void up_block_task(FAR _TCB *tcb, tstate_t task_state)
{
/* Verify that the context switch can be performed */
if ((tcb->task_state < FIRST_READY_TO_RUN_STATE) ||
(tcb->task_state > LAST_READY_TO_RUN_STATE))
{
PANIC(OSERR_BADBLOCKSTATE);
}
else
{
FAR _TCB *rtcb = (FAR _TCB*)g_readytorun.head;
bool switch_needed;
/* dbg("Blocking TCB=%p\n", tcb); */
/* Remove the tcb task from the ready-to-run list. If we
* are blocking the task at the head of the task list (the
* most likely case), then a context switch to the next
* ready-to-run task is needed. In this case, it should
* also be true that rtcb == tcb.
*/
switch_needed = sched_removereadytorun(tcb);
/* Add the task to the specified blocked task list */
sched_addblocked(tcb, (tstate_t)task_state);
/* If there are any pending tasks, then add them to the g_readytorun
* task list now
*/
if (g_pendingtasks.head)
{
switch_needed |= sched_mergepending();
}
/* Now, perform the context switch if one is needed */
if (switch_needed)
{
/* Are we in an interrupt handler? */
if (IN_INTERRUPT)
{
/* Yes, then we have to do things differently.
* Just copy the current registers into the OLD rtcb.
*/
SAVE_IRQCONTEXT(rtcb);
/* Restore the exception context of the rtcb at the (new) head
* of the g_readytorun task list.
*/
rtcb = (FAR _TCB*)g_readytorun.head;
/* dbg("New Active Task TCB=%p\n", rtcb); */
/* Then setup so that the context will be performed on exit
* from the interrupt.
*/
SET_IRQCONTEXT(rtcb);
}
/* Copy the user C context into the TCB at the (old) head of the
* g_readytorun Task list. if SAVE_USERCONTEXT returns a non-zero
* value, then this is really the previously running task restarting!
*/
else if (!SAVE_USERCONTEXT(rtcb))
{
/* Restore the exception context of the rtcb at the (new) head
* of the g_readytorun task list.
*/
rtcb = (FAR _TCB*)g_readytorun.head;
/* dbg("New Active Task TCB=%p\n", rtcb); */
/* Then switch contexts */
RESTORE_USERCONTEXT(rtcb);
}
}
}
}
void up_block_task(FAR struct tcb_s *tcb, tstate_t task_state)
{
FAR struct tcb_s *rtcb = (FAR struct tcb_s*)g_readytorun.head;
bool switch_needed;
/* Verify that the context switch can be performed */
ASSERT((tcb->task_state >= FIRST_READY_TO_RUN_STATE) &&
(tcb->task_state <= LAST_READY_TO_RUN_STATE));
/* dbg("Blocking TCB=%p\n", tcb); */
/* Remove the tcb task from the ready-to-run list. If we
* are blocking the task at the head of the task list (the
* most likely case), then a context switch to the next
* ready-to-run task is needed. In this case, it should
* also be true that rtcb == tcb.
*/
switch_needed = sched_removereadytorun(tcb);
/* Add the task to the specified blocked task list */
sched_addblocked(tcb, (tstate_t)task_state);
/* If there are any pending tasks, then add them to the g_readytorun
* task list now
*/
if (g_pendingtasks.head)
{
switch_needed |= sched_mergepending();
}
/* Now, perform the context switch if one is needed */
if (switch_needed)
{
/* Are we in an interrupt handler? */
if (IN_INTERRUPT())
{
/* Yes, then we have to do things differently.
* Just copy the current registers into the OLD rtcb.
*/
SAVE_IRQCONTEXT(rtcb);
/* Restore the exception context of the rtcb at the (new) head
* of the g_readytorun task list.
*/
rtcb = (FAR struct tcb_s*)g_readytorun.head;
/* dbg("New Active Task TCB=%p\n", rtcb); */
/* Then setup so that the context will be performed on exit
* from the interrupt. Any necessary address environment
* changes will be made when the interrupt returns.
*/
SET_IRQCONTEXT(rtcb);
}
/* Copy the user C context into the TCB at the (old) head of the
* g_readytorun Task list. if SAVE_USERCONTEXT returns a non-zero
* value, then this is really the previously running task restarting!
*/
else if (!SAVE_USERCONTEXT(rtcb))
{
/* Restore the exception context of the rtcb at the (new) head
* of the g_readytorun task list.
