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);
}
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 exec_module(FAR const struct binary_s *binp)
{
FAR _TCB *tcb;
#ifndef CONFIG_CUSTOM_STACK
FAR uint32_t *stack;
#endif
pid_t pid;
int err;
int ret;
/* Sanity checking */
#ifdef CONFIG_DEBUG
if (!binp || !binp->entrypt || binp->stacksize <= 0)
{
err = EINVAL;
goto errout;
}
#endif
bdbg("Executing %s\n", binp->filename);
/* Allocate a TCB for the new task. */
tcb = (FAR _TCB*)kzalloc(sizeof(_TCB));
if (!tcb)
{
err = ENOMEM;
goto errout;
}
/* Allocate the stack for the new task */
#ifndef CONFIG_CUSTOM_STACK
stack = (FAR uint32_t*)kmalloc(binp->stacksize);
if (!tcb)
{
err = ENOMEM;
goto errout_with_tcb;
}
/* Initialize the task */
ret = task_init(tcb, binp->filename, binp->priority, stack,
binp->stacksize, binp->entrypt, binp->argv);
#else
/* Initialize the task */
ret = task_init(tcb, binp->filename, binp->priority, stack,
binp->entrypt, binp->argv);
#endif
if (ret < 0)
{
err = errno;
bdbg("task_init() failed: %d\n", err);
goto errout_with_stack;
}
/* Note that tcb->flags are not modified. 0=normal task */
/* tcb->flags |= TCB_FLAG_TTYPE_TASK; */
/* Add the D-Space address as the PIC base address. By convention, this
* must be the first allocated address space.
*/
#ifdef CONFIG_PIC
tcb->dspace = binp->alloc[0];
/* Re-initialize the task's initial state to account for the new PIC base */
up_initial_state(tcb);
#endif
/* Assign the address environment to the task */
#ifdef CONFIG_ADDRENV
ret = up_addrenv_assign(binp->addrenv, tcb);
if (ret < 0)
{
err = -ret;
bdbg("up_addrenv_assign() failed: %d\n", ret);
goto errout_with_stack;
}
#endif
/* Get the assigned pid before we start the task */
pid = tcb->pid;
/* Execute all of the C++ static constructors */
#ifdef CONFIG_BINFMT_CONSTRUCTORS
ret = exec_ctors(binp);
if (ret < 0)
{
err = -ret;
bdbg("exec_ctors() failed: %d\n", ret);
goto errout_with_stack;
}
#endif
/* Then activate the task at the provided priority */
ret = task_activate(tcb);
if (ret < 0)
{
err = errno;
bdbg("task_activate() failed: %d\n", err);
goto errout_with_stack;
}
return (int)pid;
errout_with_stack:
#ifndef CONFIG_CUSTOM_STACK
tcb->stack_alloc_ptr = NULL;
sched_releasetcb(tcb);
kfree(stack);
#else
sched_releasetcb(tcb);
#endif
goto errout;
errout_with_tcb:
kfree(tcb);
errout:
errno = err;
bdbg("returning errno: %d\n", err);
return ERROR;
}
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;
}
FAR struct task_tcb_s *task_vforksetup(start_t retaddr)
{
struct tcb_s *parent = this_task();
struct task_tcb_s *child;
uint8_t ttype;
int priority;
int ret;
DEBUGASSERT(retaddr);
/* Get the type of the fork'ed task (kernel or user) */
if ((parent->flags & TCB_FLAG_TTYPE_MASK) == TCB_FLAG_TTYPE_KERNEL)
{
/* Fork'ed from a kernel thread */
ttype = TCB_FLAG_TTYPE_KERNEL;
}
else
{
/* Fork'ed from a user task or pthread */
ttype = TCB_FLAG_TTYPE_TASK;
}
/* Allocate a TCB for the child task. */
child = (FAR struct task_tcb_s *)kmm_zalloc(sizeof(struct task_tcb_s));
if (!child)
{
serr("ERROR: Failed to allocate TCB\n");
set_errno(ENOMEM);
return NULL;
}
/* Allocate a new task group with the same privileges as the parent */
#ifdef HAVE_TASK_GROUP
ret = group_allocate(child, parent->flags);
if (ret < 0)
{
goto errout_with_tcb;
}
#endif
/* Associate file descriptors with the new task */
#if CONFIG_NFILE_DESCRIPTORS > 0 || CONFIG_NSOCKET_DESCRIPTORS > 0
ret = group_setuptaskfiles(child);
if (ret < OK)
{
goto errout_with_tcb;
}
#endif
/* Get the priority of the parent task */
#ifdef CONFIG_PRIORITY_INHERITANCE
priority = parent->base_priority; /* "Normal," unboosted priority */
#else
priority = parent->sched_priority; /* Current priority */
#endif
/* Initialize the task control block. This calls up_initial_state() */
sinfo("Child priority=%d start=%p\n", priority, retaddr);
ret = task_schedsetup(child, priority, retaddr, parent->entry.main, ttype);
if (ret < OK)
{
goto errout_with_tcb;
}
sinfo("parent=%p, returning child=%p\n", parent, child);
return child;
errout_with_tcb:
sched_releasetcb((FAR struct tcb_s *)child, ttype);
set_errno(-ret);
return NULL;
}
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;
}
static int thread_create(const char *name, uint8_t type, int priority,
main_t entry, const char **argv)
#endif
{
FAR _TCB *tcb;
pid_t pid;
int ret;
/* Allocate a TCB for the new task. */
tcb = (FAR _TCB*)kzalloc(sizeof(_TCB));
if (!tcb)
{
goto errout;
}
/* Associate file descriptors with the new task */
#if CONFIG_NFILE_DESCRIPTORS > 0 || CONFIG_NSOCKET_DESCRIPTORS > 0
ret = sched_setuptaskfiles(tcb);
if (ret != OK)
{
goto errout_with_tcb;
}
#endif
/* Clone the parent's task environment */
(void)env_dup(tcb);
/* Allocate the stack for the TCB */
#ifndef CONFIG_CUSTOM_STACK
ret = up_create_stack(tcb, stack_size);
if (ret != OK)
{
goto errout_with_tcb;
}
#endif
/* Mark the type of this thread (this setting will be needed in
* task_schedsetup() when up_initial_state() is called.
