1 | /* |
---|
2 | * RTEMS Task Manager |
---|
3 | * |
---|
4 | * |
---|
5 | * COPYRIGHT (c) 1989, 1990, 1991, 1992, 1993, 1994. |
---|
6 | * On-Line Applications Research Corporation (OAR). |
---|
7 | * All rights assigned to U.S. Government, 1994. |
---|
8 | * |
---|
9 | * This material may be reproduced by or for the U.S. Government pursuant |
---|
10 | * to the copyright license under the clause at DFARS 252.227-7013. This |
---|
11 | * notice must appear in all copies of this file and its derivatives. |
---|
12 | * |
---|
13 | * $Id$ |
---|
14 | */ |
---|
15 | |
---|
16 | #include <rtems/system.h> |
---|
17 | #include <rtems/rtems/status.h> |
---|
18 | #include <rtems/rtems/support.h> |
---|
19 | #include <rtems/rtems/modes.h> |
---|
20 | #include <rtems/score/object.h> |
---|
21 | #include <rtems/score/stack.h> |
---|
22 | #include <rtems/score/states.h> |
---|
23 | #include <rtems/rtems/tasks.h> |
---|
24 | #include <rtems/score/thread.h> |
---|
25 | #include <rtems/score/threadq.h> |
---|
26 | #include <rtems/score/tod.h> |
---|
27 | #include <rtems/score/userext.h> |
---|
28 | #include <rtems/score/wkspace.h> |
---|
29 | #include <rtems/score/apiext.h> |
---|
30 | #include <rtems/score/sysstate.h> |
---|
31 | |
---|
32 | /*PAGE |
---|
33 | * |
---|
34 | * _RTEMS_tasks_Create_extension |
---|
35 | * |
---|
36 | * XXX |
---|
37 | */ |
---|
38 | |
---|
39 | boolean _RTEMS_tasks_Create_extension( |
---|
40 | Thread_Control *executing, |
---|
41 | Thread_Control *created |
---|
42 | ) |
---|
43 | { |
---|
44 | RTEMS_API_Control *api; |
---|
45 | |
---|
46 | api = _Workspace_Allocate( sizeof( RTEMS_API_Control ) ); |
---|
47 | |
---|
48 | if ( !api ) |
---|
49 | return FALSE; |
---|
50 | |
---|
51 | created->API_Extensions[ THREAD_API_RTEMS ] = api; |
---|
52 | |
---|
53 | api->pending_events = EVENT_SETS_NONE_PENDING; |
---|
54 | _ASR_Initialize( &api->Signal ); |
---|
55 | return TRUE; |
---|
56 | } |
---|
57 | |
---|
58 | /*PAGE |
---|
59 | * |
---|
60 | * _RTEMS_tasks_Start_extension |
---|
61 | * |
---|
62 | * XXX |
---|
63 | */ |
---|
64 | |
---|
65 | User_extensions_routine _RTEMS_tasks_Start_extension( |
---|
66 | Thread_Control *executing, |
---|
67 | Thread_Control *started |
---|
68 | ) |
---|
69 | { |
---|
70 | RTEMS_API_Control *api; |
---|
71 | |
---|
72 | api = started->API_Extensions[ THREAD_API_RTEMS ]; |
---|
73 | |
---|
74 | api->pending_events = EVENT_SETS_NONE_PENDING; |
---|
75 | |
---|
76 | _ASR_Initialize( &api->Signal ); |
---|
77 | } |
---|
78 | |
---|
79 | /*PAGE |
---|
80 | * |
---|
81 | * _RTEMS_tasks_Delete_extension |
---|
82 | * |
---|
83 | * XXX |
---|
84 | */ |
---|
85 | |
---|
86 | User_extensions_routine _RTEMS_tasks_Delete_extension( |
---|
87 | Thread_Control *executing, |
---|
88 | Thread_Control *deleted |
---|
89 | ) |
---|
90 | { |
---|
91 | (void) _Workspace_Free( deleted->API_Extensions[ THREAD_API_RTEMS ] ); |
---|
92 | |
---|
93 | deleted->API_Extensions[ THREAD_API_RTEMS ] = NULL; |
---|
94 | } |
---|
95 | |
---|
96 | /*PAGE |
---|
97 | * |
---|
98 | * _RTEMS_tasks_Switch_extension |
---|
99 | * |
---|
100 | * XXX |
---|
101 | */ |
---|
102 | |
---|
103 | void _RTEMS_tasks_Switch_extension( |
---|
104 | Thread_Control *executing |
---|
105 | ) |
---|
106 | { |
---|
107 | ISR_Level level; |
---|
108 | RTEMS_API_Control *api; |
---|
109 | ASR_Information *asr; |
---|
110 | rtems_signal_set signal_set; |
---|
111 | Modes_Control prev_mode; |
---|
112 | |
---|
113 | api = executing->API_Extensions[ THREAD_API_RTEMS ]; |
---|
114 | asr = &api->Signal; |
---|
115 | |
---|
116 | _ISR_Disable( level ); |
---|
117 | signal_set = asr->signals_posted; |
---|
118 | asr->signals_posted = 0; |
---|
119 | _ISR_Enable( level ); |
---|
120 | |
---|
121 | |
---|
122 | if ( !signal_set ) /* similar to _ASR_Are_signals_pending( asr ) */ |
---|
123 | return; |
---|
124 | |
---|
125 | asr->nest_level += 1; |
---|
126 | rtems_task_mode( asr->mode_set, RTEMS_ALL_MODE_MASKS, &prev_mode ); |
---|
127 | |
---|
128 | (*asr->handler)( signal_set ); |
---|
129 | |
---|
130 | asr->nest_level -= 1; |
---|
131 | rtems_task_mode( prev_mode, RTEMS_ALL_MODE_MASKS, &prev_mode ); |
---|
132 | |
---|
133 | } |
---|
134 | |
---|
135 | API_extensions_Control _RTEMS_tasks_API_extensions = { |
---|
136 | { NULL, NULL }, |
---|
137 | NULL, /* predriver */ |
---|
138 | _RTEMS_tasks_Initialize_user_tasks, /* postdriver */ |
---|
139 | _RTEMS_tasks_Switch_extension /* post switch */ |
---|
140 | }; |
---|
141 | |
---|
142 | User_extensions_Control _RTEMS_tasks_User_extensions = { |
---|
143 | { NULL, NULL }, |
---|
144 | { _RTEMS_tasks_Create_extension, /* create */ |
---|
145 | _RTEMS_tasks_Start_extension, /* start */ |
---|
146 | _RTEMS_tasks_Start_extension, /* restart */ |
---|
