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source: trunk/kernel/kern/thread.c @ 234

Last change on this file since 234 was 188, checked in by alain, 7 years ago
Redefine the PIC device API.
File size: 26.8 KB

Rev	Line
[1]	1	/*
	2	* thread.c - implementation of thread operations (user & kernel)
[171]	3	*
[1]	4	* Author Ghassan Almaless (2008,2009,2010,2011,2012)
[23]	5	* Alain Greiner (2016,2017)
[1]	6	*
	7	* Copyright (c) UPMC Sorbonne Universites
	8	*
[5]	9	* This file is part of ALMOS-MKH.
[1]	10	*
[5]	11	* ALMOS-MKH is free software; you can redistribute it and/or modify it
[1]	12	* under the terms of the GNU General Public License as published by
	13	* the Free Software Foundation; version 2.0 of the License.
	14	*
[5]	15	* ALMOS-MKH is distributed in the hope that it will be useful, but
[1]	16	* WITHOUT ANY WARRANTY; without even the implied warranty of
	17	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
	18	* General Public License for more details.
	19	*
	20	* You should have received a copy of the GNU General Public License
[5]	21	* along with ALMOS-MKH; if not, write to the Free Software Foundation,
[1]	22	* Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
	23	*/
	24
[14]	25	#include <kernel_config.h>
[1]	26	#include <hal_types.h>
	27	#include <hal_context.h>
	28	#include <hal_irqmask.h>
	29	#include <hal_special.h>
	30	#include <hal_remote.h>
	31	#include <memcpy.h>
	32	#include <printk.h>
	33	#include <cluster.h>
	34	#include <process.h>
	35	#include <scheduler.h>
[188]	36	#include <dev_pic.h>
[1]	37	#include <core.h>
	38	#include <list.h>
	39	#include <xlist.h>
	40	#include <page.h>
	41	#include <kmem.h>
	42	#include <ppm.h>
	43	#include <thread.h>
	44
	45	//////////////////////////////////////////////////////////////////////////////////////
	46	// Extern global variables
	47	//////////////////////////////////////////////////////////////////////////////////////
	48
	49	extern process_t process_zero;
	50
	51	//////////////////////////////////////////////////////////////////////////////////////
[16]	52	// This function returns a printable string for the thread type.
[1]	53	//////////////////////////////////////////////////////////////////////////////////////
[5]	54	char * thread_type_str( uint32_t type )
	55	{
[16]	56	if ( type == THREAD_USER ) return "USER";
	57	else if( type == THREAD_RPC ) return "RPC";
	58	else if( type == THREAD_DEV ) return "DEV";
	59	else if( type == THREAD_KERNEL ) return "KERNEL";
	60	else if( type == THREAD_IDLE ) return "IDLE";
[5]	61	else return "undefined";
	62	}
	63
[1]	64	/////////////////////////////////////////////////////////////////////////////////////
[14]	65	// This static function allocates physical memory for a thread descriptor.
	66	// It can be called by the three functions:
[1]	67	// - thread_user_create()
[14]	68	// - thread_user_fork()
[1]	69	// - thread_kernel_create()
	70	/////////////////////////////////////////////////////////////////////////////////////
[14]	71	// @ return pointer on thread descriptor if success / return NULL if failure.
[1]	72	/////////////////////////////////////////////////////////////////////////////////////
[14]	73	static thread_t * thread_alloc()
[1]	74	{
[23]	75	page_t * page; // pointer on page descriptor containing thread descriptor
[171]	76	kmem_req_t req; // kmem request
[1]	77
	78	// allocates memory for thread descriptor + kernel stack
	79	req.type = KMEM_PAGE;
[14]	80	req.size = CONFIG_THREAD_DESC_ORDER;
[1]	81	req.flags = AF_KERNEL \| AF_ZERO;
	82	page = kmem_alloc( &req );
	83
[14]	84	// return pointer on new thread descriptor
[23]	85	if( page == NULL ) return NULL;
[53]	86	else return (thread_t *)ppm_page2vaddr( page );
[171]	87	}
[1]	88
[14]	89	/////////////////////////////////////////////////////////////////////////////////////
[23]	90	// This static function releases the physical memory for a thread descriptor.
