summaryrefslogtreecommitdiffstats
path: root/cpukit/rtems/include/rtems/rtems/tasks.h
blob: 9101d9c063f998a6718feb386539cd4a41f74b95 (plain) (blame)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
/**
 * @file rtems/rtems/tasks.h
 *
 * @defgroup ClassicTasks Tasks
 *
 * @ingroup ClassicRTEMS
 * @brief RTEMS Tasks
 *
 * This include file contains all constants and structures associated
 * with RTEMS tasks. This manager provides a comprehensive set of directives
 * to create, delete, and administer tasks.
 *
 * Directives provided are:
 *
 * - create a task
 * - get an ID of a task
 * - start a task
 * - restart a task
 * - delete a task
 * - suspend a task
 * - resume a task
 * - set a task's priority
 * - change the current task's mode
 * - get a task notepad entry
 * - set a task notepad entry
 * - wake up after interval
 * - wake up when specified
 */

/*
 * COPYRIGHT (c) 1989-2014.
 * 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.
 */

#ifndef _RTEMS_RTEMS_TASKS_H
#define _RTEMS_RTEMS_TASKS_H

#include <rtems/score/object.h>
#include <rtems/score/thread.h>
#include <rtems/rtems/types.h>
#include <rtems/rtems/event.h>
#include <rtems/rtems/asr.h>
#include <rtems/rtems/attr.h>
#include <rtems/rtems/status.h>

#ifdef __cplusplus
extern "C" {
#endif

/**
 *  @defgroup ClassicTasks Tasks
 *
 *  @ingroup ClassicRTEMS
 *
 *  This encapsulates the functionality of the Classic API Task Manager.
 *  This functionality includes task services such as creation, deletion,
 *  delays, suspend/resume, and manipulation of execution mode and priority.
 */
/**@{*/

/**
 *  Constant to be used as the ID of current task
 */
#define RTEMS_SELF                OBJECTS_ID_OF_SELF

/**
 *  This constant is passed to the rtems_task_wake_after directive as the
 *  interval when a task wishes to yield the CPU.
 */
#define RTEMS_YIELD_PROCESSOR WATCHDOG_NO_TIMEOUT

/**
 *  Define the type for an RTEMS API task priority.
 */
typedef Priority_Control rtems_task_priority;

/**
 *  This is the constant used with the rtems_task_set_priority
 *  directive to indicate that the caller wants to obtain its
 *  current priority rather than set it as the name of the
 *  directive indicates.
 */
#define RTEMS_NO_PRIORITY           RTEMS_CURRENT_PRIORITY

/**
 *  This constant is the least valid value for a Classic API
 *  task priority.
 */
#define RTEMS_MINIMUM_PRIORITY      (PRIORITY_MINIMUM + 1)

/**
 *  This constant is the maximum valid value for a Classic API
 *  task priority.
 *
 *  @note This is actually the priority of the IDLE thread so
 *        using this priority will result in having a task
 *        which never executes.  This could be useful if you
 *        want to ensure that a task does not executes during
 *        certain operations such as a system mode change.
 */
#define RTEMS_MAXIMUM_PRIORITY      PRIORITY_MAXIMUM

/**
 *  The following constant is passed to rtems_task_set_priority when the
 *  caller wants to obtain the current priority.
 */
#define RTEMS_CURRENT_PRIORITY      PRIORITY_MINIMUM

/** This is used to indicate the lowest numbered notepad */
#define RTEMS_NOTEPAD_FIRST 0
/** This is used to indicate the notepad location 0. */
#define RTEMS_NOTEPAD_0    0
/** This is used to indicate the notepad location 1. */
#define RTEMS_NOTEPAD_1    1
/** This is used to indicate the notepad location 2. */
#define RTEMS_NOTEPAD_2    2
/** This is used to indicate the notepad location 3. */
#define RTEMS_NOTEPAD_3    3
/** This is used to indicate the notepad location 4. */
#define RTEMS_NOTEPAD_4    4
/** This is used to indicate the notepad location 5. */
#define RTEMS_NOTEPAD_5    5
/** This is used to indicate the notepad location 6. */
#define RTEMS_NOTEPAD_6    6
/** This is used to indicate the notepad location 7. */
#define RTEMS_NOTEPAD_7    7
/** This is used to indicate the notepad location 8. */
#define RTEMS_NOTEPAD_8    8
/** This is used to indicate the notepad location 9. */
#define RTEMS_NOTEPAD_9    9
/** This is used to indicate the notepad location 10. */
#define RTEMS_NOTEPAD_10   10
/** This is used to indicate the notepad location 11. */
#define RTEMS_NOTEPAD_11   11
/** This is used to indicate the notepad location 12. */
#define RTEMS_NOTEPAD_12   12
/** This is used to indicate the notepad location 13. */
#define RTEMS_NOTEPAD_13   13
/** This is used to indicate the notepad location 14. */
#define RTEMS_NOTEPAD_14   14
/** This is used to indicate the notepad location 15. */
#define RTEMS_NOTEPAD_15   15
/** This is used to indicate the highest numbered notepad. */
#define RTEMS_NOTEPAD_LAST RTEMS_NOTEPAD_15

