forked from Archive/PX4-Autopilot
130 lines
5.0 KiB
C
130 lines
5.0 KiB
C
/****************************************************************************
|
|
* sched/sched_reprioritize.c
|
|
*
|
|
* Copyright (C) 2009, 2012 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 <stdint.h>
|
|
#include <sched.h>
|
|
#include <errno.h>
|
|
|
|
#include "os_internal.h"
|
|
|
|
#ifdef CONFIG_PRIORITY_INHERITANCE
|
|
|
|
/****************************************************************************
|
|
* Definitions
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Private Type Declarations
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Global Variables
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Private Variables
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Private Function Prototypes
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Private Functions
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Public Functions
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Name: sched_reprioritize
|
|
*
|
|
* Description:
|
|
* This function sets the priority of a specified task.
|
|
*
|
|
* NOTE: Setting a task's priority to the same value has a similar effect
|
|
* to sched_yield() -- The task will be moved to after all other tasks
|
|
* with the same priority.
|
|
*
|
|
* Inputs:
|
|
* tcb - the TCB of task to reprioritize.
|
|
* sched_priority - The new task priority
|
|
*
|
|
* Return Value:
|
|
* On success, sched_setparam() returns 0 (OK). On error, -1
|
|
* (ERROR) is returned, and errno is set appropriately.
|
|
*
|
|
* EINVAL The parameter 'param' is invalid or does not make sense for the
|
|
* current scheduling policy.
|
|
* EPERM The calling task does not have appropriate privileges.
|
|
* ESRCH The task whose ID is pid could not be found.
|
|
*
|
|
* Assumptions:
|
|
*
|
|
****************************************************************************/
|
|
|
|
int sched_reprioritize(FAR _TCB *tcb, int sched_priority)
|
|
{
|
|
/* This function is equivalent to sched_setpriority() BUT it also has the
|
|
* side effect of discarding all priority inheritance history. This is
|
|
* done only on explicit, user-initiated reprioritization.
|
|
*/
|
|
|
|
int ret = sched_setpriority(tcb, sched_priority);
|
|
if (ret == 0)
|
|
{
|
|
/* Reset the base_priority -- the priority that the thread would return
|
|
* to once it posts the semaphore.
|
|
*/
|
|
|
|
tcb->base_priority = (uint8_t)sched_priority;
|
|
|
|
/* Discard any pending reprioritizations as well */
|
|
|
|
#if CONFIG_SEM_NNESTPRIO > 0
|
|
tcb->npend_reprio = 0;
|
|
#endif
|
|
}
|
|
return ret;
|
|
}
|
|
#endif /* CONFIG_PRIORITY_INHERITANCE */
|