void vPortYield( void )
{
pthread_t xTaskToSuspend;
pthread_t xTaskToResume;
if ( 0 == pthread_mutex_lock( &xSingleThreadMutex ) )
{
xTaskToSuspend = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
vTaskSwitchContext();
xTaskToResume = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
if ( xTaskToSuspend != xTaskToResume )
{
/* Remember and switch the critical nesting. */
prvSetTaskCriticalNesting( xTaskToSuspend, uxCriticalNesting );
uxCriticalNesting = prvGetTaskCriticalNesting( xTaskToResume );
/* Switch tasks. */
prvResumeThread( xTaskToResume );
prvSuspendThread( xTaskToSuspend );
}
else
{
/* Yielding to self */
(void)pthread_mutex_unlock( &xSingleThreadMutex );
}
}
}
void vPortSystemTickHandler( int sig )
{
pthread_t xTaskToSuspend;
pthread_t xTaskToResume;
(void)(sig);
if ( ( pdTRUE == xInterruptsEnabled ) && ( pdTRUE != xServicingTick ) )
{
if ( 0 == pthread_mutex_trylock( &xSingleThreadMutex ) )
{
xServicingTick = pdTRUE;
xTaskToSuspend = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
/* Tick Increment. */
xTaskIncrementTick();
/* Select Next Task. */
#if ( configUSE_PREEMPTION == 1 )
vTaskSwitchContext();
#endif
xTaskToResume = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
/* The only thread that can process this tick is the running thread. */
if ( xTaskToSuspend != xTaskToResume )
{
/* Remember and switch the critical nesting. */
prvSetTaskCriticalNesting( xTaskToSuspend, uxCriticalNesting );
uxCriticalNesting = prvGetTaskCriticalNesting( xTaskToResume );
/* Resume next task. */
prvResumeThread( xTaskToResume );
/* Suspend the current task. */
prvSuspendThread( xTaskToSuspend );
}
else
{
/* Release the lock as we are Resuming. */
(void)pthread_mutex_unlock( &xSingleThreadMutex );
}
xServicingTick = pdFALSE;
}
else
{
xPendYield = pdTRUE;
}
}
else
{
xPendYield = pdTRUE;
}
}
void vPortForciblyEndThread( void *pxTaskToDelete )
{
xTaskHandle hTaskToDelete = ( xTaskHandle )pxTaskToDelete;
pthread_t xTaskToDelete;
pthread_t xTaskToResume;
portBASE_TYPE xResult;
if ( 0 == pthread_mutex_lock( &xSingleThreadMutex ) )
{
xTaskToDelete = prvGetThreadHandle( hTaskToDelete );
xTaskToResume = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
if ( xTaskToResume == xTaskToDelete )
{
/* This is a suicidal thread, need to select a different task to run. */
vTaskSwitchContext();
xTaskToResume = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
}
if ( pthread_self() != xTaskToDelete )
{
/* Cancelling a thread that is not me. */
if ( xTaskToDelete != ( pthread_t )NULL )
{
/* Send a signal to wake the task so that it definitely cancels. */
pthread_testcancel();
xResult = pthread_cancel( xTaskToDelete );
if (xResult)
printf("pthread_cancel error!\n");
/* Pthread Clean-up function will note the cancellation. */
}
(void)pthread_mutex_unlock( &xSingleThreadMutex );
}
else
{
/* Resume the other thread. */
prvResumeThread( xTaskToResume );
/* Pthread Clean-up function will note the cancellation. */
/* Release the execution. */
uxCriticalNesting = 0;
vPortEnableInterrupts();
(void)pthread_mutex_unlock( &xSingleThreadMutex );
/* Commit suicide */
pthread_exit( (void *)1 );
}
}
}
void vPortStartFirstTask( void )
{
/* Initialise the critical nesting count ready for the first task. */
uxCriticalNesting = 0;
/* Start the first task. */
vPortEnableInterrupts();
/* Start the first task. */
prvResumeThread( prvGetThreadHandle( xTaskGetCurrentTaskHandle() ) );
}
