/* * Copyright (C) 2001,2002,2003 Philippe Gerum <rpm@xenomai.org>. * * Xenomai is free software; you can redistribute it and/or modify it * under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * Xenomai is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU * General Public License for more details. * * You should have received a copy of the GNU General Public License * along with Xenomai; if not, write to the Free Software Foundation, * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * * As a special exception, the RTAI project gives permission * for additional uses of the text contained in its release of * Xenomai. * * The exception is that, if you link the Xenomai libraries with other * files to produce an executable, this does not by itself cause the * resulting executable to be covered by the GNU General Public License. * Your use of that executable is in no way restricted on account of * linking the Xenomai libraries code into it. * * This exception does not however invalidate any other reasons why * the executable file might be covered by the GNU General Public * License. * * This exception applies only to the code released by the * RTAI project under the name Xenomai.  If you copy code from other * RTAI project releases into a copy of Xenomai, as the General Public * License permits, the exception does not apply to the code that you * add in this way.  To avoid misleading anyone as to the status of * such modified files, you must delete this exception notice from * them. * * If you write modifications of your own for Xenomai, it is your * choice whether to permit this exception to apply to your * modifications. If you do not wish that, delete this exception * notice. */#ifndef _xenomai_thread_h#define _xenomai_thread_h#include "xenomai/timer.h"/* Status flags */#define XNSUSP    0x00000001	/* Suspended */#define XNPEND    0x00000002	/* Sleep-wait for a resource */#define XNDELAY   0x00000004	/* Delayed */#define XNREADY   0x00000008	/* Linked to the ready queue */#define XNDORMANT 0x00000010	/* In startable state */#define XNWMUTEX  0x00000020	/* Ready-wait for a kernel mutex */#define XNFROZEN  0x00000040	/* Frozen by debugger */#define XNZOMBIE  0x00000080	/* Self-deleting running thread */#define XNRESTART 0x00000100	/* Restarting thread */#define XNSTARTED 0x00000200	/* Can be restarted */#define XNRELAX   0x00000400	/* Relaxed scheduling mode (a blocking bit) */#define XNAUTOSW  0x00000800	/* Auto-switch to RTAI on return from Linux */#define XNTIMEO   0x00001000	/* Woken up due to a timeout condition */#define XNRMID    0x00002000	/* Pending on a removed resource */#define XNBREAK   0x00004000	/* Forcibly woken up from a wait state */#define XNBOOST   0x00008000	/* Undergoes regular PIP boost */#define XNSYSSW   0x00010000	/* Migration due to syscall handling *//* Mode flags. */#define XNLOCK    0x00020000	/* Not preemptable */#define XNRRB     0x00040000	/* Undergoes a round-robin scheduling */#define XNASDI    0x00080000	/* ASR are disabled */#define XNFPU     0x00100000	/* Thread uses FPU */#define XNISVC    0x00200000	/* Interrupt svc thread -- Don't freeze */#define XNSHADOW  0x00400000	/* Shadow thread */#define XNROOT    0x00800000	/* Root thread (i.e. Linux/IDLE) */#define XNTHREAD_BLOCK_BITS  (XNSUSP|XNPEND|XNDELAY|XNDORMANT|XNFROZEN|XNRELAX)#define XNTHREAD_MODE_BITS   (XNLOCK|XNRRB|XNASDI)#define XNTHREAD_SYSTEM_BITS (XNISVC|XNROOT)/* These flags are available to the real-time interfaces */#define XNTHREAD_SPARE0  0x10000000#define XNTHREAD_SPARE1  0x20000000#define XNTHREAD_SPARE2  0x40000000#define XNTHREAD_SPARE3  0x80000000#define XNRUNNING  XNTHREAD_SPARE0	/* Pseudo-status (must not conflict with system bits) */#define XNDELETED  XNTHREAD_SPARE1	/* idem. */#define XNTHREAD_INVALID_ASR  ((void (*)(xnsigmask_t))0)#define XNTHREAD_SHADOW_SIGKILL  0x1struct xnsched;struct xnsynch;struct xnmutex;typedef void (*xnasr_t)(xnsigmask_t sigs);typedef struct xnthread {    xnarchtcb_t tcb;		/* Architecture-dependent block -- Must be first */    xnflags_t status;		/* Thread status flags */    struct xnsched *sched;	/* Thread scheduler */    int bprio;			/* Base priority (before PIP boost) */    int cprio;			/* Current priority */    unsigned magic;		/* Skin magic. */    char name[XNOBJECT_NAME_LEN]; /* Symbolic name of thread */    xnticks_t rrperiod;		/* Allotted round-robin period (ticks) */    xnticks_t rrcredit;		/* Remaining round-robin time credit (ticks) */    xnholder_t slink;		/* Thread holder in suspend queue */    xnpholder_t rlink;		/* Thread holder in ready queue */    xnpholder_t plink;		/* Thread holder in synchronization queue(s) */    xnholder_t glink;		/* Thread holder in global queue *//* We don't want side-effects on laddr here! */#define link2thread(laddr,link) \((xnthread_t *)(((char *)laddr) - (int)(&((xnthread_t *)0)->link)))    xnpqueue_t claimq;		/* Owned resources claimed by others (PIP) */    struct xnsynch *wchan;	/* Resource the thread pends on */    xntimer_t timer;		/* Delay timer */    xntimer_t atimer;		/* Asynchronous timer (shadow only) */    xnsigmask_t signals;	/* Pending signals */    xnasr_t asr;		/* Asynchronous service routine */    xnflags_t asrmode;		/* Thread's mode for ASR */    int asrimask;		/* Thread's interrupt mask for ASR */    unsigned asrlevel;		/* ASR execution level (ASRs are reentrant) */    int imask;			/* Initial interrupt mask */    int imode;			/* Initial mode */    int iprio;			/* Initial priority */    xntime_t stime;		/* Start time */    void (*entry)(void *cookie); /* Thread entry routine */    void *cookie;		/* Cookie to pass to the entry routine */    void *extinfo;		/* Extended information -- user-defined */    void *adcookie;		/* Arch-dependent system cookie. */    XNARCH_DECL_DISPLAY_CONTEXT();} xnthread_t;#define XNHOOK_THREAD_START  1#define XNHOOK_THREAD_SWITCH 2#define XNHOOK_THREAD_DELETE 3typedef struct xnhook {    xnholder_t link;#define link2hook(laddr) \((xnhook_t *)(((char *)laddr) - (int)(&((xnhook_t *)0)->link)))    void (*routine)(xnthread_t *thread);} xnhook_t;#define xnthread_name(thread)              ((thread)->name)#define xnthread_sched(thread)             ((thread)->sched)#define xnthread_start_time(thread)        ((thread)->stime)#define xnthread_status_flags(thread)      ((thread)->status)#define xnthread_test_flags(thread,flags)  testbits((thread)->status,flags)#define xnthread_set_flags(thread,flags)   setbits((thread)->status,flags)#define xnthread_clear_flags(thread,flags) clrbits((thread)->status,flags)#define xnthread_initial_priority(thread)  ((thread)->iprio)#define xnthread_base_priority(thread)     ((thread)->bprio)#define xnthread_current_priority(thread)  ((thread)->cprio)#define xnthread_time_slice(thread)        ((thread)->rrperiod)#define xnthread_time_credit(thread)       ((thread)->rrcredit)#define xnthread_archtcb(thread)           (&((thread)->tcb))#define xnthread_asr_level(thread)         ((thread)->asrlevel)#define xnthread_pending_signals(thread)   ((thread)->signals)#define xnthread_timeout(thread)           (xntimer_date(&(thread)->timer) - nkpod->jiffies)#define xnthread_stack_size(thread)        xnarch_stack_size(xnthread_archtcb(thread))#define xnthread_extended_info(thread)     ((thread)->extinfo)#define xnthread_magic(thread)             ((thread)->magic)#ifdef __cplusplusextern "C" {#endifint xnthread_init(xnthread_t *thread,		  const char *name,		  int prio,		  xnflags_t flags,		  unsigned stacksize,		  void *adcookie,		  unsigned magic);void xnthread_cleanup_tcb(xnthread_t *thread);#ifdef __cplusplus}#endif#endif /* !_xenomai_thread_h */