zephyr/kernel/include/ksched.h

/*
 * Copyright (c) 2016 Wind River Systems, Inc.
 *
 * Licensed 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.
 */

#ifndef _ksched__h_
#define _ksched__h_

#include <kernel_structs.h>

extern k_tid_t const _main_thread;
extern k_tid_t const _idle_thread;

extern void _add_thread_to_ready_q(struct k_thread *thread);
extern void _remove_thread_from_ready_q(struct k_thread *thread);
extern void _reschedule_threads(int key);
extern void k_sched_unlock(void);
extern void _pend_thread(struct k_thread *thread,
			 _wait_q_t *wait_q, int32_t timeout);
extern void _pend_current_thread(_wait_q_t *wait_q, int32_t timeout);
extern void _move_thread_to_end_of_prio_q(struct k_thread *thread);
extern int __must_switch_threads(void);
#ifdef _NON_OPTIMIZED_TICKS_PER_SEC
extern int32_t _ms_to_ticks(int32_t ms);
#endif
extern void idle(void *, void *, void *);

/* find which one is the next thread to run */
/* must be called with interrupts locked */
static ALWAYS_INLINE struct k_thread *_get_next_ready_thread(void)
{
	return _ready_q.cache;
}

static inline int _is_idle_thread(void *entry_point)
{
	return entry_point == idle;
}

#ifdef CONFIG_MULTITHREADING
#define _ASSERT_VALID_PRIO(prio, entry_point) do { \
	__ASSERT(((prio) == K_IDLE_PRIO && _is_idle_thread(entry_point)) || \
		 (_is_prio_higher_or_equal((prio), \
			K_LOWEST_APPLICATION_THREAD_PRIO) && \
		  _is_prio_lower_or_equal((prio), \
			K_HIGHEST_APPLICATION_THREAD_PRIO)), \
		 "invalid priority (%d); allowed range: %d to %d", \
		 (prio), \
		 K_LOWEST_APPLICATION_THREAD_PRIO, \
		 K_HIGHEST_APPLICATION_THREAD_PRIO); \
	} while ((0))
#else
#define _ASSERT_VALID_PRIO(prio, entry_point) __ASSERT((prio) == -1, "")
#endif

/*
 * The _is_prio_higher family: I created this because higher priorities are
 * lower numerically and I always found somewhat confusing seeing, e.g.:
 *
 *   if (t1.prio < t2.prio) /# is t1's priority higher then t2's priority ? #/
 *
 * in code. And the fact that most of the time that kind of code has this
 * exact comment warrants a function where it is embedded in the name.
 *
 * IMHO, feel free to remove them and do the comparison directly if this feels
 * like overkill.
 */

static inline int _is_prio1_higher_than_or_equal_to_prio2(int prio1, int prio2)
{
	return prio1 <= prio2;
}

static inline int _is_prio_higher_or_equal(int prio1, int prio2)
{
	return _is_prio1_higher_than_or_equal_to_prio2(prio1, prio2);
}

static inline int _is_prio1_higher_than_prio2(int prio1, int prio2)
{
	return prio1 < prio2;
}

static inline int _is_prio_higher(int prio, int test_prio)
{
	return _is_prio1_higher_than_prio2(prio, test_prio);
}

static inline int _is_prio1_lower_than_or_equal_to_prio2(int prio1, int prio2)
{
	return prio1 >= prio2;
}

static inline int _is_prio_lower_or_equal(int prio1, int prio2)
{
	return _is_prio1_lower_than_or_equal_to_prio2(prio1, prio2);
}

static inline int _is_prio1_lower_than_prio2(int prio1, int prio2)
{
	return prio1 > prio2;
}

static inline int _is_prio_lower(int prio1, int prio2)
{
	return _is_prio1_lower_than_prio2(prio1, prio2);
}

static inline int _is_t1_higher_prio_than_t2(struct k_thread *t1,
					     struct k_thread *t2)
{
	return _is_prio1_higher_than_prio2(t1->base.prio, t2->base.prio);
}

static inline int _is_higher_prio_than_current(struct k_thread *thread)
{
	return _is_t1_higher_prio_than_t2(thread, _current);
}

/* is thread currenlty cooperative ? */
static inline int _is_coop(struct k_thread *thread)
{
#if defined(CONFIG_PREEMPT_ENABLED) && defined(CONFIG_COOP_ENABLED)
	return thread->base.prio < 0;
#elif defined(CONFIG_COOP_ENABLED)
	return 1;
#elif defined(CONFIG_PREEMPT_ENABLED)
	return 0;
#else
#error "Impossible configuration"
#endif
}

/* is thread currently preemptible ? */
static inline int _is_preempt(struct k_thread *thread)
{
#ifdef CONFIG_PREEMPT_ENABLED
	return !_is_coop(thread) && !thread->base.sched_locked;
#else
	return 0;
#endif
}

