1 //----------------------------------------------------------------------
2 // Copyright (C) 2006 - 2007 by the FRESCOR consortium:
4 // Universidad de Cantabria, SPAIN
5 // University of York, UK
6 // Scuola Superiore Sant'Anna, ITALY
7 // Kaiserslautern University, GERMANY
8 // Univ. Politecnica Valencia, SPAIN
9 // Czech Technical University in Prague, CZECH REPUBLIC
11 // Thales Communication S.A. FRANCE
12 // Visual Tools S.A. SPAIN
13 // Rapita Systems Ltd UK
16 // See http://www.frescor.org
18 // The FRESCOR project (FP6/2005/IST/5-034026) is funded
19 // in part by the European Union Sixth Framework Programme
20 // The European Union is not liable of any use that may be
24 // based on previous work (FSF) done in the FIRST project
26 // Copyright (C) 2005 Mälardalen University, SWEDEN
27 // Scuola Superiore S.Anna, ITALY
28 // Universidad de Cantabria, SPAIN
29 // University of York, UK
31 // This file is part of FOSA (Frsh Operating System Abstraction)
33 // FOSA is free software; you can redistribute it and/or modify it
34 // under terms of the GNU General Public License as published by the
35 // Free Software Foundation; either version 2, or (at your option) any
36 // later version. FOSA is distributed in the hope that it will be
37 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
38 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
39 // General Public License for more details. You should have received a
40 // copy of the GNU General Public License along with FOSA; see file
41 // COPYING. If not, write to the Free Software Foundation, 675 Mass Ave,
42 // Cambridge, MA 02139, USA.
44 // As a special exception, including FOSA header files in a file,
45 // instantiating FOSA generics or templates, or linking other files
46 // with FOSA objects to produce an executable application, does not
47 // by itself cause the resulting executable application to be covered
48 // by the GNU General Public License. This exception does not
49 // however invalidate any other reasons why the executable file might be
50 // covered by the GNU Public License.
51 // -----------------------------------------------------------------------
53 //==============================================
54 // ******** ****** ******** **********
55 // **///// /** ** **////// /** /**
56 // ** /** ** /** /** /**
57 // ******* /** ** /********* /**********
58 // **//// /** ** ////////** /**//////**
59 // ** /** ** /** /** /**
60 // ** /** ** ******** /** /**
61 // // /******/ //////// // //
63 // FOSA(Frescor Operating System Adaptation layer)
64 //================================================
67 #ifndef _FOSA_TYPES_H_
68 #define _FOSA_TYPES_H_
70 #include "fosa_opaque_types.h"
72 * @addtogroup threadandsignals
77 /* Coming from FRSH-FOSA */
79 /** identifier of a FOSA thread **/
80 typedef FOSA_THREAD_ID_T_OPAQUE fosa_thread_id_t;
83 /** thread attributes object **/
84 typedef FOSA_THREAD_ATTR_T_OPAQUE fosa_thread_attr_t;
86 typedef FOSA_SIGNAL_T_OPAQUE fosa_signal_t;
89 * The type references a function that may become a thread's
92 typedef void * (*fosa_thread_code_t) (void *);
95 /** information associated to a signal **/
96 #if defined(VIRTUAL_TIME)
99 typedef vt_posix_signal_info_t fosa_signal_info_t;
103 typedef union {int sival_int; void * sival_ptr; } fosa_signal_info_t;
104 /* typedef FOSA_SIGNAL_INFO_T_OPAQUE fosa_signal_info_t; */
112 * @addtogroup clocksandtimers
116 // identifier of a clock
117 // either a real-time clock or a cpu-time clock
118 typedef FOSA_CLOCK_ID_T_OPAQUE fosa_clock_id_t;
120 #define FOSA_SYSTEM_CLOCK FOSA_SYSTEM_CLOCK_OPAQUE
122 // identifier of a one-shot timer
123 typedef FOSA_TIMER_ID_T_OPAQUE fosa_timer_id_t;
128 * @addtrogroup mutexesandcondvars
132 // a condition variable
133 /** Mutex object. Attributes are handled by FOSA **/
134 typedef FOSA_MUTEX_T_OPAQUE fosa_mutex_t;
136 typedef FOSA_COND_T_OPAQUE fosa_cond_t;
140 * @addtogroup appdefsched
152 * This type is used to represent a list of scheduling actions that the
153 * scheduler will later request to be executed by the system. The pos-
154 * sible actions are of the following kinds:
155 * - reject a thread that has requested attachment to this scheduler
156 * - activate an application-scheduled thread with the desired value
158 * - suspend an application-scheduled thread
159 * - program a timeout
160 * - program a timed notification associated to a particular
161 * application-scheduled thread.
