rt-thread操作系统是一个多线程的操作系统,线程对于rt-thread来说是一个很重要的概念,因此,必须掌握它。
1 线程控制块的数据结构
- /**
- * Thread structure
- */
- struct rt_thread
- {
- /* rt object *///这里就是rt_object的结构,其实也可以用rt_object parent来定义,估计线程在早些时候并没有这么做,后来也就没改过来
- char name[RT_NAME_MAX]; /**< the name of thread */
- rt_uint8_t type; /**< type of object */
- rt_uint8_t flags; /**< thread's flags */
- #ifdef RT_USING_MODULE//模块ID
- void *module_id; /**< id of application module */
- #endif
- //内核对象链表
- rt_list_t list; /**< the object list */
- rt_list_t tlist; /**< the thread list *///线程链表,一般用作就绪队列元素节点
- /* stack point and entry */
- void *sp; /**< stack point *///栈指针
- void *entry; /**< entry *///入口函数
- void *parameter; /**< parameter *///入口函数对应的参数
- void *stack_addr; /**< stack address *///栈地址
- rt_uint16_t stack_size; /**< stack size *///栈大小
- /* error code */
- rt_err_t error; /**< error code *///错误代码,用于IPC机制中,标志是否已经获取成功
- rt_uint8_t stat; /**< thread stat *///线程的当前状态
- /* priority */
- rt_uint8_t current_priority; /**< current priority *///当前优先级
- rt_uint8_t init_priority; /**< initialized priority *///初始优先级
- #if RT_THREAD_PRIORITY_MAX > 32
- rt_uint8_t number;
- rt_uint8_t high_mask;
- #endif
- rt_uint32_t number_mask;
- #if defined(RT_USING_EVENT)//与IPC机制事件相关的一些参数
- /* thread event */
- rt_uint32_t event_set; //此线程接收到的事件
- rt_uint8_t event_info;//此线程的事件过滤信息,用于过滤事件,只保留感兴趣的事件
- #endif
- rt_ubase_t init_tick; /**< thread's initialized tick *///初始tick
- rt_ubase_t remaining_tick; /**< remaining tick *///剩余tick
- struct rt_timer thread_timer; /**< built-in thread timer *///线程定时器
- void (*cleanup)(struct rt_thread *tid); /**< cleanup function when thread exit *///相当于线程的析构函数,用于销毁线程时做些后续操作
- rt_uint32_t user_data; /**< private user data beyond this thread *///析构函数的输入参数
- };
- typedef struct rt_thread *rt_thread_t;
上面代码其中线程控制块的内部成员number, high_mask, number_mask与线程调度时获获取当前最高优先级线程的算法有关,这里不做介绍,详情请见:http://blog.csdn.net/flydream0/article/details/8588584
event_set, evernt_info与事件相关,在后续讲到IPC机制的事件时将会提出,这里也先不做介绍.
2 线程创建及初始化
2.1 初始化线程
- /*@{*/
- /**
- * This function will initialize a thread, normally it's used to initialize a
- * static thread object.
