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- /********************************************************************************
- * include/nuttx/sched.h
- *
- * 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.
- *
- ********************************************************************************/
- #ifndef __INCLUDE_NUTTX_SCHED_H
- #define __INCLUDE_NUTTX_SCHED_H
- /********************************************************************************
- * Included Files
- ********************************************************************************/
- #include <nuttx/config.h>
- #include <sys/types.h>
- #include <stdint.h>
- #include <queue.h>
- #include <signal.h>
- #include <semaphore.h>
- #include <pthread.h>
- #include <mqueue.h>
- #include <time.h>
- #include <nuttx/clock.h>
- #include <nuttx/irq.h>
- #include <nuttx/wdog.h>
- #include <nuttx/mm/shm.h>
- #include <nuttx/fs/fs.h>
- #include <nuttx/net/net.h>
- #include <arch/arch.h>
- /********************************************************************************
- * Pre-processor Definitions
- ********************************************************************************/
- /* Configuration ****************************************************************/
- /* Task groups currently only supported for retention of child status */
- #undef HAVE_GROUP_MEMBERS
- /* We need a group an group members if we are supporting the parent/child
- * relationship.
- */
- #if defined(CONFIG_SCHED_HAVE_PARENT) && defined(CONFIG_SCHED_CHILD_STATUS)
- # define HAVE_GROUP_MEMBERS 1
- #endif
- /* We don't need group members if support for pthreads is disabled */
- #ifdef CONFIG_DISABLE_PTHREAD
- # undef HAVE_GROUP_MEMBERS
- #endif
- /* Sporadic scheduling */
- #ifndef CONFIG_SCHED_SPORADIC_MAXREPL
- # define CONFIG_SCHED_SPORADIC_MAXREPL 3
- #endif
- /* Task Management Definitions **************************************************/
- /* Special task IDS. Any negative PID is invalid. */
- #define NULL_TASK_PROCESS_ID (pid_t)0
- #define INVALID_PROCESS_ID (pid_t)-1
- /* This is the maximum number of times that a lock can be set */
- #define MAX_LOCK_COUNT 127
- /* Values for the struct tcb_s flags bits */
- #define TCB_FLAG_TTYPE_SHIFT (0) /* Bits 0-1: thread type */
- #define TCB_FLAG_TTYPE_MASK (3 << TCB_FLAG_TTYPE_SHIFT)
- # define TCB_FLAG_TTYPE_TASK (0 << TCB_FLAG_TTYPE_SHIFT) /* Normal user task */
- # define TCB_FLAG_TTYPE_PTHREAD (1 << TCB_FLAG_TTYPE_SHIFT) /* User pthread */
- # define TCB_FLAG_TTYPE_KERNEL (2 << TCB_FLAG_TTYPE_SHIFT) /* Kernel thread */
- #define TCB_FLAG_NONCANCELABLE (1 << 2) /* Bit 2: Pthread is non-cancelable */
- #define TCB_FLAG_CANCEL_DEFERRED (1 << 3) /* Bit 3: Deferred (vs asynch) cancellation type */
- #define TCB_FLAG_CANCEL_PENDING (1 << 4) /* Bit 4: Pthread cancel is pending */
- #define TCB_FLAG_POLICY_SHIFT (5) /* Bit 5-6: Scheduling policy */
- #define TCB_FLAG_POLICY_MASK (3 << TCB_FLAG_POLICY_SHIFT)
- # define TCB_FLAG_SCHED_FIFO (0 << TCB_FLAG_POLICY_SHIFT) /* FIFO scheding policy */
- # define TCB_FLAG_SCHED_RR (1 << TCB_FLAG_POLICY_SHIFT) /* Round robin scheding policy */
- # define TCB_FLAG_SCHED_SPORADIC (2 << TCB_FLAG_POLICY_SHIFT) /* Sporadic scheding policy */
- # define TCB_FLAG_SCHED_OTHER (3 << TCB_FLAG_POLICY_SHIFT) /* Other scheding policy */
- #define TCB_FLAG_CPU_LOCKED (1 << 7) /* Bit 7: Locked to this CPU */
- #define TCB_FLAG_SIGNAL_ACTION (1 << 8) /* Bit 8: In a signal handler */
- #define TCB_FLAG_SYSCALL (1 << 9) /* Bit 9: In a system call */
- #define TCB_FLAG_EXIT_PROCESSING (1 << 10) /* Bit 10: Exitting */
- /* Bits 11-15: Available */
- /* Values for struct task_group tg_flags */
- #define GROUP_FLAG_NOCLDWAIT (1 << 0) /* Bit 0: Do not retain child exit status */
- #define GROUP_FLAG_ADDRENV (1 << 1) /* Bit 1: Group has an address environment */
- #define GROUP_FLAG_PRIVILEGED (1 << 2) /* Bit 2: Group is privileged */
- #define GROUP_FLAG_DELETED (1 << 3) /* Bit 3: Group has been deleted but not yet freed */
- /* Bits 4-7: Available */
- /* Values for struct child_status_s ch_flags */
- #define CHILD_FLAG_TTYPE_SHIFT (0) /* Bits 0-1: child thread type */
- #define CHILD_FLAG_TTYPE_MASK (3 << CHILD_FLAG_TTYPE_SHIFT)
- # define CHILD_FLAG_TTYPE_TASK (0 << CHILD_FLAG_TTYPE_SHIFT) /* Normal user task */
- # define CHILD_FLAG_TTYPE_PTHREAD (1 << CHILD_FLAG_TTYPE_SHIFT) /* User pthread */
- # define CHILD_FLAG_TTYPE_KERNEL (2 << CHILD_FLAG_TTYPE_SHIFT) /* Kernel thread */
- #define CHILD_FLAG_EXITED (1 << 2) /* Bit 2: The child thread has exit'ed */
- /* Bits 3-7: Available */
- /* Sporadic scheduler flags */
- #define SPORADIC_FLAG_ALLOCED (1 << 0) /* Bit 0: Timer is allocated */
- #define SPORADIC_FLAG_MAIN (1 << 1) /* Bit 1: The main timer */
- #define SPORADIC_FLAG_REPLENISH (1 << 2) /* Bit 2: Replenishment cycle */
- /* Bits 3-7: Available */
- /* Most internal nxsched_* interfaces are not available in the user space in
- * PROTECTED and KERNEL builds. In that context, the application semaphore
- * interfaces must be used. The differences between the two sets of
- * interfaces are: (1) the nxsched_* interfaces do not cause cancellation
- * points and (2) they do not modify the errno variable.
