1 | /** |
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2 | * @file rtems/rtems/tasks.h |
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3 | * |
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4 | * @defgroup ClassicTasks Tasks |
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5 | * |
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6 | * @ingroup ClassicRTEMS |
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7 | * @brief RTEMS Tasks |
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8 | * |
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9 | * This include file contains all constants and structures associated |
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10 | * with RTEMS tasks. This manager provides a comprehensive set of directives |
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11 | * to create, delete, and administer tasks. |
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12 | * |
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13 | * Directives provided are: |
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14 | * |
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15 | * - create a task |
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16 | * - get an ID of a task |
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17 | * - start a task |
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18 | * - restart a task |
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19 | * - delete a task |
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20 | * - suspend a task |
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21 | * - resume a task |
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22 | * - set a task's priority |
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23 | * - change the current task's mode |
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24 | * - wake up after interval |
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25 | * - wake up when specified |
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26 | */ |
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27 | |
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28 | /* |
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29 | * COPYRIGHT (c) 1989-2014. |
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30 | * On-Line Applications Research Corporation (OAR). |
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31 | * |
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32 | * The license and distribution terms for this file may be |
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33 | * found in the file LICENSE in this distribution or at |
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34 | * http://www.rtems.org/license/LICENSE. |
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35 | */ |
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36 | |
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37 | #ifndef _RTEMS_RTEMS_TASKS_H |
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38 | #define _RTEMS_RTEMS_TASKS_H |
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39 | |
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40 | #include <rtems/score/object.h> |
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41 | #include <rtems/score/thread.h> |
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42 | #include <rtems/rtems/types.h> |
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43 | #include <rtems/rtems/event.h> |
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44 | #include <rtems/rtems/asr.h> |
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45 | #include <rtems/rtems/attr.h> |
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46 | #include <rtems/rtems/status.h> |
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47 | |
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48 | #ifdef __cplusplus |
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49 | extern "C" { |
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50 | #endif |
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51 | |
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52 | /** |
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53 | * @defgroup ClassicTasks Tasks |
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54 | * |
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55 | * @ingroup ClassicRTEMS |
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56 | * |
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57 | * This encapsulates the functionality of the Classic API Task Manager. |
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58 | * This functionality includes task services such as creation, deletion, |
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59 | * delays, suspend/resume, and manipulation of execution mode and priority. |
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60 | */ |
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61 | /**@{*/ |
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62 | |
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63 | /** |
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64 | * Constant to be used as the ID of current task |
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65 | */ |
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66 | #define RTEMS_SELF OBJECTS_ID_OF_SELF |
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67 | |
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68 | /** |
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69 | * This constant is passed to the rtems_task_wake_after directive as the |
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70 | * interval when a task wishes to yield the CPU. |
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71 | */ |
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72 | #define RTEMS_YIELD_PROCESSOR WATCHDOG_NO_TIMEOUT |
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73 | |
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74 | /** |
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75 | * Define the type for an RTEMS API task priority. |
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76 | */ |
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77 | typedef Priority_Control rtems_task_priority; |
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78 | |
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79 | /** |
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80 | * This is the constant used with the rtems_task_set_priority |
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81 | * directive to indicate that the caller wants to obtain its |
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82 | * current priority rather than set it as the name of the |
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83 | * directive indicates. |
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84 | */ |
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85 | #define RTEMS_NO_PRIORITY RTEMS_CURRENT_PRIORITY |
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86 | |
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87 | /** |
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88 | * This constant is the least valid value for a Classic API |
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89 | * task priority. |
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90 | */ |
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91 | #define RTEMS_MINIMUM_PRIORITY (PRIORITY_MINIMUM + 1) |
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92 | |
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93 | /** |
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94 | * This constant is the maximum valid value for a Classic API |
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95 | * task priority. |
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96 | * |
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97 | * @note This is actually the priority of the IDLE thread so |
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98 | * using this priority will result in having a task |
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99 | * which never executes. This could be useful if you |
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100 | * want to ensure that a task does not executes during |
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101 | * certain operations such as a system mode change. |
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102 | */ |
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103 | #define RTEMS_MAXIMUM_PRIORITY PRIORITY_MAXIMUM |
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104 | |
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105 | /** |
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106 | * The following constant is passed to rtems_task_set_priority when the |
