/*
* Copyright (c) 2018 Intel Corporation
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <kernel.h>
#include <ksched.h>
#include <stdio.h>
#include <string.h>
#include <sys/atomic.h>
#include <debug/stack.h>
#include "wrapper.h"
static const osThreadAttr_t init_thread_attrs = {
.name = "ZephyrThread",
.attr_bits = osThreadDetached,
.cb_mem = NULL,
.cb_size = 0,
.stack_mem = NULL,
.stack_size = 0,
.priority = osPriorityNormal,
.tz_module = 0,
.reserved = 0,
};
static sys_dlist_t thread_list;
static struct cv2_thread cv2_thread_pool[CONFIG_CMSIS_V2_THREAD_MAX_COUNT];
static uint32_t thread_num;
static uint32_t thread_num_dynamic;
#if CONFIG_CMSIS_V2_THREAD_DYNAMIC_MAX_COUNT != 0
static K_THREAD_STACK_ARRAY_DEFINE(cv2_thread_stack_pool, \
CONFIG_CMSIS_V2_THREAD_DYNAMIC_MAX_COUNT, \
CONFIG_CMSIS_V2_THREAD_DYNAMIC_STACK_SIZE);
#endif
static inline int _is_thread_cmsis_inactive(struct k_thread *thread)
{
uint8_t state = thread->base.thread_state;
return state & (_THREAD_PRESTART | _THREAD_DEAD);
}
static inline uint32_t zephyr_to_cmsis_priority(uint32_t z_prio)
{
return (osPriorityISR - z_prio);
}
static inline uint32_t cmsis_to_zephyr_priority(uint32_t c_prio)
{
return (osPriorityISR - c_prio);
}
static void zephyr_thread_wrapper(void *arg1, void *arg2, void *arg3)
{
struct cv2_thread *tid = arg2;
void * (*fun_ptr)(void *) = arg3;
fun_ptr(arg1);
tid->has_joined = TRUE;
k_sem_give(&tid->join_guard);
}
void *is_cmsis_rtos_v2_thread(void *thread_id)
{
sys_dnode_t *pnode;
struct cv2_thread *itr;
SYS_DLIST_FOR_EACH_NODE(&thread_list, pnode) {
itr = CONTAINER_OF(pnode, struct cv2_thread, node);
if ((void *)itr == thread_id) {
return itr;
}
}
return NULL;
}
osThreadId_t get_cmsis_thread_id(k_tid_t tid)
{
sys_dnode_t *pnode;
struct cv2_thread *itr;
if (tid != NULL) {
SYS_DLIST_FOR_EACH_NODE(&thread_list, pnode) {
itr = CONTAINER_OF(pnode, struct cv2_thread, node);
if (&itr->z_thread == tid) {
return (osThreadId_t)itr;
}
}
}
return NULL;
}
/**
* @brief Create a thread and add it to Active Threads.
