1 // -----------------------------------------------------------------------
2 // Copyright (C) 2006 - 2007 FRESCOR consortium partners:
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 for a link to partners' websites
18 // 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
23 // This file is part of the FRSH implementation
25 // FRSH is free software; you can redistribute it and/or modify
26 // it under the terms of the GNU General Public License as published by
27 // the Free Software Foundation; either version 2, or (at your option)
30 // FRSH is distributed in the hope that it will be useful, but
31 // WITHOUT ANY WARRANTY; without even the implied warranty of
32 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
33 // General Public License for more details.
35 // You should have received a copy of the GNU General Public License
36 // distributed with FRSH; see file COPYING. If not, write to the
37 // Free Software Foundation, 59 Temple Place - Suite 330, Boston, MA
40 // As a special exception, if you include this header file into source
41 // files to be compiled, this header file does not by itself cause
42 // the resulting executable to be covered by the GNU General Public
43 // License. This exception does not however invalidate any other
44 // reasons why the executable file might be covered by the GNU General
46 // -----------------------------------------------------------------------
48 //==============================================
49 // ******** ****** ******** **********
50 // **///// /** ** **////// /** /**
51 // ** /** ** /** /** /**
52 // ******* /** ** /********* /**********
53 // **//// /** ** ////////** /**//////**
54 // ** /** ** /** /** /**
55 // ** /** ** ******** /** /**
56 // // /******/ //////// // //
58 // FOSA(Frescor Operating System Adaptation layer)
59 //================================================
62 #ifndef _FOSA_TYPES_H_
63 #define _FOSA_TYPES_H_
65 // Include needed to have the "frsh_thread_t" type.
66 #include "../../../../frsh/trunk/include/frsh_fosa.h"
68 #include "fosa_opaque_types.h"
71 * @addtogroup clocksandtimers
75 // identifier of a clock
76 // either a real-time clock or a cpu-time clock
77 typedef FOSA_CLOCK_ID_T_OPAQUE fosa_clock_id_t;
79 // identifier of a one-shot timer
80 typedef FOSA_TIMER_ID_T_OPAQUE fosa_timer_id_t;
84 typedef int frsh_signal_t;
85 typedef void * frsh_signal_info_t;
89 * @addtrogroup mutexesandcondvars
93 // a condition variable
94 typedef FOSA_COND_T_OPAQUE fosa_cond_t;
98 * @addtogroup appdefsched
110 * This type is used to represent a list of scheduling actions that the
111 * scheduler will later request to be executed by the system. The pos-
112 * sible actions are of the following kinds:
113 * - reject a thread that has requested attachment to this scheduler
114 * - activate an application-scheduled thread with the desired value
116 * - suspend an application-scheduled thread
117 * - program a timeout
118 * - program a timed notification associated to a particular
119 * application-scheduled thread.
121 * No comparison or assignment operators are defined for this type
123 typedef FOSA_ADS_ACTIONS_T_OPAQUE fosa_ads_actions_t;
127 * Causes of error in the appsched_error primitive operation
129 typedef enum {FOSA_ADS_THREAD_NOT_ATTACHED, FOSA_ADS_INVALID_ACTION}
130 fosa_ads_error_cause_t;
134 * The urgency used to orde the threads of the same priority in the
135 * underlying scheduler. Support for urgency scheduling is required
136 * for supporting the hierarchhical scheduling module
138 typedef int fosa_ads_urgency_t;
142 * Scheduler primitive operations
144 * This structure is used to create application schedulers. It
145 * contains pointers to the primitive operations that are invoked by
146 * the system when a scheduling event occurs:
148 * - The \b init() primitive operation is invoked by the system just after
149 * the scheduler has been created using fosa_ads_scheduler_create().