[53]	91	// It is called by the three functions:
[23]	92	// - thread_user_create()
	93	// - thread_user_fork()
	94	// - thread_kernel_create()
	95	/////////////////////////////////////////////////////////////////////////////////////
	96	// @ thread : pointer on thread descriptor.
	97	/////////////////////////////////////////////////////////////////////////////////////
	98	static void thread_release( thread_t * thread )
	99	{
	100	kmem_req_t req;
	101
	102	req.type = KMEM_PAGE;
[53]	103	req.ptr = ppm_vaddr2page( thread );
[23]	104	kmem_free( &req );
	105	}
	106
	107	/////////////////////////////////////////////////////////////////////////////////////
[14]	108	// This static function initializes a thread descriptor (kernel or user).
	109	// It can be called by the four functions:
	110	// - thread_user_create()
	111	// - thread_user_fork()
	112	// - thread_kernel_create()
	113	// - thread_user_init()
	114	/////////////////////////////////////////////////////////////////////////////////////
	115	// @ thread : pointer on thread descriptor
	116	// @ process : pointer on process descriptor.
	117	// @ type : thread type.
	118	// @ func : pointer on thread entry function.
	119	// @ args : pointer on thread entry function arguments.
	120	// @ core_lid : target core local index.
	121	// @ u_stack_base : stack base (user thread only)
	122	// @ u_stack_size : stack base (user thread only)
	123	/////////////////////////////////////////////////////////////////////////////////////
	124	static error_t thread_init( thread_t * thread,
	125	process_t * process,
	126	thread_type_t type,
	127	void * func,
	128	void * args,
	129	lid_t core_lid,
	130	intptr_t u_stack_base,
	131	uint32_t u_stack_size )
	132	{
	133	error_t error;
	134	trdid_t trdid; // allocated thread identifier
	135
	136	cluster_t * local_cluster = LOCAL_CLUSTER;
	137
	138	// register new thread in process descriptor, and get a TRDID
[1]	139	spinlock_lock( &process->th_lock );
	140	error = process_register_thread( process, thread , &trdid );
	141	spinlock_unlock( &process->th_lock );
	142
[171]	143	if( error )
[1]	144	{
[14]	145	printk("\n[ERROR] in %s : cannot get TRDID\n", __FUNCTION__ );
	146	return EINVAL;
[1]	147	}
[14]	148
[1]	149	// Initialize new thread descriptor
	150	thread->trdid = trdid;
[171]	151	thread->type = type;
[1]	152	thread->quantum = 0; // TODO
	153	thread->ticks_nr = 0; // TODO
	154	thread->time_last_check = 0;
	155	thread->core = &local_cluster->core_tbl[core_lid];
	156	thread->process = process;
	157
	158	thread->local_locks = 0;
	159	list_root_init( &thread->locks_root );
	160
	161	thread->remote_locks = 0;
	162	xlist_root_init( XPTR( local_cxy , &thread->xlocks_root ) );
	163
[171]	164	thread->u_stack_base = u_stack_base;
[1]	165	thread->u_stack_size = u_stack_size;
[171]	166	thread->k_stack_base = (intptr_t)thread;
[14]	167	thread->k_stack_size = CONFIG_THREAD_DESC_SIZE;
[1]	168
	169	thread->entry_func = func; // thread entry point
	170	thread->entry_args = args; // thread function arguments
[171]	171	thread->flags = 0; // all flags reset
[1]	172	thread->signals = 0; // no pending signal
	173	thread->errno = 0; // no error detected
[171]	174	thread->fork_user = 0; // no fork required
[1]	175	thread->fork_cxy = 0;
	176
	177	// thread blocked
	178	thread->blocked = THREAD_BLOCKED_GLOBAL;
	179
	180	// reset children list
	181	xlist_root_init( XPTR( local_cxy , &thread->children_root ) );
