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 "Thread.h"
00023 
00024 #include "mbed.h"
00025 #include "rtos_idle.h"
00026 
00027 // rt_tid2ptcb is an internal function which we exposed to get TCB for thread id
00028 #undef NULL  //Workaround for conflicting macros in rt_TypeDef.h and stdio.h
00029 #include "rt_TypeDef.h"
00030 
00031 extern "C" P_TCB rt_tid2ptcb(osThreadId thread_id);
00032 
00033 namespace rtos {
00034 
00035 void Thread::constructor(osPriority priority,
00036         uint32_t stack_size, unsigned char *stack_pointer) {
00037     _tid = 0;
00038     _dynamic_stack = (stack_pointer == NULL);
00039 
00040 #if defined(__MBED_CMSIS_RTOS_CA9) || defined(__MBED_CMSIS_RTOS_CM)
00041     _thread_def.tpriority = priority;
00042     _thread_def.stacksize = stack_size;
00043     _thread_def.stack_pointer = (uint32_t*)stack_pointer;
00044 #endif
00045 }
00046 
00047 void Thread::constructor(Callback<void()> task,
00048         osPriority priority, uint32_t stack_size, unsigned char *stack_pointer) {
00049     constructor(priority, stack_size, stack_pointer);
00050 
00051     switch (start(task)) {
00052         case osErrorResource:
00053             error("OS ran out of threads!\n");
00054             break;
00055         case osErrorParameter:
00056             error("Thread already running!\n");
00057             break;
00058         case osErrorNoMemory:
00059             error("Error allocating the stack memory\n");
00060         default:
00061             break;
00062     }
00063 }
00064 
00065 osStatus Thread::start(Callback<void()> task) {
00066     _mutex.lock();
00067 
00068     if (_tid != 0) {
00069         _mutex.unlock();
00070         return osErrorParameter;
00071     }
00072 
00073 #if defined(__MBED_CMSIS_RTOS_CA9) || defined(__MBED_CMSIS_RTOS_CM)
00074     _thread_def.pthread = Thread::_thunk;
00075     if (_thread_def.stack_pointer == NULL) {
00076         _thread_def.stack_pointer = new uint32_t[_thread_def.stacksize/sizeof(uint32_t)];
00077         if (_thread_def.stack_pointer == NULL) {
00078             _mutex.unlock();
00079             return osErrorNoMemory;
00080         }
00081     }
00082 
00083     //Fill the stack with a magic word for maximum usage checking
00084     for (uint32_t i = 0; i < (_thread_def.stacksize / sizeof(uint32_t)); i++) {
00085         _thread_def.stack_pointer[i] = 0xE25A2EA5;
00086     }
00087 #endif
00088     _task = task;
00089     _tid = osThreadCreate(&_thread_def, this);
00090     if (_tid == NULL) {
00091         if (_dynamic_stack) delete[] (_thread_def.stack_pointer);
00092         _mutex.unlock();
00093         return osErrorResource;
00094     }
00095 
00096     _mutex.unlock();
00097     return osOK;
00098 }
00099 
00100 osStatus Thread::terminate() {
00101     osStatus ret;
00102     _mutex.lock();
00103 
00104     // Set the Thread's tid to NULL and
00105     // release the semaphore before terminating
00106     // since this thread could be terminating itself
00107     osThreadId local_id = _tid;
00108     _join_sem.release();
00109     _tid = (osThreadId)NULL;
00110 
00111     ret = osThreadTerminate(local_id);
00112 
00113     _mutex.unlock();
00114     return ret;
00115 }
00116 
00117 osStatus Thread::join() {
00118     int32_t ret = _join_sem.wait();
00119     if (ret < 0) {
00120         return osErrorOS;
00121     }
00122 
00123     // The semaphore has been released so this thread is being
00124     // terminated or has been terminated. Once the mutex has
00125     // been locked it is ensured that the thread is deleted.
