diff options
| -rw-r--r-- | os/common/ext/nasa-osal/src/osapi.c | 142 |
1 files changed, 142 insertions, 0 deletions
diff --git a/os/common/ext/nasa-osal/src/osapi.c b/os/common/ext/nasa-osal/src/osapi.c index 16735e45f..85237d27c 100644 --- a/os/common/ext/nasa-osal/src/osapi.c +++ b/os/common/ext/nasa-osal/src/osapi.c @@ -29,6 +29,18 @@ #include "common_types.h"
#include "osapi.h"
+#if CH_CFG_USE_MUTEXES == FALSE
+#error "NASA OSAL requires CH_CFG_USE_MUTEXES"
+#endif
+
+#if CH_CFG_USE_SEMAPHORES == FALSE
+#error "NASA OSAL requires CH_CFG_USE_SEMAPHORES"
+#endif
+
+#if CH_CFG_USE_REGISTRY == FALSE
+#error "NASA OSAL requires CH_CFG_USE_REGISTRY"
+#endif
+
/*===========================================================================*/
/* Module local definitions. */
/*===========================================================================*/
@@ -266,6 +278,21 @@ int32 OS_TaskCreate(uint32 *task_id, }
/**
+ * @brief Installs a deletion handler.
+ *
+ * @param[in] function_pointer the handler function
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_TaskInstallDeleteHandler(void *function_pointer) {
+
+ (void)function_pointer;
+
+ return OS_ERR_NOT_IMPLEMENTED;
+}
+
+/**
* @brief Task delete.
* @note It is not currently implemented.
*
@@ -306,6 +333,72 @@ int32 OS_TaskDelay(uint32 milli_second) { }
/**
+ * @brief Change task priority.
+ *
+ * @param[in] task_id the task id
+ * @param[in] new_priority the task new priority
+ * @return An error code.
+ *
+ * @api
+ */
+int32 OS_TaskSetPriority (uint32 task_id, uint32 new_priority) {
+ tprio_t rt_newprio;
+ thread_t *tp = (thread_t *)task_id;
+
+ /* Checking priority range.*/
+ if ((new_priority < MIN_PRIORITY) || (new_priority > MAX_PRIORITY)) {
+ return OS_ERR_INVALID_PRIORITY;
+ }
+
+ /* Converting priority to RT type.*/
+ rt_newprio = (tprio_t)256 - (tprio_t)new_priority;
+
+ if (chThdGetPriorityX() == rt_newprio) {
+ return OS_SUCCESS;
+ }
+
+ chSysLock();
+
+ /* Changing priority.*/
+ if ((tp->prio == tp->realprio) || (rt_newprio > tp->prio)) {
+ tp->prio = rt_newprio;
+ }
+ tp->realprio = rt_newprio;
+
+ /* The following states need priority queues reordering.*/
+ switch (tp->state) {
+ case CH_STATE_WTMTX:
+#if CH_CFG_USE_CONDVARS
+ case CH_STATE_WTCOND:
+#endif
+#if CH_CFG_USE_SEMAPHORES_PRIORITY
+ case CH_STATE_WTSEM:
+#endif
+#if CH_CFG_USE_MESSAGES && CH_CFG_USE_MESSAGES_PRIORITY
+ case CH_STATE_SNDMSGQ:
+#endif
+ /* Re-enqueues tp with its new priority on the queue.*/
+ queue_prio_insert(queue_dequeue(tp),
+ (threads_queue_t *)tp->u.wtobjp);
+ break;
+ case CH_STATE_READY:
+#if CH_DBG_ENABLE_ASSERTS
+ /* Prevents an assertion in chSchReadyI().*/
+ tp->state = CH_STATE_CURRENT;
+#endif
+ /* Re-enqueues tp with its new priority on the ready list.*/
+ chSchReadyI(queue_dequeue(tp));
+ break;
+ }
+
+ /* Rescheduling.*/
+ chSchRescheduleS();
+ chSysUnlock();
+
+ return OS_SUCCESS;
+}
+
+/**
* @brief Task registration.
* @note In ChibiOS/RT it does nothing.
*
@@ -317,4 +410,53 @@ int32 OS_TaskRegister(void) { return OS_SUCCESS;
}
+
+/**
+ * @brief Current task id.
+ *
+ * @return The current task id.
+ *
+ * @api
+ */
+uint32 OS_TaskGetId(void) {
+
+ return (uint32)chThdGetSelfX();
+}
+
+/**
+ * @brief Retrieves a task id by name.
+ */
+int32 OS_TaskGetIdByName (uint32 *task_id, const char *task_name) {
+ thread_t *tp;
+
+ /* NULL pointer checks.*/
+ if ((task_id == NULL) || (task_name == NULL)) {
+ return OS_INVALID_POINTER;
+ }
+
+ /* Checking task name length.*/
+ if (strlen(task_name) >= OS_MAX_API_NAME) {
+ return OS_ERR_NAME_TOO_LONG;
+ }
+
+ /* Scanning registry.*/
+ tp = chRegFirstThread();
+ do {
+ if (strcmp(chRegGetThreadNameX(tp), task_name) == 0) {
+ *task_id = (uint32)tp;
+ return OS_SUCCESS;
+ }
+ tp = chRegNextThread(tp);
+ } while (tp != NULL);
+
+ return OS_ERR_NAME_NOT_FOUND;
+}
+
+int32 OS_TaskGetInfo (uint32 task_id, OS_task_prop_t *task_prop) {
+
+ (void)task_id;
+ (void)task_prop;
+
+ return OS_ERR_NOT_IMPLEMENTED;
+}
/** @} */
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