git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6167 35acf78f-673a-0410-8e92-d51de3d6d3f4

6 files changed, 221 insertions, 80 deletions

diff --git a/os/rt/include/chlists.h b/os/rt/include/chlists.h
index 69a42bcce..1384dc58f 100644
--- a/os/rt/include/chlists.h
+++ b/os/rt/include/chlists.h
@@ -20,9 +20,9 @@
 

 /**

  * @file    chlists.h

- * @brief   Thread queues/lists inlined code.

+ * @brief   Thread queues and lists header.

  *

- * @addtogroup internals

+ * @addtogroup queues_list

  * @{

  */

 

@@ -72,6 +72,16 @@
 /* External declarations.                                                    */

 /*===========================================================================*/

 

+#ifdef __cplusplus

+extern "C" {

+#endif

+  msg_t chQueueGoSleepTimeoutS(threads_queue_t *tqp, systime_t time);

+  void chQueueWakeupOneI(threads_queue_t *tqp, msg_t msg);

+  void chQueueWakeupAllI(threads_queue_t *tqp, msg_t msg);

+#ifdef __cplusplus

+}

+#endif

+

 /*===========================================================================*/

 /* Module inline functions.                                                  */

 /*===========================================================================*/

@@ -192,4 +202,16 @@ static inline thread_t *queue_dequeue(thread_t *tp) {
 }

 #endif /* CH_CFG_OPTIMIZE_SPEED */

 

+/**

+ * @brief   Initializes a threads queue object.

+ *

+ * @param[out] tqp      pointer to the threads queue object

+ *

+ * @init

+ */

+static inline void chQueueObjectInit(threads_queue_t *tqp) {

+

+  queue_init(tqp);

+}

+

 #endif /* _CHLISTS_H_ */

diff --git a/os/rt/include/chthreads.h b/os/rt/include/chthreads.h
index d27de04a9..18fb962d4 100644
--- a/os/rt/include/chthreads.h
+++ b/os/rt/include/chthreads.h
@@ -41,20 +41,20 @@
 #define CH_STATE_CURRENT        1   /**< @brief Currently running.          */

 #define CH_STATE_WTSTART        2   /**< @brief Created but not started.    */

 #define CH_STATE_SUSPENDED      3   /**< @brief Created in suspended state. */

-#define CH_STATE_WTSEM          4   /**< @brief Waiting on a semaphore.     */

-#define CH_STATE_WTMTX          5   /**< @brief Waiting on a mutex.         */

-#define CH_STATE_WTCOND         6   /**< @brief Waiting on a condition

+#define CH_STATE_QUEUED         4  /**< @brief Waiting on an I/O queue.    */

+#define CH_STATE_WTSEM          5   /**< @brief Waiting on a semaphore.     */

+#define CH_STATE_WTMTX          6   /**< @brief Waiting on a mutex.         */

+#define CH_STATE_WTCOND         7   /**< @brief Waiting on a condition

                                          variable.                          */

-#define CH_STATE_SLEEPING       7   /**< @brief Waiting in @p chThdSleep()

+#define CH_STATE_SLEEPING       8   /**< @brief Waiting in @p chThdSleep()

                                          or @p chThdSleepUntil().           */

-#define CH_STATE_WTEXIT         8   /**< @brief Waiting in @p chThdWait().  */

-#define CH_STATE_WTOREVT        9   /**< @brief Waiting for an event.       */

-#define CH_STATE_WTANDEVT       10   /**< @brief Waiting for several events. */

-#define CH_STATE_SNDMSGQ        11  /**< @brief Sending a message, in queue.*/

-#define CH_STATE_SNDMSG         12  /**< @brief Sent a message, waiting

+#define CH_STATE_WTEXIT         9   /**< @brief Waiting in @p chThdWait().  */

+#define CH_STATE_WTOREVT        10  /**< @brief Waiting for an event.       */

+#define CH_STATE_WTANDEVT       11  /**< @brief Waiting for several events. */

+#define CH_STATE_SNDMSGQ        12  /**< @brief Sending a message, in queue.*/

+#define CH_STATE_SNDMSG         13  /**< @brief Sent a message, waiting

                                          answer.                            */

-#define CH_STATE_WTMSG          13  /**< @brief Waiting for a message.      */

-#define CH_STATE_WTQUEUE        14  /**< @brief Waiting on an I/O queue.    */

+#define CH_STATE_WTMSG          14  /**< @brief Waiting for a message.      */

 #define CH_STATE_FINAL          15  /**< @brief Thread terminated.          */

 

 /**

@@ -63,9 +63,9 @@
  *          indexed using the numeric thread state values.

