static void _Thread_Make_zombie( Thread_Control *the_thread )
{
ISR_lock_Context lock_context;
Thread_Zombie_control *zombies = &_Thread_Zombies;
if ( _Thread_Owns_resources( the_thread ) ) {
_Terminate(
INTERNAL_ERROR_CORE,
false,
INTERNAL_ERROR_RESOURCE_IN_USE
);
}
_Objects_Close(
_Objects_Get_information_id( the_thread->Object.id ),
&the_thread->Object
);
_Thread_Set_state( the_thread, STATES_ZOMBIE );
_Thread_queue_Extract_with_proxy( the_thread );
_Watchdog_Remove_ticks( &the_thread->Timer );
_ISR_lock_ISR_disable_and_acquire( &zombies->Lock, &lock_context );
_Chain_Append_unprotected( &zombies->Chain, &the_thread->Object.Node );
_ISR_lock_Release_and_ISR_enable( &zombies->Lock, &lock_context );
}
rtems_task Middle_task(
rtems_task_argument argument
)
{
Chain_Control *ready_queues;
thread_dispatch_no_fp_time = benchmark_timer_read();
_Thread_Set_state( _Thread_Executing, STATES_SUSPENDED );
Middle_tcb = _Thread_Executing;
ready_queues = (Chain_Control *) _Scheduler.information;
_Thread_Executing =
(Thread_Control *) _Chain_First(&ready_queues[LOW_PRIORITY]);
/* do not force context switch */
_Thread_Dispatch_necessary = false;
_Thread_Disable_dispatch();
benchmark_timer_initialize();
_Context_Switch( &Middle_tcb->Registers, &_Thread_Executing->Registers );
benchmark_timer_initialize();
_Context_Switch(&Middle_tcb->Registers, &Low_tcb->Registers);
}
static void _Thread_Make_zombie( Thread_Control *the_thread )
{
if ( _Thread_Owns_resources( the_thread ) ) {
_Terminate(
INTERNAL_ERROR_CORE,
false,
INTERNAL_ERROR_RESOURCE_IN_USE
);
}
_Objects_Close(
_Objects_Get_information_id( the_thread->Object.id ),
&the_thread->Object
);
_Thread_Set_state( the_thread, STATES_ZOMBIE );
_Thread_queue_Extract_with_proxy( the_thread );
_Thread_Timer_remove( the_thread );
/*
* Add the thread to the thread zombie chain before we wake up joining
* threads, so that they are able to clean up the thread immediately. This
* matters for SMP configurations.
*/
_Thread_Add_to_zombie_chain( the_thread );
_Thread_Wake_up_joining_threads( the_thread );
}
rtems_task Middle_task(
rtems_task_argument argument
)
{
Scheduler_priority_Context *scheduler_context =
_Scheduler_priority_Get_context( _Scheduler_Get( _Thread_Get_executing() ) );
thread_dispatch_no_fp_time = benchmark_timer_read();
_Thread_Set_state( _Thread_Get_executing(), STATES_SUSPENDED );
Middle_tcb = _Thread_Get_executing();
set_thread_executing(
(Thread_Control *) _Chain_First(&scheduler_context->Ready[LOW_PRIORITY])
);
/* do not force context switch */
set_thread_dispatch_necessary( false );
_Thread_Dispatch_disable();
benchmark_timer_initialize();
_Context_Switch(
&Middle_tcb->Registers,
&_Thread_Get_executing()->Registers
);
benchmark_timer_initialize();
_Context_Switch(&Middle_tcb->Registers, &Low_tcb->Registers);
}
rtems_task Middle_task(
rtems_task_argument argument
)
{
thread_dispatch_no_fp_time = benchmark_timer_read();
_Thread_Set_state( _Thread_Executing, STATES_SUSPENDED );
Middle_tcb = _Thread_Executing;
_Thread_Executing =
(Thread_Control *) _Thread_Ready_chain[LOW_PRIORITY].first;
/* do not force context switch */
_Context_Switch_necessary = false;
_Thread_Disable_dispatch();
benchmark_timer_initialize();
_Context_Switch( &Middle_tcb->Registers, &_Thread_Executing->Registers );
benchmark_timer_initialize();
_Context_Switch(&Middle_tcb->Registers, &Low_tcb->Registers);
}
rtems_task High_task(
rtems_task_argument argument
)
{
rtems_interrupt_level level;
benchmark_timer_initialize();
rtems_interrupt_disable( level );
isr_disable_time = benchmark_timer_read();
benchmark_timer_initialize();
rtems_interrupt_flash( level );
isr_flash_time = benchmark_timer_read();
benchmark_timer_initialize();
rtems_interrupt_enable( level );
isr_enable_time = benchmark_timer_read();
benchmark_timer_initialize();
_Thread_Disable_dispatch();
thread_disable_dispatch_time = benchmark_timer_read();
benchmark_timer_initialize();
_Thread_Enable_dispatch();
thread_enable_dispatch_time = benchmark_timer_read();
benchmark_timer_initialize();
_Thread_Set_state( _Thread_Executing, STATES_SUSPENDED );
thread_set_state_time = benchmark_timer_read();
_Context_Switch_necessary = true;
benchmark_timer_initialize();
_Thread_Dispatch(); /* dispatches Middle_task */
}
rtems_status_code rtems_task_wake_after(
rtems_interval ticks
)
{
/*
* It is critical to obtain the executing thread after thread dispatching is
* disabled on SMP configurations.
*/
Thread_Control *executing;
Per_CPU_Control *cpu_self;
cpu_self = _Thread_Dispatch_disable();
executing = _Thread_Executing;
if ( ticks == 0 ) {
_Thread_Yield( executing );
} else {
_Thread_Set_state( executing, STATES_DELAYING );
_Thread_Wait_flags_set( executing, THREAD_WAIT_STATE_BLOCKED );
_Watchdog_Initialize(
&executing->Timer,
_Thread_Timeout,
0,
executing
);
_Watchdog_Insert_ticks( &executing->Timer, ticks );
}
_Thread_Dispatch_enable( cpu_self );
return RTEMS_SUCCESSFUL;
}
void _Thread_Close( Thread_Control *the_thread, Thread_Control *executing )
{
_Assert( _Thread_Is_life_protected( executing->Life.state ) );
if ( _States_Is_dormant( the_thread->current_state ) ) {
_Thread_Make_zombie( the_thread );
} else {
if (
the_thread != executing
&& !_Thread_Is_life_terminating( executing->Life.state )
) {
/*
* Wait for termination of victim thread. If the executing thread is
* also terminated, then do not wait. This avoids potential cyclic
* dependencies and thus dead lock.
