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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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lpc1788 update from Rommel Marcelo; Beginning of logic to retain child exit status
git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5549 42af7a65-404d-4744-a932-0658087f49c3
This commit is contained in:
patacongo
+52
-18
@@ -62,21 +62,30 @@
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/* This is the maximum number of times that a lock can be set */
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#define MAX_LOCK_COUNT 127
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#define MAX_LOCK_COUNT 127
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/* Values for the _TCB flags flag bits */
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#define TCB_FLAG_TTYPE_SHIFT (0) /* Bits 0-1: thread type */
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#define TCB_FLAG_TTYPE_MASK (3 << TCB_FLAG_TTYPE_SHIFT)
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# define TCB_FLAG_TTYPE_TASK (0 << TCB_FLAG_TTYPE_SHIFT) /* Normal user task */
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# define TCB_FLAG_TTYPE_PTHREAD (1 << TCB_FLAG_TTYPE_SHIFT) /* User pthread */
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# define TCB_FLAG_TTYPE_KERNEL (2 << TCB_FLAG_TTYPE_SHIFT) /* Kernel thread */
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#define TCB_FLAG_NONCANCELABLE (1 << 2) /* Bit 2: Pthread is non-cancelable */
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#define TCB_FLAG_CANCEL_PENDING (1 << 3) /* Bit 3: Pthread cancel is pending */
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#define TCB_FLAG_ROUND_ROBIN (1 << 4) /* Bit 4: Round robin sched enabled */
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#define TCB_FLAG_TTYPE_SHIFT (0) /* Bits 0-1: thread type */
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#define TCB_FLAG_TTYPE_MASK (3 << TCB_FLAG_TTYPE_SHIFT)
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# define TCB_FLAG_TTYPE_TASK (0 << TCB_FLAG_TTYPE_SHIFT) /* Normal user task */
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# define TCB_FLAG_TTYPE_PTHREAD (1 << TCB_FLAG_TTYPE_SHIFT) /* User pthread */
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# define TCB_FLAG_TTYPE_KERNEL (2 << TCB_FLAG_TTYPE_SHIFT) /* Kernel thread */
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#define TCB_FLAG_NONCANCELABLE (1 << 2) /* Bit 2: Pthread is non-cancelable */
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#define TCB_FLAG_CANCEL_PENDING (1 << 3) /* Bit 3: Pthread cancel is pending */
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#define TCB_FLAG_ROUND_ROBIN (1 << 4) /* Bit 4: Round robin sched enabled */
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/* Values for struct child_status_s ch_flags */
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#define CHILD_FLAG_TTYPE_SHIFT (0) /* Bits 0-1: child thread type */
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#define CHILD_FLAG_TTYPE_MASK (3 << CHILD_FLAG_TTYPE_SHIFT)
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# define CHILD_FLAG_TTYPE_TASK (0 << CHILD_FLAG_TTYPE_SHIFT) /* Normal user task */
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# define CHILD_FLAG_TTYPE_PTHREAD (1 << CHILD_FLAG_TTYPE_SHIFT) /* User pthread */
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# define CHILD_FLAG_TTYPE_KERNEL (2 << CHILD_FLAG_TTYPE_SHIFT) /* Kernel thread */
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#define CHILD_FLAG_EXITED (1 << 0) /* Bit 2: The child thread has exit'ed */
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/********************************************************************************
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* Global Type Definitions
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* Public Type Definitions
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********************************************************************************/
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#ifndef __ASSEMBLY__
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@@ -163,6 +172,22 @@ typedef struct environ_s environ_t;
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# define SIZEOF_ENVIRON_T(alloc) (sizeof(environ_t) + alloc - 1)
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#endif
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/* This structure is used to maintin information about child tasks.
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* pthreads work differently, they have join information. This is
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* only for child tasks.
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*/
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#ifdef CONFIG_SCHED_CHILD_STATUS
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struct child_status_s
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{
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FAR struct child_status_s *flink;
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uint8_t ch_flags; /* Child status: See CHILD_FLAG_* definitions */
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pid_y ch_pid; /* Child task ID */
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int ch_status; /* Child exit status */
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};
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#endif
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/* This structure describes a reference counted D-Space region. This must be a
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* separately allocated "break-away" structure that can be owned by a task and
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* any pthreads created by the task.
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@@ -202,9 +227,13 @@ struct _TCB
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/* Task Management Fields *****************************************************/
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pid_t pid; /* This is the ID of the thread */
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#ifdef CONFIG_SCHED_HAVE_PARENT
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#ifdef CONFIG_SCHED_HAVE_PARENT /* Support parent-child relationship */
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pid_t parent; /* This is the ID of the parent thread */
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#ifdef CONFIG_SCHED_CHILD_STATUS /* Retain child thread status */
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FAR struct child_status_s *children; /* Head of a list of child status */
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#else
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uint16_t nchildren; /* This is the number active children */
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#endif
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#endif
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start_t start; /* Thread start function */
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entry_t entry; /* Entry Point into the thread */
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@@ -357,33 +386,38 @@ typedef void (*sched_foreach_t)(FAR _TCB *tcb, FAR void *arg);
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#endif /* __ASSEMBLY__ */
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/********************************************************************************
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* Global Function Prototypes
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* Public Data
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********************************************************************************/
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#ifndef __ASSEMBLY__
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#undef EXTERN
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#if defined(__cplusplus)
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#define EXTERN extern "C"
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extern "C" {
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extern "C"
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{
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#else
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#define EXTERN extern
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#endif
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/********************************************************************************
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* Public Function Prototypes
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********************************************************************************/
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/* TCB helpers */
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EXTERN FAR _TCB *sched_self(void);
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FAR _TCB *sched_self(void);
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/* File system helpers */
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#if CONFIG_NFILE_DESCRIPTORS > 0
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EXTERN FAR struct filelist *sched_getfiles(void);
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FAR struct filelist *sched_getfiles(void);
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#if CONFIG_NFILE_STREAMS > 0
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EXTERN FAR struct streamlist *sched_getstreams(void);
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FAR struct streamlist *sched_getstreams(void);
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#endif /* CONFIG_NFILE_STREAMS */
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#endif /* CONFIG_NFILE_DESCRIPTORS */
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#if CONFIG_NSOCKET_DESCRIPTORS > 0
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EXTERN FAR struct socketlist *sched_getsockets(void);
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FAR struct socketlist *sched_getsockets(void);
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#endif /* CONFIG_NSOCKET_DESCRIPTORS */
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/* Internal vfork support.The overall sequence is:
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@@ -417,7 +451,7 @@ void task_vforkabort(FAR _TCB *child, int errcode);
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* will be disabled throughout this enumeration!
