rt-thread的空闲线程在是线程空闲时执行的,它的主要操作是进行“垃圾回收”,这里的“垃圾”是待close掉的线程。
1 空闲线程的实现
在rt-thread线程启运时,系统会初始化空闲线程并启动它:
- /**
- * @ingroup SymstemInit
- *
- * This function will initialize idle thread, then start it.
- *
- * @note this function must be invoked when system init.
- */
- void rt_thread_idle_init(void)
- {
- /* initialize thread */
- rt_thread_init(&idle,
- "tidle",
- rt_thread_idle_entry,
- RT_NULL,
- &rt_thread_stack[0],
- sizeof(rt_thread_stack),
- RT_THREAD_PRIORITY_MAX - 1,
- 32);
- /* startup */
- rt_thread_startup(&idle);
- }
由上可见,空闲线程的优先级为RT_THREAD_PRIORITY_MAX-1,即用户定义最多优先级-1,也就是最低优先级了。接下来看空闲线程的入口函数:
- static void rt_thread_idle_entry(void *parameter)
- {
- while (1)
- {
- #ifdef RT_USING_HOOK
- if (rt_thread_idle_hook != RT_NULL)
- rt_thread_idle_hook();
- #endif
- rt_thread_idle_excute();
- }
- }
空闲线程不断是执行rt_thread_idle_excute,其实现如下:
- /**
- * @ingroup Thread
- *
- * This function will perform system background job when system idle.
- */
- void rt_thread_idle_excute(void)
- {
- /* check the defunct thread list */
- if (!rt_list_isempty(&rt_thread_defunct))//判断rt_thread_defunct是否为空
- {
- rt_base_t lock;
- rt_thread_t thread;
- #ifdef RT_USING_MODULE
- rt_module_t module = RT_NULL;
- #endif
- RT_DEBUG_NOT_IN_INTERRUPT;//确保此函数不是在中断中执行
- /* disable interrupt */
- lock = rt_hw_interrupt_disable();//开中断
- /* re-check whether list is empty */
- if (!rt_list_isempty(&rt_thread_defunct))//再次判断rt_thread_defunct是否为空
- {
- /* get defunct thread */
- thread = rt_list_entry(rt_thread_defunct.next,//获取等回收的线程
- struct rt_thread,
- tlist);
- #ifdef RT_USING_MODULE
- /* get thread's parent module */
- module = (rt_module_t)thread->module_id;//得到模块
- /* if the thread is module's main thread */
- if (module != RT_NULL && module->module_thread == thread)//清空模块线程
- {
- /* detach module's main thread */
- module->module_thread = RT_NULL;
- }
- #endif
- /* remove defunct thread */
- rt_list_remove(&(thread->tlist));//将线程从回收链表中移除
- /* invoke thread cleanup */
- if (thread->cleanup != RT_NULL)//执行析构函数
- thread->cleanup(thread);
- /* if it's a system object, not delete it */
- if (rt_object_is_systemobject((rt_object_t)thread) == RT_TRUE)//如果为系统线程
- {
- /* enable interrupt */
- rt_hw_interrupt_enable(lock);//开中断
- return;
- }
- }
- else
- {
- /* enable interrupt */
- rt_hw_interrupt_enable(lock);//开中断
- /* may the defunct thread list is removed by others, just return */
- return;
- }
- /* enable interrupt */
- rt_hw_interrupt_enable(lock);//开中断
- #ifdef RT_USING_HEAP
- #if defined(RT_USING_MODULE) && defined(RT_USING_SLAB)
- /* the thread belongs to an application module */
- if (thread->flags & RT_OBJECT_FLAG_MODULE)
- rt_module_free((rt_module_t)thread->module_id, thread->stack_addr);//回收模块所占内存
- else
- #endif
- /* release thread's stack */
- rt_free(thread->stack_addr);//回收线程栈
- /* delete thread object */
- rt_object_delete((rt_object_t)thread);//回收内核对象所占内存
- #endif
- #ifdef RT_USING_MODULE
- if (module != RT_NULL)
- {
- extern rt_err_t rt_module_destroy(rt_module_t module);
- /* if sub thread list and main thread are all empty */
- if ((module->module_thread == RT_NULL) &&
- rt_list_isempty(&module->module_object[RT_Object_Class_Thread].object_list))
- {
- module->nref --;
- }
- /* destroy module */
- if (module->nref == 0)
- rt_module_destroy(module);//销毁模块
- }
- #endif
- }
- }
由上述代码可知,空闲线程很大一部分的工作就是回收线程。那么这些线程又是如何而来的呢?
其实在之前文章http://blog.csdn.net/flydream0/article/details/8584362#t5一文的3.1节脱离线程一节中,有如下代码:(3.2节删除线程也类似)
- //...
- 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
- }
- //...
可见,在线程被脱离或删除时,会将线程加入到回收链表rt_thread_defunct中,此链表在scheduler.c源文件中定义,专门用来保存待回收的线程.