*/
the_thread->Life.terminator = executing;
_Thread_Set_state( executing, STATES_WAITING_FOR_TERMINATION );
}
_Thread_Request_life_change(
the_thread,
executing,
executing->current_priority,
THREAD_LIFE_TERMINATING
);
}
}
static void _Thread_Make_zombie( Thread_Control *the_thread )
{
#if defined(RTEMS_SCORE_THREAD_ENABLE_RESOURCE_COUNT)
if ( _Thread_Owns_resources( the_thread ) ) {
_Internal_error( INTERNAL_ERROR_RESOURCE_IN_USE );
}
#endif
_Objects_Close(
_Objects_Get_information_id( the_thread->Object.id ),
&the_thread->Object
);
_Thread_Set_state( the_thread, STATES_ZOMBIE );
_Thread_queue_Extract_with_proxy( the_thread );
_Thread_Timer_remove( the_thread );
/*
* Add the thread to the thread zombie chain before we wake up joining
* threads, so that they are able to clean up the thread immediately. This
* matters for SMP configurations.
*/
_Thread_Add_to_zombie_chain( the_thread );
_Thread_Wake_up_joining_threads( the_thread );
}
static void thread_set_state( Thread_Control *thread, States_Control state )
{
#if defined( PREVENT_SMP_ASSERT_FAILURES )
_Thread_Disable_dispatch();
#endif
_Thread_Set_state( thread, state );
#if defined( PREVENT_SMP_ASSERT_FAILURES )
_Thread_Unnest_dispatch();
#endif
}
void _Thread_queue_Enqueue_with_handler(
Thread_queue_Control *the_thread_queue,
Watchdog_Interval timeout,
Thread_queue_Timeout_callout handler
)
{
Thread_Control *the_thread;
ISR_Level level;
Thread_blocking_operation_States sync_state;
Thread_blocking_operation_States (*enqueue_p)(
Thread_queue_Control *,
Thread_Control *,
ISR_Level *
);
the_thread = _Thread_Executing;
#if defined(RTEMS_MULTIPROCESSING)
if ( _Thread_MP_Is_receive( the_thread ) && the_thread->receive_packet )
the_thread = _Thread_MP_Allocate_proxy( the_thread_queue->state );
else
#endif
/*
* Set the blocking state for this thread queue in the thread.
*/
_Thread_Set_state( the_thread, the_thread_queue->state );
/*
* If the thread wants to timeout, then schedule its timer.
*/
if ( timeout ) {
_Watchdog_Initialize(
&the_thread->Timer,
handler,
the_thread->Object.id,
NULL
);
_Watchdog_Insert_ticks( &the_thread->Timer, timeout );
}
/*
* Now enqueue the thread per the discipline for this thread queue.
*/
if ( the_thread_queue->discipline == THREAD_QUEUE_DISCIPLINE_PRIORITY )
enqueue_p = _Thread_queue_Enqueue_priority;
else /* must be THREAD_QUEUE_DISCIPLINE_FIFO */
enqueue_p = _Thread_queue_Enqueue_fifo;
sync_state = (*enqueue_p)( the_thread_queue, the_thread, &level );
if ( sync_state != THREAD_BLOCKING_OPERATION_NOTHING_HAPPENED )
_Thread_blocking_operation_Cancel( sync_state, the_thread, level );
}
rtems_task High_task(
rtems_task_argument argument
)
{
rtems_interrupt_level level;
_Thread_Dispatch_disable();
benchmark_timer_initialize();
rtems_interrupt_local_disable( level );
isr_disable_time = benchmark_timer_read();
benchmark_timer_initialize();
#if defined(RTEMS_SMP)
rtems_interrupt_local_enable( level );
rtems_interrupt_local_disable( level );
#else
rtems_interrupt_flash( level );
#endif
isr_flash_time = benchmark_timer_read();
benchmark_timer_initialize();
rtems_interrupt_local_enable( level );
isr_enable_time = benchmark_timer_read();
_Thread_Dispatch_enable( _Per_CPU_Get() );
benchmark_timer_initialize();
_Thread_Dispatch_disable();
thread_disable_dispatch_time = benchmark_timer_read();
benchmark_timer_initialize();
_Thread_Dispatch_enable( _Per_CPU_Get() );
thread_enable_dispatch_time = benchmark_timer_read();
benchmark_timer_initialize();
_Thread_Set_state( _Thread_Get_executing(), STATES_SUSPENDED );
thread_set_state_time = benchmark_timer_read();
set_thread_dispatch_necessary( true );
benchmark_timer_initialize();
_Thread_Dispatch(); /* dispatches Middle_task */
}
static rtems_status_code _Rate_monotonic_Block_while_active(
Rate_monotonic_Control *the_period,
rtems_interval length,
Thread_Control *executing,
ISR_lock_Context *lock_context
)
{
Per_CPU_Control *cpu_self;
bool success;
/*
* Update statistics from the concluding period.
*/
_Rate_monotonic_Update_statistics( the_period );
/*
* This tells the _Rate_monotonic_Timeout that this task is
* in the process of blocking on the period and that we
* may be changing the length of the next period.
