/*
ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
This file is part of ChibiOS.
ChibiOS 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 3 of the License, or
(at your option) any later version.
ChibiOS 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, see <http://www.gnu.org/licenses/>.
*/
/**
* @file chthreads.h
* @brief Threads module macros and structures.
*
* @addtogroup threads
* @{
*/
#ifndef CHTHREADS_H
#define CHTHREADS_H
/*lint -sem(chThdExit, r_no) -sem(chThdExitS, r_no)*/
/*===========================================================================*/
/* Module constants. */
/*===========================================================================*/
/*===========================================================================*/
/* Module pre-compile time settings. */
/*===========================================================================*/
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
/*===========================================================================*/
/* Module data structures and types. */
/*===========================================================================*/
/**
* @brief Thread function.
*/
typedef void (*tfunc_t)(void *p);
/**
* @brief Type of a thread descriptor.
*/
typedef struct {
/**
* @brief Thread name.
*/
const char *name;
/**
* @brief Pointer to the working area base.
*/
stkalign_t *wbase;
/**
* @brief End of the working area.
*/
stkalign_t *wend;
/**
* @brief Thread priority.
*/
tprio_t prio;
/**
* @brief Thread function pointer.
*/
tfunc_t funcp;
/**
* @brief Thread argument.
*/
void *arg;
} thread_descriptor_t;
/*===========================================================================*/
/* Module macros. */
/*===========================================================================*/
/**
* @name Threads queues
*/
/**
* @brief Data part of a static threads queue object initializer.
* @details This macro should be used when statically initializing a threads
* queue that is part of a bigger structure.
*
* @param[in] name the name of the threads queue variable
*/
#define _THREADS_QUEUE_DATA(name) {(thread_t *)&name, (thread_t *)&name}
/**
* @brief Static threads queue object initializer.
* @details Statically initialized threads queues require no explicit
* initialization using @p queue_init().
*
* @param[in] name the name of the threads queue variable
*/
#define _THREADS_QUEUE_DECL(name) \
threads_queue_t name = _THREADS_QUEUE_DATA(name)
/** @} */
/**
* @name Working Areas
*/
/**
* @brief Calculates the total Working Area size.
*
* @param[in] n the stack size to be assigned to the thread
* @return The total used memory in bytes.
*
* @api
*/
#define THD_WORKING_AREA_SIZE(n) \
MEM_ALIGN_NEXT(sizeof(thread_t) + PORT_WA_SIZE(n), PORT_STACK_ALIGN)
/**
* @brief Static working area allocation.
* @details This macro is used to allocate a static thread working area
* aligned as both position and size.
*
* @param[in] s the name to be assigned to the stack array
* @param[in] n the stack size to be assigned to the thread
*
* @api
*/
#define THD_WORKING_AREA(s, n) PORT_WORKING_AREA(s, n)
/**
* @brief Base of a working area casted to the correct type.
*
* @param[in] s name of the working area
*/
#define THD_WORKING_AREA_BASE(s) ((stkalign_t *)(s))
/**
* @brief End of a working area casted to the correct type.
*
* @param[in] s name of the working area
*/
#define THD_WORKING_AREA_END(s) (THD_WORKING_AREA_BASE(s) + \
(sizeof (s) / sizeof (stkalign_t)))
/** @} */
/**
* @name Threads abstraction macros
*/
/**
* @brief Thread declaration macro.
* @note Thread declarations should be performed using this macro because
* the port layer could define optimizations for thread functions.
*/
#define THD_FUNCTION(tname, arg) PORT_THD_FUNCTION(tname, arg)
/** @} */
/**
* @name Macro Functions
* @{
*/
/**
* @brief Delays the invoking thread for the specified number of seconds.
* @note The specified time is rounded up to a value allowed by the real
* system tick clock.
* @note The maximum specifiable value is implementation dependent.
* @note Use of this macro for large values is not secure because
* integer overflows, make sure your value can be correctly
* converted.
