px4-firmware/nuttx/sched/mq_sndinternal.c

/****************************************************************************
 * sched/mq_send.c
 *
 *   Copyright (C) 2007, 2009 Gregory Nutt. All rights reserved.
 *   Author: Gregory Nutt <gnutt@nuttx.org>
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name NuttX nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/****************************************************************************
 * Included Files
 ****************************************************************************/

#include  <nuttx/config.h>

#include  <sys/types.h>
#include  <stdint.h>
#include  <fcntl.h>
#include  <mqueue.h>
#include  <string.h>
#include  <errno.h>
#include  <sched.h>
#include  <debug.h>

#include  <nuttx/kmalloc.h>
#include  <nuttx/arch.h>

#include  "os_internal.h"
#ifndef CONFIG_DISABLE_SIGNALS
# include "sig_internal.h"
#endif
#include  "mq_internal.h"

/****************************************************************************
 * Definitions
 ****************************************************************************/

/****************************************************************************
 * Private Type Declarations
 ****************************************************************************/

/****************************************************************************
 * Global Variables
 ****************************************************************************/

/****************************************************************************
 * Private Variables
 ****************************************************************************/

/****************************************************************************
 * Private Functions
 ****************************************************************************/

/****************************************************************************
 * Public Functions
 ****************************************************************************/

/****************************************************************************
 * Name: mq_verifysend
 *
 * Description:
 *   This is internal, common logic shared by both mq_send and mq_timesend.
 *   This function verifies the input parameters that are common to both 
 *   functions.
 *
 * Parameters:
 *   mqdes - Message queue descriptor
 *   msg - Message to send
 *   msglen - The length of the message in bytes
 *   prio - The priority of the message
 *
 * Return Value:
 *   One success, 0 (OK) is returned. On failure, -1 (ERROR) is returned and
 *   the errno is set appropriately:
 *
 *   EINVAL   Either msg or mqdes is NULL or the value of prio is invalid.
 *   EPERM    Message queue opened not opened for writing.
 *   EMSGSIZE 'msglen' was greater than the maxmsgsize attribute of the
 *             message queue.
 *
 * Assumptions:
 *
 ****************************************************************************/

int mq_verifysend(mqd_t mqdes, const void *msg, size_t msglen, int prio)
{
  /* Verify the input parameters */

  if (!msg || !mqdes || prio < 0 || prio > MQ_PRIO_MAX)
    {
      set_errno(EINVAL);
      return ERROR;
    }

  if ((mqdes->oflags & O_WROK) == 0)
    {
      set_errno(EPERM);
      return ERROR;
    }

  if (msglen < 0 || msglen > (size_t)mqdes->msgq->maxmsgsize)
    {
      set_errno(EMSGSIZE);
      return ERROR;
    }

  return OK;
}

/****************************************************************************
 * Name: mq_msgalloc
 *
 * Description:
 *   The mq_msgalloc function will get a free message for use by the
 *   operating system.  The message will be allocated from the g_msgfree
 *   list.
 *
 *   If the list is empty AND the message is NOT being allocated from the
 *   interrupt level, then the message will be allocated.  If a message
 *   cannot be obtained, the operating system is dead and therefore cannot
 *   continue.
 *
 *   If the list is empty AND the message IS being allocated from the
 *   interrupt level.  This function will attempt to get a message from 
 *   the g_msgfreeirq list.  If this is unsuccessful, the calling interrupt
 *   handler will be notified.
 *
 * Inputs:
 *   None
 *
 * Return Value:
 *   A reference to the allocated msg structure.  On a failure to allocate,
 *   this function PANICs.
 *
 ****************************************************************************/

FAR mqmsg_t *mq_msgalloc(void)
{
  FAR mqmsg_t *mqmsg;
  irqstate_t   saved_state;

