Add RTEMS thread API

Update #2843.

cpukit/headers.am

@@ -210,6 +210,7 @@ include_rtems_HEADERS += include/rtems/termios_printk.h
 include_rtems_HEADERS += include/rtems/termios_printk_cnf.h
 include_rtems_HEADERS += include/rtems/termiostypes.h
 include_rtems_HEADERS += include/rtems/test.h
+include_rtems_HEADERS += include/rtems/thread.h
 include_rtems_HEADERS += include/rtems/timecounter.h
 include_rtems_HEADERS += include/rtems/timespec.h
 include_rtems_HEADERS += include/rtems/tm27-default.h

cpukit/include/rtems/thread.h

@@ -0,0 +1,289 @@
+/*
+ * Copyright (c) 2017 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.
+ */
+
+#ifndef _RTEMS_THREAD_H
+#define _RTEMS_THREAD_H
+
+#include <sys/lock.h>
+#include <errno.h>
+#include <stdint.h>
+
+__BEGIN_DECLS
+
+/* Temporarily defined, will be shipped with a Newlib update */
+int _Semaphore_Wait_timed_ticks(struct _Semaphore_Control *, __uint32_t);
+
+/* Temporarily defined, will be shipped with a Newlib update */
+int _Semaphore_Try_wait(struct _Semaphore_Control *);
+
+/* Temporarily defined, will be shipped with a Newlib update */
+void _Semaphore_Post_binary(struct _Semaphore_Control *);
+
+typedef struct _Mutex_Control rtems_mutex;
+
+#define RTEMS_MUTEX_INITIALIZER( name ) _MUTEX_NAMED_INITIALIZER( name )
+
+static __inline void rtems_mutex_init( rtems_mutex *mutex, const char *name )
+{
+  _Mutex_Initialize_named( mutex, name );
+}
+
+static __inline const char *rtems_mutex_get_name( const rtems_mutex *mutex )
+{
+  return mutex->_Queue._name;
+}
+
+static __inline void rtems_mutex_set_name( rtems_mutex *mutex, const char *name )
+{
+  mutex->_Queue._name = name;
+}
+
+static __inline void rtems_mutex_lock( rtems_mutex *mutex )
+{
+  _Mutex_Acquire( mutex );
+}
+
+static __inline void rtems_mutex_unlock( rtems_mutex *mutex )
+{
+  _Mutex_Release( mutex );
+}
+
+static __inline void rtems_mutex_destroy( rtems_mutex *mutex )
+{
+  _Mutex_Destroy( mutex );
+}
+
+typedef struct _Mutex_recursive_Control rtems_recursive_mutex;
+
+#define RTEMS_RECURSIVE_MUTEX_INITIALIZER( name ) \
+  _MUTEX_RECURSIVE_NAMED_INITIALIZER( name )
+
+static __inline void rtems_recursive_mutex_init(
+  rtems_recursive_mutex *mutex, const char *name
+)
+{
+  _Mutex_recursive_Initialize_named( mutex, name );
+}
+
+static __inline const char *rtems_recursive_mutex_get_name(
+  const rtems_recursive_mutex *mutex
+)
+{
+  return mutex->_Mutex._Queue._name;
+}
+
+static __inline void rtems_recursive_mutex_set_name(
+  rtems_recursive_mutex *mutex, const char *name
+)
+{
+  mutex->_Mutex._Queue._name = name;
+}
+
+static __inline void rtems_recursive_mutex_lock(
+  rtems_recursive_mutex *mutex
+)
+{
+  _Mutex_recursive_Acquire( mutex );
+}
+
+static __inline void rtems_recursive_mutex_unlock(
+  rtems_recursive_mutex *mutex
+)
+{
+  _Mutex_recursive_Release( mutex );
+}
+
+static __inline void rtems_recursive_mutex_destroy(
+  rtems_recursive_mutex *mutex
+)
+{
+  _Mutex_recursive_Destroy( mutex );
+}
+
+typedef struct _Condition_Control rtems_condition_variable;
+
+#define RTEMS_CONDITION_VARIABLE_INITIALIZER( name ) \
+  _CONDITION_NAMED_INITIALIZER( name )
+
+static __inline void rtems_condition_variable_init(
+  rtems_condition_variable *condition_variable,
+  const char               *name
+)
+{
+  _Condition_Initialize_named( condition_variable, name );
+}
+
+static __inline const char *rtems_condition_variable_get_name(
+  const rtems_condition_variable *condition_variable
+)
+{
+  return condition_variable->_Queue._name;
+}
+
+static __inline void rtems_condition_variable_set_name(
+  rtems_condition_variable *condition_variable,
+  const char               *name
+)
+{