- *
- * @param thread the static thread object
- * @param name the name of thread, which shall be unique
- * @param entry the entry function of thread
- * @param parameter the parameter of thread enter function
- * @param stack_start the start address of thread stack
- * @param stack_size the size of thread stack
- * @param priority the priority of thread
- * @param tick the time slice if there are same priority thread
- *
- * @return the operation status, RT_EOK on OK, -RT_ERROR on error
- */
- rt_err_t rt_thread_init(struct rt_thread *thread,
- const char *name,
- void (*entry)(void *parameter),
- void *parameter,
- void *stack_start,
- rt_uint32_t stack_size,
- rt_uint8_t priority,
- rt_uint32_t tick)
- {
- /* thread check *///参数检查
- RT_ASSERT(thread != RT_NULL);
- RT_ASSERT(stack_start != RT_NULL);
- /* init thread object */
- rt_object_init((rt_object_t)thread, RT_Object_Class_Thread, name);//初始化内核对象
- return _rt_thread_init(thread,
- name,
- entry,
- parameter,
- stack_start,
- stack_size,
- priority,
- tick);
- }
- static rt_err_t _rt_thread_init(struct rt_thread *thread,
- const char *name,
- void (*entry)(void *parameter),
- void *parameter,
- void *stack_start,
- rt_uint32_t stack_size,
- rt_uint8_t priority,
- rt_uint32_t tick)
- {
- /* init thread list */
- rt_list_init(&(thread->tlist));//初始化线程节点
- thread->entry = (void *)entry;//入口函数
- thread->parameter = parameter;//入口函数的参数
- /* stack init */
- thread->stack_addr = stack_start;//栈地址
- thread->stack_size = (rt_uint16_t)stack_size;//栈大小
- /* init thread stack */
- rt_memset(thread->stack_addr, '#', thread->stack_size);//将栈内的所有字节初始化为'#'号
- thread->sp = (void *)rt_hw_stack_init(thread->entry, thread->parameter,//初始化时设置sp的内容,rt_hw_stack_init是一个与具体MCU相关的函数,这里就不做介绍
- (void *)((char *)thread->stack_addr + thread->stack_size - 4),
- (void *)rt_thread_exit);
- /* priority init */
- RT_ASSERT(priority < RT_THREAD_PRIORITY_MAX);
- thread->init_priority = priority;//当前优先级和初始化优先级设置
- thread->current_priority = priority;
- /* tick init */
- thread->init_tick = tick;//初始化tick和剩余tick
- thread->remaining_tick = tick;
- /* error and flags */
- thread->error = RT_EOK;//错误的状态,线程状态初始化时为RT_THREAD_INIT
- thread->stat = RT_THREAD_INIT;
- /* initialize cleanup function and user data */
- thread->cleanup = 0;//线程析构函数及其参数
- thread->user_data = 0;
- /* init thread timer */
- rt_timer_init(&(thread->thread_timer),//初始化线程的定时器
- thread->name,
- rt_thread_timeout,
- thread,
- 0,
- RT_TIMER_FLAG_ONE_SHOT);
- return RT_EOK;
- }
初始化函数将线程栈内容全部初始化为'#'号.
其中rt_thread_timeout的函数如下定义:
- /**
- * This function is the timeout function for thread, normally which is invoked
- * when thread is timeout to wait some resource.
- *
- * @param parameter the parameter of thread timeout function
- */
- void rt_thread_timeout(void *parameter)
- {
- struct rt_thread *thread;
- thread = (struct rt_thread *)parameter;
- /* thread check */
- RT_ASSERT(thread != RT_NULL);
- RT_ASSERT(thread->stat == RT_THREAD_SUSPEND);
- /* set error number */
- thread->error = -RT_ETIMEOUT;//设置此线程的error为超时错误,这些IPC机制中非常有用,
- /* remove from suspend list *///从挂起链表中移除
- rt_list_remove(&(thread->tlist));
- /* insert to schedule ready list */
- rt_schedule_insert_thread(thread);//加入调度器
- /* do schedule */
- rt_schedule();//重新调度
- }
注:当线程进入睡眠时,程序将线程对应的定时器加入到定时器超时链表,一旦时间到达,则调用此定时器的超时处理函数,即rt_thread_timeout函数,可上源码可知,在这个线程定时器超时处理函数内,将会将线程加入到调度器。
此外,需要特别注意地是,此函数会将超时的线程的error设置为-RT_ETIMEOUT,用来标志此线程并未获得IPC,这在IPC机制中判断某个线程是否已成功获取某个IPC对象时非常有用。
此超时回调函数主要是将挂起的线程加入到调度器中进行重新调度,即唤醒它。
2.2 创建线程
- /**
- * This function will create a thread object and allocate thread object memory
- * and stack.