	182	thread->children_nr = 0;
	183
	184	// reset sched list and brothers list
	185	list_entry_init( &thread->sched_list );
	186	xlist_entry_init( XPTR( local_cxy , &thread->brothers_list ) );
	187
	188	// reset thread info
	189	memset( &thread->info , 0 , sizeof(thread_info_t) );
	190
	191	// initialise signature
	192	thread->signature = THREAD_SIGNATURE;
	193
	194	// update local DQDT
	195	dqdt_local_update_threads( 1 );
	196
[171]	197	// register new thread in core scheduler
[1]	198	sched_register_thread( thread->core , thread );
	199
	200	return 0;
[171]	201	}
[1]	202
	203	/////////////////////////////////////////////////////////
[23]	204	error_t thread_user_create( pid_t pid,
	205	void * start_func,
	206	void * start_arg,
[1]	207	pthread_attr_t * attr,
[23]	208	thread_t ** new_thread )
[1]	209	{
	210	error_t error;
	211	thread_t * thread; // pointer on created thread descriptor
	212	process_t * process; // pointer to local process descriptor
	213	lid_t core_lid; // selected core local index
[23]	214	vseg_t * vseg; // stack vseg
[1]	215
[23]	216	thread_dmsg("\n[INFO] %s : enters for process %x\n", __FUNCTION__ , pid );
[5]	217
[23]	218	// get process descriptor local copy
	219	process = process_get_local_copy( pid );
[1]	220
[23]	221	if( process == NULL )
	222	{
	223	printk("\n[ERROR] in %s : cannot get process descriptor %x\n",
	224	__FUNCTION__ , pid );
	225	return ENOMEM;
	226	}
	227
[171]	228	// select a target core in local cluster
[23]	229	if( attr->attributes & PT_ATTR_CORE_DEFINED ) core_lid = attr->lid;
	230	else core_lid = cluster_select_local_core();
[1]	231
	232	// check core local index
[23]	233	if( core_lid >= LOCAL_CLUSTER->cores_nr )
	234	{
	235	printk("\n[ERROR] in %s : illegal core index attribute = %d\n",
	236	__FUNCTION__ , core_lid );
[171]	237
[23]	238	return EINVAL;
	239	}
[1]	240
[171]	241	// allocate a stack from local VMM
[23]	242	vseg = vmm_create_vseg( process, 0 , 0 , VSEG_TYPE_STACK );
[1]	243
[170]	244	if( vseg == NULL )
[23]	245	{
	246	printk("\n[ERROR] in %s : cannot create stack vseg\n", __FUNCTION__ );
	247	return ENOMEM;
[171]	248	}
[23]	249
[171]	250	// allocate memory for thread descriptor
[14]	251	thread = thread_alloc();
[1]	252
[23]	253	if( thread == NULL )
	254	{
	255	printk("\n[ERROR] in %s : cannot create new thread\n", __FUNCTION__ );
	256	vmm_remove_vseg( vseg );
	257	return ENOMEM;
	258	}
[14]	259
[171]	260	// initialize thread descriptor
[14]	261	error = thread_init( thread,
	262	process,
	263	THREAD_USER,
[23]	264	start_func,
	265	start_arg,
[14]	266	core_lid,
[23]	267	vseg->min,
	268	vseg->max - vseg->min );
[14]	269
[171]	270	if( error )
[14]	271	{
[23]	272	printk("\n[ERROR] in %s : cannot initialize new thread\n", __FUNCTION__ );
	273	vmm_remove_vseg( vseg );
	274	thread_release( thread );
[14]	275	return EINVAL;
	276	}
	277
[171]	278	// set LOADABLE flag
[1]	279	thread->flags = THREAD_FLAG_LOADABLE;
[14]	280
	281	// set DETACHED flag if required
[23]	282	if( attr->attributes & PT_ATTR_DETACH ) thread->flags \|= THREAD_FLAG_DETACHED;
[1]	283
[171]	284	// allocate & initialize CPU context
	285	error = hal_cpu_context_create( thread );
[1]	286
[171]	287	if( error )
[23]	288	{
	289	printk("\n[ERROR] in %s : cannot create CPU context\n", __FUNCTION__ );
	290	vmm_remove_vseg( vseg );
	291	thread_release( thread );
	292	return ENOMEM;
	293	}
	294
[171]	295	// allocate & initialize FPU context
