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px4-firmware/nuttx/include/pthread.h

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/********************************************************************************
* include/pthread.h
*
* Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
*
* 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.
*
********************************************************************************/
#ifndef __INCLUDE_PTHREAD_H
#define __INCLUDE_PTHREAD_H
/********************************************************************************
* Included Files
********************************************************************************/
#include <nuttx/config.h> /* Default settings */
#include <nuttx/compiler.h> /* Compiler settings */
#include <sys/types.h> /* Needed for general types */
#include <stdint.h> /* C99 fixed width integer types */
#include <stdbool.h> /* C99 boolean types */
#include <semaphore.h> /* Needed for sem_t */
#include <signal.h> /* Needed for sigset_t */
#include <time.h> /* Needed for struct timespec */
#include <nuttx/compiler.h> /* For noreturn_function */
/********************************************************************************
* Compilation Switches
********************************************************************************/
/* Standard POSIX switches */
#ifndef _POSIX_THREADS
#define _POSIX_THREADS
#endif
#ifndef _POSIX_THREAD_ATTR_STACKSIZE
#define _POSIX_THREAD_ATTR_STACKSIZE
#endif
/********************************************************************************
* Definitions
********************************************************************************/
/* Values for the process shared (pshared) attribute */
#define PTHREAD_PROCESS_PRIVATE 0
#define PTHREAD_PROCESS_SHARED 1
/* Values for the mutext type attribute:
*
* PTHREAD_MUTEX_NORMAL: This type of mutex does not detect deadlock. A thread
* attempting to relock this mutex without first unlocking it will deadlock.
* Attempting to unlock a mutex locked by a different thread results in undefined
* behavior. Attempting to unlock an unlocked mutex results in undefined behavior.
* PTHREAD_MUTEX_ERRORCHECK
* This type of mutex provides error checking. A thread attempting to relock this
* mutex without first unlocking it will return with an error. A thread attempting
* to unlock a mutex which another thread has locked will return with an error. A
* thread attempting to unlock an unlocked mutex will return with an error.
* PTHREAD_MUTEX_RECURSIVE
* A thread attempting to relock this mutex without first unlocking it will succeed
* in locking the mutex. The relocking deadlock which can occur with mutexes of type
* PTHREAD_MUTEX_NORMAL cannot occur with this type of mutex. Multiple locks of this
* mutex require the same number of unlocks to release the mutex before another thread
* can acquire the mutex. A thread attempting to unlock a mutex which another thread
* has locked will return with an error. A thread attempting to unlock an unlocked
* mutex will return with an error.
* PTHREAD_MUTEX_DEFAULT
* An implementation is allowed to map this mutex to one of the other mutex types.
*/
#ifdef CONFIG_MUTEX_TYPES
# define PTHREAD_MUTEX_NORMAL 0
# define PTHREAD_MUTEX_ERRORCHECK 1
# define PTHREAD_MUTEX_RECURSIVE 2
# define PTHREAD_MUTEX_DEFAULT PTHREAD_MUTEX_NORMAL
#endif
/* Valid ranges for the pthread stacksize attribute */
#define PTHREAD_STACK_MIN CONFIG_PTHREAD_STACK_MIN
#define PTHREAD_STACK_DEFAULT CONFIG_PTHREAD_STACK_DEFAULT
/* Values for the pthread inheritsched attribute */
#define PTHREAD_INHERIT_SCHED 0
#define PTHREAD_EXPLICIT_SCHED 1
#define PTHREAD_PRIO_NONE 0
#define PTHREAD_PRIO_INHERIT 1
#define PTHREAD_PRIO_PROTECT 2
#define PTHREAD_DEFAULT_PRIORITY 100
/* Cancellation states returned by pthread_cancelstate() */
#define PTHREAD_CANCEL_ENABLE (0)
#define PTHREAD_CANCEL_DISABLE (1)
/* Thread return value when a pthread is canceled */
#define PTHREAD_CANCELED ((FAR void*)ERROR)
/* Used to initialize a pthread_once_t */
#define PTHREAD_ONCE_INIT (false)
/* This is returned by pthread_wait. It must not match any errno in errno.h */
#define PTHREAD_BARRIER_SERIAL_THREAD 0x1000
/********************************************************************************
* Global Type Declarations
********************************************************************************/
#ifdef __cplusplus
#define EXTERN extern "C"
