1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733 734 735 736 737 738 739 740 741 742 743 744 745 746 747 748 749 750 751 752 753 754 755 756 757 758 759 760 761 762 763 764 765 766 767 768 769 770 771 772 773 774 775 776 777 778 779 780 781 782 783 784 785 786 787 788 789 790 791 792 793 794 795 796 797 798 799 800 801 802 803 804 805 806 807 808 809 810 811 812 813 814 815 816 817 818 819 820 821 822 823 824 825 826 827 828 829 830 831 832 833 834 835 836 837 838 839 840 841 842 843 844 845 846 847 848 849 850 851 852 853 854 855 856 857 858 859 860 861 862 863 864 865 866 867 868 869 870 871 872 873 874 875 876 877 878 879 880 881 882 883 884 885 886 887 888 889 890 891 892 893 894 895 896 897 898 899 900 901 902 903 904 905 906 907 908 909 910 911 912 913 914 915 916 917 918 919 920 921 922 923 924 925 926 927 928 929 930 931 932 933 934 935 936 937 938 939 940 941 942 943 944 945 946 947 948 949 950 951 952 953 954 955 956 957 958 959 960 961 962 963 964 965 966 967 968 969 970 971 972 973 974 975 976 977 978 979 980 981 982 983 984 985 986 987 988 989 990 991 992 993 994 995 996 997 998 999 1000 1001 1002 1003 1004 1005 1006 1007 1008 1009 1010 1011 1012 1013 1014 1015
//! Tasks #[cfg(feature = "priority_boost")] use core::sync::atomic::Ordering; use core::{convert::TryFrom, fmt, hash, marker::PhantomData, mem}; use num_traits::ToPrimitive; use super::{ hunk::Hunk, mutex, state, timeout, utils, wait, ActivateTaskError, BadIdError, ExitTaskError, GetCurrentTaskError, GetTaskPriorityError, Id, InterruptTaskError, Kernel, KernelCfg1, ParkError, ParkTimeoutError, PortThreading, SetTaskPriorityError, SleepError, UnparkError, UnparkExactError, WaitTimeoutError, }; use crate::{time::Duration, utils::Init}; #[doc(hidden)] pub mod readyqueue; use self::readyqueue::Queue as _; #[cfg_attr(doc, svgbobdoc::transform)] /// Represents a single task in a system. /// /// This type is ABI-compatible with [`Id`]. /// /// <div class="admonition-follows"></div> /// /// > **Relation to Other Specifications:** Present in almost every real-time /// > operating system. /// /// # Task States /// /// A task may be in one of the following states: /// /// - **Dormant** — The task is not executing, doesn't have an associated /// execution [thread], and can be [activated]. /// /// - **Ready** — The task has an associated execution thread, which is ready to /// be scheduled to the CPU /// /// - **Running** — The task has an associated execution thread, which is /// currently scheduled to the CPU /// /// - **Waiting** — The task has an associated execution thread, which is /// currently blocked by a blocking operation /// /// <center> /// ```svgbob /// ,-------, /// ,--------------->| Ready |<--------------, /// | '-------' | /// | dispatch | ^ | /// | | | | /// | release | | | activate /// ,---------, | | ,---------, /// | Waiting | | | | Dormant | /// '---------' | | '---------' /// ^ | | ^ /// | | | | /// | v | preempt | /// | wait ,---------, | /// '---------------| Running |--------------' /// '---------' exit /// ``` /// </center> /// /// [thread]: crate#threads /// [activated]: Task::activate #[doc(include = "../common.md")] #[repr(transparent)] pub struct Task<System>(Id, PhantomData<System>); impl<System> Clone for Task<System> { fn clone(&self) -> Self { Self(self.0, self.1) } } impl<System> Copy for Task<System> {} impl<System> PartialEq for Task<System> { fn eq(&self, other: &Self) -> bool { self.0 == other.0 } } impl<System> Eq for Task<System> {} impl<System> hash::Hash for Task<System> { fn hash<H>(&self, state: &mut H) where H: hash::Hasher, { hash::Hash::hash(&self.0, state); } } impl<System> fmt::Debug for Task<System> { fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result { f.debug_tuple("Task").field(&self.0).finish() } } impl<System> Task<System> { /// Construct a `Task` from `Id`. /// /// # Safety /// /// The kernel can handle invalid IDs without a problem. However, the /// constructed `Task` may point to an