- *
- * This is only important when compiling libraries (libc or libnx) that are
- * used both by the OS (libkc.a and libknx.a) or by the applications
- * (libc.a and libnx.a). In that case, the correct interface must be
- * used for the build context.
- *
- * REVISIT: In the flat build, the same functions must be used both by
- * the OS and by applications. We have to use the normal user functions
- * in this case or we will fail to set the errno or fail to create the
- * cancellation point.
- */
- #if !defined(CONFIG_BUILD_FLAT) && defined(__KERNEL__)
- # define _SCHED_GETPARAM(t,p) nxsched_get_param(t,p)
- # define _SCHED_SETPARAM(t,p) nxsched_set_param(t,p)
- # define _SCHED_GETSCHEDULER(t) nxsched_get_scheduler(t)
- # define _SCHED_SETSCHEDULER(t,s,p) nxsched_set_scheduler(t,s,p)
- # define _SCHED_GETAFFINITY(t,c,m) nxsched_get_affinity(t,c,m)
- # define _SCHED_SETAFFINITY(t,c,m) nxsched_set_affinity(t,c,m)
- # define _SCHED_ERRNO(r) (-(r))
- # define _SCHED_ERRVAL(r) (r)
- #else
- # define _SCHED_GETPARAM(t,p) sched_getparam(t,p)
- # define _SCHED_SETPARAM(t,p) sched_setparam(t,p)
- # define _SCHED_GETSCHEDULER(t) sched_getscheduler(t)
- # define _SCHED_SETSCHEDULER(t,s,p) sched_setscheduler(t,s,p)
- # define _SCHED_GETAFFINITY(t,c,m) sched_getaffinity(t,c,m)
- # define _SCHED_SETAFFINITY(t,c,m) sched_setaffinity(t,c,m)
- # define _SCHED_ERRNO(r) errno
- # define _SCHED_ERRVAL(r) (-errno)
- #endif
- /* The number of callback can be saved */
- #if defined(CONFIG_SCHED_ONEXIT_MAX)
- # define CONFIG_SCHED_EXIT_MAX CONFIG_SCHED_ONEXIT_MAX
- #elif defined(CONFIG_SCHED_ATEXIT_MAX)
- # define CONFIG_SCHED_EXIT_MAX CONFIG_SCHED_ATEXIT_MAX
- #endif
- #if defined(CONFIG_SCHED_EXIT_MAX) && CONFIG_SCHED_EXIT_MAX < 1
- # error "CONFIG_SCHED_EXIT_MAX < 1"
- #endif
- /********************************************************************************
- * Public Type Definitions
- ********************************************************************************/
- #ifndef __ASSEMBLY__
- /* General Task Management Types ************************************************/
- /* This is the type of the task_state field of the TCB. NOTE: the order and
- * content of this enumeration is critical since there are some OS tables indexed
- * by these values. The range of values is assumed to fit into a uint8_t in
- * struct tcb_s.
- */
- enum tstate_e
- {
- TSTATE_TASK_INVALID = 0, /* INVALID - The TCB is uninitialized */
- TSTATE_TASK_PENDING, /* READY_TO_RUN - Pending preemption unlock */
- TSTATE_TASK_READYTORUN, /* READY-TO-RUN - But not running */
- #ifdef CONFIG_SMP
- TSTATE_TASK_ASSIGNED, /* READY-TO-RUN - Not running, but assigned to a CPU */
- #endif
- TSTATE_TASK_RUNNING, /* READY_TO_RUN - And running */
- TSTATE_TASK_INACTIVE, /* BLOCKED - Initialized but not yet activated */
- TSTATE_WAIT_SEM, /* BLOCKED - Waiting for a semaphore */
- TSTATE_WAIT_SIG, /* BLOCKED - Waiting for a signal */
- #ifndef CONFIG_DISABLE_MQUEUE
- TSTATE_WAIT_MQNOTEMPTY, /* BLOCKED - Waiting for a MQ to become not empty. */
- TSTATE_WAIT_MQNOTFULL, /* BLOCKED - Waiting for a MQ to become not full. */
- #endif
- #ifdef CONFIG_PAGING
- TSTATE_WAIT_PAGEFILL, /* BLOCKED - Waiting for page fill */
- #endif
- #ifdef CONFIG_SIG_SIGSTOP_ACTION
- TSTATE_TASK_STOPPED, /* BLOCKED - Waiting for SIGCONT */
- #endif
- NUM_TASK_STATES /* Must be last */
- };
- typedef enum tstate_e tstate_t;
- /* The following definitions are determined by tstate_t. Ordering of values
- * in the enumeration is important!
- */
- #define FIRST_READY_TO_RUN_STATE TSTATE_TASK_READYTORUN
- #define LAST_READY_TO_RUN_STATE TSTATE_TASK_RUNNING
- #define FIRST_ASSIGNED_STATE TSTATE_TASK_ASSIGNED
- #define LAST_ASSIGNED_STATE TSTATE_TASK_RUNNING
- #define FIRST_BLOCKED_STATE TSTATE_TASK_INACTIVE
- #define LAST_BLOCKED_STATE (NUM_TASK_STATES-1)
- /* The following is the form of a thread start-up function */
- typedef CODE void (*start_t)(void);
- /* This is the entry point into the main thread of the task or into a created
- * pthread within the task.
- */
- union entry_u
- {
- pthread_startroutine_t pthread;
- main_t main;
- };
- typedef union entry_u entry_t;
- /* This is the type of the function called at task startup */
- #ifdef CONFIG_SCHED_STARTHOOK
- typedef CODE void (*starthook_t)(FAR void *arg);
- #endif
- /* These are the types of the functions that are executed with exit() is called
- * (if registered via atexit() on on_exit()).
- */
- #ifdef CONFIG_SCHED_ATEXIT
- typedef CODE void (*atexitfunc_t)(void);
- #endif
- #ifdef CONFIG_SCHED_ONEXIT
- typedef CODE void (*onexitfunc_t)(int exitcode, FAR void *arg);
- #endif
- /* struct sporadic_s ************************************************************/
- #ifdef CONFIG_SCHED_SPORADIC
- /* This structure represents one replenishment interval. This is what is
- * received by each timeout handler.