extern "C" {
#else
#define EXTERN extern
#endif
/* pthread-specific types */
typedef int pthread_key_t;
typedef FAR void *pthread_addr_t;
typedef pthread_addr_t any_t;
typedef pthread_addr_t (*pthread_startroutine_t)(pthread_addr_t);
typedef pthread_startroutine_t pthread_func_t;
struct pthread_attr_s
{
size_t stacksize; /* Size of the stack allocated for the pthead */
int16_t priority; /* Priority of the pthread */
uint8_t policy; /* Pthread scheduler policy */
uint8_t inheritsched; /* Inherit parent prio/policy? */
};
typedef struct pthread_attr_s pthread_attr_t;
typedef pid_t pthread_t;
typedef int pthread_condattr_t;
struct pthread_cond_s
{
sem_t sem;
};
typedef struct pthread_cond_s pthread_cond_t;
#define PTHREAD_COND_INITIALIZER {{0, 0xffff}}
struct pthread_mutexattr_s
{
uint8_t pshared; /* PTHREAD_PROCESS_PRIVATE or PTHREAD_PROCESS_SHARED */
#ifdef CONFIG_MUTEX_TYPES
uint8_t type; /* Type of the mutex. See PTHREAD_MUTEX_* definitions */
#endif
};
typedef struct pthread_mutexattr_s pthread_mutexattr_t;
struct pthread_mutex_s
{
int pid; /* ID of the holder of the mutex */
sem_t sem; /* Semaphore underlying the implementation of the mutex */
#ifdef CONFIG_MUTEX_TYPES
uint8_t type; /* Type of the mutex. See PTHREAD_MUTEX_* definitions */
int nlocks; /* The number of recursive locks held */
#endif
};
typedef struct pthread_mutex_s pthread_mutex_t;
#ifdef CONFIG_MUTEX_TYPES
# define PTHREAD_MUTEX_INITIALIZER {0, SEM_INITIALIZER(1), PTHREAD_MUTEX_DEFAULT, 0}
#else
# define PTHREAD_MUTEX_INITIALIZER {0, SEM_INITIALIZER(1)}
#endif
struct pthread_barrierattr_s
{
int pshared;
};
typedef struct pthread_barrierattr_s pthread_barrierattr_t;
struct pthread_barrier_s
{
sem_t sem;
unsigned int count;
};
typedef struct pthread_barrier_s pthread_barrier_t;
typedef bool pthread_once_t;
/* Forware references */
struct sched_param; /* Defined in sched.h */
/********************************************************************************
* Global Variables
********************************************************************************/
/********************************************************************************
* Global Function Prototypes
********************************************************************************/
/* Initializes a thread attributes object (attr) with default values for all of
* the individual attributes used by a given implementation.
*/
EXTERN int pthread_attr_init(FAR pthread_attr_t *attr);
/* An attributes object can be deleted when it is no longer needed. */
EXTERN int pthread_attr_destroy(pthread_attr_t *attr);
/* Set or obtain the default scheduling algorithm */
EXTERN int pthread_attr_setschedpolicy(FAR pthread_attr_t *attr, int policy);
EXTERN int pthread_attr_getschedpolicy(FAR pthread_attr_t *attr, int *policy);
EXTERN int pthread_attr_setschedparam(FAR pthread_attr_t *attr,
FAR const struct sched_param *param);
EXTERN int pthread_attr_getschedparam(FAR pthread_attr_t *attr,
FAR struct sched_param *param);
EXTERN int pthread_attr_setinheritsched(FAR pthread_attr_t *attr, int inheritsched);
EXTERN int pthread_attr_getinheritsched(FAR const pthread_attr_t *attr,
FAR int *inheritsched);
/* Set or obtain the default stack size */
EXTERN int pthread_attr_setstacksize(FAR pthread_attr_t *attr, long stacksize);
EXTERN int pthread_attr_getstacksize(FAR pthread_attr_t *attr, long *stackaddr);
/* To create a thread object and runnable thread, a routine must be specified
* as the new thread's start routine. An argument may be passed to this
* routine, as an untyped address; an untyped address may also be returned as
* the routine's value. An attributes object may be used to specify details
* about the kind of thread being created.
*/
EXTERN int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr,
pthread_startroutine_t startroutine,
pthread_addr_t arg);
/* A thread object may be "detached" to specify that the return value and
* completion status will not be requested.
*/
EXTERN int pthread_detach(pthread_t thread);
/* A thread may terminate it's own execution or the execution of another
* thread.
*/
EXTERN void pthread_exit(pthread_addr_t value) noreturn_function;
EXTERN int pthread_cancel(pthread_t thread);
EXTERN int pthread_setcancelstate(int state, FAR int *oldstate);
EXTERN void pthread_testcancel(void);
/* A thread can await termination of another thread and retrieve the return
* value of the thread.
