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rt-thread/src/thread.c

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/*
* Copyright (c) 2006-2022, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* 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.
* 2018-11-22 Jesven yield is same to rt_schedule
* add support for tasks bound to cpu
* 2021-02-24 Meco Man rearrange rt_thread_control() - schedule the thread when close it
* 2021-11-15 THEWON Remove duplicate work between idle and _thread_exit
* 2021-12-27 Meco Man remove .init_priority
* 2022-01-07 Gabriel Moving __on_rt_xxxxx_hook to thread.c
* 2022-01-24 THEWON let rt_thread_sleep return thread->error when using signal
* 2022-10-15 Bernard add nested mutex feature
*/
#include <rthw.h>
#include <rtthread.h>
#include <stddef.h>
#ifndef __on_rt_thread_inited_hook
#define __on_rt_thread_inited_hook(thread) __ON_HOOK_ARGS(rt_thread_inited_hook, (thread))
#endif
#ifndef __on_rt_thread_suspend_hook
#define __on_rt_thread_suspend_hook(thread) __ON_HOOK_ARGS(rt_thread_suspend_hook, (thread))
#endif
#ifndef __on_rt_thread_resume_hook
#define __on_rt_thread_resume_hook(thread) __ON_HOOK_ARGS(rt_thread_resume_hook, (thread))
#endif
#if defined(RT_USING_HOOK) && defined(RT_HOOK_USING_FUNC_PTR)
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);
/**
* @brief This function sets a hook function when the system suspend a thread.
*
* @note The hook function must be simple and never be blocked or suspend.
*
* @param hook is the specified hook function.
*/
void rt_thread_suspend_sethook(void (*hook)(rt_thread_t thread))
{
rt_thread_suspend_hook = hook;
}
/**
* @brief This function sets a hook function when the system resume a thread.
*
* @note The hook function must be simple and never be blocked or suspend.
*
* @param hook is the specified hook function.
*/
void rt_thread_resume_sethook(void (*hook)(rt_thread_t thread))
{
rt_thread_resume_hook = hook;
}
/**
* @brief This function sets a hook function when a thread is initialized.
*
* @param hook is the specified hook function.
*/
void rt_thread_inited_sethook(void (*hook)(rt_thread_t thread))
{
rt_thread_inited_hook = hook;
}
#endif /* defined(RT_USING_HOOK) && defined(RT_HOOK_USING_FUNC_PTR) */
static void _thread_exit(void)
{
struct rt_thread *thread;
rt_base_t level;
/* get current thread */
thread = rt_thread_self();
/* disable interrupt */
level = rt_hw_interrupt_disable();
/* remove from schedule */
rt_schedule_remove_thread(thread);
/* remove it from timer list */
rt_timer_detach(&thread->thread_timer);
/* change stat */
thread->stat = RT_THREAD_CLOSE;
/* insert to defunct thread list */
rt_thread_defunct_enqueue(thread);
/* enable interrupt */
rt_hw_interrupt_enable(level);
/* switch to next task */
rt_schedule();
}
/**
* @brief This function is the timeout function for thread, normally which is invoked
* when thread is timeout to wait some resource.