	296	error = hal_fpu_context_create( thread );
[23]	297
	298	if( error )
	299	{
	300	printk("\n[ERROR] in %s : cannot create FPU context\n", __FUNCTION__ );
	301	vmm_remove_vseg( vseg );
	302	thread_release( thread );
	303	return ENOMEM;
	304	}
	305
[171]	306	thread_dmsg("\n[INFO] %s : exit / trdid = %x / process %x / core = %d\n",
[5]	307	__FUNCTION__ , thread->trdid , process->pid , core_lid );
[1]	308
	309	*new_thread = thread;
	310	return 0;
[171]	311	}
[14]	312
[23]	313	//////////////////////////////////////////////
	314	error_t thread_user_fork( process_t * process,
	315	thread_t ** new_thread )
[1]	316	{
	317	error_t error;
[14]	318	thread_t * thread; // pointer on new thread descriptor
[1]	319	lid_t core_lid; // selected core local index
[23]	320	vseg_t * vseg; // stack vseg
[1]	321
[14]	322	thread_dmsg("\n[INFO] %s : enters\n", __FUNCTION__ );
[5]	323
[171]	324	// allocate a stack from local VMM
[23]	325	vseg = vmm_create_vseg( process, 0 , 0 , VSEG_TYPE_STACK );
	326
	327	if( vseg == NULL );
	328	{
	329	printk("\n[ERROR] in %s : cannot create stack vseg\n", __FUNCTION__ );
	330	return ENOMEM;
[171]	331	}
[23]	332
[1]	333	// select a target core in local cluster
	334	core_lid = cluster_select_local_core();
	335
	336	// get pointer on calling thread descriptor
	337	thread_t * this = CURRENT_THREAD;
	338
[171]	339	// allocate memory for new thread descriptor
[14]	340	thread = thread_alloc();
[1]	341
[23]	342	if( thread == NULL )
	343	{
	344	printk("\n[ERROR] in %s : cannot allocate new thread\n", __FUNCTION__ );
	345	vmm_remove_vseg( vseg );
	346	return ENOMEM;
	347	}
[14]	348
[171]	349	// initialize thread descriptor
[14]	350	error = thread_init( thread,
	351	process,
	352	THREAD_USER,
	353	this->entry_func,
	354	this->entry_args,
	355	core_lid,
[23]	356	vseg->min,
	357	vseg->max - vseg->min );
[14]	358
[23]	359	if( error )
[14]	360	{
[23]	361	printk("\n[ERROR] in %s : cannot initialize new thread\n", __FUNCTION__ );
	362	vmm_remove_vseg( vseg );
	363	thread_release( thread );
[14]	364	return EINVAL;
	365	}
	366
[1]	367	// set ATTACHED flag if set in this thread
[14]	368	if( this->flags & THREAD_FLAG_DETACHED ) thread->flags = THREAD_FLAG_DETACHED;
[1]	369
[171]	370	// allocate & initialize CPU context from calling thread
	371	error = hal_cpu_context_copy( thread , this );
[1]	372
[23]	373	if( error )
	374	{
	375	printk("\n[ERROR] in %s : cannot create CPU context\n", __FUNCTION__ );
	376	vmm_remove_vseg( vseg );
	377	thread_release( thread );
	378	return ENOMEM;
	379	}
	380
[171]	381	// allocate & initialize FPU context from calling thread
	382	error = hal_fpu_context_copy( thread , this );
[1]	383
[23]	384	if( error )
	385	{
	386	printk("\n[ERROR] in %s : cannot create CPU context\n", __FUNCTION__ );
	387	vmm_remove_vseg( vseg );
	388	thread_release( thread );
	389	return ENOMEM;
	390	}
	391
[171]	392	thread_dmsg("\n[INFO] %s : exit / thread %x for process %x on core %d in cluster %x\n",
[14]	393	__FUNCTION__, thread->trdid, process->pid, core_lid, local_cxy );
[1]	394
[14]	395	*new_thread = thread;
[1]	396	return 0;
[171]	397	}
[5]	398
[1]	399	/////////////////////////////////////////////////////////
	400	error_t thread_kernel_create( thread_t ** new_thread,
	401	thread_type_t type,
[171]	402	void * func,
	403	void * args,
[1]	404	lid_t core_lid )
	405	{
	406	error_t error;
[14]	407	thread_t * thread; // pointer on new thread descriptor
[1]	408