*/
the_period->next_length = length;
executing->Wait.return_argument = the_period;
_Thread_Wait_flags_set( executing, RATE_MONOTONIC_INTEND_TO_BLOCK );
cpu_self = _Thread_Dispatch_disable_critical( lock_context );
_Rate_monotonic_Release( the_period, lock_context );
_Thread_Set_state( executing, STATES_WAITING_FOR_PERIOD );
success = _Thread_Wait_flags_try_change_acquire(
executing,
RATE_MONOTONIC_INTEND_TO_BLOCK,
RATE_MONOTONIC_BLOCKED
);
if ( !success ) {
_Assert(
_Thread_Wait_flags_get( executing ) == RATE_MONOTONIC_READY_AGAIN
);
_Thread_Unblock( executing );
}
_Thread_Dispatch_enable( cpu_self );
return RTEMS_SUCCESSFUL;
}
static void _Thread_Start_life_change(
Thread_Control *the_thread,
const Scheduler_Control *scheduler,
Priority_Control priority
)
{
the_thread->is_preemptible = the_thread->Start.is_preemptible;
the_thread->budget_algorithm = the_thread->Start.budget_algorithm;
the_thread->budget_callout = the_thread->Start.budget_callout;
the_thread->real_priority = priority;
_Thread_Set_state( the_thread, STATES_RESTARTING );
_Thread_queue_Extract_with_proxy( the_thread );
_Watchdog_Remove( &the_thread->Timer );
_Scheduler_Set_priority_if_higher( scheduler, the_thread, priority );
_Thread_Add_post_switch_action( the_thread, &the_thread->Life.Action );
_Thread_Ready( the_thread );
_Thread_Request_dispatch_if_executing( the_thread );
}
void _POSIX_Thread_Exit(
Thread_Control *the_thread,
void *value_ptr
)
{
Thread_Control *unblocked;
POSIX_API_Control *api;
bool previous_life_protection;
api = the_thread->API_Extensions[ THREAD_API_POSIX ];
_Assert( _Debug_Is_thread_dispatching_allowed() );
previous_life_protection = _Thread_Set_life_protection( true );
_Thread_Disable_dispatch();
the_thread->Wait.return_argument = value_ptr;
/*
* Process join
*/
if ( api->detachstate == PTHREAD_CREATE_JOINABLE ) {
unblocked = _Thread_queue_Dequeue( &api->Join_List );
if ( unblocked ) {
do {
*(void **)unblocked->Wait.return_argument = value_ptr;
} while ( (unblocked = _Thread_queue_Dequeue( &api->Join_List )) );
} else {
_Thread_Set_state( the_thread, STATES_WAITING_FOR_JOIN_AT_EXIT );
_Thread_Enable_dispatch();
/* now waiting for thread to arrive */
_Thread_Disable_dispatch();
}
}
/*
* Now shut down the thread
*/
_Thread_Close( the_thread, _Thread_Executing );
_Thread_Enable_dispatch();
_Thread_Set_life_protection( previous_life_protection );
}
rtems_status_code rtems_task_wake_after(
rtems_interval ticks
)
{
_Thread_Disable_dispatch();
if ( ticks == 0 ) {
_Thread_Yield_processor();
} else {
_Thread_Set_state( _Thread_Executing, STATES_DELAYING );
_Watchdog_Initialize(
&_Thread_Executing->Timer,
_Thread_Delay_ended,
_Thread_Executing->Object.id,
NULL
);
_Watchdog_Insert_ticks( &_Thread_Executing->Timer, ticks );
}
_Thread_Enable_dispatch();
return RTEMS_SUCCESSFUL;
}
static void _Thread_Start_life_change(
Thread_Control *the_thread,
const Scheduler_Control *scheduler,
Priority_Control priority
)
{
the_thread->is_preemptible = the_thread->Start.is_preemptible;
the_thread->budget_algorithm = the_thread->Start.budget_algorithm;
the_thread->budget_callout = the_thread->Start.budget_callout;
_Thread_Set_state( the_thread, STATES_RESTARTING );
_Thread_queue_Extract_with_proxy( the_thread );
_Watchdog_Remove_ticks( &the_thread->Timer );
_Thread_Change_priority(
the_thread,
priority,
NULL,
_Thread_Raise_real_priority_filter,
false
);
_Thread_Add_life_change_action( the_thread );
_Thread_Ready( the_thread );
}
rtems_status_code rtems_task_wake_when(
rtems_time_of_day *time_buffer
)
{
Watchdog_Interval seconds;
if ( !_TOD_Is_set() )
return RTEMS_NOT_DEFINED;
if ( !time_buffer )
return RTEMS_INVALID_ADDRESS;
time_buffer->ticks = 0;
if ( !_TOD_Validate( time_buffer ) )
return RTEMS_INVALID_CLOCK;
seconds = _TOD_To_seconds( time_buffer );
if ( seconds <= _TOD_Seconds_since_epoch() )
return RTEMS_INVALID_CLOCK;
_Thread_Disable_dispatch();
_Thread_Set_state( _Thread_Executing, STATES_WAITING_FOR_TIME );
_Watchdog_Initialize(
&_Thread_Executing->Timer,
_Thread_Delay_ended,
_Thread_Executing->Object.id,
NULL
);
_Watchdog_Insert_seconds(
&_Thread_Executing->Timer,
seconds - _TOD_Seconds_since_epoch()
);
_Thread_Enable_dispatch();
return RTEMS_SUCCESSFUL;
}
ER dly_tsk(
DLYTIME dlytim
)
{
Watchdog_Interval ticks;
ticks = TOD_MILLISECONDS_TO_TICKS(dlytim);
_Thread_Disable_dispatch();
if ( ticks == 0 ) {
_Thread_Yield_processor();
} else {
_Thread_Set_state( _Thread_Executing, STATES_DELAYING );
_Watchdog_Initialize(
&_Thread_Executing->Timer,
_Thread_Delay_ended,
_Thread_Executing->Object.id,
NULL
);
_Watchdog_Insert_ticks( &_Thread_Executing->Timer, ticks );
}
_Thread_Enable_dispatch();
return E_OK;
}
void complete_test( void )
{
uint32_t index;
rtems_id task_id;
benchmark_timer_initialize();
_Thread_Resume( Middle_tcb, true );
thread_resume_time = benchmark_timer_read();
_Thread_Set_state( Middle_tcb, STATES_WAITING_FOR_MESSAGE );
benchmark_timer_initialize();
_Thread_Unblock( Middle_tcb );
thread_unblock_time = benchmark_timer_read();
_Thread_Set_state( Middle_tcb, STATES_WAITING_FOR_MESSAGE );
benchmark_timer_initialize();
_Thread_Ready( Middle_tcb );
thread_ready_time = benchmark_timer_read();
benchmark_timer_initialize();
for ( index=1 ; index <= OPERATION_COUNT ; index++ )
(void) benchmark_timer_empty_function();
overhead = benchmark_timer_read();
task_id = Middle_tcb->Object.id;
benchmark_timer_initialize();
for ( index=1 ; index <= OPERATION_COUNT ; index++ )
(void) _Thread_Get( task_id, &location );
thread_get_time = benchmark_timer_read();
benchmark_timer_initialize();
for ( index=1 ; index <= OPERATION_COUNT ; index++ )
(void) _Semaphore_Get( Semaphore_id, &location );
semaphore_get_time = benchmark_timer_read();
benchmark_timer_initialize();
for ( index=1 ; index <= OPERATION_COUNT ; index++ )
(void) _Thread_Get( 0x3, &location );
thread_get_invalid_time = benchmark_timer_read();
/*
* This is the running task and we have tricked RTEMS out enough where
* we need to set some internal tracking information to match this.
