static int thread_create(FAR const char *name, uint8_t ttype, int priority,
int stack_size, main_t entry, FAR char * const argv[])
{
FAR struct task_tcb_s *tcb;
pid_t pid;
int errcode;
int ret;
/* Allocate a TCB for the new task. */
tcb = (FAR struct task_tcb_s *)kmm_zalloc(sizeof(struct task_tcb_s));
if (!tcb)
{
sdbg("ERROR: Failed to allocate TCB\n");
errcode = ENOMEM;
goto errout;
}
/* Allocate a new task group with privileges appropriate for the parent
* thread type.
*/
#ifdef HAVE_TASK_GROUP
ret = group_allocate(tcb, ttype);
if (ret < 0)
{
errcode = -ret;
goto errout_with_tcb;
}
#endif
/* Associate file descriptors with the new task */
#if CONFIG_NFILE_DESCRIPTORS > 0 || CONFIG_NSOCKET_DESCRIPTORS > 0
ret = group_setuptaskfiles(tcb);
if (ret < OK)
{
errcode = -ret;
goto errout_with_tcb;
}
#endif
/* Allocate the stack for the TCB */
ret = up_create_stack((FAR struct tcb_s *)tcb, stack_size, ttype);
if (ret < OK)
{
errcode = -ret;
goto errout_with_tcb;
}
/* Initialize the task control block */
ret = task_schedsetup(tcb, priority, task_start, entry, ttype);
if (ret < OK)
{
errcode = -ret;
goto errout_with_tcb;
}
/* Setup to pass parameters to the new task */
(void)task_argsetup(tcb, name, argv);
/* Now we have enough in place that we can join the group */
#ifdef HAVE_TASK_GROUP
ret = group_initialize(tcb);
if (ret < 0)
{
errcode = -ret;
goto errout_with_tcb;
}
#endif
/* Get the assigned pid before we start the task */
pid = (int)tcb->cmn.pid;
/* Activate the task */
ret = task_activate((FAR struct tcb_s *)tcb);
if (ret < OK)
{
errcode = get_errno();
/* The TCB was added to the active task list by task_schedsetup() */
dq_rem((FAR dq_entry_t*)tcb, (dq_queue_t*)&g_inactivetasks);
goto errout_with_tcb;
}
return pid;
errout_with_tcb:
sched_releasetcb((FAR struct tcb_s *)tcb, ttype);
errout:
set_errno(errcode);
return ERROR;
}
pid_t up_vfork(const struct vfork_s *context)
{
struct tcb_s *parent = (FAR struct tcb_s *)g_readytorun.head;
struct task_tcb_s *child;
size_t stacksize;
uint32_t newsp;
uint32_t newfp;
uint32_t stackutil;
int ret;
svdbg("vfork context [%p]:\n", context);
svdbg(" r4:%08x r5:%08x r6:%08x r7:%08x\n",
context->r4, context->r5, context->r6, context->r7);
svdbg(" r8:%08x r9:%08x r10:%08x\n",
context->r8, context->r9, context->r10);
svdbg(" fp:%08x sp:%08x lr:%08x\n",
context->fp, context->sp, context->lr);
/* Allocate and initialize a TCB for the child task. */
child = task_vforksetup((start_t)(context->lr & ~1));
if (!child)
{
sdbg("ERROR: task_vforksetup failed\n");
return (pid_t)ERROR;
}
svdbg("TCBs: Parent=%p Child=%p\n", parent, child);
/* Get the size of the parent task's stack. Due to alignment operations,
* the adjusted stack size may be smaller than the stack size originally
* requested.
*/
stacksize = parent->adj_stack_size + CONFIG_STACK_ALIGNMENT - 1;
/* Allocate the stack for the TCB */
ret = up_create_stack((FAR struct tcb_s *)child, stacksize,
parent->flags & TCB_FLAG_TTYPE_MASK);
if (ret != OK)
{
sdbg("ERROR: up_create_stack failed: %d\n", ret);
task_vforkabort(child, -ret);
return (pid_t)ERROR;
}
/* How much of the parent's stack was utilized? The ARM uses
* a push-down stack so that the current stack pointer should
* be lower than the initial, adjusted stack pointer. The
* stack usage should be the difference between those two.
