static int work_qcancel(FAR struct usr_wqueue_s *wqueue, FAR struct work_s *work)
{
int ret = -ENOENT;
DEBUGASSERT(work != NULL);
/* Get exclusive access to the work queue */
while (work_lock() < 0);
/* Cancelling the work is simply a matter of removing the work structure
* from the work queue. This must be done with interrupts disabled because
* new work is typically added to the work queue from interrupt handlers.
*/
if (work->worker != NULL)
{
/* A little test of the integrity of the work queue */
DEBUGASSERT(work->dq.flink || (FAR dq_entry_t *)work == wqueue->q.tail);
DEBUGASSERT(work->dq.blink || (FAR dq_entry_t *)work == wqueue->q.head);
/* Remove the entry from the work queue and make sure that it is
* mark as available (i.e., the worker field is nullified).
*/
dq_rem((FAR dq_entry_t *)work, &wqueue->q);
work->worker = NULL;
ret = OK;
}
work_unlock();
return ret;
}
void hrt_work_cancel(struct work_s *work)
{
struct wqueue_s *wqueue = &g_hrt_work;
//DEBUGASSERT(work != NULL && (unsigned)qid < NWORKERS);
/* Cancelling the work is simply a matter of removing the work structure
* from the work queue. This must be done with interrupts disabled because
* new work is typically added to the work queue from interrupt handlers.
*/
hrt_work_lock();
if (work->worker != NULL) {
/* A little test of the integrity of the work queue */
//DEBUGASSERT(work->dq.flink ||(dq_entry_t *)work == wqueue->q.tail);
//DEBUGASSERT(work->dq.blink ||(dq_entry_t *)work == wqueue->q.head);
/* Remove the entry from the work queue and make sure that it is
* mark as availalbe (i.e., the worker field is nullified).
*/
dq_rem((dq_entry_t *)work, &wqueue->q);
work->worker = NULL;
}
hrt_work_unlock();
}
bool sched_removereadytorun(FAR struct tcb_s *rtcb)
{
bool doswitch = false;
/* Check if the TCB to be removed is at the head of the ready to run list.
* There is only one list, g_readytorun, and it always contains the
* currently running task. If we are removing the head of this list,
* then we are removing the currently active task.
*/
if (rtcb->blink == NULL)
{
/* There must always be at least one task in the list (the IDLE task)
* after the TCB being removed.
*/
FAR struct tcb_s *nxttcb = (FAR struct tcb_s *)rtcb->flink;
DEBUGASSERT(nxttcb != NULL);
nxttcb->task_state = TSTATE_TASK_RUNNING;
doswitch = true;
}
/* Remove the TCB from the ready-to-run list. In the non-SMP case, this
* is always the g_readytorun list.
*/
dq_rem((FAR dq_entry_t *)rtcb, (FAR dq_queue_t *)&g_readytorun);
/* Since the TCB is not in any list, it is now invalid */
rtcb->task_state = TSTATE_TASK_INVALID;
return doswitch;
}
bool sched_removereadytorun(FAR _TCB *rtcb)
{
bool ret = false;
/* Check if the TCB to be removed is at the head of the ready
* to run list. In this case, we are removing the currently
* active task.
*/
if (!rtcb->blink)
{
/* There must always be at least one task in the list (the idle task) */
ASSERT(rtcb->flink != NULL);
/* Inform the instrumentation layer that we are switching tasks */
sched_note_switch(rtcb, rtcb->flink);
rtcb->flink->task_state = TSTATE_TASK_RUNNING;
ret = true;
}
/* Remove the TCB from the ready-to-run list */
dq_rem((FAR dq_entry_t*)rtcb, (dq_queue_t*)&g_readytorun);
rtcb->task_state = TSTATE_TASK_INVALID;
return ret;
}
bool sched_removereadytorun(FAR struct tcb_s *rtcb)
{
FAR struct tcb_s *ntcb = NULL;
bool ret = false;
/* Check if the TCB to be removed is at the head of the ready to run list.
* In this case, we are removing the currently active task.
*/
if (!rtcb->blink)
{
/* There must always be at least one task in the list (the idle task) */
ntcb = (FAR struct tcb_s *)rtcb->flink;
DEBUGASSERT(ntcb != NULL);
/* Inform the instrumentation layer that we are switching tasks */
sched_note_switch(rtcb, ntcb);
ntcb->task_state = TSTATE_TASK_RUNNING;
ret = true;
}
/* Remove the TCB from the ready-to-run list */
dq_rem((FAR dq_entry_t *)rtcb, (FAR dq_queue_t *)&g_readytorun);
/* Since the TCB is not in any list, it is now invalid */
rtcb->task_state = TSTATE_TASK_INVALID;
return ret;
}
void uip_tcpfree(struct uip_conn *conn)
{
#if CONFIG_NET_NTCP_READAHEAD_BUFFERS > 0
struct uip_readahead_s *readahead;
#endif
uip_lock_t flags;
/* Because g_free_tcp_connections is accessed from user level and interrupt
* level, code, it is necessary to keep interrupts disabled during this
* operation.
*/
DEBUGASSERT(conn->crefs == 0);
flags = uip_lock();
/* UIP_ALLOCATED means that that the connection is not in the active list
* yet.
*/
if (conn->tcpstateflags != UIP_ALLOCATED)
{
/* Remove the connection from the active list */
dq_rem(&conn->node, &g_active_tcp_connections);
}
/* Release any read-ahead buffers attached to the connection */
#if CONFIG_NET_NTCP_READAHEAD_BUFFERS > 0
while ((readahead = (struct uip_readahead_s *)sq_remfirst(&conn->readahead)) != NULL)
{
uip_tcpreadaheadrelease(readahead);
}
#endif
/* Remove any backlog attached to this connection */
#ifdef CONFIG_NET_TCPBACKLOG
if (conn->backlog)
{
uip_backlogdestroy(conn);
}
/* If this connection is, itself, backlogged, then remove it from the
* parent connection's backlog list.