147 | _RTEMS_tasks_Delete_extension, /* delete */ |
---|
148 | NULL, /* switch */ |
---|
149 | NULL, /* begin */ |
---|
150 | NULL, /* exitted */ |
---|
151 | NULL /* fatal */ |
---|
152 | } |
---|
153 | }; |
---|
154 | |
---|
155 | /*PAGE |
---|
156 | * |
---|
157 | * _RTEMS_tasks_Manager_initialization |
---|
158 | * |
---|
159 | * This routine initializes all Task Manager related data structures. |
---|
160 | * |
---|
161 | * Input parameters: |
---|
162 | * maximum_tasks - number of tasks to initialize |
---|
163 | * |
---|
164 | * Output parameters: NONE |
---|
165 | */ |
---|
166 | |
---|
167 | void _RTEMS_tasks_Manager_initialization( |
---|
168 | unsigned32 maximum_tasks, |
---|
169 | unsigned32 number_of_initialization_tasks, |
---|
170 | rtems_initialization_tasks_table *user_tasks |
---|
171 | ) |
---|
172 | { |
---|
173 | |
---|
174 | _RTEMS_tasks_Number_of_initialization_tasks = number_of_initialization_tasks; |
---|
175 | _RTEMS_tasks_User_initialization_tasks = user_tasks; |
---|
176 | |
---|
177 | /* |
---|
178 | * There may not be any RTEMS initialization tasks configured. |
---|
179 | */ |
---|
180 | |
---|
181 | #if 0 |
---|
182 | if ( user_tasks == NULL || number_of_initialization_tasks == 0 ) |
---|
183 | _Internal_error_Occurred( INTERNAL_ERROR_RTEMS_API, TRUE, RTEMS_TOO_MANY ); |
---|
184 | #endif |
---|
185 | |
---|
186 | _Objects_Initialize_information( |
---|
187 | &_RTEMS_tasks_Information, |
---|
188 | OBJECTS_RTEMS_TASKS, |
---|
189 | TRUE, |
---|
190 | maximum_tasks, |
---|
191 | sizeof( Thread_Control ), |
---|
192 | FALSE, |
---|
193 | RTEMS_MAXIMUM_NAME_LENGTH, |
---|
194 | TRUE |
---|
195 | ); |
---|
196 | |
---|
197 | /* |
---|
198 | * Add all the extensions for this API |
---|
199 | */ |
---|
200 | |
---|
201 | _User_extensions_Add_API_set( &_RTEMS_tasks_User_extensions ); |
---|
202 | |
---|
203 | _API_extensions_Add( &_RTEMS_tasks_API_extensions ); |
---|
204 | |
---|
205 | /* |
---|
206 | * Register the MP Process Packet routine. |
---|
207 | */ |
---|
208 | |
---|
209 | _MPCI_Register_packet_processor( |
---|
210 | MP_PACKET_TASKS, |
---|
211 | _RTEMS_tasks_MP_Process_packet |
---|
212 | ); |
---|
213 | |
---|
214 | } |
---|
215 | |
---|
216 | /*PAGE |
---|
217 | * |
---|
218 | * rtems_task_create |
---|
219 | * |
---|
220 | * This directive creates a thread by allocating and initializing a |
---|
221 | * thread control block and a stack. The newly created thread is |
---|
222 | * placed in the dormant state. |
---|
223 | * |
---|
224 | * Input parameters: |
---|
225 | * name - user defined thread name |
---|
226 | * initial_priority - thread priority |
---|
227 | * stack_size - stack size in bytes |
---|
228 | * initial_modes - initial thread mode |
---|
229 | * attribute_set - thread attributes |
---|
230 | * id - pointer to thread id |
---|
231 | * |
---|
232 | * Output parameters: |
---|
233 | * id - thread id |
---|
234 | * RTEMS_SUCCESSFUL - if successful |
---|
235 | * error code - if unsuccessful |
---|
236 | */ |
---|
237 | |
---|
238 | rtems_status_code rtems_task_create( |
---|
239 | rtems_name name, |
---|
240 | rtems_task_priority initial_priority, |
---|
241 | unsigned32 stack_size, |
---|
242 | rtems_mode initial_modes, |
---|
243 | rtems_attribute attribute_set, |
---|
244 | Objects_Id *id |
---|
245 | ) |
---|
246 | { |
---|
247 | register Thread_Control *the_thread; |
---|
248 | Objects_MP_Control *the_global_object = NULL; |
---|
249 | boolean is_fp; |
---|
250 | boolean is_global; |
---|
251 | boolean status; |
---|
252 | rtems_attribute the_attribute_set; |
---|
253 | Priority_Control core_priority; |
---|
254 | RTEMS_API_Control *api; |
---|
255 | ASR_Information *asr; |
---|
256 | |
---|
257 | |
---|
258 | if ( !rtems_is_name_valid( name ) ) |
---|
259 | return RTEMS_INVALID_NAME; |
---|
260 | |
---|
261 | /* |
---|
262 | * Core Thread Initialize insures we get the minimum amount of |
---|
263 | * stack space. |
---|
264 | */ |
---|
265 | |
---|
266 | #if 0 |
---|
267 | if ( !_Stack_Is_enough( stack_size ) ) |
---|
268 | return RTEMS_INVALID_SIZE; |
---|
269 | #endif |
---|
270 | |
---|
271 | /* |
---|
272 | * Validate the RTEMS API priority and convert it to the core priority range. |
---|
273 | */ |
---|
274 | |
---|
275 | if ( !_RTEMS_tasks_Priority_is_valid( initial_priority ) ) |
---|
276 | return RTEMS_INVALID_PRIORITY; |
---|
277 | |
---|
278 | core_priority = _RTEMS_tasks_Priority_to_Core( initial_priority ); |
---|
279 | |
---|
280 | /* |
---|
281 | * Fix the attribute set to match the attributes which |
---|
282 | * this processor (1) requires and (2) is able to support. |
---|
283 | * First add in the required flags for attribute_set |
---|
284 | * Typically this might include FP if the platform |
---|
285 | * or application required all tasks to be fp aware. |