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107 | * caller wants to obtain the current priority. |
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108 | */ |
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109 | #define RTEMS_CURRENT_PRIORITY PRIORITY_MINIMUM |
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110 | |
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111 | /** |
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112 | * External API name for Thread_Control |
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113 | */ |
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114 | typedef Thread_Control rtems_tcb; |
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115 | |
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116 | /** |
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117 | * The following defines the "return type" of an RTEMS task. |
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118 | */ |
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119 | typedef void rtems_task; |
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120 | |
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121 | /** |
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122 | * The following defines the argument to an RTEMS task. |
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123 | */ |
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124 | typedef Thread_Entry_numeric_type rtems_task_argument; |
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125 | |
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126 | /** |
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127 | * The following defines the type for the entry point of an RTEMS task. |
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128 | */ |
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129 | typedef rtems_task ( *rtems_task_entry )( |
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130 | rtems_task_argument |
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131 | ); |
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132 | |
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133 | /** |
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134 | * The following records define the Initialization Tasks Table. |
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135 | * Each entry contains the information required by RTEMS to |
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136 | * create and start a user task automatically at executive |
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137 | * initialization time. |
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138 | */ |
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139 | typedef struct { |
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140 | /** This is the Initialization Task's name. */ |
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141 | rtems_name name; |
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142 | /** This is the Initialization Task's stack size. */ |
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143 | size_t stack_size; |
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144 | /** This is the Initialization Task's priority. */ |
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145 | rtems_task_priority initial_priority; |
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146 | /** This is the Initialization Task's attributes. */ |
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147 | rtems_attribute attribute_set; |
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148 | /** This is the Initialization Task's entry point. */ |
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149 | rtems_task_entry entry_point; |
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150 | /** This is the Initialization Task's initial mode. */ |
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151 | rtems_mode mode_set; |
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152 | /** This is the Initialization Task's argument. */ |
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153 | rtems_task_argument argument; |
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154 | } rtems_initialization_tasks_table; |
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155 | |
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156 | /** |
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157 | * @brief RTEMS Task Create |
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158 | * |
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159 | * This routine implements the rtems_task_create directive. The task |
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160 | * will have the name name. The attribute_set can be used to indicate |
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161 | * that the task will be globally accessible or utilize floating point. |
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162 | * The task's stack will be stack_size bytes. The task will begin |
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163 | * execution with initial_priority and initial_modes. It returns the |
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164 | * id of the created task in ID. |
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165 | * |
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166 | * @param[in] name is the user defined thread name |
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167 | * @param[in] initial_priority is the thread priority |
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168 | * @param[in] stack_size is the stack size in bytes |
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169 | * @param[in] initial_modes is the initial thread mode |
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170 | * @param[in] attribute_set is the thread attributes |
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171 | * @param[in] id is the pointer to thread id |
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172 | * |
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173 | * @retval RTEMS_SUCCESSFUL if successful or error code if unsuccessful |
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174 | * and *id thread id filled in |
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175 | */ |
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176 | rtems_status_code rtems_task_create( |
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177 | rtems_name name, |
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178 | rtems_task_priority initial_priority, |
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179 | size_t stack_size, |
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180 | rtems_mode initial_modes, |
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181 | rtems_attribute attribute_set, |
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182 | rtems_id *id |
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183 | ); |
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184 | |
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185 | /** |
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186 | * @brief RTEMS Task Name to Id |
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187 | * |
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188 | * This routine implements the rtems_task_ident directive. |
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189 | * This directive returns the task ID associated with name. |
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190 | * If more than one task is named name, then the task to |
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191 | * which the ID belongs is arbitrary. node indicates the |
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192 | * extent of the search for the ID of the task named name. |
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193 | * The search can be limited to a particular node or allowed to |
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194 | * encompass all nodes. |
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195 | * |
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196 | * @param[in] name is the user defined thread name |
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197 | * @param[in] node is(are) the node(s) to be searched |
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198 | * @param[in] id is the pointer to thread id |
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199 | * |
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200 | * @retval This method returns RTEMS_SUCCESSFUL if there was not an |
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201 | * error. Otherwise, a status code is returned indicating the |
