thread.h

/*
 * Copyright (C) 2001,2002,2003 Philippe Gerum <rpm@xenomai.org>.
 *
 * Xenomai 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 2 of the License,
 * or (at your option) any later version.
 *
 * Xenomai 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 Xenomai; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
 * 02111-1307, USA.
 */
#ifndef _COBALT_KERNEL_THREAD_H
#define _COBALT_KERNEL_THREAD_H
 
#include <linux/irq_work.h>
#include <linux/wait.h>
#include <linux/sched.h>
#include <linux/sched/rt.h>
#include <pipeline/thread.h>
#include <cobalt/kernel/list.h>
#include <cobalt/kernel/stat.h>
#include <cobalt/kernel/timer.h>
#include <cobalt/kernel/registry.h>
#include <cobalt/kernel/schedparam.h>
#include <cobalt/kernel/trace.h>
#include <cobalt/kernel/synch.h>
#include <cobalt/uapi/kernel/thread.h>
#include <cobalt/uapi/signal.h>
#include <asm/xenomai/machine.h>
#include <asm/xenomai/thread.h>
 
#define XNTHREAD_BLOCK_BITS   (XNSUSP|XNPEND|XNDELAY|XNDORMANT|XNRELAX|XNHELD|XNDBGSTOP)
#define XNTHREAD_MODE_BITS    (XNRRB|XNWARN|XNTRAPLB)
 
#define XNTHREAD_SIGDEBUG               0
#define XNTHREAD_SIGSHADOW_HARDEN       1
#define XNTHREAD_SIGSHADOW_BACKTRACE    2
#define XNTHREAD_SIGSHADOW_HOME         3
#define XNTHREAD_SIGTERM                4
#define XNTHREAD_MAX_SIGNALS            5
 
struct xnthread;
struct xnsched;
struct xnselector;
struct xnsched_class;
struct xnsched_tpslot;
struct xnthread_personality;
struct completion;
 
struct lostage_signal {
        struct irq_work inband_work;
        struct task_struct *task;
        int signo, sigval;
};
 
struct lostage_wakeup {
        struct irq_work inband_work;
        struct task_struct *task;
};
 
struct xnthread_init_attr {
        struct xnthread_personality *personality;
        cpumask_t affinity;
        int flags;
        const char *name;
};
 
struct xnthread_start_attr {
        int mode;
        void (*entry)(void *cookie);
        void *cookie;
};
 
struct xnthread_wait_context {
        int posted;
};
 
struct xnthread_personality {
        const char *name;
        unsigned int magic;
        int xid;
        atomic_t refcnt;
        struct {
                void *(*attach_process)(void);
                void (*detach_process)(void *arg);
                void (*map_thread)(struct xnthread *thread);
                struct xnthread_personality *(*relax_thread)(struct xnthread *thread);
                struct xnthread_personality *(*harden_thread)(struct xnthread *thread);
                struct xnthread_personality *(*move_thread)(struct xnthread *thread,
                                                            int dest_cpu);
                struct xnthread_personality *(*exit_thread)(struct xnthread *thread);
                struct xnthread_personality *(*finalize_thread)(struct xnthread *thread);
        } ops;
        struct module *module;
};
 
struct xnthread {
        struct xnarchtcb tcb;   /* Architecture-dependent block */
 
        __u32 state;            /* Thread state flags */
        __u32 info;             /* Thread information flags */
        __u32 local_info;       /* Local thread information flags */
 
        struct xnsched *sched;          /* Thread scheduler */
        struct xnsched_class *sched_class; /* Current scheduling class */
        struct xnsched_class *base_class; /* Base scheduling class */
 