*/
osThreadId_t osThreadNew(osThreadFunc_t threadfunc, void *arg,
const osThreadAttr_t *attr)
{
int32_t prio;
osPriority_t cv2_prio;
struct cv2_thread *tid;
static uint32_t one_time;
void *stack;
size_t stack_size;
uint32_t this_thread_num;
if (k_is_in_isr()) {
return NULL;
}
if (thread_num >= CONFIG_CMSIS_V2_THREAD_MAX_COUNT) {
return NULL;
}
if (attr == NULL) {
attr = &init_thread_attrs;
}
if (attr->priority == osPriorityNone) {
cv2_prio = osPriorityNormal;
} else {
cv2_prio = attr->priority;
}
if ((attr->stack_mem == NULL) && (thread_num_dynamic >=
CONFIG_CMSIS_V2_THREAD_DYNAMIC_MAX_COUNT)) {
return NULL;
}
BUILD_ASSERT(osPriorityISR <= CONFIG_NUM_PREEMPT_PRIORITIES,
"Configure NUM_PREEMPT_PRIORITIES to at least osPriorityISR");
BUILD_ASSERT(CONFIG_CMSIS_V2_THREAD_DYNAMIC_MAX_COUNT <=
CONFIG_CMSIS_V2_THREAD_MAX_COUNT,
"Number of dynamic threads cannot exceed max number of threads.");
BUILD_ASSERT(CONFIG_CMSIS_V2_THREAD_DYNAMIC_STACK_SIZE <=
CONFIG_CMSIS_V2_THREAD_MAX_STACK_SIZE,
"Default dynamic thread stack size cannot exceed max stack size");
__ASSERT(attr->stack_size <= CONFIG_CMSIS_V2_THREAD_MAX_STACK_SIZE,
"invalid stack size\n");
__ASSERT((cv2_prio >= osPriorityIdle) && (cv2_prio <= osPriorityISR),
"invalid priority\n");
if (attr->stack_mem != NULL) {
if (attr->stack_size == 0) {
return NULL;
}
}
prio = cmsis_to_zephyr_priority(cv2_prio);
this_thread_num = atomic_inc((atomic_t *)&thread_num);
tid = &cv2_thread_pool[this_thread_num];
tid->attr_bits = attr->attr_bits;
#if CONFIG_CMSIS_V2_THREAD_DYNAMIC_MAX_COUNT != 0
if (attr->stack_mem == NULL) {
uint32_t this_thread_num_dynamic;
__ASSERT(CONFIG_CMSIS_V2_THREAD_DYNAMIC_STACK_SIZE > 0,
"dynamic stack size must be configured to be non-zero\n");
this_thread_num_dynamic =
atomic_inc((atomic_t *)&thread_num_dynamic);
stack_size = CONFIG_CMSIS_V2_THREAD_DYNAMIC_STACK_SIZE;
stack = cv2_thread_stack_pool[this_thread_num_dynamic];
} else
#endif
{
stack_size = attr->stack_size;
stack = attr->stack_mem;
}
k_poll_signal_init(&tid->poll_signal);
k_poll_event_init(&tid->poll_event, K_POLL_TYPE_SIGNAL,
K_POLL_MODE_NOTIFY_ONLY, &tid->poll_signal);
tid->signal_results = 0U;
/* TODO: Do this somewhere only once */
if (one_time == 0U) {
sys_dlist_init(&thread_list);
one_time = 1U;
}
sys_dlist_append(&thread_list, &tid->node);
k_sem_init(&tid->join_guard, 0, 1);
tid->has_joined = FALSE;
(void)k_thread_create(&tid->z_thread,
stack, stack_size,
(k_thread_entry_t)zephyr_thread_wrapper,
(void *)arg, tid, threadfunc,
prio, 0, K_NO_WAIT);
if (attr->name == NULL) {
strncpy(tid->name, init_thread_attrs.name,
sizeof(tid->name) - 1);
} else {
strncpy(tid->name, attr->name, sizeof(tid->name) - 1);
}
k_thread_name_set(&tid->z_thread, tid->name);
return (osThreadId_t)tid;
}
/**
* @brief Get name of a thread.
*/
const char *osThreadGetName(osThreadId_t thread_id)
{
const char *name = NULL;
if (k_is_in_isr() || (thread_id == NULL)) {
name = NULL;
} else {
if (is_cmsis_rtos_v2_thread(thread_id) == NULL) {
name = NULL;
} else {
struct cv2_thread *tid =
(struct cv2_thread *)thread_id;
name = k_thread_name_get(&tid->z_thread);
}
}
return name;
}
/**
* @brief Return the thread ID of the current running thread.
*/
osThreadId_t osThreadGetId(void)
{
k_tid_t tid = k_current_get();
return get_cmsis_thread_id(tid);
}
/**
* @brief Get current priority of an active thread.
*/
osPriority_t osThreadGetPriority(osThreadId_t thread_id)
{
struct cv2_thread *tid = (struct cv2_thread *)thread_id;
uint32_t priority;
if (k_is_in_isr() || (tid == NULL) ||
(is_cmsis_rtos_v2_thread(tid) == NULL) ||
(_is_thread_cmsis_inactive(&tid->z_thread))) {
return osPriorityError;
}
priority = k_thread_priority_get(&tid->z_thread);
return zephyr_to_cmsis_priority(priority);
}
/**
* @brief Change priority of an active thread.