- */
- struct sporadic_s;
- struct replenishment_s
- {
- FAR struct tcb_s *tcb; /* The parent TCB structure */
- struct wdog_s timer; /* Timer dedicated to this interval */
- uint32_t budget; /* Current budget time */
- uint8_t flags; /* See SPORADIC_FLAG_* definitions */
- };
- /* This structure is an allocated "plug-in" to the main TCB structure. It is
- * allocated when the sporadic scheduling policy is assigned to a thread. Thus,
- * in the context of numerous threads of varying policies, there the overhead
- * from this significant allocation is only borne by the threads with the
- * sporadic scheduling policy.
- */
- struct sporadic_s
- {
- bool suspended; /* Thread is currently suspended */
- uint8_t hi_priority; /* Sporadic high priority */
- uint8_t low_priority; /* Sporadic low priority */
- uint8_t max_repl; /* Maximum number of replenishments */
- uint8_t nrepls; /* Number of active replenishments */
- uint32_t repl_period; /* Sporadic replenishment period */
- uint32_t budget; /* Sporadic execution budget period */
- clock_t eventtime; /* Time thread suspended or [re-]started */
- /* This is the last interval timer activated */
- FAR struct replenishment_s *active;
- /* This is the list of replenishment interval timers */
- struct replenishment_s replenishments[CONFIG_SCHED_SPORADIC_MAXREPL];
- };
- #endif /* CONFIG_SCHED_SPORADIC */
- /* struct child_status_s ********************************************************/
- /* This structure is used to maintain information about child tasks. pthreads
- * work differently, they have join information. This is only for child tasks.
- */
- #ifdef CONFIG_SCHED_CHILD_STATUS
- struct child_status_s
- {
- FAR struct child_status_s *flink;
- uint8_t ch_flags; /* Child status: See CHILD_FLAG_* defns */
- pid_t ch_pid; /* Child task ID */
- int ch_status; /* Child exit status */
- };
- #endif
- /* struct pthread_cleanup_s *****************************************************/
- /* This structure describes one element of the pthread cleanup stack */
- #ifdef CONFIG_PTHREAD_CLEANUP
- struct pthread_cleanup_s
- {
- pthread_cleanup_t pc_cleaner; /* Cleanup callback address */
- FAR void *pc_arg; /* Argument that accompanies the callback */
- };
- #endif
- /* type tls_ndxset_t ************************************************************/
- /* Smallest addressable type that can hold the entire configured number of TLS
- * data indexes.
- */
- #if CONFIG_TLS_NELEM > 0
- # if CONFIG_TLS_NELEM > 32
- # error Too many TLS elements
- # elif CONFIG_TLS_NELEM > 16
- typedef uint32_t tls_ndxset_t;
- # elif CONFIG_TLS_NELEM > 8
- typedef uint16_t tls_ndxset_t;
- # else
- typedef uint8_t tls_ndxset_t;
- # endif
- #endif
- /* type grpid_t *****************************************************************/
- /* The task group ID */
- typedef int16_t grpid_t;
- /* struct dspace_s **************************************************************/
- /* This structure describes a reference counted D-Space region. This must be a
- * separately allocated "break-away" structure that can be owned by a task and
- * any pthreads created by the task.
- */
- #ifdef CONFIG_PIC
- struct dspace_s
- {
- /* The life of the structure allocation is determined by this reference
- * count. This count is number of threads that shared the same D-Space.
- * This includes the parent task as well as any pthreads created by the
- * parent task or any of its child threads.
- */
- uint16_t crefs;
- /* This is the allocated D-Space memory region. This may be a physical
- * address allocated with kmm_malloc(), or it may be virtual address associated
- * with an address environment (if CONFIG_ARCH_ADDRENV=y).
- */
- FAR uint8_t *region;
- };
- #endif
- /* struct stackinfo_s ***********************************************************/
- /* Used to report stack information */
- struct stackinfo_s
- {
- size_t adj_stack_size; /* Stack size after adjustment */
- /* for hardware, processor, etc. */
- /* (for debug purposes only) */
- FAR void *stack_alloc_ptr; /* Pointer to allocated stack */
- /* Needed to deallocate stack */
- FAR void *adj_stack_ptr; /* Adjusted stack_alloc_ptr for HW */
- /* The initial stack pointer value */
- };
- /* struct exitinfo_s ************************************************************/
- struct exitinfo_s
- {
- union
- {
- #ifdef CONFIG_SCHED_ATEXIT
- atexitfunc_t at;
- #endif
- #ifdef CONFIG_SCHED_ONEXIT
- onexitfunc_t on;
- #endif
- } func;
- #ifdef CONFIG_SCHED_ONEXIT
- FAR void *arg;
- #endif
- };
- /* struct task_group_s **********************************************************/
- /* All threads created by pthread_create belong in the same task group (along
- * with the thread of the original task). struct task_group_s is a shared
- * structure referenced by the TCB of each thread that is a member of the task
- * group.
- *
- * This structure should contain *all* resources shared by tasks and threads that
- * belong to the same task group:
- *
- * Child exit status
- * Environment variables
- * PIC data space and address environments
- * File descriptors
- * FILE streams
- * Sockets
- * Address environments.
- *
- * Each instance of struct task_group_s is reference counted. Each instance is
- * created with a reference count of one. The reference incremented when each
- * thread joins the group and decremented when each thread exits, leaving the
- * group. When the reference count decrements to zero, the struct task_group_s
- * is free.
