/* * Copyright (C) 2014 Freie Universität Berlin * * This file is subject to the terms and conditions of the GNU Lesser * General Public License v2.1. See the file LICENSE in the top level * directory for more details. */ /** * @defgroup core_thread Threading * @ingroup core * @brief Support for multi-threading * * Priorities * ========== * * As RIOT is using a fixed priority @ref core_sched "scheduling algorithm", * threads are scheduled based on their priority. The priority is fixed for * every thread and specified during the thread's creation by the `priority` * parameter. * * The lower the priority value, the higher the priority of the thread, * with 0 being the highest possible priority. * * The lowest possible priority is @ref THREAD_PRIORITY_IDLE - 1. * * @note Assigning the same priority to two or more threads is usually not a * good idea. A thread in RIOT may run until it yields (@ref * thread_yield) or another thread with higher priority is runnable (@ref * STATUS_ON_RUNQUEUE) again. Multiple threads with the same priority * will therefore be scheduled cooperatively: when one of them is running, * all others with the same priority depend on it to yield (or be interrupted * by a thread with higher priority). * This may make it difficult to determine when which of them gets * scheduled and how much CPU time they will get. In most applications, * the number of threads in application is significantly smaller than the * number of available priorities, so assigning distinct priorities per * thread should not be a problem. Only assign the same priority to * multiple threads if you know what you are doing! * * Thread Behavior * =============== * In addition to the priority, flags can be used when creating a thread to * alter the thread's behavior after creation. The following flags are available: * * Flags | Description * ----------------------------- | -------------------------------------------------- * @ref THREAD_CREATE_SLEEPING | the thread will sleep until woken up manually * @ref THREAD_CREATE_WOUT_YIELD | the thread might not run immediately after creation * @ref THREAD_CREATE_STACKTEST | measures the stack's memory usage * * Thread creation * =============== * Creating a new thread is internally done in two steps: * 1. the new thread's stack is initialized depending on the platform * 2. the new thread is added to the scheduler and the scheduler is run (if not * indicated otherwise) * * @note Creating threads from within an ISR is currently supported, however it * is considered to be a bad programming practice and we strongly * discourage you from doing so. * * Usage * ----- * ~~~~~~~~~~~~~~~~~~~~~~~~ {.c} * char rcv_thread_stack[THREAD_STACKSIZE_MAIN]; * * void *rcv_thread(void *arg) * { * msg_t m; * * while (1) { * msg_receive(&m); * printf("Got msg from %" PRIkernel_pid "\n", m.sender_pid); * } * * return NULL; * } * * int main(void) * { * thread_create(rcv_thread_stack, sizeof(rcv_thread_stack), * THREAD_PRIORITY_MAIN - 1, THREAD_CREATE_STACKTEST, * rcv_thread, NULL, "rcv_thread"); * } * ~~~~~~~~~~~~~~~~~~~~~~~~ * * Reading from the top down, you can see that first, stack memory for our thread * `rcv_thread` is preallocated, followed by an implementation of the thread's * function. Communication between threads is done using @ref core_msg: in this * case, `rcv_thread` will print the process id of each thread that sent a * message to `rcv_thread`. * * After it has been properly defined, `rcv_thread` is created with a call to * @ref thread_create() in `main()`. It is assigned a priority of * `THREAD_PRIORITY_MAIN - 1`, i.e. a slightly *higher* priority than the main * thread. Since neither the `THREAD_CREATE_SLEEPING` nor the * `THREAD_CREATE_WOUT_YIELD` flag is set, `rcv_thread` will be executed * immediately. * * @note If the messages to the thread are sent using @ref msg_try_send() or * from an ISR, activate your thread's message queue by calling * @ref msg_init_queue() to prevent messages from being dropped when * they can't be handled right away. The same applies if you'd like * msg_send() to your thread to be non-blocking. For more details, see * @ref core_msg "the Messaging documentation". * * @{ * * @file * @brief Threading API * * @author Kaspar Schleiser */ #ifndef THREAD_H #define THREAD_H #include "clist.h" #include "cib.h" #include "msg.h" #include "arch/thread_arch.h" #include "cpu_conf.h" #include "sched.h" #ifdef MODULE_CORE_THREAD_FLAGS #include "thread_flags.h" #endif #ifdef __cplusplus extern "C" { #endif /** * @brief Thread status list * @{ */ #define STATUS_NOT_FOUND (-1) /**< Describes an illegal thread status */ /** * @brief Blocked states. * @{ */ #define STATUS_STOPPED 0 /**< has terminated */ #define STATUS_SLEEPING 1 /**< sleeping */ #define STATUS_MUTEX_BLOCKED 2 /**< waiting for a locked mutex */ #define STATUS_RECEIVE_BLOCKED 3 /**< waiting for a message */ #define STATUS_SEND_BLOCKED 4 /**< waiting for message to be delivered*/ #define STATUS_REPLY_BLOCKED 5 /**< waiting for a message response */ #define STATUS_FLAG_BLOCKED_ANY 6 /**< waiting for any flag from flag_mask*/ #define STATUS_FLAG_BLOCKED_ALL 7 /**< waiting for all flags in flag_mask */ #define STATUS_MBOX_BLOCKED 8 /**< waiting for get/put on mbox */ /** @} */ /** * @brief These have to be on a run queue. * @{*/ #define STATUS_ON_RUNQUEUE STATUS_RUNNING /**< to check if on run queue: `st >= STATUS_ON_RUNQUEUE` */ #define STATUS_RUNNING 9 /**< currently running */ #define STATUS_PENDING 10 /**< waiting to be scheduled to run */ /** @} */ /** @} */ /** * @brief @c thread_t holds thread's context data. */ struct _thread { char *sp; /**< thread's stack pointer */ uint8_t status; /**< thread's status */ uint8_t priority; /**< thread's priority */ kernel_pid_t pid; /**< thread's process id */ #ifdef MODULE_CORE_THREAD_FLAGS thread_flags_t flags; /**< currently set flags */ #endif clist_node_t rq_entry; /**< run queue entry */ #if defined(MODULE_CORE_MSG) || defined(MODULE_CORE_THREAD_FLAGS) \ || defined(MODULE_CORE_MBOX) void *wait_data; /**< used by msg, mbox and thread flags */ #endif #if defined(MODULE_CORE_MSG) list_node_t msg_waiters; /**< threads waiting on message */ cib_t msg_queue; /**< message queue */ msg_t *msg_array; /**< memory holding messages */ #endif #if defined(DEVELHELP) || defined(SCHED_TEST_STACK) || defined(MODULE_MPU_STACK_GUARD) char *stack_start; /**< thread's stack start address */ #endif #ifdef DEVELHELP const char *name; /**< thread's name */ int stack_size; /**< thread's stack size */ #endif }; /** * @def THREAD_STACKSIZE_DEFAULT * @brief A reasonable default stack size that will suffice most smaller tasks * * @note This value must be defined by the CPU specific implementation, please * take a look at @c cpu/$CPU/include/cpu_conf.h */ #ifndef THREAD_STACKSIZE_DEFAULT #error THREAD_STACKSIZE_DEFAULT must be defined per CPU #endif #ifdef DOXYGEN #define THREAD_STACKSIZE_DEFAULT #endif /** * @def THREAD_STACKSIZE_IDLE * @brief Size of the idle task's stack in bytes * * @note This value must be defined by the CPU specific implementation, please * take a look at @c cpu/$CPU/include/cpu_conf.h */ #ifndef THREAD_STACKSIZE_IDLE #error THREAD_STACKSIZE_IDLE must be defined per CPU #endif #ifdef DOXYGEN #define THREAD_STACKSIZE_IDLE #endif /** * @def THREAD_EXTRA_STACKSIZE_PRINTF * @ingroup conf * @brief Size of the task's printf stack in bytes * * @note This value must be defined by the CPU specific implementation, please * take a look at @c cpu/$CPU/include/cpu_conf.h */ #ifndef THREAD_EXTRA_STACKSIZE_PRINTF #error THREAD_EXTRA_STACKSIZE_PRINTF must be defined per CPU #endif #ifdef DOXYGEN #define THREAD_EXTRA_STACKSIZE_PRINTF #endif /** * @def THREAD_STACKSIZE_MAIN * @brief Size of the main task's stack in bytes */ #ifndef THREAD_STACKSIZE_MAIN #define THREAD_STACKSIZE_MAIN (THREAD_STACKSIZE_DEFAULT + THREAD_EXTRA_STACKSIZE_PRINTF) #endif /** * @brief Minimum stack size */ #ifndef THREAD_STACKSIZE_MINIMUM #define THREAD_STACKSIZE_MINIMUM (sizeof(thread_t)) #endif /** * @def THREAD_PRIORITY_MIN * @brief Least priority a thread can have */ #define THREAD_PRIORITY_MIN (SCHED_PRIO_LEVELS-1) /** * @def THREAD_PRIORITY_IDLE * @brief Priority of the idle thread */ #define THREAD_PRIORITY_IDLE (THREAD_PRIORITY_MIN) /** * @def THREAD_PRIORITY_MAIN * @brief Priority of the main thread */ #define THREAD_PRIORITY_MAIN (THREAD_PRIORITY_MIN - (SCHED_PRIO_LEVELS/2)) /** * @name Optional flags for controlling a threads initial state * @{ */ /** * @brief Set the new thread to sleeping. It must be woken up manually. **/ #define THREAD_CREATE_SLEEPING (1) /** * @brief Currently not implemented */ #define THREAD_AUTO_FREE (2) /** * @brief Do not automatically call thread_yield() after creation: the newly * created thread might not run immediately. Purely for optimization. * Any other context switch (i.e. an interrupt) can still start the * thread at any time! */ #define THREAD_CREATE_WOUT_YIELD (4) /** * @brief Write markers into the thread's stack to measure stack usage (for * debugging and profiling purposes) */ #define THREAD_CREATE_STACKTEST (8) /** @} */ /** * @brief Creates a new thread. * * For an in-depth discussion of thread priorities, behavior and and flags, * see @ref core_thread. * * @note