*/
_Thread_Heir = _Thread_Executing;
_Context_Switch_necessary = false;
_Thread_Dispatch_disable_level = 0;
/*
* Now dump all the times
*/
put_time(
"_ISR_Disable",
isr_disable_time,
1,
0,
0
);
put_time(
"_ISR_Flash",
isr_flash_time,
1,
0,
0
);
put_time(
"_ISR_Enable",
isr_enable_time,
1,
0,
0
);
put_time(
"_Thread_Disable_dispatch",
thread_disable_dispatch_time,
1,
0,
0
);
put_time(
"_Thread_Enable_dispatch",
thread_enable_dispatch_time,
1,
0,
0
);
put_time(
"_Thread_Set_state",
thread_set_state_time,
1,
0,
0
);
put_time(
"_Thread_Dispatch (NO FP)",
thread_dispatch_no_fp_time,
1,
0,
0
);
put_time(
"context switch: no floating point contexts",
context_switch_no_fp_time,
1,
0,
0
);
put_time(
"context switch: self",
context_switch_self_time,
1,
0,
0
);
put_time(
"context switch: to another task",
context_switch_another_task_time,
1,
0,
0
);
#if (CPU_HARDWARE_FP == 1) || (CPU_SOFTWARE_FP == 1)
put_time(
"fp context switch: restore 1st FP task",
context_switch_restore_1st_fp_time,
1,
0,
0
);
put_time(
"fp context switch: save idle, restore initialized",
context_switch_save_idle_restore_initted_time,
1,
0,
0
);
put_time(
"fp context switch: save idle, restore idle",
context_switch_save_restore_idle_time,
1,
0,
0
);
put_time(
"fp context switch: save initialized, restore initialized",
context_switch_save_restore_initted_time,
1,
0,
0
);
#else
puts( "fp context switch: restore 1st FP task - NA" );
puts( "fp context switch: save idle, restore initialized - NA" );
puts( "fp context switch: save idle, restore idle - NA" );
puts( "fp context switch: save initialized, restore initialized - NA" );
#endif
put_time(
"_Thread_Resume",
thread_resume_time,
1,
0,
0
);
put_time(
"_Thread_Unblock",
thread_unblock_time,
1,
0,
0
);
put_time(
"_Thread_Ready",
thread_ready_time,
1,
0,
0
);
put_time(
"_Thread_Get",
thread_get_time,
OPERATION_COUNT,
0,
0
);
put_time(
"_Semaphore_Get",
semaphore_get_time,
OPERATION_COUNT,
0,
0
);
put_time(
"_Thread_Get: invalid id",
thread_get_invalid_time,
OPERATION_COUNT,
0,
0
);
puts( "*** END OF TEST 26 ***" );
rtems_test_exit( 0 );
}
void _Thread_queue_Enqueue(
Thread_queue_Control *the_thread_queue,
Thread_Control *the_thread,
States_Control state,
Watchdog_Interval timeout
)
{
ISR_lock_Context lock_context;
Thread_blocking_operation_States sync_state;
#if defined(RTEMS_MULTIPROCESSING)
if ( _Thread_MP_Is_receive( the_thread ) && the_thread->receive_packet )
the_thread = _Thread_MP_Allocate_proxy( state );
else
#endif
/*
* Set the blocking state for this thread queue in the thread.
*/
_Thread_Set_state( the_thread, state );
/*
* If the thread wants to timeout, then schedule its timer.
*/
if ( timeout ) {
_Watchdog_Initialize(
&the_thread->Timer,
_Thread_queue_Timeout,
the_thread->Object.id,
NULL
);
_Watchdog_Insert_ticks( &the_thread->Timer, timeout );
}
/*
* Now initiate the enqueuing and checking if the blocking operation
* should be completed or the thread has had its blocking condition
* satisfied before we got here.
*/
_Thread_queue_Acquire( &lock_context );
sync_state = the_thread_queue->sync_state;
the_thread_queue->sync_state = THREAD_BLOCKING_OPERATION_SYNCHRONIZED;
if ( sync_state == THREAD_BLOCKING_OPERATION_NOTHING_HAPPENED ) {
/*
* Invoke the discipline specific enqueue method.
*/
if ( the_thread_queue->discipline == THREAD_QUEUE_DISCIPLINE_FIFO ) {
_Chain_Append_unprotected(
&the_thread_queue->Queues.Fifo,
&the_thread->Object.Node
);
} else { /* must be THREAD_QUEUE_DISCIPLINE_PRIORITY */
_Thread_Lock_set( the_thread, &_Thread_queue_Lock );
_Thread_Priority_set_change_handler(
the_thread,
_Thread_queue_Requeue_priority,
the_thread_queue
);
_RBTree_Insert(
&the_thread_queue->Queues.Priority,
&the_thread->RBNode,
_Thread_queue_Compare_priority,
false
);
}
the_thread->Wait.queue = the_thread_queue;
the_thread_queue->sync_state = THREAD_BLOCKING_OPERATION_SYNCHRONIZED;
_Thread_queue_Release( &lock_context );
} else {
/* Cancel a blocking operation due to ISR */
_Assert(
sync_state == THREAD_BLOCKING_OPERATION_TIMEOUT ||
sync_state == THREAD_BLOCKING_OPERATION_SATISFIED
);
_Thread_blocking_operation_Finalize( the_thread, &lock_context );
}
}
/*
* 14.2.5 High Resolution Sleep, P1003.1b-1993, p. 269
*/
int nanosleep(
const struct timespec *rqtp,
struct timespec *rmtp
)
{
/*
* It is critical to obtain the executing thread after thread dispatching is
* disabled on SMP configurations.
