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authorSebastian Huber <sebastian.huber@embedded-brains.de>2020-04-09 12:12:13 +0200
committerSebastian Huber <sebastian.huber@embedded-brains.de>2020-09-17 17:42:25 +0200
commit6942e5f99171d1cb38c2c573aba8cb9212d7efd8 (patch)
treef49a2afc076013602f4d437784391415cb6ed6a6
parentc312f3110ebd6b38c3971910fe034b6c97ebb28c (diff)
downloadrtems-6942e5f99171d1cb38c2c573aba8cb9212d7efd8.tar.bz2
rtems: Add rtems_task_construct()
In contrast to rtems_task_create() this function constructs a task with a user-provided task storage area. The new directive uses a configuration structure instead of individual parameters. Add RTEMS_TASK_STORAGE_SIZE() to calculate the recommended size of a task storage area based on the task attributes and the size dedicated to the task stack and thread-local storage. This macro may allow future extensions without breaking the API. Add application configuration option CONFIGURE_MINIMUM_TASKS_WITH_USER_PROVIDED_STORAGE to adjust RTEMS Workspace size estimate. Update #3959.
-rw-r--r--cpukit/doxygen/appl-config.h22
-rw-r--r--cpukit/include/rtems/confdefs/threads.h8
-rw-r--r--cpukit/include/rtems/confdefs/wkspace.h4
-rw-r--r--cpukit/include/rtems/rtems/tasks.h184
-rw-r--r--cpukit/include/rtems/rtems/tasksimpl.h11
-rw-r--r--cpukit/rtems/src/taskconstruct.c300
-rw-r--r--cpukit/rtems/src/taskcreate.c282
-rw-r--r--spec/build/cpukit/librtemscpu.yml1
-rw-r--r--testsuites/sptests/sp01/init.c24
-rw-r--r--testsuites/sptests/sp01/sp01.doc1
-rw-r--r--testsuites/sptests/sp01/system.h3
11 files changed, 604 insertions, 236 deletions
diff --git a/cpukit/doxygen/appl-config.h b/cpukit/doxygen/appl-config.h
index 47a8e2d39e..0386f83315 100644
--- a/cpukit/doxygen/appl-config.h
+++ b/cpukit/doxygen/appl-config.h
@@ -901,6 +901,28 @@
*/
#define CONFIGURE_MAXIMUM_USER_EXTENSIONS
+/**
+ * @brief This configuration option is an integer define.
+ *
+ * The value of this configuration option defines the minimum count of Classic
+ * API Tasks which are constructed by rtems_task_construct().
+ *
+ * @par Default Value
+ * The default value is 0.
+ *
+ * @par Value Constraints
+ * The value of this configuration option shall be greater than or equal to 0
+ * and less than or equal to #CONFIGURE_MAXIMUM_TASKS.
+ *
+ * @par Notes
+ * By default, the calculation for the required memory in the RTEMS Workspace
+ * for tasks assumes that all Classic API Tasks are created by
+ * rtems_task_create(). This configuration option can be used to reduce the
+ * required memory for the system-provided task storage areas since tasks
+ * constructed by rtems_task_construct() use a user-provided task storage area.
+ */
+#define CONFIGURE_MINIMUM_TASKS_WITH_USER_PROVIDED_STORAGE
+
/** @} */
/**
diff --git a/cpukit/include/rtems/confdefs/threads.h b/cpukit/include/rtems/confdefs/threads.h
index 9e34696e61..8f72407695 100644
--- a/cpukit/include/rtems/confdefs/threads.h
+++ b/cpukit/include/rtems/confdefs/threads.h
@@ -60,6 +60,14 @@
#define _CONFIGURE_TASKS ( CONFIGURE_MAXIMUM_TASKS + _CONFIGURE_LIBBLOCK_TASKS )
+#ifndef CONFIGURE_MINIMUM_TASKS_WITH_USER_PROVIDED_STORAGE
+ #define CONFIGURE_MINIMUM_TASKS_WITH_USER_PROVIDED_STORAGE 0
+#endif
+
+#if CONFIGURE_MINIMUM_TASKS_WITH_USER_PROVIDED_STORAGE > CONFIGURE_MAXIMUM_TASKS
+ #error "CONFIGURE_MINIMUM_TASKS_WITH_USER_PROVIDED_STORAGE shall be less than or equal to CONFIGURE_MAXIMUM_TASKS"
+#endif
+
#ifndef CONFIGURE_MAXIMUM_POSIX_THREADS
#define CONFIGURE_MAXIMUM_POSIX_THREADS 0
#endif
diff --git a/cpukit/include/rtems/confdefs/wkspace.h b/cpukit/include/rtems/confdefs/wkspace.h
index de476dbf82..3b464899dc 100644
--- a/cpukit/include/rtems/confdefs/wkspace.h
+++ b/cpukit/include/rtems/confdefs/wkspace.h
@@ -100,7 +100,9 @@
+ _CONFIGURE_POSIX_INIT_THREAD_STACK_EXTRA \