---|
286 | * Then turn off the requested bits which are not supported. |
---|
287 | */ |
---|
288 | |
---|
289 | the_attribute_set = _Attributes_Set( attribute_set, ATTRIBUTES_REQUIRED ); |
---|
290 | the_attribute_set = |
---|
291 | _Attributes_Clear( the_attribute_set, ATTRIBUTES_NOT_SUPPORTED ); |
---|
292 | |
---|
293 | if ( _Attributes_Is_floating_point( the_attribute_set ) ) |
---|
294 | is_fp = TRUE; |
---|
295 | else |
---|
296 | is_fp = FALSE; |
---|
297 | |
---|
298 | if ( _Attributes_Is_global( the_attribute_set ) ) { |
---|
299 | |
---|
300 | is_global = TRUE; |
---|
301 | |
---|
302 | if ( !_System_state_Is_multiprocessing ) |
---|
303 | return RTEMS_MP_NOT_CONFIGURED; |
---|
304 | |
---|
305 | } else |
---|
306 | is_global = FALSE; |
---|
307 | |
---|
308 | /* |
---|
309 | * Make sure system is MP if this task is global |
---|
310 | */ |
---|
311 | |
---|
312 | /* |
---|
313 | * Disable dispatch for protection |
---|
314 | */ |
---|
315 | |
---|
316 | _Thread_Disable_dispatch(); |
---|
317 | |
---|
318 | /* |
---|
319 | * Allocate the thread control block and -- if the task is global -- |
---|
320 | * allocate a global object control block. |
---|
321 | * |
---|
322 | * NOTE: This routine does not use the combined allocate and open |
---|
323 | * global object routine because this results in a lack of |
---|
324 | * control over when memory is allocated and can be freed in |
---|
325 | * the event of an error. |
---|
326 | */ |
---|
327 | |
---|
328 | the_thread = _RTEMS_tasks_Allocate(); |
---|
329 | |
---|
330 | if ( !the_thread ) { |
---|
331 | _Thread_Enable_dispatch(); |
---|
332 | return RTEMS_TOO_MANY; |
---|
333 | } |
---|
334 | |
---|
335 | if ( is_global ) { |
---|
336 | the_global_object = _Objects_MP_Allocate_global_object(); |
---|
337 | |
---|
338 | if ( _Objects_MP_Is_null_global_object( the_global_object ) ) { |
---|
339 | _RTEMS_tasks_Free( the_thread ); |
---|
340 | _Thread_Enable_dispatch(); |
---|
341 | return RTEMS_TOO_MANY; |
---|
342 | } |
---|
343 | } |
---|
344 | |
---|
345 | /* |
---|
346 | * Initialize the core thread for this task. |
---|
347 | */ |
---|
348 | |
---|
349 | status = _Thread_Initialize( |
---|
350 | &_RTEMS_tasks_Information, |
---|
351 | the_thread, |
---|
352 | NULL, |
---|
353 | stack_size, |
---|
354 | is_fp, |
---|
355 | core_priority, |
---|
356 | _Modes_Is_preempt(initial_modes) ? TRUE : FALSE, |
---|
357 | _Modes_Is_timeslice(initial_modes) ? |
---|
358 | THREAD_CPU_BUDGET_ALGORITHM_RESET_TIMESLICE : |
---|
359 | THREAD_CPU_BUDGET_ALGORITHM_NONE, |
---|
360 | NULL, /* no budget algorithm callout */ |
---|
361 | _Modes_Get_interrupt_level(initial_modes), |
---|
362 | &name |
---|
363 | ); |
---|
364 | |
---|
365 | if ( !status ) { |
---|
366 | if ( is_global ) |
---|
367 | _Objects_MP_Free_global_object( the_global_object ); |
---|
368 | _RTEMS_tasks_Free( the_thread ); |
---|
369 | _Thread_Enable_dispatch(); |
---|
370 | return RTEMS_UNSATISFIED; |
---|
371 | } |
---|
372 | |
---|
373 | api = the_thread->API_Extensions[ THREAD_API_RTEMS ]; |
---|
374 | asr = &api->Signal; |
---|
375 | |
---|
376 | asr->is_enabled = _Modes_Is_asr_disabled(initial_modes) ? FALSE : TRUE; |
---|
377 | |
---|
378 | *id = the_thread->Object.id; |
---|
379 | |
---|
380 | if ( is_global ) { |
---|
381 | |
---|
382 | the_thread->is_global = TRUE; |
---|
383 | |
---|
384 | _Objects_MP_Open( |
---|
385 | &_RTEMS_tasks_Information, |
---|
386 | the_global_object, |
---|
387 | name, |
---|
388 | the_thread->Object.id |
---|
389 | ); |
---|
390 | |
---|
391 | _RTEMS_tasks_MP_Send_process_packet( |
---|
392 | RTEMS_TASKS_MP_ANNOUNCE_CREATE, |
---|
393 | the_thread->Object.id, |
---|
394 | name |
---|
395 | ); |
---|
396 | |
---|
397 | } |
---|
398 | |
---|
399 | _Thread_Enable_dispatch(); |
---|
400 | return RTEMS_SUCCESSFUL; |
---|
401 | } |
---|
402 | |
---|
403 | /*PAGE |
---|
404 | * |
---|
405 | * rtems_task_ident |
---|
406 | * |
---|
407 | * This directive returns the system ID associated with |
---|
408 | * the thread name. |
---|
409 | * |
---|
410 | * Input parameters: |
---|
411 | * name - user defined thread name |
---|
412 | * node - node(s) to be searched |
---|
413 | * id - pointer to thread id |
---|
414 | * |
---|
415 | * Output parameters: |
---|
416 | * *id - thread id |
---|
417 | * RTEMS_SUCCESSFUL - if successful |
---|
418 | * error code - if unsuccessful |
---|
419 | */ |
---|
420 | |
---|
421 | rtems_status_code rtems_task_ident( |
---|
422 | rtems_name name, |
---|
423 | unsigned32 node, |
---|
424 | Objects_Id *id |
---|
425 | ) |
---|
426 | { |
---|
427 | Objects_Name_to_id_errors status; |
---|
428 | |
---|
429 | if ( name == OBJECTS_ID_OF_SELF ) { |
---|
430 | *id = _Thread_Executing->Object.id; |
---|
431 | return RTEMS_SUCCESSFUL; |
---|
