Add RTEMS thread API

Update #2843.

3 files changed, 386 insertions, 3 deletions

diff --git a/cpukit/headers.am b/cpukit/headers.am
index c486c3f51f..379f6afcf4 100644
--- a/cpukit/headers.am
+++ b/cpukit/headers.am
@@ -210,6 +210,7 @@ include_rtems_HEADERS += include/rtems/termios_printk.h
 include_rtems_HEADERS += include/rtems/termios_printk_cnf.h
 include_rtems_HEADERS += include/rtems/termiostypes.h
 include_rtems_HEADERS += include/rtems/test.h
+include_rtems_HEADERS += include/rtems/thread.h
 include_rtems_HEADERS += include/rtems/timecounter.h
 include_rtems_HEADERS += include/rtems/timespec.h
 include_rtems_HEADERS += include/rtems/tm27-default.h
diff --git a/cpukit/include/rtems/thread.h b/cpukit/include/rtems/thread.h
new file mode 100644
index 0000000000..feee612d22
--- /dev/null
+++ b/cpukit/include/rtems/thread.h
@@ -0,0 +1,289 @@
+/*
+ * Copyright (c) 2017 embedded brains GmbH.  All rights reserved.
+ *
+ *  embedded brains GmbH
+ *  Dornierstr. 4
+ *  82178 Puchheim
+ *  Germany
+ *  <rtems@embedded-brains.de>
+ *
+ * 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.
+ */
+
+#ifndef _RTEMS_THREAD_H
+#define _RTEMS_THREAD_H
+
+#include <sys/lock.h>
+#include <errno.h>
+#include <stdint.h>
+
+__BEGIN_DECLS
+
+/* Temporarily defined, will be shipped with a Newlib update */
+int _Semaphore_Wait_timed_ticks(struct _Semaphore_Control *, __uint32_t);
+
+/* Temporarily defined, will be shipped with a Newlib update */
+int _Semaphore_Try_wait(struct _Semaphore_Control *);
+
+/* Temporarily defined, will be shipped with a Newlib update */
+void _Semaphore_Post_binary(struct _Semaphore_Control *);
+
+typedef struct _Mutex_Control rtems_mutex;
+
+#define RTEMS_MUTEX_INITIALIZER( name ) _MUTEX_NAMED_INITIALIZER( name )
+
+static __inline void rtems_mutex_init( rtems_mutex *mutex, const char *name )
+{
+  _Mutex_Initialize_named( mutex, name );
+}
+
+static __inline const char *rtems_mutex_get_name( const rtems_mutex *mutex )
+{
+  return mutex->_Queue._name;
+}
+
+static __inline void rtems_mutex_set_name( rtems_mutex *mutex, const char *name )
+{
+  mutex->_Queue._name = name;
+}
+
+static __inline void rtems_mutex_lock( rtems_mutex *mutex )
+{
+  _Mutex_Acquire( mutex );
+}
+
+static __inline void rtems_mutex_unlock( rtems_mutex *mutex )
+{
+  _Mutex_Release( mutex );
+}
+
+static __inline void rtems_mutex_destroy( rtems_mutex *mutex )
+{
+  _Mutex_Destroy( mutex );
+}
+
+typedef struct _Mutex_recursive_Control rtems_recursive_mutex;
+
+#define RTEMS_RECURSIVE_MUTEX_INITIALIZER( name ) \
+  _MUTEX_RECURSIVE_NAMED_INITIALIZER( name )
+
+static __inline void rtems_recursive_mutex_init(
+  rtems_recursive_mutex *mutex, const char *name
+)
+{
+  _Mutex_recursive_Initialize_named( mutex, name );
+}
+
+static __inline const char *rtems_recursive_mutex_get_name(
+  const rtems_recursive_mutex *mutex
+)
+{
+  return mutex->_Mutex._Queue._name;
+}
+
+static __inline void rtems_recursive_mutex_set_name(
+  rtems_recursive_mutex *mutex, const char *name
+)
+{
+  mutex->_Mutex._Queue._name = name;
+}
+
+static __inline void rtems_recursive_mutex_lock(
+  rtems_recursive_mutex *mutex
+)
+{
+  _Mutex_recursive_Acquire( mutex );
+}
+
+static __inline void rtems_recursive_mutex_unlock(
+  rtems_recursive_mutex *mutex
+)
+{
+  _Mutex_recursive_Release( mutex );
+}
+
+static __inline void rtems_recursive_mutex_destroy(
+  rtems_recursive_mutex *mutex
+)
+{
+  _Mutex_recursive_Destroy( mutex );
+}
+
+typedef struct _Condition_Control rtems_condition_variable;
+
+#define RTEMS_CONDITION_VARIABLE_INITIALIZER( name ) \
+  _CONDITION_NAMED_INITIALIZER( name )
+
+static __inline void rtems_condition_variable_init(
+  rtems_condition_variable *condition_variable,
+  const char               *name
+)
+{
+  _Condition_Initialize_named( condition_variable, name );
+}
+
+static __inline const char *rtems_condition_variable_get_name(
+  const rtems_condition_variable *condition_variable
+)
+{
+  return condition_variable->_Queue._name;
+}
+
+static __inline void rtems_condition_variable_set_name(
+  rtems_condition_variable *condition_variable,
+  const char               *name