*/
if (conn->blparent)
{
uip_backlogdelete(conn->blparent, conn);
}
#endif
/* Mark the connection available and put it into the free list */
conn->tcpstateflags = UIP_CLOSED;
dq_addlast(&conn->node, &g_free_tcp_connections);
uip_unlock(flags);
}
void task_vforkabort(FAR struct task_tcb_s *child, int errcode)
{
/* The TCB was added to the active task list by task_schedsetup() */
dq_rem((FAR dq_entry_t *)child, (FAR dq_queue_t *)&g_inactivetasks);
/* Release the TCB */
sched_releasetcb((FAR struct tcb_s *)child,
child->cmn.flags & TCB_FLAG_TTYPE_MASK);
set_errno(errcode);
}
FAR struct aiocb *aioc_decant(FAR struct aio_container_s *aioc)
{
FAR struct aiocb *aiocbp;
DEBUGASSERT(aioc);
/* Remove the container to the pending transfer list. */
aio_lock();
dq_rem(&aioc->aioc_link, &g_aio_pending);
/* De-cant the AIO control block and return the container to the free list */
aiocbp = aioc->aioc_aiocbp;
aioc_free(aioc);
aio_unlock();
return aiocbp;
}
void uip_udpfree(struct uip_udp_conn *conn)
{
/* The free list is only accessed from user, non-interrupt level and
* is protected by a semaphore (that behaves like a mutex).
*/
DEBUGASSERT(conn->crefs == 0);
_uip_semtake(&g_free_sem);
conn->lport = 0;
/* Remove the connection from the active list */
dq_rem(&conn->node, &g_active_udp_connections);
/* Free the connection */
dq_addlast(&conn->node, &g_free_udp_connections);
_uip_semgive(&g_free_sem);
}
int sem_close(FAR sem_t *sem)
{
FAR nsem_t *psem;
int ret = ERROR;
/* Verify the inputs */
if (sem)
{
sched_lock();
/* Search the list of named semaphores */
for (psem = (FAR nsem_t*)g_nsems.head;
((psem) && (sem != &psem->sem));
psem = psem->flink);
/* Check if we found it */
if (psem)
{
/* Decrement the count of sem_open connections to this semaphore */
if (psem->nconnect) psem->nconnect--;
/* If the semaphore is no long connected to any processes AND the
* semaphore was previously unlinked, then deallocate it.
*/
if (!psem->nconnect && psem->unlinked)
{
dq_rem((FAR dq_entry_t*)psem, &g_nsems);
sched_free(psem);
}
ret = OK;
}
sched_unlock();
}
return ret;
}
void netlink_free(FAR struct netlink_conn_s *conn)
{
/* The free list is protected by a semaphore (that behaves like a mutex). */
DEBUGASSERT(conn->crefs == 0);
_netlink_semtake(&g_free_sem);
/* Remove the connection from the active list */
dq_rem(&conn->node, &g_active_netlink_connections);
/* Reset structure */
memset(conn, 0, sizeof(*conn));
/* Free the connection */
dq_addlast(&conn->node, &g_free_netlink_connections);
_netlink_semgive(&g_free_sem);
}
void sched_removeblocked(FAR struct tcb_s *btcb)
{
tstate_t task_state = btcb->task_state;
/* Make sure the TCB is in a valid blocked state */
ASSERT(task_state >= FIRST_BLOCKED_STATE &&
task_state <= LAST_BLOCKED_STATE);
/* Remove the TCB from the blocked task list associated
* with this state
*/
dq_rem((FAR dq_entry_t*)btcb, (dq_queue_t*)g_tasklisttable[task_state].list);
/* Make sure the TCB's state corresponds to not being in
* any list
*/
btcb->task_state = TSTATE_TASK_INVALID;
}
static void hrt_queue_refresh(void)
{
int elapsed;
dq_entry_t *pent;
struct hrt_s *tmp;
irqstate_t flags;
flags = spin_lock_irqsave();
elapsed = (uint64_t)getreg32(rMT20CNT) * (1000 * 1000) * 10 / XT1OSC_CLK;
for (pent = hrt_timer_queue.head; pent; pent = dq_next(pent))
{
tmp = container_of(pent, struct hrt_s, ent);
tmp->usec -= elapsed;
}
cont:
/* serch for expired */
for (pent = hrt_timer_queue.head; pent; pent = dq_next(pent))
{
tmp = container_of(pent, struct hrt_s, ent);
if (tmp->usec <= 0)
{
dq_rem(pent, &hrt_timer_queue);
spin_unlock_irqrestore(flags);
nxsem_post(&tmp->sem);
flags = spin_lock_irqsave();
goto cont;
}
else
{
break;
}
}
spin_unlock_irqrestore(flags);
}
static int work_qqueue(FAR struct usr_wqueue_s *wqueue,
FAR struct work_s *work, worker_t worker,
FAR void *arg, clock_t delay)
{
DEBUGASSERT(work != NULL);
/* Get exclusive access to the work queue */
while (work_lock() < 0);
/* Is there already pending work? */
if (work->worker != NULL)
{
/* Remove the entry from the work queue. It will re requeued at the
* end of the work queue.
*/
dq_rem((FAR dq_entry_t *)work, &wqueue->q);
}
/* Initialize the work structure */
work->worker = worker; /* Work callback. non-NULL means queued */
work->arg = arg; /* Callback argument */
work->delay = delay; /* Delay until work performed */
/* Now, time-tag that entry and put it in the work queue. */
work->qtime = clock(); /* Time work queued */
dq_addlast((FAR dq_entry_t *)work, &wqueue->q);
kill(wqueue->pid, SIGWORK); /* Wake up the worker thread */
work_unlock();
return OK;
}
int work_cancel(struct work_s *work)
{
irqstate_t flags;
DEBUGASSERT(work != NULL);
/* Cancelling the work is simply a matter of removing the work structure
* from the work queue. This must be done with interrupts disabled because
* new work is typically added to the work queue from interrupt handlers.
*/
flags = irqsave();
if (work->worker != NULL)
{
DEBUGASSERT(work->dq.flink || (FAR dq_entry_t *)work == g_work.head);
DEBUGASSERT(work->dq.blink || (FAR dq_entry_t *)work == g_work.tail);
dq_rem((FAR dq_entry_t *)work, &g_work);
work->worker = NULL;
}
irqrestore(flags);
return OK;
}
bool sched_removereadytorun(FAR struct tcb_s *rtcb)
{
FAR dq_queue_t *tasklist;
bool doswitch = false;
int cpu;
/* Which CPU (if any) is the task running on? Which task list holds the
* TCB?
*/
cpu = rtcb->cpu;
tasklist = TLIST_HEAD(rtcb->task_state, cpu);
/* Check if the TCB to be removed is at the head of a ready-to-run list.
* For the case of SMP, there are two lists involved: (1) the
* g_readytorun list that holds non-running tasks that have not been
* assigned to a CPU, and (2) and the g_assignedtasks[] lists which hold
* tasks assigned a CPU, including the task that is currently running on
* that CPU. Only this latter list contains the currently active task
* only only removing the head of that list can result in a context
* switch.
