include/nucleus/thread.h

/*
 * @note Copyright (C) 2001,2002,2003 Philippe Gerum <rpm@xenomai.org>.
 *
 * Xenomai is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published
 * by the Free Software Foundation; either version 2 of the License,
 * or (at your option) any later version.
 *
 * Xenomai is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Xenomai; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
 * 02111-1307, USA.
 *
 * \ingroup thread
 */

#ifndef _XENO_NUCLEUS_THREAD_H
#define _XENO_NUCLEUS_THREAD_H

#include <nucleus/types.h>

/* State flags */

#define XNSUSP    0x00000001 
#define XNPEND    0x00000002 
#define XNDELAY   0x00000004 
#define XNREADY   0x00000008 
#define XNDORMANT 0x00000010 
#define XNZOMBIE  0x00000020 
#define XNRESTART 0x00000040 
#define XNSTARTED 0x00000080 
#define XNMAPPED  0x00000100 
#define XNRELAX   0x00000200 
#define XNMIGRATE 0x00000400 
#define XNHELD    0x00000800 
#define XNBOOST   0x00001000 
#define XNDEBUG   0x00002000 
#define XNLOCK    0x00004000 
#define XNRRB     0x00008000 
#define XNASDI    0x00010000 
#define XNDEFCAN  0x00020000 
/*
 * Some skins may depend on the following fields to live in the high
 * 16-bit word, in order to be combined with the emulated RTOS flags
 * which use the low one, so don't change them carelessly.
 */
#define XNTRAPSW  0x00040000 
#define XNRPIOFF  0x00080000 
#define XNFPU     0x00100000 
#define XNSHADOW  0x00200000 
#define XNROOT    0x00400000 
#define XNSWREP   0x00800000  /* Ends doxygen comment group: nucleus_state_flags */

/*
  Must follow the declaration order of the above bits. Status symbols
  are defined as follows:
  'S' -> Forcibly suspended.
  'w'/'W' -> Waiting for a resource, with or without timeout.
  'D' -> Delayed (without any other wait condition).
  'R' -> Runnable.
  'U' -> Unstarted or dormant.
  'X' -> Relaxed shadow.
  'H' -> Held in emergency.
  'b' -> Priority boost undergoing.
  'T' -> Ptraced and stopped.
  'l' -> Locks scheduler.
  'r' -> Undergoes round-robin.
  's' -> Interrupt shield enabled.
  't' -> Mode switches trapped.
  'o' -> Priority coupling off.
  'f' -> FPU enabled (for kernel threads).
*/
#define XNTHREAD_STATE_LABELS  "SWDRU....X.HbTlr..tof.."

#define XNTHREAD_BLOCK_BITS   (XNSUSP|XNPEND|XNDELAY|XNDORMANT|XNRELAX|XNMIGRATE|XNHELD)
#define XNTHREAD_MODE_BITS    (XNLOCK|XNRRB|XNASDI|XNTRAPSW|XNRPIOFF)

/* These state flags are available to the real-time interfaces */
#define XNTHREAD_STATE_SPARE0  0x10000000
#define XNTHREAD_STATE_SPARE1  0x20000000
#define XNTHREAD_STATE_SPARE2  0x40000000
#define XNTHREAD_STATE_SPARE3  0x80000000
#define XNTHREAD_STATE_SPARES  0xf0000000

/* Information flags */

#define XNTIMEO   0x00000001 
#define XNRMID    0x00000002 
#define XNBREAK   0x00000004 
#define XNKICKED  0x00000008 
#define XNWAKEN   0x00000010 
#define XNROBBED  0x00000020 
#define XNATOMIC  0x00000040 
#define XNAFFSET  0x00000080 
#define XNPRIOSET 0x00000100 
#define XNABORT   0x00000200 
#define XNCANPND  0x00000400 
#define XNAMOK    0x00000800 
/* These information flags are available to the real-time interfaces */
#define XNTHREAD_INFO_SPARE0  0x10000000
#define XNTHREAD_INFO_SPARE1  0x20000000
#define XNTHREAD_INFO_SPARE2  0x40000000
#define XNTHREAD_INFO_SPARE3  0x80000000
#define XNTHREAD_INFO_SPARES  0xf0000000
 /* Ends doxygen comment group: nucleus_info_flags */

typedef struct xnthread_info {

        unsigned long state; 
        int bprio;  
        int cprio; 
        int cpu; 
        unsigned long affinity; 
        unsigned long long relpoint; 
        unsigned long long exectime; 
        unsigned long modeswitches; 
        unsigned long ctxswitches; 
        unsigned long pagefaults; 
        char name[XNOBJECT_NAME_LEN];  
} xnthread_info_t;