  */

 #define CH_STATE_NAMES                                                     \

-  "READY", "WTSTART", "CURRENT", "SUSPENDED", "WTSEM", "WTMTX", "WTCOND",  \

-  "SLEEPING", "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG",        \

-  "WTMSG", "WTQUEUE", "FINAL"

+  "READY", "WTSTART", "CURRENT", "SUSPENDED", "QUEUED", "WTSEM", "WTMTX",  \

+  "WTCOND", "SLEEPING", "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ",        \

+  "SNDMSG", "WTMSG", "FINAL"

 /** @} */

 

 /**

@@ -93,6 +93,10 @@
 /* Module data structures and types.                                         */

 /*===========================================================================*/

 

+/**

+ * @brief   Type of a thread reference.

+ */

+typedef thread_t * thread_reference_t;

 

 /**

  * @brief   Thread function.

@@ -161,8 +165,12 @@ extern "C" {
                          tprio_t prio, tfunc_t pf, void *arg);

   thread_t *chThdCreateStatic(void *wsp, size_t size,

                               tprio_t prio, tfunc_t pf, void *arg);

+  thread_t *chThdStart(thread_t *tp);

   tprio_t chThdSetPriority(tprio_t newprio);

-  thread_t *chThdResume(thread_t *tp);

+  msg_t chThreadSuspendS(thread_reference_t *trp);

+  void chThreadResumeI(thread_reference_t *trp, msg_t msg);

+  void chThreadResumeS(thread_reference_t *trp, msg_t msg);

+  void chThreadResume(thread_reference_t *trp, msg_t msg);

   void chThdTerminate(thread_t *tp);

   void chThdSleep(systime_t time);

   void chThdSleepUntil(systime_t time);

@@ -249,7 +257,7 @@ static inline bool chThdShouldTerminateX(void) {
  *

  * @param[in] tp        pointer to the thread

  *

- * @xclass

+ * @iclass

  */

 static inline thread_t *chThdStartI(thread_t *tp) {

 

diff --git a/os/rt/src/chlists.c b/os/rt/src/chlists.c
index 0f492db5f..5bba30078 100644
--- a/os/rt/src/chlists.c
+++ b/os/rt/src/chlists.c
@@ -20,12 +20,9 @@
 

 /**

  * @file    chlists.c

- * @brief   Thread queues/lists code.

+ * @brief   Thread queues and lists code.

  *

- * @addtogroup internals

- * @details All the functions present in this module, while public, are not

- *          OS APIs and should not be directly used in the user applications

- *          code.

+ * @addtogroup queues_list

  * @{

  */

 #include "ch.h"

@@ -54,6 +51,80 @@
 /* Module exported functions.                                                */

 /*===========================================================================*/

 

+/**

+ * @brief   Enqueues the caller thread.

+ * @details The caller thread is enqueued and put to sleep until it is

+ *          dequeued or the specified timeouts expires.

+ *

+ * @param[in] tqp       pointer to the threads queue object

+ * @param[in] time      the timeout in system ticks, the special values are

+ *                      handled as follow:

+ *                      - @a TIME_INFINITE the thread enters an infinite sleep

+ *                        state.

+ *                      - @a TIME_IMMEDIATE the thread is not enqueued and

+ *                        the function returns @p MSG_TIMEOUT as if a timeout

+ *                        occurred.

+ *                      .

+ * @return              The message from @p osalQueueWakeupOneI() or

+ *                      @p osalQueueWakeupAllI() functions.

+ * @retval RDY_TIMEOUT  if the thread has not been dequeued within the

+ *                      specified timeout or if the function has been

+ *                      invoked with @p TIME_IMMEDIATE as timeout

+ *                      specification.

+ *

+ * @sclass

+ */

+msg_t chQueueGoSleepTimeoutS(threads_queue_t *tqp, systime_t time) {

+

+  if (TIME_IMMEDIATE == time)

+    return RDY_TIMEOUT;

+

+  queue_insert(currp, tqp);

+  return chSchGoSleepTimeoutS(CH_STATE_QUEUED, time);

+}

+

+/**

+ * @brief   Dequeues and wakes up one thread from the queue, if any.