*
* rtcb->blink == NULL will tell us if the TCB is at the head of the
* ready-to-run list and, hence, a candidate for the new running task.
*
* If so, then the tasklist RUNNABLE attribute will inform us if the list
* holds the currently executing task and, hence, if a context switch
* should occur.
*/
if (rtcb->blink == NULL && TLIST_ISRUNNABLE(rtcb->task_state))
{
FAR struct tcb_s *nxttcb;
FAR struct tcb_s *rtrtcb;
int me;
/* There must always be at least one task in the list (the IDLE task)
* after the TCB being removed.
*/
nxttcb = (FAR struct tcb_s *)rtcb->flink;
DEBUGASSERT(nxttcb != NULL);
/* If we are modifying the head of some assigned task list other than
* our own, we will need to stop that CPU.
*/
me = this_cpu();
if (cpu != me)
{
DEBUGVERIFY(up_cpu_pause(cpu));
}
/* The task is running but the CPU that it was running on has been
* paused. We can now safely remove its TCB from the ready-to-run
* task list. In the SMP case this may be either the g_readytorun()
* or the g_assignedtasks[cpu] list.
*/
dq_rem((FAR dq_entry_t *)rtcb, tasklist);
/* Which task will go at the head of the list? It will be either the
* next tcb in the assigned task list (nxttcb) or a TCB in the
* g_readytorun list. We can only select a task from that list if
* the affinity mask includes the current CPU.
*
* REVISIT: What should we do, if anything, if pre-emption is locked
* by the another CPU? Should just used nxttcb? Should we select
* from the pending task list instead of the g_readytorun list?
*/
for (rtrtcb = (FAR struct tcb_s *)g_readytorun.head;
rtrtcb != NULL && !CPU_ISSET(cpu, &rtrtcb->affinity);
rtrtcb = (FAR struct tcb_s *)rtrtcb->flink);
/* Did we find a task in the g_readytorun list? Which task should
* we use? We decide strictly by the priority of the two tasks:
* Either (1) the task currently at the head of the g_assignedtasks[cpu]
* list (nexttcb) or (2) the highest priority task from the
* g_readytorun list with matching affinity (rtrtcb).
*/
if (rtrtcb != NULL && rtrtcb->sched_priority >= nxttcb->sched_priority)
{
FAR struct tcb_s *tmptcb;
/* The TCB at the head of the ready to run list has the higher
* priority. Remove that task from the head of the g_readytorun
* list and add to the head of the g_assignedtasks[cpu] list.
*/
tmptcb = (FAR struct tcb_s *)
dq_remfirst((FAR dq_queue_t *)&g_readytorun);
DEBUGASSERT(tmptcb == rtrtcb);
dq_addfirst((FAR dq_entry_t *)tmptcb, tasklist);
tmptcb->cpu = cpu;
nxttcb = tmptcb;
}
/* Will pre-emption be disabled after the switch? If the lockcount is
* greater than zero, then this task/this CPU holds the scheduler lock.
*/
if (nxttcb->lockcount > 0)
{
/* Yes... make sure that scheduling logic knows about this */
spin_setbit(&g_cpu_lockset, cpu, &g_cpu_locksetlock,
&g_cpu_schedlock);
}
else
{
/* No.. we may need to perform release our hold on the lock. */
spin_clrbit(&g_cpu_lockset, cpu, &g_cpu_locksetlock,
&g_cpu_schedlock);
}
/* Interrupts may be disabled after the switch. If irqcount is greater
* than zero, then this task/this CPU holds the IRQ lock
*/
if (nxttcb->irqcount > 0)
{
/* Yes... make sure that scheduling logic knows about this */
spin_setbit(&g_cpu_irqset, cpu, &g_cpu_irqsetlock,
&g_cpu_irqlock);
}
else
{
/* No.. we may need to release our hold on the irq state. */
spin_clrbit(&g_cpu_irqset, cpu, &g_cpu_irqsetlock,
&g_cpu_irqlock);
}
nxttcb->task_state = TSTATE_TASK_RUNNING;
/* All done, restart the other CPU (if it was paused). */
doswitch = true;
if (cpu != me)
{
/* In this we will not want to report a context switch to this
* CPU. Only the other CPU is affected.
*/
DEBUGVERIFY(up_cpu_resume(cpu));
doswitch = false;
}
}
else
{
/* The task is not running. Just remove its TCB from the ready-to-run
* list. In the SMP case this may be either the g_readytorun() or the
* g_assignedtasks[cpu] list.
*/
dq_rem((FAR dq_entry_t *)rtcb, tasklist);
}
/* Since the TCB is no longer in any list, it is now invalid */
rtcb->task_state = TSTATE_TASK_INVALID;
return doswitch;
}
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;
}
int task_restart(pid_t pid)
{
FAR _TCB *rtcb;
FAR _TCB *tcb;
int status;
irqstate_t state;
/* Make sure this task does not become ready-to-run while
* we are futzing with its TCB
*/
sched_lock();
/* Check if the task to restart is the calling task */
rtcb = (FAR _TCB*)g_readytorun.head;
if ((pid == 0) || (pid == rtcb->pid))
{
/* Not implemented */
return ERROR;
}
/* We are restarting some other task than ourselves */
else
{
/* Find for the TCB associated with matching pid */
tcb = sched_gettcb(pid);
if (!tcb)
{
/* There is no TCB with this pid */
return ERROR;
}
/* Remove the TCB from whatever list it is in. At this point, the
* TCB should no longer be accessible to the system
*/
state = irqsave();
dq_rem((FAR dq_entry_t*)tcb, (dq_queue_t*)g_tasklisttable[tcb->task_state].list);
tcb->task_state = TSTATE_TASK_INVALID;
irqrestore(state);
/* Deallocate anything left in the TCB's queues */
sig_cleanup(tcb); /* Deallocate Signal lists */
/* Reset the current task priority */
tcb->sched_priority = tcb->init_priority;
/* Reset the base task priority and the number of pending reprioritizations */
#ifdef CONFIG_PRIORITY_INHERITANCE
tcb->base_priority = tcb->init_priority;
# if CONFIG_SEM_NNESTPRIO > 0
tcb->npend_reprio = 0;
# endif
#endif
/* Re-initialize the processor-specific portion of the TCB
* This will reset the entry point and the start-up parameters
*/
up_initial_state(tcb);
/* Add the task to the inactive task list */
dq_addfirst((FAR dq_entry_t*)tcb, (dq_queue_t*)&g_inactivetasks);
tcb->task_state = TSTATE_TASK_INACTIVE;
/* Activate the task */
status = task_activate(tcb);
if (status != OK)
{
dq_rem((FAR dq_entry_t*)tcb, (dq_queue_t*)&g_inactivetasks);
sched_releasetcb(tcb);
return ERROR;
}
}
sched_unlock();
return OK;
}
int task_restart(pid_t pid)
{
FAR struct tcb_s *rtcb;
FAR struct task_tcb_s *tcb;
FAR dq_queue_t *tasklist;
irqstate_t state;
int status;
/* Make sure this task does not become ready-to-run while
* we are futzing with its TCB
*/
sched_lock();
/* Check if the task to restart is the calling task */
rtcb = this_task();
if ((pid == 0) || (pid == rtcb->pid))
{
/* Not implemented */
set_errno(ENOSYS);
return ERROR;
}
#ifdef CONFIG_SMP
/* There is currently no capability to restart a task that is actively
* running on another CPU either. This is not the calling cast so if it
* is running, then it could only be running a a different CPU.