- *
- * @param name the name of thread, which shall be unique
- * @param entry the entry function of thread
- * @param parameter the parameter of thread enter function
- * @param stack_size the size of thread stack
- * @param priority the priority of thread
- * @param tick the time slice if there are same priority thread
- *
- * @return the created thread object
- */
- rt_thread_t rt_thread_create(const char *name,
- void (*entry)(void *parameter),
- void *parameter,
- rt_uint32_t stack_size,
- rt_uint8_t priority,
- rt_uint32_t tick)
- {
- struct rt_thread *thread;
- void *stack_start;
- thread = (struct rt_thread *)rt_object_allocate(RT_Object_Class_Thread,//动态分配一个内核对象
- name);
- if (thread == RT_NULL)
- return RT_NULL;
- stack_start = (void *)rt_malloc(stack_size);//动态分配一个线程栈
- if (stack_start == RT_NULL)
- {
- /* allocate stack failure */
- rt_object_delete((rt_object_t)thread);
- return RT_NULL;
- }
- _rt_thread_init(thread,//初始化线程
- name,
- entry,
- parameter,
- stack_start,
- stack_size,
- priority,
- tick);
- return thread;
- }
3 线程的脱离及删除
3.1 脱离线程
- /**
- * This function will detach a thread. The thread object will be removed from
- * thread queue and detached/deleted from system object management.
- *
- * @param thread the thread to be deleted
- *
- * @return the operation status, RT_EOK on OK, -RT_ERROR on error
- */
- rt_err_t rt_thread_detach(rt_thread_t thread)
- {
- rt_base_t lock;
- /* thread check */
- RT_ASSERT(thread != RT_NULL);
- /* remove from schedule */
- rt_schedule_remove_thread(thread);//将线程从调度器中移除
- /* release thread timer */
- rt_timer_detach(&(thread->thread_timer));//脱离定时器
- /* change stat */
- thread->stat = RT_THREAD_CLOSE;//将线程的状态设置为RT_THREAD_CLOSE
- /* detach object */
- rt_object_detach((rt_object_t)thread);//脱离内核对象
- if (thread->cleanup != RT_NULL)//如果存在线程析构函数
- {
- /* disable interrupt */
- lock = rt_hw_interrupt_disable();//关中断
- /* insert to defunct thread list *///rt_thread_defunct链表在系统空闲时将被空闲线程来处理
- rt_list_insert_after(&rt_thread_defunct, &(thread->tlist));//将线程加入到rt_thread_defunct链表中
- /* enable interrupt */
- rt_hw_interrupt_enable(lock);//开中断
- }
- return RT_EOK;
- }
需要注意地是,线程的脱离函数如果当前线程离开进行一些善后工作,即存在cleanup析构函数,此时,会将此线程加入到回收线程链表rt_thread_defunct中去,等到系统空闲时再由空闲线程来“回收"此线程,详情请参考:http://blog.csdn.net/flydream0/article/details/8590415 一文.
3.2 删除线程
- /**
- * This function will delete a thread. The thread object will be removed from
- * thread queue and detached/deleted from system object management.
