source: trunk/kernel/kern/thread.h @ 459

Last change on this file since 459 was 459, checked in by alain, 3 years ago

Introduce the math library, to support the floating point
data used by the multi-thread fft application.
Fix several bugs regarding the FPU context save/restore.
Introduce support for the %f format in printf.

File size: 27.0 KB
Line 
1/*
2 * thread.h -  Thread and related operations definition.
3 *
4 * Author  Ghassan Almaless (2008,2009,2010,2011,2012)
5 *         Alain Greiner (2016)
6 *
7 * Copyright (c) UPMC Sorbonne Universites
8 *
9 * This file is part of ALMOS-MKH.
10 *
11 * ALMOS-MKH is free software; you can redistribute it and/or modify it
12 * under the terms of the GNU General Public License as published by
13 * the Free Software Foundation; version 2.0 of the License.
14 *
15 * ALMOS-MKH is distributed in the hope that it will be useful, but
16 * WITHOUT ANY WARRANTY; without even the implied warranty of
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
18 * General Public License for more details.
19 *
20 * You should have received a copy of the GNU General Public License
21 * along with ALMOS-MKH; if not, write to the Free Software Foundation,
22 * Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
23 */
24
25#ifndef _THREAD_H_
26#define _THREAD_H_
27
28#include <hal_kernel_types.h>
29#include <shared_syscalls.h>
30#include <hal_special.h>
31#include <xlist.h>
32#include <list.h>
33#include <hal_context.h>
34#include <spinlock.h>
35#include <core.h>
36#include <chdev.h>
37#include <cluster.h>
38#include <process.h>
39#include <dev_ioc.h>
40#include <dev_nic.h>
41#include <dev_txt.h>
42#include <dev_mmc.h>
43#include <dev_dma.h>
44
45/***************************************************************************************
46 * These macros are used to compose or decompose the global thread identifier (TRDID)
47 * to or from cluster identifier / local thread index (CXY , LTID)
48 **************************************************************************************/
49
50#define LTID_FROM_TRDID( trdid )   (ltid_t)(trdid & 0x0000FFFF)
51#define CXY_FROM_TRDID( trdid )    (cxy_t)(trdid >> 16)
52#define TRDID( cxy , ltid )        (trdid_t)((cxy << 16) | ltid )
53
54/***************************************************************************************
55 * This enum defines the thread types.
56 **************************************************************************************/
57
58typedef enum
59{
60        THREAD_USER    = 0,          /*! user thread (pthread)                            */
61        THREAD_RPC     = 1,          /*! kernel thread executing pending RPCs             */
62        THREAD_DEV     = 2,          /*! kernel thread executing I/O device commands      */
63        THREAD_IDLE    = 3,          /*! kernel idle thread                               */
64}
65thread_type_t;
66
67/***************************************************************************************
68 * This defines the thread flags bit-vector.
69 **************************************************************************************/
70
71#define THREAD_FLAG_DETACHED     0x0001  /*! This thread is detached from parent      */
72#define THREAD_FLAG_JOIN_DONE    0x0002  /*! Parent thread made a join request        */
73#define THREAD_FLAG_KILL_DONE    0x0004  /*! This thread received a kill request      */
74#define THREAD_FLAG_SCHED        0x0008  /*! Scheduling required for this thread      */
75#define THREAD_FLAG_REQ_ACK      0x0010  /*! Acknowledge required from scheduler      */
76#define THREAD_FLAG_REQ_DELETE   0x0020  /*! Destruction required from scheduler      */
77
78/***************************************************************************************
79 * This defines the thread blocking causes bit-vector.
80 **************************************************************************************/
81
82#define THREAD_BLOCKED_GLOBAL    0x0001  /*! thread deactivated / wait activation     */
83#define THREAD_BLOCKED_IO        0x0002  /*! thread wait IO operation completion      */
84#define THREAD_BLOCKED_MAPPER    0x0004  /*! thread wait mapper                       */
85#define THREAD_BLOCKED_EXIT      0x0008  /*! thread blocked in join / wait exit       */
86#define THREAD_BLOCKED_JOIN      0x0010  /*! thread blocked in exit / wait join       */
87#define THREAD_BLOCKED_SEM       0x0020  /*! thread wait semaphore                    */
88#define THREAD_BLOCKED_PAGE      0x0040  /*! thread wait page access                  */
89#define THREAD_BLOCKED_IDLE      0x0080  /*! thread RPC wait RPC_FIFO non empty       */
90#define THREAD_BLOCKED_USERSYNC  0x0100  /*! thread wait (cond/mutex/barrier)         */
91#define THREAD_BLOCKED_RPC       0x0200  /*! thread wait RPC completion               */
92#define THREAD_BLOCKED_ISR       0x0400  /*! thread DEV wait ISR                      */
93#define THREAD_BLOCKED_WAIT      0x0800  /*! thread wait child process termination    */
94
95/***************************************************************************************
96 * This structure defines thread instrumentation informations.