/** This is used to indicate the number of notepads available. */
#define RTEMS_NUMBER_NOTEPADS  (RTEMS_NOTEPAD_LAST+1)

/**
 *  External API name for Thread_Control
 */
typedef Thread_Control rtems_tcb;

/**
 *  The following defines the "return type" of an RTEMS task.
 */
typedef void rtems_task;

/**
 *  The following defines the argument to an RTEMS task.
 */
typedef Thread_Entry_numeric_type rtems_task_argument;

/**
 *  The following defines the type for the entry point of an RTEMS task.
 */
typedef rtems_task ( *rtems_task_entry )(
                      rtems_task_argument
                   );

/**
 *  The following records define the Initialization Tasks Table.
 *  Each entry contains the information required by RTEMS to
 *  create and start a user task automatically at executive
 *  initialization time.
 */
typedef struct {
  /** This is the Initialization Task's name. */
  rtems_name            name;
  /** This is the Initialization Task's stack size. */
  size_t                stack_size;
  /** This is the Initialization Task's priority. */
  rtems_task_priority   initial_priority;
  /** This is the Initialization Task's attributes. */
  rtems_attribute       attribute_set;
  /** This is the Initialization Task's entry point. */
  rtems_task_entry      entry_point;
  /** This is the Initialization Task's initial mode. */
  rtems_mode            mode_set;
  /** This is the Initialization Task's argument. */
  rtems_task_argument	argument;
} rtems_initialization_tasks_table;

/**
 * @brief RTEMS Task Create
 *
 * This routine implements the rtems_task_create directive. The task
 * will have the name name. The attribute_set can be used to indicate
 * that the task will be globally accessible or utilize floating point.
 * The task's stack will be stack_size bytes. The task will begin
 * execution with initial_priority and initial_modes. It returns the
 * id of the created task in ID.
 *
 * @param[in] name is the user defined thread name
 * @param[in] initial_priority is the thread priority
 * @param[in] stack_size is the stack size in bytes
 * @param[in] initial_modes is the initial thread mode
 * @param[in] attribute_set is the thread attributes
 * @param[in] id is the pointer to thread id
 *
 * @retval RTEMS_SUCCESSFUL if successful or error code if unsuccessful
 *             	and *id thread id filled in
 */
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
);

/**
 * @brief RTEMS Task Name to Id
 *
 * This routine implements the rtems_task_ident directive.
 * This directive returns the task ID associated with name.
 * If more than one task is named name, then the task to
 * which the ID belongs is arbitrary. node indicates the
 * extent of the search for the ID of the task named name.
 * The search can be limited to a particular node or allowed to
 * encompass all nodes.
 *
 * @param[in] name is the user defined thread name
 * @param[in] node is(are) the node(s) to be searched
 * @param[in] id is the pointer to thread id
 *
 * @retval This method returns RTEMS_SUCCESSFUL if there was not an
 *         error. Otherwise, a status code is returned indicating the
 *         source of the error. If successful, the id will
 *         be filled in with the thread id.
 */
rtems_status_code rtems_task_ident(
  rtems_name    name,
  uint32_t      node,
  rtems_id     *id
);

/**
 * @brief RTEMS Delete Task
 *
 * This routine implements the rtems_task_delete directive. The
 * task indicated by ID is deleted. The executive halts execution
 * of the thread and frees the thread control block.
 *
 * @param[in] id is the thread id
 *
 * @retval This method returns RTEMS_SUCCESSFUL if there was not an
 *         error and id is not the requesting thread. Status code is
 *         returned indicating the source of the error. Nothing
 *         is returned if id is the requesting thread (always succeeds).
 */
rtems_status_code rtems_task_delete(
  rtems_id   id
);