*
* Also, will need some interlocks to assure that no tasks are rescheduled
* on any other CPU while we do this.
*/
#warning Missing SMP logic
if (rtcb->task_state == TSTATE_TASK_RUNNING)
{
/* Not implemented */
set_errno(ENOSYS);
return ERROR;
}
#endif
/* We are restarting some other task than ourselves */
/* Find for the TCB associated with matching pid */
tcb = (FAR struct task_tcb_s *)sched_gettcb(pid);
#ifndef CONFIG_DISABLE_PTHREAD
if (!tcb || (tcb->cmn.flags & TCB_FLAG_TTYPE_MASK) == TCB_FLAG_TTYPE_PTHREAD)
#else
if (!tcb)
#endif
{
/* There is no TCB with this pid or, if there is, it is not a task. */
set_errno(ESRCH);
return ERROR;
}
/* Try to recover from any bad states */
task_recover((FAR struct tcb_s *)tcb);
/* Kill any children of this thread */
#ifdef HAVE_GROUP_MEMBERS
(void)group_killchildren(tcb);
#endif
/* Remove the TCB from whatever list it is in. After this point, the TCB
* should no longer be accessible to the system
*/
#ifdef CONFIG_SMP
tasklist = TLIST_HEAD(tcb->cmn.task_state, tcb->cmn.cpu);
#else
tasklist = TLIST_HEAD(tcb->cmn.task_state);
#endif
state = irqsave();
dq_rem((FAR dq_entry_t *)tcb, tasklist);
tcb->cmn.task_state = TSTATE_TASK_INVALID;
irqrestore(state);
/* Deallocate anything left in the TCB's queues */
sig_cleanup((FAR struct tcb_s *)tcb); /* Deallocate Signal lists */
/* Reset the current task priority */
tcb->cmn.sched_priority = tcb->init_priority;
/* Reset the base task priority and the number of pending reprioritizations */
#ifdef CONFIG_PRIORITY_INHERITANCE
tcb->cmn.base_priority = tcb->init_priority;
# if CONFIG_SEM_NNESTPRIO > 0
tcb->cmn.npend_reprio = 0;
# endif
#endif
/* Re-initialize the processor-specific portion of the TCB. This will
* reset the entry point and the start-up parameters
*/
up_initial_state((FAR struct tcb_s *)tcb);
/* Add the task to the inactive task list */
dq_addfirst((FAR dq_entry_t *)tcb, (FAR dq_queue_t *)&g_inactivetasks);
tcb->cmn.task_state = TSTATE_TASK_INACTIVE;
/* Activate the task */
status = task_activate((FAR struct tcb_s *)tcb);
if (status != OK)
{
(void)task_delete(pid);
set_errno(-status);
return ERROR;
}
sched_unlock();
return OK;
}
int task_restart(pid_t pid)
{
FAR struct tcb_s *rtcb;
FAR struct task_tcb_s *tcb;
FAR dq_queue_t *tasklist;
irqstate_t flags;
int errcode;
#ifdef CONFIG_SMP
int cpu;
#endif
int ret;
/* Check if the task to restart is the calling task */
rtcb = this_task();
if ((pid == 0) || (pid == rtcb->pid))
{
/* Not implemented */
errcode = ENOSYS;
goto errout;
}
/* We are restarting some other task than ourselves. Make sure that the
* task does not change its state while we are executing. In the single
* CPU state this could be done by disabling pre-emption. But we will
* a little stronger medicine on the SMP case: The task make be running
* on another CPU.
*/
flags = enter_critical_section();
/* Find for the TCB associated with matching pid */
tcb = (FAR struct task_tcb_s *)sched_gettcb(pid);
#ifndef CONFIG_DISABLE_PTHREAD
if (!tcb || (tcb->cmn.flags & TCB_FLAG_TTYPE_MASK) == TCB_FLAG_TTYPE_PTHREAD)
#else
if (!tcb)
#endif
{
/* There is no TCB with this pid or, if there is, it is not a task. */
errcode = ESRCH;
goto errout_with_lock;
}
#ifdef CONFIG_SMP
/* If the task is running on another CPU, then pause that CPU. We can
* then manipulate the TCB of the restarted task and when we resume the
* that CPU, the restart take effect.
*/
cpu = sched_cpu_pause(&tcb->cmn);
#endif /* CONFIG_SMP */
/* Try to recover from any bad states */
task_recover((FAR struct tcb_s *)tcb);
/* Kill any children of this thread */
#ifdef HAVE_GROUP_MEMBERS
(void)group_killchildren(tcb);
#endif
/* Remove the TCB from whatever list it is in. After this point, the TCB
* should no longer be accessible to the system
*/
#ifdef CONFIG_SMP
tasklist = TLIST_HEAD(tcb->cmn.task_state, tcb->cmn.cpu);
#else
tasklist = TLIST_HEAD(tcb->cmn.task_state);
#endif
dq_rem((FAR dq_entry_t *)tcb, tasklist);
tcb->cmn.task_state = TSTATE_TASK_INVALID;
/* Deallocate anything left in the TCB's queues */
sig_cleanup((FAR struct tcb_s *)tcb); /* Deallocate Signal lists */
/* Reset the current task priority */
tcb->cmn.sched_priority = tcb->cmn.init_priority;
/* The task should restart with pre-emption disabled and not in a critical
* secton.