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202 | * source of the error. If successful, the id will |
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203 | * be filled in with the thread id. |
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204 | */ |
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205 | rtems_status_code rtems_task_ident( |
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206 | rtems_name name, |
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207 | uint32_t node, |
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208 | rtems_id *id |
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209 | ); |
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210 | |
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211 | /** |
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212 | * @brief RTEMS Delete Task |
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213 | * |
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214 | * This routine implements the rtems_task_delete directive. The |
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215 | * task indicated by ID is deleted. The executive halts execution |
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216 | * of the thread and frees the thread control block. |
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217 | * |
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218 | * @param[in] id is the thread id |
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219 | * |
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220 | * @retval This method returns RTEMS_SUCCESSFUL if there was not an |
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221 | * error and id is not the requesting thread. Status code is |
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222 | * returned indicating the source of the error. Nothing |
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223 | * is returned if id is the requesting thread (always succeeds). |
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224 | */ |
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225 | rtems_status_code rtems_task_delete( |
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226 | rtems_id id |
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227 | ); |
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228 | |
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229 | /** |
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230 | * @brief RTEMS Task Mode |
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231 | * |
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232 | * This routine implements the rtems_task_mode directive. The current |
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233 | * values of the modes indicated by mask of the calling task are changed |
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234 | * to that indicated in mode_set. The former mode of the task is |
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235 | * returned in mode_set. |
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236 | * |
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237 | * @param[in] mode_set is the new mode |
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238 | * @param[in] mask is the mask |
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239 | * @param[in] previous_mode_set is the address of previous mode set |
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240 | * |
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241 | * @retval RTEMS_SUCCESSFUL and previous_mode_set filled in with the |
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242 | * previous mode set |
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243 | */ |
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244 | rtems_status_code rtems_task_mode( |
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245 | rtems_mode mode_set, |
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246 | rtems_mode mask, |
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247 | rtems_mode *previous_mode_set |
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248 | ); |
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249 | |
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250 | /** |
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251 | * @brief RTEMS Task Restart |
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252 | * |
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253 | * This routine implements the rtems_task_restart directive. The |
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254 | * task associated with ID is restarted at its initial entry |
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255 | * point with the new argument. |
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256 | * |
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257 | * @param[in] id is the thread id |
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258 | * @param[in] arg is the thread argument |
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259 | * |
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260 | * @retval RTEMS_SUCCESSFUL if successful or error code if unsuccessful |
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261 | */ |
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262 | rtems_status_code rtems_task_restart( |
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263 | rtems_id id, |
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264 | uint32_t arg |
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265 | ); |
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266 | |
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267 | /** |
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268 | * @brief RTEMS Suspend Task |
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269 | * |
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270 | * This routine implements the rtems_task_suspend directive. The |
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271 | * SUSPENDED state is set for task associated with ID. Note that the |
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272 | * suspended state can be in addition to other waiting states. |
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273 | * |
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274 | * @param[in] id is the thread id |
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275 | * |
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276 | * @retval This method returns RTEMS_SUCCESSFUL if there was not an |
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277 | * error. Otherwise, a status code is returned indicating the |
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278 | * source of the error. |
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279 | */ |
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280 | rtems_status_code rtems_task_suspend( |
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281 | rtems_id id |
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282 | ); |
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283 | |
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284 | /** |
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285 | * @brief RTEMS Resume Task |
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286 | * |
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287 | * This routine implements the rtems_task_resume Directive. The |
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288 | * SUSPENDED state is cleared for task associated with ID. |
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289 | * |
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290 | * @param[in] id is the thread id |
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291 | * |
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292 | * @retval This method returns RTEMS_SUCCESSFUL if there was not an |
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293 | * error. Otherwise, a status code is returned indicating the |
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294 | * source of the error. |
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295 | */ |
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296 | rtems_status_code rtems_task_resume( |
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297 | rtems_id id |
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298 | ); |
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299 | |
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300 | /** |
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301 | * @brief RTEMS Set Task Priority |
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302 | * |
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303 | * This routine implements the rtems_task_set_priority directive. The |