object that is not intended to be /// manipulated except by its creator. This is usually prevented by making /// `Task` an opaque handle, but this safeguard can be circumvented by /// this method. /// /// Constructing a `Task` for a current task is allowed. This can be safely /// done by [`Task::current`]. pub const unsafe fn from_id(id: Id) -> Self { Self(id, PhantomData) } /// Get the raw `Id` value representing this task. pub const fn id(self) -> Id { self.0 } } impl<System: Kernel> Task<System> { /// Get the current task (i.e., the task in the Running state). /// /// In a task context, this method returns the currently running task. /// /// In an interrupt context, the result is unreliable because scheduling is /// deferred until the control returns to a task, but the current interrupt /// handler could be interrupted by another interrrupt, which might do /// scheduling on return (whether this happens or not is unspecified). #[cfg_attr(not(feature = "inline_syscall"), inline(never))] pub fn current() -> Result<Option<Self>, GetCurrentTaskError> { let mut lock = utils::lock_cpu::<System>()?; let task_cb = if let Some(cb) = System::state().running_task(lock.borrow_mut()) { cb } else { return Ok(None); }; // Calculate an `Id` from the task CB pointer let offset_bytes = task_cb as *const TaskCb<_> as usize - System::task_cb_pool().as_ptr() as usize; let offset = offset_bytes / mem::size_of::<TaskCb<System>>(); // Safety: Constructing a `Task` for a current task is allowed let task = unsafe { Self::from_id(Id::new(offset as usize + 1).unwrap()) }; Ok(Some(task)) } fn task_cb(self) -> Result<&'static TaskCb<System>, BadIdError> { System::get_task_cb(self.0.get() - 1).ok_or(BadIdError::BadId) } /// Start the execution of the task. #[cfg_attr(not(feature = "inline_syscall"), inline(never))] pub fn activate(self) -> Result<(), ActivateTaskError> { let lock = utils::lock_cpu::<System>()?; let task_cb = self.task_cb()?; activate(lock, task_cb) } /// Interrupt any ongoing wait operations undertaken by the task. /// /// This method interrupt any ongoing system call that is blocking the task. /// The interrupted system call will return [`WaitError::Interrupted`] or /// [`WaitTimeoutError::Interrupted`]. /// /// [`WaitError::Interrupted`]: crate::kernel::WaitError::Interrupted /// [`WaitTimeoutError::Interrupted`]: crate::kernel::WaitTimeoutError::Interrupted #[cfg_attr(not(feature = "inline_syscall"), inline(never))] pub fn interrupt(self) -> Result<(), InterruptTaskError> { let mut lock = utils::lock_cpu::<System>()?; let task_cb = self.task_cb()?; wait::interrupt_task( lock.borrow_mut(), task_cb, Err(WaitTimeoutError::Interrupted), )?; // The task is now awake, check dispatch unlock_cpu_and_check_preemption(lock); Ok(()) } /// Make the task's token available, unblocking [`Kernel::park`] now or in /// the future. /// /// If the token is already available, this method will return without doing /// anything. Use [`Task::unpark_exact`] if you need to detect this /// condition. /// /// If the task is currently being blocked by `Kernel::park`, the token will /// be immediately consumed. Otherwise, it will be consumed on a next call /// to `Kernel::park`. #[cfg_attr(not(feature = "inline_syscall"), inline(never))] pub fn unpark(self) -> Result<(), UnparkError> { match self.unpark_exact() { Ok(()) | Err(UnparkExactError::QueueOverflow) => Ok(()), Err(UnparkExactError::BadContext) => Err(UnparkError::BadContext), Err(UnparkExactError::BadId) => Err(UnparkError::BadId), Err(UnparkExactError::BadObjectState) => Err(UnparkError::BadObjectState), } } /// Make *exactly* one new token available for the task, unblocking /// [`Kernel::park`] now or in the future. /// /// If the token is already available, this method will return /// [`UnparkExactError::QueueOverflow`]. Thus, this method will succeed /// only if it made *exactly* one token available. /// /// If the task is currently being blocked by `Kernel::park`, the token will /// be immediately