270 lines
9.0 KiB
C
270 lines
9.0 KiB
C
/****************************************************************************
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* sched/task_create.c
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*
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* Copyright (C) 2007-2010 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <sched.h>
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#include <errno.h>
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#include <debug.h>
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#include <nuttx/arch.h>
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#include <nuttx/kmalloc.h>
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#include "os_internal.h"
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#include "env_internal.h"
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/****************************************************************************
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* Definitions
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****************************************************************************/
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/****************************************************************************
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* Private Type Declarations
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****************************************************************************/
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/****************************************************************************
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* Global Variables
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****************************************************************************/
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/****************************************************************************
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* Private Variables
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****************************************************************************/
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: thread_create
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*
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* Description:
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* This function creates and activates a new thread of the specified type
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* with a specified priority and returns its system-assigned ID. It is the
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* internal, commn implementation of task_create() and kernel_thread().
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* See comments with task_create() for further information.
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*
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* Input Parameters:
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* name - Name of the new task
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* type - Type of the new task
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* priority - Priority of the new task
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* stack_size - size (in bytes) of the stack needed
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* entry - Entry point of a new task
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* arg - A pointer to an array of input parameters. Up to
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* CONFIG_MAX_TASK_ARG parameters may be provided. If fewer
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* than CONFIG_MAX_TASK_ARG parameters are passed, the list
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* should be terminated with a NULL argv[] value. If no
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* parameters are required, argv may be NULL.
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*
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* Return Value:
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* Returns the non-zero process ID of the new task or ERROR if memory is
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* insufficient or the task cannot be created. The errno will be set to
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* indicate the nature of the error (always ENOMEM).
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*
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****************************************************************************/
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#ifndef CONFIG_CUSTOM_STACK
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static int thread_create(const char *name, uint8_t type, int priority,
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int stack_size, main_t entry, const char **argv)
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#else
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static int thread_create(const char *name, uint8_t type, int priority,
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main_t entry, const char **argv)
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#endif
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{
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FAR _TCB *tcb;
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pid_t pid;
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int ret;
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/* Allocate a TCB for the new task. */
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tcb = (FAR _TCB*)kzalloc(sizeof(_TCB));
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if (!tcb)
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{
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goto errout;
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}
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/* Associate file descriptors with the new task */
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#if CONFIG_NFILE_DESCRIPTORS > 0 || CONFIG_NSOCKET_DESCRIPTORS > 0
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ret = sched_setuptaskfiles(tcb);
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if (ret != OK)
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{
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goto errout_with_tcb;
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}
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#endif
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/* Clone the parent's task environment */
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(void)env_dup(tcb);
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/* Allocate the stack for the TCB */
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#ifndef CONFIG_CUSTOM_STACK
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ret = up_create_stack(tcb, stack_size);
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if (ret != OK)
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{
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goto errout_with_tcb;
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}
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#endif
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/* Mark the type of this thread (this setting will be needed in
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* task_schedsetup() when up_initial_state() is called.
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*/
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tcb->flags |= type;
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/* Initialize the task control block */
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ret = task_schedsetup(tcb, priority, task_start, entry);
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if (ret != OK)
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{
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goto errout_with_tcb;
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}
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/* Setup to pass parameters to the new task */
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(void)task_argsetup(tcb, name, argv);
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/* Get the assigned pid before we start the task */
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pid = (int)tcb->pid;
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/* Activate the task */
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ret = task_activate(tcb);
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if (ret != OK)
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{
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dq_rem((FAR dq_entry_t*)tcb, (dq_queue_t*)&g_inactivetasks);
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goto errout_with_tcb;
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}
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return pid;
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errout_with_tcb:
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sched_releasetcb(tcb);
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errout:
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errno = ENOMEM;
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return ERROR;
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: task_create
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*
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* Description:
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* This function creates and activates a new task with a specified
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* priority and returns its system-assigned ID.
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*
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* The entry address entry is the address of the "main" function of the
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* task. This function will be called once the C environment has been
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* set up. The specified function will be called with four arguments.
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* Should the specified routine return, a call to exit() will
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* automatically be made.
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*
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* Note that four (and only four) arguments must be passed for the spawned
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* functions.
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*
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* Input Parameters:
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* name - Name of the new task
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* priority - Priority of the new task
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* stack_size - size (in bytes) of the stack needed
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* entry - Entry point of a new task
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* arg - A pointer to an array of input parameters. Up to
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* CONFIG_MAX_TASK_ARG parameters may be provided. If fewer
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* than CONFIG_MAX_TASK_ARG parameters are passed, the list
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* should be terminated with a NULL argv[] value. If no
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* parameters are required, argv may be NULL.
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*
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* Return Value:
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* Returns the non-zero process ID of the new task or ERROR if memory is
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* insufficient or the task cannot be created. The errno will be set to
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* indicate the nature of the error (always ENOMEM).
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*
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****************************************************************************/
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#ifndef CONFIG_CUSTOM_STACK
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int task_create(const char *name, int priority,
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int stack_size, main_t entry, const char *argv[])
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#else
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int task_create(const char *name, int priority,
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main_t entry, const char *argv[])
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#endif
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{
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#ifndef CONFIG_CUSTOM_STACK
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return thread_create(name, TCB_FLAG_TTYPE_TASK, priority, stack_size, entry, argv);
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#else
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return thread_create(name, TCB_FLAG_TTYPE_TASK, priority, entry, argv);
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#endif
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}
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/****************************************************************************
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* Name: kernel_thread
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*
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* Description:
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* This function creates and activates a kernel thread task with kernel-
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* mode privileges. It is identical to task_create() except that it
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* configures the newly started thread to run in kernel model.
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*
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* Input Parameters:
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* (same as task_create())
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*
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* Return Value:
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* (same as task_create())
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*
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****************************************************************************/
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#ifndef CONFIG_CUSTOM_STACK
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int kernel_thread(const char *name, int priority,
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int stack_size, main_t entry, const char *argv[])
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#else
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int kernel_thread(const char *name, int priority,
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main_t entry, const char *argv[])
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#endif
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{
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#ifndef CONFIG_CUSTOM_STACK
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return thread_create(name, TCB_FLAG_TTYPE_KERNEL, priority, stack_size, entry, argv);
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#else
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return thread_create(name, TCB_FLAG_TTYPE_KERNEL, priority, entry, argv);
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#endif
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}
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