#if defined(__KERNEL__) || defined(__XENO_SIM__)

#include <nucleus/stat.h>
#include <nucleus/timer.h>
#include <nucleus/registry.h>
#include <nucleus/schedparam.h>

#ifdef __XENO_SIM__
/* Pseudo-status (must not conflict with other bits) */
#define XNRUNNING  XNTHREAD_STATE_SPARE0
#define XNDELETED  XNTHREAD_STATE_SPARE1
#endif /* __XENO_SIM__ */

#define XNTHREAD_INVALID_ASR  ((void (*)(xnsigmask_t))0)

struct xnthread;
struct xnsynch;
struct xnsched;
struct xnselector;
struct xnsched_class;
struct xnsched_tpslot;
union xnsched_policy_param;
struct xnbufd;

struct xnthread_operations {
        int (*get_denormalized_prio)(struct xnthread *, int coreprio);
        unsigned (*get_magic)(void);
};

struct xnthread_init_attr {
        struct xntbase *tbase;
        struct xnthread_operations *ops;
        xnflags_t flags;
        unsigned int stacksize;
        const char *name;
};

struct xnthread_start_attr {
        xnflags_t mode;
        int imask;
        xnarch_cpumask_t affinity;
        void (*entry)(void *cookie);
        void *cookie;
};

struct xnthread_wait_context {
        unsigned long oldstate;
};

typedef void (*xnasr_t)(xnsigmask_t sigs);

typedef struct xnthread {

        xnarchtcb_t tcb;                /* Architecture-dependent block -- Must be first */

        xnflags_t state;                /* Thread state flags */

        xnflags_t info;                 /* Thread information flags */

        struct xnsched *sched;          /* Thread scheduler */

        struct xnsched_class *sched_class; /* Current scheduling class */

        struct xnsched_class *base_class; /* Base scheduling class */

#ifdef CONFIG_XENO_OPT_SCHED_TP
        struct xnsched_tpslot *tps;     /* Current partition slot for TP scheduling */
        struct xnholder tp_link;        /* Link in per-sched TP thread queue */
#endif
#ifdef CONFIG_XENO_OPT_SCHED_SPORADIC
        struct xnsched_sporadic_data *pss; /* Sporadic scheduling data. */
#endif

        unsigned idtag;                 /* Unique ID tag */

        xnarch_cpumask_t affinity;      /* Processor affinity. */

        int bprio;                      /* Base priority (before PIP boost) */

        int cprio;                      /* Current priority */

        u_long schedlck;                
        xnpholder_t rlink;              /* Thread holder in ready queue */

        xnpholder_t plink;              /* Thread holder in synchronization queue(s) */

#ifdef CONFIG_XENO_OPT_PRIOCPL
        xnpholder_t xlink;              /* Thread holder in the RPI queue (shadow only) */

        struct xnsched *rpi;            /* Backlink pointer to the RPI slot (shadow only) */
#endif /* CONFIG_XENO_OPT_PRIOCPL */

        xnholder_t glink;               /* Thread holder in global queue */

#define link2thread(ln, fld)    container_of(ln, struct xnthread, fld)

        xnpqueue_t claimq;              /* Owned resources claimed by others (PIP) */

        struct xnsynch *wchan;          /* Resource the thread pends on */

        struct xnsynch *wwake;          /* Wait channel the thread was resumed from */

        xntimer_t rtimer;               /* Resource timer */

        xntimer_t ptimer;               /* Periodic timer */

        xnsigmask_t signals;            /* Pending core signals */

        xnticks_t rrperiod;             /* Allotted round-robin period (ticks) */

        xnticks_t rrcredit;             /* Remaining round-robin time credit (ticks) */

        union {
                struct {
                        /*
                         * XXX: the buffer struct should disappear as
                         * soon as all IPCs are converted to use
                         * buffer descriptors instead (bufd).
                         */
                        void *ptr;
                        size_t size;
                } buffer;
                struct xnbufd *bufd;
                size_t size;
        } wait_u;