  /* If we were called from an interrupt handler, then try to get the message
   * from generally available list of messages. If this fails, then try the
   * list of messages reserved for interrupt handlers
   */

  if (up_interrupt_context())
    {
      /* Try the general free list */

      mqmsg = (FAR mqmsg_t*)sq_remfirst(&g_msgfree);
      if (!mqmsg)
        {
          /* Try the free list reserved for interrupt handlers */

          mqmsg = (FAR mqmsg_t*)sq_remfirst(&g_msgfreeirq);
        }
    }

  /* We were not called from an interrupt handler. */

  else
    {
      /* Try to get the message from the generally available free list.
       * Disable interrupts -- we might be called from an interrupt handler.
       */

      saved_state = irqsave();
      mqmsg = (FAR mqmsg_t*)sq_remfirst(&g_msgfree);
      irqrestore(saved_state);

      /* If we cannot a message from the free list, then we will have to allocate one. */

      if (!mqmsg)
        {
          mqmsg = (FAR mqmsg_t *)kmalloc((sizeof (mqmsg_t)));

          /* Check if we got an allocated message */

          if (mqmsg)
            {
              mqmsg->type = MQ_ALLOC_DYN;
            }

          /* No?  We are dead */

          else
            {
              sdbg("Out of messages\n");
              PANIC((uint32_t)OSERR_OUTOFMESSAGES);
            }
        }
    }

  return mqmsg;
}

/****************************************************************************
 * Name: mq_waitsend
 *
 * Description:
 *   This is internal, common logic shared by both mq_send and mq_timesend.
 *   This function waits until the message queue is not full.
 *
 * Parameters:
 *   mqdes - Message queue descriptor
 *
 * Return Value:
 *   On success, mq_send() returns 0 (OK); on error, -1 (ERROR) is
 *   returned, with errno set to indicate the error:
 *
 *   EAGAIN   The queue was empty, and the O_NONBLOCK flag was set for the
 *            message queue description referred to by mqdes.
 *   EINTR    The call was interrupted by a signal handler.
 *   ETIMEOUT A timeout expired before the message queue became non-full
 *            (mq_timedsend only).
 *
 * Assumptions/restrictions:
 * - The caller has verified the input parameters using mq_verifysend().
 * - Interrupts are disabled.
 *
 ****************************************************************************/

int mq_waitsend(mqd_t mqdes)
{
  FAR _TCB    *rtcb;
  FAR msgq_t  *msgq;

  /* Get a pointer to the message queue */

  msgq = mqdes->msgq;

  /* Verify that the queue is indeed full as the caller thinks */

  if (msgq->nmsgs >= msgq->maxmsgs)
    {
      /* Should we block until there is sufficient space in the
       * message queue?
       */

      if ((mqdes->oflags & O_NONBLOCK) != 0)
        {
          /* No... We will return an error to the caller. */

          set_errno(EAGAIN);
          return ERROR;
        }

      /* Yes... We will not return control until the message queue is
       * available or we receive a signal or at timout occurs.
       */

      else
        {
          /* Loop until there are fewer than max allowable messages in the 
           * receiving message queue
           */

          while (msgq->nmsgs >= msgq->maxmsgs)
            {
              /* Block until the message queue is no longer full.
               * When we are unblocked, we will try again
               */

              rtcb = (FAR _TCB*)g_readytorun.head;
              rtcb->msgwaitq = msgq;
              msgq->nwaitnotfull++;

              set_errno(OK);
              up_block_task(rtcb, TSTATE_WAIT_MQNOTFULL);

              /* When we resume at this point, either (1) the message queue
               * is no longer empty, or (2) the wait has been interrupted by
               * a signal.  We can detect the latter case be examining the
               * errno value (should be EINTR or ETIMEOUT).
               */

              if (get_errno() != OK)
                {
                   return ERROR;
                }
            }
        }
    }
  return OK;
}