consumed. Otherwise, it will be consumed on a next call /// to `Kernel::park`. #[cfg_attr(not(feature = "inline_syscall"), inline(never))] pub fn unpark_exact(self) -> Result<(), UnparkExactError> { let lock = utils::lock_cpu::<System>()?; let task_cb = self.task_cb()?; unpark_exact(lock, task_cb) } /// Set the task's base priority. /// /// A task's base priority is used to calculate its [effective priority]. /// Tasks with lower effective priorities execute first. The base priority /// is reset to the initial value specified by [`CfgTaskBuilder::priority`] /// upon activation. /// /// [effective priority]: Self::effective_priority /// [`CfgTaskBuilder::priority`]: crate::kernel::cfg::CfgTaskBuilder::priority /// /// The value must be in range `0..`[`num_task_priority_levels`]. Otherwise, /// this method will return [`SetTaskPriorityError::BadParam`]. /// /// The task shouldn't be in the Dormant state. Otherwise, this method will /// return [`SetTaskPriorityError::BadObjectState`]. /// /// [`num_task_priority_levels`]: crate::kernel::cfg::CfgBuilder::num_task_priority_levels #[cfg_attr(not(feature = "inline_syscall"), inline(never))] pub fn set_priority(self, priority: usize) -> Result<(), SetTaskPriorityError> { let lock = utils::lock_cpu::<System>()?; let task_cb = self.task_cb()?; set_task_base_priority(lock, task_cb, priority) } /// Get the task's base priority. /// /// The task shouldn't be in the Dormant state. Otherwise, this method will /// return [`GetTaskPriorityError::BadObjectState`]. #[cfg_attr(not(feature = "inline_syscall"), inline(never))] pub fn priority(self) -> Result<usize, GetTaskPriorityError> { let lock = utils::lock_cpu::<System>()?; let task_cb = self.task_cb()?; if *task_cb.st.read(&*lock) == TaskSt::Dormant { Err(GetTaskPriorityError::BadObjectState) } else { Ok(task_cb.base_priority.read(&*lock).to_usize().unwrap()) } } /// Get the task's effective priority. /// /// The effective priority is calculated based on the task's [base priority] /// and can be temporarily raised by a [mutex locking protocol]. /// /// [base priority]: Self::priority /// [mutex locking protocol]: crate::kernel::MutexProtocol /// /// The task shouldn't be in the Dormant state. Otherwise, this method will /// return [`GetTaskPriorityError::BadObjectState`]. #[cfg_attr(not(feature = "inline_syscall"), inline(never))] pub fn effective_priority(self) -> Result<usize, GetTaskPriorityError> { let lock = utils::lock_cpu::<System>()?; let task_cb = self.task_cb()?; if *task_cb.st.read(&*lock) == TaskSt::Dormant { Err(GetTaskPriorityError::BadObjectState) } else { Ok(task_cb.effective_priority.read(&*lock).to_usize().unwrap()) } } } /// [`Hunk`] for a task stack. pub struct StackHunk<System>(Hunk<System>, usize); // Safety: Safe code can't access the contents. Also, the port is responsible // for making sure `StackHunk` is used in the correct way. unsafe impl<System> Sync for StackHunk<System> {} impl<System: Kernel> fmt::Debug for StackHunk<System> { fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result { f.debug_tuple("StackHunk").field(&self.0.as_ptr()).finish() } } // TODO: Preferably `StackHunk` shouldn't be `Clone` as it strengthens the // safety obligation of `StackHunk::from_hunk`. impl<System> Clone for StackHunk<System> { fn clone(&self) -> Self { *self } } impl<System> Copy for StackHunk<System> {} // TODO: Should we allow zero-sized `StackHunk`? impl<System> Init for StackHunk<System> { const INIT: Self = Self(Init::INIT, 0); } impl<System> StackHunk<System> { /// Construct a `StackHunk` from `Hunk`. /// /// # Safety /// /// The caller is responsible for making sure the region represented by /// `hunk` is solely used for a single task's stack. /// /// Also, `hunk` must be properly aligned for a stack region. pub const unsafe fn from_hunk(hunk: Hunk<System>, len: usize) -> Self { Self(hunk, len) } /// Get the inner `Hunk` and the length, consuming `self`. pub fn into_inner(self) -> (Hunk<System>, usize) { (self.0, self.1) } } impl<System: Kernel> StackHunk<System> { /// Get a raw pointer to the hunk's contents. pub fn as_ptr(&self) -> *mut [u8] { core::ptr::slice_from_raw_parts_mut(self.0.as_ptr(), self.1) } } /// *Task control block* - the state data of a task. #[repr(C)] pub struct TaskCb< System: PortThreading, PortTaskState: 'static = <System as PortThreading>::PortTaskState, TaskPriority: 'static = <System as KernelCfg1>::TaskPriority, TaskReadyQueueData: 'static = <<System as KernelCfg1>::TaskReadyQueue as readyqueue::Queue< System, >>::PerTaskData, > { /// Get a reference to `PortTaskState` in the task control block. /// /// This is guaranteed to be placed at the beginning of the struct so that /// assembler code can refer to this easily. pub port_task_state: PortTaskState, /// The static properties of the task. pub attr: &'static TaskAttr<System, TaskPriority>, /// The task's base priority. pub(super) base_priority: utils::CpuLockCell<System, TaskPriority>, /// The task's effective priority. It's calculated based on `base_priority` /// and may be temporarily elevated by a mutex locking protocol. /// /// Given a set of mutexes held by the task `mutexes`, the value is /// calculated by the following pseudocode: /// /// ```rust,ignore /// task_cb.base_priority.min(mutexes.map(|mutex_cb| { /// if let Some(ceiling) = mutex_cb.ceiling { /// assert!(ceiling <= task_cb.base_priority); /// ceiling /// } else { /// TaskPriority::MAX /// } /// }).min()) /// ``` /// /// Many operations change the inputs of this calculation. We take care to /// ensure the recalculation of this value completes in constant-time (in /// regard to the number of held mutexes) for as many cases as possible. /// /// The effective priority determines the task's position within the task /// ready queue. You must call `TaskReadyQueue::reorder_task` after updating /// `effective_priority` of a task which is in Ready state. pub(super) effective_priority: utils::CpuLockCell<System, TaskPriority>, pub(super) st: utils::CpuLockCell<System, TaskSt>, /// A flag indicating whether the task has a park token or not. pub(super) park_token: utils::CpuLockCell<System, bool>, /// Allows `TaskCb` to participate in one of linked lists. /// /// - In a `Ready` state, this forms the linked list headed by /// [`State::task_ready_queue`]. /// /// [`State::task_ready_queue`]: crate::kernel::State::task_ready_queue pub(super) ready_queue_data: TaskReadyQueueData, /// The wait state of the task. pub(super) wait: wait::TaskWait<System>, /// The last mutex locked by the task. pub(super) last_mutex_held: utils::CpuLockCell<System, Option<&'static mutex::MutexCb<System>>>, } impl< System: Kernel, PortTaskState: fmt::Debug + 'static, TaskPriority: fmt::Debug + 'static, TaskReadyQueueData: fmt::Debug + 'static, > fmt::Debug for TaskCb<System, PortTaskState, TaskPriority, TaskReadyQueueData> { fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result { f.debug_struct("TaskCb") .field("self", &(self as *const _)) .field("port_task_state", &self.port_task_state) .field("attr", self.attr) .field("base_priority", &self.base_priority) .field("effective_priority", &self.effective_priority) .field("st", &self.st) .field("ready_queue_data", &self.ready_queue_data) .field("wait", &self.wait) .field( "last_mutex_held", // Don't print the content of the mutex. It'll be printed // somewhere else in the debug printing of `KernelDebugPrinter`. &self .last_mutex_held .debug_fmt_with(|x, f| x.map(|x| x as *const _).fmt(f)), ) .field("park_token", &self.park_token) .finish() } } /// The static properties of a task. pub struct TaskAttr<System, TaskPriority: 'static = <System as KernelCfg1>::TaskPriority> { /// The entry point of the task. /// /// # Safety /// /// This is only meant to be used by a kernel port, as a task entry point, /// not by user code. Using this in other ways may cause an undefined /// behavior. pub entry_point: unsafe fn(usize), /// The parameter supplied for `entry_point`. pub