*
* @param parameter is the parameter of thread timeout function
*/
static void _thread_timeout(void *parameter)
{
struct rt_thread *thread;
rt_base_t level;
thread = (struct rt_thread *)parameter;
/* parameter check */
RT_ASSERT(thread != RT_NULL);
RT_ASSERT((thread->stat & RT_THREAD_SUSPEND_MASK) == RT_THREAD_SUSPEND_MASK);
RT_ASSERT(rt_object_get_type((rt_object_t)thread) == RT_Object_Class_Thread);
/* disable interrupt */
level = rt_hw_interrupt_disable();
/* 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);
/* enable interrupt */
rt_hw_interrupt_enable(level);
/* do schedule */
rt_schedule();
}
static rt_err_t _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));
#ifdef RT_USING_SMART
thread->wakeup.func = RT_NULL;
#endif
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);
#ifdef ARCH_CPU_STACK_GROWS_UPWARD
thread->sp = (void *)rt_hw_stack_init(thread->entry, thread->parameter,
(void *)((char *)thread->stack_addr),
(void *)_thread_exit);
#else
thread->sp = (void *)rt_hw_stack_init(thread->entry, thread->parameter,
(rt_uint8_t *)((char *)thread->stack_addr + thread->stack_size - sizeof(rt_ubase_t)),
(void *)_thread_exit);
#endif /* ARCH_CPU_STACK_GROWS_UPWARD */
/* priority init */
RT_ASSERT(priority < RT_THREAD_PRIORITY_MAX);
thread->init_priority = priority;
thread->current_priority = priority;
thread->number_mask = 0;
#ifdef RT_USING_MUTEX
rt_list_init(&thread->taken_object_list);
thread->pending_object = RT_NULL;
#endif
#ifdef RT_USING_EVENT
thread->event_set = 0;
thread->event_info = 0;
#endif /* RT_USING_EVENT */
#if RT_THREAD_PRIORITY_MAX > 32
thread->number = 0;
thread->high_mask = 0;
#endif /* RT_THREAD_PRIORITY_MAX > 32 */
/* tick init */
thread->init_tick = tick;
thread->remaining_tick = tick;
/* error and flags */
thread->error = RT_EOK;
thread->stat = RT_THREAD_INIT;
#ifdef RT_USING_SMP
/* not bind on any cpu */
thread->bind_cpu = RT_CPUS_NR;
thread->oncpu = RT_CPU_DETACHED;
/* lock init */
thread->scheduler_lock_nest = 0;
thread->cpus_lock_nest = 0;
thread->critical_lock_nest = 0;
#endif /* RT_USING_SMP */
/* initialize cleanup function and user data */
thread->cleanup = 0;
thread->user_data = 0;
/* initialize thread timer */
rt_timer_init(&(thread->thread_timer),
thread->parent.name,
_thread_timeout,
thread,
0,
RT_TIMER_FLAG_ONE_SHOT);
/* initialize signal */
#ifdef RT_USING_SIGNALS
thread->sig_mask = 0x00;
thread->sig_pending = 0x00;
#ifndef RT_USING_SMP
thread->sig_ret = RT_NULL;
#endif /* RT_USING_SMP */
thread->sig_vectors = RT_NULL;
thread->si_list = RT_NULL;
#endif /* RT_USING_SIGNALS */
#ifdef RT_USING_SMART
thread->lwp = RT_NULL;
rt_list_init(&(thread->sibling));
rt_memset(&thread->signal, 0, sizeof(lwp_sigset_t));
rt_memset(&thread->signal_mask, 0, sizeof(lwp_sigset_t));
thread->signal_mask_bak = 0;
thread->signal_in_process = 0;
rt_memset(&thread->user_ctx, 0, sizeof thread->user_ctx);
#endif
#ifdef RT_USING_CPU_USAGE
thread->duration_tick = 0;
#endif /* RT_USING_CPU_USAGE */
#ifdef RT_USING_PTHREADS
thread->pthread_data = RT_NULL;
#endif /* RT_USING_PTHREADS */
#ifdef RT_USING_MODULE
thread->parent.module_id = 0;
#endif /* RT_USING_MODULE */
RT_OBJECT_HOOK_CALL(rt_thread_inited_hook, (thread));
return RT_EOK;
}
/**
* @addtogroup Thread
*/
/**@{*/
/**
* @brief This function will initialize a thread. It's used to initialize a
* static thread object.
*
* @param thread is the static thread object.
*
* @param name is the name of thread, which shall be unique.
*
* @param entry is the entry function of thread.
*
* @param parameter is the parameter of thread enter function.
*
* @param stack_start is the start address of thread stack.
*
* @param stack_size is the size of thread stack.
*
* @param priority is the priority of thread.
*
* @param tick is the time slice if there are same priority thread.