        /* Active wait context - Obsoletes wait_u. */
        struct xnthread_wait_context *wcontext;

        struct {
                xnstat_counter_t ssw;   /* Primary -> secondary mode switch count */
                xnstat_counter_t csw;   /* Context switches (includes secondary -> primary switches) */
                xnstat_counter_t pf;    /* Number of page faults */
                xnstat_exectime_t account; /* Execution time accounting entity */
                xnstat_exectime_t lastperiod; /* Interval marker for execution time reports */
        } stat;

#ifdef CONFIG_XENO_OPT_SELECT
        struct xnselector *selector;    /* For select. */
#endif /* CONFIG_XENO_OPT_SELECT */

        int errcode;                    /* Local errno */

        xnasr_t asr;                    /* Asynchronous service routine */

        xnflags_t asrmode;              /* Thread's mode for ASR */

        int asrimask;                   /* Thread's interrupt mask for ASR */

        unsigned asrlevel;              /* ASR execution level (ASRs are reentrant) */

        int imask;                      /* Initial interrupt mask */

        int imode;                      /* Initial mode */

        struct xnsched_class *init_class; /* Initial scheduling class */

        union xnsched_policy_param init_schedparam; /* Initial scheduling parameters */

        struct {
                xnhandle_t handle;      /* Handle in registry */
                const char *waitkey;    /* Pended key */
        } registry;

        struct xnthread_operations *ops; /* Thread class operations. */

        char name[XNOBJECT_NAME_LEN]; /* Symbolic name of thread */

        void (*entry)(void *cookie); /* Thread entry routine */

        void *cookie;           /* Cookie to pass to the entry routine */

#ifdef CONFIG_XENO_OPT_PERVASIVE
        unsigned long __user *u_mode;   /* Thread mode variable in userland. */

        unsigned u_sigpending;          /* One bit per skin */
#endif /* CONFIG_XENO_OPT_PERVASIVE */

    XNARCH_DECL_DISPLAY_CONTEXT();

} xnthread_t;

#define XNHOOK_THREAD_START  1
#define XNHOOK_THREAD_SWITCH 2
#define XNHOOK_THREAD_DELETE 3

typedef struct xnhook {
        xnholder_t link;
#define link2hook(ln)           container_of(ln, xnhook_t, link)
        void (*routine)(struct xnthread *thread);
} xnhook_t;

