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//==========================================================================
//
//      sched/sched.cxx
//
//      Scheduler class implementations
//
//==========================================================================
//####ECOSGPLCOPYRIGHTBEGIN####
// -------------------------------------------
// This file is part of eCos, the Embedded Configurable Operating System.
// Copyright (C) 1998, 1999, 2000, 2001, 2002 Red Hat, Inc.
//
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// for more details.
//
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//
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// or inline functions from this file, or you compile this file and link it
// with other works to produce a work based on this file, this file does not
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// -------------------------------------------
//####ECOSGPLCOPYRIGHTEND####
//==========================================================================
//#####DESCRIPTIONBEGIN####
//
// Author(s):   nickg
// Contributors:        nickg
// Date:        1997-09-15
// Purpose:     Scheduler class implementation
// Description: This file contains the definitions of the scheduler class
//              member functions that are common to all scheduler
//              implementations.
//
//####DESCRIPTIONEND####
//
//==========================================================================
 
#include <pkgconf/kernel.h>
 
#include <cyg/kernel/ktypes.h>         // base kernel types
#include <cyg/infra/cyg_trac.h>        // tracing macros
#include <cyg/infra/cyg_ass.h>         // assertion macros
#include <cyg/kernel/instrmnt.h>       // instrumentation
 
#include <cyg/kernel/sched.hxx>        // our header
 
#include <cyg/kernel/thread.hxx>       // thread classes
#include <cyg/kernel/intr.hxx>         // Interrupt interface
 
#include <cyg/hal/hal_arch.h>          // Architecture specific definitions
 
#include <cyg/kernel/thread.inl>       // thread inlines
#include <cyg/kernel/sched.inl>        // scheduler inlines
 
//-------------------------------------------------------------------------
// Some local tracing control - a default.
#ifdef CYGDBG_USE_TRACING
# if !defined( CYGDBG_INFRA_DEBUG_TRACE_ASSERT_SIMPLE ) && \
     !defined( CYGDBG_INFRA_DEBUG_TRACE_ASSERT_FANCY  )
   // ie. not a tracing implementation that takes a long time to output
 
#  ifndef CYGDBG_KERNEL_TRACE_UNLOCK_INNER
#   define CYGDBG_KERNEL_TRACE_UNLOCK_INNER
#  endif // control not already defined
 
# endif  // trace implementation not ..._SIMPLE && not ..._FANCY
#endif   // CYGDBG_USE_TRACING
 
// -------------------------------------------------------------------------
// Static Cyg_Scheduler class members
 
// We start with sched_lock at 1 so that any kernel code we
// call during initialization will not try to reschedule.
 
CYGIMP_KERNEL_SCHED_LOCK_DEFINITIONS;
 
Cyg_Thread              *volatile Cyg_Scheduler_Base::current_thread[CYGNUM_KERNEL_CPU_MAX];
 
volatile cyg_bool       Cyg_Scheduler_Base::need_reschedule[CYGNUM_KERNEL_CPU_MAX];
 
Cyg_Scheduler           Cyg_Scheduler::scheduler CYG_INIT_PRIORITY( SCHEDULER );
 
volatile cyg_ucount32   Cyg_Scheduler_Base::thread_switches[CYGNUM_KERNEL_CPU_MAX];
 
#ifdef CYGPKG_KERNEL_SMP_SUPPORT
 
CYG_BYTE cyg_sched_cpu_interrupt[CYGNUM_KERNEL_CPU_MAX][sizeof(Cyg_Interrupt)]
                                 CYGBLD_ANNOTATE_VARIABLE_SCHED;
 
__externC cyg_ISR cyg_hal_cpu_message_isr;
__externC cyg_DSR cyg_hal_cpu_message_dsr;
 
inline void *operator new(size_t size, void *ptr) { return ptr; };
 
#endif
 
// -------------------------------------------------------------------------
// Scheduler unlock function.
 