*/
Thread_Control *executing;
Watchdog_Interval ticks;
Watchdog_Interval elapsed;
/*
* Return EINVAL if the delay interval is negative.
*
* NOTE: This behavior is beyond the POSIX specification.
* FSU and GNU/Linux pthreads shares this behavior.
*/
if ( !_Timespec_Is_valid( rqtp ) )
rtems_set_errno_and_return_minus_one( EINVAL );
/*
* Convert the timespec delay into the appropriate number of clock ticks.
*/
ticks = _Timespec_To_ticks( rqtp );
/*
* A nanosleep for zero time is implemented as a yield.
* This behavior is also beyond the POSIX specification but is
* consistent with the RTEMS API and yields desirable behavior.
*/
if ( !ticks ) {
_Thread_Disable_dispatch();
executing = _Thread_Executing;
_Thread_Yield( executing );
_Thread_Enable_dispatch();
if ( rmtp ) {
rmtp->tv_sec = 0;
rmtp->tv_nsec = 0;
}
return 0;
}
/*
* Block for the desired amount of time
*/
_Thread_Disable_dispatch();
executing = _Thread_Executing;
_Thread_Set_state(
executing,
STATES_DELAYING | STATES_INTERRUPTIBLE_BY_SIGNAL
);
_Watchdog_Initialize(
&executing->Timer,
_Thread_Delay_ended,
0,
executing
);
_Watchdog_Insert_ticks( &executing->Timer, ticks );
_Thread_Enable_dispatch();
/*
* Calculate the time that passed while we were sleeping and how
* much remains from what we requested.
*/
elapsed = executing->Timer.stop_time - executing->Timer.start_time;
if ( elapsed >= ticks )
ticks = 0;
else
ticks -= elapsed;
/*
* If the user wants the time remaining, do the conversion.
*/
if ( rmtp ) {
_Timespec_From_ticks( ticks, rmtp );
}
/*
* Only when POSIX is enabled, can a sleep be interrupted.
*/
#if defined(RTEMS_POSIX_API)
/*
* If there is time remaining, then we were interrupted by a signal.
*/
if ( ticks )
rtems_set_errno_and_return_minus_one( EINTR );
#endif
return 0;
}
void _POSIX_Thread_Exit(
Thread_Control *the_thread,
void *value_ptr
)
{
Objects_Information *the_information;
Thread_Control *unblocked;
POSIX_API_Control *api;
the_information = _Objects_Get_information_id( the_thread->Object.id );
api = the_thread->API_Extensions[ THREAD_API_POSIX ];
/*
* The_information has to be non-NULL. Otherwise, we couldn't be
* running in a thread of this API and class.
*
* NOTE: Lock and unlock in different order so we do not throw a
* fatal error when locking the allocator mutex. And after
* we unlock, we want to defer the context switch until we
* are ready to be switched out. Otherwise, an ISR could
* occur and preempt us out while we still hold the
* allocator mutex.
*/
_RTEMS_Lock_allocator();
_Thread_Disable_dispatch();
the_thread->Wait.return_argument = value_ptr;
/*
* Process join
*/
if ( api->detachstate == PTHREAD_CREATE_JOINABLE ) {
unblocked = _Thread_queue_Dequeue( &api->Join_List );
if ( unblocked ) {
do {
*(void **)unblocked->Wait.return_argument = value_ptr;
} while ( (unblocked = _Thread_queue_Dequeue( &api->Join_List )) );
} else {
_Thread_Set_state(
the_thread,
STATES_WAITING_FOR_JOIN_AT_EXIT | STATES_TRANSIENT
);
_RTEMS_Unlock_allocator();
_Thread_Enable_dispatch();
/* now waiting for thread to arrive */
_RTEMS_Lock_allocator();
_Thread_Disable_dispatch();
}
}
/*
* Now shut down the thread
*/
_Thread_Close( the_information, the_thread );
_POSIX_Threads_Free( the_thread );
_RTEMS_Unlock_allocator();
_Thread_Enable_dispatch();
}
/**
* @brief Timer server body.
*
* This is the server for task based timers. This task executes whenever a
* task-based timer should fire. It services both "after" and "when" timers.
* It is not created automatically but must be created explicitly by the
* application before task-based timers may be initiated. The parameter
* @a arg points to the corresponding timer server control block.
*/
static rtems_task _Timer_server_Body(
rtems_task_argument arg
)
{
Timer_server_Control *ts = (Timer_server_Control *) arg;
Chain_Control insert_chain;
Chain_Control fire_chain;
_Chain_Initialize_empty( &insert_chain );
_Chain_Initialize_empty( &fire_chain );
while ( true ) {
_Timer_server_Get_watchdogs_that_fire_now( ts, &insert_chain, &fire_chain );
if ( !_Chain_Is_empty( &fire_chain ) ) {
/*
* Fire the watchdogs.
*/
while ( true ) {
Watchdog_Control *watchdog;
ISR_Level level;
/*
* It is essential that interrupts are disable here since an interrupt
* service routine may remove a watchdog from the chain.
*/
_ISR_Disable( level );
watchdog = (Watchdog_Control *) _Chain_Get_unprotected( &fire_chain );
if ( watchdog != NULL ) {
watchdog->state = WATCHDOG_INACTIVE;
_ISR_Enable( level );
} else {
_ISR_Enable( level );
break;
}
/*
* The timer server may block here and wait for resources or time.
* The system watchdogs are inactive and will remain inactive since
* the active flag of the timer server is true.
*/
(*watchdog->routine)( watchdog->id, watchdog->user_data );
}
} else {
ts->active = false;
/*
* Block until there is something to do.
*/
_Thread_Disable_dispatch();
_Thread_Set_state( ts->thread, STATES_DELAYING );
_Timer_server_Reset_interval_system_watchdog( ts );
_Timer_server_Reset_tod_system_watchdog( ts );
_Thread_Enable_dispatch();
ts->active = true;
/*
* Maybe an interrupt did reset the system timers, so we have to stop
* them here. Since we are active now, there will be no more resets
* until we are inactive again.
