Echtzeitdatenverarbeitung/include/rtai_prinher.h

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2020-10-26 10:38:48 +01:00
/*
* Copyright (C) 2006-2008 Paolo Mantegazza <mantegazza@aero.polimi.it>
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License as
* published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifndef _RTAI_PRINHER_H
#define _RTAI_PRINHER_H
#include <rtai_schedcore.h>
#ifdef __KERNEL__
#ifdef CONFIG_RTAI_FULL_PRINHER
#define task_owns_sems(task) ((task)->resq.next != &(task)->resq)
static inline void enqueue_resqel(QUEUE *resqel, RT_TASK *resownr)
{
QUEUE *resq;
resqel->next = resq = &resownr->resq;
(resqel->prev = resq->prev)->next = resqel;
resq->prev = resqel;
}
#define enqueue_resqtsk(resownr)
#define RESQEL_TASK ((((QUEUE *)resqel->task)->next)->task)
static inline int _set_task_prio_from_resq(RT_TASK *resownr)
{
int hprio;
RT_TASK *task;
QUEUE *resq, *resqel;
hprio = resownr->base_priority;
resqel = resq = &resownr->resq;
while ((resqel = resqel->next) != resq && (task = RESQEL_TASK) && task->priority < hprio) {
hprio = task->priority;
}
return hprio;
}
static inline int dequeue_resqel_reset_task_priority(QUEUE *resqel, RT_TASK *resownr)
{
int hprio, prio;
QUEUE *q;
(resqel->prev)->next = resqel->next;
(resqel->next)->prev = resqel->prev;
hprio = _set_task_prio_from_resq(resownr);
return renq_ready_task(resownr, ((q = resownr->msg_queue.next) != &resownr->msg_queue && (prio = (q->task)->priority) < hprio) ? prio : hprio);
}
static inline int set_task_prio_from_resq(RT_TASK *resownr)
{
int hprio, prio;
QUEUE *q;
hprio = _set_task_prio_from_resq(resownr);
return renq_ready_task(resownr, ((q = resownr->msg_queue.next) != &resownr->msg_queue && (prio = (q->task)->priority) < hprio) ? prio : hprio);
}
#else /* !CONFIG_RTAI_FULL_PRINHER */
#define task_owns_sems(task) ((task)->owndres)
#define enqueue_resqel(resqel, task) \
do { (task)->owndres++; } while (0)
#define enqueue_resqtsk(task)
// do { (task)->owndres += RPCINC; } while (0)
static inline int _set_task_prio_from_resq(RT_TASK *resownr)
{
QUEUE *q;
int prio;
return renq_ready_task(resownr, ((q = resownr->msg_queue.next) != &resownr->msg_queue && (prio = (q->task)->priority) < resownr->base_priority) ? prio : resownr->base_priority);
}
static inline int dequeue_resqel_reset_task_priority(QUEUE *resqel, RT_TASK *resownr)
{
if (--resownr->owndres <= 0) {
resownr->owndres = 0;
return _set_task_prio_from_resq(resownr);
}
return 0;
}
static inline int set_task_prio_from_resq(RT_TASK *resownr)
{
return !resownr->owndres ? _set_task_prio_from_resq(resownr) : 0;
}
#endif /* CONFIG_RTAI_FULL_PRINHER */
#define dequeue_resqel_reset_current_priority(resqel, rt_current) \
dequeue_resqel_reset_task_priority(resqel, rt_current)
#define set_current_prio_from_resq(rt_current) \
set_task_prio_from_resq(rt_current)
#define task_owns_msgs(task) ((task)->msg_queue.next != &(task)->msg_queue)
#define task_owns_res(task) (task_owns_sems(task) || task_owns_msgs(task))
#endif /* __KERNEL__ */
#endif /* !_RTAI_PRINHER_H */