*/
DEBUGASSERT((uint32_t)parent->adj_stack_ptr > context->sp);
stackutil = (uint32_t)parent->adj_stack_ptr - context->sp;
svdbg("Parent: stacksize:%d stackutil:%d\n", stacksize, stackutil);
/* Make some feeble effort to preserve the stack contents. This is
* feeble because the stack surely contains invalid pointers and other
* content that will not work in the child context. However, if the
* user follows all of the caveats of vfork() usage, even this feeble
* effort is overkill.
*/
newsp = (uint32_t)child->cmn.adj_stack_ptr - stackutil;
memcpy((void *)newsp, (const void *)context->sp, stackutil);
/* Was there a frame pointer in place before? */
if (context->fp <= (uint32_t)parent->adj_stack_ptr &&
context->fp >= (uint32_t)parent->adj_stack_ptr - stacksize)
{
uint32_t frameutil = (uint32_t)parent->adj_stack_ptr - context->fp;
newfp = (uint32_t)child->cmn.adj_stack_ptr - frameutil;
}
else
{
newfp = context->fp;
}
svdbg("Parent: stack base:%08x SP:%08x FP:%08x\n",
parent->adj_stack_ptr, context->sp, context->fp);
svdbg("Child: stack base:%08x SP:%08x FP:%08x\n",
child->cmn.adj_stack_ptr, newsp, newfp);
/* Update the stack pointer, frame pointer, and volatile registers. When
* the child TCB was initialized, all of the values were set to zero.
* up_initial_state() altered a few values, but the return value in R0
* should be cleared to zero, providing the indication to the newly started
* child thread.
*/
child->cmn.xcp.regs[REG_R4] = context->r4; /* Volatile register r4 */
child->cmn.xcp.regs[REG_R5] = context->r5; /* Volatile register r5 */
child->cmn.xcp.regs[REG_R6] = context->r6; /* Volatile register r6 */
child->cmn.xcp.regs[REG_R7] = context->r7; /* Volatile register r7 */
child->cmn.xcp.regs[REG_R8] = context->r8; /* Volatile register r8 */
child->cmn.xcp.regs[REG_R9] = context->r9; /* Volatile register r9 */
child->cmn.xcp.regs[REG_R10] = context->r10; /* Volatile register r10 */
child->cmn.xcp.regs[REG_FP] = newfp; /* Frame pointer */
child->cmn.xcp.regs[REG_SP] = newsp; /* Stack pointer */
#ifdef CONFIG_LIB_SYSCALL
/* If we got here via a syscall, then we are going to have to setup some
* syscall return information as well.
*/
if (parent->xcp.nsyscalls > 0)
{
int index;
for (index = 0; index < parent->xcp.nsyscalls; index++)
{
child->cmn.xcp.syscall[index].sysreturn =
parent->xcp.syscall[index].sysreturn;
/* REVISIT: This logic is *not* common. */
#if defined(CONFIG_ARCH_CORTEXA5) || defined(CONFIG_ARCH_CORTEXA8)
# ifdef CONFIG_BUILD_KERNEL
child->cmn.xcp.syscall[index].cpsr =
parent->xcp.syscall[index].cpsr;
# endif
#elif defined(CONFIG_ARCH_CORTEXM3) || defined(CONFIG_ARCH_CORTEXM4) || \
defined(CONFIG_ARCH_CORTEXM0) || defined(CONFIG_ARCH_CORTEXM7)
child->cmn.xcp.syscall[index].excreturn =
parent->xcp.syscall[index].excreturn;
#else
# error Missing logic
#endif
}
child->cmn.xcp.nsyscalls = parent->xcp.nsyscalls;
}
#endif
/* And, finally, start the child task. On a failure, task_vforkstart()
* will discard the TCB by calling task_vforkabort().