*
* @return Return the operation status. If the return value is RT_EOK, the function is successfully executed.
* If the return value is any other values, it means this operation failed.
*/
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)
{
/* parameter check */
RT_ASSERT(thread != RT_NULL);
RT_ASSERT(stack_start != RT_NULL);
/* initialize thread object */
rt_object_init((rt_object_t)thread, RT_Object_Class_Thread, name);
return _thread_init(thread,
name,
entry,
parameter,
stack_start,
stack_size,
priority,
tick);
}
RTM_EXPORT(rt_thread_init);
/**
* @brief This function will return self thread object.
*
* @return The self thread object.
*/
rt_thread_t rt_thread_self(void)
{
#ifdef RT_USING_SMP
rt_base_t lock;
rt_thread_t self;
lock = rt_hw_local_irq_disable();
self = rt_cpu_self()->current_thread;
rt_hw_local_irq_enable(lock);
return self;
#else
extern rt_thread_t rt_current_thread;
return rt_current_thread;
#endif /* RT_USING_SMP */
}
RTM_EXPORT(rt_thread_self);
/**
* @brief This function will start a thread and put it to system ready queue.
*
* @param thread is the thread to be started.
*
* @return Return the operation status. If the return value is RT_EOK, the function is successfully executed.
* If the return value is any other values, it means this operation failed.
*/
rt_err_t rt_thread_startup(rt_thread_t thread)
{
/* parameter 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);
/* 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_THREAD_PRIORITY_MAX > 32 */
RT_DEBUG_LOG(RT_DEBUG_THREAD, ("startup a thread:%s with priority:%d\n",
thread->parent.name, thread->current_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);
/**
* @brief This function will detach a thread. The thread object will be removed from
* thread queue and detached/deleted from the system object management.
*
* @param thread is the thread to be deleted.
*
* @return Return the operation status. If the return value is RT_EOK, the function is successfully executed.
* If the return value is any other values, it means this operation failed.
*/
rt_err_t rt_thread_detach(rt_thread_t thread)
{
rt_base_t level;
/* parameter 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_CLOSE)
return RT_EOK;
if ((thread->stat & RT_THREAD_STAT_MASK) != RT_THREAD_INIT)
{
/* remove from schedule */
rt_schedule_remove_thread(thread);
}
/* disable interrupt */
level = rt_hw_interrupt_disable();
/* release thread timer */
rt_timer_detach(&(thread->thread_timer));
/* change stat */
thread->stat = RT_THREAD_CLOSE;
#ifdef RT_USING_MUTEX
if ((thread->pending_object) &&
(rt_object_get_type(thread->pending_object) == RT_Object_Class_Mutex))
{
struct rt_mutex *mutex = (struct rt_mutex*)thread->pending_object;
rt_mutex_drop_thread(mutex, thread);
thread->pending_object = RT_NULL;
}
#endif
/* insert to defunct thread list */
rt_thread_defunct_enqueue(thread);
/* enable interrupt */
rt_hw_interrupt_enable(level);
return RT_EOK;
}
RTM_EXPORT(rt_thread_detach);
#ifdef RT_USING_HEAP
/**
* @brief This function will create a thread object and allocate thread object memory.
* and stack.
*
* @param name is the name of thread, which shall be unique.
*
* @param entry is the entry function of thread.
*
* @param parameter is the parameter of thread enter function.
*
* @param stack_size is the size of thread stack.
*
* @param priority is the priority of thread.
*
* @param tick is the time slice if there are same priority thread.
*
* @return If the return value is a rt_thread structure pointer, the function is successfully executed.
* If the return value is RT_NULL, it means this operation failed.
*/
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;
}
_thread_init(thread,
name,
entry,
parameter,
stack_start,
stack_size,
priority,
tick);
return thread;
}
RTM_EXPORT(rt_thread_create);
/**
* @brief 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 is the thread to be deleted.
*
* @return Return the operation status. If the return value is RT_EOK, the function is successfully executed.
* If the return value is any other values, it means this operation failed.