*/
tcb->cmn.lockcount = 0;
#ifdef CONFIG_SMP
tcb->cmn.irqcount = 0;
#endif
/* Reset the base task priority and the number of pending reprioritizations */
#ifdef CONFIG_PRIORITY_INHERITANCE
tcb->cmn.base_priority = tcb->cmn.init_priority;
# if CONFIG_SEM_NNESTPRIO > 0
tcb->cmn.npend_reprio = 0;
# endif
#endif
/* Re-initialize the processor-specific portion of the TCB. This will
* reset the entry point and the start-up parameters
*/
up_initial_state((FAR struct tcb_s *)tcb);
/* Add the task to the inactive task list */
dq_addfirst((FAR dq_entry_t *)tcb, (FAR dq_queue_t *)&g_inactivetasks);
tcb->cmn.task_state = TSTATE_TASK_INACTIVE;
#ifdef CONFIG_SMP
/* Resume the paused CPU (if any) */
if (cpu >= 0)
{
ret = up_cpu_resume(cpu);
if (ret < 0)
{
errcode = -ret;
goto errout_with_lock;
}
}
#endif /* CONFIG_SMP */
leave_critical_section(flags);
/* Activate the task. */
ret = task_activate((FAR struct tcb_s *)tcb);
if (ret != OK)
{
(void)task_terminate(pid, true);
errcode = -ret;
goto errout_with_lock;
}
return OK;
errout_with_lock:
leave_critical_section(flags);
errout:
set_errno(errcode);
return ERROR;
}
int work_thread(int argc, char *argv[])
{
volatile FAR struct work_s *work;
worker_t worker;
FAR void *arg;
uint32_t elapsed;
uint32_t remaining;
uint32_t next;
int usec;
irqstate_t flags;
/* Loop forever */
usec = CONFIG_SCHED_WORKPERIOD;
flags = irqsave();
for (;;)
{
/* Wait awhile to check the work list. We will wait here until either
* the time elapses or until we are awakened by a signal.
*/
usleep(usec);
irqrestore(flags);
/* First, perform garbage collection. This cleans-up memory de-allocations
* that were queued because they could not be freed in that execution
* context (for example, if the memory was freed from an interrupt handler).
* NOTE: If the work thread is disabled, this clean-up is performed by
* the IDLE thread (at a very, very lower priority).
*/
sched_garbagecollection();
/* Then process queued work. We need to keep interrupts disabled while
* we process items in the work list.
*/
next = CONFIG_SCHED_WORKPERIOD / USEC_PER_TICK;
flags = irqsave();
work = (FAR struct work_s *)g_work.head;
while (work)
{
/* Is this work ready? It is ready if there is no delay or if
* the delay has elapsed. qtime is the time that the work was added
* to the work queue. It will always be greater than or equal to
* zero. Therefore a delay of zero will always execute immediately.
*/
elapsed = clock_systimer() - work->qtime;
if (elapsed >= work->delay)
{
/* Remove the ready-to-execute work from the list */
(void)dq_rem((struct dq_entry_s *)work, &g_work);
/* Extract the work description from the entry (in case the work
* instance by the re-used after it has been de-queued).
*/
worker = work->worker;
arg = work->arg;
/* Mark the work as no longer being queued */
work->worker = NULL;
/* Do the work. Re-enable interrupts while the work is being
* performed... we don't have any idea how long that will take!
*/
irqrestore(flags);
worker(arg);
/* Now, unfortunately, since we re-enabled interrupts we don't
* know the state of the work list and we will have to start
* back at the head of the list.
*/
flags = irqsave();
work = (FAR struct work_s *)g_work.head;
}
else
{
/* This one is not ready.. will it be ready before the next
* scheduled wakeup interval?
*/
remaining = elapsed - work->delay;
if (remaining < next)
{
/* Yes.. Then schedule to wake up when the work is ready */
next = remaining;
}
/* Then try the next in the list. */
work = (FAR struct work_s *)work->dq.flink;
}
}
/* Now calculate the microsecond delay we should wait */
usec = next * USEC_PER_TICK;
}
return OK; /* To keep some compilers happy */
}
void work_process(FAR struct usr_wqueue_s *wqueue)
{
volatile FAR struct work_s *work;
worker_t worker;
FAR void *arg;
uint32_t elapsed;
uint32_t remaining;
uint32_t stick;
uint32_t ctick;
uint32_t next;
int ret;
/* Then process queued work. Lock the work queue while we process items
* in the work list.
*/
next = wqueue->delay;
ret = work_lock();
if (ret < 0)
{
/* Break out earlier if we were awakened by a signal */
return;
}
/* Get the time that we started this polling cycle in clock ticks. */
stick = clock_systimer();
/* And check each entry in the work queue. Since we have locked the
* work queue we know: (1) we will not be suspended unless we do
* so ourselves, and (2) there will be no changes to the work queue
*/
work = (FAR struct work_s *)wqueue->q.head;
while (work)
{
/* Is this work ready? It is ready if there is no delay or if
* the delay has elapsed. qtime is the time that the work was added
* to the work queue. It will always be greater than or equal to
* zero. Therefore a delay of zero will always execute immediately.
*/
ctick = clock_systimer();
elapsed = ctick - work->qtime;
if (elapsed >= work->delay)
{
/* Remove the ready-to-execute work from the list */
(void)dq_rem((struct dq_entry_s *)work, &wqueue->q);
/* Extract the work description from the entry (in case the work
* instance by the re-used after it has been de-queued).
*/
worker = work->worker;
/* Check for a race condition where the work may be nullified
* before it is removed from the queue.
*/
if (worker != NULL)
{
/* Extract the work argument (before unlocking the work queue) */
arg = work->arg;
/* Mark the work as no longer being queued */
work->worker = NULL;
/* Do the work. Unlock the the work queue while the work is being
* performed... we don't have any idea how long this will take!
*/
work_unlock();
worker(arg);
/* Now, unfortunately, since we unlocked the work queue we don't
* know the state of the work list and we will have to start
* back at the head of the list.
*/
ret = work_lock();
if (ret < 0)
{
/* Break out earlier if we were awakened by a signal */
return;
}
work = (FAR struct work_s *)wqueue->q.head;
}
else
{
/* Cancelled.. Just move to the next work in the list with
* the work queue still locked.
*/
work = (FAR struct work_s *)work->dq.flink;
}
}
else /* elapsed < work->delay */
{
/* This one is not ready.
*
* NOTE that elapsed is relative to the the current time,
* not the time of beginning of this queue processing pass.
* So it may need an adjustment.
