int timer_settime(timer_t timerid, int flags, FAR const struct itimerspec *value,
FAR struct itimerspec *ovalue)
{
FAR struct posix_timer_s *timer = (FAR struct posix_timer_s *)timerid;
irqstate_t state;
int delay;
int ret = OK;
/* Some sanity checks */
if (!timer || !value)
{
errno = EINVAL;
return ERROR;
}
/* Disarm the timer (in case the timer was already armed when timer_settime()
* is called).
*/
(void)wd_cancel(timer->pt_wdog);
/* If the it_value member of value is zero, the timer will not be re-armed */
if (value->it_value.tv_sec <= 0 && value->it_value.tv_nsec <= 0)
{
return OK;
}
/* Setup up any repititive timer */
if (value->it_interval.tv_sec > 0 || value->it_interval.tv_nsec > 0)
{
(void)clock_time2ticks(&value->it_interval, &timer->pt_delay);
}
else
{
timer->pt_delay = 0;
}
/* We need to disable timer interrupts through the following section so
* that the system timer is stable.
*/
state = irqsave();
/* Check if abstime is selected */
if ((flags & TIMER_ABSTIME) != 0)
{
#ifdef CONFIG_DISABLE_CLOCK
/* Absolute timing depends upon having access to clock functionality */
errno = ENOSYS;
return ERROR;
#else
/* Calculate a delay corresponding to the absolute time in 'value'.
* NOTE: We have internal knowledge the clock_abstime2ticks only
* returns an error if clockid != CLOCK_REALTIME.
*/
(void)clock_abstime2ticks(CLOCK_REALTIME, &value->it_value, &delay);
#endif
}
else
{
/* Calculate a delay assuming that 'value' holds the relative time
* to wait. We have internal knowledge that clock_time2ticks always
* returns success.
*/
(void)clock_time2ticks(&value->it_value, &delay);
}
/* If the time is in the past or now, then set up the next interval
* instead (assuming a repititive timer).
*/
if (delay <= 0)
{
delay = timer->pt_delay;
}
/* Then start the watchdog */
if (delay > 0)
{
timer->pt_last = delay;
ret = wd_start(timer->pt_wdog, delay, (wdentry_t)timer_timeout,
1, (uint32_t)((uintptr_t)timer));
}
irqrestore(state);
return ret;
}
int sched_setparam(pid_t pid, FAR const struct sched_param *param)
{
FAR struct tcb_s *rtcb;
FAR struct tcb_s *tcb;
int errcode;
int ret;
/* Verify that the requested priority is in the valid range */
if (!param)
{
errcode = EINVAL;
goto errout_with_errcode;
}
/* Prohibit modifications to the head of the ready-to-run task
* list while adjusting the priority
*/
sched_lock();
/* Check if the task to reprioritize is the calling task */
rtcb = this_task();
if (pid == 0 || pid == rtcb->pid)
{
tcb = rtcb;
}
/* The PID is not the calling task, we will have to search for it */
else
{
tcb = sched_gettcb(pid);
if (!tcb)
{
/* No task with this PID was found */
errcode = ESRCH;
goto errout_with_lock;
}
}
#ifdef CONFIG_SCHED_SPORADIC
/* Update parameters associated with SCHED_SPORADIC */
if ((rtcb->flags & TCB_FLAG_POLICY_MASK) == TCB_FLAG_SCHED_SPORADIC)
{
FAR struct sporadic_s *sporadic;
irqstate_t flags;
int repl_ticks;
int budget_ticks;
if (param->sched_ss_max_repl < 1 ||
param->sched_ss_max_repl > CONFIG_SCHED_SPORADIC_MAXREPL)
{
errcode = EINVAL;
goto errout_with_lock;
}
/* 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);
/* Avoid zero/negative times */
if (repl_ticks < 1)
{
repl_ticks = 1;
}
if (budget_ticks < 1)
{
budget_ticks = 1;
}
/* The replenishment period must be greater than or equal to the
* budget period.
