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"
75 * @addtogroup threadandsignals
80 /* Coming from FRSH-FOSA */
82 /** identifier of a FOSA thread **/
83 typedef FOSA_THREAD_ID_T_OPAQUE fosa_thread_id_t;
86 /** thread attributes object **/
87 typedef FOSA_THREAD_ATTR_T_OPAQUE fosa_thread_attr_t;
89 typedef FOSA_SIGNAL_T_OPAQUE fosa_signal_t;
92 * The type references a function that may become a thread's
95 typedef void * (*fosa_thread_code_t) (void *);
98 /** information associated to a signal **/
99 #if defined(VIRTUAL_TIME)
102 typedef vt_posix_signal_info_t fosa_signal_info_t;
106 typedef union {int sival_int; void * sival_ptr; } fosa_signal_info_t;
107 /* typedef FOSA_SIGNAL_INFO_T_OPAQUE fosa_signal_info_t; */
115 * @addtogroup clocksandtimers
119 // identifier of a clock
120 // either a real-time clock or a cpu-time clock
121 typedef FOSA_CLOCK_ID_T_OPAQUE fosa_clock_id_t;
123 #define FOSA_SYSTEM_CLOCK FOSA_SYSTEM_CLOCK_OPAQUE
125 // identifier of a one-shot timer
126 typedef FOSA_TIMER_ID_T_OPAQUE fosa_timer_id_t;
131 * @addtrogroup mutexesandcondvars
135 // a condition variable
136 /** Mutex object. Attributes are handled by FOSA **/
137 typedef FOSA_MUTEX_T_OPAQUE fosa_mutex_t;
139 typedef FOSA_COND_T_OPAQUE fosa_cond_t;
143 * @addtogroup appdefsched
155 * This type is used to represent a list of scheduling actions that the
156 * scheduler will later request to be executed by the system. The pos-
157 * sible actions are of the following kinds:
158 * - reject a thread that has requested attachment to this scheduler
159 * - activate an application-scheduled thread with the desired value
161 * - suspend an application-scheduled thread
162 * - program a timeout
163 * - program a timed notification associated to a particular
164 * application-scheduled thread.
166 * No comparison or assignment operators are defined for this type
168 typedef FOSA_ADS_ACTIONS_T_OPAQUE fosa_ads_actions_t;
170 /* FOSA_ADS_ACTIONS_T_OPAQUE */
173 * Causes of error in the appsched_error primitive operation
175 typedef enum {FOSA_ADS_THREAD_NOT_ATTACHED, FOSA_ADS_INVALID_ACTION}
176 fosa_ads_error_cause_t;
180 * The urgency used to orde the threads of the same priority in the
181 * underlying scheduler. Support for urgency scheduling is required
182 * for supporting the hierarchhical scheduling module
184 typedef int fosa_ads_urgency_t;
188 * Scheduler primitive operations
190 * This structure is used to create application schedulers. It
191 * contains pointers to the primitive operations that are invoked by
192 * the system when a scheduling event occurs:
194 * - The \b init() primitive operation is invoked by the system just after
195 * the scheduler has been created using fosa_ads_scheduler_create().
197 * - The \b new_thread() primitive operation is invoked by the system when
198 * a thread has requested attachment to this scheduler; this can be a
199 * newly created thread (via fosa_thread_create()), or an existing thread
200 * that was not running under ads scheduler (via
201 * fosa_ads_set_appscheduled()).\n \n
203 * The thread can be rejected by the scheduler adding a
204 * reject-thread action to the actions parameter using
205 * fosa_ads_actions_add_reject(). If no reject-thread action is
206 * added, the thread is accepted.\n \n
208 * Newly created threads shall be activated by the system after the
209 * execution of the new_thread() primitive operation. The urgency of
210 * an accepted thread (either newly created or existing) shall be set
211 * to a value of zero, unless an activate-thread action with a
212 * different value of urgency is added via
213 * fosa_ads_actions_add_activate().\n \n
215 * If a request to attach a thread to this scheduler was made via
216 * fosa_ads_set_appscheduled(), at the finalization of the new_thread()
217 * primitive operation if the newly attached thread is blocked by the
218 * system (not by the scheduler itself via a suspend scheduling
219 * action), a thread-block event shall be generated for the scheduler
220 * immediately and, consequently, the thread_block() primitive
221 * operation shall be invoked by the system.
