blob: e0372e367105e8a273281bb48c939757a60aeb73 [file] [log] [blame]
/*
* Copyright (c) 2018 Intel Corporation
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <kernel.h>
#include <pthread.h>
#include <stdio.h>
#include <atomic.h>
#include "ksched.h"
#include "wait_q.h"
#define PTHREAD_INIT_FLAGS PTHREAD_CANCEL_ENABLE
#define PTHREAD_CANCELED ((void *) -1)
#define LOWEST_POSIX_THREAD_PRIORITY 1
static const pthread_attr_t init_pthread_attrs = {
.priority = LOWEST_POSIX_THREAD_PRIORITY,
.stack = NULL,
.stacksize = 0,
.flags = PTHREAD_INIT_FLAGS,
.delayedstart = K_NO_WAIT,
#if defined(CONFIG_PREEMPT_ENABLED)
.schedpolicy = SCHED_RR,
#else
.schedpolicy = SCHED_FIFO,
#endif
.detachstate = PTHREAD_CREATE_JOINABLE,
.initialized = true,
};
/* Memory pool for pthread space */
K_MEM_POOL_DEFINE(posix_thread_pool, sizeof(struct posix_thread),
sizeof(struct posix_thread), CONFIG_MAX_PTHREAD_COUNT, 4);
static bool is_posix_prio_valid(u32_t priority, int policy)
{
if (priority >= sched_get_priority_min(policy) &&
priority <= sched_get_priority_max(policy)) {
return true;
}
return false;
}
static u32_t zephyr_to_posix_priority(s32_t z_prio, int *policy)
{
u32_t prio;
if (z_prio < 0) {
*policy = SCHED_FIFO;
prio = -1 * (z_prio + 1);
} else {
*policy = SCHED_RR;
prio = (CONFIG_NUM_PREEMPT_PRIORITIES - z_prio);
}
return prio;
}
static s32_t posix_to_zephyr_priority(u32_t priority, int policy)
{
s32_t prio;
if (policy == SCHED_FIFO) {
/* Zephyr COOP priority starts from -1 */
prio = -1 * (priority + 1);
} else {
prio = (CONFIG_NUM_PREEMPT_PRIORITIES - priority);
}
return prio;
}
/**
* @brief Set scheduling parameter attributes in thread attributes object.
*
* See IEEE 1003.1
*/
int pthread_attr_setschedparam(pthread_attr_t *attr,
const struct sched_param *schedparam)
{
int priority = schedparam->priority;
if (!attr || !attr->initialized) {
return EINVAL;
}
if (is_posix_prio_valid(priority, attr->schedpolicy) == false) {
return ENOTSUP;
}
attr->priority = priority;
return 0;
}
/**
* @brief Set stack attributes in thread attributes object.
*
* See IEEE 1003.1
*/
int pthread_attr_setstack(pthread_attr_t *attr, void *stackaddr,
size_t stacksize)
{
if (stackaddr == NULL) {
return EACCES;
}
attr->stack = stackaddr;
attr->stacksize = stacksize;
return 0;
}
static void zephyr_thread_wrapper(void *arg1, void *arg2, void *arg3)
{
void * (*fun_ptr)(void *) = arg3;
fun_ptr(arg1);
pthread_exit(NULL);
}
/**
* @brief Create a new thread.
*
* Pthread attribute should not be NULL. API will return Error on NULL
* attribute value.
*
* See IEEE 1003.1
*/
int pthread_create(pthread_t *newthread, const pthread_attr_t *attr,
void *(*threadroutine)(void *), void *arg)
{
s32_t prio;
pthread_mutexattr_t att;
pthread_condattr_t cond_attr;
struct posix_thread *thread;
struct k_mem_block block;
/*
* FIXME: Pthread attribute must be non-null and it provides stack
* pointer and stack size. So even though POSIX 1003.1 spec accepts
* attrib as NULL but zephyr needs it initialized with valid stack.
*/
if (!attr || !attr->initialized || !attr->stack || !attr->stacksize) {
return EINVAL;
}
prio = posix_to_zephyr_priority(attr->priority, attr->schedpolicy);
if (k_mem_pool_alloc(&posix_thread_pool, &block,
sizeof(struct posix_thread), 100) == 0) {
memset(block.data, 0, sizeof(struct posix_thread));
thread = block.data;
} else {
/* Insuffecient resource to create thread*/
return EAGAIN;
}
thread->cancel_state = (1 << _PTHREAD_CANCEL_POS) & attr->flags;
thread->state = attr->detachstate;
thread->cancel_pending = 0;
thread->state_lock.sem = &thread->state_lock_sem;
pthread_mutex_init(&thread->state_lock, &att);
thread->cancel_lock.sem = &thread->cancel_lock_sem;
pthread_mutex_init(&thread->cancel_lock, &att);
pthread_cond_init(&thread->state_cond, &cond_attr);
*newthread = (pthread_t) k_thread_create(&thread->thread, attr->stack,
attr->stacksize,
(k_thread_entry_t)
zephyr_thread_wrapper,
(void *)arg, NULL,
threadroutine, prio,
(~K_ESSENTIAL & attr->flags),
attr->delayedstart);
return 0;
}
/**
* @brief Set cancelability State.
