1 files changed, 342 insertions, 0 deletions
diff --git a/nuttx/sched/pthread_create.c b/nuttx/sched/pthread_create.c
new file mode 100644
index 000000000..c8ec604d1
--- /dev/null
+++ b/nuttx/sched/pthread_create.c
@@ -0,0 +1,342 @@
+/************************************************************
+ * pthread_create.c
+ *
+ *   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.
+ *
+ ************************************************************/
+
+/************************************************************
+ * Included Files
+ ************************************************************/
+
+#include <nuttx/config.h>
+#include <sys/types.h>
+#include <pthread.h>
+#include <sched.h>
+#include <debug.h>
+#include <errno.h>
+#include <queue.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/arch.h>
+#include "os_internal.h"
+#include "pthread_internal.h"
+
+/************************************************************
+ * Definitions
+ ************************************************************/
+
+/************************************************************
+ * Private Type Declarations
+ ************************************************************/
+
+/************************************************************
+ * Global Variables
+ ************************************************************/
+
+/* Default pthread attributes */
+
+pthread_attr_t g_default_pthread_attr =
+{
+  .stacksize    = PTHREAD_STACK_DEFAULT,
+  .priority     = PTHREAD_DEFAULT_PRIORITY,
+  .policy       = SCHED_RR,
+  .inheritsched = PTHREAD_EXPLICIT_SCHED,
+};
+
+/************************************************************
+ * Private Variables
+ ************************************************************/
+
+/************************************************************
+ * Private Functions
+ ************************************************************/
+
+/************************************************************
+ * Function:  pthread_addjoininfo
+ *
+ * Description:
+ *   Add a join_t to the local data set.
+ *
+ * Parameters:
+ *   pjoin
+ *
+ * Return Value:
+ *   None or pointer to the found entry.
+ *
+ * Assumptions:
+ *   The caller has provided protection from re-entrancy.
+ *
+ ************************************************************/
+
+static void pthread_addjoininfo(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)
+{
+  _TCB *ptcb = (_TCB*)g_readytorun.head;
+  join_t *pjoin = (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
+ *    startRoutine
+ *    arg
+ ************************************************************/
+
+int pthread_create(pthread_t *thread, pthread_attr_t *attr,
+                   pthread_startroutine_t startRoutine,
+                   pthread_addr_t arg)
+{
+  _TCB *ptcb;
+  join_t *pjoin;
+  STATUS 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 = (_TCB*)kzmalloc(sizeof(_TCB));
+  if (!ptcb)
+    {
+      *get_errno_ptr() = ENOMEM;
+      return ERROR;
+    }
+
+  /* Associate file descriptors with the new task */
+
+  if (sched_setuppthreadfiles(ptcb) != OK)
+    {
+      sched_releasetcb(ptcb);
+      return ERROR;
+    }
+
+  /* Allocate a detachable structure to support pthread_join logic */
+
+  pjoin = (join_t*)kzmalloc(sizeof(join_t));
+  if (!pjoin)
+    {
+      sched_releasetcb(ptcb);
+      return ERROR;
+    }
+
+  /* Allocate the stack for the TCB */
+
+  status = up_create_stack(ptcb, attr->stacksize);
+  if (status != OK)
+    {
+      sched_releasetcb(ptcb);
+      sched_free(pjoin);
+      return ERROR;
+    }
+
+  /* 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 of this thread. */
+
+      struct sched_param param;
+      status = sched_getparam(0, &param);
+      if (status == OK)
+        {
+          priority = param.sched_priority;
+        }
+
+      /* 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
+    }
+
+  /* Initialize the task */
+
+  status = _task_init(ptcb, NULL, priority, pthread_start, (main_t)startRoutine,
+                      TRUE, (char*)arg, NULL, NULL, NULL);
+  if (status != OK)
+    {
+
+      sched_releasetcb(ptcb);
+      sched_free(pjoin);
+      return ERROR;
+    }
+
+  /* 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;
+    }
+#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.pid = 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->pid = pid;
+      if (!pjoin->started) status = ERROR;
+
+      sched_unlock();
+      (void)sem_destroy(&pjoin->data_sem);
+    }
+  else
+    {
+      sched_unlock();
+      dq_rem((dq_entry_t*)ptcb, &g_inactivetasks);
+      (void)sem_destroy(&pjoin->data_sem);
+      (void)sem_destroy(&pjoin->exit_sem);
+      sched_releasetcb(ptcb);
+      sched_free(pjoin);
+      return ERROR;
+    }
+  return OK;
+}