- */
- #ifndef CONFIG_DISABLE_PTHREAD
- struct join_s; /* Forward reference */
- /* Defined in sched/pthread/pthread.h */
- #endif
- #ifdef CONFIG_BINFMT_LOADABLE
- struct binary_s; /* Forward reference */
- /* Defined in include/nuttx/binfmt/binfmt.h */
- #endif
- struct task_group_s
- {
- #if defined(HAVE_GROUP_MEMBERS) || defined(CONFIG_ARCH_ADDRENV)
- struct task_group_s *flink; /* Supports a singly linked list */
- grpid_t tg_grpid; /* The ID of this task group */
- #endif
- #ifdef HAVE_GROUP_MEMBERS
- grpid_t tg_pgrpid; /* The ID of the parent task group */
- #endif
- #if !defined(CONFIG_DISABLE_PTHREAD) && defined(CONFIG_SCHED_HAVE_PARENT)
- pid_t tg_task; /* The ID of the task within the group */
- #endif
- uint8_t tg_flags; /* See GROUP_FLAG_* definitions */
- /* User identity **************************************************************/
- #ifdef CONFIG_SCHED_USER_IDENTITY
- uid_t tg_uid; /* User identity */
- gid_t tg_gid; /* User group identity */
- #endif
- /* Group membership ***********************************************************/
- uint8_t tg_nmembers; /* Number of members in the group */
- #ifdef HAVE_GROUP_MEMBERS
- uint8_t tg_mxmembers; /* Number of members in allocation */
- FAR pid_t *tg_members; /* Members of the group */
- #endif
- /* [at|on]exit support ********************************************************/
- #ifdef CONFIG_SCHED_EXIT_MAX
- struct exitinfo_s tg_exit[CONFIG_SCHED_EXIT_MAX];
- #endif
- #ifdef CONFIG_BINFMT_LOADABLE
- /* Loadable module support ****************************************************/
- FAR struct binary_s *tg_bininfo; /* Describes resources used by program */
- #endif
- #ifdef CONFIG_SCHED_HAVE_PARENT
- /* Child exit status **********************************************************/
- #ifdef CONFIG_SCHED_CHILD_STATUS
- FAR struct child_status_s *tg_children; /* Head of a list of child status */
- #endif
- #ifndef HAVE_GROUP_MEMBERS
- /* REVISIT: What if parent thread exits? Should use tg_pgrpid. */
- pid_t tg_ppid; /* This is the ID of the parent thread */
- #ifndef CONFIG_SCHED_CHILD_STATUS
- uint16_t tg_nchildren; /* This is the number active children */
- #endif
- #endif /* HAVE_GROUP_MEMBERS */
- #endif /* CONFIG_SCHED_HAVE_PARENT */
- #if defined(CONFIG_SCHED_WAITPID) && !defined(CONFIG_SCHED_HAVE_PARENT)
- /* waitpid support ************************************************************/
- /* Simple mechanism used only when there is no support for SIGCHLD */
- uint8_t tg_nwaiters; /* Number of waiters */
- uint8_t tg_waitflags; /* User flags for waitpid behavior */
- sem_t tg_exitsem; /* Support for waitpid */
- FAR int *tg_statloc; /* Location to return exit status */
- #endif
- #ifndef CONFIG_DISABLE_PTHREAD
- /* Pthreads *******************************************************************/
- /* Pthread join Info: */
- sem_t tg_joinsem; /* Mutually exclusive access to join data */
- FAR struct join_s *tg_joinhead; /* Head of a list of join data */
- FAR struct join_s *tg_jointail; /* Tail of a list of join data */
- #endif
- /* Thread local storage *******************************************************/
- #if CONFIG_TLS_NELEM > 0
- tls_ndxset_t tg_tlsset; /* Set of TLS data indexes allocated */
- #endif
- /* POSIX Signal Control Fields ************************************************/
- sq_queue_t tg_sigactionq; /* List of actions for signals */
- sq_queue_t tg_sigpendingq; /* List of pending signals */
- #ifdef CONFIG_SIG_DEFAULT
- sigset_t tg_sigdefault; /* Set of signals set to the default action */
- #endif
- #ifndef CONFIG_DISABLE_ENVIRON
- /* Environment variables ******************************************************/
- size_t tg_envsize; /* Size of environment string allocation */
- FAR char *tg_envp; /* Allocated environment strings */
- #endif
- #ifndef CONFIG_DISABLE_POSIX_TIMERS
- /* Interval timer *************************************************************/
- timer_t itimer;
- #endif
- /* PIC data space and address environments ************************************/
- /* Logically the PIC data space belongs here (see struct dspace_s). The
- * current logic needs review: There are differences in the away that the
- * life of the PIC data is managed.
- */
- /* File descriptors ***********************************************************/
- struct filelist tg_filelist; /* Maps file descriptor to file */
- #if CONFIG_NFILE_STREAMS > 0
- /* FILE streams ***************************************************************/
- /* In a flat, single-heap build. The stream list is allocated with this
- * structure. But kernel mode with a kernel allocator, it must be separately
- * allocated using a user-space allocator.
- */
- #ifdef CONFIG_MM_KERNEL_HEAP
- FAR struct streamlist *tg_streamlist;
- #else
- struct streamlist tg_streamlist; /* Holds C buffered I/O info */
- #endif
- #endif
- #ifdef CONFIG_NET
- /* Sockets ********************************************************************/
- struct socketlist tg_socketlist; /* Maps socket descriptor to socket */
- #endif
- #ifndef CONFIG_DISABLE_MQUEUE
- /* POSIX Named Message Queue Fields *******************************************/
- sq_queue_t tg_msgdesq; /* List of opened message queues */
- #endif
- #ifdef CONFIG_ARCH_ADDRENV
- /* Address Environment ********************************************************/
- group_addrenv_t tg_addrenv; /* Task group address environment */
- #endif
- #ifdef CONFIG_MM_SHM
- /* Shared Memory **************************************************************/
- struct group_shm_s tg_shm; /* Task shared memory logic */
- #endif
- };
- /* struct tcb_s *****************************************************************/
- /* This is the common part of the task control block (TCB). The TCB is the heart
- * of the NuttX task-control logic. Each task or thread is represented by a TCB
- * that includes these common definitions.