+ _CONFIGURE_LIBBLOCK_TASKS_STACK_EXTRA \
+ CONFIGURE_EXTRA_TASK_STACKS \
- + rtems_resource_maximum_per_allocation( _CONFIGURE_TASKS ) \
+ + rtems_resource_maximum_per_allocation( \
+ _CONFIGURE_TASKS - CONFIGURE_MINIMUM_TASKS_WITH_USER_PROVIDED_STORAGE \
+ ) \
* _Configure_From_stackspace( CONFIGURE_MINIMUM_TASK_STACK_SIZE ) \
+ rtems_resource_maximum_per_allocation( CONFIGURE_MAXIMUM_POSIX_THREADS ) \
* _Configure_From_stackspace( CONFIGURE_MINIMUM_POSIX_THREAD_STACK_SIZE ) \
diff --git a/cpukit/include/rtems/rtems/tasks.h b/cpukit/include/rtems/rtems/tasks.h
index e07db6cd2b..d05a46ff42 100644
--- a/cpukit/include/rtems/rtems/tasks.h
+++ b/cpukit/include/rtems/rtems/tasks.h
@@ -21,6 +21,7 @@
#include <rtems/rtems/attr.h>
#include <rtems/rtems/status.h>
#include <rtems/rtems/types.h>
+#include <rtems/score/context.h>
#include <rtems/score/smp.h>
#ifdef __cplusplus
@@ -174,6 +175,189 @@ rtems_status_code rtems_task_create(
#define RTEMS_TASK_STORAGE_ALIGNMENT CPU_HEAP_ALIGNMENT
/**
+ * @brief Returns the recommended task storage area size for the specified size
+ * and task attributes.
+ *
+ * @param _size is the size dedicated to the task stack and thread-local
+ * storage in bytes.
+ *
+ * @param _attributes is the attribute set of the task using the storage area.
+ *
+ * @return The recommended task storage area size calculated from the input
+ * parameters is returned.
+ */
+#if CPU_ALL_TASKS_ARE_FP == TRUE
+ #define RTEMS_TASK_STORAGE_SIZE( _size, _attributes ) \
+ ( ( _size ) + CONTEXT_FP_SIZE )
+#else
+ #define RTEMS_TASK_STORAGE_SIZE( _size, _attributes ) \
+ ( ( _size ) + \
+ ( ( ( _attributes ) & RTEMS_FLOATING_POINT ) != 0 ? \
+ CONTEXT_FP_SIZE : 0 ) )
+#endif
+
+/**
+ * @brief This structure defines the configuration of a task constructed by
+ * rtems_task_construct().
+ */
+typedef struct {
+ /**
+ * @brief This member defines the name of the task.
+ */
+ rtems_name name;
+
+ /**
+ * @brief This member defines the initial priority of the task.
+ */
+ rtems_task_priority initial_priority;
+
+ /**
+ * @brief This member shall point to the task storage area begin.
+ *
+ * The task storage area will contain the task stack, the thread-local storage,
+ * and the floating-point context on architectures with a separate
+ * floating-point context.
+ *
+ * The task storage area begin address and size should be aligned by
+ * #RTEMS_TASK_STORAGE_ALIGNMENT. To avoid memory waste, use RTEMS_ALIGNED()
+ * and #RTEMS_TASK_STORAGE_ALIGNMENT to enforce the recommended alignment of a
+ * statically allocated task storage area.
+ */
+ void *storage_area;
+
+ /**
+ * @brief This member defines size of the task storage area in bytes.
+ *
+ * Use the RTEMS_TASK_STORAGE_SIZE() macro to determine the recommended task
+ * storage area size.
+ */
+ size_t storage_size;
+
+ /**
+ * @brief This member defines the maximum thread-local storage size supported
+ * by the task storage area.
+ *
+ * Use RTEMS_ALIGN_UP() and #RTEMS_TASK_STORAGE_ALIGNMENT to adjust the size to
+ * meet the minimum alignment requirement of a thread-local storage area used
+ * to construct a task.
+ *
+ * If the value is less than the actual thread-local storage size, then the
+ * task construction by rtems_task_construct() fails.
+ *
+ * If the is less than the task storage area size, then the task construction
+ * by rtems_task_construct() fails.
+ *
+ * The actual thread-local storage size is determined when the application
+ * executable is linked. The ``rtems-exeinfo`` command line tool included in
+ * the RTEMS Tools can be used to obtain the thread-local storage size and
+ * alignment of an application executable.
+ *
+ * The application may configure the maximum thread-local storage size for all
+ * threads explicitly through the #CONFIGURE_MAXIMUM_THREAD_LOCAL_STORAGE_SIZE
+ * configuration option.