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304 | * current priority of the task associated with ID is set to |
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305 | * new_priority. The former priority of that task is returned |
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306 | * in old_priority. |
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307 | * |
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308 | * @param[in] id is the thread to extract |
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309 | * @param[in] new_priority is the thread to extract |
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310 | * @param[in] old_priority is the thread to extract |
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311 | * |
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312 | * @retval RTEMS_SUCCESSFUL if successful or error code if unsuccessful and |
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313 | * and *old_priority filled in with the previous previous priority |
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314 | */ |
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315 | rtems_status_code rtems_task_set_priority( |
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316 | rtems_id id, |
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317 | rtems_task_priority new_priority, |
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318 | rtems_task_priority *old_priority |
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319 | ); |
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320 | |
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321 | /** |
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322 | * @brief RTEMS Start Task |
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323 | * |
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324 | * RTEMS Task Manager |
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325 | * |
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326 | * This routine implements the rtems_task_start directive. The |
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327 | * starting execution point of the task associated with ID is |
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328 | * set to entry_point with the initial argument. |
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329 | */ |
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330 | rtems_status_code rtems_task_start( |
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331 | rtems_id id, |
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332 | rtems_task_entry entry_point, |
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333 | rtems_task_argument argument |
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334 | ); |
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335 | |
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336 | /** |
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337 | * @brief RTEMS Task Wake When |
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338 | * |
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339 | * This routine implements the rtems_task_wake_when directive. The |
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340 | * calling task is blocked until the current time of day is |
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341 | * equal to that indicated by time_buffer. |
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342 | * |
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343 | * @param[in] time_buffer is the pointer to the time and date structure |
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344 | * |
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345 | * @retval RTEMS_SUCCESSFUL if successful or error code if unsuccessful |
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346 | */ |
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347 | rtems_status_code rtems_task_wake_when( |
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348 | rtems_time_of_day *time_buffer |
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349 | ); |
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350 | |
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351 | /** |
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352 | * @brief RTEMS Task Wake After |
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353 | * |
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354 | * This routine implements the rtems_task_wake_after directive. The |
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355 | * calling task is blocked until the indicated number of clock |
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356 | * ticks have occurred. |
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357 | * |
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358 | * @param[in] ticks is the number of ticks to wait |
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359 | * @retval RTEMS_SUCCESSFUL |
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360 | */ |
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361 | rtems_status_code rtems_task_wake_after( |
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362 | rtems_interval ticks |
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363 | ); |
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364 | |
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365 | /** |
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366 | * @brief rtems_task_is_suspended |
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367 | * |
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368 | * This directive returns a status indicating whether or not |
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369 | * the specified task is suspended. |
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370 | */ |
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371 | rtems_status_code rtems_task_is_suspended( |
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372 | rtems_id id |
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373 | ); |
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374 | |
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375 | #if !defined(RTEMS_SMP) |
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376 | /** |
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377 | * @brief RTEMS Add Task Variable |
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378 | * |
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379 | * @deprecated Task variables are deprecated. |
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380 | * |
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381 | * This directive adds a per task variable. |
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382 | * |
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383 | * @note This service is not available in SMP configurations. |
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384 | */ |
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385 | rtems_status_code rtems_task_variable_add( |
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386 | rtems_id tid, |
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387 | void **ptr, |
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388 | void (*dtor)(void *) |
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389 | ) RTEMS_DEPRECATED; |
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390 | |
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391 | /** |
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392 | * @brief Get a per-task variable |
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393 | * |
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394 | * @deprecated Task variables are deprecated. |
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395 | * |
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396 | * This directive gets the value of a task variable. |
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397 | * |
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398 | * @note This service is not available in SMP configurations. |
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399 | */ |
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400 | rtems_status_code rtems_task_variable_get( |
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401 | rtems_id tid, |
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402 | void **ptr, |
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403 | void **result |
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404 | ) RTEMS_DEPRECATED; |
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405 | |
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406 | /** |
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407 | * @brief RTEMS Delete Task Variable |
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408 | * |
