119 lines
3.4 KiB
C
119 lines
3.4 KiB
C
/*
|
|
* 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 */
|