// This is only called when there is the potential for real work to be
// done. Other cases are handled in Cyg_Scheduler::unlock() which is
// an inline; _or_ this function may have been called from
// Cyg_Scheduler::reschedule(), or Cyg_Scheduler::unlock_reschedule. The
// new_lock argument contains the value that the scheduler lock should
// have after this function has completed. If it is zero then the lock is
// being released and some extra work (running ASRs, checking for DSRs) is
// done before returning. If it is non-zero then it must equal the
// current value of the lock, and is used to indicate that we want to
// reacquire the scheduler lock before returning. This latter option
// only makes any sense if the current thread is no longer runnable,
// e.g. sleeping, otherwise this function will do nothing.
// This approach of passing in the lock value at the end effectively
// makes the scheduler lock a form of per-thread variable. Each call
// to unlock_inner() carries with it the value the scheduler should
// have when it reschedules this thread back, and leaves this function.
// When it is non-zero, and the thread is rescheduled, no ASRS are run,
// or DSRs processed. By doing this, it makes it possible for threads
// that want to go to sleep to wake up with the scheduler lock in the
// same state it was in before.
 
void Cyg_Scheduler::unlock_inner( cyg_ucount32 new_lock )
{
#ifdef CYGDBG_KERNEL_TRACE_UNLOCK_INNER
    CYG_REPORT_FUNCTION();
#endif    
 
    do {
 
        CYG_PRECONDITION( new_lock==0 ? get_sched_lock() == 1 :
                          ((get_sched_lock() == new_lock) || (get_sched_lock() == new_lock+1)),
                          "sched_lock not at expected value" );
 
#ifdef CYGIMP_KERNEL_INTERRUPTS_DSRS
 
        // Call any pending DSRs. Do this here to ensure that any
        // threads that get awakened are properly scheduled.
 
        if( new_lock == 0 && Cyg_Interrupt::DSRs_pending() )
            Cyg_Interrupt::call_pending_DSRs();
#endif
 
        Cyg_Thread *current = get_current_thread();
 
        CYG_ASSERTCLASS( current, "Bad current thread" );
 
#ifdef CYGFUN_KERNEL_ALL_THREADS_STACK_CHECKING
        // should have  CYGVAR_KERNEL_THREADS_LIST
        current = Cyg_Thread::get_list_head();
        while ( current ) {
            current->check_stack();
            current = current->get_list_next();
        }
        current = get_current_thread();
#endif
 
#ifdef CYGFUN_KERNEL_THREADS_STACK_CHECKING
        current->check_stack();
#endif
 
        // If the current thread is going to sleep, or someone
        // wants a reschedule, choose another thread to run
 
        if( current->state != Cyg_Thread::RUNNING || get_need_reschedule() ) {
 
            CYG_INSTRUMENT_SCHED(RESCHEDULE,0,0);
 
            // Get the next thread to run from scheduler
            Cyg_Thread *next = scheduler.schedule();
 
            CYG_CHECK_DATA_PTR( next, "Invalid next thread pointer");
            CYG_ASSERTCLASS( next, "Bad next thread" );
 
            if( current != next )
            {
 
                CYG_INSTRUMENT_THREAD(SWITCH,current,next);
 
                // Count this thread switch
                thread_switches[CYG_KERNEL_CPU_THIS()]++;
 
#ifdef CYGFUN_KERNEL_THREADS_STACK_CHECKING
                next->check_stack(); // before running it
#endif
 
                // Switch contexts
                HAL_THREAD_SWITCH_CONTEXT( &current->stack_ptr,
                                           &next->stack_ptr );
 
                // Worry here about possible compiler
                // optimizations across the above call that may try to
                // propogate common subexpresions.  We would end up
                // with the expression from one thread in its
                // successor. This is only a worry if we do not save
                // and restore the complete register set. We need a
                // way of marking functions that return into a
                // different context. A temporary fix would be to
                // disable CSE (-fdisable-cse) in the compiler.
 
                // We return here only when the current thread is
                // rescheduled.  There is a bit of housekeeping to do
                // here before we are allowed to go on our way.
 
