rtems: Add task get/set scheduler

cpukit/rtems/Makefile.am

@@ -94,6 +94,7 @@ librtems_a_SOURCES += src/taskcreate.c
 librtems_a_SOURCES += src/taskdelete.c
 librtems_a_SOURCES += src/taskgetaffinity.c
 librtems_a_SOURCES += src/taskgetnote.c
+librtems_a_SOURCES += src/taskgetscheduler.c
 librtems_a_SOURCES += src/taskident.c
 librtems_a_SOURCES += src/taskinitusers.c
 librtems_a_SOURCES += src/taskissuspended.c
@@ -104,6 +105,7 @@ librtems_a_SOURCES += src/taskself.c
 librtems_a_SOURCES += src/tasksetaffinity.c
 librtems_a_SOURCES += src/tasksetnote.c
 librtems_a_SOURCES += src/tasksetpriority.c
+librtems_a_SOURCES += src/tasksetscheduler.c
 librtems_a_SOURCES += src/taskstart.c
 librtems_a_SOURCES += src/tasksuspend.c
 librtems_a_SOURCES += src/taskwakeafter.c

cpukit/rtems/include/rtems/rtems/tasks.h

@@ -541,6 +541,41 @@ rtems_status_code rtems_task_set_affinity(
 );
 #endif
 
+/**
+ * @brief Gets the scheduler of a task.
+ *
+ * @param[in] id Identifier of the task.  Use @ref RTEMS_SELF to select the
+ * executing task.
+ * @param[out] scheduler_id Identifier of the scheduler.
+ *
+ * @retval RTEMS_SUCCESSFUL Successful operation.
+ * @retval RTEMS_INVALID_ADDRESS The @a scheduler_id parameter is @c NULL.
+ * @retval RTEMS_INVALID_ID Invalid task identifier.
+ */
+rtems_status_code rtems_task_get_scheduler(
+  rtems_id  id,
+  rtems_id *scheduler_id
+);
+
+/**
+ * @brief Sets the scheduler of a task.
+ *
+ * @param[in] id Identifier of the task.  Use @ref RTEMS_SELF to select the
+ * executing task.
+ * @param[in] scheduler_id Identifier of the scheduler.
+ *
+ * @retval RTEMS_SUCCESSFUL Successful operation.
+ * @retval RTEMS_INVALID_ID Invalid task or scheduler identifier.
+ * @retval RTEMS_INCORRECT_STATE The task is in the wrong state to perform a
+ * scheduler change.
+ *
+ * @see rtems_scheduler_ident().
+ */
+rtems_status_code rtems_task_set_scheduler(
+  rtems_id id,
+  rtems_id scheduler_id
+);
+
 /**
  *  @brief RTEMS Get Self Task Id
  *

cpukit/rtems/src/taskgetscheduler.c

@@ -0,0 +1,60 @@
+/*
+ * Copyright (c) 2014 embedded brains GmbH.  All rights reserved.
+ *
+ *  embedded brains GmbH
+ *  Dornierstr. 4
+ *  82178 Puchheim
+ *  Germany
+ *  <rtems@embedded-brains.de>
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rtems.org/license/LICENSE.
+ */
+
+#if HAVE_CONFIG_H
+  #include "config.h"
+#endif
+
+#include <rtems/rtems/tasks.h>
+#include <rtems/score/schedulerimpl.h>
+
+rtems_status_code rtems_task_get_scheduler(
+  rtems_id  id,
+  rtems_id *scheduler_id
+)
+{
+  rtems_status_code sc;
+
+  if ( scheduler_id != NULL ) {
+    Thread_Control          *the_thread;
+    Objects_Locations        location;
+    const Scheduler_Control *scheduler;
+
+    the_thread = _Thread_Get( id, &location );
+
+    switch ( location ) {
+      case OBJECTS_LOCAL:
+        scheduler = _Scheduler_Get( the_thread );
+        *scheduler_id = _Scheduler_Build_id(
+          _Scheduler_Get_index( scheduler )
+        );
+        _Objects_Put( &the_thread->Object );
+        sc = RTEMS_SUCCESSFUL;
+        break;
+#if defined(RTEMS_MULTIPROCESSING)
+      case OBJECTS_REMOTE:
+        _Thread_Dispatch();
+        sc = RTEMS_ILLEGAL_ON_REMOTE_OBJECT;
+        break;
+#endif
+      default:
+        sc = RTEMS_INVALID_ID;
+        break;
+    }
+  } else {
+    sc = RTEMS_INVALID_ADDRESS;
+  }
+
+  return sc;
+}