#ifdef CONFIG_XENO_OPT_SCHED_TP
        struct xnsched_tpslot *tps;     /* Current partition slot for TP scheduling */
        struct list_head tp_link;       /* Link in per-sched TP thread queue */
#endif
#ifdef CONFIG_XENO_OPT_SCHED_SPORADIC
        struct xnsched_sporadic_data *pss; /* Sporadic scheduling data. */
#endif
#ifdef CONFIG_XENO_OPT_SCHED_QUOTA
        struct xnsched_quota_group *quota; /* Quota scheduling group. */
        struct list_head quota_expired;
        struct list_head quota_next;
#endif
        cpumask_t affinity;     /* Processor affinity. */
 
        int bprio;
 
        int cprio;
 
        int wprio;
 
        int lock_count; 
        struct list_head rlink;
 
        struct list_head plink;
 
        struct list_head glink;
 
        struct list_head boosters;
 
        struct xnsynch *wchan;          /* Resource the thread pends on */
 
        struct xnsynch *wwake;          /* Wait channel the thread was resumed from */
 
        int res_count;                  /* Held resources count */
 
        struct xntimer rtimer;          /* Resource timer */
 
        struct xntimer ptimer;          /* Periodic timer */
 
        xnticks_t rrperiod;             /* Allotted round-robin period (ns) */
 
        struct xnthread_wait_context *wcontext; /* Active wait context. */
 
        struct {
                xnstat_counter_t ssw;   /* Primary -> secondary mode switch count */
                xnstat_counter_t csw;   /* Context switches (includes secondary -> primary switches) */
                xnstat_counter_t xsc;   /* Xenomai syscalls */
                xnstat_counter_t pf;    /* Number of page faults */
                xnstat_exectime_t account; /* Execution time accounting entity */
                xnstat_exectime_t lastperiod; /* Interval marker for execution time reports */
        } stat;
 
        struct xnselector *selector;    /* For select. */
 
        xnhandle_t handle;      /* Handle in registry */
 
        char name[XNOBJECT_NAME_LEN]; /* Symbolic name of thread */
 
        void (*entry)(void *cookie); /* Thread entry routine */
        void *cookie;           /* Cookie to pass to the entry routine */
 
        pid_t host_pid;         /* PID of host task (if any), or -1 */
 
        struct xnthread_user_window *u_window;
 
        struct xnthread_personality *personality;
 
        struct completion exited;
 
#ifdef CONFIG_XENO_OPT_DEBUG
        const char *exe_path;   /* Executable path */
        u32 proghash;           /* Hash value for exe_path */
#endif
        struct lostage_signal sigarray[XNTHREAD_MAX_SIGNALS];
        struct lostage_wakeup relax_work;
};
 
static inline int xnthread_get_state(const struct xnthread *thread)
{
        return thread->state;
}
 
static inline int xnthread_test_state(struct xnthread *thread, int bits)
{
        return thread->state & bits;
}
 
static inline void xnthread_set_state(struct xnthread *thread, int bits)
{
        thread->state |= bits;
}
 
static inline void xnthread_clear_state(struct xnthread *thread, int bits)
{
        thread->state &= ~bits;
}
 
static inline int xnthread_test_info(struct xnthread *thread, int bits)
{
        return thread->info & bits;
}
 
static inline void xnthread_set_info(struct xnthread *thread, int bits)
{
        thread->info |= bits;
}
 
static inline void xnthread_clear_info(struct xnthread *thread, int bits)
{
        thread->info &= ~bits;
}
 
static inline int xnthread_test_localinfo(struct xnthread *curr, int bits)
{
        return curr->local_info & bits;
}
 
static inline void xnthread_set_localinfo(struct xnthread *curr, int bits)
{
        curr->local_info |= bits;
}
 
static inline void xnthread_clear_localinfo(struct xnthread *curr, int bits)
{
        curr->local_info &= ~bits;
}
 
static inline struct xnarchtcb *xnthread_archtcb(struct xnthread *thread)
{
        return &thread->tcb;
}
 
static inline int xnthread_base_priority(const struct xnthread *thread)
{
        return thread->bprio;
}
 
static inline int xnthread_current_priority(const struct xnthread *thread)
{
        return thread->cprio;
}
 
static inline struct task_struct *xnthread_host_task(struct xnthread *thread)
{
        return xnarch_host_task(xnthread_archtcb(thread));
}
 