/* is current thread preemptible and we are not running in ISR context */
static inline int _is_current_execution_context_preemptible(void)
{
#ifdef CONFIG_PREEMPT_ENABLED
	return !_is_in_isr() && _is_preempt(_current);
#else
	return 0;
#endif
}

/* find out if priority is under priority inheritance ceiling */
static inline int _is_under_prio_ceiling(int prio)
{
	return prio >= CONFIG_PRIORITY_CEILING;
}

/*
 * Find out what priority to set a thread to taking the prio ceiling into
 * consideration.
 */
static inline int _get_new_prio_with_ceiling(int prio)
{
	return _is_under_prio_ceiling(prio) ? prio : CONFIG_PRIORITY_CEILING;
}

/* find out the prio bitmap index for a given prio */
static inline int _get_ready_q_prio_bmap_index(int prio)
{
	return (prio + CONFIG_NUM_COOP_PRIORITIES) >> 5;
}

/* find out the prio bit for a given prio */
static inline int _get_ready_q_prio_bit(int prio)
{
	return (1 << ((prio + CONFIG_NUM_COOP_PRIORITIES) & 0x1f));
}

/* find out the ready queue array index for a given prio */
static inline int _get_ready_q_q_index(int prio)
{
	return prio + CONFIG_NUM_COOP_PRIORITIES;
}

/* find out the currently highest priority where a thread is ready to run */
/* interrupts must be locked */
static inline int _get_highest_ready_prio(void)
{
	int bitmap = 0;
	uint32_t ready_range;

#if (K_NUM_PRIORITIES <= 32)
	ready_range = _ready_q.prio_bmap[0];
#else
	for (;; bitmap++) {

		__ASSERT(bitmap < K_NUM_PRIO_BITMAPS, "prio out-of-range\n");

		if (_ready_q.prio_bmap[bitmap]) {
			ready_range = _ready_q.prio_bmap[bitmap];
			break;
		}
	}
#endif

	int abs_prio = (find_lsb_set(ready_range) - 1) + (bitmap << 5);

	__ASSERT(abs_prio < K_NUM_PRIORITIES, "prio out-of-range\n");

	return abs_prio - CONFIG_NUM_COOP_PRIORITIES;
}

/*
 * Checks if current thread must be context-switched out. The caller must
 * already know that the execution context is a thread.
 */
static inline int _must_switch_threads(void)
{
	return _is_preempt(_current) && __must_switch_threads();
}

/*
 * Internal equivalent to k_sched_lock so that it does not incur a function
 * call penalty in the kernel guts.
 *
 * Must be kept in sync until the header files are cleaned-up and the
 * applications have access to the kernel internal deta structures (through
 * APIs of course).
 */
static inline void _sched_lock(void)
{
#ifdef CONFIG_PREEMPT_ENABLED
	__ASSERT(!_is_in_isr(), "");
	__ASSERT(_current->base.sched_locked != 1, "");

	--_current->base.sched_locked;

	K_DEBUG("scheduler locked (%p:%d)\n",
		_current, _current->base.sched_locked);
#endif
}

/**
 * @brief Unlock the scheduler but do NOT reschedule
 *
 * It is incumbent upon the caller to ensure that the reschedule occurs
 * sometime after the scheduler is unlocked.
 */
static ALWAYS_INLINE void _sched_unlock_no_reschedule(void)
{
#ifdef CONFIG_PREEMPT_ENABLED
	__ASSERT(!_is_in_isr(), "");
	__ASSERT(_current->base.sched_locked != 0, "");

	++_current->base.sched_locked;
#endif
}

static inline void _set_thread_states(struct k_thread *thread, uint32_t states)
{
	thread->base.thread_state |= states;
}

static inline void _reset_thread_states(struct k_thread *thread,
					uint32_t states)
{
	thread->base.thread_state &= ~states;
}

/* mark a thread as being suspended */
static inline void _mark_thread_as_suspended(struct k_thread *thread)
{
	thread->base.thread_state |= K_SUSPENDED;
}

/* mark a thread as not being suspended */
static inline void _mark_thread_as_not_suspended(struct k_thread *thread)
{
	thread->base.thread_state &= ~K_SUSPENDED;
}

static ALWAYS_INLINE int _is_thread_timeout_expired(struct k_thread *thread)
{
#ifdef CONFIG_SYS_CLOCK_EXISTS
	return thread->base.timeout.delta_ticks_from_prev == _EXPIRED;
#else
	return 0;
#endif
}

/* check if a thread is on the timeout queue */
static inline int _is_thread_timeout_active(struct k_thread *thread)
{
#ifdef CONFIG_SYS_CLOCK_EXISTS
	return thread->base.timeout.delta_ticks_from_prev != _INACTIVE;
#else
	return 0;
#endif
}

static inline int _has_thread_started(struct k_thread *thread)
{
	return !(thread->base.thread_state & K_PRESTART);
}

static inline int _is_thread_prevented_from_running(struct k_thread *thread)
{
	return thread->base.thread_state & (K_PENDING   | K_PRESTART |
					    K_DEAD      | K_DUMMY    |
					    K_SUSPENDED);

