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/*
* File : thread.c
* This file is part of RT-Thread RTOS
* COPYRIGHT (C) 2006 - 2012, RT-Thread Development Team
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
*
* Change Logs:
* Date Author Notes
* 2006-03-28 Bernard first version
* 2006-04-29 Bernard implement thread timer
* 2006-04-30 Bernard added THREAD_DEBUG
* 2006-05-27 Bernard fixed the rt_thread_yield bug
* 2006-06-03 Bernard fixed the thread timer init bug
* 2006-08-10 Bernard fixed the timer bug in thread_sleep
* 2006-09-03 Bernard changed rt_timer_delete to rt_timer_detach
* 2006-09-03 Bernard implement rt_thread_detach
* 2008-02-16 Bernard fixed the rt_thread_timeout bug
* 2010-03-21 Bernard change the errno of rt_thread_delay/sleep to
* RT_EOK.
* 2010-11-10 Bernard add cleanup callback function in thread exit.
* 2011-09-01 Bernard fixed rt_thread_exit issue when the current
* thread preempted, which reported by Jiaxing Lee.
* 2011-09-08 Bernard fixed the scheduling issue in rt_thread_startup.
* 2012-12-29 Bernard fixed compiling warning.
* 2016-08-09 ArdaFu add thread suspend and resume hook.
* 2017-04-10 armink fixed the rt_thread_delete and rt_thread_detach
bug when thread has not startup.
*/
#include <rtthread.h>
#include <rthw.h>
extern rt_list_t rt_thread_priority_table[RT_THREAD_PRIORITY_MAX];
extern struct rt_thread *rt_current_thread;
extern rt_list_t rt_thread_defunct;
#ifdef RT_USING_HOOK
static void (*rt_thread_suspend_hook)(rt_thread_t thread);
static void (*rt_thread_resume_hook) (rt_thread_t thread);
static void (*rt_thread_inited_hook) (rt_thread_t thread);
/**
* @ingroup Hook
* This function sets a hook function when the system suspend a thread.
*
* @param hook the specified hook function
*
* @note the hook function must be simple and never be blocked or suspend.
*/
void rt_thread_suspend_sethook(void (*hook)(rt_thread_t thread))
{
rt_thread_suspend_hook = hook;
}
/**
* @ingroup Hook
* This function sets a hook function when the system resume a thread.
*
* @param hook the specified hook function
*
* @note the hook function must be simple and never be blocked or suspend.
*/
void rt_thread_resume_sethook(void (*hook)(rt_thread_t thread))
{
rt_thread_resume_hook = hook;
}
/**
* @ingroup Hook
* This function sets a hook function when a thread is initialized.
*
* @param hook the specified hook function
*/
void rt_thread_inited_sethook(void (*hook)(rt_thread_t thread))
{
rt_thread_inited_hook = hook;
}
#endif
void rt_thread_exit(void)
{
struct rt_thread *thread;
register rt_base_t level;
/* get current thread */
thread = rt_current_thread;
/* disable interrupt */
level = rt_hw_interrupt_disable();
/* remove from schedule */
rt_schedule_remove_thread(thread);
/* change stat */
thread->stat = RT_THREAD_CLOSE;
/* remove it from timer list */
rt_timer_detach(&thread->thread_timer);
if ((rt_object_is_systemobject((rt_object_t)thread) == RT_TRUE) &&
thread->cleanup == RT_NULL)
{
rt_object_detach((rt_object_t)thread);
}
else
{
/* insert to defunct thread list */
rt_list_insert_after(&rt_thread_defunct, &(thread->tlist));
}
/* enable interrupt */
rt_hw_interrupt_enable(level);
/* switch to next task */
rt_schedule();
}
static rt_err_t _rt_thread_init(struct rt_thread *thread,
const char *name,
void (*entry)(void *parameter),
void *parameter,
void *stack_start,
rt_uint32_t stack_size,
rt_uint8_t priority,
rt_uint32_t tick)
{
/* init thread list */
rt_list_init(&(thread->tlist));
thread->entry = (void *)entry;
thread->parameter = parameter;
/* stack init */
thread->stack_addr = stack_start;
thread->stack_size = stack_size;
/* init thread stack */
rt_memset(thread->stack_addr, '#', thread->stack_size);
