/******************************************************************************** * include/nuttx/sched.h * * Copyright (C) 2007-2012 Gregory Nutt. All rights reserved. * Author: Gregory Nutt * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. * 3. Neither the name NuttX nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * ********************************************************************************/ #ifndef __INCLUDE_NUTTX_SCHED_H #define __INCLUDE_NUTTX_SCHED_H /******************************************************************************** * Included Files ********************************************************************************/ #include #include #include #include #include #include #include #include #include #include #include /******************************************************************************** * Pre-processor Definitions ********************************************************************************/ /* Task Management Definitins ***************************************************/ /* This is the maximum number of times that a lock can be set */ #define MAX_LOCK_COUNT 127 /* Values for the _TCB flags flag bits */ #define TCB_FLAG_TTYPE_SHIFT (0) /* Bits 0-1: thread type */ #define TCB_FLAG_TTYPE_MASK (3 << TCB_FLAG_TTYPE_SHIFT) # define TCB_FLAG_TTYPE_TASK (0 << TCB_FLAG_TTYPE_SHIFT) /* Normal user task */ # define TCB_FLAG_TTYPE_PTHREAD (1 << TCB_FLAG_TTYPE_SHIFT) /* User pthread */ # define TCB_FLAG_TTYPE_KERNEL (2 << TCB_FLAG_TTYPE_SHIFT) /* Kernel thread */ #define TCB_FLAG_NONCANCELABLE (1 << 2) /* Bit 2: Pthread is non-cancelable */ #define TCB_FLAG_CANCEL_PENDING (1 << 3) /* Bit 3: Pthread cancel is pending */ #define TCB_FLAG_ROUND_ROBIN (1 << 4) /* Bit 4: Round robin sched enabled */ /******************************************************************************** * Global Type Definitions ********************************************************************************/ #ifndef __ASSEMBLY__ /* General Task Management Types ************************************************/ /* This is the type of the task_state field of the TCB. NOTE: the order and * content of this enumeration is critical since there are some OS tables indexed * by these values. The range of values is assumed to fit into a uint8_t in _TCB. */ enum tstate_e { TSTATE_TASK_INVALID = 0, /* INVALID - The TCB is uninitialized */ TSTATE_TASK_PENDING, /* READY_TO_RUN - Pending preemption unlock */ TSTATE_TASK_READYTORUN, /* READY-TO-RUN - But not running */ TSTATE_TASK_RUNNING, /* READY_TO_RUN - And running */ TSTATE_TASK_INACTIVE, /* BLOCKED - Initialized but not yet activated */ TSTATE_WAIT_SEM, /* BLOCKED - Waiting for a semaphore */ #ifndef CONFIG_DISABLE_SIGNALS TSTATE_WAIT_SIG, /* BLOCKED - Waiting for a signal */ #endif #ifndef CONFIG_DISABLE_MQUEUE TSTATE_WAIT_MQNOTEMPTY, /* BLOCKED - Waiting for a MQ to become not empty. */ TSTATE_WAIT_MQNOTFULL, /* BLOCKED - Waiting for a MQ to become not full. */ #endif #ifdef CONFIG_PAGING TSTATE_WAIT_PAGEFILL, /* BLOCKED - Waiting for page fill */ #endif NUM_TASK_STATES /* Must be last */ }; typedef enum tstate_e tstate_t; /* The following definitions are determined by tstate_t */ #define FIRST_READY_TO_RUN_STATE TSTATE_TASK_READYTORUN #define LAST_READY_TO_RUN_STATE TSTATE_TASK_RUNNING #define FIRST_BLOCKED_STATE TSTATE_TASK_INACTIVE #define LAST_BLOCKED_STATE (NUM_TASK_STATES-1) /* The following is the form of a thread start-up function */ typedef void (*start_t)(void); /* This is the entry point into the main thread of the task or into a created * pthread within the task. */ union entry_u { pthread_startroutine_t pthread; main_t main; }; typedef union entry_u entry_t; /* These is the types of the functions that are executed with exit() is called * (if registered via atexit() on on_exit()). */ #ifdef CONFIG_SCHED_ATEXIT typedef void (*atexitfunc_t)(void); #endif #ifdef CONFIG_SCHED_ONEXIT typedef void (*onexitfunc_t)(int exitcode, FAR void *arg); #endif /* POSIX Message queue */ typedef struct msgq_s msgq_t; /* The structure used to maintain environment variables */ #ifndef CONFIG_DISABLE_ENVIRON struct environ_s { unsigned int ev_crefs; /* Reference count used when environment * is shared by threads */ size_t ev_alloc; /* Number of bytes allocated in environment */ char ev_env[1]; /* Environment strings */ }; typedef struct environ_s environ_t; # define SIZEOF_ENVIRON_T(alloc) (sizeof(environ_t) + alloc - 1) #endif /* This structure describes a reference counted D-Space region */ struct dspace_s { uint32_t crefs; /* This is the number of pthreads that shared the * the same D-Space */ uint8_t region[1]; /* Beginning of the allocated region */ }; #define SIZEOF_DSPACE_S(n) (sizeof(struct dspace_s) - 1 + (n)) /* This is the task control block (TCB) */ struct _TCB { /* Fields used to support list management *************************************/ FAR struct _TCB *flink; /* link in DQ of TCBs */ FAR struct _TCB *blink; /* Task Management Fields *****************************************************/ pid_t pid; /* This is the ID of the thread */ start_t start; /* Thread start function */ entry_t entry; /* Entry Point into the thread */ #ifdef CONFIG_SCHED_ATEXIT atexitfunc_t atexitfunc; /* Called if exit is called. */ #endif #ifdef