+  condition_variable->_Queue._name = name;
+}
+
+static __inline void rtems_condition_variable_wait(
+  rtems_condition_variable *condition_variable,
+  rtems_mutex *mutex
+)
+{
+  _Condition_Wait( condition_variable, mutex );
+}
+
+static __inline void rtems_condition_variable_signal(
+  rtems_condition_variable *condition_variable
+)
+{
+  _Condition_Broadcast( condition_variable );
+}
+
+static __inline void rtems_condition_variable_broadcast(
+  rtems_condition_variable *condition_variable
+)
+{
+  _Condition_Broadcast( condition_variable );
+}
+
+static __inline void rtems_condition_variable_destroy(
+  rtems_condition_variable *condition_variable
+)
+{
+  _Condition_Destroy( condition_variable );
+}
+
+typedef struct _Semaphore_Control rtems_counting_semaphore;
+
+#define RTEMS_COUNTING_SEMAPHORE_INITIALIZER( name, value ) \
+  _SEMAPHORE_NAMED_INITIALIZER( name, value )
+
+static __inline void rtems_counting_semaphore_init(
+  rtems_counting_semaphore *counting_semaphore,
+  const char               *name,
+  unsigned int              value
+)
+{
+  _Semaphore_Initialize_named( counting_semaphore, name, value );
+}
+
+static __inline const char *rtems_counting_semaphore_get_name(
+  const rtems_counting_semaphore *counting_semaphore
+)
+{
+  return counting_semaphore->_Queue._name;
+}
+
+static __inline void rtems_counting_semaphore_set_name(
+  rtems_counting_semaphore *counting_semaphore,
+  const char               *name
+)
+{
+  counting_semaphore->_Queue._name = name;
+}
+
+static __inline void rtems_counting_semaphore_wait(
+  rtems_counting_semaphore *counting_semaphore
+)
+{
+  _Semaphore_Wait( counting_semaphore );
+}
+
+static __inline void rtems_counting_semaphore_post(
+  rtems_counting_semaphore *counting_semaphore
+)
+{
+  _Semaphore_Post( counting_semaphore );
+}
+
+static __inline void rtems_counting_semaphore_destroy(
+  rtems_counting_semaphore *counting_semaphore
+)
+{
+  _Semaphore_Destroy( counting_semaphore );
+}
+
+typedef struct {
+  struct _Semaphore_Control Semaphore;
+} rtems_binary_semaphore;
+
+#define RTEMS_BINARY_SEMAPHORE_INITIALIZER( name ) \
+  { _SEMAPHORE_NAMED_INITIALIZER( name, 0 ) }
+
+static __inline void rtems_binary_semaphore_init(
+  rtems_binary_semaphore *binary_semaphore,
+  const char             *name
+)
+{
+  _Semaphore_Initialize_named( &binary_semaphore->Semaphore, name, 0 );
+}
+
+static __inline const char *rtems_binary_semaphore_get_name(
+  const rtems_binary_semaphore *binary_semaphore
+)
+{
+  return binary_semaphore->Semaphore._Queue._name;
+}
+
+static __inline void rtems_binary_semaphore_set_name(
+  rtems_binary_semaphore *binary_semaphore,
+  const char             *name
+)
+{
+  binary_semaphore->Semaphore._Queue._name = name;
+}
+
+static __inline void rtems_binary_semaphore_wait(
+  rtems_binary_semaphore *binary_semaphore
+)
+{
+  _Semaphore_Wait( &binary_semaphore->Semaphore );
+}
+
+static __inline int rtems_binary_semaphore_wait_timed_ticks(
+  rtems_binary_semaphore *binary_semaphore,
+  uint32_t                ticks
+)
+{
+  return _Semaphore_Wait_timed_ticks( &binary_semaphore->Semaphore, ticks );
+}
+
+static __inline int rtems_binary_semaphore_try_wait(
+  rtems_binary_semaphore *binary_semaphore
+)
+{
+  return _Semaphore_Try_wait( &binary_semaphore->Semaphore );
+}
+
+static __inline void rtems_binary_semaphore_post(
+  rtems_binary_semaphore *binary_semaphore
+)
+{
+  _Semaphore_Post_binary( &binary_semaphore->Semaphore );
+}
+
+static __inline void rtems_binary_semaphore_destroy(
+  rtems_binary_semaphore *binary_semaphore
+)
+{
+  _Semaphore_Destroy( &binary_semaphore->Semaphore );
+}
+
+__END_DECLS
+
+#endif /* _RTEMS_THREAD_H */