151 * - The \b new_thread() primitive operation is invoked by the system when
152 * a thread has requested attachment to this scheduler; this can be a
153 * newly created thread (via fosa_thread_create()), or an existing thread
154 * that was not running under ads scheduler (via
155 * fosa_ads_set_appscheduled()).\n \n
157 * The thread can be rejected by the scheduler adding a
158 * reject-thread action to the actions parameter using
159 * fosa_ads_actions_add_reject(). If no reject-thread action is
160 * added, the thread is accepted.\n \n
162 * Newly created threads shall be activated by the system after the
163 * execution of the new_thread() primitive operation. The urgency of
164 * an accepted thread (either newly created or existing) shall be set
165 * to a value of zero, unless an activate-thread action with a
166 * different value of urgency is added via
167 * fosa_ads_actions_add_activate().\n \n
169 * If a request to attach a thread to this scheduler was made via
170 * fosa_ads_set_appscheduled(), at the finalization of the new_thread()
171 * primitive operation if the newly attached thread is blocked by the
172 * system (not by the scheduler itself via a suspend scheduling
173 * action), a thread-block event shall be generated for the scheduler
174 * immediately and, consequently, the thread_block() primitive
175 * operation shall be invoked by the system.
177 * - The \b thread_terminate() primitive operation is invoked by the system
178 * when a thread attached to this scheduler is terminating (via an
179 * explicit or implicit thread termination, or cancellation, or when
180 * it is no longer sceduled by the ads scheduler (via
181 * fosa_ads_setappscheduled()). \n\n
183 * Before the thread_terminate() primitive operation is invoked by
184 * the system, all the thread-notification events programmed for that
185 * thread are cancelled. \n\n
187 * In the case of a thread that is terminating, the
188 * thread_terminate() primitive operation is executed before the
189 * execution of the cleanup handlers and of the thread-specific data
190 * destructor functions. In that way, the thread parameter corresponds
191 * to a valid thread Id and the thread-specific data is valid and can
192 * be accessed from the thread_terminate() primitive operation. \n\n
194 * Also for terminating threads, after the thread_terminate() primitive
195 * operation finishes, the system shall lower the urgency of the
196 * thread identified by thread to a value of zero, and shall deattach
197 * it from the ads scheduler. Then, the thread shall execute the
198 * cleanup handlers and the thread-specific data destructor functions
199 * outside the management of its former scheduler. Notice that in a
200 * multiprocessor system this may imply the suspension of the thread
201 * identified by parameter thread during the execution of the
202 * thread_terminate() primitive operation.
204 * - The \b thread_ready() primitive operation is invoked by the system
205 * when a thread attached to this scheduler that was blocked has
206 * become unblocked by the system.
208 * - The \b thread_block() primitive operation is invoked by the system
209 * when a thread attached to this scheduler has blocked.
211 * - The \b change_sched_param_thread() primitive operation is invoked by
212 * the system when the scheduling parameters of a thread attached to
213 * this scheduler have been changed, but the thread continues to run
214 * under this scheduler. The change includes either the regular
215 * scheduling parameters (fosa_thread_set_prio() or the application-
216 * defined scheduling parameters, via fosa_ads_set_appsched_param().
218 * - The \b explicit_call_with_data() primitive operation is invoked by the
219 * system when a thread (identified by the thread parameter) has
220 * explicitly invoked the scheduler with a message containing
221 * scheduling information, and possibly requesting a reply message,
222 * via fosa_ads_invoke_withdata().
224 * - The \b notification_for_thread() primitive operation is invoked by the
225 * system when the time for a thread-notification previously programed
226 * by the scheduler via fosa_ads_actions_add_thread_notification()
227 * is reached. Parameter clock identifies the clock for which the
228 * thread-notification was programmed.
230 * - The \b timeout() primitive operation is invoked by the system when a
231 * timeout requested by the scheduler (via
232 * fosa_ads_actions_add_timeout()) has expired.
234 * - The \b signal() primitive operation is invoked by the system when a
235 * signal belonging to the set of signals for which the scheduler is
236 * waiting (via fosa_ads_set_handled_signal_set()) has been
239 * The signal number and its associated information (if any) are
240 * passed in the arguments signal and siginfo.\n\n
242 * The signal is consumed with the invocation of this primitive
243 * operation, which implies that it will not cause the execution of
244 * any signal handler, nor it may be accepted by any thread waiting
245 * for this signal number.