432 | } |
---|
433 | |
---|
434 | status = _Objects_Name_to_id( &_RTEMS_tasks_Information, &name, node, id ); |
---|
435 | |
---|
436 | return _Status_Object_name_errors_to_status[ status ]; |
---|
437 | } |
---|
438 | |
---|
439 | /*PAGE |
---|
440 | * |
---|
441 | * rtems_task_start |
---|
442 | * |
---|
443 | * This directive readies the thread identified by the "id" |
---|
444 | * based on its current priorty, to await execution. A thread |
---|
445 | * can be started only from the dormant state. |
---|
446 | * |
---|
447 | * Input parameters: |
---|
448 | * id - thread id |
---|
449 | * entry_point - start execution address of thread |
---|
450 | * argument - thread argument |
---|
451 | * |
---|
452 | * Output parameters: |
---|
453 | * RTEMS_SUCCESSFUL - if successful |
---|
454 | * error code - if unsuccessful |
---|
455 | */ |
---|
456 | |
---|
457 | rtems_status_code rtems_task_start( |
---|
458 | rtems_id id, |
---|
459 | rtems_task_entry entry_point, |
---|
460 | unsigned32 argument |
---|
461 | ) |
---|
462 | { |
---|
463 | register Thread_Control *the_thread; |
---|
464 | Objects_Locations location; |
---|
465 | |
---|
466 | if ( entry_point == NULL ) |
---|
467 | return RTEMS_INVALID_ADDRESS; |
---|
468 | |
---|
469 | the_thread = _Thread_Get( id, &location ); |
---|
470 | switch ( location ) { |
---|
471 | case OBJECTS_ERROR: |
---|
472 | return RTEMS_INVALID_ID; |
---|
473 | case OBJECTS_REMOTE: |
---|
474 | _Thread_Dispatch(); |
---|
475 | return RTEMS_ILLEGAL_ON_REMOTE_OBJECT; |
---|
476 | case OBJECTS_LOCAL: |
---|
477 | if ( _Thread_Start( |
---|
478 | the_thread, THREAD_START_NUMERIC, entry_point, NULL, argument ) ) { |
---|
479 | _Thread_Enable_dispatch(); |
---|
480 | return RTEMS_SUCCESSFUL; |
---|
481 | } |
---|
482 | _Thread_Enable_dispatch(); |
---|
483 | return RTEMS_INCORRECT_STATE; |
---|
484 | } |
---|
485 | |
---|
486 | return RTEMS_INTERNAL_ERROR; /* unreached - only to remove warnings */ |
---|
487 | } |
---|
488 | |
---|
489 | /*PAGE |
---|
490 | * |
---|
491 | * rtems_task_restart |
---|
492 | * |
---|
493 | * This directive readies the specified thread. It restores |
---|
494 | * the thread environment to the original values established |
---|
495 | * at thread creation and start time. A thread can be restarted |
---|
496 | * from any state except the dormant state. |
---|
497 | * |
---|
498 | * Input parameters: |
---|
499 | * id - thread id |
---|
500 | * argument - thread argument |
---|
501 | * |
---|
502 | * Output parameters: |
---|
503 | * RTEMS_SUCCESSFUL - if successful |
---|
504 | * error code - if unsuccessful |
---|
505 | */ |
---|
506 | |
---|
507 | rtems_status_code rtems_task_restart( |
---|
508 | Objects_Id id, |
---|
509 | unsigned32 argument |
---|
510 | ) |
---|
511 | { |
---|
512 | register Thread_Control *the_thread; |
---|
513 | Objects_Locations location; |
---|
514 | |
---|
515 | the_thread = _Thread_Get( id, &location ); |
---|
516 | switch ( location ) { |
---|
517 | case OBJECTS_ERROR: |
---|
518 | return RTEMS_INVALID_ID; |
---|
519 | case OBJECTS_REMOTE: |
---|
520 | _Thread_Dispatch(); |
---|
521 | return RTEMS_ILLEGAL_ON_REMOTE_OBJECT; |
---|
522 | case OBJECTS_LOCAL: |
---|
523 | if ( _Thread_Restart( the_thread, NULL, argument ) ) { |
---|
524 | _Thread_Enable_dispatch(); |
---|
525 | return RTEMS_SUCCESSFUL; |
---|
526 | } |
---|
527 | _Thread_Enable_dispatch(); |
---|
528 | return RTEMS_INCORRECT_STATE; |
---|
529 | } |
---|
530 | |
---|
531 | return RTEMS_INTERNAL_ERROR; /* unreached - only to remove warnings */ |
---|
532 | } |
---|
533 | |
---|
534 | /*PAGE |
---|
535 | * |
---|
536 | * rtems_task_delete |
---|
537 | * |
---|
538 | * This directive allows a thread to delete itself or the thread |
---|
539 | * identified in the id field. The executive halts execution |
---|
540 | * of the thread and frees the thread control block. |
---|
541 | * |
---|
542 | * Input parameters: |
---|
543 | * id - thread id |
---|
544 | * |
---|
545 | * Output parameters: |
---|
546 | * nothing - if id is the requesting thread (always succeeds) |
---|
547 | * RTEMS_SUCCESSFUL - if successful and id is |
---|
548 | * not the requesting thread |
---|
549 | * error code - if unsuccessful |
---|
550 | */ |
---|
551 | |
---|
552 | rtems_status_code rtems_task_delete( |
---|
553 | Objects_Id id |
---|
554 | ) |
---|
555 | { |
---|
556 | register Thread_Control *the_thread; |
---|
557 | Objects_Locations location; |
---|
558 | |
---|
559 | the_thread = _Thread_Get( id, &location ); |
---|
560 | switch ( location ) { |
---|
561 | case OBJECTS_ERROR: |
---|
562 | return RTEMS_INVALID_ID; |
---|
563 | case OBJECTS_REMOTE: |
---|
564 | _Thread_Dispatch(); |
---|
565 | return RTEMS_ILLEGAL_ON_REMOTE_OBJECT; |
---|
566 | case OBJECTS_LOCAL: |
---|