*/
rt_err_t rt_thread_delete(rt_thread_t thread)
{
rt_base_t level;
/* parameter 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_CLOSE)
return RT_EOK;
if ((thread->stat & RT_THREAD_STAT_MASK) != RT_THREAD_INIT)
{
/* remove from schedule */
rt_schedule_remove_thread(thread);
}
/* disable interrupt */
level = rt_hw_interrupt_disable();
/* release thread timer */
rt_timer_detach(&(thread->thread_timer));
/* change stat */
thread->stat = RT_THREAD_CLOSE;
#ifdef RT_USING_MUTEX
if ((thread->pending_object) &&
(rt_object_get_type(thread->pending_object) == RT_Object_Class_Mutex))
{
struct rt_mutex *mutex = (struct rt_mutex*)thread->pending_object;
rt_mutex_drop_thread(mutex, thread);
thread->pending_object = RT_NULL;
}
#endif
/* insert to defunct thread list */
rt_thread_defunct_enqueue(thread);
/* enable interrupt */
rt_hw_interrupt_enable(level);
return RT_EOK;
}
RTM_EXPORT(rt_thread_delete);
#endif /* RT_USING_HEAP */
/**
* @brief This function will let current thread yield processor, and scheduler will
* choose the highest thread to run. After yield processor, the current thread
* is still in READY state.
*
* @return Return the operation status. If the return value is RT_EOK, the function is successfully executed.
* If the return value is any other values, it means this operation failed.
*/
rt_err_t rt_thread_yield(void)
{
struct rt_thread *thread;
rt_base_t level;
thread = rt_thread_self();
level = rt_hw_interrupt_disable();
thread->remaining_tick = thread->init_tick;
thread->stat |= RT_THREAD_STAT_YIELD;
rt_schedule();
rt_hw_interrupt_enable(level);
return RT_EOK;
}
RTM_EXPORT(rt_thread_yield);
/**
* @brief This function will let current thread sleep for some ticks. Change current thread state to suspend,
* when the thread timer reaches the tick value, scheduler will awaken this thread.
*
* @param tick is the sleep ticks.
*
* @return Return the operation status. If the return value is RT_EOK, the function is successfully executed.
* If the return value is any other values, it means this operation failed.
*/
rt_err_t rt_thread_sleep(rt_tick_t tick)
{
rt_base_t level;
struct rt_thread *thread;
int err;
if (tick == 0)
{
return -RT_EINVAL;
}
/* set to current thread */
thread = rt_thread_self();
RT_ASSERT(thread != RT_NULL);
RT_ASSERT(rt_object_get_type((rt_object_t)thread) == RT_Object_Class_Thread);
/* current context checking */
RT_DEBUG_SCHEDULER_AVAILABLE(RT_TRUE);
/* disable interrupt */
level = rt_hw_interrupt_disable();
/* reset thread error */
thread->error = RT_EOK;
/* suspend thread */
err = rt_thread_suspend_with_flag(thread, RT_INTERRUPTIBLE);
/* reset the timeout of thread timer and start it */
if (err == RT_EOK)
{
rt_timer_control(&(thread->thread_timer), RT_TIMER_CTRL_SET_TIME, &tick);
rt_timer_start(&(thread->thread_timer));
/* enable interrupt */
rt_hw_interrupt_enable(level);
thread->error = -RT_EINTR;
rt_schedule();
/* clear error number of this thread to RT_EOK */
if (thread->error == -RT_ETIMEOUT)
thread->error = RT_EOK;
}
else
{
rt_hw_interrupt_enable(level);
}
return err;
}
/**
* @brief This function will let current thread delay for some ticks.
*
* @param tick is the delay ticks.
*
* @return Return the operation status. If the return value is RT_EOK, the function is successfully executed.
* If the return value is any other values, it means this operation failed.
*/
rt_err_t rt_thread_delay(rt_tick_t tick)
{
return rt_thread_sleep(tick);
}
RTM_EXPORT(rt_thread_delay);
/**
* @brief This function will let current thread delay until (*tick + inc_tick).
