/**************************************************************************** * sched/mq_send.c * * Copyright (C) 2007, 2009 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 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 #include #include #include #include #include #include #include #include #include #include #include "os_internal.h" #ifndef CONFIG_DISABLE_SIGNALS # include "sig_internal.h" #endif #include "mq_internal.h" /**************************************************************************** * Definitions ****************************************************************************/ /**************************************************************************** * Private Type Declarations ****************************************************************************/ /**************************************************************************** * Global Variables ****************************************************************************/ /**************************************************************************** * Private Variables ****************************************************************************/ /**************************************************************************** * Private Functions ****************************************************************************/ /**************************************************************************** * Public Functions ****************************************************************************/ /**************************************************************************** * Name: mq_verifysend * * Description: * This is internal, common logic shared by both mq_send and mq_timesend. * This function verifies the input parameters that are common to both * functions. * * Parameters: * mqdes - Message queue descriptor * msg - Message to send * msglen - The length of the message in bytes * prio - The priority of the message * * Return Value: * One success, 0 (OK) is returned. On failure, -1 (ERROR) is returned and * the errno is set appropriately: * * EINVAL Either msg or mqdes is NULL or the value of prio is invalid. * EPERM Message queue opened not opened for writing. * EMSGSIZE 'msglen' was greater than the maxmsgsize attribute of the * message queue. * * Assumptions: * ****************************************************************************/ int mq_verifysend(mqd_t mqdes, const void *msg, size_t msglen, int prio) { /* Verify the input parameters */ if (!msg || !mqdes || prio < 0 || prio > MQ_PRIO_MAX) { set_errno(EINVAL); return ERROR; } if ((mqdes->oflags & O_WROK) == 0) { set_errno(EPERM); return ERROR; } if (msglen < 0 || msglen > (size_t)mqdes->msgq->maxmsgsize) { set_errno(EMSGSIZE); return ERROR; } return OK; } /**************************************************************************** * Name: mq_msgalloc * * Description: * The mq_msgalloc function will get a free message for use by the * operating system. The message will be allocated from the g_msgfree * list. * * If the list is empty AND the message is NOT being allocated from the * interrupt level, then the message will be allocated. If a message * cannot be obtained, the operating system is dead and therefore cannot * continue. * * If the list is empty AND the message IS being allocated from the * interrupt level. This function will attempt to get a message from * the g_msgfreeirq list. If this is unsuccessful, the calling interrupt * handler will be notified. * * Inputs: * None * * Return Value: * A reference to the allocated msg structure. On a failure to allocate, * this function PANICs. * ****************************************************************************/ FAR mqmsg_t *mq_msgalloc(void) { FAR mqmsg_t *mqmsg; irqstate_t saved_state; /* If we were called from an interrupt handler, then try to get the message * from generally available list of messages. If this fails, then try the * list of messages reserved for interrupt handlers */ if (up_interrupt_context()) { /* Try the general free list */ mqmsg = (FAR mqmsg_t*)sq_remfirst(&g_msgfree); if (!mqmsg) { /* Try the free list reserved for interrupt handlers */ mqmsg = (FAR mqmsg_t*)sq_remfirst(&g_msgfreeirq); } } /* We were not called from an interrupt handler. */ else { /* Try to get the message from the generally available free list. * Disable interrupts -- we might be called from an interrupt handler. */ saved_state = irqsave(); mqmsg = (FAR mqmsg_t*)sq_remfirst(&g_msgfree); irqrestore(saved_state); /* If we cannot a message from the free list, then we will have to allocate one. */ if (!mqmsg) { mqmsg = (FAR mqmsg_t *)kmalloc((sizeof (mqmsg_t))); /* Check if we got an allocated message */ if (mqmsg) { mqmsg->type = MQ_ALLOC_DYN; } /* No? We are dead */ else { sdbg("Out of messages\n"); PANIC((uint32_t)OSERR_OUTOFMESSAGES); } } } return mqmsg; } /**************************************************************************** * Name: mq_waitsend * * Description: * This is internal, common logic shared by both mq_send and mq_timesend. * This function waits until the message queue is not full. * * Parameters: * mqdes - Message queue descriptor * * Return Value: * On success, mq_send() returns 0 (OK); on error, -1 (ERROR) is * returned, with errno set to indicate the error: * * EAGAIN The queue was empty, and the O_NONBLOCK flag was set for the * message queue description referred to by mqdes. * EINTR The call was interrupted by a signal handler. * ETIMEOUT A timeout expired before the message queue became non-full * (mq_timedsend only). * * Assumptions/restrictions: * - The caller has verified the input parameters using mq_verifysend(). * - Interrupts are disabled. * ****************************************************************************/ int mq_waitsend(mqd_t mqdes) { FAR _TCB *rtcb; FAR msgq_t *msgq; /* Get a pointer to the message queue */ msgq = mqdes->msgq; /* Verify that the queue is indeed full as the caller thinks */ if (msgq->nmsgs >= msgq->maxmsgs) { /* Should we block until there is sufficient space in the * message queue? */ if ((mqdes->oflags & O_NONBLOCK) != 0) { /* No... We will return an error to the caller. */ set_errno(EAGAIN); return ERROR; } /* Yes... We will not return control until the message queue is * available or we receive a signal or at timout occurs. */ else { /* Loop until there are fewer than max allowable messages in the * receiving message queue */ while (msgq->nmsgs >= msgq->maxmsgs) { /* Block until the message queue is no longer full. * When we are unblocked, we will try again */ rtcb = (FAR _TCB*)g_readytorun.head; rtcb->msgwaitq = msgq; msgq->nwaitnotfull++; set_errno(OK); up_block_task(rtcb, TSTATE_WAIT_MQNOTFULL); /* When we resume at this point, either (1) the message queue * is no longer empty, or (2) the wait has been interrupted by * a signal. We can detect the latter case be examining the * errno value (should be EINTR or ETIMEOUT). */ if (get_errno() != OK) { return ERROR; } } } } return OK; } /**************************************************************************** * Name: mq_dosend * * Description: * This is internal, common logic shared by both mq_send and mq_timesend. * This function adds the specificied message (msg) to the message queue * (mqdes). Then it notifies any tasks that were waiting for message * queue notifications setup by mq_notify. And, finally, it awakens any * tasks that were waiting for the message not empty event. * * Parameters: * mqdes - Message queue descriptor * msg - Message to send * msglen - The length of the message in bytes * prio - The priority of the message * * Return Value: * This function always returns OK. * * Assumptions/restrictions: * ****************************************************************************/ int mq_dosend(mqd_t mqdes, FAR mqmsg_t *mqmsg, const void *msg, size_t msglen, int prio) { FAR _TCB *btcb; FAR msgq_t *msgq; FAR mqmsg_t *next; FAR mqmsg_t *prev; irqstate_t saved_state; /* Get a pointer to the message queue */ sched_lock(); msgq = mqdes->msgq; /* Construct the message header info */ mqmsg->priority = prio; mqmsg->msglen = msglen; /* Copy the message data into the message */ memcpy((void*)mqmsg->mail, (const void*)msg, msglen); /* Insert the new message in the message queue */ saved_state = irqsave(); /* Search the message list to find the location to insert the new * message. Each is list is maintained in ascending priority order. */ for (prev = NULL, next = (FAR mqmsg_t*)msgq->msglist.head; next && prio <= next->priority; prev = next, next = next->next); /* Add the message at the right place */ if (prev) { sq_addafter((FAR sq_entry_t*)prev, (FAR sq_entry_t*)mqmsg, &msgq->msglist); } else { sq_addfirst((FAR sq_entry_t*)mqmsg, &msgq->msglist); } /* Increment the count of messages in the queue */ msgq->nmsgs++; irqrestore(saved_state); /* Check if we need to notify any tasks that are attached to the * message queue */ #ifndef CONFIG_DISABLE_SIGNALS if (msgq->ntmqdes) { /* Remove the message notification data from the message queue. */ #ifdef CONFIG_CAN_PASS_STRUCTS union sigval value = msgq->ntvalue; #else void *sival_ptr = msgq->ntvalue.sival_ptr; #endif int signo = msgq->ntsigno; int pid = msgq->ntpid; /* Detach the notification */ msgq->ntpid = INVALID_PROCESS_ID; msgq->ntsigno = 0; msgq->ntvalue.sival_int = 0; msgq->ntmqdes = NULL; /* Queue the signal -- What if this returns an error? */ #ifdef CONFIG_CAN_PASS_STRUCTS sig_mqnotempty(pid, signo, value); #else sig_mqnotempty(pid, signo, sival_ptr); #endif } #endif /* Check if any tasks are waiting for the MQ not empty event. */ saved_state = irqsave(); if (msgq->nwaitnotempty > 0) { /* Find the highest priority task that is waiting for * this queue to be non-empty in g_waitingformqnotempty * list. sched_lock() should give us sufficent protection since * interrupts should never cause a change in this list */ for (btcb = (FAR _TCB*)g_waitingformqnotempty.head; btcb && btcb->msgwaitq != msgq; btcb = btcb->flink); /* If one was found, unblock it */ if (!btcb) { PANIC(OSERR_MQNONEMPTYCOUNT); } else { btcb->msgwaitq = NULL; msgq->nwaitnotempty--; up_unblock_task(btcb); } } irqrestore(saved_state); sched_unlock(); return OK; }