567 | _Thread_Close( &_RTEMS_tasks_Information, the_thread ); |
---|
568 | |
---|
569 | _RTEMS_tasks_Free( the_thread ); |
---|
570 | |
---|
571 | if ( the_thread->is_global ) { |
---|
572 | |
---|
573 | _Objects_MP_Close( &_RTEMS_tasks_Information, the_thread->Object.id ); |
---|
574 | |
---|
575 | _RTEMS_tasks_MP_Send_process_packet( |
---|
576 | RTEMS_TASKS_MP_ANNOUNCE_DELETE, |
---|
577 | the_thread->Object.id, |
---|
578 | 0 /* Not used */ |
---|
579 | ); |
---|
580 | } |
---|
581 | |
---|
582 | _Thread_Enable_dispatch(); |
---|
583 | return RTEMS_SUCCESSFUL; |
---|
584 | } |
---|
585 | |
---|
586 | return RTEMS_INTERNAL_ERROR; /* unreached - only to remove warnings */ |
---|
587 | } |
---|
588 | |
---|
589 | /*PAGE |
---|
590 | * |
---|
591 | * rtems_task_suspend |
---|
592 | * |
---|
593 | * This directive will place the specified thread in the "suspended" |
---|
594 | * state. Note that the suspended state can be in addition to |
---|
595 | * other waiting states. |
---|
596 | * |
---|
597 | * Input parameters: |
---|
598 | * id - thread id |
---|
599 | * |
---|
600 | * Output parameters: |
---|
601 | * RTEMS_SUCCESSFUL - if successful |
---|
602 | * error code - if unsuccessful |
---|
603 | */ |
---|
604 | |
---|
605 | rtems_status_code rtems_task_suspend( |
---|
606 | Objects_Id id |
---|
607 | ) |
---|
608 | { |
---|
609 | register Thread_Control *the_thread; |
---|
610 | Objects_Locations location; |
---|
611 | |
---|
612 | the_thread = _Thread_Get( id, &location ); |
---|
613 | switch ( location ) { |
---|
614 | case OBJECTS_ERROR: |
---|
615 | return RTEMS_INVALID_ID; |
---|
616 | case OBJECTS_REMOTE: |
---|
617 | return _RTEMS_tasks_MP_Send_request_packet( |
---|
618 | RTEMS_TASKS_MP_SUSPEND_REQUEST, |
---|
619 | id, |
---|
620 | 0, /* Not used */ |
---|
621 | 0, /* Not used */ |
---|
622 | 0 /* Not used */ |
---|
623 | ); |
---|
624 | case OBJECTS_LOCAL: |
---|
625 | if ( !_States_Is_suspended( the_thread->current_state ) ) { |
---|
626 | _Thread_Set_state( the_thread, STATES_SUSPENDED ); |
---|
627 | _Thread_Enable_dispatch(); |
---|
628 | return RTEMS_SUCCESSFUL; |
---|
629 | } |
---|
630 | _Thread_Enable_dispatch(); |
---|
631 | return RTEMS_ALREADY_SUSPENDED; |
---|
632 | } |
---|
633 | |
---|
634 | return RTEMS_INTERNAL_ERROR; /* unreached - only to remove warnings */ |
---|
635 | } |
---|
636 | |
---|
637 | /*PAGE |
---|
638 | * |
---|
639 | * rtems_task_resume |
---|
640 | * |
---|
641 | * This directive will remove the specified thread |
---|
642 | * from the suspended state. |
---|
643 | * |
---|
644 | * Input parameters: |
---|
645 | * id - thread id |
---|
646 | * |
---|
647 | * Output parameters: |
---|
648 | * RTEMS_SUCCESSFUL - if successful |
---|
649 | * error code - if unsuccessful |
---|
650 | */ |
---|
651 | |
---|
652 | rtems_status_code rtems_task_resume( |
---|
653 | Objects_Id id |
---|
654 | ) |
---|
655 | { |
---|
656 | register Thread_Control *the_thread; |
---|
657 | Objects_Locations location; |
---|
658 | |
---|
659 | the_thread = _Thread_Get( id, &location ); |
---|
660 | switch ( location ) { |
---|
661 | case OBJECTS_ERROR: |
---|
662 | return RTEMS_INVALID_ID; |
---|
663 | case OBJECTS_REMOTE: |
---|
664 | return( |
---|
665 | _RTEMS_tasks_MP_Send_request_packet( |
---|
666 | RTEMS_TASKS_MP_RESUME_REQUEST, |
---|
667 | id, |
---|
668 | 0, /* Not used */ |
---|
669 | 0, /* Not used */ |
---|
670 | 0 /* Not used */ |
---|
671 | ) |
---|
672 | ); |
---|
673 | case OBJECTS_LOCAL: |
---|
674 | if ( _States_Is_suspended( the_thread->current_state ) ) { |
---|
675 | _Thread_Resume( the_thread ); |
---|
676 | _Thread_Enable_dispatch(); |
---|
677 | return RTEMS_SUCCESSFUL; |
---|
678 | } |
---|
679 | _Thread_Enable_dispatch(); |
---|
680 | return RTEMS_INCORRECT_STATE; |
---|
681 | } |
---|
682 | |
---|
683 | return RTEMS_INTERNAL_ERROR; /* unreached - only to remove warnings */ |
---|
684 | } |
---|
685 | |
---|
686 | /*PAGE |
---|
687 | * |
---|
688 | * rtems_task_set_priority |
---|
689 | * |
---|
690 | * This directive changes the priority of the specified thread. |
---|
691 | * The specified thread can be any thread in the system including |
---|
692 | * the requesting thread. |
---|
693 | * |
---|
694 | * Input parameters: |
---|
695 | * id - thread id (0 indicates requesting thread) |
---|
696 | * new_priority - thread priority (0 indicates current priority) |
---|
697 | * old_priority - pointer to previous priority |
---|
698 | * |
---|
699 | * Output parameters: |
---|
700 | * old_priority - previous priority |
---|
701 | * RTEMS_SUCCESSFUL - if successful |
---|
702 | * error code - if unsuccessful |
---|
703 | */ |
---|
704 | |
---|
705 | rtems_status_code rtems_task_set_priority( |
---|
706 | Objects_Id id, |
---|
707 | rtems_task_priority new_priority, |
---|