*/
return task_vforkstart(child);
}
int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr,
pthread_startroutine_t start_routine, pthread_addr_t arg)
{
FAR _TCB *ptcb;
FAR join_t *pjoin;
int status;
int priority;
#if CONFIG_RR_INTERVAL > 0
int policy;
#endif
pid_t pid;
/* If attributes were not supplied, use the default attributes */
if (!attr)
{
attr = &g_default_pthread_attr;
}
/* Allocate a TCB for the new task. */
ptcb = (FAR _TCB*)kzalloc(sizeof(_TCB));
if (!ptcb)
{
return ENOMEM;
}
/* Associate file descriptors with the new task */
status = sched_setuppthreadfiles(ptcb);
if (status != OK)
{
sched_releasetcb(ptcb);
return status;
}
/* Share the parent's envionment */
(void)env_share(ptcb);
/* Allocate a detachable structure to support pthread_join logic */
pjoin = (FAR join_t*)kzalloc(sizeof(join_t));
if (!pjoin)
{
sched_releasetcb(ptcb);
return ENOMEM;
}
/* Allocate the stack for the TCB */
status = up_create_stack(ptcb, attr->stacksize);
if (status != OK)
{
sched_releasetcb(ptcb);
sched_free(pjoin);
return ENOMEM;
}
/* Should we use the priority and scheduler specified in the
* pthread attributes? Or should we use the current thread's
* priority and scheduler?
*/
if (attr->inheritsched == PTHREAD_INHERIT_SCHED)
{
/* Get the priority for this thread. */
struct sched_param param;
status = sched_getparam(0, ¶m);
if (status == OK)
{
priority = param.sched_priority;
}
else
{
priority = SCHED_FIFO;
}
/* Get the scheduler policy for this thread */
#if CONFIG_RR_INTERVAL > 0
policy = sched_getscheduler(0);
if (policy == ERROR)
{
policy = SCHED_FIFO;
}
#endif
}
else
{
/* Use the priority and scheduler from the attributes */
priority = attr->priority;
#if CONFIG_RR_INTERVAL > 0
policy = attr->policy;
#endif
}
/* Mark this task as a pthread (this setting will be needed in
* task_schedsetup() when up_initial_state() is called.
*/
ptcb->flags |= TCB_FLAG_TTYPE_PTHREAD;
/* Initialize the task control block */
status = task_schedsetup(ptcb, priority, pthread_start,
(main_t)start_routine);
if (status != OK)
{
sched_releasetcb(ptcb);
sched_free(pjoin);
return EBUSY;
}
/* Configure the TCB for a pthread receiving on parameter
* passed by value
*/
pthread_argsetup(ptcb, arg);
/* Attach the join info to the TCB. */
ptcb->joininfo = (void*)pjoin;
/* If round robin scheduling is selected, set the appropriate flag
* in the TCB.
*/
#if CONFIG_RR_INTERVAL > 0
if (policy == SCHED_RR)
{
ptcb->flags |= TCB_FLAG_ROUND_ROBIN;
ptcb->timeslice = CONFIG_RR_INTERVAL / MSEC_PER_TICK;
}
#endif
/* Get the assigned pid before we start the task (who knows what
* could happen to ptcb after this!). Copy this ID into the join structure
* as well.