[14]	409	thread_dmsg("\n[INFO] %s : enters for type %s in cluster %x\n",
[5]	410	__FUNCTION__ , thread_type_str( type ) , local_cxy );
[1]	411
[171]	412	assert( ( (type == THREAD_KERNEL) \|\| (type == THREAD_RPC) \|\|
[5]	413	(type == THREAD_IDLE) \|\| (type == THREAD_DEV) ) ,
	414	__FUNCTION__ , "illegal thread type" );
[1]	415
[171]	416	assert( (core_lid < LOCAL_CLUSTER->cores_nr) ,
[5]	417	__FUNCTION__ , "illegal core_lid" );
[1]	418
[171]	419	// allocate memory for new thread descriptor
[14]	420	thread = thread_alloc();
	421
	422	if( thread == NULL ) return ENOMEM;
	423
[171]	424	// initialize thread descriptor
[14]	425	error = thread_init( thread,
	426	&process_zero,
	427	type,
	428	func,
	429	args,
	430	core_lid,
	431	0 , 0 ); // no user stack for a kernel thread
	432
[171]	433	if( error ) // release allocated memory for thread descriptor
[1]	434	{
[185]	435	thread_release( thread );
[14]	436	return EINVAL;
[1]	437	}
	438
[171]	439	// allocate & initialize CPU context
	440	hal_cpu_context_create( thread );
[14]	441
[171]	442	thread_dmsg("\n[INFO] %s : exit in cluster %x / trdid = %x / core_lid = %d\n",
[14]	443	__FUNCTION__ , local_cxy , thread->trdid , core_lid );
[1]	444
[171]	445	*new_thread = thread;
[1]	446	return 0;
[171]	447	}
[5]	448
[14]	449	///////////////////////////////////////////////////
	450	error_t thread_kernel_init( thread_t * thread,
	451	thread_type_t type,
[171]	452	void * func,
	453	void * args,
[14]	454	lid_t core_lid )
	455	{
[171]	456	assert( ( (type == THREAD_KERNEL) \|\| (type == THREAD_RPC) \|\|
[14]	457	(type == THREAD_IDLE) \|\| (type == THREAD_DEV) ) ,
	458	__FUNCTION__ , "illegal thread type" );
[1]	459
[171]	460	if( core_lid >= LOCAL_CLUSTER->cores_nr )
[14]	461	{
[171]	462	printk("\n[PANIC] in %s : illegal core_lid / cores = %d / lid = %d / cxy = %x\n",
[14]	463	__FUNCTION__ , LOCAL_CLUSTER->cores_nr , core_lid , local_cxy );
	464	hal_core_sleep();
	465	}
	466
	467	error_t error = thread_init( thread,
	468	&process_zero,
	469	type,
	470	func,
	471	args,
	472	core_lid,
	473	0 , 0 ); // no user stack for a kernel thread
	474
	475	// allocate & initialize CPU context if success
	476	if( error == 0 ) hal_cpu_context_create( thread );
[171]	477
[14]	478	return error;
[171]	479	}
[14]	480
[1]	481	///////////////////////////////////////////////////////////////////////////////////////
	482	// TODO: check that all memory dynamically allocated during thread execution
	483	// has been released, using a cache of mmap and malloc requests. [AG]
	484	///////////////////////////////////////////////////////////////////////////////////////
	485	void thread_destroy( thread_t * thread )
	486	{
	487	uint32_t tm_start;
	488	uint32_t tm_end;
[60]	489	reg_t state;
[1]	490
	491	process_t * process = thread->process;
	492	core_t * core = thread->core;
	493
[5]	494	thread_dmsg("\n[INFO] %s : enters for thread %x in process %x / type = %s\n",
	495	__FUNCTION__ , thread->trdid , process->pid , thread_type_str( thread->type ) );
[1]	496
[5]	497	assert( (thread->children_nr == 0) , __FUNCTION__ , "still attached children" );
	498
	499	assert( (thread->local_locks == 0) , __FUNCTION__ , "all local locks not released" );
[171]	500
[5]	501	assert( (thread->remote_locks == 0) , __FUNCTION__ , "all remote locks not released" );
	502
[101]	503	tm_start = hal_get_cycles();
[1]	504
	505	// update intrumentation values
	506	uint32_t pgfaults = thread->info.pgfault_nr;