#define xnthread_for_each_booster(__pos, __thread)              \
        list_for_each_entry(__pos, &(__thread)->boosters, next)
 
#define xnthread_for_each_booster_safe(__pos, __tmp, __thread)  \
        list_for_each_entry_safe(__pos, __tmp, &(__thread)->boosters, next)
 
#define xnthread_run_handler(__t, __h, __a...)                          \
        do {                                                            \
                struct xnthread_personality *__p__ = (__t)->personality;        \
                if ((__p__)->ops.__h)                                   \
                        (__p__)->ops.__h(__t, ##__a);                   \
        } while (0)
 
#define xnthread_run_handler_stack(__t, __h, __a...)                    \
        do {                                                            \
                struct xnthread_personality *__p__ = (__t)->personality;        \
                do {                                                    \
                        if ((__p__)->ops.__h == NULL)                   \
                                break;                                  \
                        __p__ = (__p__)->ops.__h(__t, ##__a);           \
                } while (__p__);                                        \
        } while (0)
 
static inline
struct xnthread_wait_context *xnthread_get_wait_context(struct xnthread *thread)
{
        return thread->wcontext;
}
 
static inline
int xnthread_register(struct xnthread *thread, const char *name)
{
        return xnregistry_enter(name, thread, &thread->handle, NULL);
}
 
static inline
struct xnthread *xnthread_lookup(xnhandle_t threadh)
{
        struct xnthread *thread = xnregistry_lookup(threadh, NULL);
        return thread && thread->handle == xnhandle_get_index(threadh) ? thread : NULL;
}
 
static inline void xnthread_sync_window(struct xnthread *thread)
{
        if (thread->u_window) {
                thread->u_window->state = thread->state;
                thread->u_window->info = thread->info;
        }
}
 
static inline
void xnthread_clear_sync_window(struct xnthread *thread, int state_bits)
{
        if (thread->u_window) {
                thread->u_window->state = thread->state & ~state_bits;
                thread->u_window->info = thread->info;
        }
}
 
static inline
void xnthread_set_sync_window(struct xnthread *thread, int state_bits)
{
        if (thread->u_window) {
                thread->u_window->state = thread->state | state_bits;
                thread->u_window->info = thread->info;
        }
}
 
static inline int normalize_priority(int prio)
{
        return prio < MAX_RT_PRIO ? prio : MAX_RT_PRIO - 1;
}
 
int __xnthread_init(struct xnthread *thread,
                    const struct xnthread_init_attr *attr,
                    struct xnsched *sched,
                    struct xnsched_class *sched_class,
                    const union xnsched_policy_param *sched_param);
 
void __xnthread_test_cancel(struct xnthread *curr);
 
void __xnthread_cleanup(struct xnthread *curr);
 
void __xnthread_discard(struct xnthread *thread);
 
static inline struct xnthread *xnthread_current(void)
{
        return pipeline_current()->thread;
}
 
static inline struct xnthread *xnthread_from_task(struct task_struct *p)
{
        return pipeline_thread_from_task(p);
}
 
static inline void xnthread_test_cancel(void)
{
        struct xnthread *curr = xnthread_current();
 
        if (curr && xnthread_test_info(curr, XNCANCELD))
                __xnthread_test_cancel(curr);
}
 
static inline
void xnthread_complete_wait(struct xnthread_wait_context *wc)
{
        wc->posted = 1;
}
 
static inline
int xnthread_wait_complete_p(struct xnthread_wait_context *wc)
{
        return wc->posted;
}
 