*/
pid = (int)ptcb->pid;
pjoin->thread = (pthread_t)pid;
/* Initialize the semaphores in the join structure to zero. */
status = sem_init(&pjoin->data_sem, 0, 0);
if (status == OK)
{
status = sem_init(&pjoin->exit_sem, 0, 0);
}
/* Activate the task */
sched_lock();
if (status == OK)
{
status = task_activate(ptcb);
}
if (status == OK)
{
/* Wait for the task to actually get running and to register
* its join_t
*/
(void)pthread_takesemaphore(&pjoin->data_sem);
/* Return the thread information to the caller */
if (thread) *thread = (pthread_t)pid;
if (!pjoin->started) status = ERROR;
sched_unlock();
(void)sem_destroy(&pjoin->data_sem);
}
else
{
sched_unlock();
dq_rem((FAR dq_entry_t*)ptcb, (dq_queue_t*)&g_inactivetasks);
(void)sem_destroy(&pjoin->data_sem);
(void)sem_destroy(&pjoin->exit_sem);
sched_releasetcb(ptcb);
sched_free(pjoin);
return EIO;
}
return OK;
}
static int thread_create(const char *name, uint8_t type, int priority,
main_t entry, const char **argv)
#endif
{
FAR _TCB *tcb;
pid_t pid;
int ret;
/* Allocate a TCB for the new task. */
tcb = (FAR _TCB*)kzalloc(sizeof(_TCB));
if (!tcb)
{
goto errout;
}
/* Associate file descriptors with the new task */
#if CONFIG_NFILE_DESCRIPTORS > 0 || CONFIG_NSOCKET_DESCRIPTORS > 0
ret = sched_setuptaskfiles(tcb);
if (ret != OK)
{
goto errout_with_tcb;
}
#endif
/* Clone the parent's task environment */
(void)env_dup(tcb);
/* Allocate the stack for the TCB */
#ifndef CONFIG_CUSTOM_STACK
ret = up_create_stack(tcb, stack_size);
if (ret != OK)
{
goto errout_with_tcb;
}
#endif
/* Mark the type of this thread (this setting will be needed in
* task_schedsetup() when up_initial_state() is called.
*/
tcb->flags |= type;
/* Initialize the task control block */
ret = task_schedsetup(tcb, priority, task_start, entry);
if (ret != OK)
{
goto errout_with_tcb;
}
/* Setup to pass parameters to the new task */
(void)task_argsetup(tcb, name, argv);
/* Get the assigned pid before we start the task */
pid = (int)tcb->pid;
/* Activate the task */
ret = task_activate(tcb);
if (ret != OK)
{
/* The TCB was added to the active task list by task_schedsetup() */
dq_rem((FAR dq_entry_t*)tcb, (dq_queue_t*)&g_inactivetasks);
goto errout_with_tcb;
}
return pid;
errout_with_tcb:
sched_releasetcb(tcb);
errout:
errno = ENOMEM;
return ERROR;
}
pid_t up_vfork(const struct vfork_s *context)
{
_TCB *parent = (FAR _TCB *)g_readytorun.head;
_TCB *child;
size_t stacksize;
uint32_t newsp;
uint32_t newfp;
uint32_t stackutil;
int ret;
svdbg("r4:%08x r5:%08x r6:%08x r7:%08x\n",
context->r4, context->r5, context->r6, context->r7);
svdbg("r8:%08x r9:%08x r10:%08x\n",
context->r8, context->r9, context->r10);
svdbg("fp:%08x sp:%08x lr:%08x\n",
context->fp, context->sp, context->lr);
/* Allocate and initialize a TCB for the child task. */
child = task_vforksetup((start_t)(context->lr & ~1));
if (!child)
{
sdbg("task_vforksetup failed\n");
return (pid_t)ERROR;
}
svdbg("Parent=%p Child=%p\n", parent, child);
/* Get the size of the parent task's stack. Due to alignment operations,
* the adjusted stack size may be smaller than the stack size originally
* requrested.
*/
stacksize = parent->adj_stack_size + CONFIG_STACK_ALIGNMENT - 1;
/* Allocate the stack for the TCB */
ret = up_create_stack(child, stacksize);
if (ret != OK)
{
sdbg("up_create_stack failed: %d\n", ret);
task_vforkabort(child, -ret);
return (pid_t)ERROR;
}
/* How much of the parent's stack was utilized? The ARM uses
* a push-down stack so that the current stack pointer should
* be lower than the initial, adjusted stack pointer. The
* stack usage should be the difference between those two.