*
* @param[in] sec time in seconds, must be different from zero
*
* @api
*/
#define chThdSleepSeconds(sec) chThdSleep(TIME_S2I(sec))
/**
* @brief Delays the invoking thread for the specified number of
* milliseconds.
* @note The specified time is rounded up to a value allowed by the real
* system tick clock.
* @note The maximum specifiable value is implementation dependent.
* @note Use of this macro for large values is not secure because
* integer overflows, make sure your value can be correctly
* converted.
*
* @param[in] msec time in milliseconds, must be different from zero
*
* @api
*/
#define chThdSleepMilliseconds(msec) chThdSleep(TIME_MS2I(msec))
/**
* @brief Delays the invoking thread for the specified number of
* microseconds.
* @note The specified time is rounded up to a value allowed by the real
* system tick clock.
* @note The maximum specifiable value is implementation dependent.
* @note Use of this macro for large values is not secure because
* integer overflows, make sure your value can be correctly
* converted.
*
* @param[in] usec time in microseconds, must be different from zero
*
* @api
*/
#define chThdSleepMicroseconds(usec) chThdSleep(TIME_US2I(usec))
/** @} */
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#ifdef __cplusplus
extern "C" {
#endif
thread_t *_thread_init(thread_t *tp, const char *name, tprio_t prio);
#if CH_DBG_FILL_THREADS == TRUE
void _thread_memfill(uint8_t *startp, uint8_t *endp, uint8_t v);
#endif
thread_t *chThdCreateSuspendedI(const thread_descriptor_t *tdp);
thread_t *chThdCreateSuspended(const thread_descriptor_t *tdp);
thread_t *chThdCreateI(const thread_descriptor_t *tdp);
thread_t *chThdCreate(const thread_descriptor_t *tdp);
thread_t *chThdCreateStatic(void *wsp, size_t size,
tprio_t prio, tfunc_t pf, void *arg);
thread_t *chThdStart(thread_t *tp);
#if CH_CFG_USE_REGISTRY == TRUE
thread_t *chThdAddRef(thread_t *tp);
void chThdRelease(thread_t *tp);
#endif
void chThdExit(msg_t msg);
void chThdExitS(msg_t msg);
#if CH_CFG_USE_WAITEXIT == TRUE
msg_t chThdWait(thread_t *tp);
#endif
tprio_t chThdSetPriority(tprio_t newprio);
void chThdTerminate(thread_t *tp);
msg_t chThdSuspendS(thread_reference_t *trp);
msg_t chThdSuspendTimeoutS(thread_reference_t *trp, sysinterval_t timeout);
void chThdResumeI(thread_reference_t *trp, msg_t msg);
void chThdResumeS(thread_reference_t *trp, msg_t msg);
void chThdResume(thread_reference_t *trp, msg_t msg);
msg_t chThdEnqueueTimeoutS(threads_queue_t *tqp, sysinterval_t timeout);
void chThdDequeueNextI(threads_queue_t *tqp, msg_t msg);
void chThdDequeueAllI(threads_queue_t *tqp, msg_t msg);
void chThdSleep(sysinterval_t time);
void chThdSleepUntil(systime_t time);
systime_t chThdSleepUntilWindowed(systime_t prev, systime_t next);
void chThdYield(void);
#ifdef __cplusplus
}
#endif
/*===========================================================================*/
/* Module inline functions. */
/*===========================================================================*/
/**
* @brief Returns a pointer to the current @p thread_t.
*
* @return A pointer to the current thread.
*
* @xclass
*/
static inline thread_t *chThdGetSelfX(void) {
return ch.rlist.current;
}
/**
* @brief Returns the current thread priority.
* @note Can be invoked in any context.
*
* @return The current thread priority.
*
* @xclass
*/
static inline tprio_t chThdGetPriorityX(void) {
return chThdGetSelfX()->prio;
}
/**
* @brief Returns the number of ticks consumed by the specified thread.