*/
elapsed += (ctick - stick);
if (elapsed > work->delay)
{
/* The delay has expired while we are processing */
elapsed = work->delay;
}
/* Will it be ready before the next scheduled wakeup interval? */
remaining = work->delay - elapsed;
if (remaining < next)
{
/* Yes.. Then schedule to wake up when the work is ready */
next = remaining;
}
/* Then try the next in the list. */
work = (FAR struct work_s *)work->dq.flink;
}
}
/* Get the delay (in clock ticks) since we started the sampling */
elapsed = clock_systimer() - stick;
if (elapsed < wqueue->delay && next > 0)
{
/* How must time would we need to delay to get to the end of the
* sampling period? The amount of time we delay should be the smaller
* of the time to the end of the sampling period and the time to the
* next work expiry.
*/
remaining = wqueue->delay - elapsed;
next = MIN(next, remaining);
/* Wait awhile to check the work list. We will wait here until
* either the time elapses or until we are awakened by a signal.
* Interrupts will be re-enabled while we wait.
*/
usleep(next * USEC_PER_TICK);
}
work_unlock();
}
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;
}
struct uip_conn *uip_tcpalloc(void)
{
struct uip_conn *conn;
uip_lock_t flags;
/* Because this routine is called from both interrupt level and
* and from user level, we have not option but to disable interrupts
* while accessing g_free_tcp_connections[];
*/
flags = uip_lock();
/* Return the entry from the head of the free list */
conn = (struct uip_conn *)dq_remfirst(&g_free_tcp_connections);
#if 0 /* Revisit */
/* Is the free list empty? */
if (!conn)
{
/* As a fallback, check for connection structures in the TIME_WAIT
* state. If no CLOSED connections are found, then take the oldest
*/
struct uip_conn *tmp = g_active_tcp_connections.head;
while (tmp)
{
/* Is this connectin in the UIP_TIME_WAIT state? */
if (tmp->tcpstateflags == UIP_TIME_WAIT)
{
/* Is it the oldest one we have seen so far? */
if (!conn || tmp->timer > conn->timer)
{
/* Yes.. remember it */
conn = tmp;
}
}
/* Look at the next active connection */
tmp = tmp->node.flink;
}
/* If we found one, remove it from the active connection list */
dq_rem(&conn->node, &g_active_tcp_connections);
}
#endif
uip_unlock(flags);
/* Mark the connection allocated */
if (conn)
{
conn->tcpstateflags = UIP_ALLOCATED;
}
return conn;
}
void work_process(FAR struct kwork_wqueue_s *wqueue, systime_t period, int wndx)
{
volatile FAR struct work_s *work;
worker_t worker;
irqstate_t flags;
FAR void *arg;
systime_t elapsed;
systime_t remaining;
systime_t stick;
systime_t ctick;
systime_t next;
/* Then process queued work. We need to keep interrupts disabled while
* we process items in the work list.
*/
next = period;
flags = irqsave();
/* Get the time that we started this polling cycle in clock ticks. */
stick = clock_systimer();
/* And check each entry in the work queue. Since we have disabled
* interrupts we know: (1) we will not be suspended unless we do
* so ourselves, and (2) there will be no changes to the work queue
*/
work = (FAR struct work_s *)wqueue->q.head;
while (work)
{
/* Is this work ready? It is ready if there is no delay or if
* the delay has elapsed. qtime is the time that the work was added
* to the work queue. It will always be greater than or equal to
* zero. Therefore a delay of zero will always execute immediately.
*/
ctick = clock_systimer();
elapsed = ctick - work->qtime;
if (elapsed >= work->delay)
{
/* Remove the ready-to-execute work from the list */
(void)dq_rem((struct dq_entry_s *)work, &wqueue->q);
/* Extract the work description from the entry (in case the work
* instance by the re-used after it has been de-queued).
*/
worker = work->worker;
/* Check for a race condition where the work may be nullified
* before it is removed from the queue.
*/
if (worker != NULL)
{
/* Extract the work argument (before re-enabling interrupts) */
arg = work->arg;
/* Mark the work as no longer being queued */
work->worker = NULL;
/* Do the work. Re-enable interrupts while the work is being
* performed... we don't have any idea how long this will take!
*/
irqrestore(flags);
worker(arg);
/* Now, unfortunately, since we re-enabled interrupts we don't
* know the state of the work list and we will have to start
* back at the head of the list.
*/
flags = irqsave();
work = (FAR struct work_s *)wqueue->q.head;
}
else
{
/* Cancelled.. Just move to the next work in the list with
* interrupts still disabled.
*/
work = (FAR struct work_s *)work->dq.flink;
}
}
else /* elapsed < work->delay */
{
/* This one is not ready.
*
* NOTE that elapsed is relative to the the current time,
* not the time of beginning of this queue processing pass.
* So it may need an adjustment.
*/
elapsed += (ctick - stick);
if (elapsed > work->delay)
{
/* The delay has expired while we are processing */
elapsed = work->delay;
}
/* Will it be ready before the next scheduled wakeup interval? */
remaining = work->delay - elapsed;
if (remaining < next)
{
/* Yes.. Then schedule to wake up when the work is ready */
next = remaining;
}
/* Then try the next in the list. */
work = (FAR struct work_s *)work->dq.flink;
}
}
#if defined(CONFIG_SCHED_LPWORK) && CONFIG_SCHED_LPNTHREADS > 0
/* Value of zero for period means that we should wait indefinitely until
* signalled. This option is used only for the case where there are
* multiple, low-priority worker threads. In that case, only one of
* the threads does the poll... the others simple. In all other cases
* period will be non-zero and equal to wqueue->delay.
*/
if (period == 0)
{
sigset_t set;
/* Wait indefinitely until signalled with SIGWORK */
sigemptyset(&set);
sigaddset(&set, SIGWORK);
wqueue->worker[wndx].busy = false;
DEBUGVERIFY(sigwaitinfo(&set, NULL));
wqueue->worker[wndx].busy = true;
}
else
#endif
{
/* Get the delay (in clock ticks) since we started the sampling */
elapsed = clock_systimer() - stick;
if (elapsed < period && next > 0)
{
/* How much time would we need to delay to get to the end of the
* sampling period? The amount of time we delay should be the smaller
* of the time to the end of the sampling period and the time to the
* next work expiry.
*/
remaining = period - elapsed;
next = MIN(next, remaining);
/* Wait awhile to check the work list. We will wait here until
* either the time elapses or until we are awakened by a signal.
* Interrupts will be re-enabled while we wait.
