OS_RESULT rt_tsk_delete (OS_TID task_id) {
/* Terminate the task identified with "task_id". */
P_TCB task_context;
if (task_id == 0 || task_id == os_tsk.run->task_id) {
/* Terminate itself. */
os_tsk.run->state = INACTIVE;
os_tsk.run->tsk_stack = rt_get_PSP ();
rt_stk_check ();
os_active_TCB[os_tsk.run->task_id-1] = NULL;
os_tsk.run->stack = NULL;
DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
os_tsk.run = NULL;
rt_dispatch (NULL);
/* The program should never come to this point. */
}
else {
/* Find the task in the "os_active_TCB" array. */
if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
/* Task with "task_id" not found or not started. */
return (OS_R_NOK);
}
task_context = os_active_TCB[task_id-1];
rt_rmv_list (task_context);
rt_rmv_dly (task_context);
os_active_TCB[task_id-1] = NULL;
task_context->stack = NULL;
DBG_TASK_NOTIFY(task_context, __FALSE);
}
return (OS_R_OK);
}
OS_RESULT rt_tsk_get(OS_TID task_id, RL_TASK_INFO *buffer)
{
U16 stack_size;
U32 start_stack_ptr;
U32 current_stack_ptr;
U32 end_stack_ptr;
P_TCB p_task;
p_task = os_active_TCB[task_id-1];
if(p_task->state == 0 || p_task->prio == 0 || p_task->tsk_stack == 0 || p_task->task_id == 0)
return OS_R_NOK;
buffer->state = p_task->state;
buffer->prio = p_task->prio;
buffer->task_id = p_task->task_id;
end_stack_ptr = (U32) p_task->stack;
stack_size = (U16)os_stackinfo;
if(p_task->state == 2)
{
current_stack_ptr = rt_get_PSP();
}
else
{
current_stack_ptr = p_task->tsk_stack;
}
start_stack_ptr = end_stack_ptr + stack_size;
buffer->stack_usage = ((( start_stack_ptr - current_stack_ptr ) * 100) / ( stack_size));
buffer->ptask = p_task->ptask;
/*
printf("(start_stack_ptr - current_stack_ptr) : %d\n",( start_stack_ptr - current_stack_ptr ));
printf("(( start_stack_ptr - current_stack_ptr ) * 100) : %d\n",(( start_stack_ptr - current_stack_ptr ) * 100));
printf("((( start_stack_ptr - current_stack_ptr ) * 100) / ( stack_size)) : %d\n",((( start_stack_ptr - current_stack_ptr ) * 100) / ( stack_size)));
printf("100 - ((( start_stack_ptr - current_stack_ptr ) * 100) / ( stack_size)) : %d\n",100-((( start_stack_ptr - current_stack_ptr ) * 100) / ( stack_size)));
printf("start_stack_ptr = %d\n", start_stack_ptr);
printf("stack_size = %d\n", stack_size );
printf("current_stack_ptr = %d\n", current_stack_ptr);
printf("end_stack_ptr = %d\n", end_stack_ptr);
*/
// printf("( rt_get_PSP() - (p_task->tsk_stack) ) : %d\n", ( rt_get_PSP() - (p_task->tsk_stack) ) );
// printf("(( ( rt_get_PSP() - (p_task->tsk_stack) ) * 100 ) : %d\n", ( ( rt_get_PSP() - (p_task->tsk_stack) ) * 100 ) );
// printf("( ( ( rt_get_PSP() - (p_task->tsk_stack) ) * 100 ) / (stack_size) ): %d\n", ( ( ( rt_get_PSP() - (p_task->tsk_stack) ) * 100 ) / (stack_size) ) );