                CYG_CHECK_DATA_PTR( current, "Invalid current thread pointer");
                CYG_ASSERTCLASS( current, "Bad current thread" );
 
                current_thread[CYG_KERNEL_CPU_THIS()] = current;   // restore current thread pointer
            }
 
#ifdef CYGSEM_KERNEL_SCHED_TIMESLICE
            // Reset the timeslice counter so that this thread gets a full
            // quantum. 
            reset_timeslice_count();
#endif
 
            clear_need_reschedule();    // finished rescheduling
        }
 
        if( new_lock == 0 )
        {
 
#ifdef CYGSEM_KERNEL_SCHED_ASR_SUPPORT
 
            // Check whether the ASR is pending and not inhibited.  If
            // we can call it, then transfer this info to a local
            // variable (call_asr) and clear the pending flag.  Note
            // that we only do this if the scheduler lock is about to
            // be zeroed. In any other circumstance we are not
            // unlocking.
 
            cyg_bool call_asr = false;
 
            if( (current->asr_inhibit == 0) && current->asr_pending )
            {
                call_asr = true;
                current->asr_pending = false;
            }
#endif
 
            HAL_REORDER_BARRIER(); // Make sure everything above has happened
                                   // by this point
            zero_sched_lock();     // Clear the lock
            HAL_REORDER_BARRIER();
 
#ifdef CYGIMP_KERNEL_INTERRUPTS_DSRS
 
            // Now check whether any DSRs got posted during the thread
            // switch and if so, go around again. Making this test after
            // the lock has been zeroed avoids a race condition in which
            // a DSR could have been posted during a reschedule, but would
            // not be run until the _next_ time we release the sched lock.
 
            if( Cyg_Interrupt::DSRs_pending() ) {
                inc_sched_lock();   // reclaim the lock
                continue;           // go back to head of loop
            }
 
#endif
            // Otherwise the lock is zero, we can return.
 
//            CYG_POSTCONDITION( get_sched_lock() == 0, "sched_lock not zero" );
 
#ifdef CYGSEM_KERNEL_SCHED_ASR_SUPPORT
            // If the test within the sched_lock indicating that the ASR
            // be called was true, call it here. Calling the ASR must be
            // the very last thing we do here, since it must run as close
            // to "user" state as possible.
 
            if( call_asr ) current->asr(current->asr_data);
#endif
 
        }
        else
        {
            // If new_lock is non-zero then we restore the sched_lock to
            // the value given.
 
            HAL_REORDER_BARRIER();
 
            set_sched_lock(new_lock);
 
            HAL_REORDER_BARRIER();            
        }
 
#ifdef CYGDBG_KERNEL_TRACE_UNLOCK_INNER
        CYG_REPORT_RETURN();
#endif
        return;
 
    } while( 1 );
 
    CYG_FAIL( "Should not be executed" );
}
 
// -------------------------------------------------------------------------
// Start the scheduler. This is called after the initial threads have been
// created to start scheduling. It gets any other CPUs running, and then
// enters the scheduler.
 
void Cyg_Scheduler::start()
{
    CYG_REPORT_FUNCTION();
 
#ifdef CYGPKG_KERNEL_SMP_SUPPORT
 
    HAL_SMP_CPU_TYPE cpu;
 
    for( cpu = 0; cpu < CYG_KERNEL_CPU_COUNT(); cpu++ )
    {
        // Don't start this CPU, it is running already!
        if( cpu == CYG_KERNEL_CPU_THIS() )
            continue;
 
        CYG_KERNEL_CPU_START( cpu );
    }
 
#endif    
 
    start_cpu();
}
 
// -------------------------------------------------------------------------
// Start scheduling on this CPU. This is called on each CPU in the system
// when it is started.
 
void Cyg_Scheduler::start_cpu()
{
    CYG_REPORT_FUNCTION();
 
#ifdef CYGPKG_KERNEL_SMP_SUPPORT
 
    // Set up the inter-CPU interrupt for this CPU
 
    Cyg_Interrupt * intr = new( (void *)&cyg_sched_cpu_interrupt[HAL_SMP_CPU_THIS()] )
        Cyg_Interrupt( CYGNUM_HAL_SMP_CPU_INTERRUPT_VECTOR( HAL_SMP_CPU_THIS() ),
                       0,
                       0,
                       cyg_hal_cpu_message_isr,
                       cyg_hal_cpu_message_dsr
                     );
 
    intr->set_cpu( intr->get_vector(), HAL_SMP_CPU_THIS() );
 
    intr->attach();
 
    intr->unmask_interrupt( intr->get_vector() );
 