00126     _mutex.lock();
00127     MBED_ASSERT(NULL == _tid);
00128     _mutex.unlock();
00129 
00130     // Release sem so any other threads joining this thread wake up
00131     _join_sem.release();
00132     return osOK;
00133 }
00134 
00135 osStatus Thread::set_priority(osPriority priority) {
00136     osStatus ret;
00137     _mutex.lock();
00138 
00139     ret = osThreadSetPriority(_tid, priority);
00140 
00141     _mutex.unlock();
00142     return ret;
00143 }
00144 
00145 osPriority Thread::get_priority() {
00146     osPriority ret;
00147     _mutex.lock();
00148 
00149     ret = osThreadGetPriority(_tid);
00150 
00151     _mutex.unlock();
00152     return ret;
00153 }
00154 
00155 int32_t Thread::signal_set(int32_t signals) {
00156     // osSignalSet is thread safe as long as the underlying
00157     // thread does not get terminated or return from main
00158     return osSignalSet(_tid, signals);
00159 }
00160 
00161 int32_t Thread::signal_clr(int32_t signals) {
00162     // osSignalClear is thread safe as long as the underlying
00163     // thread does not get terminated or return from main
00164     return osSignalClear(_tid, signals);
00165 }
00166 
00167 Thread::State Thread::get_state() {
00168 #if !defined(__MBED_CMSIS_RTOS_CA9) && !defined(__MBED_CMSIS_RTOS_CM)
00169 #ifdef CMSIS_OS_RTX
00170     State status = Deleted;
00171     _mutex.lock();
00172 
00173     if (_tid != NULL) {
00174         status = (State)_thread_def.tcb.state;
00175     }
00176 
00177     _mutex.unlock();
00178     return status;
00179 #endif
00180 #else
00181     State status = Deleted;
00182     _mutex.lock();
00183 
00184     if (_tid != NULL) {
00185         status = (State)osThreadGetState(_tid);
00186     }
00187 
00188     _mutex.unlock();
00189     return status;
00190 #endif
00191 }
00192 
00193 uint32_t Thread::stack_size() {
00194 #ifndef __MBED_CMSIS_RTOS_CA9
00195 #if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
00196     uint32_t size = 0;
00197     _mutex.lock();
00198 
00199     if (_tid != NULL) {
00200         size = _thread_def.tcb.priv_stack;
00201     }
00202 
00203     _mutex.unlock();
00204     return size;
00205 #else
00206     uint32_t size = 0;
00207     _mutex.lock();
00208 
00209     if (_tid != NULL) {
00210         P_TCB tcb = rt_tid2ptcb(_tid);
00211         size = tcb->priv_stack;
00212     }
00213 
00214     _mutex.unlock();
00215     return size;
00216 #endif
00217 #else
00218     return 0;
00219 #endif
00220 }
00221 
00222 uint32_t Thread::free_stack() {
00223 #ifndef __MBED_CMSIS_RTOS_CA9
00224 #if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
00225     uint32_t size = 0;
00226     _mutex.lock();
00227 
00228     if (_tid != NULL) {
00229         uint32_t bottom = (uint32_t)_thread_def.tcb.stack;
00230         size = _thread_def.tcb.tsk_stack - bottom;
00231     }
00232 
00233     _mutex.unlock();
00234     return size;
00235 #else
00236     uint32_t size = 0;
00237     _mutex.lock();
00238 
00239     if (_tid != NULL) {
00240         P_TCB tcb = rt_tid2ptcb(_tid);
00241         uint32_t bottom = (uint32_t)tcb->stack;
00242         size = tcb->tsk_stack - bottom;
00243     }
00244 
00245     _mutex.unlock();
00246     return size;
00247 #endif
00248 #else
00249     return 0;
00250 #endif
00251 }
00252 
00253 uint32_t Thread::used_stack() {
00254 #ifndef __MBED_CMSIS_RTOS_CA9
00255 #if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
00256     uint32_t size = 0;
00257     _mutex.lock();
00258 
00259     if (_tid != NULL) {
00260         uint32_t top = (uint32_t)_thread_def.tcb.stack + _thread_def.tcb.priv_stack;
00261         size = top - _thread_def.tcb.tsk_stack;
00262     }
00263 
00264     _mutex.unlock();
00265     return size;
00266 #else
00267     uint32_t size = 0;
00268     _mutex.lock();
00269 
00270     if (_tid != NULL) {
00271         P_TCB tcb = rt_tid2ptcb(_tid);
00272         uint32_t top = (uint32_t)tcb->stack + tcb->priv_stack;
00273         size =  top - tcb->tsk_stack;
00274     }
00275 
00276     _mutex.unlock();
00277     return size;
00278 #endif
00279 #else
00280     return 0;
00281 #endif
00282 }
00283 
00284 uint32_t Thread::max_stack() {
00285 #ifndef __MBED_CMSIS_RTOS_CA9
00286 #if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
00287     uint32_t size = 0;
00288     _mutex.lock();
00289 
00290     if (_tid != NULL) {
00291         uint32_t high_mark = 0;
00292         while (_thread_def.tcb.stack[high_mark] == 0xE25A2EA5)
00293             high_mark++;
00294         size = _thread_def.tcb.priv_stack - (high_mark * 4);
00295     }
00296 
00297     _mutex.unlock();
00298     return size;
00299 #else
00300     uint32_t size = 0;
00301     _mutex.lock();
00302 
00303     if (_tid != NULL) {
00304         P_TCB tcb = rt_tid2ptcb(_tid);
00305         uint32_t high_mark = 0;
00306         while (tcb->stack[high_mark] == 0xE25A2EA5)
00307             high_mark++;
00308         size = tcb->priv_stack - (high_mark * 4);
00309     }
00310 
00311     _mutex.unlock();
00312     return size;
00313 #endif
00314 #else
00315     return 0;
00316 #endif
00317 }
00318 
00319 osEvent Thread::signal_wait(int32_t signals, uint32_t millisec) {
00320     return osSignalWait(signals, millisec);
00321 }
00322 
00323 osStatus Thread::wait(uint32_t millisec) {
00324     return osDelay(millisec);
00325 }
00326 
00327 osStatus Thread::yield() {
00328     return osThreadYield();
00329 }
00330 
00331 osThreadId Thread::gettid() {
00332     return osThreadGetId();
00333 }
00334 
00335 void Thread::attach_idle_hook(void (*fptr)(void)) {
00336     rtos_attach_idle_hook(fptr);
00337 }
00338 
00339 Thread::~Thread() {
00340     // terminate is thread safe
00341     terminate();
00342 #ifdef __MBED_CMSIS_RTOS_CM
00343     if (_dynamic_stack) {
00344         delete[] (_thread_def.stack_pointer);
00345     }
00346 #endif
00347 }
00348 
00349 void Thread::_thunk(const void * thread_ptr)
00350 {
00351     Thread *t = (Thread*)thread_ptr;
00352     t->_task();
00353     t->_mutex.lock();
00354     t->_tid = (osThreadId)NULL;
00355     t->_join_sem.release();
00356     // rtos will release the mutex automatically
00357 }
00358 
00359 }