163 * No comparison or assignment operators are defined for this type
165 typedef FOSA_ADS_ACTIONS_T_OPAQUE fosa_ads_actions_t;
167 /* FOSA_ADS_ACTIONS_T_OPAQUE */
170 * Causes of error in the appsched_error primitive operation
172 typedef enum {FOSA_ADS_THREAD_NOT_ATTACHED, FOSA_ADS_INVALID_ACTION}
173 fosa_ads_error_cause_t;
177 * The urgency used to orde the threads of the same priority in the
178 * underlying scheduler. Support for urgency scheduling is required
179 * for supporting the hierarchhical scheduling module
181 typedef int fosa_ads_urgency_t;
185 * Scheduler primitive operations
187 * This structure is used to create application schedulers. It
188 * contains pointers to the primitive operations that are invoked by
189 * the system when a scheduling event occurs:
191 * - The \b init() primitive operation is invoked by the system just after
192 * the scheduler has been created using fosa_ads_scheduler_create().
194 * - The \b new_thread() primitive operation is invoked by the system when
195 * a thread has requested attachment to this scheduler; this can be a
196 * newly created thread (via fosa_thread_create()), or an existing thread
197 * that was not running under ads scheduler (via
198 * fosa_ads_set_appscheduled()).\n \n
200 * The thread can be rejected by the scheduler adding a
201 * reject-thread action to the actions parameter using
202 * fosa_ads_actions_add_reject(). If no reject-thread action is
203 * added, the thread is accepted.\n \n
205 * Newly created threads shall be activated by the system after the
206 * execution of the new_thread() primitive operation. The urgency of
207 * an accepted thread (either newly created or existing) shall be set
208 * to a value of zero, unless an activate-thread action with a
209 * different value of urgency is added via
210 * fosa_ads_actions_add_activate().\n \n
212 * If a request to attach a thread to this scheduler was made via
213 * fosa_ads_set_appscheduled(), at the finalization of the new_thread()
214 * primitive operation if the newly attached thread is blocked by the
215 * system (not by the scheduler itself via a suspend scheduling
216 * action), a thread-block event shall be generated for the scheduler
217 * immediately and, consequently, the thread_block() primitive
218 * operation shall be invoked by the system.
220 * - The \b thread_terminate() primitive operation is invoked by the system
221 * when a thread attached to this scheduler is terminating (via an
222 * explicit or implicit thread termination, or cancellation, or when
223 * it is no longer sceduled by the ads scheduler (via
224 * fosa_ads_setappscheduled()). \n\n
226 * Before the thread_terminate() primitive operation is invoked by
227 * the system, all the thread-notification events programmed for that
228 * thread are cancelled. \n\n
230 * In the case of a thread that is terminating, the
231 * thread_terminate() primitive operation is executed before the
232 * execution of the cleanup handlers and of the thread-specific data
233 * destructor functions. In that way, the thread parameter corresponds
234 * to a valid thread Id and the thread-specific data is valid and can
235 * be accessed from the thread_terminate() primitive operation. \n\n
237 * Also for terminating threads, after the thread_terminate() primitive
238 * operation finishes, the system shall lower the urgency of the
239 * thread identified by thread to a value of zero, and shall deattach
240 * it from the ads scheduler. Then, the thread shall execute the
241 * cleanup handlers and the thread-specific data destructor functions
242 * outside the management of its former scheduler. Notice that in a
243 * multiprocessor system this may imply the suspension of the thread
244 * identified by parameter thread during the execution of the
245 * thread_terminate() primitive operation.
247 * - The \b thread_ready() primitive operation is invoked by the system
248 * when a thread attached to this scheduler that was blocked has
249 * become unblocked by the system.
251 * - The \b thread_block() primitive operation is invoked by the system
252 * when a thread attached to this scheduler has blocked.
254 * - The \b change_sched_param_thread() primitive operation is invoked
255 * by the system when the scheduling parameters of a thread attached
256 * to this scheduler have been changed OUTSIDE OF AN SCHEDULER
257 * CALLBACK, and the thread continues to run under this scheduler.
259 * The change includes either the regular scheduling parameters
260 * (fosa_thread_set_prio() or the application-defined scheduling
261 * parameters, via fosa_ads_set_appsched_param().
263 * - The \b explicit_call_with_data() primitive operation is invoked by the
264 * system when a thread (identified by the thread parameter) has
265 * explicitly invoked the scheduler with a message containing
266 * scheduling information, and possibly requesting a reply message,
267 * via fosa_ads_invoke_withdata().
269 * - The \b notification_for_thread() primitive operation is invoked by the
270 * system when the time for a thread-notification previously programed
271 * by the scheduler via fosa_ads_actions_add_thread_notification()
272 * is reached. Parameter clock identifies the clock for which the
273 * thread-notification was programmed.
275 * - The \b timeout() primitive operation is invoked by the system when a
276 * timeout requested by the scheduler (via
277 * fosa_ads_actions_add_timeout()) has expired.
