forked from Archive/PX4-Autopilot
141 lines
5.2 KiB
C
141 lines
5.2 KiB
C
/****************************************************************************
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* sched/task_deletecurrent.c
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*
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* Copyright (C) 2008-2009, 2012 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <sched.h>
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#include "os_internal.h"
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#ifndef CONFIG_DISABLE_SIGNALS
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# include "sig_internal.h"
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#endif
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/****************************************************************************
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* Definitions
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****************************************************************************/
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/****************************************************************************
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* Private Type Declarations
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****************************************************************************/
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/****************************************************************************
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* Global Variables
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****************************************************************************/
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/****************************************************************************
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* Private Variables
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****************************************************************************/
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: task_delete
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*
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* Description:
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* This function causes the currently running task (i.e., the task at the
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* head of the ready-to-run list) to cease to exist. This is a part of
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* the logic used to implement _exit(). The full implementation of _exit()
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* is architecture-dependent. This function should never be called from
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* normal user code, but only from the architecture-specific implementation
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* of exit.
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*
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* Inputs:
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* None
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*
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* Return Value:
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* OK on success; or ERROR on failure
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*
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****************************************************************************/
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int task_deletecurrent(void)
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{
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FAR _TCB *dtcb = (FAR _TCB*)g_readytorun.head;
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FAR _TCB *rtcb;
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/* Remove the TCB of the current task from the ready-to-run list. A context
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* switch will definitely be necessary -- that must be done by the
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* architecture-specific logic.
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*
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* sched_removereadytorun will mark the task at the head of the ready-to-run
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* with state == TSTATE_TASK_RUNNING
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*/
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(void)sched_removereadytorun(dtcb);
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rtcb = (FAR _TCB*)g_readytorun.head;
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/* We are not in a bad state -- the head of the ready to run task list
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* does not correspond to the thread that is running. Disabling pre-
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* emption on this TCB and marking the new ready-to-run task as not
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* running (see, for example, get_errno_ptr()).
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*/
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sched_lock();
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rtcb->task_state = TSTATE_TASK_READYTORUN;
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/* Move the TCB to the specified blocked task list and delete it */
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sched_addblocked(dtcb, TSTATE_TASK_INACTIVE);
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task_delete(dtcb->pid);
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rtcb->task_state = TSTATE_TASK_RUNNING;
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/* If there are any pending tasks, then add them to the ready-to-run
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* task list now
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*/
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if (g_pendingtasks.head)
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{
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(void)sched_mergepending();
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}
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/* Now calling sched_unlock() should have no effect */
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sched_unlock();
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return OK;
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}
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