#endif    
 
    // Get the first thread to run from scheduler
    register Cyg_Thread *next = scheduler.schedule();
 
    CYG_ASSERTCLASS( next, "Bad initial thread" );
 
    clear_need_reschedule();            // finished rescheduling
    set_current_thread(next);           // restore current thread pointer
 
#ifdef CYGVAR_KERNEL_COUNTERS_CLOCK
    // Reference the real time clock. This ensures that at least one
    // reference to the kernel_clock.o object exists, without which
    // the object will not be included while linking.
    CYG_REFERENCE_OBJECT( Cyg_Clock::real_time_clock );
#endif
 
    // Load the first thread. This will also enable interrupts since
    // the initial state of all threads is to have interrupts enabled.
 
    HAL_THREAD_LOAD_CONTEXT( &next->stack_ptr );    
 
}
 
// -------------------------------------------------------------------------
// SMP support functions
 
#ifdef CYGPKG_KERNEL_SMP_SUPPORT
 
// This is called on each secondary CPU on its interrupt stack after
// the initial CPU has initialized the world.
 
externC void cyg_kernel_smp_startup()
{
    CYG_INSTRUMENT_SMP( CPU_START, CYG_KERNEL_CPU_THIS(), 0 );
    Cyg_Scheduler::lock();
    Cyg_Scheduler::start_cpu();
}
 
// This is called from the DSR of the inter-CPU interrupt to cause a
// reschedule when the scheduler lock is zeroed.
 
__externC void cyg_scheduler_set_need_reschedule()
{
    CYG_INSTRUMENT_SMP( RESCHED_RECV, 0, 0 );    
    Cyg_Scheduler::need_reschedule[HAL_SMP_CPU_THIS()] = true;
}
 
#endif
 
// -------------------------------------------------------------------------
// Consistency checker
 
#ifdef CYGDBG_USE_ASSERTS
 
cyg_bool Cyg_Scheduler::check_this( cyg_assert_class_zeal zeal) const
{
    CYG_REPORT_FUNCTION();
 
    // check that we have a non-NULL pointer first
    if( this == NULL ) return false;
 
    switch( zeal )
    {
    case cyg_system_test:
    case cyg_extreme:
    case cyg_thorough:
        if( !get_current_thread()->check_this(zeal) ) return false;
    case cyg_quick:
    case cyg_trivial:
    case cyg_none:
    default:
        break;
    };
 
    return true;
}
 
#endif
 
//==========================================================================
// SchedThread members
 
// -------------------------------------------------------------------------
// Static data members
 
#ifdef CYGSEM_KERNEL_SCHED_ASR_SUPPORT
 
# ifdef CYGSEM_KERNEL_SCHED_ASR_GLOBAL
Cyg_ASR *Cyg_SchedThread::asr = &Cyg_SchedThread::asr_default;
# endif
 
# ifdef CYGSEM_KERNEL_SCHED_ASR_DATA_GLOBAL
CYG_ADDRWORD Cyg_SchedThread::asr_data = 0;
# endif
 
#endif // CYGSEM_KERNEL_SCHED_ASR_SUPPORT
 
// -------------------------------------------------------------------------
// Constructor
 
Cyg_SchedThread::Cyg_SchedThread(Cyg_Thread *thread, CYG_ADDRWORD sched_info)
: Cyg_SchedThread_Implementation(sched_info)
{
    CYG_REPORT_FUNCTION();
 
    queue = NULL;
 
#ifdef CYGSEM_KERNEL_SYNCH_MUTEX_PRIORITY_INVERSION_PROTOCOL
 
    mutex_count = 0;
 
#ifdef CYGSEM_KERNEL_SYNCH_MUTEX_PRIORITY_INVERSION_PROTOCOL_SIMPLE
 
    priority_inherited = false;
 
#endif
#endif
 
#ifdef CYGSEM_KERNEL_SCHED_ASR_SUPPORT
 
    asr_inhibit = 0;
    asr_pending = false;
 
