xref: /nrf52832-nimble/packages/NimBLE-latest/porting/npl/linux/src/os_task.c (revision 042d53a763ad75cb1465103098bb88c245d95138)

/*
 * 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 "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;
    }

    pthread_attr_t attr;
    struct sched_param param;
    err = pthread_attr_init(&attr);
    if (err) return err;
    err = pthread_attr_getschedparam (&attr, &param);
    if (err) return err;
    err = pthread_attr_setschedpolicy(&attr, SCHED_RR);
    if (err) return err;
    param.sched_priority = prio;
    err = pthread_attr_setschedparam (&attr, &param);
    if (err) return err;

    t->name = name;
    err = pthread_create(&t->handle, &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 *)pthread_self();
}

bool ble_npl_os_started(void)
{
    return true;
}

void ble_npl_task_yield(void)
{
    pthread_yield();
}

#ifdef __cplusplus
}
#endif