*/
osStatus_t osThreadSetPriority(osThreadId_t thread_id, osPriority_t priority)
{
struct cv2_thread *tid = (struct cv2_thread *)thread_id;
if ((tid == NULL) || (is_cmsis_rtos_v2_thread(tid) == NULL) ||
(priority <= osPriorityNone) || (priority > osPriorityISR)) {
return osErrorParameter;
}
if (k_is_in_isr()) {
return osErrorISR;
}
if (_is_thread_cmsis_inactive(&tid->z_thread)) {
return osErrorResource;
}
k_thread_priority_set((k_tid_t)&tid->z_thread,
cmsis_to_zephyr_priority(priority));
return osOK;
}
/**
* @brief Get current thread state of a thread.
*/
osThreadState_t osThreadGetState(osThreadId_t thread_id)
{
struct cv2_thread *tid = (struct cv2_thread *)thread_id;
osThreadState_t state;
if (k_is_in_isr() || (tid == NULL) ||
(is_cmsis_rtos_v2_thread(tid) == NULL)) {
return osThreadError;
}
switch (tid->z_thread.base.thread_state) {
case _THREAD_DUMMY:
state = osThreadError;
break;
case _THREAD_PRESTART:
state = osThreadInactive;
break;
case _THREAD_DEAD:
state = osThreadTerminated;
break;
case _THREAD_SUSPENDED:
case _THREAD_PENDING:
state = osThreadBlocked;
break;
case _THREAD_QUEUED:
state = osThreadReady;
break;
default:
state = osThreadError;
break;
}
if (osThreadGetId() == thread_id) {
state = osThreadRunning;
}
return state;
}
/**
* @brief Pass control to next thread that is in READY state.
*/
osStatus_t osThreadYield(void)
{
if (k_is_in_isr()) {
return osErrorISR;
}
k_yield();
return osOK;
}
/**
* @brief Get stack size of a thread.
*/
uint32_t osThreadGetStackSize(osThreadId_t thread_id)
{
struct cv2_thread *tid = (struct cv2_thread *)thread_id;
__ASSERT(tid, "");
__ASSERT(is_cmsis_rtos_v2_thread(tid), "");
__ASSERT(!k_is_in_isr(), "");
return tid->z_thread.stack_info.size;
}
/**
* @brief Get available stack space of a thread based on stack watermark
* recording during execution.
*/
uint32_t osThreadGetStackSpace(osThreadId_t thread_id)
{
struct cv2_thread *tid = (struct cv2_thread *)thread_id;
size_t unused;
int ret;
__ASSERT(tid, "");
__ASSERT(is_cmsis_rtos_v2_thread(tid), "");
__ASSERT(!k_is_in_isr(), "");
ret = k_thread_stack_space_get(&tid->z_thread, &unused);
if (ret != 0) {
unused = 0;
}
return (uint32_t)unused;
}
/**
* @brief Suspend execution of a thread.
*/
osStatus_t osThreadSuspend(osThreadId_t thread_id)
{
struct cv2_thread *tid = (struct cv2_thread *)thread_id;
if ((tid == NULL) || (is_cmsis_rtos_v2_thread(tid) == NULL)) {
return osErrorParameter;
}
if (k_is_in_isr()) {
return osErrorISR;
}
if (_is_thread_cmsis_inactive(&tid->z_thread)) {
return osErrorResource;
}
k_thread_suspend(&tid->z_thread);
return osOK;
}
/**
* @brief Resume execution of a thread.