*/
_Timer_server_Stop_interval_system_watchdog( ts );
_Timer_server_Stop_tod_system_watchdog( ts );
}
}
}
void _Event_Seize(
rtems_event_set event_in,
rtems_option option_set,
rtems_interval ticks,
rtems_event_set *event_out
)
{
Thread_Control *executing;
rtems_event_set seized_events;
rtems_event_set pending_events;
ISR_Level level;
RTEMS_API_Control *api;
Thread_blocking_operation_States sync_state;
executing = _Thread_Executing;
executing->Wait.return_code = RTEMS_SUCCESSFUL;
api = executing->API_Extensions[ THREAD_API_RTEMS ];
_ISR_Disable( level );
pending_events = api->pending_events;
seized_events = _Event_sets_Get( pending_events, event_in );
if ( !_Event_sets_Is_empty( seized_events ) &&
(seized_events == event_in || _Options_Is_any( option_set )) ) {
api->pending_events =
_Event_sets_Clear( pending_events, seized_events );
_ISR_Enable( level );
*event_out = seized_events;
return;
}
if ( _Options_Is_no_wait( option_set ) ) {
_ISR_Enable( level );
executing->Wait.return_code = RTEMS_UNSATISFIED;
*event_out = seized_events;
return;
}
/*
* Note what we are waiting for BEFORE we enter the critical section.
* The interrupt critical section management code needs this to be
* set properly when we are marked as in the event critical section.
*
* NOTE: Since interrupts are disabled, this isn't that much of an
* issue but better safe than sorry.
*/
executing->Wait.option = (uint32_t) option_set;
executing->Wait.count = (uint32_t) event_in;
executing->Wait.return_argument = event_out;
_Event_Sync_state = THREAD_BLOCKING_OPERATION_NOTHING_HAPPENED;
_ISR_Enable( level );
if ( ticks ) {
_Watchdog_Initialize(
&executing->Timer,
_Event_Timeout,
executing->Object.id,
NULL
);
_Watchdog_Insert_ticks( &executing->Timer, ticks );
}
_Thread_Set_state( executing, STATES_WAITING_FOR_EVENT );
_ISR_Disable( level );
sync_state = _Event_Sync_state;
_Event_Sync_state = THREAD_BLOCKING_OPERATION_SYNCHRONIZED;
if ( sync_state == THREAD_BLOCKING_OPERATION_NOTHING_HAPPENED ) {
_ISR_Enable( level );
return;
}
/*
* An interrupt completed the thread's blocking request.
* The blocking thread was satisfied by an ISR or timed out.
*
* WARNING! Returning with interrupts disabled!
*/
_Thread_blocking_operation_Cancel( sync_state, executing, level );
}
void _Thread_Close(
Objects_Information *information,
Thread_Control *the_thread
)
{
/*
* Now we are in a dispatching critical section again and we
* can take the thread OUT of the published set. It is invalid
* to use this thread's Id after this call. This will prevent
* any other task from attempting to initiate a call on this task.
*/
_Objects_Invalidate_Id( information, &the_thread->Object );
/*
* We assume the Allocator Mutex is locked when we get here.
* This provides sufficient protection to let the user extensions
* run but as soon as we get back, we will make the thread
* disappear and set a transient state on it. So we temporarily
* unnest dispatching.
*/
_Thread_Unnest_dispatch();
_User_extensions_Thread_delete( the_thread );
_Thread_Disable_dispatch();
/*
* Now we are in a dispatching critical section again and we
* can take the thread OUT of the published set. It is invalid
* to use this thread's Id OR name after this call.
*/
_Objects_Close( information, &the_thread->Object );
/*
* By setting the dormant state, the thread will not be considered
* for scheduling when we remove any blocking states.
*/
_Thread_Set_state( the_thread, STATES_DORMANT );
if ( !_Thread_queue_Extract_with_proxy( the_thread ) ) {
if ( _Watchdog_Is_active( &the_thread->Timer ) )
(void) _Watchdog_Remove( &the_thread->Timer );
}
/*
* Free the per-thread scheduling information.
*/
_Scheduler_Free( the_thread );
/*
* The thread might have been FP. So deal with that.
*/
#if ( CPU_HARDWARE_FP == TRUE ) || ( CPU_SOFTWARE_FP == TRUE )
#if ( CPU_USE_DEFERRED_FP_SWITCH == TRUE )
if ( _Thread_Is_allocated_fp( the_thread ) )
_Thread_Deallocate_fp();
#endif
the_thread->fp_context = NULL;
_Workspace_Free( the_thread->Start.fp_context );
#endif
/*
* Free the rest of the memory associated with this task
* and set the associated pointers to NULL for safety.
*/
_Thread_Stack_Free( the_thread );
the_thread->Start.stack = NULL;
_Workspace_Free( the_thread->extensions );
the_thread->extensions = NULL;
_Workspace_Free( the_thread->Start.tls_area );
}
int nanosleep(
const struct timespec *rqtp,
struct timespec *rmtp
)
{
Watchdog_Interval ticks;
/*
* Return EINVAL if the delay interval is negative.
*
* NOTE: This behavior is beyond the POSIX specification.
* FSU and GNU/Linux pthreads shares this behavior.
*/
if ( !_Timespec_Is_valid( rqtp ) )
rtems_set_errno_and_return_minus_one( EINVAL );
ticks = _Timespec_To_ticks( rqtp );
/*
* A nanosleep for zero time is implemented as a yield.
* This behavior is also beyond the POSIX specification but is
* consistent with the RTEMS API and yields desirable behavior.
*/
if ( !ticks ) {
_Thread_Disable_dispatch();
_Scheduler_Yield();
_Thread_Enable_dispatch();
if ( rmtp ) {
rmtp->tv_sec = 0;
rmtp->tv_nsec = 0;
}
return 0;
}
/*
* Block for the desired amount of time
*/
_Thread_Disable_dispatch();
_Thread_Set_state(
_Thread_Executing,
STATES_DELAYING | STATES_INTERRUPTIBLE_BY_SIGNAL
);
_Watchdog_Initialize(
&_Thread_Executing->Timer,
_Thread_Delay_ended,
_Thread_Executing->Object.id,
NULL
);
_Watchdog_Insert_ticks( &_Thread_Executing->Timer, ticks );
_Thread_Enable_dispatch();
/* calculate time remaining */
if ( rmtp ) {
ticks -=
_Thread_Executing->Timer.stop_time - _Thread_Executing->Timer.start_time;
_Timespec_From_ticks( ticks, rmtp );
/*
* Only when POSIX is enabled, can a sleep be interrupted.