cpukit/score/src/semaphore.c

@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2015 embedded brains GmbH.  All rights reserved.
+ * Copyright (c) 2015, 2017 embedded brains GmbH.  All rights reserved.
  *
  *  embedded brains GmbH
  *  Dornierstr. 4
@@ -18,8 +18,9 @@
 
 #include <rtems/score/semaphoreimpl.h>
 #include <rtems/score/statesimpl.h>
+#include <rtems/score/threadimpl.h>
 
-#include <limits.h>
+#include <errno.h>
 
 RTEMS_STATIC_ASSERT(
   offsetof( Sem_Control, Queue )
@@ -71,6 +72,66 @@ void _Semaphore_Wait( struct _Semaphore_Control *_sem )
   }
 }
 
+int _Semaphore_Wait_timed_ticks( struct _Semaphore_Control *_sem, uint32_t ticks )
+{
+  Sem_Control          *sem;
+  ISR_Level             level;
+  Thread_queue_Context  queue_context;
+  Thread_Control       *executing;
+  unsigned int          count;
+
+  sem = _Sem_Get( _sem );
+  _Thread_queue_Context_initialize( &queue_context );
+  _Thread_queue_Context_ISR_disable( &queue_context, level );
+  executing = _Sem_Queue_acquire_critical( sem, &queue_context );
+
+  count = sem->count;
+  if ( __predict_true( count > 0 ) ) {
+    sem->count = count - 1;
+    _Sem_Queue_release( sem, level, &queue_context );
+    return 0;
+  } else {
+    _Thread_queue_Context_set_thread_state(
+      &queue_context,
+      STATES_WAITING_FOR_SEMAPHORE
+    );
+    _Thread_queue_Context_set_enqueue_timeout_ticks( &queue_context, ticks );
+    _Thread_queue_Context_set_ISR_level( &queue_context, level );
+    _Thread_queue_Enqueue(
+      &sem->Queue.Queue,
+      SEMAPHORE_TQ_OPERATIONS,
+      executing,
+      &queue_context
+    );
+    return STATUS_GET_POSIX( _Thread_Wait_get_status( executing ) );
+  }
+}
+
+int _Semaphore_Try_wait( struct _Semaphore_Control *_sem )
+{
+  Sem_Control          *sem;
+  ISR_Level             level;
+  Thread_queue_Context  queue_context;
+  unsigned int          count;
+  int                   eno;
+
+  sem = _Sem_Get( _sem );
+  _Thread_queue_Context_initialize( &queue_context );
+  _Thread_queue_Context_ISR_disable( &queue_context, level );
+  _Sem_Queue_acquire_critical( sem, &queue_context );
+
+  count = sem->count;
+  if ( __predict_true( count > 0 ) ) {
+    sem->count = count - 1;
+    eno = 0;
+  } else {
+    eno = EAGAIN;
+  }
+
+  _Sem_Queue_release( sem, level, &queue_context );
+  return eno;
+}
+
 void _Semaphore_Post( struct _Semaphore_Control *_sem )
 {
   Sem_Control          *sem;
@@ -85,7 +146,6 @@ void _Semaphore_Post( struct _Semaphore_Control *_sem )
 