entry_param: usize, // FIXME: Ideally, `stack` should directly point to the stack region. But // this is blocked by <https://github.com/rust-lang/const-eval/issues/11> /// The hunk representing the stack region for the task. pub stack: StackHunk<System>, /// The initial base priority of the task. pub priority: TaskPriority, } impl<System: Kernel, TaskPriority: fmt::Debug> fmt::Debug for TaskAttr<System, TaskPriority> { fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result { f.debug_struct("TaskAttr") .field("entry_point", &self.entry_point) .field("entry_param", &self.entry_param) .field("stack", &self.stack) .field("priority", &self.priority) .finish() } } /// Task state machine #[doc(hidden)] #[derive(Debug, Clone, Copy, PartialEq, Eq)] pub enum TaskSt { /// The task is in the Dormant state. Dormant, Ready, /// The task is in the Running state. Running, /// The task is in the Waiting state. Waiting, /// The task should be activated at startup. This will transition into /// `Ready` or `Running` before the first task is scheduled. PendingActivation, } impl Init for TaskSt { const INIT: Self = Self::Dormant; } /// Implements [`Kernel::exit_task`]. pub(super) unsafe fn exit_current_task<System: Kernel>() -> Result<!, ExitTaskError> { if !System::is_task_context() { return Err(ExitTaskError::BadContext); } // If CPU Lock is inactive, activate it. // TODO: If `is_cpu_lock_active() == true`, assert that it was an // application that has the lock. It's illegal for it to be a // kernel-owned CPU Lock. let mut lock = unsafe { if !System::is_cpu_lock_active() { System::enter_cpu_lock(); } utils::assume_cpu_lock::<System>() }; #[cfg(feature = "priority_boost")] { // If Priority Boost is active, deactivate it. System::state() .priority_boost .store(false, Ordering::Release); } let running_task = System::state().running_task(lock.borrow_mut()).unwrap(); // Abandon mutexes, waking up the next waiters of the mutexes (if any) mutex::abandon_held_mutexes(lock.borrow_mut(), running_task); debug_assert!(running_task.last_mutex_held.read(&*lock).is_none()); // Transition the current task to Dormant assert_eq!(*running_task.st.read(&*lock), TaskSt::Running); running_task.st.replace(&mut *lock, TaskSt::Dormant); // Erase `running_task` System::state().running_task.replace(&mut *lock, None); core::mem::forget(lock); // Safety: (1) The user of `exit_task` acknowledges that all preexisting // data on the task stack will be invalidated and has promised that this // will not cause any UBs. (2) CPU Lock active unsafe { System::exit_and_dispatch(running_task); } } /// Initialize a task at boot time. pub(super) fn init_task<System: Kernel>( lock: utils::CpuLockGuardBorrowMut<'_, System>, task_cb: &'static TaskCb<System>, ) { if let TaskSt::PendingActivation = task_cb.st.read(&*lock) { // `PendingActivation` is equivalent to `Dormant` but serves as a marker // indicating tasks that should be activated by `init_task`. // Safety: CPU Lock active, the task is (essentially) in the Dormant state unsafe { System::initialize_task_state(task_cb) }; // Safety: The previous state is PendingActivation (which is equivalent // to Dormant) and we just initialized the task state, so this is safe unsafe { make_ready(lock, task_cb) }; } } /// Implements `Task::activate`. fn activate<System: Kernel>( mut lock: utils::CpuLockGuard<System>, task_cb: &'static TaskCb<System>, ) -> Result<(), ActivateTaskError> { if *task_cb.st.read(&*lock) != TaskSt::Dormant { return Err(ActivateTaskError::QueueOverflow); } // Discard a park token if the task has one task_cb.park_token.replace(&mut *lock, false); // Safety: CPU Lock active, the task is in the Dormant state unsafe { System::initialize_task_state(task_cb) }; // Reset the task priority task_cb .base_priority .replace(&mut *lock, task_cb.attr.priority); task_cb .effective_priority .replace(&mut *lock, task_cb.attr.priority); // Safety: The previous state is Dormant, and we just initialized the task // state, so this is