/**
 * @brief RTEMS Get Task Node
 *
 * This routine implements the rtems_task_get_note directive. The
 * value of the indicated notepad for the task associated with ID
 * is returned in note.
 *
 * @param[in] id is the thread id
 * @param[in] notepad is the notepad number
 * @param[out] note is the pointer to note
 *
 * @retval RTEMS_SUCCESSFUL if successful or error code if unsuccessful
 */
rtems_status_code rtems_task_get_note(
  rtems_id    id,
  uint32_t    notepad,
  uint32_t   *note
);

/**
 * @brief RTEMS Set Task Note
 *
 * This routine implements the rtems_task_set_note directive. The
 * value of the indicated notepad for the task associated with ID
 * is returned in note.
 *
 * @param[in] id is the thread id
 * @param[in] notepad is the notepad number
 * @param[in] note is the note value
 *
 * @return This method returns RTEMS_SUCCESSFUL if there was not an
 *         error. Otherwise, a status code is returned indicating the
 *         source of the error.
 */
rtems_status_code rtems_task_set_note(
  rtems_id   id,
  uint32_t   notepad,
  uint32_t   note
);

/**
 * @brief RTEMS Task Mode
 *
 * This routine implements the rtems_task_mode directive. The current
 * values of the modes indicated by mask of the calling task are changed
 * to that indicated in mode_set. The former mode of the task is
 * returned in mode_set.
 *
 * @param[in] mode_set is the new mode
 * @param[in] mask is the mask
 * @param[in] previous_mode_set is the address of previous mode set
 *
 * @retval RTEMS_SUCCESSFUL and previous_mode_set filled in with the
 * previous mode set
 */
rtems_status_code rtems_task_mode(
  rtems_mode  mode_set,
  rtems_mode  mask,
  rtems_mode *previous_mode_set
);

/**
 * @brief RTEMS Task Restart
 *
 * This routine implements the rtems_task_restart directive. The
 * task associated with ID is restarted at its initial entry
 * point with the new argument.
 *
 * @param[in] id is the thread id
 * @param[in] arg is the thread argument
 *
 * @retval RTEMS_SUCCESSFUL if successful or error code if unsuccessful
 */
rtems_status_code rtems_task_restart(
  rtems_id   id,
  uint32_t   arg
);

/**
 * @brief RTEMS Suspend Task
 *
 * This routine implements the rtems_task_suspend directive. The
 * SUSPENDED state is set for task associated with ID. Note that the
 * suspended state can be in addition to other waiting states.
 *
 * @param[in] id is the thread id
 *
 * @retval This method returns RTEMS_SUCCESSFUL if there was not an
 *         error. Otherwise, a status code is returned indicating the
 *         source of the error.
 */
rtems_status_code rtems_task_suspend(
  rtems_id   id
);

/**
 * @brief RTEMS Resume Task
 *
 * This routine implements the rtems_task_resume Directive. The
 * SUSPENDED state is cleared for task associated with ID.
 *
 * @param[in] id is the thread id
 *
 * @retval This method returns RTEMS_SUCCESSFUL if there was not an
 *         error. Otherwise, a status code is returned indicating the
 *         source of the error.
 */
rtems_status_code rtems_task_resume(
  rtems_id   id
);

/**
 * @brief RTEMS Set Task Priority
 *
 * This routine implements the rtems_task_set_priority directive. The
 * current priority of the task associated with ID is set to
 * new_priority. The former priority of that task is returned
 * in old_priority.
 *
 * @param[in] id is the thread to extract
 * @param[in] new_priority is the thread to extract
 * @param[in] old_priority is the thread to extract
 *
 * @retval RTEMS_SUCCESSFUL if successful or error code if unsuccessful and
 * and *old_priority filled in with the previous previous priority
 */
rtems_status_code rtems_task_set_priority(
  rtems_id             id,
  rtems_task_priority  new_priority,
  rtems_task_priority *old_priority
);

/**
 *  @brief RTEMS Start Task
 *
 *  RTEMS Task Manager
 *
 *  This routine implements the rtems_task_start directive.  The
 *  starting execution point of the task associated with ID is
 *  set to entry_point with the initial argument.
 */
rtems_status_code rtems_task_start(
  rtems_id             id,
  rtems_task_entry     entry_point,
  rtems_task_argument  argument
);