thread->sp = (void *)rt_hw_stack_init(thread->entry, thread->parameter,
(void *)((char *)thread->stack_addr + thread->stack_size - 4),
(void *)rt_thread_exit);
/* priority init */
RT_ASSERT(priority < RT_THREAD_PRIORITY_MAX);
thread->init_priority = priority;
thread->current_priority = priority;
thread->number_mask = 0;
#if RT_THREAD_PRIORITY_MAX > 32
thread->number = 0;
thread->high_mask = 0;
#endif
/* tick init */
thread->init_tick = tick;
thread->remaining_tick = tick;
/* error and flags */
thread->error = RT_EOK;
thread->stat = RT_THREAD_INIT;
/* initialize cleanup function and user data */
thread->cleanup = 0;
thread->user_data = 0;
/* init thread timer */
rt_timer_init(&(thread->thread_timer),
thread->name,
rt_thread_timeout,
thread,
0,
RT_TIMER_FLAG_ONE_SHOT);
/* initialize signal */
#ifdef RT_USING_SIGNALS
thread->sig_mask = 0x00;
thread->sig_pending = 0x00;
thread->sig_ret = RT_NULL;
thread->sig_vectors = RT_NULL;
thread->si_list = RT_NULL;
#endif
#ifdef RT_USING_LWP
thread->lwp = RT_NULL;
#endif
RT_OBJECT_HOOK_CALL(rt_thread_inited_hook, (thread));
return RT_EOK;
}
/**
* @addtogroup Thread
*/
/**@{*/
/**
* This function will initialize a thread, normally it's used to initialize a
* static thread object.
*
* @param thread the static thread object
* @param name the name of thread, which shall be unique
* @param entry the entry function of thread
* @param parameter the parameter of thread enter function
* @param stack_start the start address of thread stack
* @param stack_size the size of thread stack
* @param priority the priority of thread
* @param tick the time slice if there are same priority thread
*
* @return the operation status, RT_EOK on OK, -RT_ERROR on error
*/
rt_err_t rt_thread_init(struct rt_thread *thread,
const char *name,
void (*entry)(void *parameter),
void *parameter,
void *stack_start,
rt_uint32_t stack_size,
rt_uint8_t priority,
rt_uint32_t tick)
{
/* thread check */
RT_ASSERT(thread != RT_NULL);
RT_ASSERT(stack_start != RT_NULL);
/* init thread object */
rt_object_init((rt_object_t)thread, RT_Object_Class_Thread, name);
return _rt_thread_init(thread,
name,
entry,
parameter,
stack_start,
stack_size,
priority,
tick);
}
RTM_EXPORT(rt_thread_init);
/**
* This function will return self thread object
*
* @return the self thread object
*/
rt_thread_t rt_thread_self(void)
{
return rt_current_thread;
}
RTM_EXPORT(rt_thread_self);
/**
* This function will start a thread and put it to system ready queue
*
* @param thread the thread to be started
*
* @return the operation status, RT_EOK on OK, -RT_ERROR on error
*/
rt_err_t rt_thread_startup(rt_thread_t thread)
{
/* thread check */
RT_ASSERT(thread != RT_NULL);
RT_ASSERT((thread->stat & RT_THREAD_STAT_MASK) == RT_THREAD_INIT);
RT_ASSERT(rt_object_get_type((rt_object_t)thread) == RT_Object_Class_Thread);
/* set current priority to init priority */
thread->current_priority = thread->init_priority;
/* calculate priority attribute */
#if RT_THREAD_PRIORITY_MAX > 32
thread->number = thread->current_priority >> 3; /* 5bit */
thread->number_mask = 1L << thread->number;
thread->high_mask = 1L << (thread->current_priority & 0x07); /* 3bit */
#else
thread->number_mask = 1L << thread->current_priority;
#endif
RT_DEBUG_LOG(RT_DEBUG_THREAD, ("startup a thread:%s with priority:%d\n",
thread->name, thread->init_priority));
/* change thread stat */
thread->stat = RT_THREAD_SUSPEND;
/* then resume it */
rt_thread_resume(thread);
if (rt_thread_self() != RT_NULL)
{
/* do a scheduling */
rt_schedule();
}
return RT_EOK;
}
RTM_EXPORT(rt_thread_startup);
/**
* This function will detach a thread. The thread object will be removed from
* thread queue and detached/deleted from system object management.