   heads = sem->Queue.Queue.heads;
   if ( __predict_true( heads == NULL ) ) {
-    _Assert( sem->count < UINT_MAX );
     ++sem->count;
     _Sem_Queue_release( sem, level, &queue_context );
   } else {
@@ -104,3 +164,36 @@ void _Semaphore_Post( struct _Semaphore_Control *_sem )
     );
   }
 }
+
+void _Semaphore_Post_binary( struct _Semaphore_Control *_sem )
+{
+  Sem_Control          *sem;
+  ISR_Level             level;
+  Thread_queue_Context  queue_context;
+  Thread_queue_Heads   *heads;
+
+  sem = _Sem_Get( _sem );
+  _Thread_queue_Context_initialize( &queue_context );
+  _Thread_queue_Context_ISR_disable( &queue_context, level );
+  _Sem_Queue_acquire_critical( sem, &queue_context );
+
+  heads = sem->Queue.Queue.heads;
+  if ( __predict_true( heads == NULL ) ) {
+    sem->count = 1;
+    _Sem_Queue_release( sem, level, &queue_context );
+  } else {
+    const Thread_queue_Operations *operations;
+    Thread_Control *first;
+
+    _Thread_queue_Context_set_ISR_level( &queue_context, level );
+    operations = SEMAPHORE_TQ_OPERATIONS;
+    first = ( *operations->first )( heads );
+
+    _Thread_queue_Extract_critical(
+      &sem->Queue.Queue,
+      operations,
+      first,
+      &queue_context
+    );
+  }
+}

testsuites/sptests/Makefile.am

@@ -33,6 +33,7 @@ _SUBDIRS = \
     spsignal_err01 spport_err01 spmsgq_err01 spmsgq_err02 spsem_err01 \
     spsem_err02 sptask_err01 spevent_err03 sptask_err03 sptask_err02 \
     sptask_err04 spclock_err01
+_SUBDIRS += spthread01
 _SUBDIRS += spconsole01
 _SUBDIRS += spintrcritical24
 _SUBDIRS += spfatal29

testsuites/sptests/configure.ac

@@ -38,6 +38,7 @@ AM_CONDITIONAL(HAS_SMP,test "$rtems_cv_RTEMS_SMP" = "yes")
 
 # Explicitly list all Makefiles here
 AC_CONFIG_FILES([Makefile
+spthread01/Makefile
 sptls04/Makefile
 spconsole01/Makefile
 spintrcritical24/Makefile

testsuites/sptests/spthread01/Makefile.am

@@ -0,0 +1,19 @@
+rtems_tests_PROGRAMS = spthread01
+spthread01_SOURCES = init.c
+
+dist_rtems_tests_DATA = spthread01.scn spthread01.doc
+
+include $(RTEMS_ROOT)/make/custom/@RTEMS_BSP@.cfg
+include $(top_srcdir)/../automake/compile.am
+include $(top_srcdir)/../automake/leaf.am
+
+AM_CPPFLAGS += -I$(top_srcdir)/../support/include
+
+LINK_OBJS = $(spthread01_OBJECTS)
+LINK_LIBS = $(spthread01_LDLIBS)
+
+spthread01$(EXEEXT): $(spthread01_OBJECTS) $(spthread01_DEPENDENCIES)
+	@rm -f spthread01$(EXEEXT)
+	$(make-exe)
+
+include $(top_srcdir)/../automake/local.am