+ */
+ size_t maximum_thread_local_storage_size;
+
+ /**
+ * @brief This member defines the optional handler to free the task storage
+ * area.
+ *
+ * It is called on exactly two mutually exclusive occasions. Firstly, when the
+ * task construction aborts due to a failed task create extension, or secondly,
+ * when the task is deleted. It is called from task context under protection
+ * of the object allocator lock. It is allowed to call free() in this handler.
+ * If handler is NULL, then no action will be performed.
+ */
+ void ( *storage_free )( void * );
+
+ /**
+ * @brief This member defines the initial modes of the task.
+ */
+ rtems_mode initial_modes;
+
+ /**
+ * @brief This member defines the attributes of the task.
+ */
+ rtems_attribute attributes;
+} rtems_task_config;
+
+/**
+ * @brief Constructs a task from the specified the task configuration.
+ *
+ * In contrast to tasks created by rtems_task_create(), the tasks constructed
+ * by this directive use a user-provided task storage area. The task storage
+ * area contains the task stack, the thread-local storage, and the
+ * floating-point context on architectures with a separate floating-point
+ * context.
+ *
+ * This directive is intended for applications which do not want to use the
+ * RTEMS Workspace and instead statically allocate all operating system
+ * resources. It is not recommended to use rtems_task_create() and
+ * rtems_task_construct() together in an application. It is also not
+ * recommended to use rtems_task_construct() for drivers or general purpose
+ * libraries. The reason for these recommendations is that the task
+ * configuration needs settings which can be only given with a through
+ * knowledge of the application resources.
+ *
+ * An application based solely on static allocation can avoid any runtime
+ * memory allocators. This can simplfiy the application architecture as well
+ * as any analysis that may be required.
+ *
+ * The stack space estimate done by <rtems/confdefs.h> assumes that all tasks
+ * are created by rtems_task_create(). The estimate can be adjusted to take
+ * user-provided task storage areas into account through the
+ * #CONFIGURE_MINIMUM_TASKS_WITH_USER_PROVIDED_STORAGE application
+ * configuration option.
+ *
+ * The #CONFIGURE_MAXIMUM_TASKS should include tasks constructed by
+ * rtems_task_construct().
+ *
+ * @param config is the task configuration.
+ *
+ * @param[out] id is the pointer to an object identifier variable. The
+ * identifier of the constructed task object will be stored in this variable,
+ * in case of a successful operation.
+ *
+ * @retval ::RTEMS_SUCCESSFUL The requested operation was successful.
+ *
+ * @retval ::RTEMS_INVALID_ADDRESS The id parameter was NULL.
+ *
+ * @retval ::RTEMS_INVALID_NAME The task name was invalid.
+ *
+ * @retval ::RTEMS_INVALID_PRIORITY The initial task priority was invalid.
+ *
+ * @retval ::RTEMS_INVALID_SIZE The thread-local storage size is greater than
+ * the maximum thread-local storage size specified in the task configuration.
+ * The thread-local storage size is determined by the thread-local variables
+ * used by the application and #CONFIGURE_MAXIMUM_THREAD_LOCAL_STORAGE_SIZE.
+ *
+ * @retval ::RTEMS_INVALID_SIZE The task storage area was too small to provide
+ * a task stack of the configured minimum size, see
+ * #CONFIGURE_MINIMUM_TASK_STACK_SIZE. The task storage area contains the
+ * task stack, the thread-local storage, and the floating-point context on
+ * architectures with a separate floating-point context.
+ *
+ * @retval ::RTEMS_TOO_MANY There was no inactive task object available to
+ * construct a task.
+ *
+ * @retval ::RTEMS_TOO_MANY In multiprocessing configurations, there was no
+ * inactive global object available to construct a global task.
+ *
+ * @retval ::RTEMS_UNSATISFIED One of the task create extensions failed during
+ * the task construction.
+ *
+ * @retval ::RTEMS_UNSATISFIED In SMP configurations, the non-preemption mode
+ * was not supported.
+ *
+ * @retval ::RTEMS_UNSATISFIED In SMP configurations, the interrupt level mode
+ * was not supported.
+ */
+rtems_status_code rtems_task_construct(
+ const rtems_task_config *config,
+ rtems_id *id
+);
+
+/**
* @brief RTEMS Task Name to Id
*
* This routine implements the rtems_task_ident directive.
