vxworks.cc

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//
// Initialisation function (gets called before any user code).
//

static int& count() {
  static int the_count = 0;
  return the_count;
}

omni_thread::init_t::init_t(void)
{
	// Only do it once however many objects get created.
	if(count()++ != 0)
		return;

	attach();
}

omni_thread::init_t::~init_t(void)
{
    if (--count() != 0) return;

    omni_thread* self = omni_thread::self();
    if (!self) return;

    taskTcb(taskIdSelf())->spare1 = 0;
    delete self;

    delete next_id_mutex;
}


//
// Wrapper for thread creation.
//
extern "C" void omni_thread_wrapper(void* ptr)
{
	omni_thread* me = (omni_thread*)ptr;

	DBG_TRACE(cout<<"omni_thread_wrapper: thread "<<me->id()<<" started\n");

	//
	// We can now tweaked the task info since the tcb exist now
	//
	me->mutex.lock();	// To ensure that start has had time to finish
	taskTcb(me->tid)->spare1 = OMNI_THREAD_ID;
	taskTcb(me->tid)->spare2 = (int)ptr;
	me->mutex.unlock();

	//
	// Now invoke the thread function with the given argument.
	//
	if(me->fn_void != NULL)
	{
		(*me->fn_void)(me->thread_arg);
		omni_thread::exit();
	}

	if(me->fn_ret != NULL)
	{
		void* return_value = (*me->fn_ret)(me->thread_arg);
		omni_thread::exit(return_value);
	}

	if(me->detached)
	{
		me->run(me->thread_arg);
		omni_thread::exit();
	}
	else
	{
		void* return_value = me->run_undetached(me->thread_arg);
		omni_thread::exit(return_value);
	}
}


//
// Special functions for VxWorks only
//
void omni_thread::attach(void)
{
	DBG_TRACE(cout<<"omni_thread_attach: VxWorks mapping thread initialising\n");

	int _tid = taskIdSelf();

	// Check the task is not already attached
	if(taskTcb(_tid)->spare1 == OMNI_THREAD_ID)
		return;

	// Create the mutex required to lock the threads debugging id (create before the thread!!!)
	if(next_id_mutex == 0)
		next_id_mutex = new omni_mutex;

	// Create a thread object for THIS running process
	omni_thread* t = new omni_thread;

	// Lock its mutex straigh away!
	omni_mutex_lock l(t->mutex);

	// Adjust data members of this instance
	t->_state = STATE_RUNNING;
	t->tid = taskIdSelf();

	// Set the thread values so it can be recongnised as a omni_thread
	// Set the id last can possibly prevent race condition
	taskTcb(t->tid)->spare2 = (int)t;
	taskTcb(t->tid)->spare1 = OMNI_THREAD_ID;

	// Create the running_mutex at this stage, but leave it empty. We are not running
	//	in the task context HERE, so taking it would be disastrous.
	t->running_cond = new omni_condition(&t->mutex);
}


void omni_thread::detach(void)
{
	DBG_TRACE(cout<<"omni_thread_detach: VxWorks detaching thread mapping\n");

	int _tid = taskIdSelf();

	// Check the task has a OMNI_THREAD attached
	if(taskTcb(_tid)->spare1 != OMNI_THREAD_ID)
		return;

	// Invalidate the id NOW !
	taskTcb(_tid)->spare1 = 0;

	// Even if NULL, it is safe to delete the thread
	omni_thread* t = (omni_thread*)taskTcb(_tid)->spare2;
	// Fininsh cleaning the tcb structure
	taskTcb(_tid)->spare2 = 0;

	delete t;
}


//
// Constructors for omni_thread - set up the thread object but don't
// start it running.
//

// construct a detached thread running a given function.
omni_thread::omni_thread(void (*fn)(void*), void* arg, priority_t pri)
{
	common_constructor(arg, pri, 1);
	fn_void = fn;
	fn_ret = NULL;
}

// construct an undetached thread running a given function.
omni_thread::omni_thread(void* (*fn)(void*), void* arg, priority_t pri)
{
	common_constructor(arg, pri, 0);
	fn_void = NULL;
	fn_ret = fn;
}

// construct a thread which will run either run() or run_undetached().

omni_thread::omni_thread(void* arg, priority_t pri)
{
	common_constructor(arg, pri, 1);
	fn_void = NULL;
	fn_ret = NULL;
}

// common part of all constructors.
void omni_thread::common_constructor(void* arg, priority_t pri, int det)
{
	_state = STATE_NEW;
	_priority = pri;

	// Set the debugging id
	next_id_mutex->lock();
	_id = next_id++;
	next_id_mutex->unlock();