//printf("State = %d\n Priority = %d\n task_id = %d\n stack_usage = %d\n", buffer->state, buffer->prio, buffer->task_id, buffer->stack_usage);
return OS_R_OK;
}
OS_RESULT rt_tsk_delete (OS_TID task_id) {
/* Terminate the task identified with "task_id". */
P_TCB task_context;
P_TCB p_TCB;
P_MUCB p_MCB, p_MCB0;
if ((task_id == 0U) || (task_id == os_tsk.run->task_id)) {
/* Terminate itself. */
os_tsk.run->state = INACTIVE;
os_tsk.run->tsk_stack = rt_get_PSP ();
rt_stk_check ();
p_MCB = os_tsk.run->p_mlnk;
while (p_MCB) {
/* Release mutexes owned by this task */
if (p_MCB->p_lnk) {
/* A task is waiting for mutex. */
p_TCB = rt_get_first ((P_XCB)p_MCB);
#ifdef __CMSIS_RTOS
rt_ret_val (p_TCB, 0U/*osOK*/);
#else
rt_ret_val (p_TCB, OS_R_MUT);
#endif
rt_rmv_dly (p_TCB);
p_TCB->state = READY;
rt_put_prio (&os_rdy, p_TCB);
/* A waiting task becomes the owner of this mutex. */
p_MCB0 = p_MCB->p_mlnk;
p_MCB->level = 1U;
p_MCB->owner = p_TCB;
p_MCB->p_mlnk = p_TCB->p_mlnk;
p_TCB->p_mlnk = p_MCB;
p_MCB = p_MCB0;
}
else {
p_MCB0 = p_MCB->p_mlnk;
p_MCB->level = 0U;
p_MCB->owner = NULL;
p_MCB->p_mlnk = NULL;
p_MCB = p_MCB0;
}
}
os_active_TCB[os_tsk.run->task_id-1U] = NULL;
rt_free_box (mp_stk, os_tsk.run->stack);
os_tsk.run->stack = NULL;
DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
rt_free_box (mp_tcb, os_tsk.run);
os_tsk.run = NULL;
rt_dispatch (NULL);
/* The program should never come to this point. */
}
else {
/* Find the task in the "os_active_TCB" array. */
if ((task_id > os_maxtaskrun) || (os_active_TCB[task_id-1U] == NULL)) {
/* Task with "task_id" not found or not started. */
return (OS_R_NOK);
}
task_context = os_active_TCB[task_id-1U];
rt_rmv_list (task_context);
rt_rmv_dly (task_context);
p_MCB = task_context->p_mlnk;
while (p_MCB) {
/* Release mutexes owned by this task */
if (p_MCB->p_lnk) {
/* A task is waiting for mutex. */
p_TCB = rt_get_first ((P_XCB)p_MCB);
#ifdef __CMSIS_RTOS
rt_ret_val (p_TCB, 0U/*osOK*/);
#else
rt_ret_val (p_TCB, OS_R_MUT);
#endif
rt_rmv_dly (p_TCB);
p_TCB->state = READY;
rt_put_prio (&os_rdy, p_TCB);
/* A waiting task becomes the owner of this mutex. */
p_MCB0 = p_MCB->p_mlnk;
p_MCB->level = 1U;
p_MCB->owner = p_TCB;
p_MCB->p_mlnk = p_TCB->p_mlnk;
p_TCB->p_mlnk = p_MCB;
p_MCB = p_MCB0;
}
else {
p_MCB0 = p_MCB->p_mlnk;
p_MCB->level = 0U;
p_MCB->owner = NULL;
p_MCB->p_mlnk = NULL;
p_MCB = p_MCB0;
}
}
os_active_TCB[task_id-1U] = NULL;
rt_free_box (mp_stk, task_context->stack);
task_context->stack = NULL;
DBG_TASK_NOTIFY(task_context, __FALSE);
rt_free_box (mp_tcb, task_context);
if (rt_rdy_prio() > os_tsk.run->prio) {
/* Ready task has higher priority than running task. */
os_tsk.run->state = READY;
rt_put_prio (&os_rdy, os_tsk.run);
rt_dispatch (NULL);
}
}
return (OS_R_OK);
}
