/************************************************************ * sched.h * * Copyright (C) 2007 Gregory Nutt. All rights reserved. * Author: Gregory Nutt * * 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 #include #include #include #include #include #include #include /************************************************************ * 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 ***************************/ 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 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 **************************************/ 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 */ FAR 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 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 */