*
* @param thread the thread to be deleted
*
* @return the operation status, RT_EOK on OK, -RT_ERROR on error
*/
rt_err_t rt_thread_detach(rt_thread_t thread)
{
rt_base_t lock;
/* thread check */
RT_ASSERT(thread != RT_NULL);
RT_ASSERT(rt_object_get_type((rt_object_t)thread) == RT_Object_Class_Thread);
RT_ASSERT(rt_object_is_systemobject((rt_object_t)thread));
if ((thread->stat & RT_THREAD_STAT_MASK) != RT_THREAD_INIT)
{
/* remove from schedule */
rt_schedule_remove_thread(thread);
}
/* release thread timer */
rt_timer_detach(&(thread->thread_timer));
/* change stat */
thread->stat = RT_THREAD_CLOSE;
/* detach object */
rt_object_detach((rt_object_t)thread);
if (thread->cleanup != RT_NULL)
{
/* disable interrupt */
lock = rt_hw_interrupt_disable();
/* insert to defunct thread list */
rt_list_insert_after(&rt_thread_defunct, &(thread->tlist));
/* enable interrupt */
rt_hw_interrupt_enable(lock);
}
return RT_EOK;
}
RTM_EXPORT(rt_thread_detach);
#ifdef RT_USING_HEAP
/**
* This function will create a thread object and allocate thread object memory
* and stack.
*
* @param name the name of thread, which shall be unique
* @param entry the entry function of thread
* @param parameter the parameter of thread enter function
* @param stack_size the size of thread stack
* @param priority the priority of thread
* @param tick the time slice if there are same priority thread
*
* @return the created thread object
*/
rt_thread_t rt_thread_create(const char *name,
void (*entry)(void *parameter),
void *parameter,
rt_uint32_t stack_size,
rt_uint8_t priority,
rt_uint32_t tick)
{
struct rt_thread *thread;
void *stack_start;
thread = (struct rt_thread *)rt_object_allocate(RT_Object_Class_Thread,
name);
if (thread == RT_NULL)
return RT_NULL;
stack_start = (void *)RT_KERNEL_MALLOC(stack_size);
if (stack_start == RT_NULL)
{
/* allocate stack failure */
rt_object_delete((rt_object_t)thread);
return RT_NULL;
}
_rt_thread_init(thread,
name,
entry,
parameter,
stack_start,
stack_size,
priority,
tick);
return thread;
}
RTM_EXPORT(rt_thread_create);
/**
* This function will delete a thread. The thread object will be removed from
* thread queue and deleted from system object management in the idle thread.
*
* @param thread the thread to be deleted
*
* @return the operation status, RT_EOK on OK, -RT_ERROR on error
*/
rt_err_t rt_thread_delete(rt_thread_t thread)
{
rt_base_t lock;
/* thread check */
RT_ASSERT(thread != RT_NULL);
RT_ASSERT(rt_object_get_type((rt_object_t)thread) == RT_Object_Class_Thread);
RT_ASSERT(rt_object_is_systemobject((rt_object_t)thread) == RT_FALSE);
if ((thread->stat & RT_THREAD_STAT_MASK) != RT_THREAD_INIT)
{
/* remove from schedule */
rt_schedule_remove_thread(thread);
}
/* release thread timer */
rt_timer_detach(&(thread->thread_timer));
/* change stat */
thread->stat = RT_THREAD_CLOSE;
/* disable interrupt */
lock = rt_hw_interrupt_disable();
/* insert to defunct thread list */
rt_list_insert_after(&rt_thread_defunct, &(thread->tlist));
/* enable interrupt */
rt_hw_interrupt_enable(lock);
return RT_EOK;
}
RTM_EXPORT(rt_thread_delete);
#endif
/**
* This function will let current thread yield processor, and scheduler will
* choose a highest thread to run. After yield processor, the current thread
* is still in READY state.
*
* @return RT_EOK
*/
rt_err_t rt_thread_yield(void)
{
register rt_base_t level;
struct rt_thread *thread;
/* disable interrupt */
level = rt_hw_interrupt_disable();
/* set to current thread */
thread = rt_current_thread;
/* if the thread stat is READY and on ready queue list */
if ((thread->stat & RT_THREAD_STAT_MASK) == RT_THREAD_READY &&
thread->tlist.next != thread->tlist.prev)
{
/* remove thread from thread list */
rt_list_remove(&(thread->tlist));
/* put thread to end of ready queue */
rt_list_insert_before(&(rt_thread_priority_table[thread->current_priority]),
&(thread->tlist));
/* enable interrupt */
rt_hw_interrupt_enable(level);
rt_schedule();
return RT_EOK;
}
/* enable interrupt */
rt_hw_interrupt_enable(level);
return RT_EOK;
}
RTM_EXPORT(rt_thread_yield);
/**
* This function will let current thread sleep for some ticks.
