1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
|
/****************************************************************************
* sched/task_init.c
*
* Copyright (C) 2007, 2009, 2013 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* 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 <nuttx/config.h>
#include <sys/types.h>
#include <stdint.h>
#include <sched.h>
#include <errno.h>
#include <nuttx/arch.h>
#include "os_internal.h"
#include "group_internal.h"
/****************************************************************************
* Definitions
****************************************************************************/
/****************************************************************************
* Private Type Declarations
****************************************************************************/
/****************************************************************************
* Global Variables
****************************************************************************/
/****************************************************************************
* Private Variables
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: task_init
*
* Description:
* This function initializes a Task Control Block (TCB) in preparation for
* starting a new thread. It performs a subset of the functionality of
* task_create()
*
* Unlike task_create():
* 1. Allocate the TCB. The pre-allocated TCB is passed in the arguments.
* 2. Allocate the stack. The pre-allocated stack is passed in the arguments.
* 3. Activate the task. This must be done by calling task_activate().
*
* Input Parameters:
* tcb - Address of the new task's TCB
* name - Name of the new task (not used)
* priority - Priority of the new task
* stack - Start of the pre-allocated stack
* stack_size - Size (in bytes) of the stack allocated
* entry - Application start point of the new task
* arg - A pointer to an array of input parameters. Up to
* CONFIG_MAX_TASK_ARG parameters may be provided. If fewer
* than CONFIG_MAX_TASK_ARG parameters are passed, the list
* should be terminated with a NULL argv[] value. If no
* parameters are required, argv may be NULL.
*
* Return Value:
* OK on success; ERROR on failure with errno set appropriately. (See
* task_schedsetup() for possible failure conditions). On failure, the
* caller is responsible for freeing the stack memory and for calling
* sched_releasetcb() to free the TCB (which could be in most any state).
*
****************************************************************************/
#ifndef CONFIG_CUSTOM_STACK
int task_init(FAR struct tcb_s *tcb, const char *name, int priority,
FAR uint32_t *stack, uint32_t stack_size,
main_t entry, FAR char * const argv[])
#else
int task_init(FAR struct tcb_s *tcb, const char *name, int priority,
main_t entry, FAR char * const argv[])
#endif
{
int errcode;
int ret;
/* Create a new task group */
#ifdef HAVE_TASK_GROUP
ret = group_allocate(tcb);
if (ret < 0)
{
errcode = -ret;
goto errout;
}
#endif
/* Associate file descriptors with the new task */
#if CONFIG_NFILE_DESCRIPTORS > 0 || CONFIG_NSOCKET_DESCRIPTORS > 0
ret = group_setuptaskfiles(tcb);
if (ret < 0)
{
errcode = -ret;
goto errout_with_group;
}
#endif
/* Configure the user provided stack region */
#ifndef CONFIG_CUSTOM_STACK
up_use_stack(tcb, stack, stack_size);
#endif
/* Initialize the task control block */
ret = task_schedsetup(tcb, priority, task_start, entry,
TCB_FLAG_TTYPE_TASK);
if (ret < OK)
{
errcode = -ret;
goto errout_with_group;
}
/* Setup to pass parameters to the new task */
(void)task_argsetup(tcb, name, argv);
/* Now we have enough in place that we can join the group */
#ifdef HAVE_TASK_GROUP
ret = group_initialize(tcb);
if (ret < 0)
{
errcode = -ret;
goto errout_with_group;
}
#endif
return OK;
errout_with_group:
#ifdef HAVE_TASK_GROUP
group_leave(tcb);
errout:
#endif
set_errno(errcode);
return ERROR;
}
|