*/
EXTERN int pthread_join(pthread_t thread, FAR pthread_addr_t *value);
/* A thread may tell the scheduler that its processor can be made available. */
EXTERN void pthread_yield(void);
/* A thread may obtain a copy of its own thread handle. */
#define pthread_self() ((pthread_t)getpid())
/* Compare two thread IDs. */
#define pthread_equal(t1,t2) (t1 == t2)
/* Thread scheduling parameters */
EXTERN int pthread_getschedparam(pthread_t thread, FAR int *policy,
FAR struct sched_param *param);
EXTERN int pthread_setschedparam(pthread_t thread, int policy,
FAR const struct sched_param *param);
EXTERN int pthread_setschedprio(pthread_t thread, int prio);
/* Thread-specific Data Interfaces */
EXTERN int pthread_key_create(FAR pthread_key_t *key,
CODE void (*destructor)(FAR void*));
EXTERN int pthread_setspecific(pthread_key_t key, FAR void *value);
EXTERN FAR void *pthread_getspecific(pthread_key_t key);
EXTERN int pthread_key_delete(pthread_key_t key);
/* Create, operate on, and destroy mutex attributes. */
EXTERN int pthread_mutexattr_init(FAR pthread_mutexattr_t *attr);
EXTERN int pthread_mutexattr_destroy(FAR pthread_mutexattr_t *attr);
EXTERN int pthread_mutexattr_getpshared(FAR pthread_mutexattr_t *attr, FAR int *pshared);
EXTERN int pthread_mutexattr_setpshared(FAR pthread_mutexattr_t *attr, int pshared);
#ifdef CONFIG_MUTEX_TYPES
EXTERN int pthread_mutexattr_gettype(const pthread_mutexattr_t *attr, int *type);
EXTERN int pthread_mutexattr_settype(pthread_mutexattr_t *attr, int type);
#endif
/* The following routines create, delete, lock and unlock mutexes. */
EXTERN int pthread_mutex_init(FAR pthread_mutex_t *mutex, FAR pthread_mutexattr_t *attr);
EXTERN int pthread_mutex_destroy(FAR pthread_mutex_t *mutex);
EXTERN int pthread_mutex_lock(FAR pthread_mutex_t *mutex);
EXTERN int pthread_mutex_trylock(FAR pthread_mutex_t *mutex);
EXTERN int pthread_mutex_unlock(FAR pthread_mutex_t *mutex);
/* Operations on condition variables */
EXTERN int pthread_condattr_init(FAR pthread_condattr_t *attr);
EXTERN int pthread_condattr_destroy(FAR pthread_condattr_t *attr);
/* A thread can create and delete condition variables. */
EXTERN int pthread_cond_init(FAR pthread_cond_t *cond, FAR pthread_condattr_t *attr);
EXTERN int pthread_cond_destroy(FAR pthread_cond_t *cond);
/* A thread can signal to and broadcast on a condition variable. */
EXTERN int pthread_cond_broadcast(FAR pthread_cond_t *cond);
EXTERN int pthread_cond_signal(FAR pthread_cond_t *cond);
/* A thread can wait for a condition variable to be signalled or broadcast. */
EXTERN int pthread_cond_wait(FAR pthread_cond_t *cond, FAR pthread_mutex_t *mutex);
/* A thread can perform a timed wait on a condition variable. */
EXTERN int pthread_cond_timedwait(FAR pthread_cond_t *cond, FAR pthread_mutex_t *mutex,
FAR const struct timespec *abstime);
/* Barrier attributes */
EXTERN int pthread_barrierattr_destroy(FAR pthread_barrierattr_t *attr);
EXTERN int pthread_barrierattr_init(FAR pthread_barrierattr_t *attr);
EXTERN int pthread_barrierattr_getpshared(FAR const pthread_barrierattr_t *attr,
FAR int *pshared);
EXTERN int pthread_barrierattr_setpshared(FAR pthread_barrierattr_t *attr,
int pshared);
/* Barriers */
EXTERN int pthread_barrier_destroy(FAR pthread_barrier_t *barrier);
EXTERN int pthread_barrier_init(FAR pthread_barrier_t *barrier,
FAR const pthread_barrierattr_t *attr,
unsigned int count);
EXTERN int pthread_barrier_wait(FAR pthread_barrier_t *barrier);
/* Pthread initialization */
EXTERN int pthread_once(FAR pthread_once_t *once_control,
CODE void (*init_routine)(void));
/* Pthread signal management APIs */
EXTERN int pthread_kill(pthread_t thread, int sig);
EXTERN int pthread_sigmask(int how, FAR const sigset_t *set, FAR sigset_t *oset);
#undef EXTERN
#ifdef __cplusplus
}
#endif
#endif /* __INCLUDE_PTHREAD_H */
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