CONFIG_SCHED_ONEXIT onexitfunc_t onexitfunc; /* Called if exit is called. */ FAR void *onexitarg; /* The argument passed to the function */ #endif #ifdef CONFIG_SCHED_WAITPID /* Experimental */ sem_t exitsem; /* Support for waitpid */ int *stat_loc; /* Location to return exit status */ #endif uint8_t sched_priority; /* Current priority of the thread */ #ifdef CONFIG_PRIORITY_INHERITANCE # if CONFIG_SEM_NNESTPRIO > 0 uint8_t npend_reprio; /* Number of nested reprioritizations */ uint8_t pend_reprios[CONFIG_SEM_NNESTPRIO]; # endif uint8_t base_priority; /* "Normal" priority of the thread */ #endif uint8_t task_state; /* Current state of the thread */ uint16_t flags; /* Misc. general status flags */ int16_t lockcount; /* 0=preemptable (not-locked) */ #ifndef CONFIG_DISABLE_PTHREAD FAR void *joininfo; /* Detach-able info to support join */ #endif #if CONFIG_RR_INTERVAL > 0 int timeslice; /* RR timeslice interval remaining */ #endif /* Values needed to restart a task ********************************************/ uint8_t init_priority; /* Initial priority of the task */ char *argv[CONFIG_MAX_TASK_ARGS+1]; /* Name+start-up parameters */ #ifndef CONFIG_DISABLE_ENVIRON FAR environ_t *envp; /* Environment variables */ #endif /* Stack-Related Fields *******************************************************/ #ifndef CONFIG_CUSTOM_STACK size_t adj_stack_size; /* Stack size after adjustment */ /* for hardware, processor, etc. */ /* (for debug purposes only) */ FAR void *stack_alloc_ptr; /* Pointer to allocated stack */ /* Need to deallocate stack */ FAR void *adj_stack_ptr; /* Adjusted stack_alloc_ptr for HW */ /* The initial stack pointer value */ #endif /* External Module Support ****************************************************/ #ifdef CONFIG_PIC FAR struct dspace_s *dspace; /* Allocated area for .bss and .data */ #endif /* POSIX Thread Specific Data *************************************************/ #if !defined(CONFIG_DISABLE_PTHREAD) && CONFIG_NPTHREAD_KEYS > 0 FAR void *pthread_data[CONFIG_NPTHREAD_KEYS]; #endif /* POSIX Semaphore Control Fields *********************************************/ sem_t *waitsem; /* Semaphore ID waiting on */ /* POSIX Signal Control Fields ************************************************/ #ifndef CONFIG_DISABLE_SIGNALS sigset_t sigprocmask; /* Signals that are blocked */ sigset_t sigwaitmask; /* Waiting for pending signals */ sq_queue_t sigactionq; /* List of actions for signals */ sq_queue_t sigpendingq; /* List of Pending Signals */ sq_queue_t sigpendactionq; /* List of pending signal actions */ sq_queue_t sigpostedq; /* List of posted signals */ siginfo_t sigunbinfo; /* Signal info when task unblocked */ #endif /* POSIX Named Message Queue Fields *******************************************/ #ifndef CONFIG_DISABLE_MQUEUE sq_queue_t msgdesq; /* List of opened message queues */ FAR msgq_t *msgwaitq; /* Waiting for this message queue */ #endif /* Library related fields *****************************************************/ int pterrno; /* Current per-thread errno */ /* File system support ********************************************************/ #if CONFIG_NFILE_DESCRIPTORS > 0 FAR struct filelist *filelist; /* Maps file descriptor to file */ #endif #if CONFIG_NFILE_STREAMS > 0 FAR struct streamlist *streams; /* Holds C buffered I/O info */ #endif /* Network socket *************************************************************/ #if CONFIG_NSOCKET_DESCRIPTORS > 0 FAR struct socketlist *sockets; /* Maps file descriptor to file */ #endif /* State save areas ***********************************************************/ /* The form and content of these fields are processor-specific. */ struct xcptcontext xcp; /* Interrupt register save area */ #if CONFIG_TASK_NAME_SIZE > 0 char name[CONFIG_TASK_NAME_SIZE]; /* Task name */ #endif }; /* Certain other header files may also define this time to avoid circular header * file inclusion issues. */ #ifndef __TCB_DEFINED__ typedef struct _TCB _TCB; #define __TCB_DEFINED__ #endif /* This is the callback type used by sched_foreach() */ typedef void (*sched_foreach_t)(FAR _TCB *tcb, FAR void *arg); #endif /* __ASSEMBLY__ */ /******************************************************************************** * Global Function Prototypes ********************************************************************************/ #ifndef __ASSEMBLY__ #undef EXTERN #if defined(__cplusplus) #define EXTERN extern "C" extern "C" { #else #define EXTERN extern #endif /* TCB helpers */ EXTERN FAR _TCB *sched_self(void); /* File system helpers */ #if CONFIG_NFILE_DESCRIPTORS > 0 EXTERN FAR struct filelist *sched_getfiles(void); #if CONFIG_NFILE_STREAMS > 0 EXTERN FAR struct streamlist *sched_getstreams(void); #endif /* CONFIG_NFILE_STREAMS */ #endif /* CONFIG_NFILE_DESCRIPTORS */ #if CONFIG_NSOCKET_DESCRIPTORS > 0 EXTERN FAR struct socketlist *sched_getsockets(void); #endif /* CONFIG_NSOCKET_DESCRIPTORS */ /* sched_foreach will enumerate over each task and provide the * TCB of each task to a user callback functions. Interrupts * will be disabled throughout this enumeration! */ EXTERN void sched_foreach(sched_foreach_t handler, FAR void *arg); #undef EXTERN #if defined(__cplusplus) } #endif #endif /* __ASSEMBLY__ */ #endif /* __INCLUDE_NUTTX_SCHED_H */