+)
+{
+  condition_variable->_Queue._name = name;
+}
+
+static __inline void rtems_condition_variable_wait(
+  rtems_condition_variable *condition_variable,
+  rtems_mutex *mutex
+)
+{
+  _Condition_Wait( condition_variable, mutex );
+}
+
+static __inline void rtems_condition_variable_signal(
+  rtems_condition_variable *condition_variable
+)
+{
+  _Condition_Broadcast( condition_variable );
+}
+
+static __inline void rtems_condition_variable_broadcast(
+  rtems_condition_variable *condition_variable
+)
+{
+  _Condition_Broadcast( condition_variable );
+}
+
+static __inline void rtems_condition_variable_destroy(
+  rtems_condition_variable *condition_variable
+)
+{
+  _Condition_Destroy( condition_variable );
+}
+
+typedef struct _Semaphore_Control rtems_counting_semaphore;
+
+#define RTEMS_COUNTING_SEMAPHORE_INITIALIZER( name, value ) \
+  _SEMAPHORE_NAMED_INITIALIZER( name, value )
+
+static __inline void rtems_counting_semaphore_init(
+  rtems_counting_semaphore *counting_semaphore,
+  const char               *name,
+  unsigned int              value
+)
+{
+  _Semaphore_Initialize_named( counting_semaphore, name, value );
+}
+
+static __inline const char *rtems_counting_semaphore_get_name(
+  const rtems_counting_semaphore *counting_semaphore
+)
+{
+  return counting_semaphore->_Queue._name;
+}
+
+static __inline void rtems_counting_semaphore_set_name(
+  rtems_counting_semaphore *counting_semaphore,
+  const char               *name
+)
+{
+  counting_semaphore->_Queue._name = name;
+}
+
+static __inline void rtems_counting_semaphore_wait(
+  rtems_counting_semaphore *counting_semaphore
+)
+{
+  _Semaphore_Wait( counting_semaphore );
+}
+
+static __inline void rtems_counting_semaphore_post(
+  rtems_counting_semaphore *counting_semaphore
+)
+{
+  _Semaphore_Post( counting_semaphore );
+}
+
+static __inline void rtems_counting_semaphore_destroy(
+  rtems_counting_semaphore *counting_semaphore
+)
+{
+  _Semaphore_Destroy( counting_semaphore );
+}
+
+typedef struct {
+  struct _Semaphore_Control Semaphore;
+} rtems_binary_semaphore;
+
+#define RTEMS_BINARY_SEMAPHORE_INITIALIZER( name ) \
+  { _SEMAPHORE_NAMED_INITIALIZER( name, 0 ) }
+
+static __inline void rtems_binary_semaphore_init(
+  rtems_binary_semaphore *binary_semaphore,
+  const char             *name
+)
+{
+  _Semaphore_Initialize_named( &binary_semaphore->Semaphore, name, 0 );
+}
+
+static __inline const char *rtems_binary_semaphore_get_name(
+  const rtems_binary_semaphore *binary_semaphore
+)
+{
+  return binary_semaphore->Semaphore._Queue._name;
+}
+
+static __inline void rtems_binary_semaphore_set_name(
+  rtems_binary_semaphore *binary_semaphore,
+  const char             *name
+)
+{
+  binary_semaphore->Semaphore._Queue._name = name;
+}
+
+static __inline void rtems_binary_semaphore_wait(
+  rtems_binary_semaphore *binary_semaphore
+)
+{
+  _Semaphore_Wait( &binary_semaphore->Semaphore );
+}
+
+static __inline int rtems_binary_semaphore_wait_timed_ticks(
+  rtems_binary_semaphore *binary_semaphore,
+  uint32_t                ticks
+)
+{
+  return _Semaphore_Wait_timed_ticks( &binary_semaphore->Semaphore, ticks );
+}
+
+static __inline int rtems_binary_semaphore_try_wait(
+  rtems_binary_semaphore *binary_semaphore
+)
+{
+  return _Semaphore_Try_wait( &binary_semaphore->Semaphore );
+}
+
+static __inline void rtems_binary_semaphore_post(
+  rtems_binary_semaphore *binary_semaphore
+)
+{
+  _Semaphore_Post_binary( &binary_semaphore->Semaphore );
+}
+
+static __inline void rtems_binary_semaphore_destroy(
+  rtems_binary_semaphore *binary_semaphore
+)
+{
+  _Semaphore_Destroy( &binary_semaphore->Semaphore );
+}
+
+__END_DECLS
+
+#endif /* _RTEMS_THREAD_H */
diff --git a/cpukit/score/src/semaphore.c b/cpukit/score/src/semaphore.c
index 4edd25a387..f76ee332a4 100644
--- a/cpukit/score/src/semaphore.c
+++ b/cpukit/score/src/semaphore.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2015 embedded brains GmbH.  All rights reserved.
+ * Copyright (c) 2015, 2017 embedded brains GmbH.  All rights reserved.
  *
  *  embedded brains GmbH
  *  Dornierstr. 4
@@ -18,8 +18,9 @@
 