}

/* check if a thread is ready */
static inline int _is_thread_ready(struct k_thread *thread)
{
	return !(_is_thread_prevented_from_running(thread) ||
		 _is_thread_timeout_active(thread));
}

/* mark a thread as pending in its TCS */
static inline void _mark_thread_as_pending(struct k_thread *thread)
{
	thread->base.thread_state |= K_PENDING;
}

/* mark a thread as not pending in its TCS */
static inline void _mark_thread_as_not_pending(struct k_thread *thread)
{
	thread->base.thread_state &= ~K_PENDING;
}

/* check if a thread is pending */
static inline int _is_thread_pending(struct k_thread *thread)
{
	return !!(thread->base.thread_state & K_PENDING);
}

/**
 * @brief Mark a thread as started
 *
 * This routine must be called with interrupts locked.
 */
static inline void _mark_thread_as_started(struct k_thread *thread)
{
	thread->base.thread_state &= ~K_PRESTART;
}

/*
 * Put the thread in the ready queue according to its priority if it is not
 * blocked for another reason (eg. suspended).
 *
 * Must be called with interrupts locked.
 */
static inline void _ready_thread(struct k_thread *thread)
{
	__ASSERT(_is_prio_higher(thread->base.prio, K_LOWEST_THREAD_PRIO) ||
		 ((thread->base.prio == K_LOWEST_THREAD_PRIO) &&
		  (thread == _idle_thread)),
		 "thread %p prio too low (is %d, cannot be lower than %d)",
		 thread, thread->base.prio,
		 thread == _idle_thread ? K_LOWEST_THREAD_PRIO :
					  K_LOWEST_APPLICATION_THREAD_PRIO);

	__ASSERT(!_is_prio_higher(thread->base.prio, K_HIGHEST_THREAD_PRIO),
		 "thread %p prio too high (id %d, cannot be higher than %d)",
		 thread, thread->base.prio, K_HIGHEST_THREAD_PRIO);

	/* needed to handle the start-with-delay case */
	_mark_thread_as_started(thread);

	if (_is_thread_ready(thread)) {
		_add_thread_to_ready_q(thread);
	}
}

/**
 * @brief Mark thread as dead
 *
 * This routine must be called with interrupts locked.
 */
static inline void _mark_thread_as_dead(struct k_thread *thread)
{
	thread->base.thread_state |= K_DEAD;
}

/*
 * Set a thread's priority. If the thread is ready, place it in the correct
 * queue.
 */
/* must be called with interrupts locked */
static inline void _thread_priority_set(struct k_thread *thread, int prio)
{
	if (_is_thread_ready(thread)) {
		_remove_thread_from_ready_q(thread);
		thread->base.prio = prio;
		_add_thread_to_ready_q(thread);
	} else {
		thread->base.prio = prio;
	}
}

/* check if thread is a thread pending on a particular wait queue */
static inline struct k_thread *_peek_first_pending_thread(_wait_q_t *wait_q)
{
	return (struct k_thread *)sys_dlist_peek_head(wait_q);
}

static inline struct k_thread *_get_thread_to_unpend(_wait_q_t *wait_q)
{
#ifdef CONFIG_SYS_CLOCK_EXISTS
	extern volatile int _handling_timeouts;

	if (_handling_timeouts) {
		sys_dlist_t *q = (sys_dlist_t *)wait_q;
		sys_dnode_t *cur, *next;

		/* skip threads that have an expired timeout */
		SYS_DLIST_FOR_EACH_NODE_SAFE(q, cur, next) {
			struct k_thread *thread = (struct k_thread *)cur;

			if (_is_thread_timeout_expired(thread)) {
				continue;
			}

			sys_dlist_remove(cur);
			return thread;
		}
		return NULL;
	}
#endif

	return (struct k_thread *)sys_dlist_get(wait_q);
}

/* unpend the first thread from a wait queue */
/* must be called with interrupts locked */
static inline struct k_thread *_unpend_first_thread(_wait_q_t *wait_q)
{
	struct k_thread *thread = _get_thread_to_unpend(wait_q);

	if (thread) {
		_mark_thread_as_not_pending(thread);
	}

	return thread;
}

/* Unpend a thread from the wait queue it is on. Thread must be pending. */
/* must be called with interrupts locked */
static inline void _unpend_thread(struct k_thread *thread)
{
	__ASSERT(thread->base.thread_state & K_PENDING, "");

	sys_dlist_remove(&thread->base.k_q_node);
	_mark_thread_as_not_pending(thread);
}

#endif /* _ksched__h_ */