*/
#if defined(RTEMS_POSIX_API)
/*
* If there is time remaining, then we were interrupted by a signal.
*/
if ( ticks )
rtems_set_errno_and_return_minus_one( EINTR );
#endif
}
return 0;
}
void _Thread_queue_Enqueue(
Thread_queue_Queue *queue,
const Thread_queue_Operations *operations,
Thread_Control *the_thread,
Thread_queue_Context *queue_context
)
{
Per_CPU_Control *cpu_self;
bool success;
_Assert( queue_context->enqueue_callout != NULL );
_Assert( (uint8_t) queue_context->timeout_discipline != 0x7f );
#if defined(RTEMS_MULTIPROCESSING)
if ( _Thread_MP_Is_receive( the_thread ) && the_thread->receive_packet ) {
the_thread = _Thread_MP_Allocate_proxy( queue_context->thread_state );
}
#endif
_Thread_Wait_claim( the_thread, queue );
if ( !_Thread_queue_Path_acquire_critical( queue, the_thread, queue_context ) ) {
_Thread_queue_Path_release_critical( queue_context );
_Thread_Wait_restore_default( the_thread );
_Thread_queue_Queue_release( queue, &queue_context->Lock_context.Lock_context );
_Thread_Wait_tranquilize( the_thread );
_Assert( queue_context->deadlock_callout != NULL );
( *queue_context->deadlock_callout )( the_thread );
return;
}
_Thread_queue_Context_clear_priority_updates( queue_context );
_Thread_Wait_claim_finalize( the_thread, operations );
( *operations->enqueue )( queue, the_thread, queue_context );
_Thread_queue_Path_release_critical( queue_context );
the_thread->Wait.return_code = STATUS_SUCCESSFUL;
_Thread_Wait_flags_set( the_thread, THREAD_QUEUE_INTEND_TO_BLOCK );
cpu_self = _Thread_Dispatch_disable_critical(
&queue_context->Lock_context.Lock_context
);
_Thread_queue_Queue_release( queue, &queue_context->Lock_context.Lock_context );
( *queue_context->enqueue_callout )( queue, the_thread, queue_context );
/*
* Set the blocking state for this thread queue in the thread.
*/
_Thread_Set_state( the_thread, queue_context->thread_state );
/*
* If the thread wants to timeout, then schedule its timer.
*/
_Thread_queue_Timeout( the_thread, cpu_self, queue_context );
/*
* At this point thread dispatching is disabled, however, we already released
* the thread queue lock. Thus, interrupts or threads on other processors
* may already changed our state with respect to the thread queue object.
* The request could be satisfied or timed out. This situation is indicated
* by the thread wait flags. Other parties must not modify our thread state
* as long as we are in the THREAD_QUEUE_INTEND_TO_BLOCK thread wait state,
* thus we have to cancel the blocking operation ourself if necessary.
*/
success = _Thread_Wait_flags_try_change_acquire(
the_thread,
THREAD_QUEUE_INTEND_TO_BLOCK,
THREAD_QUEUE_BLOCKED
);
if ( !success ) {
_Thread_Remove_timer_and_unblock( the_thread, queue );
}
_Thread_Priority_update( queue_context );
_Thread_Dispatch_direct( cpu_self );
}
void complete_test( void )
{
uint32_t index;
rtems_id task_id;
ISR_lock_Context lock_context;
Thread_queue_Context queue_context;
benchmark_timer_initialize();
thread_resume( Middle_tcb );
thread_resume_time = benchmark_timer_read();
_Thread_Set_state( Middle_tcb, STATES_WAITING_FOR_MESSAGE );
benchmark_timer_initialize();
_Thread_Unblock( Middle_tcb );
thread_unblock_time = benchmark_timer_read();
_Thread_Set_state( Middle_tcb, STATES_WAITING_FOR_MESSAGE );
benchmark_timer_initialize();
_Thread_Clear_state( Middle_tcb, STATES_WAITING_FOR_MESSAGE );
thread_ready_time = benchmark_timer_read();
benchmark_timer_initialize();
for ( index=1 ; index <= OPERATION_COUNT ; index++ )
(void) benchmark_timer_empty_function();
overhead = benchmark_timer_read();
task_id = Middle_tcb->Object.id;
benchmark_timer_initialize();
for ( index=1 ; index <= OPERATION_COUNT ; index++ ) {
(void) _Thread_Get( task_id, &lock_context );
_ISR_lock_ISR_enable( &lock_context );
}
thread_get_time = benchmark_timer_read();
benchmark_timer_initialize();
for ( index=1 ; index <= OPERATION_COUNT ; index++ ) {
(void) _Semaphore_Get( Semaphore_id, &queue_context );
_ISR_lock_ISR_enable( &queue_context.Lock_context );
}
semaphore_get_time = benchmark_timer_read();
benchmark_timer_initialize();
for ( index=1 ; index <= OPERATION_COUNT ; index++ ) {
(void) _Thread_Get( 0x3, &lock_context );
_ISR_lock_ISR_enable( &lock_context );
}
thread_get_invalid_time = benchmark_timer_read();
/*
* This is the running task and we have tricked RTEMS out enough where
* we need to set some internal tracking information to match this.