708 | rtems_task_priority *old_priority |
---|
709 | ) |
---|
710 | { |
---|
711 | register Thread_Control *the_thread; |
---|
712 | Objects_Locations location; |
---|
713 | |
---|
714 | if ( new_priority != RTEMS_CURRENT_PRIORITY && |
---|
715 | !_RTEMS_tasks_Priority_is_valid( new_priority ) ) |
---|
716 | return RTEMS_INVALID_PRIORITY; |
---|
717 | |
---|
718 | the_thread = _Thread_Get( id, &location ); |
---|
719 | switch ( location ) { |
---|
720 | case OBJECTS_ERROR: |
---|
721 | return RTEMS_INVALID_ID; |
---|
722 | case OBJECTS_REMOTE: |
---|
723 | _Thread_Executing->Wait.return_argument = old_priority; |
---|
724 | return( |
---|
725 | _RTEMS_tasks_MP_Send_request_packet( |
---|
726 | RTEMS_TASKS_MP_SET_PRIORITY_REQUEST, |
---|
727 | id, |
---|
728 | new_priority, |
---|
729 | 0, /* Not used */ |
---|
730 | 0 /* Not used */ |
---|
731 | ) |
---|
732 | ); |
---|
733 | case OBJECTS_LOCAL: |
---|
734 | *old_priority = the_thread->current_priority; |
---|
735 | if ( new_priority != RTEMS_CURRENT_PRIORITY ) { |
---|
736 | the_thread->real_priority = new_priority; |
---|
737 | if ( the_thread->resource_count == 0 || |
---|
738 | the_thread->current_priority > new_priority ) |
---|
739 | _Thread_Change_priority( the_thread, new_priority, FALSE ); |
---|
740 | } |
---|
741 | _Thread_Enable_dispatch(); |
---|
742 | return RTEMS_SUCCESSFUL; |
---|
743 | } |
---|
744 | |
---|
745 | return RTEMS_INTERNAL_ERROR; /* unreached - only to remove warnings */ |
---|
746 | } |
---|
747 | |
---|
748 | /*PAGE |
---|
749 | * |
---|
750 | * rtems_task_mode |
---|
751 | * |
---|
752 | * This directive enables and disables several modes of |
---|
753 | * execution for the requesting thread. |
---|
754 | * |
---|
755 | * Input parameters: |
---|
756 | * mode_set - new mode |
---|
757 | * mask - mask |
---|
758 | * previous_mode_set - address of previous mode set |
---|
759 | * |
---|
760 | * Output: |
---|
761 | * *previous_mode_set - previous mode set |
---|
762 | * always return RTEMS_SUCCESSFUL; |
---|
763 | */ |
---|
764 | |
---|
765 | rtems_status_code rtems_task_mode( |
---|
766 | rtems_mode mode_set, |
---|
767 | rtems_mode mask, |
---|
768 | rtems_mode *previous_mode_set |
---|
769 | ) |
---|
770 | { |
---|
771 | Thread_Control *executing; |
---|
772 | RTEMS_API_Control *api; |
---|
773 | ASR_Information *asr; |
---|
774 | boolean is_asr_enabled = FALSE; |
---|
775 | boolean needs_asr_dispatching = FALSE; |
---|
776 | rtems_mode old_mode; |
---|
777 | |
---|
778 | executing = _Thread_Executing; |
---|
779 | api = executing->API_Extensions[ THREAD_API_RTEMS ]; |
---|
780 | asr = &api->Signal; |
---|
781 | |
---|
782 | old_mode = (executing->is_preemptible) ? RTEMS_PREEMPT : RTEMS_NO_PREEMPT; |
---|
783 | |
---|
784 | if ( executing->budget_algorithm == THREAD_CPU_BUDGET_ALGORITHM_NONE ) |
---|
785 | old_mode |= RTEMS_NO_TIMESLICE; |
---|
786 | else |
---|
787 | old_mode |= RTEMS_TIMESLICE; |
---|
788 | |
---|
789 | old_mode |= (asr->is_enabled) ? RTEMS_ASR : RTEMS_NO_ASR; |
---|
790 | old_mode |= _ISR_Get_level(); |
---|
791 | |
---|
792 | *previous_mode_set = old_mode; |
---|
793 | |
---|
794 | /* |
---|
795 | * These are generic thread scheduling characteristics. |
---|
796 | */ |
---|
797 | |
---|
798 | if ( mask & RTEMS_PREEMPT_MASK ) |
---|
799 | executing->is_preemptible = _Modes_Is_preempt(mode_set) ? TRUE : FALSE; |
---|
800 | |
---|
801 | if ( mask & RTEMS_TIMESLICE_MASK ) { |
---|
802 | if ( _Modes_Is_timeslice(mode_set) ) |
---|
803 | executing->budget_algorithm = THREAD_CPU_BUDGET_ALGORITHM_RESET_TIMESLICE; |
---|
804 | else |
---|
805 | executing->budget_algorithm = THREAD_CPU_BUDGET_ALGORITHM_NONE; |
---|
806 | } |
---|
807 | |
---|
808 | /* |
---|
809 | * Set the new interrupt level |
---|
810 | */ |
---|
811 | |
---|
812 | if ( mask & RTEMS_INTERRUPT_MASK ) |
---|
813 | _Modes_Set_interrupt_level( mode_set ); |
---|
814 | |
---|
815 | /* |
---|
816 | * This is specific to the RTEMS API |
---|
817 | */ |
---|
818 | |
---|
819 | is_asr_enabled = FALSE; |
---|
820 | needs_asr_dispatching = FALSE; |
---|
821 | |
---|
822 | if ( mask & RTEMS_ASR_MASK ) { |
---|
823 | is_asr_enabled = _Modes_Is_asr_disabled( mode_set ) ? FALSE : TRUE; |
---|
824 | if ( is_asr_enabled != asr->is_enabled ) { |
---|
825 | asr->is_enabled = is_asr_enabled; |
---|
826 | _ASR_Swap_signals( asr ); |
---|
827 | if ( _ASR_Are_signals_pending( asr ) ) { |
---|
828 | needs_asr_dispatching = TRUE; |
---|
829 | executing->do_post_task_switch_extension = TRUE; |
---|
830 | } |
---|
831 | } |
---|
832 | } |
---|
833 | |
---|
834 | if ( _Thread_Evaluate_mode() || needs_asr_dispatching ) |
---|
835 | _Thread_Dispatch(); |
---|
836 | |
---|
837 | return RTEMS_SUCCESSFUL; |
---|
838 | } |
---|
839 | |
---|
840 | /*PAGE |
---|
841 | * |
---|
842 | * rtems_task_get_note |