*/
rtcb = (FAR struct tcb_s*)g_readytorun.head;
#ifdef CONFIG_ARCH_ADDRENV
/* Make sure that the address environment for the previously
* running task is closed down gracefully (data caches dump,
* MMU flushed) and set up the address environment for the new
* thread at the head of the ready-to-run list.
*/
(void)group_addrenv(rtcb);
#endif
/* Then switch contexts */
RESTORE_USERCONTEXT(rtcb);
}
}
}
void up_reprioritize_rtr(FAR struct tcb_s *tcb, uint8_t priority)
{
/* Verify that the caller is sane */
if (tcb->task_state < FIRST_READY_TO_RUN_STATE ||
tcb->task_state > LAST_READY_TO_RUN_STATE
#if SCHED_PRIORITY_MIN > 0
|| priority < SCHED_PRIORITY_MIN
#endif
#if SCHED_PRIORITY_MAX < UINT8_MAX
|| priority > SCHED_PRIORITY_MAX
#endif
)
{
PANIC();
}
else
{
FAR struct tcb_s *rtcb = this_task();
bool switch_needed;
slldbg("TCB=%p PRI=%d\n", tcb, priority);
/* Remove the tcb task from the ready-to-run list.
* sched_removereadytorun will return true if we just
* remove the head of the ready to run list.
*/
switch_needed = sched_removereadytorun(tcb);
/* Setup up the new task priority */
tcb->sched_priority = (uint8_t)priority;
/* Return the task to the specified blocked task list.
* sched_addreadytorun will return true if the task was
* added to the new list. We will need to perform a context
* switch only if the EXCLUSIVE or of the two calls is non-zero
* (i.e., one and only one the calls changes the head of the
* ready-to-run list).
*/
switch_needed ^= sched_addreadytorun(tcb);
/* Now, perform the context switch if one is needed */
if (switch_needed)
{
/* If we are going to do a context switch, then now is the right
* time to add any pending tasks back into the ready-to-run list.
* task list now
*/
if (g_pendingtasks.head)
{
sched_mergepending();
}
/* Update scheduler parameters */
sched_suspend_scheduler(rtcb);
/* Are we in an interrupt handler? */
if (IN_INTERRUPT)
{
/* Yes, then we have to do things differently.
* Just copy the current context into the OLD rtcb.
*/
SAVE_IRQCONTEXT(rtcb);
/* Restore the exception context of the rtcb at the (new) head
* of the ready-to-run task list.
*/
rtcb = this_task();
/* Update scheduler parameters */
sched_resume_scheduler(rtcb);
/* Then setup so that the context will be performed on exit
* from the interrupt.
*/
SET_IRQCONTEXT(rtcb);
}
/* Copy the exception context into the TCB at the (old) head of the
* ready-to-run Task list. if SAVE_USERCONTEXT returns a non-zero
* value, then this is really the previously running task restarting!
*/
else if (!SAVE_USERCONTEXT(rtcb))
{
/* Restore the exception context of the rtcb at the (new) head
* of the ready-to-run task list.
*/
rtcb = this_task();
/* Update scheduler parameters */
sched_resume_scheduler(rtcb);
/* Then switch contexts */
RESTORE_USERCONTEXT(rtcb);
}
}
}
}
void up_release_pending(void)
{
FAR struct tcb_s *rtcb = (FAR struct tcb_s*)g_readytorun.head;
slldbg("From TCB=%p\n", rtcb);
/* Merge the g_pendingtasks list into the g_readytorun task list */
/* sched_lock(); */
if (sched_mergepending())
{
/* The currently active task has changed! We will need to switch
* contexts.
*
* Update scheduler parameters.
*/
sched_suspend_scheduler(rtcb);
/* Are we operating in interrupt context? */
if (IN_INTERRUPT)
{
/* Yes, then we have to do things differently.
* Just copy the current context into the OLD rtcb.
*/
SAVE_IRQCONTEXT(rtcb);
/* Restore the exception context of the rtcb at the (new) head
* of the g_readytorun task list.
*/
rtcb = (FAR struct tcb_s*)g_readytorun.head;
/* Update scheduler parameters */
sched_resume_scheduler(rtcb);
/* Then setup so that the context will be performed on exit
* from the interrupt.
*/
SET_IRQCONTEXT(rtcb);
}
/* Copy the exception context into the TCB of the task that
* was currently active. if SAVE_USERCONTEXT returns a non-zero
* value, then this is really the previously running task
* restarting!