 #include <rtems/score/semaphoreimpl.h>
 #include <rtems/score/statesimpl.h>
+#include <rtems/score/threadimpl.h>
 
-#include <limits.h>
+#include <errno.h>
 
 RTEMS_STATIC_ASSERT(
   offsetof( Sem_Control, Queue )
@@ -71,6 +72,66 @@ void _Semaphore_Wait( struct _Semaphore_Control *_sem )
   }
 }
 
+int _Semaphore_Wait_timed_ticks( struct _Semaphore_Control *_sem, uint32_t ticks )
+{
+  Sem_Control          *sem;
+  ISR_Level             level;
+  Thread_queue_Context  queue_context;
+  Thread_Control       *executing;
+  unsigned int          count;
+
+  sem = _Sem_Get( _sem );
+  _Thread_queue_Context_initialize( &queue_context );
+  _Thread_queue_Context_ISR_disable( &queue_context, level );
+  executing = _Sem_Queue_acquire_critical( sem, &queue_context );
+
+  count = sem->count;
+  if ( __predict_true( count > 0 ) ) {
+    sem->count = count - 1;
+    _Sem_Queue_release( sem, level, &queue_context );
+    return 0;
+  } else {
+    _Thread_queue_Context_set_thread_state(
+      &queue_context,
+      STATES_WAITING_FOR_SEMAPHORE
+    );
+    _Thread_queue_Context_set_enqueue_timeout_ticks( &queue_context, ticks );
+    _Thread_queue_Context_set_ISR_level( &queue_context, level );
+    _Thread_queue_Enqueue(
+      &sem->Queue.Queue,
+      SEMAPHORE_TQ_OPERATIONS,
+      executing,
+      &queue_context
+    );
+    return STATUS_GET_POSIX( _Thread_Wait_get_status( executing ) );
+  }
+}
+
+int _Semaphore_Try_wait( struct _Semaphore_Control *_sem )
+{
+  Sem_Control          *sem;
+  ISR_Level             level;
+  Thread_queue_Context  queue_context;
+  unsigned int          count;
+  int                   eno;
+
+  sem = _Sem_Get( _sem );
+  _Thread_queue_Context_initialize( &queue_context );
+  _Thread_queue_Context_ISR_disable( &queue_context, level );
+  _Sem_Queue_acquire_critical( sem, &queue_context );
+
+  count = sem->count;
+  if ( __predict_true( count > 0 ) ) {
+    sem->count = count - 1;
+    eno = 0;
+  } else {
+    eno = EAGAIN;
+  }
+
+  _Sem_Queue_release( sem, level, &queue_context );
+  return eno;
+}
+
 void _Semaphore_Post( struct _Semaphore_Control *_sem )
 {
   Sem_Control          *sem;
@@ -85,7 +146,6 @@ void _Semaphore_Post( struct _Semaphore_Control *_sem )
 
   heads = sem->Queue.Queue.heads;
   if ( __predict_true( heads == NULL ) ) {
-    _Assert( sem->count < UINT_MAX );
     ++sem->count;
     _Sem_Queue_release( sem, level, &queue_context );
   } else {
@@ -104,3 +164,36 @@ void _Semaphore_Post( struct _Semaphore_Control *_sem )
     );
   }
 }
+
+void _Semaphore_Post_binary( struct _Semaphore_Control *_sem )
+{
+  Sem_Control          *sem;
+  ISR_Level             level;
+  Thread_queue_Context  queue_context;
+  Thread_queue_Heads   *heads;
+
+  sem = _Sem_Get( _sem );
+  _Thread_queue_Context_initialize( &queue_context );
+  _Thread_queue_Context_ISR_disable( &queue_context, level );
+  _Sem_Queue_acquire_critical( sem, &queue_context );
+
+  heads = sem->Queue.Queue.heads;
+  if ( __predict_true( heads == NULL ) ) {
+    sem->count = 1;
+    _Sem_Queue_release( sem, level, &queue_context );
+  } else {
+    const Thread_queue_Operations *operations;
+    Thread_Control *first;
+
+    _Thread_queue_Context_set_ISR_level( &queue_context, level );
+    operations = SEMAPHORE_TQ_OPERATIONS;
+    first = ( *operations->first )( heads );
+
+    _Thread_queue_Extract_critical(
+      &sem->Queue.Queue,
+      operations,
+      first,
+      &queue_context
+    );
+  }
+}