	507	uint32_t u_errors = thread->info.u_err_nr;
	508	uint32_t m_errors = thread->info.m_err_nr;
	509
	510	process->vmm.pgfault_nr += pgfaults;
	511	process->vmm.u_err_nr += u_errors;
	512	process->vmm.m_err_nr += m_errors;
	513
	514	// release memory allocated for CPU context and FPU context
	515	hal_cpu_context_destroy( thread );
	516	hal_fpu_context_destroy( thread );
	517
	518	// release FPU if required
	519	// TODO This should be done before calling thread_destroy()
	520	hal_disable_irq( &state );
	521	if( core->fpu_owner == thread )
	522	{
	523	core->fpu_owner = NULL;
	524	hal_fpu_disable();
	525	}
	526	hal_restore_irq( state );
	527
[171]	528	// remove thread from process th_tbl[]
[1]	529	// TODO This should be done before calling thread_destroy()
	530	ltid_t ltid = LTID_FROM_TRDID( thread->trdid );
	531
	532	spinlock_lock( &process->th_lock );
	533	process->th_tbl[ltid] = XPTR_NULL;
	534	process->th_nr--;
	535	spinlock_unlock( &process->th_lock );
	536
[23]	537	// update local DQDT
	538	dqdt_local_update_threads( -1 );
	539
[1]	540	// invalidate thread descriptor
	541	thread->signature = 0;
	542
	543	// release memory for thread descriptor
[23]	544	thread_release( thread );
[1]	545
[101]	546	tm_end = hal_get_cycles();
[1]	547
[5]	548	thread_dmsg("\n[INFO] %s : exit for thread %x in process %x / duration = %d\n",
	549	__FUNCTION__, thread->trdid , process->pid , tm_end - tm_start );
[171]	550	}
[1]	551
	552	/////////////////////////////////////////////////
	553	void thread_child_parent_link( xptr_t xp_parent,
	554	xptr_t xp_child )
	555	{
[171]	556	// get extended pointers on children list root
	557	cxy_t parent_cxy = GET_CXY( xp_parent );
[1]	558	thread_t * parent_ptr = (thread_t *)GET_PTR( xp_parent );
	559	xptr_t root = XPTR( parent_cxy , &parent_ptr->children_root );
	560
[171]	561	// get extended pointer on children list entry
	562	cxy_t child_cxy = GET_CXY( xp_child );
[1]	563	thread_t * child_ptr = (thread_t *)GET_PTR( xp_child );
	564	xptr_t entry = XPTR( child_cxy , &child_ptr->brothers_list );
	565
	566	// set the link
	567	xlist_add_first( root , entry );
	568	hal_remote_atomic_add( XPTR( parent_cxy , &parent_ptr->children_nr ) , 1 );
[171]	569	}
[1]	570
	571	///////////////////////////////////////////////////
	572	void thread_child_parent_unlink( xptr_t xp_parent,
	573	xptr_t xp_child )
	574	{
	575	// get extended pointer on children list lock
[171]	576	cxy_t parent_cxy = GET_CXY( xp_parent );
[1]	577	thread_t * parent_ptr = (thread_t *)GET_PTR( xp_parent );
	578	xptr_t lock = XPTR( parent_cxy , &parent_ptr->children_lock );
	579
[171]	580	// get extended pointer on children list entry
	581	cxy_t child_cxy = GET_CXY( xp_child );
[1]	582	thread_t * child_ptr = (thread_t *)GET_PTR( xp_child );
	583	xptr_t entry = XPTR( child_cxy , &child_ptr->brothers_list );
	584
	585	// get the lock
	586	remote_spinlock_lock( lock );
	587
	588	// remove the link
	589	xlist_unlink( entry );
	590	hal_remote_atomic_add( XPTR( parent_cxy , &parent_ptr->children_nr ) , -1 );
[171]	591
[1]	592	// release the lock
	593	remote_spinlock_unlock( lock );
	594	}
	595
	596	/////////////////////////////////////////////////
	597	inline void thread_set_signal( thread_t * thread,
	598	uint32_t mask )
	599	{
	600	hal_atomic_or( &thread->signals , mask );
	601	}
[171]	602
[1]	603	///////////////////////////////////////////////////
	604	inline void thread_reset_signal( thread_t * thread,