223 * - The \b thread_terminate() primitive operation is invoked by the system
224 * when a thread attached to this scheduler is terminating (via an
225 * explicit or implicit thread termination, or cancellation, or when
226 * it is no longer sceduled by the ads scheduler (via
227 * fosa_ads_setappscheduled()). \n\n
229 * Before the thread_terminate() primitive operation is invoked by
230 * the system, all the thread-notification events programmed for that
231 * thread are cancelled. \n\n
233 * In the case of a thread that is terminating, the
234 * thread_terminate() primitive operation is executed before the
235 * execution of the cleanup handlers and of the thread-specific data
236 * destructor functions. In that way, the thread parameter corresponds
237 * to a valid thread Id and the thread-specific data is valid and can
238 * be accessed from the thread_terminate() primitive operation. \n\n
240 * Also for terminating threads, after the thread_terminate() primitive
241 * operation finishes, the system shall lower the urgency of the
242 * thread identified by thread to a value of zero, and shall deattach
243 * it from the ads scheduler. Then, the thread shall execute the
244 * cleanup handlers and the thread-specific data destructor functions
245 * outside the management of its former scheduler. Notice that in a
246 * multiprocessor system this may imply the suspension of the thread
247 * identified by parameter thread during the execution of the
248 * thread_terminate() primitive operation.
250 * - The \b thread_ready() primitive operation is invoked by the system
251 * when a thread attached to this scheduler that was blocked has
252 * become unblocked by the system.
254 * - The \b thread_block() primitive operation is invoked by the system
255 * when a thread attached to this scheduler has blocked.
257 * - The \b change_sched_param_thread() primitive operation is invoked
258 * by the system when the scheduling parameters of a thread attached
259 * to this scheduler have been changed OUTSIDE OF AN SCHEDULER
260 * CALLBACK, and the thread continues to run under this scheduler.
262 * The change includes either the regular scheduling parameters
263 * (fosa_thread_set_prio() or the application-defined scheduling
264 * parameters, via fosa_ads_set_appsched_param().
266 * - The \b explicit_call_with_data() primitive operation is invoked by the
267 * system when a thread (identified by the thread parameter) has
268 * explicitly invoked the scheduler with a message containing
269 * scheduling information, and possibly requesting a reply message,
270 * via fosa_ads_invoke_withdata().
272 * - The \b notification_for_thread() primitive operation is invoked by the
273 * system when the time for a thread-notification previously programed
274 * by the scheduler via fosa_ads_actions_add_thread_notification()
275 * is reached. Parameter clock identifies the clock for which the
276 * thread-notification was programmed.
278 * - The \b timeout() primitive operation is invoked by the system when a
279 * timeout requested by the scheduler (via
280 * fosa_ads_actions_add_timeout()) has expired.
282 * - The \b signal() primitive operation is invoked by the system when a
283 * signal belonging to the set of signals for which the scheduler is
284 * waiting (via fosa_ads_set_handled_signal_set()) has been
287 * The signal number and its associated information (if any) are
288 * passed in the arguments signal and siginfo.\n\n
290 * The signal is consumed with the invocation of this primitive
291 * operation, which implies that it will not cause the execution of
292 * any signal handler, nor it may be accepted by any thread waiting
293 * for this signal number.
295 * - The \b appsched_error() primitive operation is invoked by the system
296 * when an error in the scheduling actions list specified in a
297 * previous primitive operation is detected. The cause of the error is
298 * notified in the parameter cause. The defined causes of error are
299 * described fosa_ads_error_cause_t
301 * Every primitive operation receives the argument sched_data. It is a
302 * pointer to a memory area containing information shared by all the
303 * scheduler operations. It can be used to store the data structures
304 * required by the scheduler (for example, a ready queue and a delay
305 * queue). Scheduler operations should not use any other global data out
306 * of this memory area.