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409 | * @deprecated Task variables are deprecated. |
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410 | * |
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411 | * This directive removes a per task variable. |
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412 | * |
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413 | * @note This service is not available in SMP configurations. |
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414 | */ |
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415 | rtems_status_code rtems_task_variable_delete( |
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416 | rtems_id tid, |
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417 | void **ptr |
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418 | ) RTEMS_DEPRECATED; |
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419 | #endif |
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420 | |
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421 | #if defined(__RTEMS_HAVE_SYS_CPUSET_H__) |
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422 | /** |
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423 | * @brief Gets the processor affinity set of a task. |
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424 | * |
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425 | * @param[in] id Identifier of the task. Use @ref RTEMS_SELF to select the |
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426 | * executing task. |
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427 | * @param[in] cpusetsize Size of the specified affinity set buffer in |
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428 | * bytes. This value must be positive. |
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429 | * @param[out] cpuset The current processor affinity set of the task. A set |
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430 | * bit in the affinity set means that the task can execute on this processor |
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431 | * and a cleared bit means the opposite. |
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432 | * |
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433 | * @retval RTEMS_SUCCESSFUL Successful operation. |
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434 | * @retval RTEMS_INVALID_ADDRESS The @a cpuset parameter is @c NULL. |
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435 | * @retval RTEMS_INVALID_ID Invalid task identifier. |
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436 | * @retval RTEMS_INVALID_NUMBER The affinity set buffer is too small for the |
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437 | * current processor affinity set of the task. |
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438 | */ |
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439 | rtems_status_code rtems_task_get_affinity( |
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440 | rtems_id id, |
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441 | size_t cpusetsize, |
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442 | cpu_set_t *cpuset |
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443 | ); |
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444 | |
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445 | /** |
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446 | * @brief Sets the processor affinity set of a task. |
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447 | * |
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448 | * This function will not change the scheduler of the task. The intersection |
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449 | * of the processor affinity set and the set of processors owned by the |
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450 | * scheduler of the task must be non-empty. It is not an error if the |
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451 | * processor affinity set contains processors that are not part of the set of |
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452 | * processors owned by the scheduler instance of the task. A task will simply |
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453 | * not run under normal circumstances on these processors since the scheduler |
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454 | * ignores them. Some locking protocols may temporarily use processors that |
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455 | * are not included in the processor affinity set of the task. It is also not |
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456 | * an error if the processor affinity set contains processors that are not part |
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457 | * of the system. |
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458 | * |
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459 | * @param[in] id Identifier of the task. Use @ref RTEMS_SELF to select the |
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460 | * executing task. |
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461 | * @param[in] cpusetsize Size of the specified affinity set buffer in |
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462 | * bytes. This value must be positive. |
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463 | * @param[in] cpuset The new processor affinity set for the task. A set bit in |
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464 | * the affinity set means that the task can execute on this processor and a |
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465 | * cleared bit means the opposite. |
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466 | * |
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467 | * @retval RTEMS_SUCCESSFUL Successful operation. |
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468 | * @retval RTEMS_INVALID_ADDRESS The @a cpuset parameter is @c NULL. |
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469 | * @retval RTEMS_INVALID_ID Invalid task identifier. |
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470 | * @retval RTEMS_INVALID_NUMBER Invalid processor affinity set. |
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471 | */ |
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472 | rtems_status_code rtems_task_set_affinity( |
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473 | rtems_id id, |
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474 | size_t cpusetsize, |
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475 | const cpu_set_t *cpuset |
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476 | ); |
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477 | #endif |
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478 | |
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479 | /** |
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480 | * @brief Gets the scheduler of a task. |
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481 | * |
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482 | * @param[in] task_id Identifier of the task. Use @ref RTEMS_SELF to select |
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483 | * the executing task. |
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484 | * @param[out] scheduler_id Identifier of the scheduler. |
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485 | * |
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486 | * @retval RTEMS_SUCCESSFUL Successful operation. |
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487 | * @retval RTEMS_INVALID_ADDRESS The @a scheduler_id parameter is @c NULL. |
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488 | * @retval RTEMS_INVALID_ID Invalid task identifier. |
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489 | */ |
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490 | rtems_status_code rtems_task_get_scheduler( |
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491 | rtems_id task_id, |
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492 | rtems_id *scheduler_id |
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493 | ); |
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494 | |
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495 | /** |
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496 | * @brief Sets the scheduler of a task. |
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497 | * |
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498 | * The scheduler of a task is initialized to the scheduler of the task that |
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499 | * created it. |
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500 | * |
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501 | * @param[in] task_id Identifier of the task. Use @ref RTEMS_SELF to select |