diff --git a/cpukit/include/rtems/rtems/tasksimpl.h b/cpukit/include/rtems/rtems/tasksimpl.h
index c9544f8c27..a0aa252cea 100644
--- a/cpukit/include/rtems/rtems/tasksimpl.h
+++ b/cpukit/include/rtems/rtems/tasksimpl.h
@@ -42,6 +42,17 @@ extern "C" {
*/
void _RTEMS_tasks_Initialize_user_tasks( void );
+typedef rtems_status_code ( *RTEMS_tasks_Prepare_stack )(
+ Thread_Configuration *,
+ const rtems_task_config *
+);
+
+rtems_status_code _RTEMS_tasks_Create(
+ const rtems_task_config *config,
+ rtems_id *id,
+ RTEMS_tasks_Prepare_stack prepare_stack
+);
+
RTEMS_INLINE_ROUTINE Thread_Control *_RTEMS_tasks_Allocate(void)
{
_Objects_Allocator_lock();
diff --git a/cpukit/rtems/src/taskconstruct.c b/cpukit/rtems/src/taskconstruct.c
new file mode 100644
index 0000000000..76ef8ce5d6
--- /dev/null
+++ b/cpukit/rtems/src/taskconstruct.c
@@ -0,0 +1,300 @@
+/**
+ * @file
+ *
+ * @ingroup ClassicTasks
+ *
+ * @brief RTEMS Task Create from Config
+ */
+
+/*
+ * COPYRIGHT (c) 1989-2014,2016.
+ * On-Line Applications Research Corporation (OAR).
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rtems.org/license/LICENSE.
+ */
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#include <rtems/rtems/tasksimpl.h>
+#include <rtems/rtems/attrimpl.h>
+#include <rtems/rtems/eventimpl.h>
+#include <rtems/rtems/modesimpl.h>
+#include <rtems/rtems/support.h>
+#include <rtems/score/apimutex.h>
+#include <rtems/score/schedulerimpl.h>
+#include <rtems/score/stackimpl.h>
+#include <rtems/score/threadimpl.h>
+#include <rtems/score/userextimpl.h>
+#include <rtems/sysinit.h>
+
+#include <string.h>
+
+static rtems_status_code _RTEMS_tasks_Prepare_user_stack(
+ Thread_Configuration *thread_config,
+ const rtems_task_config *config
+)
+{
+ size_t size;
+
+ size = _TLS_Get_allocation_size();
+
+ if ( config->maximum_thread_local_storage_size < size ) {
+ return RTEMS_INVALID_SIZE;
+ }
+
+#if ( CPU_HARDWARE_FP == TRUE ) || ( CPU_SOFTWARE_FP == TRUE )
+ if ( thread_config->is_fp ) {
+ size += CONTEXT_FP_SIZE;
+ }
+#endif
+
+ size += _Stack_Minimum();
+
+ if ( config->storage_size < size ) {
+ return RTEMS_INVALID_SIZE;
+ }
+
+ thread_config->stack_size = config->storage_size;
+ thread_config->stack_area = config->storage_area;
+
+ if ( config->storage_free != NULL ) {
+ thread_config->stack_free = config->storage_free;
+ } else {
+ thread_config->stack_free = _Stack_Free_nothing;
+ }
+
+ return RTEMS_SUCCESSFUL;
+}
+
+rtems_status_code rtems_task_construct(
+ const rtems_task_config *config,
+ rtems_id *id
+)
+{
+ return _RTEMS_tasks_Create( config, id, _RTEMS_tasks_Prepare_user_stack );
+}
+
+rtems_status_code _RTEMS_tasks_Create(
+ const rtems_task_config *config,
+ rtems_id *id,
+ RTEMS_tasks_Prepare_stack prepare_stack
+)
+{
+ Thread_Control *the_thread;
+ Thread_Configuration thread_config;
+#if defined(RTEMS_MULTIPROCESSING)
+ Objects_MP_Control *the_global_object = NULL;
+ bool is_global;
+#endif
+ rtems_status_code status;
+ rtems_attribute attributes;
+ bool valid;
+ RTEMS_API_Control *api;
+ ASR_Information *asr;
+
+ if ( !id )
+ return RTEMS_INVALID_ADDRESS;
+
+ if ( !rtems_is_name_valid( config->name ) )
+ return RTEMS_INVALID_NAME;
+
+ /*
+ * Core Thread Initialize insures we get the minimum amount of
+ * stack space.
+ */
+
+ /*
+ * Fix the attribute set to match the attributes which
+ * this processor (1) requires and (2) is able to support.
+ * First add in the required flags for attributes
+ * Typically this might include FP if the platform
+ * or application required all tasks to be fp aware.
+ * Then turn off the requested bits which are not supported.
+ */
+
+ attributes = _Attributes_Set( config->attributes, ATTRIBUTES_REQUIRED );
+ attributes = _Attributes_Clear( attributes, ATTRIBUTES_NOT_SUPPORTED );
+
+ memset( &thread_config, 0, sizeof( thread_config ) );
+ thread_config.budget_algorithm = _Modes_Is_timeslice( config->initial_modes ) ?
+ THREAD_CPU_BUDGET_ALGORITHM_RESET_TIMESLICE
+ : THREAD_CPU_BUDGET_ALGORITHM_NONE,
+ thread_config.isr_level = _Modes_Get_interrupt_level( config->initial_modes );
+ thread_config.name.name_u32 = config->name;
+ thread_config.is_fp = _Attributes_Is_floating_point( attributes );
+ thread_config.is_preemptible = _Modes_Is_preempt( config->initial_modes );
+
+ /*
+ * Validate the RTEMS API priority and convert it to the core priority range.