*
* See IEEE 1003.1
*/
int pthread_setcancelstate(int state, int *oldstate)
{
struct posix_thread *pthread = (struct posix_thread *) pthread_self();
if (state != PTHREAD_CANCEL_ENABLE &&
state != PTHREAD_CANCEL_DISABLE) {
return EINVAL;
}
*oldstate = pthread->cancel_state;
pthread_mutex_lock(&pthread->cancel_lock);
pthread->cancel_state = state;
pthread_mutex_unlock(&pthread->cancel_lock);
if (state == PTHREAD_CANCEL_ENABLE && pthread->cancel_pending) {
pthread_exit((void *)PTHREAD_CANCELED);
}
return 0;
}
/**
* @brief Cancel execution of a thread.
*
* See IEEE 1003.1
*/
int pthread_cancel(pthread_t pthread)
{
struct posix_thread *thread = (struct posix_thread *) pthread;
if (thread == NULL || thread->state == PTHREAD_TERMINATED) {
return ESRCH;
}
pthread_mutex_lock(&thread->cancel_lock);
thread->cancel_pending = 1;
if (thread->cancel_state == PTHREAD_CANCEL_ENABLE) {
if (thread->state == PTHREAD_DETACHED) {
thread->state = PTHREAD_TERMINATED;
pthread_mutex_unlock(&thread->cancel_lock);
} else {
thread->retval = PTHREAD_CANCELED;
pthread_mutex_unlock(&thread->cancel_lock);
pthread_mutex_lock(&thread->state_lock);
thread->state = PTHREAD_EXITED;
pthread_cond_broadcast(&thread->state_cond);
pthread_mutex_unlock(&thread->state_lock);
}
k_thread_abort((k_tid_t) thread);
} else {
pthread_mutex_unlock(&thread->cancel_lock);
}
return 0;
}
/**
* @brief Set thread scheduling policy and parameters.
*
* See IEEE 1003.1
*/
int pthread_setschedparam(pthread_t pthread, int policy,
const struct sched_param *param)
{
k_tid_t thread = (k_tid_t)pthread;
int new_prio;
if (thread == NULL) {
return ESRCH;
}
if (policy != SCHED_RR && policy != SCHED_FIFO) {
return EINVAL;
}
new_prio = posix_to_zephyr_priority(param->priority, policy);
if (is_posix_prio_valid(new_prio, policy) == false) {
return EINVAL;
}
k_thread_priority_set(thread, new_prio);
return 0;
}
/**
* @brief Initialise threads attribute object
*
* See IEEE 1003.1
*/
int pthread_attr_init(pthread_attr_t *attr)
{
if (attr->initialized == true) {
return EBUSY;
}
*attr = init_pthread_attrs;
return 0;
}
/**
* @brief Get thread scheduling policy and parameters
*
* See IEEE 1003.1
*/
int pthread_getschedparam(pthread_t pthread, int *policy,
struct sched_param *param)
{
k_tid_t thread = (k_tid_t)pthread;
u32_t priority = k_thread_priority_get(thread);
param->priority = zephyr_to_posix_priority(priority, policy);
return 0;
}
/**
* @brief Terminate calling thread.
*
* See IEEE 1003.1
*/
void pthread_exit(void *retval)
{
struct posix_thread *self = (struct posix_thread *)pthread_self();
/* Make a thread as cancelable before exiting */
pthread_mutex_lock(&self->cancel_lock);
if (self->cancel_state == PTHREAD_CANCEL_DISABLE) {
self->cancel_state = PTHREAD_CANCEL_ENABLE;
}
pthread_mutex_unlock(&self->cancel_lock);
pthread_mutex_lock(&self->state_lock);
if (self->state == PTHREAD_JOINABLE) {
self->retval = retval;
self->state = PTHREAD_EXITED;
self->retval = retval;
pthread_cond_broadcast(&self->state_cond);
} else {
self->state = PTHREAD_TERMINATED;
}
pthread_mutex_unlock(&self->state_lock);
k_thread_abort((k_tid_t)self);
}
/**
* @brief Wait for a thread termination.