*/
DEBUGASSERT((uint32_t)parent->adj_stack_ptr > context->sp);
stackutil = (uint32_t)parent->adj_stack_ptr - context->sp;
svdbg("stacksize:%d stackutil:%d\n", stacksize, stackutil);
/* Make some feeble effort to perserve the stack contents. This is
* feeble because the stack surely contains invalid pointers and other
* content that will not work in the child context. However, if the
* user follows all of the caveats of vfor() usage, even this feeble
* effort is overkill.
*/
newsp = (uint32_t)child->adj_stack_ptr - stackutil;
memcpy((void *)newsp, (const void *)context->sp, stackutil);
/* Was there a frame pointer in place before? */
if (context->fp <= (uint32_t)parent->adj_stack_ptr &&
context->fp >= (uint32_t)parent->adj_stack_ptr - stacksize)
{
uint32_t frameutil = (uint32_t)parent->adj_stack_ptr - context->fp;
newfp = (uint32_t)child->adj_stack_ptr - frameutil;
}
else
{
newfp = context->fp;
}
svdbg("Old stack base:%08x SP:%08x FP:%08x\n",
parent->adj_stack_ptr, context->sp, context->fp);
svdbg("New stack base:%08x SP:%08x FP:%08x\n",
child->adj_stack_ptr, newsp, newfp);
/* Update the stack pointer, frame pointer, and volatile registers. When
* the child TCB was initialized, all of the values were set to zero.
* up_initial_state() altered a few values, but the return value in R0
* should be cleared to zero, providing the indication to the newly started
* child thread.
*/
child->xcp.regs[REG_R4] = context->r4; /* Volatile register r4 */
child->xcp.regs[REG_R5] = context->r5; /* Volatile register r5 */
child->xcp.regs[REG_R6] = context->r6; /* Volatile register r6 */
child->xcp.regs[REG_R7] = context->r7; /* Volatile register r7 */
child->xcp.regs[REG_R8] = context->r8; /* Volatile register r8 */
child->xcp.regs[REG_R9] = context->r9; /* Volatile register r9 */
child->xcp.regs[REG_R10] = context->r10; /* Volatile register r10 */
child->xcp.regs[REG_FP] = newfp; /* Frame pointer */
child->xcp.regs[REG_SP] = newsp; /* Stack pointer */
/* And, finally, start the child task. On a failure, task_vforkstart()
* will discard the TCB by calling task_vforkabort().
*/
return task_vforkstart(child);
}
pid_t up_vfork(const struct vfork_s *context)
{
struct tcb_s *parent = (FAR struct tcb_s *)g_readytorun.head;
struct task_tcb_s *child;
size_t stacksize;
uint32_t newsp;
#if CONFIG_MIPS32_FRAMEPOINTER
uint32_t newfp;
#endif
uint32_t stackutil;
int ret;
svdbg("s0:%08x s1:%08x s2:%08x s3:%08x s4:%08x\n",
context->s0, context->s1, context->s2, context->s3, context->s4);
#if CONFIG_MIPS32_FRAMEPOINTER
svdbg("s5:%08x s6:%08x s7:%08x\n",
context->s5, context->s6, context->s7);
#ifdef MIPS32_SAVE_GP
svdbg("fp:%08x sp:%08x ra:%08x gp:%08x\n",
context->fp, context->sp, context->ra, context->gp);
#else
svdbg("fp:%08x sp:%08x ra:%08x\n",
context->fp context->sp, context->ra);
#endif
#else
svdbg("s5:%08x s6:%08x s7:%08x s8:%08x\n",
context->s5, context->s6, context->s7, context->s8);
#ifdef MIPS32_SAVE_GP
svdbg("sp:%08x ra:%08x gp:%08x\n",
context->sp, context->ra, context->gp);
#else
svdbg("sp:%08x ra:%08x\n",
context->sp, context->ra);
#endif
#endif
/* Allocate and initialize a TCB for the child task. */
child = task_vforksetup((start_t)context->ra);
if (!child)
{
sdbg("task_vforksetup failed\n");
return (pid_t)ERROR;
}
svdbg("Parent=%p Child=%p\n", parent, child);
/* Get the size of the parent task's stack. Due to alignment operations,
* the adjusted stack size may be smaller than the stack size originally
* requrested.