+ */
+
+ if ( !_Attributes_Is_system_task( attributes ) ) {
+ if ( config->initial_priority == PRIORITY_MINIMUM ) {
+ return RTEMS_INVALID_PRIORITY;
+ }
+ }
+
+ thread_config.scheduler =
+ _Thread_Scheduler_get_home( _Thread_Get_executing() );
+
+ thread_config.priority = _RTEMS_Priority_To_core(
+ thread_config.scheduler,
+ config->initial_priority,
+ &valid
+ );
+ if ( !valid ) {
+ return RTEMS_INVALID_PRIORITY;
+ }
+
+#if defined(RTEMS_MULTIPROCESSING)
+ if ( !_System_state_Is_multiprocessing ) {
+ attributes = _Attributes_Clear( attributes, RTEMS_GLOBAL );
+ }
+
+ is_global = _Attributes_Is_global( attributes );
+#endif
+
+ /*
+ * Allocate the thread control block and -- if the task is global --
+ * allocate a global object control block.
+ *
+ * NOTE: This routine does not use the combined allocate and open
+ * global object routine (_Objects_MP_Allocate_and_open) because
+ * this results in a lack of control over when memory is allocated
+ * and can be freed in the event of an error.
+ */
+ the_thread = _RTEMS_tasks_Allocate();
+
+ if ( !the_thread ) {
+ _Objects_Allocator_unlock();
+ return RTEMS_TOO_MANY;
+ }
+
+#if defined(RTEMS_MULTIPROCESSING)
+ if ( is_global ) {
+ the_global_object = _Objects_MP_Allocate_global_object();
+
+ if ( _Objects_MP_Is_null_global_object( the_global_object ) ) {
+ _RTEMS_tasks_Free( the_thread );
+ _Objects_Allocator_unlock();
+ return RTEMS_TOO_MANY;
+ }
+ }
+#endif
+
+ status = ( *prepare_stack )( &thread_config, config );
+
+ /*
+ * Initialize the core thread for this task.
+ */
+
+ if ( status == RTEMS_SUCCESSFUL ) {
+ bool ok;
+
+ ok = _Thread_Initialize(
+ &_RTEMS_tasks_Information,
+ the_thread,
+ &thread_config
+ );
+
+ if ( !ok ) {
+ status = RTEMS_UNSATISFIED;
+ }
+ }
+
+ if ( status != RTEMS_SUCCESSFUL ) {
+#if defined(RTEMS_MULTIPROCESSING)
+ if ( is_global )
+ _Objects_MP_Free_global_object( the_global_object );
+#endif
+ _RTEMS_tasks_Free( the_thread );
+ _Objects_Allocator_unlock();
+ return status;
+ }
+
+ api = the_thread->API_Extensions[ THREAD_API_RTEMS ];
+ asr = &api->Signal;
+
+ asr->is_enabled = !_Modes_Is_asr_disabled( config->initial_modes );
+
+ *id = the_thread->Object.id;
+
+#if defined(RTEMS_MULTIPROCESSING)
+ the_thread->is_global = is_global;
+ if ( is_global ) {
+
+ _Objects_MP_Open(
+ &_RTEMS_tasks_Information.Objects,
+ the_global_object,
+ config->name,
+ the_thread->Object.id
+ );
+
+ _RTEMS_tasks_MP_Send_process_packet(
+ RTEMS_TASKS_MP_ANNOUNCE_CREATE,
+ the_thread->Object.id,
+ config->name
+ );
+
+ }
+#endif
+
+ _Objects_Allocator_unlock();
+ return RTEMS_SUCCESSFUL;
+}
+
+static void _RTEMS_tasks_Start_extension(
+ Thread_Control *executing,
+ Thread_Control *started
+)
+{
+ RTEMS_API_Control *api;
+
+ api = started->API_Extensions[ THREAD_API_RTEMS ];
+
+ _Event_Initialize( &api->Event );
+ _Event_Initialize( &api->System_event );
+}
+
+#if defined(RTEMS_MULTIPROCESSING)
+static void _RTEMS_tasks_Terminate_extension( Thread_Control *executing )
+{
+ if ( executing->is_global ) {
+ _Objects_MP_Close(
+ &_RTEMS_tasks_Information.Objects,
+ executing->Object.id
+ );
+ _RTEMS_tasks_MP_Send_process_packet(
+ RTEMS_TASKS_MP_ANNOUNCE_DELETE,
+ executing->Object.id,
+ 0 /* Not used */
+ );
+ }
+}
+#endif
+
+static User_extensions_Control _RTEMS_tasks_User_extensions = {
+ .Callouts = {
+#if defined(RTEMS_MULTIPROCESSING)
+ .thread_terminate = _RTEMS_tasks_Terminate_extension,
+#endif
+ .thread_start = _RTEMS_tasks_Start_extension,
+ .thread_restart = _RTEMS_tasks_Start_extension
+ }
+};
+
+static void _RTEMS_tasks_Manager_initialization( void )
+{
+ _Thread_Initialize_information( &_RTEMS_tasks_Information );
+ _User_extensions_Add_API_set( &_RTEMS_tasks_User_extensions );
+}
+
+RTEMS_SYSINIT_ITEM(
+ _RTEMS_tasks_Manager_initialization,
+ RTEMS_SYSINIT_CLASSIC_TASKS,
+ RTEMS_SYSINIT_ORDER_MIDDLE
+);
diff --git a/cpukit/rtems/src/taskcreate.c b/cpukit/rtems/src/taskcreate.c
index 5486ac9b6e..917d931424 100644
--- a/cpukit/rtems/src/taskcreate.c
+++ b/cpukit/rtems/src/taskcreate.c
@@ -1,17 +1,36 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+
/**
- * @file
+ * @file
+ *
+ * @ingroup ClassicTasks
*
- * @brief RTEMS Task Create
- * @ingroup ClassicTasks
+ * @brief RTEMS Task Create
*/
/*
- * COPYRIGHT (c) 1989-2014,2016.
