int task_restart(pid_t pid)
{
FAR struct tcb_s *rtcb;
FAR struct task_tcb_s *tcb;
FAR dq_queue_t *tasklist;
irqstate_t flags;
int errcode;
#ifdef CONFIG_SMP
int cpu;
#endif
int ret;
/* Check if the task to restart is the calling task */
rtcb = this_task();
if ((pid == 0) || (pid == rtcb->pid))
{
/* Not implemented */
errcode = ENOSYS;
goto errout;
}
/* We are restarting some other task than ourselves. Make sure that the
* task does not change its state while we are executing. In the single
* CPU state this could be done by disabling pre-emption. But we will
* a little stronger medicine on the SMP case: The task make be running
* on another CPU.
*/
flags = enter_critical_section();
/* Find for the TCB associated with matching pid */
tcb = (FAR struct task_tcb_s *)sched_gettcb(pid);
#ifndef CONFIG_DISABLE_PTHREAD
if (!tcb || (tcb->cmn.flags & TCB_FLAG_TTYPE_MASK) == TCB_FLAG_TTYPE_PTHREAD)
#else
if (!tcb)
#endif
{
/* There is no TCB with this pid or, if there is, it is not a task. */
errcode = ESRCH;
goto errout_with_lock;
}
#ifdef CONFIG_SMP
/* If the task is running on another CPU, then pause that CPU. We can
* then manipulate the TCB of the restarted task and when we resume the
* that CPU, the restart take effect.
*/
cpu = sched_cpu_pause(&tcb->cmn);
#endif /* CONFIG_SMP */
/* Try to recover from any bad states */
task_recover((FAR struct tcb_s *)tcb);
/* Kill any children of this thread */
#ifdef HAVE_GROUP_MEMBERS
(void)group_killchildren(tcb);
#endif
/* Remove the TCB from whatever list it is in. After this point, the TCB
* should no longer be accessible to the system
*/
#ifdef CONFIG_SMP
tasklist = TLIST_HEAD(tcb->cmn.task_state, tcb->cmn.cpu);
#else
tasklist = TLIST_HEAD(tcb->cmn.task_state);
#endif
dq_rem((FAR dq_entry_t *)tcb, tasklist);
tcb->cmn.task_state = TSTATE_TASK_INVALID;
/* Deallocate anything left in the TCB's queues */
sig_cleanup((FAR struct tcb_s *)tcb); /* Deallocate Signal lists */
/* Reset the current task priority */
tcb->cmn.sched_priority = tcb->cmn.init_priority;
/* The task should restart with pre-emption disabled and not in a critical
* secton.
*/
tcb->cmn.lockcount = 0;
#ifdef CONFIG_SMP
tcb->cmn.irqcount = 0;
#endif
/* Reset the base task priority and the number of pending reprioritizations */
#ifdef CONFIG_PRIORITY_INHERITANCE
tcb->cmn.base_priority = tcb->cmn.init_priority;
# if CONFIG_SEM_NNESTPRIO > 0
tcb->cmn.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((FAR struct tcb_s *)tcb);
/* Add the task to the inactive task list */
dq_addfirst((FAR dq_entry_t *)tcb, (FAR dq_queue_t *)&g_inactivetasks);
tcb->cmn.task_state = TSTATE_TASK_INACTIVE;
#ifdef CONFIG_SMP
/* Resume the paused CPU (if any) */
if (cpu >= 0)
{
ret = up_cpu_resume(cpu);
if (ret < 0)
{
errcode = -ret;
goto errout_with_lock;
}
}
#endif /* CONFIG_SMP */
leave_critical_section(flags);
/* Activate the task. */
ret = task_activate((FAR struct tcb_s *)tcb);
if (ret != OK)
{
(void)task_terminate(pid, true);
errcode = -ret;
goto errout_with_lock;
}
return OK;
errout_with_lock:
leave_critical_section(flags);
errout:
set_errno(errcode);
return ERROR;
}
bool sched_removereadytorun(FAR struct tcb_s *rtcb)
{
FAR dq_queue_t *tasklist;
bool doswitch = false;
int cpu;
/* Which CPU (if any) is the task running on? Which task list holds the
* TCB?
*/
cpu = rtcb->cpu;
tasklist = TLIST_HEAD(rtcb->task_state, cpu);
/* Check if the TCB to be removed is at the head of a ready-to-run list.
