumentation of the scheduler is enabled, then some
* outboard logic must provide the following interfaces.
*/
#ifdef CONFIG_SCHED_INSTRUMENTATION
EXTERN void sched_note_start(FAR _TCB *tcb );
EXTERN void sched_note_stop(FAR _TCB *tcb );
EXTERN void sched_note_switch(FAR _TCB *pFromTcb, FAR _TCB *pToTcb);
#else
# define sched_note_start(t)
# define sched_note_stop(t)
# define sched_note_switch(t1, t2)
#endif /* CONFIG_SCHED_INSTRUMENTATION */
/* 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 */
#undef EXTERN
#if defined(__cplusplus)
}
#endif
#endif /* __ASSEMBLY__ */
#endif /* __SCHED_H */