/**
 * @brief RTEMS Task Wake When
 *
 * This routine implements the rtems_task_wake_when directive. The
 * calling task is blocked until the current time of day is
 * equal to that indicated by time_buffer.
 *
 * @param[in] time_buffer is the pointer to the time and date structure
 *
 * @retval RTEMS_SUCCESSFUL if successful or error code if unsuccessful
 */
rtems_status_code rtems_task_wake_when(
  rtems_time_of_day *time_buffer
);

/**
 * @brief RTEMS Task Wake After
 *
 * This routine implements the rtems_task_wake_after directive. The
 * calling task is blocked until the indicated number of clock
 * ticks have occurred.
 *
 * @param[in] ticks is the number of ticks to wait
 * @retval RTEMS_SUCCESSFUL
 */
rtems_status_code rtems_task_wake_after(
  rtems_interval  ticks
);

/**
 *  @brief rtems_task_is_suspended
 *
 *  This directive returns a status indicating whether or not
 *  the specified task is suspended.
 */
rtems_status_code rtems_task_is_suspended(
  rtems_id   id
);

#if !defined(RTEMS_SMP)
/**
 *  @brief RTEMS Add Task Variable
 *
 *  This directive adds a per task variable.
 *
 *  @note This service is not available in SMP configurations.
 */
rtems_status_code rtems_task_variable_add(
  rtems_id  tid,
  void    **ptr,
  void    (*dtor)(void *)
);

/**
 *  @brief Get a per-task variable
 *
 *  This directive gets the value of a task variable.
 *
 *  @note This service is not available in SMP configurations.
 */
rtems_status_code rtems_task_variable_get(
  rtems_id tid,
  void **ptr,
  void **result
);

/**
 *  @brief RTEMS Delete Task Variable
 *
 *  This directive removes a per task variable.
 *
 *  @note This service is not available in SMP configurations.
 */
rtems_status_code rtems_task_variable_delete(
  rtems_id  tid,
  void    **ptr
);
#endif

#if defined(__RTEMS_HAVE_SYS_CPUSET_H__)
/**
 * @brief Gets the processor affinity set of a task.
 *
 * @param[in] id Identifier of the task.  Use @ref RTEMS_SELF to select the
 * executing task.
 * @param[in] cpusetsize Size of the specified affinity set buffer in
 * bytes.  This value must be positive.
 * @param[out] cpuset The current processor affinity set of the task.  A set
 * bit in the affinity set means that the task can execute on this processor
 * and a cleared bit means the opposite.
 *
 * @retval RTEMS_SUCCESSFUL Successful operation.
 * @retval RTEMS_INVALID_ADDRESS The @a cpuset parameter is @c NULL.
 * @retval RTEMS_INVALID_ID Invalid task identifier.
 * @retval RTEMS_INVALID_NUMBER The affinity set buffer is too small for the
 * current processor affinity set of the task.
 */
rtems_status_code rtems_task_get_affinity(
  rtems_id             id,
  size_t               cpusetsize,
  cpu_set_t           *cpuset
);

/**
 * @brief Sets the processor affinity set of a task.
 *
 * @param[in] id Identifier of the task.  Use @ref RTEMS_SELF to select the
 * executing task.
 * @param[in] cpusetsize Size of the specified affinity set buffer in
 * bytes.  This value must be positive.
 * @param[in] cpuset The new processor affinity set for the task.  A set bit in
 * the affinity set means that the task can execute on this processor and a
 * cleared bit means the opposite.
 *
 * @retval RTEMS_SUCCESSFUL Successful operation.
 * @retval RTEMS_INVALID_ADDRESS The @a cpuset parameter is @c NULL.
 * @retval RTEMS_INVALID_ID Invalid task identifier.
 * @retval RTEMS_INVALID_NUMBER Invalid processor affinity set.
 */
rtems_status_code rtems_task_set_affinity(
  rtems_id             id,
  size_t               cpusetsize,
  cpu_set_t           *cpuset
);
#endif

/**
 * @brief Gets the scheduler of a task.
 *
 * @param[in] id Identifier of the task.  Use @ref RTEMS_SELF to select the
 * executing task.
 * @param[out] scheduler_id Identifier of the scheduler.
 *
 * @retval RTEMS_SUCCESSFUL Successful operation.
 * @retval RTEMS_INVALID_ADDRESS The @a scheduler_id parameter is @c NULL.
 * @retval RTEMS_INVALID_ID Invalid task identifier.
 */
rtems_status_code rtems_task_get_scheduler(
  rtems_id  id,
  rtems_id *scheduler_id
);