*
* @param tick the sleep ticks
*
* @return RT_EOK
*/
rt_err_t rt_thread_sleep(rt_tick_t tick)
{
register rt_base_t temp;
struct rt_thread *thread;
/* disable interrupt */
temp = rt_hw_interrupt_disable();
/* set to current thread */
thread = rt_current_thread;
RT_ASSERT(thread != RT_NULL);
RT_ASSERT(rt_object_get_type((rt_object_t)thread) == RT_Object_Class_Thread);
/* suspend thread */
rt_thread_suspend(thread);
/* reset the timeout of thread timer and start it */
rt_timer_control(&(thread->thread_timer), RT_TIMER_CTRL_SET_TIME, &tick);
rt_timer_start(&(thread->thread_timer));
/* enable interrupt */
rt_hw_interrupt_enable(temp);
rt_schedule();
/* clear error number of this thread to RT_EOK */
if (thread->error == -RT_ETIMEOUT)
thread->error = RT_EOK;
return RT_EOK;
}
/**
* This function will let current thread delay for some ticks.
*
* @param tick the delay ticks
*
* @return RT_EOK
*/
rt_err_t rt_thread_delay(rt_tick_t tick)
{
return rt_thread_sleep(tick);
}
RTM_EXPORT(rt_thread_delay);
/**
* This function will let current thread delay for some milliseconds.
*
* @param tick the delay time
*
* @return RT_EOK
*/
rt_err_t rt_thread_mdelay(rt_int32_t ms)
{
rt_tick_t tick;
tick = rt_tick_from_millisecond(ms);
return rt_thread_sleep(tick);
}
RTM_EXPORT(rt_thread_mdelay);
/**
* This function will control thread behaviors according to control command.
*
* @param thread the specified thread to be controlled
* @param cmd the control command, which includes
* RT_THREAD_CTRL_CHANGE_PRIORITY for changing priority level of thread;
* RT_THREAD_CTRL_STARTUP for starting a thread;
* RT_THREAD_CTRL_CLOSE for delete a thread.
* @param arg the argument of control command
*
* @return RT_EOK
*/
rt_err_t rt_thread_control(rt_thread_t thread, int cmd, void *arg)
{
register rt_base_t temp;
/* thread check */
RT_ASSERT(thread != RT_NULL);
RT_ASSERT(rt_object_get_type((rt_object_t)thread) == RT_Object_Class_Thread);
switch (cmd)
{
case RT_THREAD_CTRL_CHANGE_PRIORITY:
/* disable interrupt */
temp = rt_hw_interrupt_disable();
/* for ready thread, change queue */
if ((thread->stat & RT_THREAD_STAT_MASK) == RT_THREAD_READY)
{
/* remove thread from schedule queue first */
rt_schedule_remove_thread(thread);
/* change thread priority */
thread->current_priority = *(rt_uint8_t *)arg;
/* recalculate priority attribute */
#if RT_THREAD_PRIORITY_MAX > 32
thread->number = thread->current_priority >> 3; /* 5bit */
thread->number_mask = 1 << thread->number;
thread->high_mask = 1 << (thread->current_priority & 0x07); /* 3bit */
#else
thread->number_mask = 1 << thread->current_priority;
#endif
/* insert thread to schedule queue again */
rt_schedule_insert_thread(thread);
}
else
{
thread->current_priority = *(rt_uint8_t *)arg;
/* recalculate priority attribute */
#if RT_THREAD_PRIORITY_MAX > 32
thread->number = thread->current_priority >> 3; /* 5bit */
thread->number_mask = 1 << thread->number;
thread->high_mask = 1 << (thread->current_priority & 0x07); /* 3bit */
#else
thread->number_mask = 1 << thread->current_priority;
#endif
}
/* enable interrupt */
rt_hw_interrupt_enable(temp);
break;
case RT_THREAD_CTRL_STARTUP:
return rt_thread_startup(thread);
#ifdef RT_USING_HEAP
case RT_THREAD_CTRL_CLOSE:
return rt_thread_delete(thread);
#endif
default:
break;
}
return RT_EOK;
}
RTM_EXPORT(rt_thread_control);
/**
* This function will suspend the specified thread.
*
* @param thread the thread to be suspended
*
* @return the operation status, RT_EOK on OK, -RT_ERROR on error
*
* @note if suspend self thread, after this function call, the
* rt_schedule() must be invoked.