#define xnthread_name(thread)               ((thread)->name)
#define xnthread_clear_name(thread)        do { *(thread)->name = 0; } while(0)
#define xnthread_sched(thread)             ((thread)->sched)
#define xnthread_start_time(thread)        ((thread)->stime)
#define xnthread_state_flags(thread)       ((thread)->state)
#define xnthread_test_state(thread,flags)  testbits((thread)->state,flags)
#define xnthread_set_state(thread,flags)   __setbits((thread)->state,flags)
#define xnthread_clear_state(thread,flags) __clrbits((thread)->state,flags)
#define xnthread_test_info(thread,flags)   testbits((thread)->info,flags)
#define xnthread_set_info(thread,flags)    __setbits((thread)->info,flags)
#define xnthread_clear_info(thread,flags)  __clrbits((thread)->info,flags)
#define xnthread_lock_count(thread)        ((thread)->schedlck)
#define xnthread_init_schedparam(thread)   ((thread)->init_schedparam)
#define xnthread_base_priority(thread)     ((thread)->bprio)
#define xnthread_current_priority(thread)  ((thread)->cprio)
#define xnthread_init_class(thread)        ((thread)->init_class)
#define xnthread_base_class(thread)        ((thread)->base_class)
#define xnthread_sched_class(thread)       ((thread)->sched_class)
#define xnthread_time_slice(thread)        ((thread)->rrperiod)
#define xnthread_time_credit(thread)       ((thread)->rrcredit)
#define xnthread_archtcb(thread)           (&((thread)->tcb))
#define xnthread_asr_level(thread)         ((thread)->asrlevel)
#define xnthread_pending_signals(thread)  ((thread)->signals)
#define xnthread_timeout(thread)           xntimer_get_timeout(&(thread)->rtimer)
#define xnthread_stack_size(thread)        xnarch_stack_size(xnthread_archtcb(thread))
#define xnthread_stack_base(thread)        xnarch_stack_base(xnthread_archtcb(thread))
#define xnthread_stack_end(thread)         xnarch_stack_end(xnthread_archtcb(thread))
#define xnthread_handle(thread)            ((thread)->registry.handle)
#ifdef CONFIG_XENO_OPT_TIMING_PERIODIC
#define xnthread_time_base(thread)         ((thread)->rtimer.base)
#else /* !CONFIG_XENO_OPT_TIMING_PERIODIC */
#define xnthread_time_base(thread)         (&nktbase)
#endif /* !CONFIG_XENO_OPT_TIMING_PERIODIC */
#define xnthread_signaled_p(thread)        ((thread)->signals != 0)
#define xnthread_timed_p(thread)              (!!testbits(xnthread_time_base(thread)->status, XNTBRUN))
#define xnthread_user_task(thread)         xnarch_user_task(xnthread_archtcb(thread))
#define xnthread_user_pid(thread) \
    (xnthread_test_state((thread),XNROOT) || !xnthread_user_task(thread) ? \
    0 : xnarch_user_pid(xnthread_archtcb(thread)))
#define xnthread_affinity(thread)          ((thread)->affinity)
#define xnthread_affine_p(thread, cpu)     xnarch_cpu_isset(cpu, (thread)->affinity)
#define xnthread_get_exectime(thread)      xnstat_exectime_get_total(&(thread)->stat.account)
#define xnthread_get_lastswitch(thread)    xnstat_exectime_get_last_switch((thread)->sched)
#ifdef CONFIG_XENO_OPT_PERVASIVE
#define xnthread_sigpending(thread) ((thread)->u_sigpending)
#define xnthread_set_sigpending(thread, pending) \
        ((thread)->u_sigpending = (pending))
#endif /* CONFIG_XENO_OPT_PERVASIVE */
#ifdef CONFIG_XENO_OPT_WATCHDOG
#define xnthread_amok_p(thread)            xnthread_test_info(thread, XNAMOK)
#define xnthread_clear_amok(thread)        xnthread_clear_info(thread, XNAMOK)
#else /* !CONFIG_XENO_OPT_WATCHDOG */
#define xnthread_amok_p(thread)            (0)
#define xnthread_clear_amok(thread)        do { } while (0)
#endif /* !CONFIG_XENO_OPT_WATCHDOG */

/* Class-level operations for threads. */
static inline int xnthread_get_denormalized_prio(struct xnthread *t, int coreprio)
{
        return t->ops && t->ops->get_denormalized_prio
                ? t->ops->get_denormalized_prio(t, coreprio) : coreprio;
}

static inline unsigned xnthread_get_magic(struct xnthread *t)
{
        return t->ops ? t->ops->get_magic() : 0;
}

static inline
struct xnthread_wait_context *xnthread_get_wait_context(struct xnthread *thread)
{
        return thread->wcontext;
}

static inline
int xnthread_register(struct xnthread *thread, const char *name)
{
        return xnregistry_enter(name, thread, &xnthread_handle(thread), NULL);
}

static inline
struct xnthread *xnthread_lookup(xnhandle_t threadh)
{
        struct xnthread *thread = (struct xnthread *)xnregistry_lookup(threadh);
        return (thread && xnthread_handle(thread) == threadh) ? thread : NULL;
}

#ifdef __cplusplus
extern "C" {
#endif

int xnthread_init(struct xnthread *thread,
                  const struct xnthread_init_attr *attr,
                  struct xnsched *sched,
                  struct xnsched_class *sched_class,
                  const union xnsched_policy_param *sched_param);

void xnthread_cleanup_tcb(struct xnthread *thread);

char *xnthread_format_status(xnflags_t status, char *buf, int size);

int *xnthread_get_errno_location(struct xnthread *thread);

xnticks_t xnthread_get_timeout(struct xnthread *thread, xnticks_t tsc_ns);

xnticks_t xnthread_get_period(struct xnthread *thread);

void xnthread_prepare_wait(struct xnthread_wait_context *wc);

void xnthread_finish_wait(struct xnthread_wait_context *wc,
                          void (*cleanup)(struct xnthread_wait_context *wc));

#ifdef __cplusplus
}
#endif

#endif /* __KERNEL__ || __XENO_SIM__ */

#endif /* !_XENO_NUCLEUS_THREAD_H */

---