* @note This function is only available when the
* @p CH_DBG_THREADS_PROFILING configuration option is enabled.
*
* @param[in] tp pointer to the thread
* @return The number of consumed system ticks.
*
* @xclass
*/
#if (CH_DBG_THREADS_PROFILING == TRUE) || defined(__DOXYGEN__)
static inline systime_t chThdGetTicksX(thread_t *tp) {
return tp->time;
}
#endif
#if (CH_DBG_ENABLE_STACK_CHECK == TRUE) || (CH_CFG_USE_DYNAMIC == TRUE) || \
defined(__DOXYGEN__)
/**
* @brief Returns the working area base of the specified thread.
*
* @param[in] tp pointer to the thread
* @return The working area base pointer.
*
* @xclass
*/
static inline stkalign_t *chThdGetWorkingAreaX(thread_t *tp) {
return tp->wabase;
}
#endif /* CH_DBG_ENABLE_STACK_CHECK == TRUE */
/**
* @brief Verifies if the specified thread is in the @p CH_STATE_FINAL state.
*
* @param[in] tp pointer to the thread
* @retval true thread terminated.
* @retval false thread not terminated.
*
* @xclass
*/
static inline bool chThdTerminatedX(thread_t *tp) {
return (bool)(tp->state == CH_STATE_FINAL);
}
/**
* @brief Verifies if the current thread has a termination request pending.
*
* @retval true termination request pending.
* @retval false termination request not pending.
*
* @xclass
*/
static inline bool chThdShouldTerminateX(void) {
return (bool)((chThdGetSelfX()->flags & CH_FLAG_TERMINATE) != (tmode_t)0);
}
/**
* @brief Resumes a thread created with @p chThdCreateI().
*
* @param[in] tp pointer to the thread
* @return The pointer to the @p thread_t structure allocated for
* the thread into the working space area.
*
* @iclass
*/
static inline thread_t *chThdStartI(thread_t *tp) {
chDbgAssert(tp->state == CH_STATE_WTSTART, "wrong state");
return chSchReadyI(tp);
}
/**
* @brief Suspends the invoking thread for the specified number of ticks.
*
* @param[in] ticks the delay in system ticks, the special values are
* handled as follow:
* - @a TIME_INFINITE the thread enters an infinite sleep
* state.
* - @a TIME_IMMEDIATE this value is not allowed.
* .
*
* @sclass
*/
static inline void chThdSleepS(sysinterval_t ticks) {
chDbgCheck(ticks != TIME_IMMEDIATE);
(void) chSchGoSleepTimeoutS(CH_STATE_SLEEPING, ticks);
}
/**
* @brief Initializes a threads queue object.
*
* @param[out] tqp pointer to the threads queue object
*
* @init
*/
static inline void chThdQueueObjectInit(threads_queue_t *tqp) {
queue_init(tqp);
}
/**
* @brief Evaluates to @p true if the specified queue is empty.
*
* @param[out] tqp pointer to the threads queue object
* @return The queue status.
* @retval false if the queue is not empty.
* @retval true if the queue is empty.
*
* @iclass
*/
static inline bool chThdQueueIsEmptyI(threads_queue_t *tqp) {
chDbgCheckClassI();
return queue_isempty(tqp);
}
/**
* @brief Dequeues and wakes up one thread from the threads queue object.
* @details Dequeues one thread from the queue without checking if the queue
* is empty.
* @pre The queue must contain at least an object.
*
* @param[in] tqp pointer to the threads queue object
* @param[in] msg the message code
*
* @iclass
*/
static inline void chThdDoDequeueNextI(threads_queue_t *tqp, msg_t msg) {
thread_t *tp;
chDbgAssert(queue_notempty(tqp), "empty queue");
tp = queue_fifo_remove(tqp);
chDbgAssert(tp->state == CH_STATE_QUEUED, "invalid state");
tp->u.rdymsg = msg;
(void) chSchReadyI(tp);
}
#endif /* CHTHREADS_H */
/** @} */