*
* See IEEE 1003.1
*/
int pthread_join(pthread_t thread, void **status)
{
struct posix_thread *pthread = (struct posix_thread *) thread;
int ret = 0;
if (pthread == NULL) {
return ESRCH;
}
pthread_mutex_lock(&pthread->state_lock);
if (pthread->state == PTHREAD_JOINABLE) {
pthread_cond_wait(&pthread->state_cond, &pthread->state_lock);
}
if (pthread->state == PTHREAD_EXITED) {
if (status) {
*status = pthread->retval;
}
} else if (pthread->state == PTHREAD_DETACHED) {
ret = EINVAL;
} else {
ret = ESRCH;
}
pthread_mutex_unlock(&pthread->state_lock);
return ret;
}
/**
* @brief Detach a thread.
*
* See IEEE 1003.1
*/
int pthread_detach(pthread_t thread)
{
struct posix_thread *pthread = (struct posix_thread *) thread;
int ret = 0;
if (pthread == NULL) {
return ESRCH;
}
pthread_mutex_lock(&pthread->state_lock);
switch (pthread->state) {
case PTHREAD_JOINABLE:
pthread->state = PTHREAD_DETACHED;
/* Broadcast the condition.
* This will make threads waiting to join this thread continue.
*/
pthread_cond_broadcast(&pthread->state_cond);
break;
case PTHREAD_EXITED:
pthread->state = PTHREAD_TERMINATED;
/* THREAD has already exited.
* Pthread remained to provide exit status.
*/
break;
case PTHREAD_TERMINATED:
ret = ESRCH;
break;
default:
ret = EINVAL;
break;
}
pthread_mutex_unlock(&pthread->state_lock);
return ret;
}
/**
* @brief Get detach state attribute in thread attributes object.
*
* See IEEE 1003.1
*/
int pthread_attr_getdetachstate(const pthread_attr_t *attr, int *detachstate)
{
if (!attr || !attr->initialized) {
return EINVAL;
}
*detachstate = attr->detachstate;
return 0;
}
/**
* @brief Set detach state attribute in thread attributes object.
*
* See IEEE 1003.1
*/
int pthread_attr_setdetachstate(pthread_attr_t *attr, int detachstate)
{
if (!attr || !attr->initialized ||
(detachstate != PTHREAD_CREATE_DETACHED &&
detachstate != PTHREAD_CREATE_JOINABLE)) {
return EINVAL;
}
attr->detachstate = detachstate;
return 0;
}
/**
* @brief Get scheduling policy attribute in Thread attributes.
*
* See IEEE 1003.1
*/
int pthread_attr_getschedpolicy(const pthread_attr_t *attr, int *policy)
{
if (!attr || !attr->initialized) {
return EINVAL;
}
*policy = attr->schedpolicy;
return 0;
}
/**
* @brief Set scheduling policy attribute in Thread attributes object.
*
* See IEEE 1003.1
*/
int pthread_attr_setschedpolicy(pthread_attr_t *attr, int policy)
{
if (!attr || !attr->initialized ||
(policy != SCHED_RR && policy != SCHED_FIFO)) {
return EINVAL;
}
attr->schedpolicy = policy;
return 0;
}
/**
* @brief Get stack size attribute in thread attributes object.
*
* See IEEE 1003.1
*/
int pthread_attr_getstacksize(const pthread_attr_t *attr, size_t *stacksize)
{
if (!attr || !attr->initialized) {
return EINVAL;
}
*stacksize = attr->stacksize;
return 0;
}
/**
* @brief Get stack attributes in thread attributes object.
*
* See IEEE 1003.1
*/
int pthread_attr_getstack(const pthread_attr_t *attr,
void **stackaddr, size_t *stacksize)
{
if (!attr || !attr->initialized) {
return EINVAL;
}
*stackaddr = attr->stack;
*stacksize = attr->stacksize;
return 0;
}
/**
* @brief Get thread attributes object scheduling parameters.
*
* See IEEE 1003.1
*/
int pthread_attr_getschedparam(const pthread_attr_t *attr,
struct sched_param *schedparam)
{
if (!attr || !attr->initialized) {
return EINVAL;
}
schedparam->priority = attr->priority;
return 0;
}
/**
* @brief Destroy thread attributes object.
*
* See IEEE 1003.1
*/
int pthread_attr_destroy(pthread_attr_t *attr)
{
if (attr && attr->initialized) {
attr->initialized = false;
return 0;
}
return EINVAL;
}