- *
- * @param thread the thread to be deleted
- *
- * @return the operation status, RT_EOK on OK, -RT_ERROR on error
- */
- rt_err_t rt_thread_delete(rt_thread_t thread)
- {
- rt_base_t lock;
- /* thread check */
- RT_ASSERT(thread != RT_NULL);
- /* remove from schedule */
- rt_schedule_remove_thread(thread);//从调度器中移除线程
- /* release thread timer */
- rt_timer_detach(&(thread->thread_timer));//脱离定时器
- /* change stat */
- thread->stat = RT_THREAD_CLOSE;//线程状态设置为RT_THREAD_CLOSE
- /* disable interrupt */
- lock = rt_hw_interrupt_disable();//关中断
- /* insert to defunct thread list */
- rt_list_insert_after(&rt_thread_defunct, &(thread->tlist));//将当前线程加入到空闲时才会处理的链表中
- /* enable interrupt */
- rt_hw_interrupt_enable(lock);//开中断
- return RT_EOK;
- }
4 启动线程
- /**
- * This function will start a thread and put it to system ready queue
- *
- * @param thread the thread to be started
- *
- * @return the operation status, RT_EOK on OK, -RT_ERROR on error
- */
- rt_err_t rt_thread_startup(rt_thread_t thread)
- {
- /* thread check *///参数检查
- RT_ASSERT(thread != RT_NULL);
- RT_ASSERT(thread->stat == RT_THREAD_INIT);
- /* set current priority to init priority */
- thread->current_priority = thread->init_priority;//启动线程时将线程当前的优先级设置为初始优先级
- /* calculate priority attribute */
- #if RT_THREAD_PRIORITY_MAX > 32
- thread->number = thread->current_priority >> 3; /* 5bit */
- thread->number_mask = 1L << thread->number;
- thread->high_mask = 1L << (thread->current_priority & 0x07); /* 3bit */
- #else
- thread->number_mask = 1L << thread->current_priority;
- #endif
- RT_DEBUG_LOG(RT_DEBUG_THREAD, ("startup a thread:%s with priority:%d\n",
- thread->name, thread->init_priority));
- /* change thread stat */
- thread->stat = RT_THREAD_SUSPEND;//将线程的状态设置为RT_THREAD_SUSPEND
- /* then resume it */
- rt_thread_resume(thread);//还原线程
- if (rt_thread_self() != RT_NULL)//如果当前的线程不为空,则执行线程调度操作
- {
- /* do a scheduling */
- rt_schedule();
- }
- return RT_EOK;
- }
由此可见,启动线程时,首先会将线程设置为挂起状态,然后再唤醒它。
其中rt_thread_self函数为获取当前线程,其源码如下定义:
- /**
- * This function will return self thread object
- *
- * @return the self thread object
- */
- rt_thread_t rt_thread_self(void)
- {
- return rt_current_thread;
- }
rt_thread_resume函数见后第6章内容,rt_schedule函数见线程调度源码分析相关章节.
5 线程挂起
- /**
- * This function will suspend the specified thread.
- *
- * @param thread the thread to be suspended
- *
- * @return the operation status, RT_EOK on OK, -RT_ERROR on error
- *
- * @note if suspend self thread, after this function call, the
- * rt_schedule() must be invoked.
- */
- rt_err_t rt_thread_suspend(rt_thread_t thread)
- {
- register rt_base_t temp;
- /* thread check */
- RT_ASSERT(thread != RT_NULL);
- RT_DEBUG_LOG(RT_DEBUG_THREAD, ("thread suspend: %s\n", thread->name));
- if (thread->stat != RT_THREAD_READY)//此函数只对处于就绪状态的线程操作
- {
- RT_DEBUG_LOG(RT_DEBUG_THREAD, ("thread suspend: thread disorder, %d\n",
- thread->stat));
- return -RT_ERROR;
- }
- /* disable interrupt */
- temp = rt_hw_interrupt_disable();//关中断
- /* change thread stat */
- thread->stat = RT_THREAD_SUSPEND;//将线程设置为挂起状态
- rt_schedule_remove_thread(thread);//将线程从调试器中移除
- /* enable interrupt */
- rt_hw_interrupt_enable(temp);//开中断
- return RT_EOK;
- }
有关rt_schedule_remove_thread函数见后续在前调度器源码分析的文章。
此函数比较简单。
6 线程唤醒
- /**
- * This function will resume a thread and put it to system ready queue.