97 **************************************************************************************/
98
99typedef struct thread_info_s
100{
101        uint32_t              pgfault_nr;    /*! cumulated number of page fault           */
102        uint32_t              sched_nr;      /*! TODO ???  [AG]                           */
103        uint32_t              u_err_nr;      /*! TODO ???  [AG]                           */
104        uint32_t              m_err_nr;      /*! TODO ???  [AG]                           */
105        uint32_t              tm_tmp;        /*! temp date to compute execution duration  */
106        uint32_t              tm_exec;       /*! TODO ???  [AG]                           */
107        uint32_t              tm_create;     /*! date of the creation                     */
108        uint32_t              tm_born;       /*! date of the thread loading               */
109        uint32_t              tm_dead;       /*! date of the death                        */
110        cycle_t               tm_sleep;      /*! TODO ???  [AG]                           */
111        cycle_t               tm_wait;       /*! TODO ???  [AG]                           */
112        cycle_t               tm_usr;        /*! user execution duration                  */
113        cycle_t               tm_sys;        /*! system execution duration                */
114}
115thread_info_t;
116
117/***************************************************************************************
118 * This structure defines a thread descriptor.
119 * It is used for both the user threads and the kernel threads.
120 * In a process, a user thread is identified by a unique TRDID (thread identifier):
121 * - The TRDID 16 LSB bits contain the LTID (Local Thread Index).
122 * - The TRDID 16 MSB bits contain the CXY of cluster containing the thread.
123 * The main thread LTID value is always 0.
124 * The LTID is used to index the th_tbl[] array in the local process descriptor.
125 * This TRDID is computed by the process_register_thread() function, when the user
126 * thread is registered in the local copy of the process descriptor.
127 * WARNING : Don't modify the first 4 fields order, as this order is used by the
128 * hal_kentry assembly code for the TSAR architecture.
129 **************************************************************************************/
130
131#define THREAD_SIGNATURE    0xDEADBEEF
132
133typedef struct thread_s
134{
135        void              * cpu_context;     /*! pointer on CPU context switch            */
136        void              * fpu_context;     /*! pointer on FPU context switch            */
137    void              * uzone_current;   /*! used by hal_do_syscall & hal_do_except   */
138    void              * uzone_previous;  /*! used by hal_do_syscall & hal_do_except   */
139
140        intptr_t            k_stack_base;    /*! kernel stack base address                */
141        uint32_t            k_stack_size;    /*! kernel stack size (bytes)                */
142
143        uint32_t            trdid;           /*! thread index (cxy.ltid)                  */
144        thread_type_t       type;            /*! thread type                              */
145        uint32_t            quantum;         /*! number of clock ticks given to thread    */
146        uint32_t            ticks_nr;        /*! number of ticks used                     */
147        uint32_t            time_last_check; /*! last cpu_time_stamp                      */
148        core_t            * core;            /*! pointer to the owner core                */
149        process_t         * process;         /*! pointer on local process descriptor      */
150    xptr_t              parent;          /*! extended pointer on parent thread        */
151
152    remote_spinlock_t   join_lock;       /*! lock protecting the join/exit            */
153    xptr_t              join_xp;         /*! joining/killer thread extended pointer   */
154
155    uint32_t          * ack_rsp_count;   /*! pointer on acknowledge response counter  */
156
157        intptr_t            u_stack_base;    /*! user stack base address                  */
158        uint32_t            u_stack_size;    /*! user stack size (bytes)                  */
159
160    void              * entry_func;      /*! pointer on entry function                */
161    void              * entry_args;      /*! pointer on entry function arguments      */
162    uint32_t            main_argc;       /*! main thread number of arguments          */
163    char             ** main_argv;       /*! main thread array of strings arguments   */
164
165    uint32_t            flags;           /*! bit vector of flags                      */
166    uint32_t            blocked;         /*! bit vector of blocking causes            */
167
168        error_t             errno;           /*! errno value set by last system call      */
169    uint32_t            utls;            /*! user thread local storage                */
170
171    bool_t              fork_user;       /*! user defined placement for next fork()   */
172    cxy_t               fork_cxy;        /*! target cluster  for next fork()          */
173
174        list_entry_t        sched_list;      /*! member of threads attached to same core  */
175
176    chdev_t           * chdev;           /*! chdev pointer (for a DEV thread only)    */
177
178    reg_t               save_sr;         /*! used by sched_yield() function           */
179
180    ioc_command_t       ioc_cmd;         /*! IOC device generic command               */
181    txt_command_t       txt_cmd;         /*! TXT device generic command               */
182    nic_command_t       nic_cmd;         /*! NIC device generic command               */
183    mmc_command_t       mmc_cmd;         /*! MMC device generic command               */
184    dma_command_t       dma_cmd;         /*! DMA device generic command               */
185
186        cxy_t               rpc_client_cxy;  /*! client cluster index (for a RPC thread)  */
187
188    xlist_entry_t       wait_list;       /*! member of threads blocked on same cond   */
189
190    list_entry_t        locks_root;      /*! root of list of locks taken              */
191    xlist_entry_t       xlocks_root;     /*! root of xlist of remote locks taken      */
192        uint32_t            local_locks;         /*! number of local locks owned by thread    */
193        uint32_t            remote_locks;        /*! number of remote locks owned by thread   */
194
195        thread_info_t       info;            /*! embedded thread_info_t                   */
196
197        uint32_t            signature;       /*! for kernel stack overflow detection      */
198}
199thread_t;
200
201/***************************************************************************************
202 * This macro returns a pointer on the calling thread from the core hardware register.