/****************************************************************************
 * Name: mq_dosend
 *
 * Description:
 *   This is internal, common logic shared by both mq_send and mq_timesend.
 *   This function adds the specificied message (msg) to the message queue
 *   (mqdes).  Then it notifies any tasks that were waiting for message
 *   queue notifications setup by mq_notify.  And, finally, it awakens any
 *   tasks that were waiting for the message not empty event.
 * 
 * Parameters:
 *   mqdes - Message queue descriptor
 *   msg - Message to send
 *   msglen - The length of the message in bytes
 *   prio - The priority of the message
 *
 * Return Value:
 *   This function always returns OK.
 *
 * Assumptions/restrictions:
 *
 ****************************************************************************/

int mq_dosend(mqd_t mqdes, FAR mqmsg_t *mqmsg, const void *msg, size_t msglen, int prio)
{
  FAR _TCB    *btcb;
  FAR msgq_t  *msgq;
  FAR mqmsg_t *next;
  FAR mqmsg_t *prev;
  irqstate_t   saved_state;

  /* Get a pointer to the message queue */

  sched_lock();
  msgq = mqdes->msgq;

  /* Construct the message header info */

  mqmsg->priority = prio;
  mqmsg->msglen   = msglen;

  /* Copy the message data into the message */

  memcpy((void*)mqmsg->mail, (const void*)msg, msglen);

  /* Insert the new message in the message queue */

  saved_state = irqsave();

  /* Search the message list to find the location to insert the new
   * message. Each is list is maintained in ascending priority order.
   */

  for (prev = NULL, next = (FAR mqmsg_t*)msgq->msglist.head;
       next && prio <= next->priority;
       prev = next, next = next->next);

  /* Add the message at the right place */

  if (prev)
    {
      sq_addafter((FAR sq_entry_t*)prev, (FAR sq_entry_t*)mqmsg,
                  &msgq->msglist);
    }
  else
    {
      sq_addfirst((FAR sq_entry_t*)mqmsg, &msgq->msglist);
    }

  /* Increment the count of messages in the queue */

  msgq->nmsgs++;
  irqrestore(saved_state);

  /* Check if we need to notify any tasks that are attached to the
   * message queue
   */

#ifndef CONFIG_DISABLE_SIGNALS
  if (msgq->ntmqdes)
    {
      /* Remove the message notification data from the message queue. */

#ifdef CONFIG_CAN_PASS_STRUCTS
      union sigval value      = msgq->ntvalue;
#else
      void *sival_ptr         = msgq->ntvalue.sival_ptr;
#endif
      int signo               = msgq->ntsigno;
      int pid                 = msgq->ntpid;

      /* Detach the notification */

      msgq->ntpid             = INVALID_PROCESS_ID;
      msgq->ntsigno           = 0;
      msgq->ntvalue.sival_int = 0;
      msgq->ntmqdes           = NULL;

      /* Queue the signal -- What if this returns an error? */

#ifdef CONFIG_CAN_PASS_STRUCTS
      sig_mqnotempty(pid, signo, value);
#else
      sig_mqnotempty(pid, signo, sival_ptr);
#endif
    }
#endif

  /* Check if any tasks are waiting for the MQ not empty event. */

  saved_state = irqsave();
  if (msgq->nwaitnotempty > 0)
    {
      /* Find the highest priority task that is waiting for
       * this queue to be non-empty in g_waitingformqnotempty
       * list. sched_lock() should give us sufficent protection since
       * interrupts should never cause a change in this list
       */

      for (btcb = (FAR _TCB*)g_waitingformqnotempty.head;
           btcb && btcb->msgwaitq != msgq;
           btcb = btcb->flink);

      /* If one was found, unblock it */

      if (!btcb)
        {
          PANIC(OSERR_MQNONEMPTYCOUNT);
        }
      else
        {
          btcb->msgwaitq = NULL;
          msgq->nwaitnotempty--;
          up_unblock_task(btcb);
        }
    }

  irqrestore(saved_state);
  sched_unlock();
  return OK;
}