OpenRTX/lib/miosix-kernel/miosix/kernel/scheduler/scheduler.h

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 *   Copyright (C) 2010, 2011 by Terraneo Federico                         *
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#ifndef SCHEDULER_H
#define	SCHEDULER_H

#include "config/miosix_settings.h"
#include "kernel/scheduler/priority/priority_scheduler.h"
#include "kernel/scheduler/control/control_scheduler.h"
#include "kernel/scheduler/edf/edf_scheduler.h"

namespace miosix {

class Thread; //Forward declaration

/**
 * \internal
 * This class is the common interface between the kernel and the scheduling
 * algorithms.
 * Dispatching of the calls to the implementation is done using templates
 * instead of inheritance and virtual functions beacause the scheduler
 * implementation is chosen at compile time.
 */
template<typename T>
class basic_scheduler
{
public:

    /**
     * \internal
     * Add a new thread to the scheduler.
     * \param thread a pointer to a valid thread instance.
     * The behaviour is undefined if a thread is added multiple timed to the
     * scheduler, or if thread is NULL.
     * \param priority the priority of the new thread.
     * Priority must be a positive value.
     * Note that the meaning of priority is scheduler specific.
     * \return false if an error occurred and the thread could not be added to
     * the scheduler
     *
     * Note: this member function is called also before the kernel is started
     * to add the main and idle thread.
     */
    static bool PKaddThread(Thread *thread, Priority priority)
    {
        return T::PKaddThread(thread,priority);
    }

    /**
     * \internal
     * \return true if thread exists, false if does not exist or has been
     * deleted. A joinable thread is considered existing until it has been
     * joined, even if it returns from its entry point (unless it is detached
     * and terminates).
     *
     * Can be called both with the kernel paused and with interrupts disabled.
     */
    static bool PKexists(Thread *thread)
    {
        return T::PKexists(thread);
    }

    /**
     * \internal
     * Called when there is at least one dead thread to be removed from the
     * scheduler
     */
    static void PKremoveDeadThreads()
    {
        T::PKremoveDeadThreads();
    }

    /**
     * \internal
     * Set the priority of a thread.
     * Note that the meaning of priority is scheduler specific.
     * \param thread thread whose priority needs to be changed.
     * \param newPriority new thread priority.
     * Priority must be a positive value.
     */
    static void PKsetPriority(Thread *thread, Priority newPriority)
    {
        T::PKsetPriority(thread,newPriority);
    }

    /**
     * \internal
     * Get the priority of a thread.
     * Note that the meaning of priority is scheduler specific.
     * \param thread thread whose priority needs to be queried.
     * \return the priority of thread.
     */
    static Priority getPriority(Thread *thread)
    {
        return T::getPriority(thread);
    }

    /**
     * \internal
     * Same as getPriority, but meant to be called with interrupts disabled.
     * \param thread thread whose priority needs to be queried.
     * \return the priority of thread.
     */
    static Priority IRQgetPriority(Thread *thread)
    {
        return T::IRQgetPriority(thread);
    }

    /**
     * \internal
     * This is called before the kernel is started to by the kernel. The given
     * thread is the idle thread, to be run all the times where no other thread
     * can run.
     */
    static void IRQsetIdleThread(Thread *idleThread)
    {
        return T::IRQsetIdleThread(idleThread);
    }

    /**
     * \internal
     * This member function is called by the kernel every time a thread changes
     * its running status. For example when a thread become sleeping, waiting,
     * deleted or if it exits the sleeping or waiting status
     */
    static void IRQwaitStatusHook()
    {
        T::IRQwaitStatusHook();
    }

    /**
     * This function is used to develop interrupt driven peripheral drivers.<br>
     * Can be used ONLY inside an IRQ (and not when interrupts are disabled) to
     * find next thread in READY status. If the kernel is paused, does nothing.
     * Can be used for example if an IRQ causes a higher priority thread to be
     * woken, to change context. Note that to use this function the IRQ must
     * use the macros to save/restore context defined in portability.h
     *
     * If the kernel is paused does nothing.
     * It's behaviour is to modify the global variable miosix::cur which always
     * points to the currently running thread.
     */
    static void IRQfindNextThread()
    {
        T::IRQfindNextThread();
    }

};

#ifdef SCHED_TYPE_PRIORITY
typedef basic_scheduler<PriorityScheduler> Scheduler;
#elif defined(SCHED_TYPE_CONTROL_BASED)
typedef basic_scheduler<ControlScheduler> Scheduler;
#elif defined(SCHED_TYPE_EDF)
typedef basic_scheduler<EDFScheduler> Scheduler;
#else
#error No scheduler selected in config/miosix_settings.h
#endif

} //namespace miosix

#endif	//SCHEDULER_H