Avoid assigning the same priority to two or more threads. * @note Creating threads from within an ISR is currently supported, however it * is considered to be a bad programming practice and we strongly * discourage you from doing so. * * @param[out] stack start address of the preallocated stack memory * @param[in] stacksize the size of the thread's stack in bytes * @param[in] priority priority of the new thread, lower mean higher priority * @param[in] flags optional flags for the creation of the new thread * @param[in] task_func pointer to the code that is executed in the new thread * @param[in] arg the argument to the function * @param[in] name a human readable descriptor for the thread * * @return PID of newly created task on success * @return -EINVAL, if @p priority is greater than or equal to * @ref SCHED_PRIO_LEVELS * @return -EOVERFLOW, if there are too many threads running already */ kernel_pid_t thread_create(char *stack, int stacksize, char priority, int flags, thread_task_func_t task_func, void *arg, const char *name); /** * @brief Retreive a thread control block by PID. * @details This is a bound-checked variant of accessing `sched_threads[pid]` directly. * If you know that the PID is valid, then don't use this function. * @param[in] pid Thread to retreive. * @return `NULL` if the PID is invalid or there is no such thread. */ volatile thread_t *thread_get(kernel_pid_t pid); /** * @brief Returns the status of a process * * @param[in] pid the PID of the thread to get the status from * * @return status of the thread * @return `STATUS_NOT_FOUND` if pid is unknown */ int thread_getstatus(kernel_pid_t pid); /** * @brief Puts the current thread into sleep mode. Has to be woken up externally. */ void thread_sleep(void); /** * @brief Lets current thread yield. * * @details The current thread will resume operation immediately, * if there is no other ready thread with the same or a higher priority. * * Differently from thread_yield_higher() the current thread will be put to the * end of the thread's in its priority class. * * @see thread_yield_higher() */ void thread_yield(void); /** * @brief Lets current thread yield in favor of a higher prioritized thread. * * @details The current thread will resume operation immediately, * if there is no other ready thread with a higher priority. * * Differently from thread_yield() the current thread will be scheduled next * in its own priority class, i.e. it stays the first thread in its * priority class. * * @see thread_yield() */ void thread_yield_higher(void); /** * @brief Wakes up a sleeping thread. * * @param[in] pid the PID of the thread to be woken up * * @return `1` on success * @return `STATUS_NOT_FOUND` if pid is unknown or not sleeping */ int thread_wakeup(kernel_pid_t pid); /** * @brief Returns the process ID of the currently running thread * * @return obviously you are not a golfer. */ static inline kernel_pid_t thread_getpid(void) { extern volatile kernel_pid_t sched_active_pid; return sched_active_pid; } /** * @brief Gets called upon thread creation to set CPU registers * * @param[in] task_func First function to call within the thread * @param[in] arg Argument to supply to task_func * @param[in] stack_start Start address of the stack * @param[in] stack_size Stack size * * @return stack pointer */ char *thread_stack_init(thread_task_func_t task_func, void *arg, void *stack_start, int stack_size); /** * @brief Add thread to list, sorted by priority (internal) * * This will add @p thread to @p list sorted by the thread priority. * It reuses the thread's rq_entry field. * Used internally by msg and mutex implementations. * * @note Only use for threads *not on any runqueue* and with interrupts * disabled. * * @param[in] list ptr to list root node * @param[in] thread thread to add */ void thread_add_to_list(list_node_t *list, thread_t *thread); #ifdef DEVELHELP /** * @brief Returns the name of a process * * @param[in] pid the PID of the thread to get the name from * * @return the threads name * @return `NULL` if pid is unknown */ const char *thread_getname(kernel_pid_t pid); /** * @brief Measures the stack usage of a stack * * Only works if the thread was created with the flag THREAD_CREATE_STACKTEST. * * @param[in] stack the stack you want to measure. try `sched_active_thread->stack_start` * * @return the amount of unused space of the thread's stack */ uintptr_t thread_measure_stack_free(char *stack); #endif /* DEVELHELP */ /** * @brief Prints human readable, ps-like thread information for debugging purposes */ void thread_print_stack(void); #ifdef __cplusplus } #endif /** @} */ #endif /* THREAD_H */