#ifndef CYGSEM_KERNEL_SCHED_ASR_GLOBAL
    asr = asr_default;
#endif
#ifdef CYGSEM_KERNEL_SCHED_ASR_DATA_GLOBAL
    asr_data = NULL
#endif        
 
#endif    
}
 
// -------------------------------------------------------------------------
// ASR support functions
 
#ifdef CYGSEM_KERNEL_SCHED_ASR_SUPPORT
 
// -------------------------------------------------------------------------
// Set ASR
// Install a new ASR, returning the old one.
 
void Cyg_SchedThread::set_asr( Cyg_ASR  *new_asr, CYG_ADDRWORD  new_data,
                  Cyg_ASR **old_asr, CYG_ADDRWORD *old_data)
{
    CYG_REPORT_FUNCTION();
 
    // Do this with the scheduler locked...
    Cyg_Scheduler::lock();
 
    if( old_asr != NULL ) *old_asr = asr;
    if( old_data != NULL ) *old_data = asr_data;
 
    // If new_asr is NULL, do not change the ASR,
    // but only change the data.
    if( new_asr != NULL ) asr = new_asr;
    asr_data = new_data;
 
    Cyg_Scheduler::unlock();
}
 
// -------------------------------------------------------------------------
// Clear ASR
 
void Cyg_SchedThread::clear_asr()
{
    CYG_REPORT_FUNCTION();
 
    // Do this with the scheduler locked...
    Cyg_Scheduler::lock();
 
    // Reset ASR to default.
    asr = asr_default;
    asr_data = 0;
 
    Cyg_Scheduler::unlock();    
}
 
// -------------------------------------------------------------------------
// Default ASR function.
// having this avoids our having to worry about ever seeing a NULL
// pointer as the ASR function.
 
void Cyg_SchedThread::asr_default(CYG_ADDRWORD data)
{
    CYG_REPORT_FUNCTION();
 
    data=data;
    return;
}
 
#endif
 
// -------------------------------------------------------------------------
// Generic priority protocol support
 
#ifdef CYGSEM_KERNEL_SYNCH_MUTEX_PRIORITY_INVERSION_PROTOCOL
 
void Cyg_SchedThread::set_inherited_priority( cyg_priority pri, Cyg_Thread *thread )
{
    CYG_REPORT_FUNCTION();
 
#ifdef CYGSEM_KERNEL_SYNCH_MUTEX_PRIORITY_INVERSION_PROTOCOL_SIMPLE
 
    // This is the comon code for priority inheritance and ceiling
    // protocols. This implementation provides a simplified version of
    // the protocol.
 
    Cyg_Thread *self = CYG_CLASSFROMBASE(Cyg_Thread,
                                         Cyg_SchedThread,
                                         this);
 
    CYG_ASSERT( mutex_count > 0, "Non-positive mutex count");
 
    // Compare with *current* priority in case thread has already
    // inherited - for relay case below.
    if( pri < priority )
    {
        cyg_priority mypri = priority;
        cyg_bool already_inherited = priority_inherited;
 
        // If this is first inheritance, copy the old pri
        // and set inherited flag. We clear it before setting the
        // pri since set_priority() is inheritance aware.
        // This is called with the sched locked, so no race conditions.
 
        priority_inherited = false;     // so that set_prio DTRT
 
        self->set_priority( pri );            
 
        if( !already_inherited )
            original_priority = mypri;
 
        priority_inherited = true;      // regardless, because it is now
 
    }
 
#endif
}
 
void Cyg_SchedThread::relay_inherited_priority( Cyg_Thread *ex_owner, Cyg_ThreadQueue *pqueue)
{
    CYG_REPORT_FUNCTION();
 
#ifdef CYGSEM_KERNEL_SYNCH_MUTEX_PRIORITY_INVERSION_PROTOCOL_SIMPLE
 
    // A simple implementation of priority inheritance.
    // At its simplest, this member does nothing.
 