*/
tcb->flags |= type;
/* Initialize the task control block */
ret = task_schedsetup(tcb, priority, task_start, entry);
if (ret != OK)
{
goto errout_with_tcb;
}
/* Setup to pass parameters to the new task */
(void)task_argsetup(tcb, name, argv);
/* Get the assigned pid before we start the task */
pid = (int)tcb->pid;
/* Activate the task */
ret = task_activate(tcb);
if (ret != OK)
{
/* 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(tcb);
errout:
errno = ENOMEM;
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;
}
int task_terminate(pid_t pid, bool nonblocking)
{
FAR struct tcb_s *dtcb;
FAR dq_queue_t *tasklist;
irqstate_t flags;
#ifdef CONFIG_SMP
int cpu;
#endif
int ret;
/* Make sure the task does not become ready-to-run while we are futzing
* with its TCB. Within the critical section, no new task may be started
* or terminated (even in the SMP case).
*/
flags = enter_critical_section();
/* Find for the TCB associated with matching PID */
dtcb = sched_gettcb(pid);
if (!dtcb)
{
/* This PID does not correspond to any known task */
ret = -ESRCH;
goto errout_with_lock;
}
/* Verify our internal sanity */
#ifdef CONFIG_SMP
DEBUGASSERT(dtcb->task_state < NUM_TASK_STATES);
#else
DEBUGASSERT(dtcb->task_state != TSTATE_TASK_RUNNING &&
dtcb->task_state < NUM_TASK_STATES);
#endif
/* Remove the task from the OS's task lists. We must be in a critical
* section and the must must not be running to do this.
*/
#ifdef CONFIG_SMP
/* In the SMP case, the thread may be running on another CPU. If that is
* the case, then we will pause the CPU that the thread is running on.
*/
cpu = sched_cpu_pause(dtcb);
/* Get the task list associated with the the thread's state and CPU */
tasklist = TLIST_HEAD(dtcb->task_state, cpu);
#else
/* In the non-SMP case, we can be assured that the task to be terminated
* is not running. get the task list associated with the task state.
*/
tasklist = TLIST_HEAD(dtcb->task_state);
#endif
/* Remove the task from the task list */
dq_rem((FAR dq_entry_t *)dtcb, tasklist);
dtcb->task_state = TSTATE_TASK_INVALID;
/* At this point, the TCB should no longer be accessible to the system */
#ifdef CONFIG_SMP
/* Resume the paused CPU (if any) */
if (cpu >= 0)
{
/* I am not yet sure how to handle a failure here. */
DEBUGVERIFY(up_cpu_resume(cpu));
}
#endif /* CONFIG_SMP */
leave_critical_section(flags);
/* Perform common task termination logic (flushing streams, calling
* functions registered by at_exit/on_exit, etc.). We need to do
* this as early as possible so that higher level clean-up logic
* can run in a healthy tasking environment.
*
* In the case where the task exits via exit(), task_exithook()
* may be called twice.
*
* I suppose EXIT_SUCCESS is an appropriate return value???
*/
task_exithook(dtcb, EXIT_SUCCESS, nonblocking);
/* Since all tasks pass through this function as the final step in their
* exit sequence, this is an appropriate place to inform any instrumentation
* layer that the task no longer exists.
*/
sched_note_stop(dtcb);
/* Deallocate its TCB */
return sched_releasetcb(dtcb, dtcb->flags & TCB_FLAG_TTYPE_MASK);
errout_with_lock:
leave_critical_section(flags);
return ret;
}