safe unsafe { make_ready(lock.borrow_mut(), task_cb) }; // If `task_cb` has a higher priority, perform a context switch. unlock_cpu_and_check_preemption(lock); Ok(()) } /// Transition the task into the Ready state. This function doesn't do any /// proper cleanup for a previous state. If the previous state is `Dormant`, the /// caller must initialize the task state first by calling /// `initialize_task_state`. pub(super) unsafe fn make_ready<System: Kernel>( mut lock: utils::CpuLockGuardBorrowMut<'_, System>, task_cb: &'static TaskCb<System>, ) { // Make the task Ready task_cb.st.replace(&mut *lock, TaskSt::Ready); // Insert the task to the ready queue. // // Safety: `task_cb` is not in the ready queue unsafe { <System>::state() .task_ready_queue .push_back_task(lock.into(), task_cb); } } /// Relinquish CPU Lock. After that, if there's a higher-priority task than /// `running_task`, call `Port::yield_cpu`. /// /// System services that transition a task into the Ready state should call /// this before returning to the caller. pub(super) fn unlock_cpu_and_check_preemption<System: Kernel>( mut lock: utils::CpuLockGuard<System>, ) { // If Priority Boost is active, treat the currently running task as the // highest-priority task. if System::is_priority_boost_active() { debug_assert_eq!( *System::state() .running_task(lock.borrow_mut()) .unwrap() .st .read(&*lock), TaskSt::Running ); return; } let prev_task_priority = if let Some(running_task) = System::state().running_task(lock.borrow_mut()) { if *running_task.st.read(&*lock) == TaskSt::Running { running_task .effective_priority .read(&*lock) .to_usize() .unwrap() } else { usize::MAX } } else { usize::MAX }; let has_preempting_task = System::state() .task_ready_queue .has_ready_task_in_priority_range(lock.borrow_mut().into(), ..prev_task_priority); // Relinquish CPU Lock drop(lock); if has_preempting_task { // Safety: CPU Lock inactive unsafe { System::yield_cpu() }; } } /// Implements `PortToKernel::choose_running_task`. #[inline] pub(super) fn choose_next_running_task<System: Kernel>( mut lock: utils::CpuLockGuardBorrowMut<System>, ) { // If Priority Boost is active, treat the currently running task as the // highest-priority task. if System::is_priority_boost_active() { // Blocking system calls aren't allowed when Priority Boost is active debug_assert_eq!( *System::state() .running_task(lock.borrow_mut()) .unwrap() .st .read(&*lock), TaskSt::Running ); return; } // The priority of `running_task` let prev_running_task = System::state().running_task(lock.borrow_mut()); let prev_task_priority = if let Some(running_task) = prev_running_task { if *running_task.st.read(&*lock) == TaskSt::Running { running_task .effective_priority .read(&*lock) .to_usize() .unwrap() } else { usize::MAX // (2) see the discussion below } } else { usize::MAX // (1) see the discussion below }; // Decide the next task to run // // The special value `prev_task_priority == usize::MAX` indicates that // (1) there is no running task, or (2) there was one but it is not running // anymore, and we need to elect a new task to run. In case (2), we would // want to update `running_task` regardless of whether there exists a // schedulable task or not. That is, even if there was not such a task, we // would still want to assign `None` to `running_task`. Therefore, // `pop_front_task` is designed to return `SwitchTo(None)` in this case. let decision = System::state() .task_ready_queue .pop_front_task(lock.borrow_mut().into(), prev_task_priority); let next_running_task = match decision { readyqueue::ScheduleDecision::SwitchTo(task) => task, // Return if there's no task willing to take over the current one, and // the current one can still run. readyqueue::ScheduleDecision::Keep => { // If `prev_task_priority == usize::MAX`, `pop_front_task` must // return `SwitchTo(_)`. debug_assert_ne!