#ifdef CONFIG_XENO_ARCH_FPU
void xnthread_switch_fpu(struct xnsched *sched);
#else
static inline void xnthread_switch_fpu(struct xnsched *sched) { }
#endif /* CONFIG_XENO_ARCH_FPU */
 
void xnthread_deregister(struct xnthread *thread);
 
char *xnthread_format_status(unsigned long status,
                             char *buf, int size);
 
static inline pid_t xnthread_host_pid(struct xnthread *thread)
{
        return thread->host_pid;
}
 
int xnthread_set_clock(struct xnthread *thread,
                       struct xnclock *newclock);
 
xnticks_t xnthread_get_timeout(struct xnthread *thread,
                               xnticks_t ns);
 
xnticks_t xnthread_get_period(struct xnthread *thread);
 
void xnthread_prepare_wait(struct xnthread_wait_context *wc);
 
int xnthread_init(struct xnthread *thread,
                  const struct xnthread_init_attr *attr,
                  struct xnsched_class *sched_class,
                  const union xnsched_policy_param *sched_param);
 
int xnthread_start(struct xnthread *thread,
                   const struct xnthread_start_attr *attr);
 
int xnthread_set_mode(int clrmask,
                      int setmask);
 
void xnthread_suspend(struct xnthread *thread,
                      int mask,
                      xnticks_t timeout,
                      xntmode_t timeout_mode,
                      struct xnsynch *wchan);
 
void xnthread_resume(struct xnthread *thread,
                     int mask);
 
int xnthread_unblock(struct xnthread *thread);
 
int xnthread_set_periodic(struct xnthread *thread,
                          xnticks_t idate,
                          xntmode_t timeout_mode,
                          xnticks_t period);
 
int xnthread_wait_period(unsigned long *overruns_r);
 
int xnthread_set_slice(struct xnthread *thread,
                       xnticks_t quantum);
 
void xnthread_cancel(struct xnthread *thread);
 
int xnthread_join(struct xnthread *thread, bool uninterruptible);
 
int xnthread_harden(void);
 
void xnthread_relax(int notify, int reason);
 
void __xnthread_kick(struct xnthread *thread);
 
void xnthread_kick(struct xnthread *thread);
 
void __xnthread_demote(struct xnthread *thread);
 
void xnthread_demote(struct xnthread *thread);
 
void __xnthread_signal(struct xnthread *thread, int sig, int arg);
 
void xnthread_signal(struct xnthread *thread, int sig, int arg);
 
void xnthread_pin_initial(struct xnthread *thread);
 
void xnthread_call_mayday(struct xnthread *thread, int reason);
 
static inline void xnthread_get_resource(struct xnthread *curr)
{
        if (xnthread_test_state(curr, XNWEAK|XNDEBUG))
                curr->res_count++;
}
 
static inline int xnthread_put_resource(struct xnthread *curr)
{
        if (xnthread_test_state(curr, XNWEAK) ||
            IS_ENABLED(CONFIG_XENO_OPT_DEBUG_MUTEX_SLEEP)) {
                if (unlikely(curr->res_count == 0)) {
                        if (xnthread_test_state(curr, XNWARN))
                                xnthread_signal(curr, SIGDEBUG,
                                                SIGDEBUG_RESCNT_IMBALANCE);
                        return -EPERM;
                }
                curr->res_count--;
        }
 
        return 0;
}
 
static inline void xnthread_commit_ceiling(struct xnthread *curr)
{
        if (curr->u_window->pp_pending)
                xnsynch_commit_ceiling(curr);
}
 
#ifdef CONFIG_SMP
 
void xnthread_migrate_passive(struct xnthread *thread,
                              struct xnsched *sched);
#else
 
static inline void xnthread_migrate_passive(struct xnthread *thread,
                                            struct xnsched *sched)
{ }
 
#endif
 
int __xnthread_set_schedparam(struct xnthread *thread,
                              struct xnsched_class *sched_class,
                              const union xnsched_policy_param *sched_param);
 
int xnthread_set_schedparam(struct xnthread *thread,
                            struct xnsched_class *sched_class,
                            const union xnsched_policy_param *sched_param);
 
int xnthread_killall(int grace, int mask);
 
void __xnthread_propagate_schedparam(struct xnthread *curr);
 
static inline void xnthread_propagate_schedparam(struct xnthread *curr)
{
        if (xnthread_test_info(curr, XNSCHEDP))
                __xnthread_propagate_schedparam(curr);
}
 
extern struct xnthread_personality xenomai_personality;
 
#endif /* !_COBALT_KERNEL_THREAD_H */