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; }
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; }