- */
- struct tcb_s
- {
- /* Fields used to support list management *************************************/
- FAR struct tcb_s *flink; /* Doubly linked list */
- FAR struct tcb_s *blink;
- /* Task Group *****************************************************************/
- FAR struct task_group_s *group; /* Pointer to shared task group data */
- /* Task Management Fields *****************************************************/
- pid_t pid; /* This is the ID of the thread */
- start_t start; /* Thread start function */
- entry_t entry; /* Entry Point into the thread */
- uint8_t sched_priority; /* Current priority of the thread */
- uint8_t init_priority; /* Initial priority of the thread */
- #ifdef CONFIG_PRIORITY_INHERITANCE
- #if CONFIG_SEM_NNESTPRIO > 0
- uint8_t npend_reprio; /* Number of nested reprioritizations */
- uint8_t pend_reprios[CONFIG_SEM_NNESTPRIO];
- #endif
- uint8_t base_priority; /* "Normal" priority of the thread */
- #endif
- uint8_t task_state; /* Current state of the thread */
- #ifdef CONFIG_SMP
- uint8_t cpu; /* CPU index if running or assigned */
- cpu_set_t affinity; /* Bit set of permitted CPUs */
- #endif
- uint16_t flags; /* Misc. general status flags */
- int16_t lockcount; /* 0=preemptible (not-locked) */
- #ifdef CONFIG_IRQCOUNT
- int16_t irqcount; /* 0=Not in critical section */
- #endif
- #ifdef CONFIG_CANCELLATION_POINTS
- int16_t cpcount; /* Nested cancellation point count */
- #endif
- int16_t errcode; /* Used to pass error information */
- #if CONFIG_RR_INTERVAL > 0 || defined(CONFIG_SCHED_SPORADIC)
- int32_t timeslice; /* RR timeslice OR Sporadic budget */
- /* interval remaining */
- #endif
- #ifdef CONFIG_SCHED_SPORADIC
- FAR struct sporadic_s *sporadic; /* Sporadic scheduling parameters */
- #endif
- struct wdog_s waitdog; /* All timed waits use this timer */
- /* Stack-Related Fields *******************************************************/
- size_t adj_stack_size; /* Stack size after adjustment */
- /* for hardware, processor, etc. */
- /* (for debug purposes only) */
- FAR void *stack_alloc_ptr; /* Pointer to allocated stack */
- /* Needed to deallocate stack */
- FAR void *adj_stack_ptr; /* Adjusted stack_alloc_ptr for HW */
- /* The initial stack pointer value */
- /* External Module Support ****************************************************/
- #ifdef CONFIG_PIC
- FAR struct dspace_s *dspace; /* Allocated area for .bss and .data */
- #endif
- /* POSIX Semaphore Control Fields *********************************************/
- sem_t *waitsem; /* Semaphore ID waiting on */
- /* POSIX Signal Control Fields ************************************************/
- sigset_t sigprocmask; /* Signals that are blocked */
- sigset_t sigwaitmask; /* Waiting for pending signals */
- sq_queue_t sigpendactionq; /* List of pending signal actions */
- sq_queue_t sigpostedq; /* List of posted signals */
- siginfo_t sigunbinfo; /* Signal info when task unblocked */
- /* POSIX Named Message Queue Fields *******************************************/
- #ifndef CONFIG_DISABLE_MQUEUE
- FAR struct mqueue_inode_s *msgwaitq; /* Waiting for this message queue */
- #endif
- /* Robust mutex support *******************************************************/
- #if !defined(CONFIG_DISABLE_PTHREAD) && !defined(CONFIG_PTHREAD_MUTEX_UNSAFE)
- FAR struct pthread_mutex_s *mhead; /* List of mutexes held by thread */
- #endif
- /* Clean-up stack *************************************************************/
- #ifdef CONFIG_PTHREAD_CLEANUP
- /* tos - The index to the next available entry at the top of the stack.
- * stack - The pre-allocated clean-up stack memory.
- */
- uint8_t tos;
- struct pthread_cleanup_s stack[CONFIG_PTHREAD_CLEANUP_STACKSIZE];
- #endif
- /* Pre-emption monitor support ************************************************/
- #ifdef CONFIG_SCHED_CRITMONITOR
- uint32_t premp_start; /* Time when preemption disabled */
- uint32_t premp_max; /* Max time preemption disabled */
- uint32_t crit_start; /* Time critical section entered */
- uint32_t crit_max; /* Max time in critical section */
- #endif
- /* State save areas ***********************************************************/
- /* The form and content of these fields are platform-specific. */
- struct xcptcontext xcp; /* Interrupt register save area */
- #if CONFIG_TASK_NAME_SIZE > 0
- char name[CONFIG_TASK_NAME_SIZE + 1]; /* Task name (with NUL terminator) */
- #endif
- };
- /* struct task_tcb_s ************************************************************/
- /* This is the particular form of the task control block (TCB) structure used by
- * tasks (and kernel threads). There are two TCB forms: one for pthreads and
- * one for tasks. Both share the common TCB fields (which must appear at the
- * top of the structure) plus additional fields unique to tasks and threads.
- * Having separate structures for tasks and pthreads adds some complexity, but
- * saves memory in that it prevents pthreads from being burdened with the
- * overhead required for tasks (and vice versa).
- */
- struct task_tcb_s
- {
- /* Common TCB fields **********************************************************/
- struct tcb_s cmn; /* Common TCB fields */
- /* Task Management Fields *****************************************************/
- #ifdef CONFIG_SCHED_STARTHOOK
- starthook_t starthook; /* Task startup function */
- FAR void *starthookarg; /* The argument passed to the function */
- #endif
- /* [Re-]start name + start-up parameters **************************************/
- FAR char **argv; /* Name+start-up parameters */
- };
- /* struct pthread_tcb_s *********************************************************/
- /* This is the particular form of the task control block (TCB) structure used by
- * pthreads. There are two TCB forms: one for pthreads and one for tasks. Both
- * share the common TCB fields (which must appear at the top of the structure)
- * plus additional fields unique to tasks and threads. Having separate
- * structures for tasks and pthreads adds some complexity, but saves memory in
- * that it prevents pthreads from being burdened with the overhead required for
- * tasks (and vice versa).