(prev_task_priority, usize::MAX); return; } }; if let Some(task) = next_running_task { // Transition `next_running_task` into the Running state task.st.replace(&mut *lock, TaskSt::Running); if ptr_from_option_ref(prev_running_task) == task { // Skip the remaining steps if `task == prev_running_task` return; } } // `prev_running_task` now loses the control of the processor. if let Some(running_task) = prev_running_task { debug_assert_ne!( ptr_from_option_ref(prev_running_task), ptr_from_option_ref(next_running_task), ); match running_task.st.read(&*lock) { TaskSt::Running => { // Transition `prev_running_task` into Ready state. // Safety: The previous state is Running, so this is safe unsafe { make_ready(lock.borrow_mut(), running_task) }; } TaskSt::Waiting => { // `prev_running_task` stays in Waiting state. } TaskSt::Ready => { // `prev_running_task` stays in Ready state. } _ => unreachable!(), } } System::state() .running_task .replace(&mut *lock, next_running_task); } #[inline] fn ptr_from_option_ref<T>(x: Option<&T>) -> *const T { if let Some(x) = x { x } else { core::ptr::null() } } /// Transition the currently running task into the Waiting state. Returns when /// woken up. /// /// The current context must be [waitable] (This function doesn't check /// that). The caller should use `expect_waitable_context` to do that. /// /// [waitable]: crate#contets pub(super) fn wait_until_woken_up<System: Kernel>( mut lock: utils::CpuLockGuardBorrowMut<'_, System>, ) { debug_assert_eq!(state::expect_waitable_context::<System>(), Ok(())); // Transition the current task to Waiting let running_task = System::state().running_task(lock.borrow_mut()).unwrap(); assert_eq!(*running_task.st.read(&*lock), TaskSt::Running); running_task.st.replace(&mut *lock, TaskSt::Waiting); loop { // Temporarily release the CPU Lock before calling `yield_cpu` // Safety: (1) We don't access rseources protected by CPU Lock. // (2) We currently have CPU Lock. // (3) We will re-acquire a CPU Lock before returning from this // function. unsafe { System::leave_cpu_lock() }; // Safety: CPU Lock inactive unsafe { System::yield_cpu() }; // Re-acquire a CPU Lock unsafe { System::enter_cpu_lock() }; if *running_task.st.read(&*lock) == TaskSt::Running { break; } assert_eq!(*running_task.st.read(&*lock), TaskSt::Waiting); } } /// Implements [`Kernel::park`]. pub(super) fn park_current_task<System: Kernel>() -> Result<(), ParkError> { let mut lock = utils::lock_cpu::<System>()?; state::expect_waitable_context::<System>()?; let running_task = System::state().running_task(lock.borrow_mut()).unwrap(); // If the task already has a park token, return immediately if running_task.park_token.replace(&mut *lock, false) { return Ok(()); } // Wait until woken up by `unpark_exact` wait::wait_no_queue(lock.borrow_mut(), wait::WaitPayload::Park)?; Ok(()) } /// Implements [`Kernel::park_timeout`]. pub(super) fn park_current_task_timeout<System: Kernel>( timeout: Duration, ) -> Result<(), ParkTimeoutError> { let time32 = timeout::time32_from_duration(timeout)?; let mut lock = utils::lock_cpu::<System>()?; state::expect_waitable_context::<System>()?; let running_task = System::state().running_task(lock.borrow_mut()).unwrap(); // If the task already has a park token, return immediately if running_task.park_token.replace(&mut *lock, false) { return Ok(()); } // Wait until woken up by `unpark_exact` wait::wait_no_queue_timeout(lock.borrow_mut(), wait::WaitPayload::Park, time32)?; Ok(()) } /// Implements [`Task::unpark_exact`]. fn unpark_exact<System: Kernel>( mut lock: utils::CpuLockGuard<System>, task_cb: &'static TaskCb<System>, ) -> Result<(), UnparkExactError> { // Is the task currently parked? let is_parked = match task_cb.st.read(&*lock) { TaskSt::Dormant => return Err(UnparkExactError::BadObjectState), TaskSt::Waiting => wait::with_current_wait_payload(lock.borrow_mut(), task_cb, |payload| { matches!