*/
stacksize = parent->adj_stack_size + CONFIG_STACK_ALIGNMENT - 1;
/* Allocate the stack for the TCB */
ret = up_create_stack((FAR struct tcb_s *)child, stacksize,
parent->flags & TCB_FLAG_TTYPE_MASK);
if (ret != OK)
{
sdbg("up_create_stack failed: %d\n", ret);
task_vforkabort(child, -ret);
return (pid_t)ERROR;
}
/* How much of the parent's stack was utilized? The MIPS uses
* a push-down stack so that the current stack pointer should
* be lower than the initial, adjusted stack pointer. The
* stack usage should be the difference between those two.
*/
DEBUGASSERT((uint32_t)parent->adj_stack_ptr > context->sp);
stackutil = (uint32_t)parent->adj_stack_ptr - context->sp;
svdbg("stacksize:%d stackutil:%d\n", stacksize, stackutil);
/* Make some feeble effort to perserve the stack contents. This is
* feeble because the stack surely contains invalid pointers and other
* content that will not work in the child context. However, if the
* user follows all of the caveats of vfork() usage, even this feeble
* effort is overkill.
*/
newsp = (uint32_t)child->cmn.adj_stack_ptr - stackutil;
memcpy((void *)newsp, (const void *)context->sp, stackutil);
/* Was there a frame pointer in place before? */
#if CONFIG_MIPS32_FRAMEPOINTER
if (context->fp <= (uint32_t)parent->adj_stack_ptr &&
context->fp >= (uint32_t)parent->adj_stack_ptr - stacksize)
{
uint32_t frameutil = (uint32_t)parent->adj_stack_ptr - context->fp;
newfp = (uint32_t)child->cmn.adj_stack_ptr - frameutil;
}
else
{
newfp = context->fp;
}
svdbg("Old stack base:%08x SP:%08x FP:%08x\n",
parent->adj_stack_ptr, context->sp, context->fp);
svdbg("New stack base:%08x SP:%08x FP:%08x\n",
child->cmn.adj_stack_ptr, newsp, newfp);
#else
svdbg("Old stack base:%08x SP:%08x\n",
parent->adj_stack_ptr, context->sp);
svdbg("New stack base:%08x SP:%08x\n",
child->cmn.adj_stack_ptr, newsp);
#endif
/* Update the stack pointer, frame pointer, global pointer and saved
* registers. When the child TCB was initialized, all of the values
* were set to zero. up_initial_state() altered a few values, but the
* return value in v0 should be cleared to zero, providing the
* indication to the newly started child thread.
*/
child->cmn.xcp.regs[REG_S0] = context->s0; /* Saved register s0 */
child->cmn.xcp.regs[REG_S1] = context->s1; /* Saved register s1 */
child->cmn.xcp.regs[REG_S2] = context->s2; /* Saved register s2 */
child->cmn.xcp.regs[REG_S3] = context->s3; /* Volatile register s3 */
child->cmn.xcp.regs[REG_S4] = context->s4; /* Volatile register s4 */
child->cmn.xcp.regs[REG_S5] = context->s5; /* Volatile register s5 */
child->cmn.xcp.regs[REG_S6] = context->s6; /* Volatile register s6 */
child->cmn.xcp.regs[REG_S7] = context->s7; /* Volatile register s7 */
#if CONFIG_MIPS32_FRAMEPOINTER
child->cmn.xcp.regs[REG_FP] = newfp; /* Frame pointer */
#else
child->cmn.xcp.regs[REG_S8] = context->s8; /* Volatile register s8 */
#endif
child->cmn.xcp.regs[REG_SP] = newsp; /* Stack pointer */
#if MIPS32_SAVE_GP
child->cmn.xcp.regs[REG_GP] = newsp; /* Global pointer */
#endif
/* And, finally, start the child task. On a failure, task_vforkstart()
* will discard the TCB by calling task_vforkabort().