- */
- #ifndef CONFIG_DISABLE_PTHREAD
- struct pthread_tcb_s
- {
- /* Common TCB fields **********************************************************/
- struct tcb_s cmn; /* Common TCB fields */
- /* Task Management Fields *****************************************************/
- pthread_addr_t arg; /* Startup argument */
- FAR void *joininfo; /* Detach-able info to support join */
- };
- #endif /* !CONFIG_DISABLE_PTHREAD */
- /* This is the callback type used by nxsched_foreach() */
- typedef CODE void (*nxsched_foreach_t)(FAR struct tcb_s *tcb, FAR void *arg);
- #endif /* __ASSEMBLY__ */
- /********************************************************************************
- * Public Data
- ********************************************************************************/
- #ifndef __ASSEMBLY__
- #undef EXTERN
- #if defined(__cplusplus)
- #define EXTERN extern "C"
- extern "C"
- {
- #else
- #define EXTERN extern
- #endif
- #ifdef CONFIG_SCHED_CRITMONITOR
- /* Maximum time with pre-emption disabled or within critical section. */
- #ifdef CONFIG_SMP_NCPUS
- EXTERN uint32_t g_premp_max[CONFIG_SMP_NCPUS];
- EXTERN uint32_t g_crit_max[CONFIG_SMP_NCPUS];
- #else
- EXTERN uint32_t g_premp_max[1];
- EXTERN uint32_t g_crit_max[1];
- #endif
- #endif /* CONFIG_SCHED_CRITMONITOR */
- /********************************************************************************
- * Public Function Prototypes
- ********************************************************************************/
- /********************************************************************************
- * Name: nxsched_self
- *
- * Description:
- * Return the current threads TCB. Basically, this function just wraps the
- * head of the ready-to-run list and manages access to the TCB from outside
- * of the sched/ sub-directory.
- *
- ********************************************************************************/
- FAR struct tcb_s *nxsched_self(void);
- /********************************************************************************
- * Name: nxsched_foreach
- *
- * Description:
- * Enumerate over each task and provide the TCB of each task to a user
- * callback functions.
- *
- * NOTE: This function examines the TCB and calls each handler within a
- * critical section. However, that critical section is released and
- * reacquired for each TCB. When it is released, there may be changes in
- * tasking. If the caller requires absolute stability through the
- * traversal, then the caller should establish the critical section BEFORE
- * calling this function.
- *
- * Input Parameters:
- * handler - The function to be called with the TCB of
- * each task
- *
- * Returned Value:
- * None
- *
- ********************************************************************************/
- void nxsched_foreach(nxsched_foreach_t handler, FAR void *arg);
- /********************************************************************************
- * Name: nxsched_get_tcb
- *
- * Description:
- * Given a task ID, this function will return the a pointer to the
- * corresponding TCB (or NULL if there is no such task ID).
- *
- * NOTE: This function holds a critical section while examining TCB data
- * data structures but releases that critical section before returning.
- * When it is released, the TCB may become unstable. If the caller
- * requires absolute stability while using the TCB, then the caller
- * should establish the critical section BEFORE calling this function and
- * hold that critical section as long as necessary.
- *
- ********************************************************************************/
- FAR struct tcb_s *nxsched_get_tcb(pid_t pid);
- /********************************************************************************
- * Name: nxsched_releasepid
- *
- * Description:
- * When a task is destroyed, this function must be called to make its
- * process ID available for re-use.
- *
- ********************************************************************************/
- int nxsched_release_tcb(FAR struct tcb_s *tcb, uint8_t ttype);
- /* File system helpers **********************************************************/
- /* These functions all extract lists from the group structure associated with the
- * currently executing task.
- */
- FAR struct filelist *nxsched_get_files(void);
- #if CONFIG_NFILE_STREAMS > 0
- FAR struct streamlist *nxsched_get_streams(void);
- #endif /* CONFIG_NFILE_STREAMS */
- #ifdef CONFIG_NET
- FAR struct socketlist *nxsched_get_sockets(void);
- #endif
- /********************************************************************************
- * Name: nxtask_init
- *
- * Description:
- * This function initializes a Task Control Block (TCB) in preparation for
- * starting a new thread. It performs a subset of the functionality of
- * task_create()
- *
- * Unlike task_create():
- * 1. Allocate the TCB. The pre-allocated TCB is passed in argv.
- * 2. Allocate the stack. The pre-allocated stack is passed in argv.
- * 3. Activate the task. This must be done by calling nxtask_activate().
- *
- * Certain fields of the pre-allocated TCB may be set to change the
- * nature of the created task. For example:
- *
- * - Task type may be set in the TCB flags to create kernel thread
- *
- * Input Parameters:
- * tcb - Address of the new task's TCB
- * name - Name of the new task (not used)
- * priority - Priority of the new task
- * stack - Start of the pre-allocated stack
- * stack_size - Size (in bytes) of the stack allocated
- * entry - Application start point of the new task
- * argv - A pointer to an array of input parameters. The array
- * should be terminated with a NULL argv[] value. If no
- * parameters are required, argv may be NULL.
- *
- * Returned Value:
- * OK on success; negative error value on failure appropriately. (See
- * nxtask_setup_scheduler() for possible failure conditions). On failure,
- * the caller is responsible for freeing the stack memory and for calling
- * nxsched_release_tcb() to free the TCB (which could be in most any
- * state).
- *
- ********************************************************************************/
- int nxtask_init(FAR struct task_tcb_s *tcb, const char *name, int priority,
- FAR void *stack, uint32_t stack_size, main_t entry,
- FAR char * const argv[]);
- /********************************************************************************
- * Name: nxtask_uninit
- *
- * Description:
- * Undo all operations on a TCB performed by task_init() and release the
- * TCB by calling kmm_free(). This is intended primarily to support
- * error recovery operations after a successful call to task_init() such
- * was when a subsequent call to task_activate fails.
- *
- * Caution: Freeing of the TCB itself might be an unexpected side-effect.
- *
- * Input Parameters:
- * tcb - Address of the TCB initialized by task_init()
- *
- * Returned Value:
- * OK on success; negative error value on failure appropriately.
- *
- ********************************************************************************/
- void nxtask_uninit(FAR struct task_tcb_s *tcb);
- /********************************************************************************
- * Name: nxtask_activate
- *
- * Description:
- * This function activates tasks initialized by nxtask_setup_scheduler().
- * Without activation, a task is ineligible for execution by the
- * scheduler.
- *
- * Input Parameters:
- * tcb - The TCB for the task for the task (same as the nxtask_init
- * argument).
- *
- * Returned Value:
- * None
- *
- ********************************************************************************/
- void nxtask_activate(FAR struct tcb_s *tcb);
- /********************************************************************************
- * Name: nxtask_starthook
- *
- * Description:
- * Configure a start hook... a function that will be called on the thread
- * of the new task before the new task's main entry point is called.
- * The start hook is useful, for example, for setting up automatic
- * configuration of C++ constructors.
