1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
|
/**
* Licensed to the Apache Software Foundation (ASF) under one
* or more contributor license agreements. See the NOTICE file
* distributed with this work for additional information
* regarding copyright ownership. The ASF licenses this file
* to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance
* with the License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing,
* software distributed under the License is distributed on an
* "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
* KIND, either express or implied. See the License for the
* specific language governing permissions and limitations
* under the License.
*/
#include "os/os.h"
#include "os_priv.h"
#include <string.h>
uint8_t g_task_id;
struct os_task_stailq g_os_task_list;
static void
_clear_stack(os_stack_t *stack_bottom, int size)
{
int i;
for (i = 0; i < size; i++) {
stack_bottom[i] = OS_STACK_PATTERN;
}
}
static inline uint8_t
os_task_next_id(void)
{
uint8_t rc;
os_sr_t sr;
OS_ENTER_CRITICAL(sr);
rc = g_task_id;
g_task_id++;
OS_EXIT_CRITICAL(sr);
return (rc);
}
/**
* Return the number of tasks initialized.
*
* @return number of tasks initialized
*/
uint8_t
os_task_count(void)
{
return (g_task_id);
}
/**
* Initialize a task.
*
* This function initializes the task structure pointed to by t,
* clearing and setting it's stack pointer, provides sane defaults
* and sets the task as ready to run, and inserts it into the operating
* system scheduler.
*
* @param t The task to initialize
* @param name The name of the task to initialize
* @param func The task function to call
* @param arg The argument to pass to this task function
* @param prio The priority at which to run this task
* @param sanity_itvl The time at which this task should check in with the
* sanity task. OS_WAIT_FOREVER means never check in
* here.
* @param stack_bottom A pointer to the bottom of a task's stack
* @param stack_size The overall size of the task's stack.
*
* @return 0 on success, non-zero on failure.
*/
int
os_task_init(struct os_task *t, char *name, os_task_func_t func, void *arg,
uint8_t prio, os_time_t sanity_itvl, os_stack_t *stack_bottom,
uint16_t stack_size)
{
struct os_sanity_check *sc;
int rc;
memset(t, 0, sizeof(*t));
t->t_func = func;
t->t_arg = arg;
t->t_taskid = os_task_next_id();
t->t_prio = prio;
t->t_state = OS_TASK_READY;
t->t_name = name;
t->t_next_wakeup = 0;
rc = os_sanity_check_init(&t->t_sanity_check);
if (rc != OS_OK) {
goto err;
}
if (sanity_itvl != OS_WAIT_FOREVER) {
sc = (struct os_sanity_check *) &t->t_sanity_check;
sc->sc_checkin_itvl = sanity_itvl;
rc = os_sanity_check_register(sc);
if (rc != OS_OK) {
goto err;
}
}
_clear_stack(stack_bottom, stack_size);
t->t_stackptr = os_arch_task_stack_init(t, &stack_bottom[stack_size],
stack_size);
t->t_stacktop = &stack_bottom[stack_size];
t->t_stacksize = stack_size;
/* insert this task into the task list */
STAILQ_INSERT_TAIL(&g_os_task_list, t, t_os_task_list);
/* insert this task into the scheduler list */
rc = os_sched_insert(t);
if (rc != OS_OK) {
goto err;
}
return (0);
err:
return (rc);
}
/**
* Iterate through tasks, and return the following information about them:
*
* - Priority
* - Task ID
* - State (ACTIVE, SLEEP)
* - Total Stack Usage
* - Stack Size
* - Context Switch Count
* - Runtime
* - Last & Next Sanity checkin
* - Task Name
*
* To get the first task in the list, call os_task_info_get_next() with a
* NULL pointer in the prev argument, and os_task_info_get_next() will
* return a pointer to the task structure, and fill out the os_task_info
* structure pointed to by oti.
*
* To get the next task in the list, provide the task structure returned
* by the previous call to os_task_info_get_next(), and os_task_info_get_next()
* will fill out the task structure pointed to by oti again, and return
* the next task in the list.
*
* @param prev The previous task returned by os_task_info_get_next(), or NULL
* to begin iteration.
* @param oti The OS task info structure to fill out.
*
* @return A pointer to the OS task that has been read, or NULL when finished
* iterating through all tasks.
*/
struct os_task *
os_task_info_get_next(const struct os_task *prev, struct os_task_info *oti)
{
struct os_task *next;
os_stack_t *top;
os_stack_t *bottom;
if (prev != NULL) {
next = STAILQ_NEXT(prev, t_os_task_list);
} else {
next = STAILQ_FIRST(&g_os_task_list);
}
if (next == NULL) {
return (NULL);
}
/* Otherwise, copy OS task information into the OTI structure, and
* return 1, which means continue
*/
oti->oti_prio = next->t_prio;
oti->oti_taskid = next->t_taskid;
oti->oti_state = next->t_state;
top = next->t_stacktop;
bottom = next->t_stacktop - next->t_stacksize;
while (bottom < top) {
if (*bottom != OS_STACK_PATTERN) {
break;
}
++bottom;
}
oti->oti_stkusage = (uint16_t) (next->t_stacktop - bottom);
oti->oti_stksize = next->t_stacksize;
oti->oti_cswcnt = next->t_ctx_sw_cnt;
oti->oti_runtime = next->t_run_time;
oti->oti_last_checkin = next->t_sanity_check.sc_checkin_last;
oti->oti_next_checkin = next->t_sanity_check.sc_checkin_last +
next->t_sanity_check.sc_checkin_itvl;
strncpy(oti->oti_name, next->t_name, sizeof(oti->oti_name));
return (next);
}
|