---|
843 | * |
---|
844 | * This directive obtains the note from the specified notepad |
---|
845 | * of the specified thread. |
---|
846 | * |
---|
847 | * Input parameters: |
---|
848 | * id - thread id |
---|
849 | * notepad - notepad number |
---|
850 | * note - pointer to note |
---|
851 | * |
---|
852 | * Output parameters: |
---|
853 | * note - filled in if successful |
---|
854 | * RTEMS_SUCCESSFUL - if successful |
---|
855 | * error code - if unsuccessful |
---|
856 | */ |
---|
857 | |
---|
858 | rtems_status_code rtems_task_get_note( |
---|
859 | Objects_Id id, |
---|
860 | unsigned32 notepad, |
---|
861 | unsigned32 *note |
---|
862 | ) |
---|
863 | { |
---|
864 | register Thread_Control *the_thread; |
---|
865 | Objects_Locations location; |
---|
866 | RTEMS_API_Control *api; |
---|
867 | |
---|
868 | /* |
---|
869 | * NOTE: There is no check for < RTEMS_NOTEPAD_FIRST because that would |
---|
870 | * be checking an unsigned number for being negative. |
---|
871 | */ |
---|
872 | |
---|
873 | if ( notepad > RTEMS_NOTEPAD_LAST ) |
---|
874 | return RTEMS_INVALID_NUMBER; |
---|
875 | |
---|
876 | /* |
---|
877 | * Optimize the most likely case to avoid the Thread_Dispatch. |
---|
878 | */ |
---|
879 | |
---|
880 | if ( _Objects_Are_ids_equal( id, OBJECTS_ID_OF_SELF ) || |
---|
881 | _Objects_Are_ids_equal( id, _Thread_Executing->Object.id ) ) { |
---|
882 | api = _Thread_Executing->API_Extensions[ THREAD_API_RTEMS ]; |
---|
883 | *note = api->Notepads[ notepad ]; |
---|
884 | return RTEMS_SUCCESSFUL; |
---|
885 | } |
---|
886 | |
---|
887 | the_thread = _Thread_Get( id, &location ); |
---|
888 | switch ( location ) { |
---|
889 | case OBJECTS_ERROR: |
---|
890 | return RTEMS_INVALID_ID; |
---|
891 | case OBJECTS_REMOTE: |
---|
892 | _Thread_Executing->Wait.return_argument = note; |
---|
893 | |
---|
894 | return _RTEMS_tasks_MP_Send_request_packet( |
---|
895 | RTEMS_TASKS_MP_GET_NOTE_REQUEST, |
---|
896 | id, |
---|
897 | 0, /* Not used */ |
---|
898 | notepad, |
---|
899 | 0 /* Not used */ |
---|
900 | ); |
---|
901 | case OBJECTS_LOCAL: |
---|
902 | api = the_thread->API_Extensions[ THREAD_API_RTEMS ]; |
---|
903 | *note = api->Notepads[ notepad ]; |
---|
904 | _Thread_Enable_dispatch(); |
---|
905 | return RTEMS_SUCCESSFUL; |
---|
906 | } |
---|
907 | |
---|
908 | return RTEMS_INTERNAL_ERROR; /* unreached - only to remove warnings */ |
---|
909 | } |
---|
910 | |
---|
911 | /*PAGE |
---|
912 | * |
---|
913 | * rtems_task_set_note |
---|
914 | * |
---|
915 | * This directive sets the specified notepad contents to the given |
---|
916 | * note. |
---|
917 | * |
---|
918 | * Input parameters: |
---|
919 | * id - thread id |
---|
920 | * notepad - notepad number |
---|
921 | * note - note value |
---|
922 | * |
---|
923 | * Output parameters: |
---|
924 | * RTEMS_SUCCESSFUL - if successful |
---|
925 | * error code - if unsuccessful |
---|
926 | */ |
---|
927 | |
---|
928 | rtems_status_code rtems_task_set_note( |
---|
929 | Objects_Id id, |
---|
930 | unsigned32 notepad, |
---|
931 | unsigned32 note |
---|
932 | ) |
---|
933 | { |
---|
934 | register Thread_Control *the_thread; |
---|
935 | Objects_Locations location; |
---|
936 | RTEMS_API_Control *api; |
---|
937 | |
---|
938 | /* |
---|
939 | * NOTE: There is no check for < RTEMS_NOTEPAD_FIRST because that would |
---|
940 | * be checking an unsigned number for being negative. |
---|
941 | */ |
---|
942 | |
---|
943 | if ( notepad > RTEMS_NOTEPAD_LAST ) |
---|
944 | return RTEMS_INVALID_NUMBER; |
---|
945 | |
---|
946 | /* |
---|
947 | * Optimize the most likely case to avoid the Thread_Dispatch. |
---|
948 | */ |
---|
949 | |
---|
950 | if ( _Objects_Are_ids_equal( id, OBJECTS_ID_OF_SELF ) || |
---|
951 | _Objects_Are_ids_equal( id, _Thread_Executing->Object.id ) ) { |
---|
952 | api = _Thread_Executing->API_Extensions[ THREAD_API_RTEMS ]; |
---|
953 | api->Notepads[ notepad ] = note; |
---|
954 | return RTEMS_SUCCESSFUL; |
---|
955 | } |
---|
956 | |
---|
957 | the_thread = _Thread_Get( id, &location ); |
---|
958 | switch ( location ) { |
---|
959 | case OBJECTS_ERROR: |
---|
960 | return RTEMS_INVALID_ID; |
---|
961 | case OBJECTS_REMOTE: |
---|
962 | return _RTEMS_tasks_MP_Send_request_packet( |
---|
963 | RTEMS_TASKS_MP_SET_NOTE_REQUEST, |
---|
964 | id, |
---|
965 | 0, /* Not used */ |
---|
966 | notepad, |
---|
967 | note |
---|
968 | ); |
---|
969 | |
---|
970 | case OBJECTS_LOCAL: |
---|
971 | api = the_thread->API_Extensions[ THREAD_API_RTEMS ]; |
---|
972 | api->Notepads[ notepad ] = note; |
---|
973 | _Thread_Enable_dispatch(); |
---|
974 | return RTEMS_SUCCESSFUL; |
---|
975 | } |
---|
976 | |
---|
977 | return RTEMS_INTERNAL_ERROR; /* unreached - only to remove warnings */ |
---|
978 | } |
---|
979 | |
---|
980 | /*PAGE |