*
* @param tick is the tick of last wakeup.
*
* @param inc_tick is the increment tick.
*
* @return Return the operation status. If the return value is RT_EOK, the function is successfully executed.
* If the return value is any other values, it means this operation failed.
*/
rt_err_t rt_thread_delay_until(rt_tick_t *tick, rt_tick_t inc_tick)
{
rt_base_t level;
struct rt_thread *thread;
rt_tick_t cur_tick;
RT_ASSERT(tick != RT_NULL);
/* set to current thread */
thread = rt_thread_self();
RT_ASSERT(thread != RT_NULL);
RT_ASSERT(rt_object_get_type((rt_object_t)thread) == RT_Object_Class_Thread);
/* disable interrupt */
level = rt_hw_interrupt_disable();
/* reset thread error */
thread->error = RT_EOK;
cur_tick = rt_tick_get();
if (cur_tick - *tick < inc_tick)
{
rt_tick_t left_tick;
*tick += inc_tick;
left_tick = *tick - cur_tick;
/* suspend thread */
rt_thread_suspend_with_flag(thread, RT_UNINTERRUPTIBLE);
/* reset the timeout of thread timer and start it */
rt_timer_control(&(thread->thread_timer), RT_TIMER_CTRL_SET_TIME, &left_tick);
rt_timer_start(&(thread->thread_timer));
/* enable interrupt */
rt_hw_interrupt_enable(level);
rt_schedule();
/* clear error number of this thread to RT_EOK */
if (thread->error == -RT_ETIMEOUT)
{
thread->error = RT_EOK;
}
}
else
{
*tick = cur_tick;
rt_hw_interrupt_enable(level);
}
return thread->error;
}
RTM_EXPORT(rt_thread_delay_until);
/**
* @brief This function will let current thread delay for some milliseconds.
*
* @param ms is the delay ms time.
*
* @return Return the operation status. If the return value is RT_EOK, the function is successfully executed.
* If the return value is any other values, it means this operation failed.
*/
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);
#ifdef RT_USING_SMP
static void rt_thread_cpu_bind(rt_thread_t thread, int cpu)
{
rt_base_t level;
if (cpu >= RT_CPUS_NR)
{
cpu = RT_CPUS_NR;
}
level = rt_hw_interrupt_disable();
if ((thread->stat & RT_THREAD_STAT_MASK) == RT_THREAD_READY)
{
/* unbind */
/* remove from old ready queue */
rt_schedule_remove_thread(thread);
/* change thread bind cpu */
thread->bind_cpu = cpu;
/* add to new ready queue */
rt_schedule_insert_thread(thread);
if (rt_thread_self() != RT_NULL)
{
rt_schedule();
}
}
else
{
thread->bind_cpu = cpu;
if ((thread->stat & RT_THREAD_STAT_MASK) == RT_THREAD_RUNNING)
{
/* thread is running on a cpu */
int current_cpu = rt_hw_cpu_id();
if (cpu != RT_CPUS_NR)
{
if (thread->oncpu == current_cpu)
{
/* current thread on current cpu */
if (cpu != current_cpu)
{
/* bind to other cpu */
rt_hw_ipi_send(RT_SCHEDULE_IPI, 1U << cpu);
/* self cpu need reschedule */
rt_schedule();
}
/* else do nothing */
}
else
{
/* no running on self cpu, but dest cpu can be itself */
rt_hw_ipi_send(RT_SCHEDULE_IPI, 1U << thread->oncpu);
}
}
/* else do nothing */
}
}
rt_hw_interrupt_enable(level);
}
#endif
/**
* @brief This function will control thread behaviors according to control command.
*
* @param thread is the specified thread to be controlled.
*
* @param cmd is 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.
*
* RT_THREAD_CTRL_BIND_CPU for bind the thread to a CPU.
*
* @param arg is the argument of control command.
*
* @return Return the operation status. If the return value is RT_EOK, the function is successfully executed.