cpukit/rtems/src/tasksetscheduler.c

@@ -0,0 +1,58 @@
+/*
+ * Copyright (c) 2014 embedded brains GmbH.  All rights reserved.
+ *
+ *  embedded brains GmbH
+ *  Dornierstr. 4
+ *  82178 Puchheim
+ *  Germany
+ *  <rtems@embedded-brains.de>
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rtems.org/license/LICENSE.
+ */
+
+#if HAVE_CONFIG_H
+  #include "config.h"
+#endif
+
+#include <rtems/rtems/tasks.h>
+#include <rtems/score/schedulerimpl.h>
+
+rtems_status_code rtems_task_set_scheduler(
+  rtems_id id,
+  rtems_id scheduler_id
+)
+{
+  rtems_status_code        sc;
+  const Scheduler_Control *scheduler;
+
+  if ( _Scheduler_Get_by_id( scheduler_id, &scheduler ) ) {
+    Thread_Control    *the_thread;
+    Objects_Locations  location;
+    bool               ok;
+
+    the_thread = _Thread_Get( id, &location );
+
+    switch ( location ) {
+      case OBJECTS_LOCAL:
+        ok = _Scheduler_Set( scheduler, the_thread );
+        _Objects_Put( &the_thread->Object );
+        sc = ok ? RTEMS_SUCCESSFUL : RTEMS_INCORRECT_STATE;
+        break;
+#if defined(RTEMS_MULTIPROCESSING)
+      case OBJECTS_REMOTE:
+        _Thread_Dispatch();
+        sc = RTEMS_ILLEGAL_ON_REMOTE_OBJECT;
+        break;
+#endif
+      default:
+        sc = RTEMS_INVALID_ID;
+        break;
+    }
+  } else {
+    sc = RTEMS_INVALID_ID;
+  }
+
+  return sc;
+}

cpukit/score/include/rtems/score/schedulerimpl.h

@@ -451,6 +451,24 @@ RTEMS_INLINE_ROUTINE const Scheduler_Control *_Scheduler_Get(
   return &_Scheduler_Table[ 0 ];
 }
 
+RTEMS_INLINE_ROUTINE bool _Scheduler_Set(
+  const Scheduler_Control *scheduler,
+  Thread_Control          *the_thread
+)
+{
+  bool ok;
+
+  (void) scheduler;
+
+  if ( _States_Is_dormant( the_thread->current_state ) ) {
+    ok = true;
+  } else {
+    ok = false;
+  }
+
+  return ok;
+}
+
 RTEMS_INLINE_ROUTINE Objects_Id _Scheduler_Build_id( uint32_t scheduler_index )
 {
   return _Objects_Build_id(
@@ -474,6 +492,13 @@ RTEMS_INLINE_ROUTINE bool _Scheduler_Get_by_id(
   return index < _Scheduler_Count;
 }
 
+RTEMS_INLINE_ROUTINE uint32_t _Scheduler_Get_index(
+  const Scheduler_Control *scheduler
+)
+{
+  return (uint32_t) (scheduler - &_Scheduler_Table[ 0 ]);
+}
+
 /** @} */
 
 #ifdef __cplusplus

testsuites/sptests/spscheduler01/init.c

@@ -102,6 +102,81 @@ static void test_task_get_set_affinity(void)
 #endif /* defined(__RTEMS_HAVE_SYS_CPUSET_H__) */
 }
 
