/**
* The main function for creating a new task.
*/
task_pid_t task_create_gid (task_gid_t gid, task_function_t fn)
{
pth_t pid;
pth_attr_t attr;
int i;
#ifdef PTHDEBUG
printf ("task_create_gid: gid=%d, fn=%p\n", gid, fn);
#endif
/* Set the task attributes:
* - Not joinable : all tasks are independent
* - cancellable : task kill is permitted
* - priority : make certain tasks that the simulator itself
* uses higher priority, and all others equal in priority.
*/
attr = pth_attr_new ();
pth_attr_set (attr, PTH_ATTR_JOINABLE, FALSE);
pth_attr_set (attr, PTH_ATTR_CANCEL_STATE, PTH_CANCEL_ENABLE);
if (gid == GID_LINUX_REALTIME) /* time tracking */
pth_attr_set (attr, PTH_ATTR_PRIO, PTH_PRIO_STD + 2);
else if (gid == GID_LINUX_INTERFACE) /* user input */
pth_attr_set (attr, PTH_ATTR_PRIO, PTH_PRIO_STD + 1);
/* TODO - inside of calling the function directly, call a global
* function and pass it a pointer to the task_data_table entry
* as an argument. */
pid = pth_spawn (attr, fn, 0);
for (i=0; i < NUM_TASKS; i++)
if (task_data_table[i].pid == 0)
{
task_data_table[i].pid = pid;
task_data_table[i].gid = gid;
task_data_table[i].duration = TASK_DURATION_INF;
task_data_table[i].arg.u16 = 0;
task_data_table[i].duration = TASK_DURATION_BALL;
#ifdef CONFIG_UI
ui_write_task (i, gid);
#endif
return (pid);
}
fatal (ERR_NO_FREE_TASKS);
}
void task_kill_pid (task_pid_t tp)
{
int i;
pthread_debug ("task_kill_pid: pid=%u\n", (unsigned)tp);
for (i=0; i < NUM_TASKS; i++)
if (task_data_table[i].pid == tp)
{
if (tp != 0)
pthread_cancel (tp);
task_data_table[i].pid = 0;
#ifdef CONFIG_SIM
ui_write_task (i, 0);
#endif
return;
}
}
/**
* The main function for creating a new task.
*/
task_pid_t task_create_gid (task_gid_t gid, task_function_t fn)
{
pthread_t pid;
pthread_attr_t *attr;
struct sched_param param;
int i;
int rc;
pthread_debug ("task_create_gid: gid=%d, fn=%p\n", gid, fn);
if (gid == GID_LINUX_REALTIME) /* time tracking */
attr = &attr_interrupt;
else if (gid == GID_LINUX_INTERFACE) /* user input */
attr = &attr_input;
else
attr = &attr_task;
/* TODO - inside of calling the function directly, call a global
* function and pass it a pointer to the task_data_table entry
* as an argument. */
rc = pthread_create (&pid, attr, fn, 0);
if (rc != 0)
{
pthread_debug ("pthread_create failed, errno=%u\n", errno);
fatal (ERR_NO_FREE_TASKS);
}
for (i=0; i < NUM_TASKS; i++)
if (task_data_table[i].pid == 0)
{
task_data_table[i].pid = pid;
task_data_table[i].gid = gid;
task_data_table[i].duration = TASK_DURATION_INF;
task_data_table[i].arg.u16 = 0;
task_data_table[i].duration = TASK_DURATION_BALL;
#ifdef CONFIG_SIM
ui_write_task (i, gid);
#endif
pthread_debug ("pthread_create: index=%d, pid=%u\n", i, (unsigned)pid);
return (pid);
}
fatal (ERR_NO_FREE_TASKS);
}
__noreturn__
void task_exit (void)
{
int i;
#ifdef PTHDEBUG
printf ("task_exit: pid=%p\n", task_getpid ());
#endif
for (i=0; i < NUM_TASKS; i++)
if (task_data_table[i].pid == task_getpid ())
{
task_data_table[i].pid = 0;
#ifdef CONFIG_UI
ui_write_task (i, 0);
#endif
for (;;)
pth_exit (0);
}
fatal (ERR_TASK_KILL_FAILED);
}
__noreturn__
void task_exit (void)
{
int i;
pthread_debug ("task_exit: pid=%u\n", (unsigned)task_getpid ());
for (i=0; i < NUM_TASKS; i++)
if (task_data_table[i].pid == task_getpid ())
{
task_data_table[i].pid = 0;
#ifdef CONFIG_SIM
ui_write_task (i, 0);
#endif
pthread_debug ("pthread_exit: index=%d\n", i);
for (;;)
pthread_exit (0);
}
fatal (ERR_TASK_KILL_FAILED);
}
void task_kill_pid (task_pid_t tp)
{
int i;
#ifdef PTHDEBUG
printf ("task_kill_pid: pid=%p\n", tp);
#endif
for (i=0; i < NUM_TASKS; i++)
if (task_data_table[i].pid == tp)
{
task_data_table[i].pid = 0;
#ifdef CONFIG_UI
ui_write_task (i, 0);
#endif
if (tp != 0)
pth_abort (tp);
return;
}
}