*/
wqueue->worker[wndx].busy = false;
usleep(next * USEC_PER_TICK);
wqueue->worker[wndx].busy = true;
}
}
irqrestore(flags);
}
static void work_process(struct wqueue_s *wqueue, int lock_id)
{
volatile struct work_s *work;
worker_t worker;
void *arg;
uint64_t elapsed;
uint32_t remaining;
uint32_t next;
/* Then process queued work. We need to keep interrupts disabled while
* we process items in the work list.
*/
next = CONFIG_SCHED_WORKPERIOD;
work_lock(lock_id);
work = (struct work_s *)wqueue->q.head;
while (work) {
/* Is this work ready? It is ready if there is no delay or if
* the delay has elapsed. qtime is the time that the work was added
* to the work queue. It will always be greater than or equal to
* zero. Therefore a delay of zero will always execute immediately.
*/
elapsed = USEC2TICK(clock_systimer() - work->qtime);
//printf("work_process: in ticks elapsed=%lu delay=%u\n", elapsed, work->delay);
if (elapsed >= work->delay) {
/* Remove the ready-to-execute work from the list */
(void)dq_rem((struct dq_entry_s *)work, &wqueue->q);
/* Extract the work description from the entry (in case the work
* instance by the re-used after it has been de-queued).
*/
worker = work->worker;
arg = work->arg;
/* Mark the work as no longer being queued */
work->worker = NULL;
/* Do the work. Re-enable interrupts while the work is being
* performed... we don't have any idea how long that will take!
*/
work_unlock(lock_id);
if (!worker) {
PX4_WARN("MESSED UP: worker = 0\n");
} else {
worker(arg);
}
/* Now, unfortunately, since we re-enabled interrupts we don't
* know the state of the work list and we will have to start
* back at the head of the list.
*/
work_lock(lock_id);
work = (struct work_s *)wqueue->q.head;
} else {
/* This one is not ready.. will it be ready before the next
* scheduled wakeup interval?
*/
/* Here: elapsed < work->delay */
remaining = USEC_PER_TICK * (work->delay - elapsed);
if (remaining < next) {
/* Yes.. Then schedule to wake up when the work is ready */
next = remaining;
}
/* Then try the next in the list. */
work = (struct work_s *)work->dq.flink;
}
}
/* Wait awhile to check the work list. We will wait here until either
* the time elapses or until we are awakened by a signal.
*/
work_unlock(lock_id);
usleep(next);
}
int task_restart(pid_t pid)
{
FAR struct tcb_s *rtcb;
FAR struct task_tcb_s *tcb;
irqstate_t state;
int status;
/* Make sure this task does not become ready-to-run while
* we are futzing with its TCB
*/
sched_lock();
/* Check if the task to restart is the calling task */
rtcb = (FAR struct tcb_s *)g_readytorun.head;
if ((pid == 0) || (pid == rtcb->pid))
{
/* Not implemented */
set_errno(ENOSYS);
return ERROR;
}
/* We are restarting some other task than ourselves */
else
{
/* Find for the TCB associated with matching pid */
tcb = (FAR struct task_tcb_s *)sched_gettcb(pid);
#ifndef CONFIG_DISABLE_PTHREAD
if (!tcb || (tcb->cmn.flags & TCB_FLAG_TTYPE_MASK) == TCB_FLAG_TTYPE_PTHREAD)
#else
if (!tcb)
#endif
{
/* There is no TCB with this pid or, if there is, it is not a
* task.
*/
set_errno(ESRCH);
return ERROR;
}
/* Try to recover from any bad states */
task_recover((FAR struct tcb_s *)tcb);
/* Kill any children of this thread */
#if HAVE_GROUP_MEMBERS
(void)group_killchildren(tcb);
#endif
/* Remove the TCB from whatever list it is in. At this point, the
* TCB should no longer be accessible to the system
*/
state = irqsave();
dq_rem((FAR dq_entry_t*)tcb,
(dq_queue_t*)g_tasklisttable[tcb->cmn.task_state].list);
tcb->cmn.task_state = TSTATE_TASK_INVALID;
irqrestore(state);
/* Deallocate anything left in the TCB's queues */
sig_cleanup((FAR struct tcb_s *)tcb); /* Deallocate Signal lists */
/* Reset the current task priority */
tcb->cmn.sched_priority = tcb->init_priority;
/* Reset the base task priority and the number of pending reprioritizations */
#ifdef CONFIG_PRIORITY_INHERITANCE
tcb->cmn.base_priority = tcb->init_priority;
# if CONFIG_SEM_NNESTPRIO > 0
tcb->cmn.npend_reprio = 0;
# endif
#endif
/* Re-initialize the processor-specific portion of the TCB
* This will reset the entry point and the start-up parameters
*/
up_initial_state((FAR struct tcb_s *)tcb);
/* Add the task to the inactive task list */
dq_addfirst((FAR dq_entry_t*)tcb, (dq_queue_t*)&g_inactivetasks);
tcb->cmn.task_state = TSTATE_TASK_INACTIVE;
/* Activate the task */
status = task_activate((FAR struct tcb_s *)tcb);
if (status != OK)
{
(void)task_delete(pid);
set_errno(-status);
return ERROR;
}
}
sched_unlock();
return OK;
}
int sched_setpriority(FAR struct tcb_s *tcb, int sched_priority)
{
FAR struct tcb_s *rtcb = (FAR struct tcb_s*)g_readytorun.head;
tstate_t task_state;
irqstate_t saved_state;
/* Verify that the requested priority is in the valid range */
if (sched_priority < SCHED_PRIORITY_MIN ||
sched_priority > SCHED_PRIORITY_MAX)
{
set_errno(EINVAL);
return ERROR;
}
/* We need to assure that there there is no interrupt activity while
* performing the following.
*/
saved_state = irqsave();
/* There are four cases that must be considered: */
task_state = tcb->task_state;
switch (task_state)
{
/* CASE 1. The task is running or ready-to-run and a context switch
* may be caused by the re-prioritization
*/
case TSTATE_TASK_RUNNING:
/* A context switch will occur if the new priority of the running
* task becomes less than OR EQUAL TO the next highest priority
* ready to run task.