* For the case of SMP, there are two lists involved: (1) the
* g_readytorun list that holds non-running tasks that have not been
* assigned to a CPU, and (2) and the g_assignedtasks[] lists which hold
* tasks assigned a CPU, including the task that is currently running on
* that CPU. Only this latter list contains the currently active task
* only only removing the head of that list can result in a context
* switch.
*
* rtcb->blink == NULL will tell us if the TCB is at the head of the
* ready-to-run list and, hence, a candidate for the new running task.
*
* If so, then the tasklist RUNNABLE attribute will inform us if the list
* holds the currently executing task and, hence, if a context switch
* should occur.
*/
if (rtcb->blink == NULL && TLIST_ISRUNNABLE(rtcb->task_state))
{
FAR struct tcb_s *nxttcb;
FAR struct tcb_s *rtrtcb;
int me;
/* There must always be at least one task in the list (the IDLE task)
* after the TCB being removed.
*/
nxttcb = (FAR struct tcb_s *)rtcb->flink;
DEBUGASSERT(nxttcb != NULL);
/* If we are modifying the head of some assigned task list other than
* our own, we will need to stop that CPU.
*/
me = this_cpu();
if (cpu != me)
{
DEBUGVERIFY(up_cpu_pause(cpu));
}
/* The task is running but the CPU that it was running on has been
* paused. We can now safely remove its TCB from the ready-to-run
* task list. In the SMP case this may be either the g_readytorun()
* or the g_assignedtasks[cpu] list.
*/
dq_rem((FAR dq_entry_t *)rtcb, tasklist);
/* Which task will go at the head of the list? It will be either the
* next tcb in the assigned task list (nxttcb) or a TCB in the
* g_readytorun list. We can only select a task from that list if
* the affinity mask includes the current CPU.
*
* REVISIT: What should we do, if anything, if pre-emption is locked
* by the another CPU? Should just used nxttcb? Should we select
* from the pending task list instead of the g_readytorun list?
*/
for (rtrtcb = (FAR struct tcb_s *)g_readytorun.head;
rtrtcb != NULL && !CPU_ISSET(cpu, &rtrtcb->affinity);
rtrtcb = (FAR struct tcb_s *)rtrtcb->flink);
/* Did we find a task in the g_readytorun list? Which task should
* we use? We decide strictly by the priority of the two tasks:
* Either (1) the task currently at the head of the g_assignedtasks[cpu]
* list (nexttcb) or (2) the highest priority task from the
* g_readytorun list with matching affinity (rtrtcb).
*/
if (rtrtcb != NULL && rtrtcb->sched_priority >= nxttcb->sched_priority)
{
FAR struct tcb_s *tmptcb;
/* The TCB at the head of the ready to run list has the higher
* priority. Remove that task from the head of the g_readytorun
* list and add to the head of the g_assignedtasks[cpu] list.
*/
tmptcb = (FAR struct tcb_s *)
dq_remfirst((FAR dq_queue_t *)&g_readytorun);
DEBUGASSERT(tmptcb == rtrtcb);
dq_addfirst((FAR dq_entry_t *)tmptcb, tasklist);
tmptcb->cpu = cpu;
nxttcb = tmptcb;
}
/* Will pre-emption be disabled after the switch? If the lockcount is
* greater than zero, then this task/this CPU holds the scheduler lock.
*/
if (nxttcb->lockcount > 0)
{
/* Yes... make sure that scheduling logic knows about this */
spin_setbit(&g_cpu_lockset, cpu, &g_cpu_locksetlock,
&g_cpu_schedlock);
}
else
{
/* No.. we may need to perform release our hold on the lock. */
spin_clrbit(&g_cpu_lockset, cpu, &g_cpu_locksetlock,
&g_cpu_schedlock);
}
/* Interrupts may be disabled after the switch. If irqcount is greater
* than zero, then this task/this CPU holds the IRQ lock
*/
if (nxttcb->irqcount > 0)
{
/* Yes... make sure that scheduling logic knows about this */
spin_setbit(&g_cpu_irqset, cpu, &g_cpu_irqsetlock,
&g_cpu_irqlock);
}
else
{
/* No.. we may need to release our hold on the irq state. */
spin_clrbit(&g_cpu_irqset, cpu, &g_cpu_irqsetlock,
&g_cpu_irqlock);
}
nxttcb->task_state = TSTATE_TASK_RUNNING;
/* All done, restart the other CPU (if it was paused). */
doswitch = true;
if (cpu != me)
{
/* In this we will not want to report a context switch to this
* CPU. Only the other CPU is affected.
