/*
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* Licensed to the Apache Software Foundation (ASF) under one
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* or more contributor license agreements. See the NOTICE file
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* distributed with this work for additional information
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* regarding copyright ownership. The ASF licenses this file
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* to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance
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* with the License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing,
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* software distributed under the License is distributed on an
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* "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
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* KIND, either express or implied. See the License for the
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* specific language governing permissions and limitations
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* under the License.
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*/
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#include <nuttx/config.h>
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#include <errno.h>
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#include "os/os.h"
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#include "nimble/nimble_npl.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* Initialize a task.
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*
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* This function initializes the task structure pointed to by t,
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* clearing and setting it's stack pointer, provides sane defaults
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* and sets the task as ready to run, and inserts it into the operating
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* system scheduler.
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*
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* @param t The task to initialize
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* @param name The name of the task to initialize
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* @param func The task function to call
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* @param arg The argument to pass to this task function
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* @param prio The priority at which to run this task
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* @param sanity_itvl The time at which this task should check in with the
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* sanity task. OS_WAIT_FOREVER means never check in
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* here.
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* @param stack_bottom A pointer to the bottom of a task's stack
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* @param stack_size The overall size of the task's stack.
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*
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* @return 0 on success, non-zero on failure.
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*/
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int
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ble_npl_task_init(struct ble_npl_task *t, const char *name, ble_npl_task_func_t func,
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void *arg, uint8_t prio, ble_npl_time_t sanity_itvl,
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ble_npl_stack_t *stack_bottom, uint16_t stack_size)
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{
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int err;
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if ((t == NULL) || (func == NULL)) {
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return OS_INVALID_PARM;
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}
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err = pthread_attr_init(&t->attr);
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if (err) return err;
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err = pthread_attr_getschedparam (&t->attr, &t->param);
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if (err) return err;
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#if CONFIG_RR_INTERVAL > 0
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err = pthread_attr_setschedpolicy(&t->attr, SCHED_RR);
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if (err) return err;
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#endif
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t->param.sched_priority = prio;
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err = pthread_attr_setschedparam (&t->attr, &t->param);
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if (err) return err;
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t->name = name;
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err = pthread_create(&t->handle, &t->attr, func, arg);
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if (err == ENOMEM)
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{
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err = OS_ENOMEM;
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}
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return err;
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}
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/*
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* Removes specified task
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* XXX
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* NOTE: This interface is currently experimental and not ready for common use
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*/
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int
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ble_npl_task_remove(struct ble_npl_task *t)
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{
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return pthread_cancel(t->handle);
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}
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/**
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* Return the number of tasks initialized.
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*
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* @return number of tasks initialized
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*/
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uint8_t
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ble_npl_task_count(void)
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{
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return 0;
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}
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void *
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ble_npl_get_current_task_id(void)
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{
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return (void *)(uintptr_t)pthread_self();
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}
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bool
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ble_npl_os_started(void)
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{
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return true;
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}
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void
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ble_npl_task_yield(void)
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{
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pthread_yield();
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}
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#ifdef __cplusplus
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}
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#endif
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