- *
- * @param thread the thread to be resumed
- *
- * @return the operation status, RT_EOK on OK, -RT_ERROR on error
- */
- rt_err_t rt_thread_resume(rt_thread_t thread)
- {
- register rt_base_t temp;
- /* thread check */
- RT_ASSERT(thread != RT_NULL);
- RT_DEBUG_LOG(RT_DEBUG_THREAD, ("thread resume: %s\n", thread->name));
- if (thread->stat != RT_THREAD_SUSPEND)//只对处于挂起的线程进行还原操作
- {
- RT_DEBUG_LOG(RT_DEBUG_THREAD, ("thread resume: thread disorder, %d\n",
- thread->stat));
- return -RT_ERROR;
- }
- /* disable interrupt */
- temp = rt_hw_interrupt_disable();//关中断
- /* remove from suspend list */
- rt_list_remove(&(thread->tlist));//从挂起队列中移除
- /* remove thread timer */
- rt_list_remove(&(thread->thread_timer.list));//因线程即将运行,所以需要移除定时器,无需再定时
- /* change timer state */
- thread->thread_timer.parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;//将内核对象的标志设置为定时器非激活标志
- /* enable interrupt */
- rt_hw_interrupt_enable(temp);//开中断
- /* insert to schedule ready list */
- rt_schedule_insert_thread(thread);//将线程加入调度器
- return RT_EOK;
- }
7 线程让出处理机
当前线程的时间片用完或者该线程自动要求让出处理器资源时,它不再占有处理机,调度器会选择下一个最高优先级的线程执行。这时,放弃处理器资源的线程仍然在就绪队列中,只不过放到就绪队列末尾去 了.
- /**
- * This function will let current thread yield processor, and scheduler will
- * choose a highest thread to run. After yield processor, the current thread
- * is still in READY state.
- *
- * @return RT_EOK
- */
- rt_err_t rt_thread_yield(void)
- {
- register rt_base_t level;
- struct rt_thread *thread;
- /* disable interrupt */
- level = rt_hw_interrupt_disable();//关中断
- /* set to current thread */
- thread = rt_current_thread;//得到当前线程
- /* if the thread stat is READY and on ready queue list */
- if (thread->stat == RT_THREAD_READY &&//如果当前线程处于就绪状态且在就绪队列
- thread->tlist.next != thread->tlist.prev)
- {
- /* remove thread from thread list */
- rt_list_remove(&(thread->tlist));//从就绪队列中移除当前线程
- /* put thread to end of ready queue */
- rt_list_insert_before(&(rt_thread_priority_table[thread->current_priority]),//加入到就绪队列末尾
- &(thread->tlist));
- /* enable interrupt */
- rt_hw_interrupt_enable(level);//开中断
- rt_schedule();//重新调度线程
- return RT_EOK;
- }
- /* enable interrupt */
- rt_hw_interrupt_enable(level);//开中断
- return RT_EOK;
- }
8 线程睡眠
- /**
- * This function will let current thread sleep for some ticks.
- *
- * @param tick the sleep ticks
- *
- * @return RT_EOK
- */
- rt_err_t rt_thread_sleep(rt_tick_t tick)
- {
- register rt_base_t temp;
- struct rt_thread *thread;
- /* disable interrupt */
- temp = rt_hw_interrupt_disable();//关中断
- /* set to current thread */
- thread = rt_current_thread;//得到当前线程
- RT_ASSERT(thread != RT_NULL);
- /* suspend thread */
- rt_thread_suspend(thread);//挂起当前线程
- /* reset the timeout of thread timer and start it */
- rt_timer_control(&(thread->thread_timer), RT_TIMER_CTRL_SET_TIME, &tick);//设置定时器
- rt_timer_start(&(thread->thread_timer));//启动定时器
- /* enable interrupt */
- rt_hw_interrupt_enable(temp);//开中断
- rt_schedule();//启动调度器
- /* clear error number of this thread to RT_EOK */
- if (thread->error == -RT_ETIMEOUT)//将当前线程的错误码设置为超时
- thread->error = RT_EOK;
- return RT_EOK;
- }
- /**
- * This function will let current thread delay for some ticks.
- *
- * @param tick the delay ticks
- *
- * @return RT_EOK
- */
- rt_err_t rt_thread_delay(rt_tick_t tick)
- {
- return rt_thread_sleep(tick);
- }
9 线程控制
- /**
- * This function will control thread behaviors according to control command.
- *
- * @param thread the specified thread to be controlled
- * @param cmd the control command, which includes
- * RT_THREAD_CTRL_CHANGE_PRIORITY for changing priority level of thread;
- * RT_THREAD_CTRL_STARTUP for starting a thread;
- * RT_THREAD_CTRL_CLOSE for delete a thread.