308 * The actions argument is used by the scheduler to request the operating
309 * system to execute a set of scheduling actions at the end of the
310 * primitive operation. It is passed empty by the system, and the
311 * scheduler may add multiple scheduling actions.
313 * The current_time argument contains the system time
314 * measured immediately before the invocation of the primitive operation
315 * using the FOSA_CLOCK_REALTIME clock
317 * In addition to these common parameters, most of the primitive
318 * operations receive a thread argument. This argument allows the
319 * primitive operations to know which is the thread that has produced or
320 * is related to the event.
323 void (*init) (void * sched_data, void * arg);
324 void (*new_thread) (void * sched_data,
325 fosa_thread_id_t thread,
326 fosa_ads_actions_t * actions,
327 struct timespec *current_time);
328 void (*thread_terminate) (void * sched_data,
329 fosa_thread_id_t thread,
330 fosa_ads_actions_t * actions,
331 struct timespec *current_time);
332 void (*thread_ready) (void * sched_data,
333 fosa_thread_id_t thread,
334 fosa_ads_actions_t * actions,
335 struct timespec *current_time);
336 void (*thread_block) (void * sched_data,
337 fosa_thread_id_t thread,
338 fosa_ads_actions_t * actions,
339 struct timespec *current_time);
340 //void (*thread_yield) (void * sched_data,
341 // fosa_thread_id_t thread,
342 // fosa_ads_actions_t * actions,
343 // struct timespec *current_time);
344 void (*change_sched_param_thread) (void * sched_data,
345 fosa_thread_id_t thread,
346 fosa_ads_actions_t * actions,
347 struct timespec *current_time);
348 //void msg_from_scheduler(void * sched_data,
349 // fosa_ads_scheduler_id_t scheduler_id,
350 // const void * msg, size_t msg_size,
351 // fosa_ads_actions_t * actions,
352 // struct timespec *current_time);
353 //void (*explicit_call) (void * sched_data,
354 // fosa_thread_id_t thread,
355 // int user_event_code,
356 // fosa_ads_actions_t * actions,
357 // struct timespec *current_time);
358 void (*explicit_call_with_data) (void * sched_data,
359 fosa_thread_id_t thread,
360 const void * msg, size_t msg_size,
361 void *reply, size_t *reply_size,
362 fosa_ads_actions_t * actions,
363 struct timespec *current_time);
364 void (*notification_for_thread) (void * sched_data,
365 fosa_thread_id_t thread,
366 fosa_clock_id_t clock,
367 fosa_ads_actions_t * actions,
368 struct timespec *current_time);
369 void (*timeout) (void * sched_data,
370 fosa_ads_actions_t * actions,
371 struct timespec *current_time);
372 void (*signal) (void * sched_data,
373 fosa_signal_t signal,
374 fosa_signal_info_t siginfo,
375 fosa_ads_actions_t * actions,
376 struct timespec *current_time);
377 //void (*priority_inherit) (void * sched_data,
378 // fosa_thread_id_t thread,
379 // int sched_priority,
380 // fosa_ads_actions_t * actions,
381 // struct timespec *current_time);
382 //void (*priority_uninherit) (void * sched_data,
383 // fosa_thread_id_t thread,
384 // int sched_priority,
385 // fosa_ads_actions_t * actions,
386 // struct timespec *current_time);
387 void (*appsched_error) (void * sched_data,
388 fosa_thread_id_t thread,
389 fosa_ads_error_cause_t cause,
390 fosa_ads_actions_t * actions);
391 } fosa_ads_scheduler_ops_t;
396 /*********************
398 *********************/
401 * The fosa_jump_context_t type defines a data area where the context
402 * of a thread can be saved, so that a long jump to recover that context
403 * may be executed in the future, from a long jump handler.
406 typedef FOSA_LONG_JUMP_CONTEXT_T_OPAQUE fosa_long_jump_context_t;
412 #endif // _FOSA_TYPES_H_