Thread.cpp

00001 /* mbed Microcontroller Library
00002  * Copyright (c) 2006-2012 ARM Limited
00003  *
00004  * Permission is hereby granted, free of charge, to any person obtaining a copy
00005  * of this software and associated documentation files (the "Software"), to deal
00006  * in the Software without restriction, including without limitation the rights
00007  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00008  * copies of the Software, and to permit persons to whom the Software is
00009  * furnished to do so, subject to the following conditions:
00010  *
00011  * The above copyright notice and this permission notice shall be included in
00012  * all copies or substantial portions of the Software.
00013  *
00014  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00015  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00016  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00017  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00018  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00019  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
00020  * SOFTWARE.
00021  */
00022 #include "rtos/Thread.h"
00023 
00024 #include "mbed.h"
00025 #include "rtos/rtos_idle.h"
00026 #include "mbed_assert.h"
00027 
00028 #define ALIGN_UP(pos, align) ((pos) % (align) ? (pos) +  ((align) - (pos) % (align)) : (pos))
00029 MBED_STATIC_ASSERT(ALIGN_UP(0, 8) == 0, "ALIGN_UP macro error");
00030 MBED_STATIC_ASSERT(ALIGN_UP(1, 8) == 8, "ALIGN_UP macro error");
00031 
00032 #define ALIGN_DOWN(pos, align) ((pos) - ((pos) % (align)))
00033 MBED_STATIC_ASSERT(ALIGN_DOWN(7, 8) == 0, "ALIGN_DOWN macro error");
00034 MBED_STATIC_ASSERT(ALIGN_DOWN(8, 8) == 8, "ALIGN_DOWN macro error");
00035 
00036 static void (*terminate_hook)(osThreadId_t id) = 0;
00037 extern "C" void thread_terminate_hook(osThreadId_t id)
00038 {
00039     if (terminate_hook != (void (*)(osThreadId_t))NULL) {
00040         terminate_hook(id);
00041     }
00042 }
00043 
00044 namespace rtos {
00045 
00046 void Thread::constructor(osPriority priority,
00047         uint32_t stack_size, unsigned char *stack_mem, const char *name) {
00048 
00049     const uintptr_t unaligned_mem = reinterpret_cast<uintptr_t>(stack_mem);
00050     const uintptr_t aligned_mem = ALIGN_UP(unaligned_mem, 8);
00051     const uint32_t offset = aligned_mem - unaligned_mem;
00052     const uint32_t aligned_size = ALIGN_DOWN(stack_size - offset, 8);
00053 
00054     _tid = 0;
00055     _dynamic_stack = (stack_mem == NULL);
00056     _finished = false;
00057     memset(&_obj_mem, 0, sizeof(_obj_mem));
00058     memset(&_attr, 0, sizeof(_attr));
00059     _attr.priority = priority;
00060     _attr.stack_size = aligned_size;
00061     _attr.name = name ? name : "application_unnamed_thread";
00062     _attr.stack_mem = reinterpret_cast<uint32_t*>(aligned_mem);
00063 }
00064 
00065 void Thread::constructor(Callback<void()> task,
00066         osPriority priority, uint32_t stack_size, unsigned char *stack_mem, const char *name) {
00067     constructor(priority, stack_size, stack_mem, name);
00068 
00069     switch (start(task)) {
00070         case osErrorResource:
00071             error("OS ran out of threads!\n");
00072             break;
00073         case osErrorParameter:
00074             error("Thread already running!\n");
00075             break;
00076         case osErrorNoMemory:
00077             error("Error allocating the stack memory\n");
00078         default:
00079             break;
00080     }
00081 }
00082 
00083 osStatus Thread::start(Callback<void()> task) {
00084     _mutex.lock();
00085 
00086     if ((_tid != 0) || _finished) {
00087         _mutex.unlock();
00088         return osErrorParameter;
00089     }
00090 
00091     if (_attr.stack_mem == NULL) {
00092         _attr.stack_mem = new uint32_t[_attr.stack_size/sizeof(uint32_t)];
00093         MBED_ASSERT(_attr.stack_mem != NULL);
00094     }
00095 
00096     //Fill the stack with a magic word for maximum usage checking
00097     for (uint32_t i = 0; i < (_attr.stack_size / sizeof(uint32_t)); i++) {
00098         ((uint32_t *)_attr.stack_mem)[i] = 0xE25A2EA5;
00099     }
00100 
00101     memset(&_obj_mem, 0, sizeof(_obj_mem));