*/
if (sched_priority <= tcb->flink->sched_priority)
{
/* A context switch will occur. */
up_reprioritize_rtr(tcb, (uint8_t)sched_priority);
}
/* Otherwise, we can just change priority since it has no effect */
else
{
/* Change the task priority */
tcb->sched_priority = (uint8_t)sched_priority;
}
break;
/* CASE 2. The task is running or ready-to-run and a context switch
* may be caused by the re-prioritization
*/
case TSTATE_TASK_READYTORUN:
/* A context switch will occur if the new priority of the ready-to
* run task is (strictly) greater than the current running task
*/
if (sched_priority > rtcb->sched_priority)
{
/* A context switch will occur. */
up_reprioritize_rtr(tcb, (uint8_t)sched_priority);
}
/* Otherwise, we can just change priority and re-schedule (since it
* have no other effect).
*/
else
{
/* Remove the TCB from the ready-to-run task list */
ASSERT(!sched_removereadytorun(tcb));
/* Change the task priority */
tcb->sched_priority = (uint8_t)sched_priority;
/* Put it back into the ready-to-run task list */
ASSERT(!sched_addreadytorun(tcb));
}
break;
/* CASE 3. The task is not in the ready to run list. Changing its
* Priority cannot effect the currently executing task.
*/
default:
/* CASE 3a. The task resides in a prioritized list. */
if (g_tasklisttable[task_state].prioritized)
{
/* Remove the TCB from the prioritized task list */
dq_rem((FAR dq_entry_t*)tcb, (FAR dq_queue_t*)g_tasklisttable[task_state].list);
/* Change the task priority */
tcb->sched_priority = (uint8_t)sched_priority;
/* Put it back into the prioritized list at the correct
* position
*/
sched_addprioritized(tcb, (FAR dq_queue_t*)g_tasklisttable[task_state].list);
}
/* CASE 3b. The task resides in a non-prioritized list. */
else
{
/* Just change the task's priority */
tcb->sched_priority = (uint8_t)sched_priority;
}
break;
}
irqrestore(saved_state);
return OK;
}
void uip_tcpfree(struct uip_conn *conn)
{
FAR struct uip_callback_s *cb;
FAR struct uip_callback_s *next;
#ifdef CONFIG_NET_TCP_READAHEAD
FAR struct uip_readahead_s *readahead;
#endif
#ifdef CONFIG_NET_TCP_WRITE_BUFFERS
FAR struct uip_wrbuffer_s *wrbuffer;
#endif
uip_lock_t flags;
/* Because g_free_tcp_connections is accessed from user level and interrupt
* level, code, it is necessary to keep interrupts disabled during this
* operation.
*/
DEBUGASSERT(conn->crefs == 0);
flags = uip_lock();
/* Free remaining callbacks, actually there should be only the close callback
* left.
*/
for (cb = conn->list; cb; cb = next)
{
next = cb->flink;
uip_tcpcallbackfree(conn, cb);
}
/* UIP_ALLOCATED means that that the connection is not in the active list
* yet.
*/
if (conn->tcpstateflags != UIP_ALLOCATED)
{
/* Remove the connection from the active list */
dq_rem(&conn->node, &g_active_tcp_connections);
}
#ifdef CONFIG_NET_TCP_READAHEAD
/* Release any read-ahead buffers attached to the connection */
while ((readahead = (struct uip_readahead_s *)sq_remfirst(&conn->readahead)) != NULL)
{
uip_tcpreadahead_release(readahead);
}
#endif
#ifdef CONFIG_NET_TCP_WRITE_BUFFERS
/* Release any write buffers attached to the connection */
while ((wrbuffer = (struct uip_wrbuffer_s *)sq_remfirst(&conn->write_q)) != NULL)
{
uip_tcpwrbuffer_release(wrbuffer);
}
while ((wrbuffer = (struct uip_wrbuffer_s *)sq_remfirst(&conn->unacked_q)) != NULL)
{
uip_tcpwrbuffer_release(wrbuffer);
}
#endif
#ifdef CONFIG_NET_TCPBACKLOG
/* Remove any backlog attached to this connection */
if (conn->backlog)
{
uip_backlogdestroy(conn);
}
/* If this connection is, itself, backlogged, then remove it from the
* parent connection's backlog list.
*/
if (conn->blparent)
{
uip_backlogdelete(conn->blparent, conn);
}
#endif
/* Mark the connection available and put it into the free list */
conn->tcpstateflags = UIP_CLOSED;
dq_addlast(&conn->node, &g_free_tcp_connections);
uip_unlock(flags);
}
static void work_process(FAR struct wqueue_s *wqueue)
{
volatile FAR struct work_s *work;
worker_t worker;
irqstate_t flags;
FAR void *arg;
uint32_t elapsed;
uint32_t remaining;
uint32_t next;
/* Then process queued work. We need to keep interrupts disabled while
* we process items in the work list.
*/
next = CONFIG_SCHED_WORKPERIOD / USEC_PER_TICK;
flags = irqsave();
work = (FAR struct work_s *)wqueue->q.head;
while (work)
{
/* Is this work ready? It is ready if there is no delay or if
* the delay has elapsed. qtime is the time that the work was added
* to the work queue. It will always be greater than or equal to
* zero. Therefore a delay of zero will always execute immediately.
*/
elapsed = clock_systimer() - work->qtime;
if (elapsed >= work->delay)
{
/* Remove the ready-to-execute work from the list */
(void)dq_rem((struct dq_entry_s *)work, &wqueue->q);
/* Extract the work description from the entry (in case the work
* instance by the re-used after it has been de-queued).
*/
worker = work->worker;
/* Check for a race condition where the work may be nullified
* before it is removed from the queue.
*/
if (worker != NULL)
{
/* Extract the work argument (before re-enabling interrupts) */
arg = work->arg;
/* Mark the work as no longer being queued */
work->worker = NULL;
/* Do the work. Re-enable interrupts while the work is being
* performed... we don't have any idea how long that will take!
*/
irqrestore(flags);
worker(arg);
/* Now, unfortunately, since we re-enabled interrupts we don't
* know the state of the work list and we will have to start
* back at the head of the list.
*/
flags = irqsave();
work = (FAR struct work_s *)wqueue->q.head;
}
else
{
/* Cancelled.. Just move to the next work in the list with
* interrupts still disabled.
*/
work = (FAR struct work_s *)work->dq.flink;
}
}
else
{
/* This one is not ready.. will it be ready before the next
* scheduled wakeup interval?
*/
remaining = elapsed - work->delay;
if (remaining < next)
{
/* Yes.. Then schedule to wake up when the work is ready */
next = remaining;
}
/* Then try the next in the list. */
work = (FAR struct work_s *)work->dq.flink;
}
}
/* Wait awhile to check the work list. We will wait here until either
* the time elapses or until we are awakened by a signal.
*/
usleep(next * USEC_PER_TICK);
irqrestore(flags);
}