*/
DEBUGVERIFY(up_cpu_resume(cpu));
doswitch = false;
}
}
else
{
/* The task is not running. Just remove its TCB from the ready-to-run
* list. In the SMP case this may be either the g_readytorun() or the
* g_assignedtasks[cpu] list.
*/
dq_rem((FAR dq_entry_t *)rtcb, tasklist);
}
/* Since the TCB is no longer in any list, it is now invalid */
rtcb->task_state = TSTATE_TASK_INVALID;
return doswitch;
}
void up_schedule_sigaction(struct tcb_s *tcb, sig_deliver_t sigdeliver)
{
irqstate_t flags;
int cpu;
int me;
sinfo("tcb=0x%p sigdeliver=0x%p\n", tcb, sigdeliver);
/* Make sure that interrupts are disabled */
flags = enter_critical_section();
/* Refuse to handle nested signal actions */
if (!tcb->xcp.sigdeliver)
{
/* First, handle some special cases when the signal is being delivered
* to task that is currently executing on any CPU.
*/
sinfo("rtcb=0x%p CURRENT_REGS=0x%p\n", this_task(), CURRENT_REGS);
if (tcb->task_state == TSTATE_TASK_RUNNING)
{
me = this_cpu();
cpu = tcb->cpu;
/* CASE 1: We are not in an interrupt handler and a task is
* signaling itself for some reason.
*/
if (cpu == me && !CURRENT_REGS)
{
/* In this case just deliver the signal now.
* REVISIT: Signal handler will run in a critical section!
*/
sigdeliver(tcb);
}
/* CASE 2: The task that needs to receive the signal is running.
* This could happen if the task is running on another CPU OR if
* we are in an interrupt handler and the task is running on this
* CPU. In the former case, we will have to PAUSE the other CPU
* first. But in either case, we will have to modify the return
* state as well as the state in the TCB.
*/
else
{
/* If we signaling a task running on the other CPU, we have
* to PAUSE the other CPU.
*/
if (cpu != me)
{
/* Pause the CPU */
up_cpu_pause(cpu);
/* Wait while the pause request is pending */
while (up_cpu_pausereq(cpu))
{
}
/* Now tcb on the other CPU can be accessed safely */
/* Copy tcb->xcp.regs to tcp.xcp.saved. These will be restored
* by the signal trampoline after the signal has been delivered.
*/
tcb->xcp.sigdeliver = (FAR void *)sigdeliver;
tcb->xcp.saved_pc = tcb->xcp.regs[REG_PC];
#ifdef CONFIG_ARMV7M_USEBASEPRI
tcb->xcp.saved_basepri = tcb->xcp.regs[REG_BASEPRI];
#else
tcb->xcp.saved_primask = tcb->xcp.regs[REG_PRIMASK];
#endif
tcb->xcp.saved_xpsr = tcb->xcp.regs[REG_XPSR];
#ifdef CONFIG_BUILD_PROTECTED
tcb->xcp.saved_lr = tcb->xcp.regs[REG_LR];
#endif
/* Then set up vector to the trampoline with interrupts
* disabled. We must already be in privileged thread mode
* to be here.
*/
tcb->xcp.regs[REG_PC] = (uint32_t)up_sigdeliver;
#ifdef CONFIG_ARMV7M_USEBASEPRI
tcb->xcp.regs[REG_BASEPRI] = NVIC_SYSH_DISABLE_PRIORITY;
#else
tcb->xcp.regs[REG_PRIMASK] = 1;
#endif
tcb->xcp.regs[REG_XPSR] = ARMV7M_XPSR_T;
#ifdef CONFIG_BUILD_PROTECTED
tcb->xcp.regs[REG_LR] = EXC_RETURN_PRIVTHR;
#endif
}
else
{
/* tcb is running on the same CPU */
/* Save the return PC, CPSR and either the BASEPRI or PRIMASK
* registers (and perhaps also the LR). These will be
* restored by the signal trampoline after the signal has been
* delivered.