+ *

+ * @param[in] tqp       pointer to the threads queue object

+ * @param[in] msg       the message code

+ *

+ * @iclass

+ */

+void chQueueWakeupOneI(threads_queue_t *tqp, msg_t msg) {

+

+  if (queue_notempty(tqp)) {

+    thread_t *tp = queue_fifo_remove(tqp);

+

+    chDbgAssert(tp->p_state == CH_STATE_QUEUED,

+                "not CH_STATE_QUEUED");

+

+    tp->p_u.rdymsg = msg;

+    chSchReadyI(tp);

+  }

+}

+

+/**

+ * @brief   Dequeues and wakes up all threads from the queue.

+ *

+ * @param[in] tqp       pointer to the threads queue object

+ * @param[in] msg       the message code

+ *

+ * @iclass

+ */

+void chQueueWakeupAllI(threads_queue_t *tqp, msg_t msg) {

+

+  while (queue_notempty(tqp)) {

+    thread_t *tp = queue_fifo_remove(tqp);

+

+    chDbgAssert(tp->p_state == CH_STATE_QUEUED,

+                "not CH_STATE_QUEUED");

+

+    tp->p_u.rdymsg = msg;

+    chSchReadyI(tp);

+  }

+}

+

 #if !CH_CFG_OPTIMIZE_SPEED || defined(__DOXYGEN__)

 /**

  * @brief   Inserts a thread into a priority ordered queue.

diff --git a/os/rt/src/chqueues.c b/os/rt/src/chqueues.c
index 679d69337..c65eb06c6 100644
--- a/os/rt/src/chqueues.c
+++ b/os/rt/src/chqueues.c
@@ -65,30 +65,6 @@
 /* Module local functions.                                                   */

 /*===========================================================================*/

 

-/**

- * @brief   Puts the invoking thread into the queue's threads queue.

- *

- * @param[out] qp       pointer to an @p io_queue_t structure

- * @param[in] time      the number of ticks before the operation timeouts,

- *                      the following special values are allowed:

- *                      - @a TIME_IMMEDIATE immediate timeout.

- *                      - @a TIME_INFINITE no timeout.

- *                      .

- * @return              A message specifying how the invoking thread has been

- *                      released from threads queue.

- * @retval Q_OK         is the normal exit, thread signaled.

- * @retval Q_RESET      if the queue has been reset.

- * @retval Q_TIMEOUT    if the queue operation timed out.

- */

-static msg_t qwait(io_queue_t *qp, systime_t time) {

-

-  if (TIME_IMMEDIATE == time)

-    return Q_TIMEOUT;

-  currp->p_u.wtobjp = qp;

-  queue_insert(currp, &qp->q_waiting);

-  return chSchGoSleepTimeoutS(CH_STATE_WTQUEUE, time);

-}

-

 /*===========================================================================*/

 /* Module exported functions.                                                */

 /*===========================================================================*/

@@ -112,7 +88,7 @@ static msg_t qwait(io_queue_t *qp, systime_t time) {
 void chIQObjectInit(input_queue_t *iqp, uint8_t *bp, size_t size,

                     qnotify_t infy, void *link) {

 

-  queue_init(&iqp->q_waiting);

+  chQueueObjectInit(&iqp->q_waiting);

   iqp->q_counter = 0;

   iqp->q_buffer = iqp->q_rdptr = iqp->q_wrptr = bp;

   iqp->q_top = bp + size;

@@ -137,8 +113,7 @@ void chIQResetI(input_queue_t *iqp) {
 

   iqp->q_rdptr = iqp->q_wrptr = iqp->q_buffer;

   iqp->q_counter = 0;

-  while (queue_notempty(&iqp->q_waiting))

-    chSchReadyI(queue_fifo_remove(&iqp->q_waiting))->p_u.rdymsg = Q_RESET;

+  chQueueWakeupAllI(&iqp->q_waiting, Q_RESET);

 }

 

 /**

@@ -166,8 +141,7 @@ msg_t chIQPutI(input_queue_t *iqp, uint8_t b) {
   if (iqp->q_wrptr >= iqp->q_top)

     iqp->q_wrptr = iqp->q_buffer;

 

-  if (queue_notempty(&iqp->q_waiting))

-    chSchReadyI(queue_fifo_remove(&iqp->q_waiting))->p_u.rdymsg = Q_OK;

+  chQueueWakeupOneI(&iqp->q_waiting, Q_OK);

 

   return Q_OK;