testsuites/sptests/spthread01/init.c

@@ -0,0 +1,249 @@
+/*
+ * Copyright (c) 2017 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.com/license/LICENSE.
+ */
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#include <rtems/thread.h>
+#include <rtems.h>
+
+#include <string.h>
+
+#include <tmacros.h>
+
+const char rtems_test_name[] = "SPTHREAD 1";
+
+static void test_mutex(void)
+{
+  rtems_mutex a = RTEMS_MUTEX_INITIALIZER("a");
+  const char *name;
+
+  name = rtems_mutex_get_name(&a);
+  rtems_test_assert(strcmp(name, "a") == 0);
+
+  rtems_mutex_set_name(&a, "b");
+
+  name = rtems_mutex_get_name(&a);
+  rtems_test_assert(strcmp(name, "b") == 0);
+
+  rtems_mutex_destroy(&a);
+
+  rtems_mutex_init(&a, "c");
+
+  name = rtems_mutex_get_name(&a);
+  rtems_test_assert(strcmp(name, "c") == 0);
+
+  rtems_mutex_lock(&a);
+
+  rtems_mutex_unlock(&a);
+
+  rtems_mutex_destroy(&a);
+}
+
+static void test_recursive_mutex(void)
+{
+  rtems_recursive_mutex a = RTEMS_RECURSIVE_MUTEX_INITIALIZER("a");
+  const char *name;
+
+  name = rtems_recursive_mutex_get_name(&a);
+  rtems_test_assert(strcmp(name, "a") == 0);
+
+  rtems_recursive_mutex_set_name(&a, "b");
+
+  name = rtems_recursive_mutex_get_name(&a);
+  rtems_test_assert(strcmp(name, "b") == 0);
+
+  rtems_recursive_mutex_destroy(&a);
+
+  rtems_recursive_mutex_init(&a, "c");
+
+  name = rtems_recursive_mutex_get_name(&a);
+  rtems_test_assert(strcmp(name, "c") == 0);
+
+  rtems_recursive_mutex_lock(&a);
+
+  rtems_recursive_mutex_lock(&a);
+
+  rtems_recursive_mutex_unlock(&a);
+
+  rtems_recursive_mutex_unlock(&a);
+
+  rtems_recursive_mutex_destroy(&a);
+}
+
+typedef struct {
+  rtems_mutex mtx;
+  rtems_condition_variable cnd;
+} signal_context;
+
+static void signal_task(rtems_task_argument arg)
+{
+  signal_context *s;
+
+  s = (signal_context *) arg;
+  rtems_mutex_lock(&s->mtx);
+  rtems_condition_variable_signal(&s->cnd);
+  rtems_mutex_unlock(&s->mtx);
+}
+
+static void test_condition_variable(void)
+{
+  rtems_condition_variable a = RTEMS_CONDITION_VARIABLE_INITIALIZER("a");
+  signal_context s;
+  const char *name;
+  rtems_status_code sc;
+  rtems_id id;
+
+  name = rtems_condition_variable_get_name(&a);
+  rtems_test_assert(strcmp(name, "a") == 0);
+
+  rtems_condition_variable_set_name(&a, "b");
+
+  name = rtems_condition_variable_get_name(&a);
+  rtems_test_assert(strcmp(name, "b") == 0);
+
+  rtems_condition_variable_destroy(&a);
+
+  rtems_mutex_init(&s.mtx, "d");
+  rtems_condition_variable_init(&s.cnd, "c");
+
+  name = rtems_condition_variable_get_name(&s.cnd);
+  rtems_test_assert(strcmp(name, "c") == 0);
+
+  rtems_condition_variable_signal(&s.cnd);
+
+  rtems_condition_variable_broadcast(&s.cnd);
+
+  rtems_mutex_lock(&s.mtx);
+
+  sc = rtems_task_create(
+    rtems_build_name('C', 'O', 'N', 'D'),
+    2,
+    RTEMS_MINIMUM_STACK_SIZE,
+    RTEMS_DEFAULT_MODES,
+    RTEMS_DEFAULT_ATTRIBUTES,
+    &id
+  );
+  rtems_test_assert(sc == RTEMS_SUCCESSFUL);
