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ChibiOS/os/kernel/include/threads.h

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/*
ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
ChibiOS/RT 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/RT 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 threads.h
* @brief Threads macros and structures.
* @addtogroup threads
* @{
*/
#ifndef _THREADS_H_
#define _THREADS_H_
/*
* Module dependencies check.
*/
#if CH_USE_DYNAMIC && !CH_USE_WAITEXIT
#error "CH_USE_DYNAMIC requires CH_USE_WAITEXIT"
#endif
/**
* @brief Structure representing a thread.
*
* @extends ThreadsQueue
* @note Not all the listed fields are always needed, by switching off some
* not needed ChibiOS/RT subsystems it is possible to save RAM space by
* shrinking the @p Thread structure.
*/
struct Thread {
Thread *p_next; /**< Next @p Thread in the threads
list/queue. */
/* End of the fields shared with the ThreadsList structure. */
Thread *p_prev; /**< Previous @p Thread in the threads
queue. */
/* End of the fields shared with the ThreadsQueue structure. */
tprio_t p_prio; /**< Thread priority. */
/* End of the fields shared with the ReadyList structure. */
tstate_t p_state; /**< Current thread state. */
tmode_t p_flags; /**< Various thread flags. */
struct context p_ctx; /**< Processor context. */
#if CH_USE_NESTED_LOCKS
cnt_t p_locks; /**< Number of nested locks. */
#endif
#if CH_DBG_THREADS_PROFILING
volatile systime_t p_time; /**< Thread consumed time in ticks.
@note This field can overflow. */
#endif
union {
msg_t rdymsg; /**< Thread wakeup code. */
msg_t exitcode; /**< The thread exit code
(@p THD_STATE_FINAL state). */
void *wtobjp; /**< Generic kernel object pointer. */
#if CH_USE_EVENTS
eventmask_t ewmask; /**< Enabled events mask
(@p THD_STATE_WTOREVT or
@p THD_STATE_WTANDEVT states). */
#endif
} p_u; /**< State-specific fields. */
#if CH_USE_WAITEXIT
Thread *p_waiting; /**< Thread waiting for termination.*/
#endif
#if CH_USE_MESSAGES
ThreadsQueue p_msgqueue; /**< Messages queue. */
msg_t p_msg; /**< Thread message. */
#endif
#if CH_USE_EVENTS
eventmask_t p_epending; /**< Pending events mask. */
#endif
#if CH_USE_MUTEXES
Mutex *p_mtxlist; /**< List of the mutexes owned by this
thread, @p NULL terminated. */
tprio_t p_realprio; /**< Thread's own, non-inherited,
priority. */
#endif
#if CH_USE_DYNAMIC && CH_USE_MEMPOOLS
void *p_mpool; /**< Memory Pool where the thread
workspace is returned. */
#endif
/* Extra fields defined in chconf.h */
THREAD_EXT_FIELDS
};
/** Thread state: Ready to run, waiting on the ready list.*/
#define THD_STATE_READY 0
/** Thread state: Currently running.*/
#define THD_STATE_CURRENT 1
/** Thread state: Thread created in suspended state.*/
#define THD_STATE_SUSPENDED 2
/** Thread state: Waiting on a semaphore.*/
#define THD_STATE_WTSEM 3
/** Thread state: Waiting on a mutex.*/
#define THD_STATE_WTMTX 4
/** Thread state: Waiting in @p chCondWait().*/
#define THD_STATE_WTCOND 5
/** Thread state: Waiting in @p chThdSleep() or @p chThdSleepUntil().*/
#define THD_STATE_SLEEPING 6
/** Thread state: Waiting in @p chThdWait().*/
#define THD_STATE_WTEXIT 7
/** Thread state: Waiting in @p chEvtWaitOneTimeout() or
@p chEvtWaitAnyTimeout().*/
#define THD_STATE_WTOREVT 8
/** Thread state: Waiting in @p chEvtWaitAllTimeout().*/
#define THD_STATE_WTANDEVT 9
/** Thread state: Waiting in @p chMsgSend().*/
#define THD_STATE_SNDMSG 10
/** Thread state: Waiting in @p chMsgWait().*/
#define THD_STATE_WTMSG 11
/** Thread state: After termination.*/
#define THD_STATE_FINAL 12
/*
* Various flags into the thread p_flags field.