203 **************************************************************************************/
204
205#define CURRENT_THREAD  (hal_get_current_thread())
206
207/***************************************************************************************
208 * This function returns a printable string for a thread type.
209 ***************************************************************************************
210 * @ type    : thread type.
211 * returns pointer on string.
212 **************************************************************************************/
213char * thread_type_str( uint32_t type );
214
215/***************************************************************************************
216 * This function is used by the pthread_create() system call to create a "new" thread
217 * in an existing process. It allocates memory for an user thread descriptor in the
218 * local cluster, and initializes it from information contained in the arguments.
219 * The CPU context is initialized from scratch.
220 * It is registered in the local process descriptor specified by the <pid> argument.
221 * The THREAD_BLOCKED_GLOBAL bit is set => the thread must be activated by the caller
222 * to start at the next scheduling point.
223 ***************************************************************************************
224 * @ pid          : process identifier.
225 * @ start_func   : pointer on entry function.
226 * @ start_args   : pointer on function argument (can be NULL).
227 * @ attr         : pointer on pthread attributes descriptor.
228 * @ new_thread   : [out] address of buffer for new thread descriptor pointer.
229 * @ returns 0 if success / returns ENOMEM if error.
230 **************************************************************************************/
231error_t thread_user_create( pid_t             pid,
232                            void            * start_func,
233                            void            * start_arg,
234                            pthread_attr_t  * attr,
235                            thread_t       ** new_thread );
236
237/***************************************************************************************
238 * This function is used by the sys_fork() system call to create the "child" thread
239 * in the local cluster. It allocates memory for a thread descriptor, and initializes
240 * it from the "parent" thread descriptor defined by the <parent_thread_xp> argument.
241 * The new thread is attached to the core that has the lowest load in local cluster.
242 * It is registered in the "child" process defined by the <child_process> argument.
243 * This new thread inherits its user stack from the parent thread, as it uses the
244 * Copy-On-Write mechanism to get a private stack when required.
245 * The content of the parent kernel stack is copied into the child kernel stack, as
246 * the Copy-On-Write mechanism cannot be used for kernel segments (because kernel
247 * uses physical addressing on some architectures).
248 * The CPU and FPU execution contexts are created and linked to the new thread.
249 * but the actual context copy is NOT done, and must be done by by the sys_fork().
250 * The THREAD_BLOCKED_GLOBAL bit is set => the thread must be activated to start.
251 ***************************************************************************************
252 * @ parent_thread_xp  : extended pointer on parent thread descriptor.
253 * @ child_process     : local pointer on child process descriptor.
254 * @ child_thread      : [out] address of buffer for child thread descriptor pointer.
255 * @ returns 0 if success / returns -1 if error.
256 **************************************************************************************/
257error_t thread_user_fork( xptr_t      parent_thread_xp,
258                          process_t * child_process,
259                          thread_t ** child_thread );
260
261/***************************************************************************************
262 * This function is called by the process_make_exec() function to re-initialise the
263 * thread descriptor of the calling thread (that will become the new process main
264 * thread), and immediately jump to user code without returning to kentry!!!
265 * It must be called by the main thread of the calling process.
266 * - A new user stack vseg is created and initialised.
267 * - The kernel stack (currently in use) is not modified. 