247 * - The \b appsched_error() primitive operation is invoked by the system
248 * when an error in the scheduling actions list specified in a
249 * previous primitive operation is detected. The cause of the error is
250 * notified in the parameter cause. The defined causes of error are
251 * described fosa_ads_error_cause_tappdefsched
253 * Every primitive operation receives the argument sched_data. It is a
254 * pointer to a memory area containing information shared by all the
255 * scheduler operations. It can be used to store the data structures
256 * required by the scheduler (for example, a ready queue and a delay
257 * queue). Scheduler operations should not use any other global data out
258 * of this memory area.
260 * The actions argument is used by the scheduler to request the operating
261 * system to execute a set of scheduling actions at the end of the
262 * primitive operation. It is passed empty by the system, and the
263 * scheduler may add multiple scheduling actions.
265 * The current_time argument contains the system time
266 * measured immediately before the invocation of the primitive operation
267 * using the FOSA_CLOCK_REALTIME clock
269 * In addition to these common parameters, most of the primitive
270 * operations receive a thread argument. This argument allows the
271 * primitive operations to know which is the thread that has produced or
272 * is related to the event.
275 void (*init) (void * sched_data, void * arg);
276 void (*new_thread) (void * sched_data,
277 frsh_thread_id_t thread,
278 fosa_ads_actions_t * actions,
279 struct timespec *current_time);
280 void (*thread_terminate) (void * sched_data,
281 frsh_thread_id_t thread,
282 fosa_ads_actions_t * actions,
283 struct timespec *current_time);
284 void (*thread_ready) (void * sched_data,
285 frsh_thread_id_t thread,
286 fosa_ads_actions_t * actions,
287 struct timespec *current_time);
288 void (*thread_block) (void * sched_data,
289 frsh_thread_id_t thread,
290 fosa_ads_actions_t * actions,
291 struct timespec *current_time);
292 //void (*thread_yield) (void * sched_data,
293 // frsh_thread_id_t thread,
294 // fosa_ads_actions_t * actions,
295 // struct timespec *current_time);
296 void (*change_sched_param_thread) (void * sched_data,
297 frsh_thread_id_t thread,
298 fosa_ads_actions_t * actions,
299 struct timespec *current_time);
300 //void msg_from_scheduler(void * sched_data,
301 // fosa_ads_scheduler_id_t scheduler_id,
302 // const void * msg, size_t msg_size,
303 // fosa_ads_actions_t * actions,
304 // struct timespec *current_time);
305 //void (*explicit_call) (void * sched_data,
306 // frsh_thread_id_t thread,
307 // int user_event_code,
308 // fosa_ads_actions_t * actions,
309 // struct timespec *current_time);
310 void (*explicit_call_with_data) (void * sched_data,
311 frsh_thread_id_t thread,
312 const void * msg, size_t msg_size,
313 void **reply, size_t *reply_size,
314 fosa_ads_actions_t * actions,
315 struct timespec *current_time);
316 void (*notification_for_thread) (void * sched_data,
317 frsh_thread_id_t thread,
318 fosa_clock_id_t clock,
319 fosa_ads_actions_t * actions,
320 struct timespec *current_time);
321 void (*timeout) (void * sched_data,
322 fosa_ads_actions_t * actions,
323 struct timespec *current_time);
324 void (*signal) (void * sched_data,
325 frsh_signal_t signal,
326 frsh_signal_info_t siginfo,
327 fosa_ads_actions_t * actions,
328 struct timespec *current_time);
329 //void (*priority_inherit) (void * sched_data,
330 // frsh_thread_id_t thread,
331 // int sched_priority,
332 // fosa_ads_actions_t * actions,
333 // struct timespec *current_time);
334 //void (*priority_uninherit) (void * sched_data,
335 // frsh_thread_id_t thread,
336 // int sched_priority,
337 // fosa_ads_actions_t * actions,
338 // struct timespec *current_time);
339 void (*appshed_error) (void * sched_data,
340 frsh_thread_id_t thread,
341 fosa_ads_error_cause_t cause,
342 fosa_ads_actions_t * actions);
343 } fosa_ads_scheduler_ops_t;
348 #endif // _FOSA_TYPES_H_