00102     _attr.cb_size = sizeof(_obj_mem);
00103     _attr.cb_mem = &_obj_mem;
00104     _task = task;
00105     _tid = osThreadNew(Thread::_thunk, this, &_attr);
00106     if (_tid == NULL) {
00107         if (_dynamic_stack) {
00108             delete[] (uint32_t *)(_attr.stack_mem);
00109             _attr.stack_mem = (uint32_t*)NULL;
00110         }
00111         _mutex.unlock();
00112         _join_sem.release();
00113         return osErrorResource;
00114     }
00115 
00116     _mutex.unlock();
00117     return osOK;
00118 }
00119 
00120 osStatus Thread::terminate() {
00121     osStatus_t ret = osOK;
00122     _mutex.lock();
00123 
00124     // Set the Thread's tid to NULL and
00125     // release the semaphore before terminating
00126     // since this thread could be terminating itself
00127     osThreadId_t local_id = _tid;
00128     _join_sem.release();
00129     _tid = (osThreadId_t)NULL;
00130     if (!_finished) {
00131         _finished = true;
00132         ret = osThreadTerminate(local_id);
00133     }
00134     _mutex.unlock();
00135     return ret;
00136 }
00137 
00138 osStatus Thread::join() {
00139     int32_t ret = _join_sem.wait();
00140     if (ret < 0) {
00141         return osError;
00142     }
00143 
00144     // The semaphore has been released so this thread is being
00145     // terminated or has been terminated. Once the mutex has
00146     // been locked it is ensured that the thread is deleted.
00147     _mutex.lock();
00148     MBED_ASSERT(NULL == _tid);
00149     _mutex.unlock();
00150 
00151     // Release sem so any other threads joining this thread wake up
00152     _join_sem.release();
00153     return osOK;
00154 }
00155 
00156 osStatus Thread::set_priority(osPriority priority) {
00157     osStatus_t ret;
00158     _mutex.lock();
00159 
00160     ret = osThreadSetPriority(_tid, priority);
00161 
00162     _mutex.unlock();
00163     return ret;
00164 }
00165 
00166 osPriority Thread::get_priority() {
00167     osPriority_t ret;
00168     _mutex.lock();
00169 
00170     ret = osThreadGetPriority(_tid);
00171 
00172     _mutex.unlock();
00173     return ret;
00174 }
00175 
00176 int32_t Thread::signal_set(int32_t flags) {
00177     return osThreadFlagsSet(_tid, flags);
00178 }
00179 
00180 Thread::State Thread::get_state() {
00181     uint8_t state = osThreadTerminated;
00182 
00183     _mutex.lock();
00184 
00185     if (_tid != NULL) {
00186 #if defined(MBED_OS_BACKEND_RTX5)
00187         state = _obj_mem.state;
00188 #else
00189         state = osThreadGetState(_tid);
00190 #endif
00191     }
00192 
00193     _mutex.unlock();
00194 
00195     State user_state;
00196 
00197     switch(state) {
00198         case osThreadInactive:
00199             user_state = Inactive;
00200             break;
00201         case osThreadReady:
00202             user_state = Ready;
00203             break;
00204         case osThreadRunning:
00205             user_state = Running;
00206             break;
00207 #if defined(MBED_OS_BACKEND_RTX5)
00208         case osRtxThreadWaitingDelay:
00209             user_state = WaitingDelay;
00210             break;
00211         case osRtxThreadWaitingJoin:
00212             user_state = WaitingJoin;
00213             break;
00214         case osRtxThreadWaitingThreadFlags:
00215             user_state = WaitingThreadFlag;
00216             break;
00217         case osRtxThreadWaitingEventFlags:
00218             user_state = WaitingEventFlag;
00219             break;
00220         case osRtxThreadWaitingMutex:
00221             user_state = WaitingMutex;
00222             break;
00223         case osRtxThreadWaitingSemaphore:
00224             user_state = WaitingSemaphore;
00225             break;
00226         case osRtxThreadWaitingMemoryPool:
00227             user_state = WaitingMemoryPool;
00228             break;
00229         case osRtxThreadWaitingMessageGet:
00230             user_state = WaitingMessageGet;
00231             break;
00232         case osRtxThreadWaitingMessagePut:
00233             user_state = WaitingMessagePut;
00234             break;
00235 #endif
00236         case osThreadTerminated:
00237         default:
00238             user_state = Deleted;
00239             break;
00240     }
00241 
00242     return user_state;
00243 }
00244 
00245 uint32_t Thread::stack_size() {
00246     uint32_t size = 0;
00247     _mutex.lock();
00248 
00249     if (_tid != NULL) {
00250         size = osThreadGetStackSize(_tid);
00251     }
00252 
00253     _mutex.unlock();
00254     return size;
00255 }
00256 
00257 uint32_t Thread::free_stack() {
00258     uint32_t size = 0;
00259     _mutex.lock();
00260 
00261 #if defined(MBED_OS_BACKEND_RTX5)
00262     if (_tid != NULL) {
00263         os_thread_t *thread = (os_thread_t *)_tid;
00264         size = (uint32_t)thread->sp - (uint32_t)thread->stack_mem;
00265     }
00266 #endif
00267 
00268     _mutex.unlock();
00269     return size;
00270 }
00271 
00272 uint32_t Thread::used_stack() {
00273     uint32_t size = 0;
00274     _mutex.lock();
00275 
00276 #if defined(MBED_OS_BACKEND_RTX5)
00277     if (_tid != NULL) {
00278         os_thread_t *thread = (os_thread_t *)_tid;
00279         size = ((uint32_t)thread->stack_mem + thread->stack_size) - thread->sp;
00280     }
00281 #endif
00282 
00283     _mutex.unlock();
00284     return size;
00285 }
00286 
00287 uint32_t Thread::max_stack() {
00288     uint32_t size = 0;
00289     _mutex.lock();
00290 
00291     if (_tid != NULL) {
00292 #if defined(MBED_OS_BACKEND_RTX5)
00293         os_thread_t *thread = (os_thread_t *)_tid;
00294         uint32_t high_mark = 0;
00295         while (((uint32_t *)(thread->stack_mem))[high_mark] == 0xE25A2EA5)
00296             high_mark++;
00297         size = thread->stack_size - (high_mark * sizeof(uint32_t));
00298 #else
00299         size = osThreadGetStackSize(_tid) - osThreadGetStackSpace(_tid);
00300 #endif
00301     }
00302 
00303     _mutex.unlock();
00304     return size;
00305 }
00306 
00307 const char *Thread::get_name() {
00308     return _attr.name;
00309 }
00310 
00311 int32_t Thread::signal_clr(int32_t flags) {
00312     return osThreadFlagsClear(flags);
00313 }
00314 
00315 osEvent Thread::signal_wait(int32_t signals, uint32_t millisec) {
00316     uint32_t res;
00317     osEvent evt;
00318     uint32_t options = osFlagsWaitAll;
00319     if (signals == 0) {
00320         options = osFlagsWaitAny;
00321         signals = 0x7FFFFFFF;
00322     }
00323     res = osThreadFlagsWait(signals, options, millisec);
00324     if (res & osFlagsError) {
00325         switch (res) {
00326             case osFlagsErrorISR:
00327                 evt.status = osErrorISR;
00328                 break;
00329             case osFlagsErrorResource:
00330                 evt.status = osOK;
00331                 break;
00332             case osFlagsErrorTimeout:
00333                 evt.status = (osStatus)osEventTimeout;
00334                 break;
00335             case osFlagsErrorParameter:
00336             default:
00337                 evt.status = (osStatus)osErrorValue;
00338                 break;
00339         }
00340     } else {
00341         evt.status = (osStatus)osEventSignal;
00342         evt.value.signals = res;
00343     }
00344 
00345     return evt;
00346 }
00347 
00348 osStatus Thread::wait(uint32_t millisec) {
00349     return osDelay(millisec);
00350 }
00351 
00352 osStatus Thread::yield() {
00353     return osThreadYield();
00354 }
00355 
00356 osThreadId Thread::gettid() {
00357     return osThreadGetId();
00358 }
00359 
00360 void Thread::attach_idle_hook(void (*fptr)(void)) {
00361     rtos_attach_idle_hook (fptr);
00362 }
00363 
00364 void Thread::attach_terminate_hook(void (*fptr)(osThreadId_t id)) {
00365     terminate_hook = fptr;
00366 }
00367 
00368 Thread::~Thread() {
00369     // terminate is thread safe
00370     terminate();
00371     if (_dynamic_stack) {
00372         delete[] (uint32_t*)(_attr.stack_mem);
00373         _attr.stack_mem = (uint32_t*)NULL;
00374     }
00375 }
00376 
00377 void Thread::_thunk(void * thread_ptr)
00378 {
00379     Thread *t = (Thread*)thread_ptr;
00380     t->_task();
00381     t->_mutex.lock();
00382     t->_tid = (osThreadId)NULL;
00383     t->_finished = true;
00384     t->_join_sem.release();
00385     // rtos will release the mutex automatically
00386 }
00387 
00388 }