*/
else if (!SAVE_USERCONTEXT(rtcb))
{
/* Restore the exception context of the rtcb at the (new) head
* of the g_readytorun task list.
*/
rtcb = (FAR struct tcb_s*)g_readytorun.head;
/* Update scheduler parameters */
sched_resume_scheduler(rtcb);
/* Then switch contexts */
RESTORE_USERCONTEXT(rtcb);
}
}
}
void up_release_pending(void)
{
FAR struct tcb_s *rtcb = this_task();
slldbg("From TCB=%p\n", rtcb);
/* Merge the g_pendingtasks list into the ready-to-run task list */
/* sched_lock(); */
if (sched_mergepending())
{
/* The currently active task has changed! We will need to switch
* contexts.
*
* Update scheduler parameters.
*/
sched_suspend_scheduler(rtcb);
/* Are we operating in interrupt context? */
if (IN_INTERRUPT())
{
/* Yes, then we have to do things differently.
* Just copy the current context into the OLD rtcb.
*/
SAVE_IRQCONTEXT(rtcb);
/* Restore the exception context of the rtcb at the (new) head
* of the ready-to-run task list.
*/
rtcb = this_task();
/* Update scheduler parameters */
sched_resume_scheduler(rtcb);
/* Then setup so that the context will be performed on exit
* from the interrupt. Any necessary address environment
* changes will be made when the interrupt returns.
*/
SET_IRQCONTEXT(rtcb);
}
/* Copy the exception context into the TCB of the task that
* was currently active. if SAVE_USERCONTEXT returns a non-zero
* value, then this is really the previously running task
* restarting!
*/
else if (!SAVE_USERCONTEXT(rtcb))
{
/* Restore the exception context of the rtcb at the (new) head
* of the ready-to-run task list.
*/
rtcb = this_task();
#ifdef CONFIG_ARCH_ADDRENV
/* Make sure that the address environment for the previously
* running task is closed down gracefully (data caches dump,
* MMU flushed) and set up the address environment for the new
* thread at the head of the ready-to-run list.
*/
(void)group_addrenv(rtcb);
#endif
/* Update scheduler parameters */
sched_resume_scheduler(rtcb);
/* Then switch contexts */
RESTORE_USERCONTEXT(rtcb);
}
}
}
void up_unblock_task(FAR _TCB *tcb)
{
/* Verify that the context switch can be performed */
if ((tcb->task_state < FIRST_BLOCKED_STATE) ||
(tcb->task_state > LAST_BLOCKED_STATE))
{
PANIC(OSERR_BADUNBLOCKSTATE);
}
else
{
FAR _TCB *rtcb = (FAR _TCB*)g_readytorun.head;
/* dbg("Unblocking TCB=%p\n", tcb); */
/* Remove the task from the blocked task list */
sched_removeblocked(tcb);
/* Reset its timeslice. This is only meaningful for round
* robin tasks but it doesn't here to do it for everything
*/
#if CONFIG_RR_INTERVAL > 0
tcb->timeslice = CONFIG_RR_INTERVAL / MSEC_PER_TICK;
#endif
/* Add the task in the correct location in the prioritized
* g_readytorun task list
*/
if (sched_addreadytorun(tcb))
{
/* The currently active task has changed! We need to do
* a context switch to the new task.
*
* Are we in an interrupt handler?
*/
if (IN_INTERRUPT)
{
/* Yes, then we have to do things differently.
* Just copy the current context into the OLD rtcb.
*/
SAVE_IRQCONTEXT(rtcb);
/* Restore the exception context of the rtcb at the (new) head
* of the g_readytorun task list.
*/
rtcb = (FAR _TCB*)g_readytorun.head;
/* dbg("New Active Task TCB=%p\n", rtcb); */
/* Then setup so that the context will be performed on exit
* from the interrupt.
*/
SET_IRQCONTEXT(rtcb);
}
/* We are not in an interrupt handler. Copy the user C context
* into the TCB of the task that was previously active. if
* SAVE_USERCONTEXT returns a non-zero value, then this is really the
* previously running task restarting!
*/
else if (!SAVE_USERCONTEXT(rtcb))
{
/* Restore the exception context of the new task that is ready to
* run (probably tcb). This is the new rtcb at the head of the
* g_readytorun task list.
*/
rtcb = (FAR _TCB*)g_readytorun.head;
/* dbg("New Active Task TCB=%p\n", rtcb); */
/* Then switch contexts */
RESTORE_USERCONTEXT(rtcb);
}
}
}
}
