更新模板到最新状态
This commit is contained in:
LokLiang
277
sal/esp32/kernel/os_thread.c
Executable file
277
sal/esp32/kernel/os_thread.c
Executable file
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#include "os/os.h"
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#include "os_util.h"
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#include "task.h"
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#include "list/slist.h"
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/* Macro used to convert os_priority to the kernel's real priority */
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#define OS_KERNEL_PRIO(prio) (prio)
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static slist_t s_thread_list;
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static void _os_delete(struct os_thread_handle *thread_handle)
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{
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os_scheduler_suspend();
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slist_remove(&s_thread_list, &thread_handle->node);
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thread_handle->thread->handle = NULL;
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if (thread_handle->flag_free)
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{
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os_free(thread_handle->thread);
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}
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os_free(thread_handle);
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os_scheduler_resume();
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}
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static void _os_thread_start(void *arg)
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{
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struct os_thread_handle *thread_handle = arg;
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thread_handle->entry(thread_handle->arg);
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_os_delete(thread_handle);
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vTaskDelete(NULL);
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}
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os_state os_thread_init(os_thread_t *thread,
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const char *name,
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os_thread_entry_t entry,
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void *arg,
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void *stack_base,
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size_t stack_size,
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os_priority priority)
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{
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#if (configSUPPORT_STATIC_ALLOCATION == 1)
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OS_ASS_HDL(!os_thread_is_valid(thread), thread->handle);
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if (stack_size <= sizeof(struct os_thread_handle) + sizeof(StaticTask_t))
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{
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OS_ERR("err size: %d <= %d\r\n", stack_size, sizeof(struct os_thread_handle) + sizeof(StaticTask_t));
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return OS_FAIL;
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}
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struct os_thread_handle *thread_handle = stack_base;
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StaticTask_t *pxTaskBuffer = (StaticTask_t *)&thread_handle[1];
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StackType_t *puxStackBuffer = (StackType_t *)&pxTaskBuffer[1];
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thread_handle->thread = thread;
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thread_handle->entry = entry;
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thread_handle->arg = arg;
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thread_handle->flag_free = 0;
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thread_handle->pxCreatedTask = xTaskCreateStatic(_os_thread_start,
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name,
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stack_size / sizeof(StackType_t),
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thread_handle,
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OS_KERNEL_PRIO(priority),
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puxStackBuffer,
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pxTaskBuffer);
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thread->handle = thread_handle;
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return OS_OK;
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#else
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OS_ERR("err configSUPPORT_STATIC_ALLOCATION != 1\r\n");
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return OS_FAIL;
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#endif
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}
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os_state os_thread_create(os_thread_t *thread,
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const char *name,
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os_thread_entry_t entry,
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void *arg,
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size_t stack_size,
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os_priority priority)
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{
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int ret;
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if (thread)
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{
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OS_ASS_HDL(!os_thread_is_valid(thread), thread->handle);
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}
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struct os_thread_handle *thread_handle = os_malloc(sizeof(struct os_thread_handle));
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if (thread_handle == NULL)
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{
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return OS_E_NOMEM;
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}
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if (thread == NULL)
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{
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thread = os_malloc(sizeof(os_thread_t));
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if (thread == NULL)
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{
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os_free(thread_handle);
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return OS_E_NOMEM;
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}
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memset(thread, 0, sizeof(os_thread_t));
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thread_handle->flag_free = 1;
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}
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else
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{
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thread_handle->flag_free = 0;
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}
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thread->handle = thread_handle;
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thread_handle->work_q_list = NULL;
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thread_handle->thread = thread;
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thread_handle->entry = entry;
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thread_handle->arg = arg;
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slist_init_node(&thread_handle->node);
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os_scheduler_suspend();
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slist_insert_tail(&s_thread_list, &thread_handle->node);
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os_scheduler_resume();
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ret = xTaskCreatePinnedToCore(_os_thread_start,
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name,
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stack_size / sizeof(StackType_t),
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thread_handle,
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OS_KERNEL_PRIO(priority),
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&thread_handle->pxCreatedTask,
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0);
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if (ret != pdPASS)
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{
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OS_ERR("err %d\r\n", ret);
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os_scheduler_suspend();
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slist_remove(&s_thread_list, &thread_handle->node);
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os_scheduler_resume();
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if (thread_handle->flag_free == 0)