*/
rt_err_t rt_thread_suspend(rt_thread_t thread)
{
register rt_base_t temp;
/* thread check */
RT_ASSERT(thread != RT_NULL);
RT_ASSERT(rt_object_get_type((rt_object_t)thread) == RT_Object_Class_Thread);
RT_DEBUG_LOG(RT_DEBUG_THREAD, ("thread suspend: %s\n", thread->name));
if ((thread->stat & RT_THREAD_STAT_MASK) != RT_THREAD_READY)
{
RT_DEBUG_LOG(RT_DEBUG_THREAD, ("thread suspend: thread disorder, 0x%2x\n",
thread->stat));
return -RT_ERROR;
}
/* disable interrupt */
temp = rt_hw_interrupt_disable();
/* change thread stat */
thread->stat = RT_THREAD_SUSPEND | (thread->stat & ~RT_THREAD_STAT_MASK);
rt_schedule_remove_thread(thread);
/* stop thread timer anyway */
rt_timer_stop(&(thread->thread_timer));
/* enable interrupt */
rt_hw_interrupt_enable(temp);
RT_OBJECT_HOOK_CALL(rt_thread_suspend_hook, (thread));
return RT_EOK;
}
RTM_EXPORT(rt_thread_suspend);
/**
* This function will resume a thread and put it to system ready queue.
*
* @param thread the thread to be resumed
*
* @return the operation status, RT_EOK on OK, -RT_ERROR on error
*/
rt_err_t rt_thread_resume(rt_thread_t thread)
{
register rt_base_t temp;
/* thread check */
RT_ASSERT(thread != RT_NULL);
RT_ASSERT(rt_object_get_type((rt_object_t)thread) == RT_Object_Class_Thread);
RT_DEBUG_LOG(RT_DEBUG_THREAD, ("thread resume: %s\n", thread->name));
if ((thread->stat & RT_THREAD_STAT_MASK) != RT_THREAD_SUSPEND)
{
RT_DEBUG_LOG(RT_DEBUG_THREAD, ("thread resume: thread disorder, %d\n",
thread->stat));
return -RT_ERROR;
}
/* disable interrupt */
temp = rt_hw_interrupt_disable();
/* remove from suspend list */
rt_list_remove(&(thread->tlist));
rt_timer_stop(&thread->thread_timer);
/* enable interrupt */
rt_hw_interrupt_enable(temp);
/* insert to schedule ready list */
rt_schedule_insert_thread(thread);
RT_OBJECT_HOOK_CALL(rt_thread_resume_hook, (thread));
return RT_EOK;
}
RTM_EXPORT(rt_thread_resume);
/**
* This function is the timeout function for thread, normally which is invoked
* when thread is timeout to wait some resource.
*
* @param parameter the parameter of thread timeout function
*/
void rt_thread_timeout(void *parameter)
{
struct rt_thread *thread;
thread = (struct rt_thread *)parameter;
/* thread check */
RT_ASSERT(thread != RT_NULL);
RT_ASSERT((thread->stat & RT_THREAD_STAT_MASK) == RT_THREAD_SUSPEND);
RT_ASSERT(rt_object_get_type((rt_object_t)thread) == RT_Object_Class_Thread);
/* set error number */
thread->error = -RT_ETIMEOUT;
/* remove from suspend list */
rt_list_remove(&(thread->tlist));
/* insert to schedule ready list */
rt_schedule_insert_thread(thread);
/* do schedule */
rt_schedule();
}
RTM_EXPORT(rt_thread_timeout);
/**
* This function will find the specified thread.
*
* @param name the name of thread finding
*
* @return the found thread
*
* @note please don't invoke this function in interrupt status.
*/
rt_thread_t rt_thread_find(char *name)
{
struct rt_object_information *information;
struct rt_object *object;
struct rt_list_node *node;
/* enter critical */
if (rt_thread_self() != RT_NULL)
rt_enter_critical();
/* try to find device object */
information = rt_object_get_information(RT_Object_Class_Thread);
RT_ASSERT(information != RT_NULL);
for (node = information->object_list.next;
node != &(information->object_list);
node = node->next)
{
object = rt_list_entry(node, struct rt_object, list);
if (rt_strncmp(object->name, name, RT_NAME_MAX) == 0)
{
/* leave critical */
if (rt_thread_self() != RT_NULL)
rt_exit_critical();
return (rt_thread_t)object;
}
}
/* leave critical */
if (rt_thread_self() != RT_NULL)
rt_exit_critical();
/* not found */
return RT_NULL;
}
RTM_EXPORT(rt_thread_find);
/**@}*/
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