* If the return value is any other values, it means this operation failed.
*/
rt_err_t rt_thread_control(rt_thread_t thread, int cmd, void *arg)
{
rt_base_t level;
/* parameter 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 */
level = 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 /* RT_THREAD_PRIORITY_MAX > 32 */
/* 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 /* RT_THREAD_PRIORITY_MAX > 32 */
}
/* enable interrupt */
rt_hw_interrupt_enable(level);
break;
}
case RT_THREAD_CTRL_STARTUP:
{
return rt_thread_startup(thread);
}
case RT_THREAD_CTRL_CLOSE:
{
rt_err_t rt_err;
if (rt_object_is_systemobject((rt_object_t)thread) == RT_TRUE)
{
rt_err = rt_thread_detach(thread);
}
#ifdef RT_USING_HEAP
else
{
rt_err = rt_thread_delete(thread);
}
#endif /* RT_USING_HEAP */
rt_schedule();
return rt_err;
}
#ifdef RT_USING_SMP
case RT_THREAD_CTRL_BIND_CPU:
{
rt_uint8_t cpu;
cpu = (rt_uint8_t)(size_t)arg;
rt_thread_cpu_bind(thread, cpu);
break;
}
#endif /*RT_USING_SMP*/
default:
break;
}
return RT_EOK;
}
RTM_EXPORT(rt_thread_control);
#ifdef RT_USING_SMART
int lwp_suspend_sigcheck(rt_thread_t thread, int suspend_flag);
#endif
static void rt_thread_set_suspend_state(struct rt_thread *thread, int suspend_flag)
{
rt_uint8_t stat = RT_THREAD_SUSPEND_UNINTERRUPTIBLE;
RT_ASSERT(thread != RT_NULL);
switch (suspend_flag)
{
case RT_INTERRUPTIBLE:
stat = RT_THREAD_SUSPEND_INTERRUPTIBLE;
break;
case RT_KILLABLE:
stat = RT_THREAD_SUSPEND_KILLABLE;
break;
case RT_UNINTERRUPTIBLE:
stat = RT_THREAD_SUSPEND_UNINTERRUPTIBLE;
break;
default:
RT_ASSERT(0);
break;
}
thread->stat = stat | (thread->stat & ~RT_THREAD_STAT_MASK);
}
/**
* @brief This function will suspend the specified thread and change it to suspend state.
*
* @note This function ONLY can suspend current thread itself.
* rt_thread_suspend(rt_thread_self());
*
* Do not use the rt_thread_suspend to suspend other threads. You have no way of knowing what code a
* thread is executing when you suspend it. If you suspend a thread while sharing a resouce with
* other threads and occupying this resouce, starvation can occur very easily.
*
* @param thread the thread to be suspended.
* @param suspend_flag status flag of the thread to be suspended.
*
* @return Return the operation status. If the return value is RT_EOK, the function is successfully executed.
* If the return value is any other values, it means this operation failed.
*/
rt_err_t rt_thread_suspend_with_flag(rt_thread_t thread, int suspend_flag)
{
rt_base_t stat;
rt_base_t level;
/* parameter check */
RT_ASSERT(thread != RT_NULL);
RT_ASSERT(rt_object_get_type((rt_object_t)thread) == RT_Object_Class_Thread);
RT_ASSERT(thread == rt_thread_self());
RT_DEBUG_LOG(RT_DEBUG_THREAD, ("thread suspend: %s\n", thread->parent.name));
stat = thread->stat & RT_THREAD_STAT_MASK;
if ((stat != RT_THREAD_READY) && (stat != RT_THREAD_RUNNING))
{
RT_DEBUG_LOG(RT_DEBUG_THREAD, ("thread suspend: thread disorder, 0x%2x\n", thread->stat));
return -RT_ERROR;
}
/* disable interrupt */
level = rt_hw_interrupt_disable();
if (stat == RT_THREAD_RUNNING)
{
/* not suspend running status thread on other core */
RT_ASSERT(thread == rt_thread_self());
}
#ifdef RT_USING_SMART
if (lwp_suspend_sigcheck(thread, suspend_flag) == 0)
{
/* not to suspend */
rt_hw_interrupt_enable(level);
rt_kprintf("-RT_EINTR\r\n");
return -RT_EINTR;
}
#endif
/* change thread stat */
rt_schedule_remove_thread(thread);
rt_thread_set_suspend_state(thread, suspend_flag);
/* stop thread timer anyway */
rt_timer_stop(&(thread->thread_timer));
/* enable interrupt */
rt_hw_interrupt_enable(level);
RT_OBJECT_HOOK_CALL(rt_thread_suspend_hook, (thread));
return RT_EOK;
}
RTM_EXPORT(rt_thread_suspend_with_flag);
rt_err_t rt_thread_suspend(rt_thread_t thread)
{
return rt_thread_suspend_with_flag(thread, RT_UNINTERRUPTIBLE);
}
RTM_EXPORT(rt_thread_suspend);
/**
* @brief This function will resume a thread and put it to system ready queue.