+static void task(rtems_task_argument arg)
+{
+  (void) arg;
+
+  rtems_test_assert(0);
+}
+
+static void test_task_get_set_scheduler(void)
+{
+  rtems_status_code sc;
+  rtems_id self_id = rtems_task_self();
+  rtems_name name = BLUE;
+  rtems_id scheduler_id;
+  rtems_id scheduler_by_name;
+  rtems_id task_id;
+
+  sc = rtems_scheduler_ident(name, &scheduler_by_name);
+  rtems_test_assert(sc == RTEMS_SUCCESSFUL);
+
+  sc = rtems_task_get_scheduler(RTEMS_SELF, NULL);
+  rtems_test_assert(sc == RTEMS_INVALID_ADDRESS);
+
+  sc = rtems_task_get_scheduler(invalid_id, &scheduler_id);
+  rtems_test_assert(sc == RTEMS_INVALID_ID);
+
+  scheduler_id = 0;
+  sc = rtems_task_get_scheduler(RTEMS_SELF, &scheduler_id);
+  rtems_test_assert(sc == RTEMS_SUCCESSFUL);
+
+  rtems_test_assert(scheduler_id == scheduler_by_name);
+
+  scheduler_id = 0;
+  sc = rtems_task_get_scheduler(self_id, &scheduler_id);
+  rtems_test_assert(sc == RTEMS_SUCCESSFUL);
+
+  rtems_test_assert(scheduler_id == scheduler_by_name);
+
+  sc = rtems_task_set_scheduler(invalid_id, scheduler_id);
+  rtems_test_assert(sc == RTEMS_INVALID_ID);
+
+  sc = rtems_task_set_scheduler(self_id, invalid_id);
+  rtems_test_assert(sc == RTEMS_INVALID_ID);
+
+  sc = rtems_task_set_scheduler(self_id, scheduler_id);
+  rtems_test_assert(sc == RTEMS_INCORRECT_STATE);
+
+  sc = rtems_task_create(
+    rtems_build_name('T', 'A', 'S', 'K'),
+    2,
+    RTEMS_MINIMUM_STACK_SIZE,
+    RTEMS_DEFAULT_MODES,
+    RTEMS_DEFAULT_ATTRIBUTES,
+    &task_id
+  );
+  rtems_test_assert(sc == RTEMS_SUCCESSFUL);
+
+  scheduler_id = 0;
+  sc = rtems_task_get_scheduler(task_id, &scheduler_id);
+  rtems_test_assert(sc == RTEMS_SUCCESSFUL);
+
+  rtems_test_assert(scheduler_id == scheduler_by_name);
+
+  sc = rtems_task_set_scheduler(task_id, scheduler_id);
+  rtems_test_assert(sc == RTEMS_SUCCESSFUL);
+
+  sc = rtems_task_start(task_id, task, 0);
+  rtems_test_assert(sc == RTEMS_SUCCESSFUL);
+
+  sc = rtems_task_set_scheduler(task_id, scheduler_id);
+  rtems_test_assert(sc == RTEMS_INCORRECT_STATE);
+
+  sc = rtems_task_delete(task_id);
+  rtems_test_assert(sc == RTEMS_SUCCESSFUL);
+}
+
 static void test_scheduler_ident(void)
 {
   rtems_status_code sc;
@@ -184,6 +259,7 @@ static void Init(rtems_task_argument arg)
   rtems_resource_snapshot_take(&snapshot);
 
   test_task_get_set_affinity();
+  test_task_get_set_scheduler();
   test_scheduler_ident();
   test_scheduler_get_processors();
 
@@ -198,7 +274,7 @@ static void Init(rtems_task_argument arg)
 
 #define CONFIGURE_USE_IMFS_AS_BASE_FILESYSTEM
 
-#define CONFIGURE_MAXIMUM_TASKS 1
+#define CONFIGURE_MAXIMUM_TASKS 2
 
 #define CONFIGURE_INITIAL_EXTENSIONS RTEMS_TEST_INITIAL_EXTENSION