/**
 * @brief Sets the scheduler of a task.
 *
 * @param[in] id Identifier of the task.  Use @ref RTEMS_SELF to select the
 * executing task.
 * @param[in] scheduler_id Identifier of the scheduler.
 *
 * @retval RTEMS_SUCCESSFUL Successful operation.
 * @retval RTEMS_INVALID_ID Invalid task or scheduler identifier.
 * @retval RTEMS_INCORRECT_STATE The task is in the wrong state to perform a
 * scheduler change.
 *
 * @see rtems_scheduler_ident().
 */
rtems_status_code rtems_task_set_scheduler(
  rtems_id id,
  rtems_id scheduler_id
);

/**
 *  @brief RTEMS Get Self Task Id
 *
 *  This directive returns the ID of the currently executing task.
 */
rtems_id rtems_task_self(void);

/**
 * @brief Identifies a scheduler by its name.
 *
 * The scheduler name is determined by the scheduler configuration.
 *
 * @param[in] name The scheduler name.
 * @param[out] id The scheduler identifier associated with the name.
 *
 * @retval RTEMS_SUCCESSFUL Successful operation.
 * @retval RTEMS_INVALID_ADDRESS The @a id parameter is @c NULL.
 * @retval RTEMS_INVALID_NAME Invalid scheduler name.
 */
rtems_status_code rtems_scheduler_ident(
  rtems_name  name,
  rtems_id   *id
);

#if defined(__RTEMS_HAVE_SYS_CPUSET_H__)
/**
 * @brief Gets the set of processors owned by the scheduler.
 *
 * @param[in] scheduler_id Identifier of the scheduler.
 * @param[in] cpusetsize Size of the specified processor set buffer in
 * bytes.  This value must be positive.
 * @param[out] cpuset The processor set owned by the scheduler.  A set bit in
 * the processor set means that this processor is owned by the scheduler and a
 * cleared bit means the opposite.
 *
 * @retval RTEMS_SUCCESSFUL Successful operation.
 * @retval RTEMS_INVALID_ADDRESS The @a cpuset parameter is @c NULL.
 * @retval RTEMS_INVALID_ID Invalid scheduler identifier.
 * @retval RTEMS_INVALID_NUMBER The processor set buffer is too small for the
 * set of processors owned by the scheduler.
 */
rtems_status_code rtems_scheduler_get_processor_set(
  rtems_id   scheduler_id,
  size_t     cpusetsize,
  cpu_set_t *cpuset
);
#endif

/**@}*/

/**
 *  This is the API specific information required by each thread for
 *  the RTEMS API to function correctly.
 *
 *  @note Notepads must be the last entry in the structure and memory
 *        will be taken away from this structure when allocated if
 *        notespads are disabled by the application configuration.
 */
typedef struct {
  /** This field contains the event control for this task. */
  Event_Control            Event;
  /** This field contains the system event control for this task. */
  Event_Control            System_event;
  /** This field contains the Classic API Signal information for this task. */
  ASR_Information          Signal;

  /**
   * @brief Signal post-switch action in case signals are pending.
   */
  Thread_Action            Signal_action;

  /**
   *  This field contains the notepads for this task.
   *
   *  @note MUST BE LAST ENTRY.
   */
  uint32_t                 Notepads[ RTEMS_ZERO_LENGTH_ARRAY ];
}  RTEMS_API_Control;

/**
 *  When the user configures a set of Classic API initialization tasks,
 *  This variable will point to the method used to initialize them.
 *
 *  @note It is instantiated and initialized by confdefs.h based upon
 *        application requirements.
 */
extern void (*_RTEMS_tasks_Initialize_user_tasks_p)(void);

/**
 *  @brief _RTEMS_tasks_Initialize_user_tasks_body
 *
 *  This routine creates and starts all configured user
 *  initialization threads.
 *
 *  Input parameters: NONE
 *
 *  Output parameters:  NONE
 *
 *  RTEMS Task Manager
 */

extern void _RTEMS_tasks_Initialize_user_tasks_body( void );

#ifdef __cplusplus
}
#endif

#endif
/* end of include file */