*
* @param thread is the thread to be resumed.
*
* @return Return the operation status. If the return value is RT_EOK, the function is successfully executed.
* If the return value is any other values, it means this operation failed.
*/
rt_err_t rt_thread_resume(rt_thread_t thread)
{
rt_base_t level;
/* parameter 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->parent.name));
if ((thread->stat & RT_THREAD_SUSPEND_MASK) != RT_THREAD_SUSPEND_MASK)
{
RT_DEBUG_LOG(RT_DEBUG_THREAD, ("thread resume: thread disorder, %d\n",
thread->stat));
return -RT_ERROR;
}
/* disable interrupt */
level = rt_hw_interrupt_disable();
/* remove from suspend list */
rt_list_remove(&(thread->tlist));
rt_timer_stop(&thread->thread_timer);
#ifdef RT_USING_SMART
thread->wakeup.func = RT_NULL;
#endif
/* enable interrupt */
rt_hw_interrupt_enable(level);
/* 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);
#ifdef RT_USING_SMART
/**
* This function will wakeup a thread with customized operation.
*
* @param thread the thread to be resumed
*
* @return the operation status, RT_EOK on OK, -RT_ERROR on error
*/
rt_err_t rt_thread_wakeup(rt_thread_t thread)
{
register rt_base_t temp;
rt_err_t ret;
RT_ASSERT(thread != RT_NULL);
RT_ASSERT(rt_object_get_type((rt_object_t)thread) == RT_Object_Class_Thread);
/* disable interrupt */
temp = rt_hw_interrupt_disable();
if (thread->wakeup.func)
{
ret = thread->wakeup.func(thread->wakeup.user_data, thread);
thread->wakeup.func = RT_NULL;
}
else
{
ret = rt_thread_resume(thread);
}
rt_hw_interrupt_enable(temp);
return ret;
}
RTM_EXPORT(rt_thread_wakeup);
void rt_thread_wakeup_set(struct rt_thread *thread, rt_wakeup_func_t func, void* user_data)
{
register rt_base_t temp;
RT_ASSERT(thread != RT_NULL);
RT_ASSERT(rt_object_get_type((rt_object_t)thread) == RT_Object_Class_Thread);
temp = rt_hw_interrupt_disable();
thread->wakeup.func = func;
thread->wakeup.user_data = user_data;
rt_hw_interrupt_enable(temp);
}
RTM_EXPORT(rt_thread_wakeup_set);
#endif
/**
* @brief This function will find the specified thread.
*
* @note Please don't invoke this function in interrupt status.
*
* @param name is the name of thread finding.
*
* @return If the return value is a rt_thread structure pointer, the function is successfully executed.
* If the return value is RT_NULL, it means this operation failed.
*/
rt_thread_t rt_thread_find(char *name)
{
return (rt_thread_t)rt_object_find(name, RT_Object_Class_Thread);
}
RTM_EXPORT(rt_thread_find);
/**@}*/
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