- * @param arg the argument of control command
- *
- * @return RT_EOK
- */
- rt_err_t rt_thread_control(rt_thread_t thread, rt_uint8_t cmd, void *arg)
- {
- register rt_base_t temp;
- /* thread check */
- RT_ASSERT(thread != RT_NULL);
- switch (cmd)
- {
- case RT_THREAD_CTRL_CHANGE_PRIORITY://修改优先级
- /* disable interrupt */
- temp = rt_hw_interrupt_disable();//关中断
- /* for ready thread, change queue */
- if (thread->stat == RT_THREAD_READY)//如果线程处于就绪状态
- {
- /* remove thread from schedule queue first */
- rt_schedule_remove_thread(thread);//移除
- /* change thread priority */
- thread->current_priority = *(rt_uint8_t *)arg;//设置优先级
- /* recalculate priority attribute */
- #if RT_THREAD_PRIORITY_MAX > 32
- thread->number = thread->current_priority >> 3; /* 5bit */
- thread->number_mask = 1 << thread->number;
- thread->high_mask = 1 << (thread->current_priority & 0x07); /* 3bit */
- #else
- thread->number_mask = 1 << thread->current_priority;
- #endif
- /* insert thread to schedule queue again */
- rt_schedule_insert_thread(thread);//加入调度器
- }
- else
- {
- thread->current_priority = *(rt_uint8_t *)arg;
- /* recalculate priority attribute */
- #if RT_THREAD_PRIORITY_MAX > 32
- thread->number = thread->current_priority >> 3; /* 5bit */
- thread->number_mask = 1 << thread->number;
- thread->high_mask = 1 << (thread->current_priority & 0x07); /* 3bit */
- #else
- thread->number_mask = 1 << thread->current_priority;
- #endif
- }
- /* enable interrupt */
- rt_hw_interrupt_enable(temp);
- break;
- case RT_THREAD_CTRL_STARTUP://启动
- return rt_thread_startup(thread);
- #ifdef RT_USING_HEAP
- case RT_THREAD_CTRL_CLOSE://关闭线程
- return rt_thread_delete(thread);
- #endif
- default:
- break;
- }
- return RT_EOK;
- }
10 查找线程
- /**
- * This function will find the specified thread.
- *
- * @param name the name of thread finding
- *
- * @return the found thread
- *
- * @note please don't invoke this function in interrupt status.
- */
- rt_thread_t rt_thread_find(char *name)
- {
- struct rt_object_information *information;
- struct rt_object *object;
- struct rt_list_node *node;
- extern struct rt_object_information rt_object_container[];
- /* enter critical */
- if (rt_thread_self() != RT_NULL)
- rt_enter_critical();//进入临界区
- /* try to find device object */
- information = &rt_object_container[RT_Object_Class_Thread];//从内核对象容器中获取内核对象链表
- for (node = information->object_list.next;
- node != &(information->object_list);
- node = node->next)
- {
- object = rt_list_entry(node, struct rt_object, list);//得到内核对象
- if (rt_strncmp(object->name, name, RT_NAME_MAX) == 0)//比较名字
- {
- /* leave critical */
- if (rt_thread_self() != RT_NULL)
- rt_exit_critical();//退出临界区
- return (rt_thread_t)object;//返回内核对象
- }
- }
- /* leave critical */
- if (rt_thread_self() != RT_NULL)
- rt_exit_critical();//退出临界区
- /* not found */
- return RT_NULL;//返回未找到
- }
查找线程是通过内核对象管理系统来查找的,根据内核对象的类型,找到相应内核对象链表,并遍历它,比较名字,如果找到则返回。
需要注意的是,这里的进入临界区的功能只是让调度器暂时停止工作,即停止调度线程,而退出临界区则是让停止工作的调度器重新恢复工作。这样做的理由是防止临界区内的执行调度器终止,切换到其它线程去了。