/usr/include/xenomai/nucleus/thread.h is in libxenomai-dev 2.6.4+dfsg-1.
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* @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>
/*! @ingroup nucleus
@defgroup nucleus_state_flags Thread state flags.
@brief Bits reporting permanent or transient states of thread.
@{
*/
/* State flags */
#define XNSUSP 0x00000001 /**< Suspended. */
#define XNPEND 0x00000002 /**< Sleep-wait for a resource. */
#define XNDELAY 0x00000004 /**< Delayed */
#define XNREADY 0x00000008 /**< Linked to the ready queue. */
#define XNDORMANT 0x00000010 /**< Not started yet or killed */
#define XNZOMBIE 0x00000020 /**< Zombie thread in deletion process */
#define XNRESTART 0x00000040 /**< Restarting thread */
#define XNSTARTED 0x00000080 /**< Thread has been started */
#define XNMAPPED 0x00000100 /**< Mapped to a regular Linux task (shadow only) */
#define XNRELAX 0x00000200 /**< Relaxed shadow thread (blocking bit) */
#define XNMIGRATE 0x00000400 /**< Thread is currently migrating to another CPU. */
#define XNHELD 0x00000800 /**< Thread is held to process emergency. */
#define XNBOOST 0x00001000 /**< Undergoes a PIP boost */
#define XNDEBUG 0x00002000 /**< Hit a debugger breakpoint (shadow only) */
#define XNLOCK 0x00004000 /**< Holds the scheduler lock (i.e. not preemptible) */
#define XNRRB 0x00008000 /**< Undergoes a round-robin scheduling */
#define XNASDI 0x00010000 /**< ASR are disabled */
#define XNDEFCAN 0x00020000 /**< Deferred cancelability mode (self-set only) */
/*
* 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 /**< Trap execution mode switches */
#define XNRPIOFF 0x00080000 /**< Stop priority coupling (shadow only) */
#define XNFPU 0x00100000 /**< Thread uses FPU */
#define XNSHADOW 0x00200000 /**< Shadow thread */
#define XNROOT 0x00400000 /**< Root thread (that is, Linux/IDLE) */
#define XNOTHER 0x00800000 /**< Non real-time shadow (prio=0) */
/*! @} */ /* 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
/*! @ingroup nucleus
@defgroup nucleus_info_flags Thread information flags.
@brief Bits reporting events notified to the thread.
@{
*/
/* Information flags */
#define XNTIMEO 0x00000001 /**< Woken up due to a timeout condition */
#define XNRMID 0x00000002 /**< Pending on a removed resource */
#define XNBREAK 0x00000004 /**< Forcibly awaken from a wait state */
#define XNKICKED 0x00000008 /**< Kicked upon Linux signal (shadow only) */
#define XNWAKEN 0x00000010 /**< Thread waken up upon resource availability */
#define XNROBBED 0x00000020 /**< Robbed from resource ownership */
#define XNATOMIC 0x00000040 /**< In atomic switch from secondary to primary mode */
#define XNAFFSET 0x00000080 /**< CPU affinity changed from primary mode */
#define XNPRIOSET 0x00000100 /**< Priority changed from primary mode */
#define XNABORT 0x00000200 /**< Thread is being aborted */
#define XNCANPND 0x00000400 /**< Cancellation request is pending */
#define XNAMOK 0x00000800 /**< Runaway, watchdog signal pending (shadow only) */
#define XNSWREP 0x00001000 /**< Mode switch already reported */
/* 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 */
/*!
@brief Structure containing thread information.
*/
typedef struct xnthread_info {
unsigned long state; /**< Thread state, @see nucleus_state_flags */
int bprio; /**< Base priority. */
int cprio; /**< Current priority. May change through Priority Inheritance.*/
int cpu; /**< CPU the thread currently runs on. */
unsigned long affinity; /**< Thread's CPU affinity. */
unsigned long long relpoint; /**< Time of next release.*/
unsigned long long exectime; /**< Execution time in primary mode in nanoseconds. */
unsigned long modeswitches; /**< Number of primary->secondary mode switches. */
unsigned long ctxswitches; /**< Number of context switches. */
unsigned long pagefaults; /**< Number of triggered page faults. */
char name[XNOBJECT_NAME_LEN]; /**< Symbolic name assigned at creation. */
} 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; /*!< Scheduler lock count. */
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 */
int hrescnt; /* Held resources count */
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 *u_mode; /* Thread mode variable shared with userland. */
#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_current_user_task(curr) \
({ \
struct xnthread *__c = (curr); \
XENO_BUGON(NUCLEUS, __c != xnpod_current_thread()); \
xnthread_test_state(__c, XNROOT|XNSHADOW) ? current : NULL; \
})
#define xnthread_current_user_pid(curr) \
({ \
struct task_struct *p = xnthread_current_user_task(curr); \
p ? p->pid : 0; \
})
#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_inc_rescnt(thread) ({ (thread)->hrescnt++; })
#define xnthread_dec_rescnt(thread) ({ --(thread)->hrescnt; })
#define xnthread_get_rescnt(thread) ((thread)->hrescnt)
#else /* !CONFIG_XENO_OPT_PERVASIVE */
#define xnthread_inc_rescnt(thread) do { } while (0)
#define xnthread_dec_rescnt(thread) do { } while (0)
#endif /* !CONFIG_XENO_OPT_PERVASIVE */
#if defined(CONFIG_XENO_OPT_WATCHDOG) || defined(CONFIG_XENO_SKIN_POSIX)
#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 && !CONFIG_XENO_SKIN_POSIX */
#define xnthread_amok_p(thread) ({ (void)(thread); 0; })
#define xnthread_clear_amok(thread) do { (void)(thread); } while (0)
#endif /* !CONFIG_XENO_OPT_WATCHDOG && !CONFIG_XENO_SKIN_POSIX */
/* 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;
}
static inline int xnthread_try_grab(struct xnthread *curr,
struct xnsynch *synch)
{
XENO_BUGON(NUCLEUS, xnsynch_fastlock_p(synch));
if (xnsynch_owner(synch) != NULL)
return 0;
xnsynch_set_owner(synch, curr);
if (xnthread_test_state(curr, XNOTHER))
xnthread_inc_rescnt(curr);
return 1;
}
#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 */
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