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Diffstat (limited to 'nuttx/include/sched.h')
| -rw-r--r-- | nuttx/include/sched.h | 308 |
1 files changed, 308 insertions, 0 deletions
diff --git a/nuttx/include/sched.h b/nuttx/include/sched.h new file mode 100644 index 000000000..c5d7e1163 --- /dev/null +++ b/nuttx/include/sched.h @@ -0,0 +1,308 @@ +/************************************************************ + * 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 - Aand running */ + + TSTATE_TASK_INACTIVE = 4, /* BLOCKED - Initialized but not yet activated */ + TSTATE_WAIT_SEM = 5, /* BLOCKED - Waiting for a semaphore */ + TSTATE_WAIT_SIG = 6, /* BLOCKED - Waiting for a signal */ + TSTATE_WAIT_MQNOTEMPTY = 7, /* BLOCKED - Waiting for a MQ to become not empty. */ + TSTATE_WAIT_MQNOTFULL = 8 /* BLOCKED - Waiting for a MQ to become not full. */ +}; +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 TSTATE_WAIT_MQNOTFULL +#define NUM_TASK_STATES 9 + +/* 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 ***************************/ + + struct _TCB *flink, *blink; /* link in DQ of TCBs */ + + /* 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) */ + 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 */ + char *argv[NUM_TASK_ARGS+1]; /* Name + start-up parameters */ + + /* Stack-Related Fields *********************************************/ + + uint32 adj_stack_size; /* Stack size after adjustment */ + /* for hardware, processor, etc. */ + /* (for debug purposes only) */ + uint32 *stack_alloc_ptr; /* Pointer to allocated stack */ + /* Need to deallocate stack */ + uint32 *adj_stack_ptr; /* Adjusted StatckAllocPtr for HW */ + /* The initial stack pointer value */ + + /* POSIX thread Specific Data ***************************************/ + + void *pthread_data[CONFIG_NPTHREAD_KEYS]; + + /* POSIX Semaphore Control Fields ***********************************/ + + sem_t *waitsem; /* Semaphore ID waiting on */ + + /* POSIX Signal Control Fields **************************************/ + + 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 */ + + /* POSIX Named Message Queue Fields *********************************/ + + sq_queue_t msgdesq; /* List of opened message queues */ + msgq_t *msgwaitq; /* Waiting for this message queue */ + + /* Library related fields *******************************************/ + + int errno; /* Current per-thread errno */ + + /* File system support **********************************************/ + +#if CONFIG_NFILE_DESCRIPTORS > 0 + struct filelist *filelist; /* Maps file descriptor to file */ +#endif + +#if CONFIG_NFILE_STREAMS > 0 + 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(_TCB *tcb , char *name, int priority, + uint32 *stack, uint32 stack_size, main_t entry, + char *arg1, char *arg2, char *arg3, char *arg4); +EXTERN STATUS task_activate(_TCB *tcb); +EXTERN int task_create(char *name, int priority, int stack_size, main_t main, + char *arg1, char *arg2, char *arg3, 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(_TCB *tcb ); +EXTERN void sched_note_stop(_TCB *tcb ); +EXTERN void sched_note_switch(_TCB *pFromTcb, _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 struct filelist *sched_getfiles(void); +#if CONFIG_NFILE_STREAMS > 0 +EXTERN struct streamlist *sched_getstreams(void); +#endif /* CONFIG_NFILE_STREAMS */ +#endif /* CONFIG_NFILE_DESCRIPTORS */ + +#undef EXTERN +#if defined(__cplusplus) +} +#endif +#endif /* __ASSEMBLY__ */ + +#endif /* __SCHED_H */ |