- *
- * Input Parameters:
- * tcb - The new, unstarted task task that needs the start hook
- * starthook - The pointer to the start hook function
- * arg - The argument to pass to the start hook function.
- *
- * Returned Value:
- * None
- *
- ********************************************************************************/
- #ifdef CONFIG_SCHED_STARTHOOK
- void nxtask_starthook(FAR struct task_tcb_s *tcb, starthook_t starthook,
- FAR void *arg);
- #endif
- /********************************************************************************
- * Name: nxtask_startup
- *
- * Description:
- * This function is the user-space, task startup function. It is called
- * from up_task_start() in user-mode.
- *
- * Input Parameters:
- * entrypt - The user-space address of the task entry point
- * argc and argv - Standard arguments for the task entry point
- *
- * Returned Value:
- * None. This function does not return.
- *
- ********************************************************************************/
- #ifndef CONFIG_BUILD_KERNEL
- void nxtask_startup(main_t entrypt, int argc, FAR char *argv[]);
- #endif
- /********************************************************************************
- * Internal vfork support. The overall sequence is:
- *
- * 1) User code calls vfork(). vfork() is provided in architecture-specific
- * code.
- * 2) vfork()and calls nxtask_setup_vfork().
- * 3) nxtask_setup_vfork() allocates and configures the child task's TCB. This
- * consists of:
- * - Allocation of the child task's TCB.
- * - Initialization of file descriptors and streams
- * - Configuration of environment variables
- * - Setup the input parameters for the task.
- * - Initialization of the TCB (including call to up_initial_state()
- * 4) vfork() provides any additional operating context. vfork must:
- * - Allocate and initialize the stack
- * - Initialize special values in any CPU registers that were not
- * already configured by up_initial_state()
- * 5) vfork() then calls nxtask_start_vfork()
- * 6) nxtask_start_vfork() then executes the child thread.
- *
- * nxtask_abort_vfork() may be called if an error occurs between steps 3 and 6.
- *
- ********************************************************************************/
- FAR struct task_tcb_s *nxtask_setup_vfork(start_t retaddr, size_t *argsize);
- pid_t nxtask_start_vfork(FAR struct task_tcb_s *child);
- void nxtask_abort_vfork(FAR struct task_tcb_s *child, int errcode);
- /********************************************************************************
- * Name: group_exitinfo
- *
- * Description:
- * This function may be called to when a task is loaded into memory. It
- * will setup the to automatically unload the module when the task exits.
- *
- * Input Parameters:
- * pid - The task ID of the newly loaded task
- * bininfo - This structure allocated with kmm_malloc(). This memory
- * persists until the task exits and will be used unloads
- * the module from memory.
- *
- * Returned Value:
- * This is a NuttX internal function so it follows the convention that
- * 0 (OK) is returned on success and a negated errno is returned on
- * failure.
- *
- ********************************************************************************/
- #ifdef CONFIG_BINFMT_LOADABLE
- struct binary_s; /* Forward reference */
- int group_exitinfo(pid_t pid, FAR struct binary_s *bininfo);
- #endif
- /********************************************************************************
- * Name: nxsched_resume_scheduler
- *
- * Description:
- * Called by architecture specific implementations that block task execution.
- * This function prepares the scheduler for the thread that is about to be
- * restarted.
- *
- * Input Parameters:
- * tcb - The TCB of the thread to be restarted.
- *
- * Returned Value:
- * None
- *
- ********************************************************************************/
- #if CONFIG_RR_INTERVAL > 0 || defined(CONFIG_SCHED_RESUMESCHEDULER)
- void nxsched_resume_scheduler(FAR struct tcb_s *tcb);
- #else
- # define nxsched_resume_scheduler(tcb)
- #endif
- /********************************************************************************
- * Name: nxsched_suspend_scheduler
- *
- * Description:
- * Called by architecture specific implementations to resume task execution.
- * This function performs scheduler operations for the thread that is about to
- * be suspended.
- *
- * Input Parameters:
- * tcb - The TCB of the thread to be restarted.
- *
- * Returned Value:
- * None
- *
- ********************************************************************************/
- #ifdef CONFIG_SCHED_SUSPENDSCHEDULER
- void nxsched_suspend_scheduler(FAR struct tcb_s *tcb);
- #else
- # define nxsched_suspend_scheduler(tcb)
- #endif
- /********************************************************************************
- * Name: nxsched_get_param
- *
- * Description:
- * This function gets the scheduling priority of the task specified by
- * pid. It is identical in function, differing only in its return value:
- * This function does not modify the errno variable.
- *
- * This is a non-standard, internal OS function and is not intended for
- * use by application logic. Applications should use the standard
- * sched_getparam().
- *
- * Input Parameters:
- * pid - the task ID of the task. If pid is zero, the priority
- * of the calling task is returned.
- * param - A structure whose member sched_priority is the integer
- * priority. The task's priority is copied to the sched_priority
- * element of this structure.
- *
- * Returned Value:
- * 0 (OK) if successful, otherwise a negated errno value is returned to
- * indicate the nature of the failure..
- *
- * This function can fail if param is null (EINVAL) or if pid does
- * not correspond to any task (ESRCH).
- *
- ********************************************************************************/
- struct sched_param; /* Forward reference */
- int nxsched_get_param (pid_t pid, FAR struct sched_param *param);
- /********************************************************************************
- * Name: nxsched_set_param
- *
- * Description:
- * This function sets the priority of a specified task. It is identical
- * to the function sched_setparam(), differing only in its return value:
- * This function does not modify the errno variable.
- *
- * 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.
- *
- * This is a non-standard, internal OS function and is not intended for
- * use by application logic. Applications should use the standard
- * sched_setparam().
- *
- * Input Parameters:
- * pid - the task ID of the task to reprioritize. If pid is zero, the
- * priority of the calling task is changed.
- * param - A structure whose member sched_priority is the integer priority.
- * The range of valid priority numbers is from SCHED_PRIORITY_MIN
- * through SCHED_PRIORITY_MAX.
- *
- * Returned Value:
- * 0 (OK) if successful, otherwise a negated errno value is returned to
- * indicate the nature of the failure..
- *
- * 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.