- * On-Line Applications Research Corporation (OAR).
+ * Copyright (C) 2020 embedded brains GmbH (http://www.embedded-brains.de)
+ *
+ * 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.
*
- * The license and distribution terms for this file may be
- * found in the file LICENSE in this distribution or at
- * http://www.rtems.org/license/LICENSE.
+ * 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.
*/
#ifdef HAVE_CONFIG_H
@@ -19,238 +38,51 @@
#endif
#include <rtems/rtems/tasksimpl.h>
-#include <rtems/rtems/attrimpl.h>
-#include <rtems/rtems/eventimpl.h>
-#include <rtems/rtems/modesimpl.h>
-#include <rtems/rtems/support.h>
-#include <rtems/score/apimutex.h>
-#include <rtems/score/schedulerimpl.h>
#include <rtems/score/stackimpl.h>
-#include <rtems/score/sysstate.h>
-#include <rtems/score/threadimpl.h>
-#include <rtems/score/userextimpl.h>
-#include <rtems/sysinit.h>
#include <string.h>
-rtems_status_code rtems_task_create(
- rtems_name name,
- rtems_task_priority initial_priority,
- size_t stack_size,
- rtems_mode initial_modes,
- rtems_attribute attribute_set,
- rtems_id *id
+static rtems_status_code _RTEMS_tasks_Allocate_and_prepare_stack(
+ Thread_Configuration *thread_config,
+ const rtems_task_config *config
)
{
- Thread_Control *the_thread;
- Thread_Configuration config;
-#if defined(RTEMS_MULTIPROCESSING)
- Objects_MP_Control *the_global_object = NULL;
- bool is_global;
-#endif
- bool status;
- rtems_attribute the_attribute_set;
- bool valid;
- RTEMS_API_Control *api;
- ASR_Information *asr;
-
- if ( !id )
- return RTEMS_INVALID_ADDRESS;
-
- if ( !rtems_is_name_valid( name ) )
- return RTEMS_INVALID_NAME;
-
- /*
- * Core Thread Initialize insures we get the minimum amount of
- * stack space.
- */
-
- /*
- * Fix the attribute set to match the attributes which
- * this processor (1) requires and (2) is able to support.
- * First add in the required flags for attribute_set
- * Typically this might include FP if the platform
- * or application required all tasks to be fp aware.
- * Then turn off the requested bits which are not supported.
- */
-
- the_attribute_set = _Attributes_Set( attribute_set, ATTRIBUTES_REQUIRED );
- the_attribute_set =
- _Attributes_Clear( the_attribute_set, ATTRIBUTES_NOT_SUPPORTED );
-
- memset( &config, 0, sizeof( config ) );
- config.budget_algorithm = _Modes_Is_timeslice( initial_modes ) ?
- THREAD_CPU_BUDGET_ALGORITHM_RESET_TIMESLICE
- : THREAD_CPU_BUDGET_ALGORITHM_NONE,
- config.isr_level = _Modes_Get_interrupt_level( initial_modes );
- config.name.name_u32 = name;
- config.is_fp = _Attributes_Is_floating_point( the_attribute_set );
- config.is_preemptible = _Modes_Is_preempt( initial_modes );
- config.stack_size = _Stack_Ensure_minimum( stack_size );
- config.stack_size = _Stack_Extend_size( config.stack_size, config.is_fp );
-
- /*
- * Validate the RTEMS API priority and convert it to the core priority range.