*/
tcb->xcp.sigdeliver = (FAR void *)sigdeliver;
tcb->xcp.saved_pc = CURRENT_REGS[REG_PC];
#ifdef CONFIG_ARMV7M_USEBASEPRI
tcb->xcp.saved_basepri = CURRENT_REGS[REG_BASEPRI];
#else
tcb->xcp.saved_primask = CURRENT_REGS[REG_PRIMASK];
#endif
tcb->xcp.saved_xpsr = CURRENT_REGS[REG_XPSR];
#ifdef CONFIG_BUILD_PROTECTED
tcb->xcp.saved_lr = CURRENT_REGS[REG_LR];
#endif
/* Then set up vector to the trampoline with interrupts
* disabled. The kernel-space trampoline must run in
* privileged thread mode.
*/
CURRENT_REGS[REG_PC] = (uint32_t)up_sigdeliver;
#ifdef CONFIG_ARMV7M_USEBASEPRI
CURRENT_REGS[REG_BASEPRI] = NVIC_SYSH_DISABLE_PRIORITY;
#else
CURRENT_REGS[REG_PRIMASK] = 1;
#endif
CURRENT_REGS[REG_XPSR] = ARMV7M_XPSR_T;
#ifdef CONFIG_BUILD_PROTECTED
CURRENT_REGS[REG_LR] = EXC_RETURN_PRIVTHR;
#endif
/* And make sure that the saved context in the TCB is the same
* as the interrupt return context.
*/
up_savestate(tcb->xcp.regs);
}
/* Increment the IRQ lock count so that when the task is restarted,
* it will hold the IRQ spinlock.
*/
DEBUGASSERT(tcb->irqcount < INT16_MAX);
tcb->irqcount++;
/* In an SMP configuration, the interrupt disable logic also
* involves spinlocks that are configured per the TCB irqcount
* field. This is logically equivalent to enter_critical_section().
* The matching call to leave_critical_section() will be
* performed in up_sigdeliver().
*/
spin_setbit(&g_cpu_irqset, cpu, &g_cpu_irqsetlock,
&g_cpu_irqlock);
/* RESUME the other CPU if it was PAUSED */
if (cpu != me)
{
up_cpu_resume(cpu);
}
}
}
/* Otherwise, we are (1) signaling a task is not running from an
* interrupt handler or (2) we are not in an interrupt handler and the
* running task is signaling some other non-running task.
*/
else
{
/* Save the return PC, CPSR and either the BASEPRI or PRIMASK
* registers (and perhaps also the LR). These will be restored
* by the signal trampoline after the signal has been delivered.
*/
tcb->xcp.sigdeliver = (FAR void *)sigdeliver;
tcb->xcp.saved_pc = tcb->xcp.regs[REG_PC];
#ifdef CONFIG_ARMV7M_USEBASEPRI
tcb->xcp.saved_basepri = tcb->xcp.regs[REG_BASEPRI];
#else
tcb->xcp.saved_primask = tcb->xcp.regs[REG_PRIMASK];
#endif
tcb->xcp.saved_xpsr = tcb->xcp.regs[REG_XPSR];
#ifdef CONFIG_BUILD_PROTECTED
tcb->xcp.saved_lr = tcb->xcp.regs[REG_LR];
#endif
/* Increment the IRQ lock count so that when the task is restarted,
* it will hold the IRQ spinlock.
*/
DEBUGASSERT(tcb->irqcount < INT16_MAX);
tcb->irqcount++;
/* Then set up to vector to the trampoline with interrupts
* disabled. We must already be in privileged thread mode to be
* here.
*/
tcb->xcp.regs[REG_PC] = (uint32_t)up_sigdeliver;
#ifdef CONFIG_ARMV7M_USEBASEPRI
tcb->xcp.regs[REG_BASEPRI] = NVIC_SYSH_DISABLE_PRIORITY;
#else
tcb->xcp.regs[REG_PRIMASK] = 1;
#endif
tcb->xcp.regs[REG_XPSR] = ARMV7M_XPSR_T;
#ifdef CONFIG_BUILD_PROTECTED
tcb->xcp.regs[REG_LR] = EXC_RETURN_PRIVTHR;
#endif
}
}
leave_critical_section(flags);
}
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;
}