	// Note : tid can only be setup when the task is up and running
	tid = 0;

	thread_arg = arg;
	detached = det;		// may be altered in start_undetached()

    _dummy       = 0;
    _values      = 0;
    _value_alloc = 0;
}

//
// Destructor for omni_thread.
//
omni_thread::~omni_thread(void)
{
	DBG_TRACE(cout<<"omni_thread::~omni_thread for thread "<<id()<<endl);

    if (_values) {
        for (key_t i=0; i < _value_alloc; i++) {
	    if (_values[i]) {
	        delete _values[i];
	    }
        }
	delete [] _values;
    }

	delete running_cond;
}


//
// Start the thread
//
void omni_thread::start(void)
{
	omni_mutex_lock l(mutex);

	DBG_ASSERT(assert(_state == STATE_NEW));

	if(_state != STATE_NEW)
		DBG_THROW(throw omni_thread_invalid());

	// Allocate memory for the task. (The returned id cannot be trusted by the task)
	tid = taskSpawn(
		NULL,								 // Task name
		vxworks_priority(_priority),	// Priority
		0,									 // Option
		stack_size,						 // Stack size
		(FUNCPTR)omni_thread_wrapper, // Priority
		(int)this,							// First argument is this
		0,0,0,0,0,0,0,0,0				 // Remaining unused args
		);

	DBG_ASSERT(assert(tid!=ERROR));

	if(tid==ERROR)
		DBG_THROW(throw omni_thread_invalid());

	_state = STATE_RUNNING;

	// Create the running_mutex at this stage, but leave it empty. We are not running
	//	in the task context HERE, so taking it would be disastrous.
	running_cond = new omni_condition(&mutex);
}


//
// Start a thread which will run the member function run_undetached().
//
void omni_thread::start_undetached(void)
{
	DBG_ASSERT(assert(!((fn_void != NULL) || (fn_ret != NULL))));

	if((fn_void != NULL) || (fn_ret != NULL))
		DBG_THROW(throw omni_thread_invalid());

	detached = 0;

	start();
}


//
// join - Wait for the task to complete before returning to the calling process
//
void omni_thread::join(void** status)
{
	mutex.lock();

	if((_state != STATE_RUNNING) && (_state != STATE_TERMINATED))
	{
		mutex.unlock();

		DBG_ASSERT(assert(false));

		DBG_THROW(throw omni_thread_invalid());
	}

	mutex.unlock();

	DBG_ASSERT(assert(this != self()));

	if(this == self())
		DBG_THROW(throw omni_thread_invalid());

	DBG_ASSERT(assert(!detached));

	if(detached)
		DBG_THROW(throw omni_thread_invalid());

	mutex.lock();
	running_cond->wait();
	mutex.unlock();

	if(status)
		*status = return_val;

	delete this;
}


//
// Change this thread's priority.
//
void omni_thread::set_priority(priority_t pri)
{
	omni_mutex_lock l(mutex);

	DBG_ASSERT(assert(_state == STATE_RUNNING));

	if(_state != STATE_RUNNING)
	{
		DBG_THROW(throw omni_thread_invalid());
	}

	_priority = pri;

	if(taskPrioritySet(tid, vxworks_priority(pri))==ERROR)
	{
		DBG_ASSERT(assert(false));

		DBG_THROW(throw omni_thread_fatal(errno));
	}
}


//
// create - construct a new thread object and start it running.	Returns thread
// object if successful, null pointer if not.
//

// detached version (the entry point is a void)
omni_thread* omni_thread::create(void (*fn)(void*), void* arg, priority_t pri)
{
	omni_thread* t = new omni_thread(fn, arg, pri);

	t->start();

	return t;
}

// undetached version (the entry point is a void*)
omni_thread* omni_thread::create(void* (*fn)(void*), void* arg, priority_t pri)
{
	omni_thread* t = new omni_thread(fn, arg, pri);

	t->start();

	return t;
}


//
// exit() _must_ lock the mutex even in the case of a detached thread.	This is
// because a thread may run to completion before the thread that created it has
// had a chance to get out of start().	By locking the mutex we ensure that the
// creating thread must have reached the end of start() before we delete the
// thread object.	Of course, once the call to start() returns, the user can
// still incorrectly refer to the thread object, but that's their problem.
//
void omni_thread::exit(void* return_value)
{
	omni_thread* me = self();

	if(me)
	{
		me->mutex.lock();

		me->return_val = return_value;
		me->_state = STATE_TERMINATED;
		me->running_cond->signal();

		me->mutex.unlock();