- */
-
- if ( !_Attributes_Is_system_task( the_attribute_set ) ) {
- if ( initial_priority == PRIORITY_MINIMUM ) {
- return RTEMS_INVALID_PRIORITY;
- }
- }
-
- config.scheduler = _Thread_Scheduler_get_home( _Thread_Get_executing() );
-
- config.priority = _RTEMS_Priority_To_core(
- config.scheduler,
- initial_priority,
- &valid
- );
- if ( !valid ) {
- return RTEMS_INVALID_PRIORITY;
- }
-
-#if defined(RTEMS_MULTIPROCESSING)
- if ( !_System_state_Is_multiprocessing ) {
- the_attribute_set = _Attributes_Clear( the_attribute_set, RTEMS_GLOBAL );
- }
-
- is_global = _Attributes_Is_global( the_attribute_set );
-#endif
-
- /*
- * Allocate the thread control block and -- if the task is global --
- * allocate a global object control block.
- *
- * NOTE: This routine does not use the combined allocate and open
- * global object routine (_Objects_MP_Allocate_and_open) because
- * this results in a lack of control over when memory is allocated
- * and can be freed in the event of an error.
- */
- the_thread = _RTEMS_tasks_Allocate();
-
- if ( !the_thread ) {
- _Objects_Allocator_unlock();
- return RTEMS_TOO_MANY;
- }
-
-#if defined(RTEMS_MULTIPROCESSING)
- if ( is_global ) {
- the_global_object = _Objects_MP_Allocate_global_object();
-
- if ( _Objects_MP_Is_null_global_object( the_global_object ) ) {
- _RTEMS_tasks_Free( the_thread );
- _Objects_Allocator_unlock();
- return RTEMS_TOO_MANY;
- }
- }
-#endif
-
- config.stack_free = _Stack_Free;
- config.stack_area = _Stack_Allocate( config.stack_size );
- status = ( config.stack_area != NULL );
+ size_t size;
- /*
- * Initialize the core thread for this task.
- */
+ thread_config->stack_free = _Stack_Free;
+ size = _Stack_Ensure_minimum( config->storage_size );
+ size = _Stack_Extend_size( size, thread_config->is_fp );
+ thread_config->stack_size = size;
+ thread_config->stack_area = _Stack_Allocate( size );
- if ( status ) {
- status = _Thread_Initialize(
- &_RTEMS_tasks_Information,
- the_thread,
- &config
- );
- }
-
- if ( !status ) {
-#if defined(RTEMS_MULTIPROCESSING)
- if ( is_global )
- _Objects_MP_Free_global_object( the_global_object );
-#endif
- _RTEMS_tasks_Free( the_thread );
- _Objects_Allocator_unlock();
+ if ( thread_config->stack_area == NULL ) {
return RTEMS_UNSATISFIED;
}
- api = the_thread->API_Extensions[ THREAD_API_RTEMS ];
- asr = &api->Signal;
-
- asr->is_enabled = _Modes_Is_asr_disabled(initial_modes) ? false : true;
-
- *id = the_thread->Object.id;
-
-#if defined(RTEMS_MULTIPROCESSING)
- the_thread->is_global = is_global;
- if ( is_global ) {
-
- _Objects_MP_Open(
- &_RTEMS_tasks_Information.Objects,
- the_global_object,
- name,
- the_thread->Object.id
- );
-
- _RTEMS_tasks_MP_Send_process_packet(
- RTEMS_TASKS_MP_ANNOUNCE_CREATE,
- the_thread->Object.id,
- name
- );
-
- }
-#endif
-
- _Objects_Allocator_unlock();
return RTEMS_SUCCESSFUL;
}
-static void _RTEMS_tasks_Start_extension(
- Thread_Control *executing,
- Thread_Control *started
+rtems_status_code rtems_task_create(
+ rtems_name name,
+ rtems_task_priority initial_priority,
+ size_t stack_size,
+ rtems_mode initial_modes,
+ rtems_attribute attribute_set,
+ rtems_id *id
)
{
- RTEMS_API_Control *api;
-
- api = started->API_Extensions[ THREAD_API_RTEMS ];
-
- _Event_Initialize( &api->Event );
- _Event_Initialize( &api->System_event );
-}
+ rtems_task_config config;
-#if defined(RTEMS_MULTIPROCESSING)
-static void _RTEMS_tasks_Terminate_extension( Thread_Control *executing )
-{
- if ( executing->is_global ) {
- _Objects_MP_Close(
- &_RTEMS_tasks_Information.Objects,
- executing->Object.id
- );
- _RTEMS_tasks_MP_Send_process_packet(
- RTEMS_TASKS_MP_ANNOUNCE_DELETE,