- *
- ********************************************************************************/
- struct sched_param; /* Forward reference */
- int nxsched_set_param(pid_t pid, FAR const struct sched_param *param);
- /********************************************************************************
- * Name: nxsched_get_scheduler
- *
- * Description:
- * sched_getscheduler() returns the scheduling policy currently
- * applied to the task identified by pid. If pid equals zero, the
- * policy of the calling task will be retrieved.
- *
- * This functions is identical to the function sched_getscheduler(),
- * differing only in its return value: This function does not modify
- * the errno variable.
- *
- * This is a non-standard, internal OS function and is not intended for
- * use by application logic. Applications should use the standard
- * sched_getscheduler().
- *
- * Input Parameters:
- * pid - the task ID of the task to query. If pid is zero, the
- * calling task is queried.
- *
- * Returned Value:
- * On success, sched_getscheduler() returns the policy for the task
- * (either SCHED_FIFO or SCHED_RR). On error, a negated errno value
- * returned:
- *
- * ESRCH The task whose ID is pid could not be found.
- *
- ********************************************************************************/
- int nxsched_get_scheduler(pid_t pid);
- /********************************************************************************
- * Name: nxsched_set_scheduler
- *
- * Description:
- * nxsched_set_scheduler() sets both the scheduling policy and the priority
- * for the task identified by pid. If pid equals zero, the scheduler of
- * the calling task will be set. The parameter 'param' holds the priority
- * of the thread under the new policy.
- *
- * nxsched_set_scheduler() is identical to the function sched_getparam(),
- * differing only in its return value: This function does not modify the
- * errno variable.
- *
- * This is a non-standard, internal OS function and is not intended for
- * use by application logic. Applications should use the standard
- * sched_getparam().
- *
- * Input Parameters:
- * pid - the task ID of the task to modify. If pid is zero, the calling
- * task is modified.
- * policy - Scheduling policy requested (either SCHED_FIFO or SCHED_RR)
- * param - A structure whose member sched_priority is the new priority.
- * The range of valid priority numbers is from SCHED_PRIORITY_MIN
- * through SCHED_PRIORITY_MAX.
- *
- * Returned Value:
- * On success, nxsched_set_scheduler() returns OK (zero). On error, a
- * negated errno value is returned:
- *
- * EINVAL The scheduling policy is not one of the recognized policies.
- * ESRCH The task whose ID is pid could not be found.
- *
- ********************************************************************************/
- int nxsched_set_scheduler(pid_t pid, int policy,
- FAR const struct sched_param *param);
- /********************************************************************************
- * Name: nxsched_get_affinity
- *
- * Description:
- * nxsched_get_affinity() writes the affinity mask of the thread whose ID
- * is pid into the cpu_set_t pointed to by mask. The cpusetsize
- * argument specifies the size (in bytes) of mask. If pid is zero, then
- * the mask of the calling thread is returned.
- *
- * nxsched_get_affinity() is identical to the function sched_getaffinity(),
- * differing only in its return value: This function does not modify the
- * errno variable.
- *
- * This is a non-standard, internal OS function and is not intended for
- * use by application logic. Applications should use the standard
- * sched_getparam().
- *
- * Input Parameters:
- * pid - The ID of thread whose affinity set will be retrieved.
- * cpusetsize - Size of mask. MUST be sizeofcpu_set_t().
- * mask - The location to return the thread's new affinity set.
- *
- * Returned Value:
- * Zero (OK) if successful. Otherwise, a negated errno value is returned:
- *
- * ESRCH The task whose ID is pid could not be found.
- *
- ********************************************************************************/
- #ifdef CONFIG_SMP
- int nxsched_get_affinity(pid_t pid, size_t cpusetsize, FAR cpu_set_t *mask);
- #endif
- /********************************************************************************
- * Name: nxsched_set_affinity
- *
- * Description:
- * sched_setaffinity() sets the CPU affinity mask of the thread whose ID
- * is pid to the value specified by mask. If pid is zero, then the
- * calling thread is used. The argument cpusetsize is the length (i
- * bytes) of the data pointed to by mask. Normally this argument would
- * be specified as sizeof(cpu_set_t).
- *
- * If the thread specified by pid is not currently running on one of the
- * CPUs specified in mask, then that thread is migrated to one of the
- * CPUs specified in mask.
- *
- * nxsched_set_affinity() is identical to the function sched_setparam(),
- * differing only in its return value: This function does not modify
- * the errno variable. This is a non-standard, internal OS function and
- * is not intended for use by application logic. Applications should
- * use the standard sched_setparam().
- *
- * Input Parameters:
- * pid - The ID of thread whose affinity set will be modified.
- * cpusetsize - Size of mask. MUST be sizeofcpu_set_t().
- * mask - The location to return the thread's new affinity set.
- *
- * Returned Value:
- * Zero (OK) if successful. Otherwise, a negated errno value is returned:
- *
- * ESRCH The task whose ID is pid could not be found.
- *
- ********************************************************************************/
- #ifdef CONFIG_SMP
- int nxsched_set_affinity(pid_t pid, size_t cpusetsize,
- FAR const cpu_set_t *mask);
- #endif
- /********************************************************************************
- * Name: nxsched_get_stackinfo
- *
- * Description:
- * Report information about a thread's stack allocation.
- *
- * Input Parameters:
- * pid - Identifies the thread to query. Zero is interpreted as the
- * the calling thread
- * stackinfo - User-provided location to return the stack information.
- *
- * Returned Value:
- * Zero (OK) if successful. Otherwise, a negated errno value is returned.
- *
- * -ENOENT Returned if pid does not refer to an active task
- * -EACCES The calling thread does not have privileges to access the
- * stack of the thread associated with the pid.
- *
- ********************************************************************************/
- int nxsched_get_stackinfo(pid_t pid, FAR struct stackinfo_s *stackinfo);
- /********************************************************************************
- * Name: nx_wait/nx_waitid/nx_waitpid
- ********************************************************************************/
- #ifdef CONFIG_SCHED_WAITPID
- pid_t nx_wait(FAR int *stat_loc);
- int nx_waitid(int idtype, id_t id, FAR siginfo_t *info, int options);
- pid_t nx_waitpid(pid_t pid, FAR int *stat_loc, int options);
- #endif
- #undef EXTERN
- #if defined(__cplusplus)
- }
- #endif
- #endif /* __ASSEMBLY__ */
- #endif /* __INCLUDE_NUTTX_SCHED_H */
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