268 * - The function calls the hal_cpu_context_exec() to re-initialize the CPU context
269 *   an jump to user code. 
270 ***************************************************************************************
271 * @ entry_func : main thread entry point.
272 * @ argc       : number of main thread arguments.
273 * @ argv       : array of pointers on stringarguments.
274 * @ returns 0 if success / returns ENOMEM if error.
275 **************************************************************************************/
276error_t thread_user_exec( void     * entry_func,
277                          uint32_t   argc,
278                          char    ** argv);
279
280/***************************************************************************************
281 * This function allocates memory for a kernel thread descriptor in the local cluster,
282 * and initializes it from arguments values.
283 * It is called by kernel_init() to statically create all DEV server threads
284 * It is also called to dynamically create RPC threads when required.
285 * The THREAD_BLOCKED_GLOBAL bit is set, and the thread must be activated to start.
286 ***************************************************************************************
287 * @ new_thread   : address of buffer for new thread pointer.
288 * @ type         : kernel thread type.
289 * @ func         : pointer on function.
290 * @ args         : function arguments.
291 * @ core_lid     : local core index.
292 * @ returns 0 if success / returns ENOMEM if error
293 **************************************************************************************/
294error_t thread_kernel_create( thread_t     ** new_thread,
295                              thread_type_t   type,
296                              void          * func,
297                              void          * args,
298                              lid_t           core_lid );
299
300/***************************************************************************************
301 * This function is called by the kernel_init() function to initialize the IDLE thread
302 * descriptor from arguments values.
303 * The THREAD_BLOCKED_GLOBAL bit is set, and the thread must be activated to start.
304 * It returns a kernel panic if failure.
305 ***************************************************************************************
306 * @ thread   : pointer on existing thread descriptor.
307 * @ type     : kernel thread type.
308 * @ func     : pointer on function.
309 * @ args     : function arguments.
310 * @ core_lid : local core index.
311 **************************************************************************************/
312void thread_idle_init( thread_t      * thread,
313                       thread_type_t   type,
314                       void          * func,
315                       void          * args,
316                       lid_t           core_lid );
317
318/***************************************************************************************
319 * This function is called by the sched_handle_signals() function to releases
320 * the physical memory allocated for a thread in a given cluster, when this thread
321 * is marked for delete. This include the thread descriptor itself, the associated
322 * CPU and FPU context, and the physical memory allocated for an user thread local stack.
323 * The destroyed thread is removed from the local process th_tbl[] array, and returns
324 * true when the destroyed thread was the last thread registered in process.
325 ***************************************************************************************
326 * @ thread  : pointer on the thread descriptor to release.
327 * @ return true, if the thread was the last registerd thread in local process.
328 **************************************************************************************/
329bool_t thread_destroy( thread_t * thread );
330
331/***************************************************************************************
332 * This function defines the code of the thread executed by all cores after kernel_init,
333 * or when no other thread is runnable for a given core.
334 * It enter and infinite loop in wich:
335 * - it unmask the IRQs
336 * - it optionally calls the hal_core_sleep() function to reduce the power consumption
337 *   (this behavior is controlled by the CONFIG_THREAD_IDLE_MODE_SLEEP flag).
338 * - it call the sched_yield() function to find another runnable thread.
339 *
340 * TODO: In the TSAR architecture the hal_core_sleep() function forces the core to
341 * low-power mode. Any IRQ will force the core to exit this low-power mode, but no ISR
342 * is executed. We must analyse if we have the same behaviour for I86 architectures...
343 **************************************************************************************/
344void thread_idle_func();
345
346/***************************************************************************************
347 * This function is used by a "blocker" thread running in the same cluster as a "target"
348 * thread to request the scheduler of the target thread to acknowledge that the target
349 * thread is blocked and not running, at the next context switch.
350 * This function executes atomically the following actions :
351 * - it set the request_pending boolean in the target scheduler descriptor.
352 * - it set the REQ_ACK flag in the "flags" field of the target thread descriptor.
353 * - It registers the responses counter pointer in the target thread descriptor.
354 * The request_pending flag is handled as a set/reset flip-flop by the "blocker" thread
355 * and by the "target" scheduler.
356 ***************************************************************************************
357 * @ target        : local pointer on target thread.
358 * @ ack_rsp_count : local pointer on responses counter.
359 **************************************************************************************/
360void thread_set_req_ack( thread_t * target,
361                         uint32_t * ack_rsp_count );
362
363/***************************************************************************************
364 * This function is used by the sched_handle_signal() function executed by the
365 * scheduler of a "target" thread to reset a "blocked not running" acknowledge request
366 * in both the target thread descriptor, and in the target  thread scheduler.