+
+  sc = rtems_task_start(id, signal_task, (rtems_task_argument) &s);
+  rtems_test_assert(sc == RTEMS_SUCCESSFUL);
+
+  rtems_condition_variable_wait(&s.cnd, &s.mtx);
+
+  sc = rtems_task_delete(id);
+  rtems_test_assert(sc == RTEMS_SUCCESSFUL);
+
+  rtems_mutex_unlock(&s.mtx);
+
+  rtems_condition_variable_destroy(&s.cnd);
+  rtems_mutex_destroy(&s.mtx);
+}
+
+static void test_counting_semaphore(void)
+{
+  rtems_counting_semaphore a = RTEMS_COUNTING_SEMAPHORE_INITIALIZER("a", 1);
+  const char *name;
+
+  name = rtems_counting_semaphore_get_name(&a);
+  rtems_test_assert(strcmp(name, "a") == 0);
+
+  rtems_counting_semaphore_set_name(&a, "b");
+
+  name = rtems_counting_semaphore_get_name(&a);
+  rtems_test_assert(strcmp(name, "b") == 0);
+
+  rtems_counting_semaphore_destroy(&a);
+
+  rtems_counting_semaphore_init(&a, "c", 0);
+
+  name = rtems_counting_semaphore_get_name(&a);
+  rtems_test_assert(strcmp(name, "c") == 0);
+
+  rtems_counting_semaphore_post(&a);
+
+  rtems_counting_semaphore_wait(&a);
+
+  rtems_counting_semaphore_destroy(&a);
+}
+
+static void test_binary_semaphore(void)
+{
+  rtems_binary_semaphore a = RTEMS_BINARY_SEMAPHORE_INITIALIZER("a");
+  const char *name;
+  int eno;
+
+  name = rtems_binary_semaphore_get_name(&a);
+  rtems_test_assert(strcmp(name, "a") == 0);
+
+  rtems_binary_semaphore_set_name(&a, "b");
+
+  name = rtems_binary_semaphore_get_name(&a);
+  rtems_test_assert(strcmp(name, "b") == 0);
+
+  rtems_binary_semaphore_destroy(&a);
+
+  rtems_binary_semaphore_init(&a, "c");
+
+  name = rtems_binary_semaphore_get_name(&a);
+  rtems_test_assert(strcmp(name, "c") == 0);
+
+  eno = rtems_binary_semaphore_try_wait(&a);
+  rtems_test_assert(eno == EAGAIN);
+
+  eno = rtems_binary_semaphore_wait_timed_ticks(&a, 1);
+  rtems_test_assert(eno == ETIMEDOUT);
+
+  rtems_binary_semaphore_post(&a);
+
+  rtems_binary_semaphore_wait(&a);
+
+  rtems_binary_semaphore_post(&a);
+
+  eno = rtems_binary_semaphore_try_wait(&a);
+  rtems_test_assert(eno == 0);
+
+  rtems_binary_semaphore_post(&a);
+
+  eno = rtems_binary_semaphore_wait_timed_ticks(&a, 1);
+  rtems_test_assert(eno == 0);
+
+  rtems_binary_semaphore_destroy(&a);
+}
+
+static void Init(rtems_task_argument arg)
+{
+  TEST_BEGIN();
+
+  test_mutex();
+  test_recursive_mutex();
+  test_condition_variable();
+  test_counting_semaphore();
+  test_binary_semaphore();
+
+  TEST_END();
+  rtems_test_exit(0);
+}
+
+#define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
+#define CONFIGURE_APPLICATION_NEEDS_SIMPLE_CONSOLE_DRIVER
+
+#define CONFIGURE_MAXIMUM_TASKS 2
+
+#define CONFIGURE_RTEMS_INIT_TASKS_TABLE
+
+#define CONFIGURE_INIT
+
+#include <rtems/confdefs.h>

testsuites/sptests/spthread01/spthread01.doc

@@ -0,0 +1,11 @@
+This file describes the directives and concepts tested by this test set.
+
+test set name: spthread01
+
+directives:
+
+  - All macros and functions defined by <rtems/thread.h>.
+
+concepts:
+
+  - Test <rtems/thread.h> API.