		DBG_TRACE(cout<<"omni_thread::exit: thread "<<me->id()<<" detached "<<me->detached<<" return value "<<(int)return_value<<endl);

		if(me->detached)
			delete me;
	}
	else
		DBG_TRACE(cout<<"omni_thread::exit: called with a non-omnithread. Exit quietly."<<endl);

	taskDelete(taskIdSelf());
}


omni_thread* omni_thread::self(void)
{
	if(taskTcb(taskIdSelf())->spare1 != OMNI_THREAD_ID)
		return NULL;

	return (omni_thread*)taskTcb(taskIdSelf())->spare2;
}


void omni_thread::yield(void)
{
	taskDelay(NO_WAIT);
}


void omni_thread::sleep(unsigned long secs, unsigned long nanosecs)
{
	int tps = sysClkRateGet();

	// Convert to us to avoid overflow in the multiplication
	//	tps should always be less than 1000 !
	nanosecs /= 1000;

	taskDelay(secs*tps + (nanosecs*tps)/1000000l);
}


void omni_thread::get_time( unsigned long* abs_sec,
							unsigned long* abs_nsec,
							unsigned long rel_sec,
							unsigned long rel_nsec)
{
	timespec abs;
	clock_gettime(CLOCK_REALTIME, &abs);
	abs.tv_nsec += rel_nsec;
	abs.tv_sec += rel_sec + abs.tv_nsec / 1000000000;
	abs.tv_nsec = abs.tv_nsec % 1000000000;
	*abs_sec = abs.tv_sec;
	*abs_nsec = abs.tv_nsec;
}


int omni_thread::vxworks_priority(priority_t pri)
{
	switch (pri)
	{
	case PRIORITY_LOW:
		return omni_thread_prio_low;

	case PRIORITY_NORMAL:
		return omni_thread_prio_normal;

	case PRIORITY_HIGH:
		return omni_thread_prio_high;
	}

	DBG_ASSERT(assert(false));

	DBG_THROW(throw omni_thread_invalid());
}


void omni_thread::stacksize(unsigned long sz)
{
	stack_size = sz;
}


unsigned long omni_thread::stacksize()
{
	return stack_size;
}


void omni_thread::show(void)
{
	omni_thread *pThread;
	int s1, s2;
	int tid = taskIdSelf();

	printf("TaskId is %.8x\n", tid);

	s1 = taskTcb(tid)->spare1;

	if(s1 != OMNI_THREAD_ID)
	{
		printf("Spare 1 is %.8x, and not recongnized\n", s1);

		return;
	}
	else
	{
		printf("Spare 1 indicate an omni_thread.\n");
	}

	s2 = taskTcb(tid)->spare2;

	if(s2 == 0)
	{
		printf("Spare 2 is NULL! - No thread object attached !!\n");

		return;
	}
	else
	{
		printf("Thread object at %.8x\n", s2);
	}

	pThread = (omni_thread *)s2;

	state_t status = pThread->_state;

	printf("	| Thread status is ");

	switch (status)
	{
	case STATE_NEW:
		printf("NEW\n");		break;
	case STATE_RUNNING:
		printf("STATE_RUNNING\n"); break;
	case STATE_TERMINATED:
		printf("TERMINATED\n");	break;
	default:
		printf("Illegal (=%.8x)\n", (unsigned int)status);

		return;
	}

	if(pThread->tid != tid)
	{
		printf("	| Task ID in thread object is different!! (=%.8x)\n", pThread->tid);

		return;
	}
	else
	{
		printf("	| Task ID in thread consistent\n");
	}

	printf("\n");
}


//
// Dummy thread
//

class omni_thread_dummy : public omni_thread {
public:
  inline omni_thread_dummy() : omni_thread()
  {
    _dummy = 1;
    _state = STATE_RUNNING;

	// Adjust data members of this instance
	tid = taskIdSelf();

	// Set the thread values so it can be recongnised as a omni_thread
	// Set the id last can possibly prevent race condition
	taskTcb(tid)->spare2 = (int)this;
	taskTcb(tid)->spare1 = OMNI_THREAD_ID;
   }
  inline ~omni_thread_dummy()
  {
	taskTcb(taskIdSelf())->spare1 = 0;
  }
};

omni_thread*
omni_thread::create_dummy()
{
  if (omni_thread::self())
    throw omni_thread_invalid();

  return new omni_thread_dummy;
}

void
omni_thread::release_dummy()
{
  omni_thread* self = omni_thread::self();
  if (!self || !self->_dummy)
    throw omni_thread_invalid();

  omni_thread_dummy* dummy = (omni_thread_dummy*)self;
  delete dummy;
}


#define INSIDE_THREAD_IMPL_CC
#include "threaddata.cc"
#undef INSIDE_THREAD_IMPL_CC