---|
981 | * |
---|
982 | * rtems_task_wake_after |
---|
983 | * |
---|
984 | * This directive suspends the requesting thread for the given amount |
---|
985 | * of ticks. |
---|
986 | * |
---|
987 | * Input parameters: |
---|
988 | * ticks - number of ticks to wait |
---|
989 | * |
---|
990 | * Output parameters: |
---|
991 | * RTEMS_SUCCESSFUL - always successful |
---|
992 | */ |
---|
993 | |
---|
994 | rtems_status_code rtems_task_wake_after( |
---|
995 | rtems_interval ticks |
---|
996 | ) |
---|
997 | { |
---|
998 | if ( ticks == 0 ) { |
---|
999 | _Thread_Yield_processor(); |
---|
1000 | _Thread_Dispatch(); |
---|
1001 | } else { |
---|
1002 | _Thread_Disable_dispatch(); |
---|
1003 | _Thread_Set_state( _Thread_Executing, STATES_DELAYING ); |
---|
1004 | _Watchdog_Initialize( |
---|
1005 | &_Thread_Executing->Timer, |
---|
1006 | _Thread_Delay_ended, |
---|
1007 | _Thread_Executing->Object.id, |
---|
1008 | NULL |
---|
1009 | ); |
---|
1010 | _Watchdog_Insert_ticks( &_Thread_Executing->Timer, ticks ); |
---|
1011 | _Thread_Enable_dispatch(); |
---|
1012 | } |
---|
1013 | return RTEMS_SUCCESSFUL; |
---|
1014 | } |
---|
1015 | |
---|
1016 | /*PAGE |
---|
1017 | * |
---|
1018 | * rtems_task_wake_when |
---|
1019 | * |
---|
1020 | * This directive blocks the requesting thread until the given date and |
---|
1021 | * time is reached. |
---|
1022 | * |
---|
1023 | * Input parameters: |
---|
1024 | * time_buffer - pointer to the time and date structure |
---|
1025 | * |
---|
1026 | * Output parameters: |
---|
1027 | * RTEMS_SUCCESSFUL - if successful |
---|
1028 | * error code - if unsuccessful |
---|
1029 | */ |
---|
1030 | |
---|
1031 | rtems_status_code rtems_task_wake_when( |
---|
1032 | rtems_time_of_day *time_buffer |
---|
1033 | ) |
---|
1034 | { |
---|
1035 | Watchdog_Interval seconds; |
---|
1036 | |
---|
1037 | if ( !_TOD_Is_set ) |
---|
1038 | return RTEMS_NOT_DEFINED; |
---|
1039 | |
---|
1040 | time_buffer->ticks = 0; |
---|
1041 | |
---|
1042 | if ( !_TOD_Validate( time_buffer ) ) |
---|
1043 | return RTEMS_INVALID_CLOCK; |
---|
1044 | |
---|
1045 | seconds = _TOD_To_seconds( time_buffer ); |
---|
1046 | |
---|
1047 | if ( seconds <= _TOD_Seconds_since_epoch ) |
---|
1048 | return RTEMS_INVALID_CLOCK; |
---|
1049 | |
---|
1050 | _Thread_Disable_dispatch(); |
---|
1051 | _Thread_Set_state( _Thread_Executing, STATES_WAITING_FOR_TIME ); |
---|
1052 | _Watchdog_Initialize( |
---|
1053 | &_Thread_Executing->Timer, |
---|
1054 | _Thread_Delay_ended, |
---|
1055 | _Thread_Executing->Object.id, |
---|
1056 | NULL |
---|
1057 | ); |
---|
1058 | _Watchdog_Insert_seconds( |
---|
1059 | &_Thread_Executing->Timer, |
---|
1060 | seconds - _TOD_Seconds_since_epoch |
---|
1061 | ); |
---|
1062 | _Thread_Enable_dispatch(); |
---|
1063 | return RTEMS_SUCCESSFUL; |
---|
1064 | } |
---|
1065 | |
---|
1066 | /*PAGE |
---|
1067 | * |
---|
1068 | * _RTEMS_tasks_Initialize_user_tasks |
---|
1069 | * |
---|
1070 | * This routine creates and starts all configured user |
---|
1071 | * initialzation threads. |
---|
1072 | * |
---|
1073 | * Input parameters: NONE |
---|
1074 | * |
---|
1075 | * Output parameters: NONE |
---|
1076 | */ |
---|
1077 | |
---|
1078 | void _RTEMS_tasks_Initialize_user_tasks( void ) |
---|
1079 | { |
---|
1080 | unsigned32 index; |
---|
1081 | unsigned32 maximum; |
---|
1082 | rtems_id id; |
---|
1083 | rtems_status_code return_value; |
---|
1084 | rtems_initialization_tasks_table *user_tasks; |
---|
1085 | |
---|
1086 | /* |
---|
1087 | * NOTE: This is slightly different from the Ada implementation. |
---|
1088 | */ |
---|
1089 | |
---|
1090 | user_tasks = _RTEMS_tasks_User_initialization_tasks; |
---|
1091 | maximum = _RTEMS_tasks_Number_of_initialization_tasks; |
---|
1092 | |
---|
1093 | if ( !user_tasks || maximum == 0 ) |
---|
1094 | return; |
---|
1095 | |
---|
1096 | for ( index=0 ; index < maximum ; index++ ) { |
---|
1097 | return_value = rtems_task_create( |
---|
1098 | user_tasks[ index ].name, |
---|
1099 | user_tasks[ index ].initial_priority, |
---|
1100 | user_tasks[ index ].stack_size, |
---|
1101 | user_tasks[ index ].mode_set, |
---|
1102 | user_tasks[ index ].attribute_set, |
---|
1103 | &id |
---|
1104 | ); |
---|
1105 | |
---|
1106 | if ( !rtems_is_status_successful( return_value ) ) |
---|
1107 | _Internal_error_Occurred( INTERNAL_ERROR_RTEMS_API, TRUE, return_value ); |
---|
1108 | |
---|
1109 | return_value = rtems_task_start( |
---|
1110 | id, |
---|
1111 | user_tasks[ index ].entry_point, |
---|
1112 | user_tasks[ index ].argument |
---|
1113 | ); |
---|
1114 | |
---|
1115 | if ( !rtems_is_status_successful( return_value ) ) |
---|
1116 | _Internal_error_Occurred( INTERNAL_ERROR_RTEMS_API, TRUE, return_value ); |
---|
1117 | } |
---|
1118 | } |
---|
1119 | |
---|