- executing->Object.id,
- 0 /* Not used */
- );
- }
-}
-#endif
-
-static User_extensions_Control _RTEMS_tasks_User_extensions = {
- .Callouts = {
-#if defined(RTEMS_MULTIPROCESSING)
- .thread_terminate = _RTEMS_tasks_Terminate_extension,
-#endif
- .thread_start = _RTEMS_tasks_Start_extension,
- .thread_restart = _RTEMS_tasks_Start_extension
- }
-};
-
-static void _RTEMS_tasks_Manager_initialization( void )
-{
- _Thread_Initialize_information( &_RTEMS_tasks_Information );
- _User_extensions_Add_API_set( &_RTEMS_tasks_User_extensions );
+ memset( &config, 0, sizeof( config ) );
+ config.name = name;
+ config.initial_priority = initial_priority;
+ config.storage_size = stack_size;
+ config.initial_modes = initial_modes;
+ config.attributes = attribute_set;
+
+ return _RTEMS_tasks_Create(
+ &config,
+ id,
+ _RTEMS_tasks_Allocate_and_prepare_stack
+ );
}
-
-RTEMS_SYSINIT_ITEM(
- _RTEMS_tasks_Manager_initialization,
- RTEMS_SYSINIT_CLASSIC_TASKS,
- RTEMS_SYSINIT_ORDER_MIDDLE
-);
diff --git a/spec/build/cpukit/librtemscpu.yml b/spec/build/cpukit/librtemscpu.yml
index fa456b1db6..95322e027a 100644
--- a/spec/build/cpukit/librtemscpu.yml
+++ b/spec/build/cpukit/librtemscpu.yml
@@ -1276,6 +1276,7 @@ source:
- cpukit/rtems/src/statustoerrno.c
- cpukit/rtems/src/systemeventreceive.c
- cpukit/rtems/src/systemeventsend.c
+- cpukit/rtems/src/taskconstruct.c
- cpukit/rtems/src/taskcreate.c
- cpukit/rtems/src/taskdelete.c
- cpukit/rtems/src/taskexit.c
diff --git a/testsuites/sptests/sp01/init.c b/testsuites/sptests/sp01/init.c
index 2719c84fc8..e0072a615c 100644
--- a/testsuites/sptests/sp01/init.c
+++ b/testsuites/sptests/sp01/init.c
@@ -16,6 +16,19 @@
const char rtems_test_name[] = "SP 1";
+RTEMS_ALIGNED( RTEMS_TASK_STORAGE_ALIGNMENT ) static char Task_1_storage[
+ RTEMS_TASK_STORAGE_SIZE( 2 * RTEMS_MINIMUM_STACK_SIZE, RTEMS_FLOATING_POINT )
+];
+
+static const rtems_task_config Task_1_config = {
+ .name = rtems_build_name( 'T', 'A', '1', ' ' ),
+ .initial_priority = 1,
+ .storage_area = Task_1_storage,
+ .storage_size = sizeof( Task_1_storage ),
+ .initial_modes = RTEMS_DEFAULT_MODES,
+ .attributes = RTEMS_FLOATING_POINT
+};
+
rtems_task Init(
rtems_task_argument argument
)
@@ -30,15 +43,8 @@ rtems_task Init(
status = rtems_clock_set( &time );
directive_failed( status, "rtems_clock_set" );
- status = rtems_task_create(
- rtems_build_name( 'T', 'A', '1', ' ' ),
- 1,
- RTEMS_MINIMUM_STACK_SIZE * 2,
- RTEMS_DEFAULT_MODES,
- RTEMS_DEFAULT_ATTRIBUTES,
- &id
- );
- directive_failed( status, "rtems_task_create of TA1" );
+ status = rtems_task_construct( &Task_1_config, &id );
+ directive_failed( status, "rtems_task_construct of TA1" );
status = rtems_task_start( id, Task_1_through_3, 1 );
directive_failed( status, "rtems_task_start of TA1" );
diff --git a/testsuites/sptests/sp01/sp01.doc b/testsuites/sptests/sp01/sp01.doc
index d7d9f5d902..43c8ee0116 100644
--- a/testsuites/sptests/sp01/sp01.doc
+++ b/testsuites/sptests/sp01/sp01.doc
@@ -9,6 +9,7 @@
test name: sp01
directives:
+ rtems_task_construct
rtems_task_create
rtems_task_start
rtems_task_wake_after
diff --git a/testsuites/sptests/sp01/system.h b/testsuites/sptests/sp01/system.h
index bde5328aa9..d7990aeca8 100644
--- a/testsuites/sptests/sp01/system.h
+++ b/testsuites/sptests/sp01/system.h
@@ -28,8 +28,9 @@ rtems_task Task_1_through_3(
#define CONFIGURE_RTEMS_INIT_TASKS_TABLE
-#define CONFIGURE_EXTRA_TASK_STACKS (4 * RTEMS_MINIMUM_STACK_SIZE)
+#define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE)
#define CONFIGURE_MAXIMUM_TASKS 4
+#define CONFIGURE_MINIMUM_TASKS_WITH_USER_PROVIDED_STORAGE 1
#include <rtems/confdefs.h>