//
// // Terminate invoking thread
void MyThreadExit(void)
{
thread *readythread=NULL,*runningthread=NULL;
if(!isQEmpty(running))
runningthread = dequeue(running);
int isJoinAll;
// chck if the present thread has any parent which is in the block queue
thread *parentFound = findParentInBlockedQ(runningthread->parentid);
// for join all.. Check if there is any child which is present in ready q.
if(parentFound!=NULL)
{
if(parentFound->isjoinall) // It is a join all
{
isJoinAll = findThreadWithSameParentInReadyQ(parentFound->id) || findThreadWithSameParentinBlockedQ(parentFound->id);
if(!isJoinAll)
{
removeFromBlocked(parentFound->id);
enqueue(mylist,parentFound);
}
}
else // It is just a Join
{
if(parentFound->joinid == runningthread->id)
{
removeFromBlocked(parentFound->id);
enqueue(mylist,parentFound);
}
}
}
if(!isQEmpty(mylist))
readythread = dequeue(mylist);
runningthread->status = 1;
if(readythread != NULL)
{
enqueue(running,readythread);
swapcontext(&runningthread->threadcontext,&readythread->threadcontext);
}
else
{
swapcontext(&runningthread->threadcontext,&parent);
}
}
DifferentialStepper::Command *DifferentialStepper::getCurrentCommand() {
if (isQEmpty()) {
return NULL;
} else {
return &_q[_qHead];
}
}
DifferentialStepper::Command *DifferentialStepper::getCommand(uint8_t index) {
if (isQEmpty() || index >= _qSize) {
return NULL;
} else {
index += _qHead;
if (index >= DIFFERENTIALSTEPPER_COMMAND_QUEUE_LENGTH)
index -= DIFFERENTIALSTEPPER_COMMAND_QUEUE_LENGTH;
return &_q[index];
}
}
//
// // Wait on a semaphore
void MySemaphoreWait(MySemaphore sem)
{
S *s = (S*)sem;
thread *readythread =NULL;
thread *runningthread;
s->svalue--;
if(s->svalue <0)
{
runningthread = dequeue(running);
enqueue(s->semblocked , runningthread);
if(!isQEmpty(mylist))
readythread = dequeue(mylist);
if(readythread==NULL)
{
swapcontext(&runningthread->threadcontext,&parent);
}
enqueue(running,readythread);
swapcontext(&runningthread->threadcontext,&readythread->threadcontext);
}
}