367 ***************************************************************************************
368 * @ target    : local pointer on target thread.
369 **************************************************************************************/
370void thread_reset_req_ack( thread_t * target );
371
372/***************************************************************************************
373 * This function checks if the calling thread can deschedule.
374 ***************************************************************************************
375 * @ returns true if no locks taken.
376 **************************************************************************************/
377inline bool_t thread_can_yield();
378
379/***************************************************************************************
380 * This function implements the delayed descheduling mechanism : It is called  by
381 * all lock release functions, and calls the sched_yield() function when all locks
382 * have beeen released and the calling thread THREAD_FLAG_SCHED flag is set.
383 **************************************************************************************/
384void thread_check_sched();
385
386/***************************************************************************************
387 * This function is used by the four sys_thread_cancel(), sys_thread_exit(),
388 * sys_kill() and sys_exit() system calls to mark for delete a given thread.
389 * It set the THREAD_BLOCKED_GLOBAL bit and set the the THREAD_FLAG_REQ_DELETE bit
390 * in the thread descriptor identified by the <thread_xp> argument, to ask the scheduler
391 * to asynchronously delete the target thread, at the next scheduling point.
392 * The calling thread can run in any cluster, as it uses remote accesses, but
393 * the target thread cannot be the main thread of the process identified by the <pid>,
394 * because the main thread must be deleted by the parent process argument.
395 * If the target thread is running in "attached" mode, and the <is_forced> argument
396 * is false, this function implements the required sychronisation with the joining
397 * thread, blocking the calling thread until the pthread_join() syscall is executed.
398 ***************************************************************************************
399 * @ thread_xp   : extended pointer on the target thread.
400 * @ pid         : process identifier (to get the owner cluster identifier).
401 * @ is_forced   : the deletion does not depends on the attached mode.
402 **************************************************************************************/
403void thread_delete( xptr_t  thread_xp,
404                    pid_t   pid,
405                    bool_t  is_forced );
406
407/***************************************************************************************
408 * This function registers a blocking cause defined by the <cause> argument
409 * in a remote thread descriptor identified by the <thread_xp> argument.
410 * We need an extended pointer, because this function can be called by another thread
411 * than the target thread, executing the sys_kill() function.
412 * WARNING : this function does not deschedule the target thread, and the descheduling
413 * must be explicitely forced by a sched_yield().
414 ***************************************************************************************
415 * @ thread_xp   : extended pointer on remote thread descriptor.
416 * @ cause       : mask defining the cause (one hot).
417 **************************************************************************************/
418void thread_block( xptr_t   thread_xp,
419                   uint32_t cause );
420
421/***************************************************************************************
422 * This function resets the bit identified by the <cause> argument in a remote
423 * thread descriptor identified by the <thread_xp> argument.
424 * We need an extended pointer, because the client thread of an I/O operation on a
425 * given device is not in the same cluster as the associated device descriptor.
426 * WARNING : this function does not reschedule the remote thread.
427 * The scheduling can be forced by sending an IPI to the core running the remote thread.
428 ***************************************************************************************
429 * @ thread_xp   : extended pointer the remote thread.
430 * @ cause       : mask defining the cause (one hot).
431 * @ return non zero if the bit-vector was actually modified / return 0 otherwise
432 **************************************************************************************/
433uint32_t thread_unblock( xptr_t   thread_xp,
434                         uint32_t cause );
435
436/***************************************************************************************
437 * This function updates the calling thread user_time counter, and resets the thread
438 * cycles counter.
439 * TODO This function is not implemented.
440 ***************************************************************************************
441 * @ thread   : local pointer on target thread.
442 **************************************************************************************/
443void thread_user_time_update( thread_t * thread );
444
445/**************************************************************************************n
446 * This function updates the calling thread kernel_time counter, and resets the thread
447 * cycles counter.
448 * TODO This function is not implemented.
449 ***************************************************************************************
450 * @ thread   : local pointer on target thread.
451 **************************************************************************************/
452void thread_kernel_time_update( thread_t * thread );
453
454/***************************************************************************************
455 * This function returns the extended pointer on a thread descriptor identified
456 * by its thread identifier, and process identifier.
457 * It can be called by any thread running in any cluster.
458 ***************************************************************************************
459 * @ pid     : process identifier.
460 * @ trdid   : thread identifier.
461 * @ return the extended pointer if thread found / return XPTR_NULL if not found.
462 **************************************************************************************/
463xptr_t thread_get_xptr( pid_t    pid,
464                        trdid_t  trdid );
465
466
467#endif  /* _THREAD_H_ */
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