| /* |
| * Licensed to the Apache Software Foundation (ASF) under one |
| * or more contributor license agreements. See the NOTICE file |
| * distributed with this work for additional information |
| * regarding copyright ownership. The ASF licenses this file |
| * to you under the Apache License, Version 2.0 (the |
| * "License"); you may not use this file except in compliance |
| * with the License. You may obtain a copy of the License at |
| * |
| * http://www.apache.org/licenses/LICENSE-2.0 |
| * |
| * Unless required by applicable law or agreed to in writing, |
| * software distributed under the License is distributed on an |
| * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY |
| * KIND, either express or implied. See the License for the |
| * specific language governing permissions and limitations |
| * under the License. |
| */ |
| |
| #include <nuttx/config.h> |
| #include "os/os.h" |
| #include "nimble/nimble_npl.h" |
| |
| #ifdef __cplusplus |
| extern "C" { |
| #endif |
| |
| /** |
| * Initialize a task. |
| * |
| * This function initializes the task structure pointed to by t, |
| * clearing and setting it's stack pointer, provides sane defaults |
| * and sets the task as ready to run, and inserts it into the operating |
| * system scheduler. |
| * |
| * @param t The task to initialize |
| * @param name The name of the task to initialize |
| * @param func The task function to call |
| * @param arg The argument to pass to this task function |
| * @param prio The priority at which to run this task |
| * @param sanity_itvl The time at which this task should check in with the |
| * sanity task. OS_WAIT_FOREVER means never check in |
| * here. |
| * @param stack_bottom A pointer to the bottom of a task's stack |
| * @param stack_size The overall size of the task's stack. |
| * |
| * @return 0 on success, non-zero on failure. |
| */ |
| int |
| ble_npl_task_init(struct ble_npl_task *t, const char *name, ble_npl_task_func_t func, |
| void *arg, uint8_t prio, ble_npl_time_t sanity_itvl, |
| ble_npl_stack_t *stack_bottom, uint16_t stack_size) |
| { |
| int err; |
| if ((t == NULL) || (func == NULL)) { |
| return OS_INVALID_PARM; |
| } |
| |
| err = pthread_attr_init(&t->attr); |
| if (err) return err; |
| err = pthread_attr_getschedparam (&t->attr, &t->param); |
| if (err) return err; |
| #if CONFIG_RR_INTERVAL > 0 |
| err = pthread_attr_setschedpolicy(&t->attr, SCHED_RR); |
| if (err) return err; |
| #endif |
| t->param.sched_priority = prio; |
| err = pthread_attr_setschedparam (&t->attr, &t->param); |
| if (err) return err; |
| |
| t->name = name; |
| err = pthread_create(&t->handle, &t->attr, func, arg); |
| |
| if (err == ENOMEM) |
| { |
| err = OS_ENOMEM; |
| } |
| |
| return err; |
| } |
| |
| /* |
| * Removes specified task |
| * XXX |
| * NOTE: This interface is currently experimental and not ready for common use |
| */ |
| int |
| ble_npl_task_remove(struct ble_npl_task *t) |
| { |
| return pthread_cancel(t->handle); |
| } |
| |
| /** |
| * Return the number of tasks initialized. |
| * |
| * @return number of tasks initialized |
| */ |
| uint8_t |
| ble_npl_task_count(void) |
| { |
| return 0; |
| } |
| |
| void * |
| ble_npl_get_current_task_id(void) |
| { |
| return (void *)(uintptr_t)pthread_self(); |
| } |
| |
| bool |
| ble_npl_os_started(void) |
| { |
| return true; |
| } |
| |
| void |
| ble_npl_task_yield(void) |
| { |
| pthread_yield(); |
| } |
| |
| #ifdef __cplusplus |
| } |
| #endif |