*/
return task_vforkstart(child);
}
int pthread_create(FAR pthread_t *thread, FAR const pthread_attr_t *attr,
pthread_startroutine_t start_routine, pthread_addr_t arg)
{
FAR struct pthread_tcb_s *ptcb;
FAR struct join_s *pjoin;
struct sched_param param;
int policy;
int errcode;
pid_t pid;
int ret;
#ifdef HAVE_TASK_GROUP
bool group_joined = false;
#endif
/* If attributes were not supplied, use the default attributes */
if (!attr)
{
attr = &g_default_pthread_attr;
}
/* Allocate a TCB for the new task. */
ptcb = (FAR struct pthread_tcb_s *)kmm_zalloc(sizeof(struct pthread_tcb_s));
if (!ptcb)
{
sdbg("ERROR: Failed to allocate TCB\n");
return ENOMEM;
}
#ifdef HAVE_TASK_GROUP
/* Bind the parent's group to the new TCB (we have not yet joined the
* group).
*/
ret = group_bind(ptcb);
if (ret < 0)
{
errcode = ENOMEM;
goto errout_with_tcb;
}
#endif
#ifdef CONFIG_ARCH_ADDRENV
/* Share the address environment of the parent task group. */
ret = up_addrenv_attach(ptcb->cmn.group,
(FAR struct tcb_s *)g_readytorun.head);
if (ret < 0)
{
errcode = -ret;
goto errout_with_tcb;
}
#endif
/* Allocate a detachable structure to support pthread_join logic */
pjoin = (FAR struct join_s *)kmm_zalloc(sizeof(struct join_s));
if (!pjoin)
{
sdbg("ERROR: Failed to allocate join\n");
errcode = ENOMEM;
goto errout_with_tcb;
}
/* Allocate the stack for the TCB */
ret = up_create_stack((FAR struct tcb_s *)ptcb, attr->stacksize,
TCB_FLAG_TTYPE_PTHREAD);
if (ret != OK)
{
errcode = ENOMEM;
goto errout_with_join;
}
/* Should we use the priority and scheduler specified in the pthread
* attributes? Or should we use the current thread's priority and
* scheduler?
*/
if (attr->inheritsched == PTHREAD_INHERIT_SCHED)
{
/* Get the priority (and any other scheduling parameters) for this
* thread.
*/
ret = sched_getparam(0, ¶m);
if (ret == ERROR)
{
errcode = get_errno();
goto errout_with_join;
}
/* Get the scheduler policy for this thread */
policy = sched_getscheduler(0);
if (policy == ERROR)
{
errcode = get_errno();
goto errout_with_join;
}
}
else
{
/* Use the scheduler policy and policy the attributes */
policy = attr->policy;
param.sched_priority = attr->priority;
#ifdef CONFIG_SCHED_SPORADIC
param.sched_ss_low_priority = attr->low_priority;
param.sched_ss_max_repl = attr->max_repl;
param.sched_ss_repl_period.tv_sec = attr->repl_period.tv_sec;
param.sched_ss_repl_period.tv_nsec = attr->repl_period.tv_nsec;
param.sched_ss_init_budget.tv_sec = attr->budget.tv_sec;
param.sched_ss_init_budget.tv_nsec = attr->budget.tv_nsec;
#endif
}
#ifdef CONFIG_SCHED_SPORADIC
if (policy == SCHED_SPORADIC)
{
FAR struct sporadic_s *sporadic;
int repl_ticks;
int budget_ticks;
/* Convert timespec values to system clock ticks */
(void)clock_time2ticks(¶m.sched_ss_repl_period, &repl_ticks);
(void)clock_time2ticks(¶m.sched_ss_init_budget, &budget_ticks);
/* The replenishment period must be greater than or equal to the
* budget period.
