px4_autopilot/nuttx/sched/task_setup.c

/****************************************************************************
 * sched/task_setup.c
 *
 *   Copyright (C) 2007-2012 Gregory Nutt. All rights reserved.
 *   Author: Gregory Nutt <gnutt@nuttx.org>
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name NuttX nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/****************************************************************************
 * Included Files
 ****************************************************************************/

#include <nuttx/config.h>

#include <sys/types.h>
#include <stdint.h>
#include <sched.h>
#include <string.h>
#include <errno.h>
#include <debug.h>

#include <nuttx/arch.h>

#include "os_internal.h"

/****************************************************************************
 * Definitions
 ****************************************************************************/

/****************************************************************************
 * Private Type Declarations
 ****************************************************************************/

/****************************************************************************
 * Global Variables
 ****************************************************************************/

/****************************************************************************
 * Private Variables
 ****************************************************************************/

/* This is the name for un-named tasks */

static const char g_noname[] = "<noname>";

/****************************************************************************
 * Private Function Prototypes
 ****************************************************************************/

static int task_assignpid(FAR _TCB* tcb);

/****************************************************************************
 * Private Functions
 ****************************************************************************/

/****************************************************************************
 * Name: task_assignpid
 *
 * Description:
 *   This function assigns the next unique task ID to a task.
 *
 * Inputs:
 *   tcb - TCB of task
 *
 * Return:
 *   OK on success; ERROR on failure (errno is not set)
 *
 ****************************************************************************/

static int task_assignpid(FAR _TCB *tcb)
{
  pid_t next_pid;
  int   hash_ndx;
  int   tries;

  /* Disable pre-emption.  This should provide sufficient protection
   * for the following operation.
   */

  (void)sched_lock();

  /* We'll try every allowable pid */

  for (tries = 0; tries < CONFIG_MAX_TASKS; tries++)
    {
      /* Get the next process ID candidate */

      next_pid = ++g_lastpid;

      /* Verify that the next_pid is in the valid range */

      if (next_pid <= 0)
        {
          g_lastpid = 1;
          next_pid  = 1;
        }

      /* Get the hash_ndx associated with the next_pid */

      hash_ndx = PIDHASH(next_pid);

      /* Check if there is a (potential) duplicate of this pid */

      if (!g_pidhash[hash_ndx].tcb)
        {
          g_pidhash[hash_ndx].tcb = tcb;
          g_pidhash[hash_ndx].pid = next_pid;
          tcb->pid = next_pid;
          (void)sched_unlock();
          return OK;
        }
    }

  /* If we get here, then the g_pidhash[] table is completely full.
   * We cannot allow another task to be started.
   */

  (void)sched_unlock();
  return ERROR;
}

/****************************************************************************
 * Name: task_dupdspace
 *
 * Description:
 *   When a new task or thread is created from a PIC module, then that
 *   module (probably) intends the task or thread to execute in the same
 *   D-Space.  This function will duplicate the D-Space for that purpose.
 *
 * Parameters:
 *   tcb - The TCB of the new task.
 *
 * Returned Value:
 *   None
 *
 * Assumptions:
 *
 ****************************************************************************/

#ifdef CONFIG_PIC
static inline void task_dupdspace(FAR _TCB *tcb)
{
  FAR _TCB *rtcb = (FAR _TCB*)g_readytorun.head;
  if (rtcb->dspace != NULL)
    {
      /* Copy the D-Space structure reference and increment the reference
       * count on the memory.  The D-Space memory will persist until the
       * last thread exits (see sched_releasetcb()).
       */

      tcb->dspace = rtcb->dspace;
      tcb->dspace->crefs++;
    }
}
#else
#  define task_dupdspace(tcb)
#endif

/****************************************************************************
 * Public Functions
 ****************************************************************************/