(payload, Some(wait::WaitPayload::Park)) }), _ => false, }; if is_parked { // Unblock the task. We confirmed that the task is in the Waiting state, // so `interrupt_task` should succeed. wait::interrupt_task(lock.borrow_mut(), task_cb, Ok(())).unwrap(); // The task is now awake, check dispatch unlock_cpu_and_check_preemption(lock); Ok(()) } else { // Put a park token if task_cb.park_token.replace(&mut *lock, true) { // It already had a park token Err(UnparkExactError::QueueOverflow) } else { Ok(()) } } } /// Implements [`Kernel::sleep`]. pub(super) fn put_current_task_on_sleep_timeout<System: Kernel>( timeout: Duration, ) -> Result<(), SleepError> { let time32 = timeout::time32_from_duration(timeout)?; let mut lock = utils::lock_cpu::<System>()?; state::expect_waitable_context::<System>()?; // Wait until woken up by timeout match wait::wait_no_queue_timeout(lock.borrow_mut(), wait::WaitPayload::Sleep, time32) { Ok(_) => unreachable!(), Err(WaitTimeoutError::Interrupted) => Err(SleepError::Interrupted), Err(WaitTimeoutError::Timeout) => Ok(()), } } /// Implements [`Task::set_priority`]. fn set_task_base_priority<System: Kernel>( mut lock: utils::CpuLockGuard<System>, task_cb: &'static TaskCb<System>, base_priority: usize, ) -> Result<(), SetTaskPriorityError> { // Validate the given priority if base_priority >= System::NUM_TASK_PRIORITY_LEVELS { return Err(SetTaskPriorityError::BadParam); } let base_priority_internal = System::TaskPriority::try_from(base_priority).unwrap_or_else(|_| unreachable!()); let st = *task_cb.st.read(&*lock); if st == TaskSt::Dormant { return Err(SetTaskPriorityError::BadObjectState); } let old_base_priority = task_cb.base_priority.read(&*lock).to_usize().unwrap(); if old_base_priority == base_priority { return Ok(()); } // Fail with `BadParam` if the operation would violate the precondition of // the locking protocol used in any of the held or waited mutexes. This // check is only needed when raising the priority. if base_priority < old_base_priority { // Get the currently-waited mutex (if any). let waited_mutex = wait::with_current_wait_payload(lock.borrow_mut(), task_cb, |payload| { if let Some(&wait::WaitPayload::Mutex(mutex_cb)) = payload { Some(mutex_cb) } else { None } }); if let Some(waited_mutex) = waited_mutex { if !mutex::does_held_mutex_allow_new_task_base_priority( lock.borrow_mut(), waited_mutex, base_priority_internal, ) { return Err(SetTaskPriorityError::BadParam); } } // Check the precondition for all currently-held mutexes if !mutex::do_held_mutexes_allow_new_task_base_priority( lock.borrow_mut(), task_cb, base_priority_internal, ) { return Err(SetTaskPriorityError::BadParam); } } // Recalculate `effective_priority` according to the locking protocol // of held mutexes let effective_priority_internal = mutex::evaluate_task_effective_priority(lock.borrow_mut(), task_cb, base_priority_internal); let effective_priority = effective_priority_internal.to_usize().unwrap(); // Assign the new priority task_cb .base_priority .replace(&mut *lock, base_priority_internal); let old_effective_priority = task_cb .effective_priority .replace(&mut *lock, effective_priority_internal) .to_usize() .unwrap(); if old_effective_priority == effective_priority { return Ok(()); } match st { TaskSt::Ready => unsafe { // Move the task within the ready queue // // Safety: `task_cb` was previously inserted to the ready queue // with an effective priority that is identical to // `old_effective_priority`. System::state().task_ready_queue.reorder_task( lock.borrow_mut().into(), task_cb, effective_priority, old_effective_priority, ); }, TaskSt::Running => {} TaskSt::Waiting => { // Reposition the task in a wait queue if the task is currently waiting wait::reorder_wait_of_task(lock.borrow_mut(), task_cb); } TaskSt::Dormant | TaskSt::PendingActivation => unreachable!(), } if let TaskSt::Running | TaskSt::Ready = st { // - If `st == TaskSt::Running`, `task_cb` is the currently running // task. If the priority was lowered, it could be preempted by // a task in the Ready state. // - If `st == TaskSt::Ready` and the priority was raised, it could // preempt the currently running task. unlock_cpu_and_check_preemption(lock); } Ok(()) }