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502 | * the executing task. |
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503 | * @param[in] scheduler_id Identifier of the scheduler. |
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504 | * |
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505 | * @retval RTEMS_SUCCESSFUL Successful operation. |
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506 | * @retval RTEMS_INVALID_ID Invalid task or scheduler identifier. |
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507 | * |
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508 | * @see rtems_scheduler_ident(). |
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509 | */ |
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510 | rtems_status_code rtems_task_set_scheduler( |
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511 | rtems_id task_id, |
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512 | rtems_id scheduler_id |
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513 | ); |
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514 | |
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515 | /** |
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516 | * @brief RTEMS Get Self Task Id |
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517 | * |
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518 | * This directive returns the ID of the currently executing task. |
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519 | */ |
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520 | rtems_id rtems_task_self(void); |
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521 | |
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522 | /** |
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523 | * @brief Identifies a scheduler by its name. |
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524 | * |
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525 | * The scheduler name is determined by the scheduler configuration. |
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526 | * |
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527 | * @param[in] name The scheduler name. |
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528 | * @param[out] id The scheduler identifier associated with the name. |
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529 | * |
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530 | * @retval RTEMS_SUCCESSFUL Successful operation. |
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531 | * @retval RTEMS_INVALID_ADDRESS The @a id parameter is @c NULL. |
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532 | * @retval RTEMS_INVALID_NAME Invalid scheduler name. |
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533 | * @retval RTEMS_UNSATISFIED A scheduler with this name exists, but the |
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534 | * processor set of this scheduler is empty. |
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535 | */ |
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536 | rtems_status_code rtems_scheduler_ident( |
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537 | rtems_name name, |
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538 | rtems_id *id |
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539 | ); |
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540 | |
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541 | #if defined(__RTEMS_HAVE_SYS_CPUSET_H__) |
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542 | /** |
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543 | * @brief Gets the set of processors owned by the scheduler. |
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544 | * |
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545 | * @param[in] scheduler_id Identifier of the scheduler. |
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546 | * @param[in] cpusetsize Size of the specified processor set buffer in |
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547 | * bytes. This value must be positive. |
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548 | * @param[out] cpuset The processor set owned by the scheduler. A set bit in |
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549 | * the processor set means that this processor is owned by the scheduler and a |
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550 | * cleared bit means the opposite. |
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551 | * |
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552 | * @retval RTEMS_SUCCESSFUL Successful operation. |
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553 | * @retval RTEMS_INVALID_ADDRESS The @a cpuset parameter is @c NULL. |
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554 | * @retval RTEMS_INVALID_ID Invalid scheduler identifier. |
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555 | * @retval RTEMS_INVALID_NUMBER The processor set buffer is too small for the |
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556 | * set of processors owned by the scheduler. |
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557 | */ |
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558 | rtems_status_code rtems_scheduler_get_processor_set( |
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559 | rtems_id scheduler_id, |
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560 | size_t cpusetsize, |
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561 | cpu_set_t *cpuset |
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562 | ); |
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563 | #endif |
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564 | |
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565 | /**@}*/ |
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566 | |
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567 | /** |
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568 | * This is the API specific information required by each thread for |
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569 | * the RTEMS API to function correctly. |
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570 | * |
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571 | */ |
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572 | typedef struct { |
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573 | /** This field contains the event control for this task. */ |
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574 | Event_Control Event; |
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575 | /** This field contains the system event control for this task. */ |
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576 | Event_Control System_event; |
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577 | /** This field contains the Classic API Signal information for this task. */ |
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578 | ASR_Information Signal; |
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579 | |
---|
580 | /** |
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581 | * @brief Signal post-switch action in case signals are pending. |
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582 | */ |
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583 | Thread_Action Signal_action; |
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584 | } RTEMS_API_Control; |
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585 | |
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586 | /** |
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587 | * @brief _RTEMS_tasks_Initialize_user_tasks_body |
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588 | * |
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589 | * This routine creates and starts all configured user |
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590 | * initialization threads. |
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591 | * |
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592 | * Input parameters: NONE |
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593 | * |
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594 | * Output parameters: NONE |
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595 | * |
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596 | * RTEMS Task Manager |
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597 | */ |
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598 | |
---|
599 | extern void _RTEMS_tasks_Initialize_user_tasks_body( void ); |
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600 | |
---|
601 | #ifdef __cplusplus |
---|
602 | } |
---|
603 | #endif |
---|
604 | |
---|
605 | #endif |
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606 | /* end of include file */ |
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