*/
if (repl_ticks < budget_ticks)
{
errcode = EINVAL;
goto errout_with_join;
}
/* Initialize the sporadic policy */
ret = sched_sporadic_initialize(&ptcb->cmn);
if (ret >= 0)
{
sporadic = ptcb->cmn.sporadic;
DEBUGASSERT(sporadic != NULL);
/* Save the sporadic scheduling parameters */
sporadic->hi_priority = param.sched_priority;
sporadic->low_priority = param.sched_ss_low_priority;
sporadic->max_repl = param.sched_ss_max_repl;
sporadic->repl_period = repl_ticks;
sporadic->budget = budget_ticks;
/* And start the first replenishment interval */
ret = sched_sporadic_start(&ptcb->cmn);
}
/* Handle any failures */
if (ret < 0)
{
errcode = -ret;
goto errout_with_join;
}
}
#endif
/* Initialize the task control block */
ret = pthread_schedsetup(ptcb, param.sched_priority, pthread_start,
start_routine);
if (ret != OK)
{
errcode = EBUSY;
goto errout_with_join;
}
/* Configure the TCB for a pthread receiving on parameter
* passed by value
*/
pthread_argsetup(ptcb, arg);
#ifdef HAVE_TASK_GROUP
/* Join the parent's task group */
ret = group_join(ptcb);
if (ret < 0)
{
errcode = ENOMEM;
goto errout_with_join;
}
group_joined = true;
#endif
/* Attach the join info to the TCB. */
ptcb->joininfo = (FAR void *)pjoin;
/* Set the appropriate scheduling policy in the TCB */
ptcb->cmn.flags &= ~TCB_FLAG_POLICY_MASK;
switch (policy)
{
default:
DEBUGPANIC();
case SCHED_FIFO:
ptcb->cmn.flags |= TCB_FLAG_SCHED_FIFO;
break;
#if CONFIG_RR_INTERVAL > 0
case SCHED_RR:
ptcb->cmn.flags |= TCB_FLAG_SCHED_RR;
ptcb->cmn.timeslice = MSEC2TICK(CONFIG_RR_INTERVAL);
break;
#endif
#ifdef CONFIG_SCHED_SPORADIC
case SCHED_SPORADIC:
ptcb->cmn.flags |= TCB_FLAG_SCHED_SPORADIC;
break;
#endif
#if 0 /* Not supported */
case SCHED_OTHER:
ptcb->cmn.flags |= TCB_FLAG_SCHED_OTHER;
break;
#endif
}
/* Get the assigned pid before we start the task (who knows what
* could happen to ptcb after this!). Copy this ID into the join structure
* as well.
*/
pid = (int)ptcb->cmn.pid;
pjoin->thread = (pthread_t)pid;
/* Initialize the semaphores in the join structure to zero. */
ret = sem_init(&pjoin->data_sem, 0, 0);
if (ret == OK)
{
ret = sem_init(&pjoin->exit_sem, 0, 0);
}
/* Activate the task */
sched_lock();
if (ret == OK)
{
ret = task_activate((FAR struct tcb_s *)ptcb);
}
if (ret == OK)
{
/* Wait for the task to actually get running and to register
* its join structure.
*/
(void)pthread_takesemaphore(&pjoin->data_sem);
/* Return the thread information to the caller */
if (thread)
{
*thread = (pthread_t)pid;
}
if (!pjoin->started)
{
ret = EINVAL;
}
sched_unlock();
(void)sem_destroy(&pjoin->data_sem);
}
else
{
sched_unlock();
dq_rem((FAR dq_entry_t *)ptcb, (FAR dq_queue_t *)&g_inactivetasks);
(void)sem_destroy(&pjoin->data_sem);
(void)sem_destroy(&pjoin->exit_sem);
errcode = EIO;
goto errout_with_join;
}
return ret;
errout_with_join:
sched_kfree(pjoin);
ptcb->joininfo = NULL;
errout_with_tcb:
#ifdef HAVE_TASK_GROUP
/* Clear group binding */
if (ptcb && !group_joined)
{
ptcb->cmn.group = NULL;
}
#endif
sched_releasetcb((FAR struct tcb_s *)ptcb, TCB_FLAG_TTYPE_PTHREAD);
return errcode;
}