*/
set_thread_heir( _Thread_Get_executing() );
set_thread_dispatch_necessary( false );
/*
* Now dump all the times
*/
put_time(
"rtems interrupt: _ISR_Local_disable",
isr_disable_time,
1,
0,
0
);
put_time(
"rtems interrupt: _ISR_Local_flash",
isr_flash_time,
1,
0,
0
);
put_time(
"rtems interrupt: _ISR_Local_enable",
isr_enable_time,
1,
0,
0
);
put_time(
"rtems internal: _Thread_Dispatch_disable",
thread_disable_dispatch_time,
1,
0,
0
);
put_time(
"rtems internal: _Thread_Dispatch_enable",
thread_enable_dispatch_time,
1,
0,
0
);
put_time(
"rtems internal: _Thread_Set_state",
thread_set_state_time,
1,
0,
0
);
put_time(
"rtems internal: _Thread_Dispatch NO FP",
thread_dispatch_no_fp_time,
1,
0,
0
);
put_time(
"rtems internal: context switch: no floating point contexts",
context_switch_no_fp_time,
1,
0,
0
);
put_time(
"rtems internal: context switch: self",
context_switch_self_time,
1,
0,
0
);
put_time(
"rtems internal: context switch to another task",
context_switch_another_task_time,
1,
0,
0
);
#if (CPU_HARDWARE_FP == 1) || (CPU_SOFTWARE_FP == 1)
put_time(
"rtems internal: fp context switch restore 1st FP task",
context_switch_restore_1st_fp_time,
1,
0,
0
);
put_time(
"rtems internal: fp context switch save idle and restore initialized",
context_switch_save_idle_restore_initted_time,
1,
0,
0
);
put_time(
"rtems internal: fp context switch save idle, restore idle",
context_switch_save_restore_idle_time,
1,
0,
0
);
put_time(
"rtems internal: fp context switch save initialized, restore initialized",
context_switch_save_restore_initted_time,
1,
0,
0
);
#else
puts(
"rtems internal: fp context switch restore 1st FP task - NA\n"
"rtems internal: fp context switch save idle restore initialized - NA\n"
"rtems internal: fp context switch save idle restore idle - NA\n"
"rtems internal: fp context switch save initialized\n"
" restore initialized - NA"
);
#endif
put_time(
"rtems internal: _Thread_Resume",
thread_resume_time,
1,
0,
0
);
put_time(
"rtems internal: _Thread_Unblock",
thread_unblock_time,
1,
0,
0
);
put_time(
"rtems internal: _Thread_Ready",
thread_ready_time,
1,
0,
0
);
put_time(
"rtems internal: _Thread_Get",
thread_get_time,
OPERATION_COUNT,
0,
0
);
put_time(
"rtems internal: _Semaphore_Get",
semaphore_get_time,
OPERATION_COUNT,
0,
0
);
put_time(
"rtems internal: _Thread_Get: invalid id",
thread_get_invalid_time,
OPERATION_COUNT,
0,
0
);
TEST_END();
rtems_test_exit( 0 );
}
rtems_status_code rtems_rate_monotonic_period(
rtems_id id,
rtems_interval length
)
{
Rate_monotonic_Control *the_period;
Objects_Locations location;
rtems_status_code return_value;
rtems_rate_monotonic_period_states local_state;
ISR_Level level;
the_period = _Rate_monotonic_Get( id, &location );
switch ( location ) {
case OBJECTS_LOCAL:
if ( !_Thread_Is_executing( the_period->owner ) ) {
_Thread_Enable_dispatch();
return RTEMS_NOT_OWNER_OF_RESOURCE;
}
if ( length == RTEMS_PERIOD_STATUS ) {
switch ( the_period->state ) {
case RATE_MONOTONIC_INACTIVE:
return_value = RTEMS_NOT_DEFINED;
break;
case RATE_MONOTONIC_EXPIRED:
case RATE_MONOTONIC_EXPIRED_WHILE_BLOCKING:
return_value = RTEMS_TIMEOUT;
break;
case RATE_MONOTONIC_ACTIVE:
default: /* unreached -- only to remove warnings */
return_value = RTEMS_SUCCESSFUL;
break;
}
_Thread_Enable_dispatch();
return( return_value );
}
_ISR_Disable( level );
if ( the_period->state == RATE_MONOTONIC_INACTIVE ) {
_ISR_Enable( level );
the_period->next_length = length;
/*
* Baseline statistics information for the beginning of a period.
*/
_Rate_monotonic_Initiate_statistics( the_period );
the_period->state = RATE_MONOTONIC_ACTIVE;
_Watchdog_Initialize(
&the_period->Timer,
_Rate_monotonic_Timeout,
id,
NULL
);
_Watchdog_Insert_ticks( &the_period->Timer, length );
_Thread_Enable_dispatch();
return RTEMS_SUCCESSFUL;
}
if ( the_period->state == RATE_MONOTONIC_ACTIVE ) {
/*
* Update statistics from the concluding period.
*/
_Rate_monotonic_Update_statistics( the_period );
/*
* This tells the _Rate_monotonic_Timeout that this task is
* in the process of blocking on the period and that we
* may be changing the length of the next period.
*/
the_period->state = RATE_MONOTONIC_OWNER_IS_BLOCKING;
the_period->next_length = length;
_ISR_Enable( level );
_Thread_Executing->Wait.id = the_period->Object.id;
_Thread_Set_state( _Thread_Executing, STATES_WAITING_FOR_PERIOD );
/*
* Did the watchdog timer expire while we were actually blocking
* on it?
*/
_ISR_Disable( level );
local_state = the_period->state;
the_period->state = RATE_MONOTONIC_ACTIVE;
_ISR_Enable( level );
/*
* If it did, then we want to unblock ourself and continue as
* if nothing happen. The period was reset in the timeout routine.
*/
if ( local_state == RATE_MONOTONIC_EXPIRED_WHILE_BLOCKING )
_Thread_Clear_state( _Thread_Executing, STATES_WAITING_FOR_PERIOD );
_Thread_Enable_dispatch();
return RTEMS_SUCCESSFUL;
}
if ( the_period->state == RATE_MONOTONIC_EXPIRED ) {
/*
* Update statistics from the concluding period
*/
_Rate_monotonic_Update_statistics( the_period );
_ISR_Enable( level );
the_period->state = RATE_MONOTONIC_ACTIVE;
the_period->next_length = length;
_Watchdog_Insert_ticks( &the_period->Timer, length );
_Scheduler_Release_job(the_period->owner, the_period->next_length);
_Thread_Enable_dispatch();
return RTEMS_TIMEOUT;
}
/*
* These should never happen so just return invalid Id.
* - RATE_MONOTONIC_OWNER_IS_BLOCKING:
* - RATE_MONOTONIC_EXPIRED_WHILE_BLOCKING:
*/
#if defined(RTEMS_MULTIPROCESSING)
case OBJECTS_REMOTE: /* should never return this */
#endif
case OBJECTS_ERROR:
break;
}
return RTEMS_INVALID_ID;
}