 }

@@ -201,7 +175,7 @@ msg_t chIQGetTimeout(input_queue_t *iqp, systime_t time) {
 

   while (chIQIsEmptyI(iqp)) {

     msg_t msg;

-    if ((msg = qwait((io_queue_t *)iqp, time)) < Q_OK) {

+    if ((msg = chQueueGoSleepTimeoutS(&iqp->q_waiting, time)) < Q_OK) {

       chSysUnlock();

       return msg;

     }

@@ -253,7 +227,7 @@ size_t chIQReadTimeout(input_queue_t *iqp, uint8_t *bp,
       nfy(iqp);

 

     while (chIQIsEmptyI(iqp)) {

-      if (qwait((io_queue_t *)iqp, time) != Q_OK) {

+      if (chQueueGoSleepTimeoutS(&iqp->q_waiting, time) != Q_OK) {

         chSysUnlock();

         return r;

       }

@@ -292,7 +266,7 @@ size_t chIQReadTimeout(input_queue_t *iqp, uint8_t *bp,
 void chOQObjectInit(output_queue_t *oqp, uint8_t *bp, size_t size,

                     qnotify_t onfy, void *link) {

 

-  queue_init(&oqp->q_waiting);

+  chQueueObjectInit(&oqp->q_waiting);

   oqp->q_counter = size;

   oqp->q_buffer = oqp->q_rdptr = oqp->q_wrptr = bp;

   oqp->q_top = bp + size;

@@ -317,8 +291,7 @@ void chOQResetI(output_queue_t *oqp) {
 

   oqp->q_rdptr = oqp->q_wrptr = oqp->q_buffer;

   oqp->q_counter = chQSizeI(oqp);

-  while (queue_notempty(&oqp->q_waiting))

-    chSchReadyI(queue_fifo_remove(&oqp->q_waiting))->p_u.rdymsg = Q_RESET;

+  chQueueWakeupAllI(&oqp->q_waiting, Q_RESET);

 }

 

 /**

@@ -349,7 +322,7 @@ msg_t chOQPutTimeout(output_queue_t *oqp, uint8_t b, systime_t time) {
   while (chOQIsFullI(oqp)) {

     msg_t msg;

 

-    if ((msg = qwait((io_queue_t *)oqp, time)) < Q_OK) {

+    if ((msg = chQueueGoSleepTimeoutS(&oqp->q_waiting, time)) < Q_OK) {

       chSysUnlock();

       return msg;

     }

@@ -390,8 +363,7 @@ msg_t chOQGetI(output_queue_t *oqp) {
   if (oqp->q_rdptr >= oqp->q_top)

     oqp->q_rdptr = oqp->q_buffer;

 

-  if (queue_notempty(&oqp->q_waiting))

-    chSchReadyI(queue_fifo_remove(&oqp->q_waiting))->p_u.rdymsg = Q_OK;

+  chQueueWakeupOneI(&oqp->q_waiting, Q_OK);

 

   return b;

 }

@@ -430,7 +402,7 @@ size_t chOQWriteTimeout(output_queue_t *oqp, const uint8_t *bp,
   chSysLock();

   while (true) {

     while (chOQIsFullI(oqp)) {

-      if (qwait((io_queue_t *)oqp, time) != Q_OK) {

+      if (chQueueGoSleepTimeoutS(&oqp->q_waiting, time) != Q_OK) {

         chSysUnlock();

         return w;

       }

diff --git a/os/rt/src/chschd.c b/os/rt/src/chschd.c
index 9b7147a32..f03c5eff3 100644
--- a/os/rt/src/chschd.c
+++ b/os/rt/src/chschd.c
@@ -147,22 +147,17 @@ static void wakeup(void *p) {
        another thread with higher priority.*/

     chSysUnlockFromISR();

     return;

-#if CH_CFG_USE_SEMAPHORES || CH_CFG_USE_QUEUES ||                           \

-    (CH_CFG_USE_CONDVARS && CH_CFG_USE_CONDVARS_TIMEOUT)

 #if CH_CFG_USE_SEMAPHORES

   case CH_STATE_WTSEM:

     chSemFastSignalI((semaphore_t *)tp->p_u.wtobjp);

     /* Falls into, intentional. */

 #endif

-#if CH_CFG_USE_QUEUES

-  case CH_STATE_WTQUEUE:

-#endif

 #if CH_CFG_USE_CONDVARS && CH_CFG_USE_CONDVARS_TIMEOUT

   case CH_STATE_WTCOND:

 #endif

+  case CH_STATE_QUEUED:

     /* States requiring dequeuing.*/

     queue_dequeue(tp);

-#endif

   }

   tp->p_u.rdymsg = RDY_TIMEOUT;

   chSchReadyI(tp);

diff --git a/os/rt/src/chthreads.c b/os/rt/src/chthreads.c
index d6fbc880f..dbcd1f754 100644
--- a/os/rt/src/chthreads.c
+++ b/os/rt/src/chthreads.c
@@ -223,6 +223,21 @@ thread_t *chThdCreateStatic(void *wsp, size_t size,
 }

 

 /**

+ * @brief   Resumes a thread created with @p chThdCreateI().

+ *

+ * @param[in] tp        pointer to the thread

+ *

+ * @api

+ */

+thread_t *chThdStart(thread_t *tp) {

+

+  chSysLock();

+  tp = chThdStartI(tp);

+  chSysUnlock();

+  return tp;

+}

+

+/**

  * @brief   Changes the running thread priority level then reschedules if

  *          necessary.

  * @note    The function returns the real thread priority regardless of the

@@ -255,26 +270,84 @@ tprio_t chThdSetPriority(tprio_t newprio) {
 }

 

 /**

- * @brief   Resumes a suspended thread.

- * @pre     The specified thread pointer must refer to an initialized thread

- *          in the @p CH_STATE_SUSPENDED state.

- * @post    The specified thread is immediately started or put in the ready

- *          list depending on the relative priority levels.

- * @note    Use this function to start threads created with @p chThdCreateI().

+ * @brief   Sends the current thread sleeping and sets a reference variable.

+ * @note    This function must reschedule, it can only be called from thread

+ *          context.

  *

- * @param[in] tp        pointer to the thread

- * @return              The pointer to the thread.

+ * @param[in] trp       a pointer to a thread reference object

+ * @return              The wake up message.

+ *

+ * @sclass

+ */

+msg_t chThreadSuspendS(thread_reference_t *trp) {

+

+  chDbgAssert(*trp == NULL, "not NULL");

+

+  *trp = (thread_reference_t)chThdGetSelfX();

+  chSchGoSleepS(CH_STATE_SUSPENDED);

+  return chThdGetSelfX()->p_msg;

+}

+

+/**

+ * @brief   Wakes up a thread waiting on a thread reference object.

+ * @note    This function must not reschedule because it can be called from

+ *          ISR context.

+ *

+ * @param[in] trp       a pointer to a thread reference object

+ * @param[in] msg       the message code

+ *

+ * @iclass

+ */

+void chThreadResumeI(thread_reference_t *trp, msg_t msg) {

+

+  if (*trp != NULL) {

+

+    chDbgAssert((*trp)->p_state == CH_STATE_SUSPENDED,

+                "not THD_STATE_SUSPENDED");

+

+    (*trp)->p_u.rdymsg = msg;

+    chSchReadyI(*trp);

+    *trp = NULL;

+  }

+}

+

+/**

+ * @brief   Wakes up a thread waiting on a thread reference object.

+ * @note    This function must reschedule, it can only be called from thread

+ *          context.

+ *

+ * @param[in] trp       a pointer to a thread reference object

+ * @param[in] msg       the message code

+ *

+ * @iclass

+ */

+void chThreadResumeS(thread_reference_t *trp, msg_t msg) {

+

+  if (*trp != NULL) {

+

+    chDbgAssert((*trp)->p_state == CH_STATE_SUSPENDED,

+                "not THD_STATE_SUSPENDED");

+

+    *trp = NULL;

+    chSchWakeupS(*trp, msg);

+  }

+}

+

+/**

+ * @brief   Wakes up a thread waiting on a thread reference object.

+ * @note    This function must reschedule, it can only be called from thread

+ *          context.

+ *

+ * @param[in] trp       a pointer to a thread reference object

+ * @param[in] msg       the message code

  *

  * @api

  */

-thread_t *chThdResume(thread_t *tp) {

+void chThreadResume(thread_reference_t *trp, msg_t msg) {

 

   chSysLock();

-  chDbgAssert(tp->p_state == CH_STATE_SUSPENDED,

-              "thread not in CH_STATE_SUSPENDED state");

-  chSchWakeupS(tp, RDY_OK);

+  chThreadResumeS(trp, msg);

   chSysUnlock();

-  return tp;

 }

 

 /**