279 * - The \b signal() primitive operation is invoked by the system when a
280 * signal belonging to the set of signals for which the scheduler is
281 * waiting (via fosa_ads_set_handled_signal_set()) has been
284 * The signal number and its associated information (if any) are
285 * passed in the arguments signal and siginfo.\n\n
287 * The signal is consumed with the invocation of this primitive
288 * operation, which implies that it will not cause the execution of
289 * any signal handler, nor it may be accepted by any thread waiting
290 * for this signal number.
292 * - The \b appsched_error() primitive operation is invoked by the system
293 * when an error in the scheduling actions list specified in a
294 * previous primitive operation is detected. The cause of the error is
295 * notified in the parameter cause. The defined causes of error are
296 * described fosa_ads_error_cause_t
298 * Every primitive operation receives the argument sched_data. It is a
299 * pointer to a memory area containing information shared by all the
300 * scheduler operations. It can be used to store the data structures
301 * required by the scheduler (for example, a ready queue and a delay
302 * queue). Scheduler operations should not use any other global data out
303 * of this memory area.
305 * The actions argument is used by the scheduler to request the operating
306 * system to execute a set of scheduling actions at the end of the
307 * primitive operation. It is passed empty by the system, and the
308 * scheduler may add multiple scheduling actions.
310 * The current_time argument contains the system time
311 * measured immediately before the invocation of the primitive operation
312 * using the FOSA_CLOCK_REALTIME clock
314 * In addition to these common parameters, most of the primitive
315 * operations receive a thread argument. This argument allows the
316 * primitive operations to know which is the thread that has produced or
317 * is related to the event.
320 void (*init) (void * sched_data, void * arg);
321 void (*new_thread) (void * sched_data,
322 fosa_thread_id_t thread,
323 fosa_ads_actions_t * actions,
324 struct timespec *current_time);
325 void (*thread_terminate) (void * sched_data,
326 fosa_thread_id_t thread,
327 fosa_ads_actions_t * actions,
328 struct timespec *current_time);
329 void (*thread_ready) (void * sched_data,
330 fosa_thread_id_t thread,
331 fosa_ads_actions_t * actions,
332 struct timespec *current_time);
333 void (*thread_block) (void * sched_data,
334 fosa_thread_id_t thread,
335 fosa_ads_actions_t * actions,
336 struct timespec *current_time);
337 //void (*thread_yield) (void * sched_data,
338 // fosa_thread_id_t thread,
339 // fosa_ads_actions_t * actions,
340 // struct timespec *current_time);
341 void (*change_sched_param_thread) (void * sched_data,
342 fosa_thread_id_t thread,
343 fosa_ads_actions_t * actions,
344 struct timespec *current_time);
345 //void msg_from_scheduler(void * sched_data,
346 // fosa_ads_scheduler_id_t scheduler_id,
347 // const void * msg, size_t msg_size,
348 // fosa_ads_actions_t * actions,
349 // struct timespec *current_time);
350 //void (*explicit_call) (void * sched_data,
351 // fosa_thread_id_t thread,
352 // int user_event_code,
353 // fosa_ads_actions_t * actions,
354 // struct timespec *current_time);
355 void (*explicit_call_with_data) (void * sched_data,
356 fosa_thread_id_t thread,
357 const void * msg, size_t msg_size,
358 void *reply, size_t *reply_size,
359 fosa_ads_actions_t * actions,
360 struct timespec *current_time);
361 void (*notification_for_thread) (void * sched_data,
362 fosa_thread_id_t thread,
363 fosa_clock_id_t clock,
364 fosa_ads_actions_t * actions,
365 struct timespec *current_time);
366 void (*timeout) (void * sched_data,
367 fosa_ads_actions_t * actions,
368 struct timespec *current_time);
369 void (*signal) (void * sched_data,
370 fosa_signal_t signal,
371 fosa_signal_info_t siginfo,
372 fosa_ads_actions_t * actions,
373 struct timespec *current_time);
374 //void (*priority_inherit) (void * sched_data,
375 // fosa_thread_id_t thread,
376 // int sched_priority,
377 // fosa_ads_actions_t * actions,
378 // struct timespec *current_time);
379 //void (*priority_uninherit) (void * sched_data,
380 // fosa_thread_id_t thread,
381 // int sched_priority,
382 // fosa_ads_actions_t * actions,
383 // struct timespec *current_time);
384 void (*appsched_error) (void * sched_data,
385 fosa_thread_id_t thread,
386 fosa_ads_error_cause_t cause,
387 fosa_ads_actions_t * actions);
388 } fosa_ads_scheduler_ops_t;
393 /*********************
395 *********************/
398 * The fosa_jump_context_t type defines a data area where the context
399 * of a thread can be saved, so that a long jump to recover that context
400 * may be executed in the future, from a long jump handler.
403 typedef FOSA_LONG_JUMP_CONTEXT_T_OPAQUE fosa_long_jump_context_t;
408 #endif // _FOSA_TYPES_H_