    // If there is anyone else waiting, then the *new* owner inherits from
    // the current one, since that is a maxima of the others waiting.
    // (It's worth not doing if there's nobody waiting to prevent
    // unneccessary priority skew.)  This could be viewed as a discovered
    // priority ceiling.
 
    if ( !pqueue->empty() )
        set_inherited_priority( ex_owner->get_current_priority(), ex_owner );
 
#endif
}
 
void Cyg_SchedThread::clear_inherited_priority()
{
    CYG_REPORT_FUNCTION();
 
#ifdef CYGSEM_KERNEL_SYNCH_MUTEX_PRIORITY_INVERSION_PROTOCOL_SIMPLE
 
    // A simple implementation of priority inheritance/ceiling
    // protocols.  The simplification in this algorithm is that we do
    // not reduce our priority until we have freed all mutexes
    // claimed. Hence we can continue to run at an artificially high
    // priority even when we should not.  However, since nested
    // mutexes are rare, the thread we have inherited from is likely
    // to be locking the same mutexes we are, and mutex claim periods
    // should be very short, the performance difference between this
    // and a more complex algorithm should be negligible. The most
    // important advantage of this algorithm is that it is fast and
    // deterministic.
 
    Cyg_Thread *self = CYG_CLASSFROMBASE(Cyg_Thread,
                                         Cyg_SchedThread,
                                         this);
 
    CYG_ASSERT( mutex_count >= 0, "Non-positive mutex count");
 
    if( mutex_count == 0 && priority_inherited )
    {
        priority_inherited = false;
 
        // Only make an effort if the priority must change
        if( priority < original_priority )
            self->set_priority( original_priority );
 
    }
 
#endif        
}
 
#endif // CYGSEM_KERNEL_SYNCH_MUTEX_PRIORITY_INVERSION_PROTOCOL
 
// -------------------------------------------------------------------------
// Priority inheritance support.
 
#ifdef CYGSEM_KERNEL_SYNCH_MUTEX_PRIORITY_INVERSION_PROTOCOL_INHERIT
 
// -------------------------------------------------------------------------
// Inherit the priority of the provided thread if it
// has a higher priority than ours.
 
void Cyg_SchedThread::inherit_priority( Cyg_Thread *thread)
{
    CYG_REPORT_FUNCTION();
 
    Cyg_Thread *self = CYG_CLASSFROMBASE(Cyg_Thread,
                                         Cyg_SchedThread,
                                         this);
 
    CYG_ASSERT( mutex_count > 0, "Non-positive mutex count");
    CYG_ASSERT( self != thread, "Trying to inherit from self!");
 
    self->set_inherited_priority( thread->get_current_priority(), thread );
 
}
 
// -------------------------------------------------------------------------
// Inherit the priority of the ex-owner thread or from the queue if it
// has a higher priority than ours.
 
void Cyg_SchedThread::relay_priority( Cyg_Thread *ex_owner, Cyg_ThreadQueue *pqueue)
{
    CYG_REPORT_FUNCTION();
 
    relay_inherited_priority( ex_owner, pqueue );
}
 
// -------------------------------------------------------------------------
// Lose a priority inheritance
 
void Cyg_SchedThread::disinherit_priority()
{
    CYG_REPORT_FUNCTION();
 
    CYG_ASSERT( mutex_count >= 0, "Non-positive mutex count");
 
    clear_inherited_priority();
}
 
#endif // CYGSEM_KERNEL_SYNCH_MUTEX_PRIORITY_INVERSION_PROTOCOL_INHERIT
 
// -------------------------------------------------------------------------
// Priority ceiling support
 
#ifdef CYGSEM_KERNEL_SYNCH_MUTEX_PRIORITY_INVERSION_PROTOCOL_CEILING
 
void Cyg_SchedThread::set_priority_ceiling( cyg_priority pri )
{
    CYG_REPORT_FUNCTION();
 
    CYG_ASSERT( mutex_count > 0, "Non-positive mutex count");
 
    set_inherited_priority( pri );
 
}
 
void Cyg_SchedThread::clear_priority_ceiling( )
{
    CYG_REPORT_FUNCTION();
 
    CYG_ASSERT( mutex_count >= 0, "Non-positive mutex count");
 
    clear_inherited_priority();
}
 
#endif // CYGSEM_KERNEL_SYNCH_MUTEX_PRIORITY_INVERSION_PROTOCOL_CEILING
 
// -------------------------------------------------------------------------
// EOF sched/sched.cxx