*/
#if 1
/* REVISIT: In the current implementation, the budget cannot exceed
* half the duty.
*/
if (repl_ticks < (2 * budget_ticks))
#else
if (repl_ticks < budget_ticks)
#endif
{
errcode = EINVAL;
goto errout_with_lock;
}
/* Stop/reset current sporadic scheduling */
flags = enter_critical_section();
ret = sched_sporadic_reset(tcb);
if (ret >= 0)
{
/* Save the sporadic scheduling parameters and reset to the
* beginning to the replenishment interval.
*/
tcb->timeslice = budget_ticks;
sporadic = rtcb->sporadic;
DEBUGASSERT(sporadic != NULL);
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 restart at the next replenishment interval */
ret = sched_sporadic_start(tcb);
}
/* Restore interrupts and handler errors */
leave_critical_section(flags);
if (ret < 0)
{
errcode = -ret;
goto errout_with_lock;
}
}
#endif
/* Then perform the reprioritization */
ret = sched_reprioritize(tcb, param->sched_priority);
sched_unlock();
return ret;
errout_with_lock:
set_errno(errcode);
sched_unlock();
return ERROR;
errout_with_errcode:
set_errno(errcode);
return ERROR;
}
int nanosleep(FAR const struct timespec *rqtp, FAR struct timespec *rmtp)
{
irqstate_t flags;
systime_t starttick;
sigset_t set;
struct siginfo value;
int errval;
#ifdef CONFIG_DEBUG_ASSERTIONS /* Warning avoidance */
int ret;
#endif
/* nanosleep() is a cancellation point */
(void)enter_cancellation_point();
if (!rqtp || rqtp->tv_nsec < 0 || rqtp->tv_nsec >= 1000000000)
{
errval = EINVAL;
goto errout;
}
/* Get the start time of the wait. Interrupts are disabled to prevent
* timer interrupts while we do tick-related calculations before and
* after the wait.
*/
flags = enter_critical_section();
starttick = clock_systimer();
/* Set up for the sleep. Using the empty set means that we are not
* waiting for any particular signal. However, any unmasked signal can
* still awaken sigtimedwait().
*/
(void)sigemptyset(&set);
/* nanosleep is a simple application of sigtimedwait. */
#ifdef CONFIG_DEBUG_ASSERTIONS /* Warning avoidance */
ret = sigtimedwait(&set, &value, rqtp);
#else
(void)sigtimedwait(&set, &value, rqtp);
#endif
/* sigtimedwait() cannot succeed. It should always return error with
* either (1) EAGAIN meaning that the timeout occurred, or (2) EINTR
* meaning that some other unblocked signal was caught.
*/
errval = get_errno();
DEBUGASSERT(ret < 0 && (errval == EAGAIN || errval == EINTR));
if (errval == EAGAIN)
{
/* The timeout "error" is the normal, successful result */
leave_critical_section(flags);
leave_cancellation_point();
return OK;
}
/* If we get there, the wait has failed because we were awakened by a
* signal. Return the amount of "unwaited" time if rmtp is non-NULL.
*/
if (rmtp)
{
systime_t elapsed;
systime_t remaining;
int ticks;
/* REVISIT: The conversion from time to ticks and back could
* be avoided. clock_timespec_subtract() would be used instead
* to get the time difference.
*/
/* First get the number of clock ticks that we were requested to
* wait.
*/
(void)clock_time2ticks(rqtp, &ticks);
/* Get the number of ticks that we actually waited */
elapsed = clock_systimer() - starttick;
/* The difference between the number of ticks that we were requested
* to wait and the number of ticks that we actualy waited is that
* amount of time that we failed to wait.
*/
if (elapsed >= (uint32_t)ticks)
{
remaining = 0;
}
else
{
remaining = (uint32_t)ticks - elapsed;
}
(void)clock_ticks2time((int)remaining, rmtp);
}
leave_critical_section(flags);
errout:
set_errno(errval);
leave_cancellation_point();
return ERROR;
}
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;
}