	605	uint32_t mask )
	606	{
	607	hal_atomic_and( &thread->signals , ~mask );
	608	}
[171]	609
[1]	610	//////////////////////////////////
	611	inline bool_t thread_is_joinable()
	612	{
	613	thread_t * this = CURRENT_THREAD;
	614	return( (this->brothers_list.next != XPTR_NULL) &&
	615	(this->brothers_list.pred != XPTR_NULL) );
	616	}
	617
	618	//////////////////////////////////
	619	inline bool_t thread_is_runnable()
	620	{
	621	thread_t * this = CURRENT_THREAD;
	622	return( this->blocked == 0 );
	623	}
	624
	625	////////////////////////////////
	626	inline bool_t thread_can_yield()
	627	{
	628	thread_t * this = CURRENT_THREAD;
	629	return ( (this->local_locks == 0) && (this->remote_locks == 0) );
	630	}
	631
	632	///////////////////////////
	633	bool_t thread_check_sched()
	634	{
	635	thread_t * this = CURRENT_THREAD;
	636
	637	// check locks count
	638	if( (this->local_locks != 0) \|\| (this->remote_locks != 0) ) return false;
	639
	640	// compute elapsed time, taking into account 32 bits register wrap
	641	uint32_t elapsed;
[101]	642	uint32_t time_now = hal_get_cycles();
[1]	643	uint32_t time_last = this->time_last_check;
	644	if( time_now < time_last ) elapsed = (0xFFFFFFFF - time_last) + time_now;
	645	else elapsed = time_now - time_last;
	646
	647	// update thread time
	648	this->time_last_check = time_now;
	649
	650	// check elapsed time
	651	if( elapsed < CONFIG_CORE_CHECK_EVERY ) return false;
	652	else return true;
	653	}
	654
	655	/////////////////////
	656	error_t thread_exit()
	657	{
[60]	658	reg_t sr_save;
[1]	659
	660	thread_t * this = CURRENT_THREAD;
	661
	662	// test if this thread can be descheduled
	663	if( !thread_can_yield() )
	664	{
	665	printk("ERROR in %s : thread %x in process %x on core %d in cluster %x\n"
	666	" did not released all locks\n",
	667	__FUNCTION__ , this->trdid , this->process->pid ,
	668	CURRENT_CORE->lid , local_cxy );
	669	return EINVAL;
	670	}
	671
	672	if( this->flags & THREAD_FLAG_DETACHED )
	673	{
	674	// if detached set signal and set blocking cause atomically
	675	hal_disable_irq( &sr_save );
	676	thread_set_signal( this , THREAD_SIG_KILL );
	677	thread_block( this , THREAD_BLOCKED_EXIT );
	678	hal_restore_irq( sr_save );
	679	}
[171]	680	else
[1]	681	{
[171]	682	// if attached, set blocking cause
[1]	683	thread_block( this , THREAD_BLOCKED_EXIT );
	684	}
	685
	686	// deschedule
	687	sched_yield();
	688	return 0;
[171]	689	}
[1]	690
	691	/////////////////////////////////////
	692	void thread_block( thread_t * thread,
	693	uint32_t cause )
	694	{
[171]	695	// set blocking cause
[1]	696	hal_atomic_or( &thread->blocked , cause );
[171]	697	}
[1]	698
	699	////////////////////////////////////
	700	void thread_unblock( xptr_t thread,
	701	uint32_t cause )
	702	{
	703	// get thread cluster and local pointer
[171]	704	cxy_t cxy = GET_CXY( thread );
[1]	705	thread_t * ptr = (thread_t *)GET_PTR( thread );
	706
	707	// reset blocking cause
	708	hal_remote_atomic_and( XPTR( cxy , &ptr->blocked ) , ~cause );
[171]	709	}
[1]	710
	711	/////////////////////////////////////
	712	void thread_kill( thread_t * target )
	713	{
	714	// set SIG_KILL signal in target thread descriptor
	715	thread_set_signal( target , THREAD_SIG_KILL );
	716
	717	// set the global blocked bit in target thread descriptor.
	718	thread_block( target , THREAD_BLOCKED_GLOBAL );
	719
[188]	720	// send an IPI to schedule the target thread core.
