Resync new repository with old repo r5166

git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5153 42af7a65-404d-4744-a932-0658087f49c3
2026-10-21 04:53:33 +08:00 · 2012-09-17 18:18:44 +00:00
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+/****************************************************************************
+ * sched/task_create.c
+ *
+ *   Copyright (C) 2007-2010 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <sched.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/kmalloc.h>
+
+#include "os_internal.h"
+#include "env_internal.h"
+
+/****************************************************************************
+ * Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Type Declarations
+ ****************************************************************************/
+
+/****************************************************************************
+ * Global Variables
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Variables
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: thread_create
+ *
+ * Description:
+ *   This function creates and activates a new thread of the specified type
+ *   with a specified priority and returns its system-assigned ID.  It is the
+ *   internal, commn implementation of task_create() and kernel_thread().
+ *   See comments with task_create() for further information.
+ *
+ * Input Parameters:
+ *   name       - Name of the new task
+ *   type       - Type of the new task
+ *   priority   - Priority of the new task
+ *   stack_size - size (in bytes) of the stack needed
+ *   entry      - Entry point of a new task
+ *   arg        - A pointer to an array of input parameters. Up to
+ *                CONFIG_MAX_TASK_ARG parameters may be provided.  If fewer
+ *                than CONFIG_MAX_TASK_ARG parameters are passed, the list
+ *                should be terminated with a NULL argv[] value. If no
+ *                parameters are required, argv may be NULL.
+ *
+ * Return Value:
+ *   Returns the non-zero process ID of the new task or ERROR if memory is
+ *   insufficient or the task cannot be created.  The errno will be set to
+ *   indicate the nature of the error (always ENOMEM).
+ *
+ ****************************************************************************/
+
+#ifndef CONFIG_CUSTOM_STACK
+static int thread_create(const char *name, uint8_t type, int priority,
+                         int stack_size, main_t entry, const char **argv)
+#else
+static int thread_create(const char *name, uint8_t type, int priority,
+                         main_t entry, const char **argv)
+#endif
+{
+  FAR _TCB *tcb;
+  pid_t pid;
+  int ret;
+
+  /* Allocate a TCB for the new task. */
+
+  tcb = (FAR _TCB*)kzalloc(sizeof(_TCB));
+  if (!tcb)
+    {
+      goto errout;
+    }
+
+  /* Associate file descriptors with the new task */
+
+#if CONFIG_NFILE_DESCRIPTORS > 0 || CONFIG_NSOCKET_DESCRIPTORS > 0
+  ret = sched_setuptaskfiles(tcb);
+  if (ret != OK)
+    {
+      goto errout_with_tcb;
+    }
+#endif
+
+  /* Clone the parent's task environment */
+
+  (void)env_dup(tcb);
+
+  /* Allocate the stack for the TCB */
+
+#ifndef CONFIG_CUSTOM_STACK
+  ret = up_create_stack(tcb, stack_size);
+  if (ret != OK)
+    {
+      goto errout_with_tcb;
+    }
+#endif
+
+  /* Mark the type of this thread (this setting will be needed in
+   * task_schedsetup() when up_initial_state() is called.
+   */
+
+  tcb->flags |= type;
+
+  /* Initialize the task control block */
+
+  ret = task_schedsetup(tcb, priority, task_start, entry);
+  if (ret != OK)
+    {
+      goto errout_with_tcb;
+    }
+
+  /* Setup to pass parameters to the new task */
+
+  (void)task_argsetup(tcb, name, argv);
+
+  /* Get the assigned pid before we start the task */
+
+  pid = (int)tcb->pid;
+
+  /* Activate the task */
+
+  ret = task_activate(tcb);
+  if (ret != OK)
+    {
+      dq_rem((FAR dq_entry_t*)tcb, (dq_queue_t*)&g_inactivetasks);
+      goto errout_with_tcb;
+    }
+
+  return pid;
+
+errout_with_tcb:
+  sched_releasetcb(tcb);
+
+errout:
+  errno = ENOMEM;
+  return ERROR;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: task_create
+ *
+ * Description:
+ *   This function creates and activates a new task with a specified
+ *   priority and returns its system-assigned ID.
+ *
+ *   The entry address entry is the address of the "main" function of the
+ *   task.  This function will be called once the C environment has been
+ *   set up.  The specified function will be called with four arguments.
+ *   Should the specified routine return, a call to exit() will
+ *   automatically be made.
+ *
+ *   Note that four (and only four) arguments must be passed for the spawned
+ *   functions.
+ *
+ * Input Parameters:
+ *   name       - Name of the new task
+ *   priority   - Priority of the new task
+ *   stack_size - size (in bytes) of the stack needed
+ *   entry      - Entry point of a new task
+ *   arg        - A pointer to an array of input parameters. Up to
+ *                CONFIG_MAX_TASK_ARG parameters may be provided.  If fewer
+ *                than CONFIG_MAX_TASK_ARG parameters are passed, the list
+ *                should be terminated with a NULL argv[] value. If no
+ *                parameters are required, argv may be NULL.
+ *
+ * Return Value:
+ *   Returns the non-zero process ID of the new task or ERROR if memory is
+ *   insufficient or the task cannot be created.  The errno will be set to
+ *   indicate the nature of the error (always ENOMEM).
+ *
+ ****************************************************************************/
+
+#ifndef CONFIG_CUSTOM_STACK
+int task_create(const char *name, int priority,
+                int stack_size, main_t entry, const char *argv[])
+#else
+int task_create(const char *name, int priority,
+                main_t entry, const char *argv[])
+#endif
+{
+#ifndef CONFIG_CUSTOM_STACK
+  return thread_create(name, TCB_FLAG_TTYPE_TASK, priority, stack_size, entry, argv);
+#else
+  return thread_create(name, TCB_FLAG_TTYPE_TASK, priority, entry, argv);
+#endif
+}
+
+/****************************************************************************
+ * Name: kernel_thread
+ *
+ * Description:
+ *   This function creates and activates a kernel thread task with kernel-
+ *   mode privileges.  It is identical to task_create() except that it
+ *   configures the newly started thread to run in kernel model.
+ *
+ * Input Parameters:
+ *   (same as task_create())
+ *
+ * Return Value:
+ *   (same as task_create())
+ *
+ ****************************************************************************/
+
+#ifndef CONFIG_CUSTOM_STACK
+int kernel_thread(const char *name, int priority,
+                  int stack_size, main_t entry, const char *argv[])
+#else
+int kernel_thread(const char *name, int priority,
+                  main_t entry, const char *argv[])
+#endif
+{
+#ifndef CONFIG_CUSTOM_STACK
+  return thread_create(name, TCB_FLAG_TTYPE_KERNEL, priority, stack_size, entry, argv);
+#else
+  return thread_create(name, TCB_FLAG_TTYPE_KERNEL, priority, entry, argv);
+#endif
+}
+