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