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*/
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EXTERN void sched_foreach(sched_foreach_t handler, FAR void *arg);
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void sched_foreach(sched_foreach_t handler, FAR void *arg);
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#undef EXTERN
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#if defined(__cplusplus)
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+35
-30
@@ -79,7 +79,7 @@
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#endif
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/********************************************************************************
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* Global Type Definitions
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* Public Type Definitions
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********************************************************************************/
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/* This is the POSIX-like scheduling parameter structure */
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@@ -90,56 +90,61 @@ struct sched_param
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};
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/********************************************************************************
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* Global Function Prototypes
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* Public Data
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********************************************************************************/
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#ifndef __ASSEMBLY__
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#undef EXTERN
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#if defined(__cplusplus)
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#define EXTERN extern "C"
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extern "C" {
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extern "C"
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{
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#else
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#define EXTERN extern
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#endif
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/********************************************************************************
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* Public Function Prototypes
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********************************************************************************/
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/* Task Control Interfaces (non-standard) */
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#ifndef CONFIG_CUSTOM_STACK
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EXTERN int task_init(FAR _TCB *tcb, const char *name, int priority,
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FAR uint32_t *stack, uint32_t stack_size,
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main_t entry, const char *argv[]);
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int task_init(FAR _TCB *tcb, const char *name, int priority,
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FAR uint32_t *stack, uint32_t stack_size, main_t entry,
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FAR const char *argv[]);
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#else
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EXTERN int task_init(FAR _TCB *tcb, const char *name, int priority,
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main_t entry, const char *argv[]);
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int task_init(FAR _TCB *tcb, const char *name, int priority, main_t entry,
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FAR const char *argv[]);
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#endif
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EXTERN int task_activate(FAR _TCB *tcb);
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int task_activate(FAR _TCB *tcb);
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#ifndef CONFIG_CUSTOM_STACK
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EXTERN int task_create(const char *name, int priority, int stack_size,
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main_t entry, const char *argv[]);
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int task_create(FAR const char *name, int priority, int stack_size, main_t entry,
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FAR const char *argv[]);
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#else
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EXTERN int task_create(const char *name, int priority,
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main_t entry, const char *argv[]);
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int task_create(FAR const char *name, int priority, main_t entry,
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FAR const char *argv[]);
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#endif
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EXTERN int task_delete(pid_t pid);
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EXTERN int task_restart(pid_t pid);
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int task_delete(pid_t pid);
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int task_restart(pid_t pid);
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/* Task Scheduling Interfaces (based on POSIX APIs) */
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EXTERN int sched_setparam(pid_t pid, const struct sched_param *param);
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EXTERN int sched_getparam(pid_t pid, struct sched_param *param);
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EXTERN int sched_setscheduler(pid_t pid, int policy,
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const struct sched_param *param);
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EXTERN int sched_getscheduler(pid_t pid);
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EXTERN int sched_yield(void);
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EXTERN int sched_get_priority_max(int policy);
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EXTERN int sched_get_priority_min(int policy);
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EXTERN int sched_rr_get_interval(pid_t pid, struct timespec *interval);
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int sched_setparam(pid_t pid, const struct sched_param *param);
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int sched_getparam(pid_t pid, struct sched_param *param);
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int sched_setscheduler(pid_t pid, int policy,
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FAR const struct sched_param *param);
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int sched_getscheduler(pid_t pid);
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int sched_yield(void);
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int sched_get_priority_max(int policy);
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int sched_get_priority_min(int policy);
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int sched_rr_get_interval(pid_t pid, FAR struct timespec *interval);
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/* Task Switching Interfaces (non-standard) */
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EXTERN int sched_lock(void);
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EXTERN int sched_unlock(void);
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EXTERN int sched_lockcount(void);
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int sched_lock(void);
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int sched_unlock(void);
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int sched_lockcount(void);
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/* If instrumentation of the scheduler is enabled, then some outboard logic
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* must provide the following interfaces.
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@@ -147,9 +152,9 @@ EXTERN int sched_lockcount(void);
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#ifdef CONFIG_SCHED_INSTRUMENTATION
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EXTERN void sched_note_start(FAR _TCB *tcb);
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EXTERN void sched_note_stop(FAR _TCB *tcb);
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EXTERN void sched_note_switch(FAR _TCB *pFromTcb, FAR _TCB *pToTcb);
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void sched_note_start(FAR _TCB *tcb);
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void sched_note_stop(FAR _TCB *tcb);
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void sched_note_switch(FAR _TCB *pFromTcb, FAR _TCB *pToTcb);
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#else
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# define sched_note_start(t)
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