*/
#define THD_MEM_MODE_MASK 3 /**< Thread memory mode mask. */
#define THD_MEM_MODE_STATIC 0 /**< Thread memory mode: static.*/
#define THD_MEM_MODE_HEAP 1 /**< Thread memory mode: heap. */
#define THD_MEM_MODE_MEMPOOL 2 /**< Thread memory mode: pool. */
#define THD_TERMINATE 4 /**< Termination requested. */
/* Not an API, don't use into the application code.*/
Thread *init_thread(Thread *tp, tprio_t prio);
/** Thread function.*/
typedef msg_t (*tfunc_t)(void *);
/*
* Threads APIs.
*/
#ifdef __cplusplus
extern "C" {
#endif
Thread *chThdInit(void *wsp, size_t size,
tprio_t prio, tfunc_t pf, void *arg);
Thread *chThdCreateStatic(void *wsp, size_t size,
tprio_t prio, tfunc_t pf, void *arg);
#if CH_USE_DYNAMIC && CH_USE_WAITEXIT && CH_USE_HEAP
Thread *chThdCreateFromHeap(MemoryHeap *heapp, size_t size,
tprio_t prio, tfunc_t pf, void *arg);
#endif
#if CH_USE_DYNAMIC && CH_USE_WAITEXIT && CH_USE_MEMPOOLS
Thread *chThdCreateFromMemoryPool(MemoryPool *mp, tprio_t prio,
tfunc_t pf, void *arg);
#endif
tprio_t chThdSetPriority(tprio_t newprio);
Thread *chThdResume(Thread *tp);
void chThdTerminate(Thread *tp);
void chThdSleep(systime_t time);
void chThdSleepUntil(systime_t time);
void chThdYield(void);
void chThdExit(msg_t msg);
#if CH_USE_WAITEXIT
msg_t chThdWait(Thread *tp);
#endif
#ifdef __cplusplus
}
#endif
/** Returns the pointer to the @p Thread currently in execution.*/
#define chThdSelf() currp
/** Returns the current thread priority.*/
#define chThdGetPriority() (currp->p_prio)
/** Returns the pointer to the @p Thread local storage area, if any.*/
#define chThdLS() (void *)(currp + 1)
/**
* Verifies if the specified thread is in the @p THD_STATE_FINAL state.
*
* @param[in] tp the pointer to the thread
* @retval TRUE thread terminated.
* @retval FALSE thread not terminated.
*/
#define chThdTerminated(tp) ((tp)->p_state == THD_STATE_FINAL)
/**
* Verifies if the current thread has a termination request pending.
*
* @retval TRUE termination request pended.
* @retval FALSE termination request not pended.
*/
#define chThdShouldTerminate() (currp->p_flags & THD_TERMINATE)
/**
* Resumes a thread created with @p chThdInit().
*
* @param[in] tp the pointer to the thread
*/
#define chThdResumeI(tp) chSchReadyI(tp)
/**
* Suspends the invoking thread for the specified time.
*
* @param[in] time 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 accepted but interpreted
* as a normal time specification not as an immediate timeout
* specification.
* .
*/
#define chThdSleepS(time) chSchGoSleepTimeoutS(THD_STATE_SLEEPING, time)
/**
* Delays the invoking thread for the specified number of seconds.
*
* @param[in] sec the time in seconds
* @note The specified time is rounded up to a value allowed by the real
* system clock.
* @note The maximum specified value is implementation dependent.
*/
#define chThdSleepSeconds(sec) chThdSleep(S2ST(sec))
/**
* Delays the invoking thread for the specified number of milliseconds.
*
* @param[in] msec the time in milliseconds
* @note The specified time is rounded up to a value allowed by the real
* system clock.
* @note The maximum specified value is implementation dependent.
*/
#define chThdSleepMilliseconds(msec) chThdSleep(MS2ST(msec))
/**
* Delays the invoking thread for the specified number of microseconds.
*
* @param[in] usec the time in microseconds
* @note The specified time is rounded up to a value allowed by the real
* system clock.
* @note The maximum specified value is implementation dependent.
*/
#define chThdSleepMicroseconds(usec) chThdSleep(US2ST(usec))
#endif /* _THREADS_H_ */
/** @} */
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