	721	dev_pic_send_ipi( local_cxy , target->core->lid );
[171]	722	}
[1]	723
[14]	724	///////////////////////
	725	void thread_idle_func()
[1]	726	{
[68]	727	#if CONFIG_IDLE_DEBUG
[14]	728	lid_t lid = CURRENT_CORE->lid;
[68]	729	#endif
[14]	730
[1]	731	while( 1 )
	732	{
[50]	733	idle_dmsg("\n[INFO] %s : core[%x][%d] goes to sleep at cycle %d\n",
[101]	734	__FUNCTION__ , local_cxy , lid , hal_get_cycles() );
[1]	735
	736	// force core to sleeping state
	737	hal_core_sleep();
	738
[50]	739	idle_dmsg("\n[INFO] %s : core[%x][%d] wake up at cycle %d\n",
[101]	740	__FUNCTION__ , local_cxy , lid , hal_get_cycles() );
[1]	741
[14]	742	// force scheduling
[1]	743	sched_yield();
	744	}
[171]	745	}
[1]	746
[16]	747	/////////////////////////////////////////////////
	748	void thread_user_time_update( thread_t * thread )
	749	{
	750	// TODO
	751	printk("\n[WARNING] function %s not implemented\n", __FUNCTION__ );
	752	}
[1]	753
[16]	754	///////////////////////////////////////////////////
	755	void thread_kernel_time_update( thread_t * thread )
	756	{
	757	// TODO
	758	printk("\n[WARNING] function %s not implemented\n", __FUNCTION__ );
	759	}
	760
	761	////////////////////////////////////////////////
[23]	762	void thread_signals_handle( thread_t * thread )
[16]	763	{
	764	// TODO
	765	printk("\n[WARNING] function %s not implemented\n", __FUNCTION__ );
	766	}
	767
[23]	768	/////////////////////////////////////
	769	xptr_t thread_get_xptr( pid_t pid,
	770	trdid_t trdid )
	771	{
	772	cxy_t target_cxy; // target thread cluster identifier
	773	ltid_t target_thread_ltid; // target thread local index
[171]	774	thread_t * target_thread_ptr; // target thread local pointer
[23]	775	xptr_t target_process_xp; // extended pointer on target process descriptor
[171]	776	process_t * target_process_ptr; // local pointer on target process descriptor
[23]	777	pid_t target_process_pid; // target process identifier
	778	xlist_entry_t root; // root of list of process in target cluster
	779	xptr_t lock_xp; // extended pointer on lock protecting this list
[16]	780
[23]	781	// get target cluster identifier and local thread identifier
	782	target_cxy = CXY_FROM_TRDID( trdid );
	783	target_thread_ltid = LTID_FROM_TRDID( trdid );
	784
	785	// get root of list of process descriptors in target cluster
	786	hal_remote_memcpy( XPTR( local_cxy , &root ),
	787	XPTR( target_cxy , &LOCAL_CLUSTER->pmgr.local_root ),
	788	sizeof(xlist_entry_t) );
	789
[171]	790	// get extended pointer on lock protecting the list of processes
[23]	791	lock_xp = XPTR( target_cxy , &LOCAL_CLUSTER->pmgr.local_lock );
	792
	793	// take the lock protecting the list of processes in target cluster
	794	remote_spinlock_lock( lock_xp );
	795
	796	// loop on list of process in target cluster to find the PID process
	797	xptr_t iter;
	798	bool_t found = false;
	799	XLIST_FOREACH( XPTR( target_cxy , &LOCAL_CLUSTER->pmgr.local_root ) , iter )
	800	{
	801	target_process_xp = XLIST_ELEMENT( iter , process_t , local_list );
	802	target_process_ptr = (process_t *)GET_PTR( target_process_xp );
	803	target_process_pid = hal_remote_lw( XPTR( target_cxy , &target_process_ptr->pid ) );
	804	if( target_process_pid == pid )
	805	{
	806	found = true;
	807	break;
	808	}
	809	}
	810
	811	// release the lock protecting the list of processes in target cluster
	812	remote_spinlock_unlock( lock_xp );
	813
	814	// check target thread found
	815	if( found == false )
	816	{
	817	return XPTR_NULL;
	818	}
	819
	820	// get target thread local pointer
	821	xptr_t xp = XPTR( target_cxy , &target_process_ptr->th_tbl[target_thread_ltid] );
[171]	822	target_thread_ptr = (thread_t *)hal_remote_lpt( xp );
[23]	823
	824	if( target_thread_ptr == NULL )
	825	{
	826	return XPTR_NULL;
	827	}
	828
	829	return XPTR( target_cxy , target_thread_ptr );
[171]	830	}
[23]	831

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