/****************************************************************************
 * Name: task_schedsetup
 *
 * Description:
 *   This functions initializes a Task Control Block (TCB) in preparation
 *   for starting a new thread.
 *
 *   task_schedsetup() is called from task_init(), task_start(), and
 *   pthread_create();
 *
 * Input Parameters:
 *   tcb        - Address of the new task's TCB
 *   priority   - Priority of the new task
 *   entry      - Entry point of a new task
 *   main       - Application start point of the new task
 *   type       - Type of the new thread: task, pthread, or kernel thread
 *
 * Return Value:
 *   OK on success; ERROR on failure.
 *
 *   This function can only failure is it is unable to assign a new, unique
 *   task ID to the TCB (errno is not set).
 *
 ****************************************************************************/

int task_schedsetup(FAR _TCB *tcb, int priority, start_t start, main_t main)
{
  int ret;

  /* Assign a unique task ID to the task. */

  ret = task_assignpid(tcb);
  if (ret == OK)
    {
      /* Save task priority and entry point in the TCB */

      tcb->init_priority  = (uint8_t)priority;
      tcb->sched_priority = (uint8_t)priority;
#ifdef CONFIG_PRIORITY_INHERITANCE
      tcb->base_priority  = (uint8_t)priority;
#endif
      tcb->start          = start;
      tcb->entry.main     = main;

      /* exec() and pthread_create() inherit the signal mask of the
       * parent thread.  I suppose that task_create() should as well.
       */

#ifndef CONFIG_DISABLE_SIGNALS
      (void)sigprocmask(SIG_SETMASK, NULL, &tcb->sigprocmask);
#endif

      /* Initialize the task state.  It does not get a valid state
       * until it is activated.
       */

      tcb->task_state   = TSTATE_TASK_INVALID;

      /* Clone the parent tasks D-Space (if it was running PIC).  This
       * must be done before calling up_initial_state() so that the
       * state setup will take the PIC address base into account.
       */

      task_dupdspace(tcb);

      /* Initialize the processor-specific portion of the TCB */

      up_initial_state(tcb);

      /* Add the task to the inactive task list */

      sched_lock();
      dq_addfirst((FAR dq_entry_t*)tcb, (dq_queue_t*)&g_inactivetasks);
      tcb->task_state = TSTATE_TASK_INACTIVE;
      sched_unlock();
    }

  return ret;
}

/****************************************************************************
 * Name: task_argsetup
 *
 * Description:
 *   This functions sets up parameters in the Task Control
 *   Block (TCB) in preparation for starting a new thread.
 *
 *   task_argsetup() is called only from task_init() and
 *   task_start() to create a new task.  Argumens are
 *   cloned via strdup.
 *
 * Input Parameters:
 *   tcb        - Address of the new task's TCB
 *   name       - Name of the new task (not used)
 *   argv       - A pointer to an array of input parameters.
 *                Up to CONFIG_MAX_TASK_ARG parameters may be
 *                provided. If fewer than CONFIG_MAX_TASK_ARG
 *                parameters are passed, the list should be
 *                terminated with a NULL argv[] value.
 *                If no parameters are required, argv may be NULL.
 *
 * Return Value:
 *  OK
 *
 ****************************************************************************/

int task_argsetup(FAR _TCB *tcb, const char *name, const char *argv[])
{
  int i;

#if CONFIG_TASK_NAME_SIZE > 0
  /* Give a name to the unnamed tasks */

  if (!name)
    {
      name = (char *)g_noname;
    }

  /* Copy the name into the TCB */

  strncpy(tcb->name, name, CONFIG_TASK_NAME_SIZE);

  /* Save the name as the first argument */

  tcb->argv[0] = tcb->name;
#else
  /* Save the name as the first argument */

  tcb->argv[0] = (char *)g_noname;
#endif /* CONFIG_TASK_NAME_SIZE */

  /* For tasks, the life of the argument must be as long as
   * the life of the task and the arguments must be strings.
   * So for tasks, we have to to dup the strings.
   *
   * The first NULL argument terminates the list of 
   * arguments.  The argv pointer may be NULL if no
   * parameters are passed.
   */

  i = 1;
  if (argv)
    {
      for (; i < CONFIG_MAX_TASK_ARGS+1 && argv[i-1]; i++)
        {
          tcb->argv[i] = strdup(argv[i-1]);
        }
    }

  /* Nullify any unused argument storage */

  for (; i < CONFIG_MAX_TASK_ARGS+1; i++)
    {
      tcb->argv[i] = NULL;
    }

  return OK;
}