*/
osStatus_t osThreadResume(osThreadId_t thread_id)
{
struct cv2_thread *tid = (struct cv2_thread *)thread_id;
if ((tid == NULL) || (is_cmsis_rtos_v2_thread(tid) == NULL)) {
return osErrorParameter;
}
if (k_is_in_isr()) {
return osErrorISR;
}
if (_is_thread_cmsis_inactive(&tid->z_thread)) {
return osErrorResource;
}
k_thread_resume(&tid->z_thread);
return osOK;
}
/**
* @brief Detach a thread (thread storage can be reclaimed when thread
* terminates).
*/
osStatus_t osThreadDetach(osThreadId_t thread_id)
{
struct cv2_thread *tid = (struct cv2_thread *)thread_id;
if ((tid == NULL) || (is_cmsis_rtos_v2_thread(tid) == NULL)) {
return osErrorParameter;
}
if (k_is_in_isr()) {
return osErrorISR;
}
if (_is_thread_cmsis_inactive(&tid->z_thread)) {
return osErrorResource;
}
__ASSERT(tid->attr_bits != osThreadDetached,
"Thread already detached, behaviour undefined.");
tid->attr_bits = osThreadDetached;
k_sem_give(&tid->join_guard);
return osOK;
}
/**
* @brief Wait for specified thread to terminate.
*/
osStatus_t osThreadJoin(osThreadId_t thread_id)
{
struct cv2_thread *tid = (struct cv2_thread *)thread_id;
osStatus_t status = osError;
if ((tid == NULL) || (is_cmsis_rtos_v2_thread(tid) == NULL)) {
return osErrorParameter;
}
if (k_is_in_isr()) {
return osErrorISR;
}
if (_is_thread_cmsis_inactive(&tid->z_thread)) {
return osErrorResource;
}
if (tid->attr_bits != osThreadJoinable) {
return osErrorResource;
}
if (!tid->has_joined) {
if (k_sem_take(&tid->join_guard, K_FOREVER) != 0) {
__ASSERT(0, "Failed to take from join guard.");
}
k_sem_give(&tid->join_guard);
}
if (tid->has_joined && (tid->attr_bits == osThreadJoinable)) {
status = osOK;
} else {
status = osErrorResource;
}
return status;
}
/**
* @brief Terminate execution of current running thread.
*/
__NO_RETURN void osThreadExit(void)
{
struct cv2_thread *tid;
__ASSERT(!k_is_in_isr(), "");
tid = osThreadGetId();
k_sem_give(&tid->join_guard);
k_thread_abort((k_tid_t)&tid->z_thread);
CODE_UNREACHABLE;
}
/**
* @brief Terminate execution of a thread.
*/
osStatus_t osThreadTerminate(osThreadId_t thread_id)
{
struct cv2_thread *tid = (struct cv2_thread *)thread_id;
if ((tid == NULL) || (is_cmsis_rtos_v2_thread(tid) == NULL)) {
return osErrorParameter;
}
if (k_is_in_isr()) {
return osErrorISR;
}
if (_is_thread_cmsis_inactive(&tid->z_thread)) {
return osErrorResource;
}
k_sem_give(&tid->join_guard);
k_thread_abort((k_tid_t)&tid->z_thread);
return osOK;
}
/**
* @brief Get number of active threads.
*/
uint32_t osThreadGetCount(void)
{
struct k_thread *thread;
uint32_t count = 0U;
__ASSERT(!k_is_in_isr(), "");
for (thread = _kernel.threads; thread; thread = thread->next_thread) {
if (get_cmsis_thread_id(thread) && z_is_thread_queued(thread)) {
count++;
}
}
return count;
}
/**
* @brief Enumerate active threads.
*/
uint32_t osThreadEnumerate(osThreadId_t *thread_array, uint32_t array_items)
{
struct k_thread *thread;
uint32_t count = 0U;
osThreadId_t tid;
__ASSERT(!k_is_in_isr(), "");
__ASSERT(thread_array != NULL, "");
__ASSERT(array_items, "");
for (thread = _kernel.threads; thread; thread = thread->next_thread) {
if (count == array_items) {
break;
}
tid = get_cmsis_thread_id(thread);
if (tid != NULL) {
thread_array[count] = tid;
count++;
}
}
return (count);
}