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{
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thread->handle = NULL;
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}
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if (thread_handle->thread)
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{
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os_free(thread_handle->thread);
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}
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os_free(thread_handle);
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return OS_FAIL;
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}
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return OS_OK;
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}
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os_state os_thread_delete(os_thread_t *thread)
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{
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if (thread == NULL) /* delete self */
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{
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struct os_thread_handle *thread_handle = os_thread_get_self();
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_os_delete(thread_handle);
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vTaskDelete(NULL);
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return OS_OK;
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}
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else
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{
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OS_ASS_HDL(os_thread_is_valid(thread), thread->handle);
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struct os_thread_handle *thread_handle = thread->handle;
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vTaskDelete(thread_handle->pxCreatedTask);
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_os_delete(thread_handle);
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return OS_OK;
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}
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}
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void os_thread_sleep(os_time_t msec)
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{
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vTaskDelay((TickType_t)os_calc_msec_to_ticks(msec));
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}
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void os_thread_yield(void)
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{
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taskYIELD();
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}
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void os_thread_suspend(os_thread_t *thread)
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{
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if (thread)
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{
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OS_ASS_HDL(os_thread_is_valid(thread), thread->handle);
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struct os_thread_handle *thread_handle = thread->handle;
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vTaskSuspend(thread_handle->pxCreatedTask);
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}
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else
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{
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vTaskSuspend(NULL);
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}
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}
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void os_thread_resume(os_thread_t *thread)
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{
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OS_ASS_HDL(os_thread_is_valid(thread), thread->handle);
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struct os_thread_handle *thread_handle = thread->handle;
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vTaskResume(thread_handle->pxCreatedTask);
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}
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os_thread_handle_t os_thread_get_self(void)
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{
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os_thread_handle_t ret = NULL;
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os_scheduler_suspend();
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TaskHandle_t xTask = xTaskGetCurrentTaskHandle();
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struct os_thread_handle *thread_handle;
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struct os_thread_handle *prev_handle = NULL;
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int cnt = 0;
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SLIST_FOR_EACH_CONTAINER(&s_thread_list, thread_handle, node)
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{
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if (thread_handle->pxCreatedTask == xTask)
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{
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ret = thread_handle->thread->handle;
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break;
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}
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prev_handle = thread_handle;
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cnt++;
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}
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if (cnt > 5)
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{
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slist_remove_next(&s_thread_list, &prev_handle->node, &thread_handle->node);
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slist_insert_font(&s_thread_list, &thread_handle->node);
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}
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os_scheduler_resume();
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SYS_ASSERT(ret, "xTask: %p", xTask);
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return ret;
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}
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const char *os_thread_get_name(os_thread_t *thread)
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{
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struct os_thread_handle *thread_handle = thread->handle;
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return pcTaskGetName(thread_handle->pxCreatedTask);
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}
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size_t os_thread_stack_min(os_thread_t *thread)
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{
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#if INCLUDE_uxTaskGetStackHighWaterMark
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TaskHandle_t xTask;
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if (thread != NULL)
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{
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if (os_thread_is_valid(thread))
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{
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struct os_thread_handle *thread_handle = thread->handle;
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xTask = thread_handle->pxCreatedTask;
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}
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else
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{
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return 0;
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}
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}
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else
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{
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xTask = NULL;
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}
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extern UBaseType_t uxTaskGetStackHighWaterMark(TaskHandle_t xTask);
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return (uxTaskGetStackHighWaterMark(xTask) * sizeof(StackType_t));
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#else
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return 0;
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#endif
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}
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bool os_thread_is_valid(os_thread_t *thread)
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{
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if (thread && thread->handle)
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{
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return true;
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}
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else
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{
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return false;
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}
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}
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