RT_thread（二）线程的操作

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重点

1.创建静态线程rt_thread_init——删除静态线程rt_thread_detach
创建动态线程rt_thread_create——删除静态线程rt_thread_delete
2.线程删除会判断线程是否为初始态，是则不删除，如何删除初始态线程？
3.线程不能写成死循环，必须有让出处理器的延时操作

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一、线程是什么？

在 RT-Thread 中，任务对应的程序实体就是线程，线程是实现任务的载体，它是 RT-Thread 中最基本的调度单位，它描述了一个任务执行的运行环境，也描述了这个任务所处的优先等级，重要的任务可设置相对较高的优先级，非重要的任务可以设置较低的优先级，不同的任务还可以设置相同的优先级，轮流运行。

二、线程的工作机制

1.线程控制块

这是线程控制快的基本信息

/* 线程控制块 */
struct rt_thread
{
    /* rt 对象 */
    char        name[RT_NAME_MAX];      //线程名称
    rt_uint8_t  type;                   // 对象类型 
    rt_uint8_t  flags;                  // 标志位 

    rt_list_t   list;                   // 对象列表
    rt_list_t   tlist;                  // 线程列表 

    /* 栈指针与入口指针 */
    void       *sp;                      //栈指针
    void       *entry;                   //入口函数指针 
    void       *parameter;               //参数 
    void       *stack_addr;              //栈地址指针 
    rt_uint32_t stack_size;              //栈大小 

    /* 错误代码 */
    rt_err_t    error;                  //线程错误代码 
    rt_uint8_t  stat;                   // 线程状态 

    /* 优先级 */
    rt_uint8_t  current_priority;       //当前优先级 
    rt_uint8_t  init_priority;          //初始优先级 
    rt_uint32_t number_mask;

    ......

    rt_ubase_t  init_tick;              //线程初始化计数值 
    rt_ubase_t  remaining_tick;         //线程剩余计数值 

    struct rt_timer thread_timer;       //内置线程定时器 

    void (*cleanup)(struct rt_thread *tid);  //线程退出清除函数
    rt_uint32_t user_data;                      //用户数据 
};

2.线程API

1.思维图

2.创建静态线程

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));//线程链表初始化

    thread->entry = (void *)entry;
    thread->parameter = parameter;

    /* stack init */
    thread->stack_addr = stack_start;//线程栈初始化
    thread->stack_size = stack_size;

    /* init thread stack */
    rt_memset(thread->stack_addr, '#', thread->stack_size);//将内存的内容设置为指定的值#
    thread->sp = (void *)rt_hw_stack_init(thread->entry, thread->parameter,
                                          (void *)((char *)thread->stack_addr + thread->stack_size - 4),
                                          (void *)rt_thread_exit);//sp指针放在栈顶

    /* priority init */
    RT_ASSERT(priority < RT_THREAD_PRIORITY_MAX);//检查优先级
    thread->init_priority    = priority;
    thread->current_priority = priority;

    thread->number_mask = 0;
#if RT_THREAD_PRIORITY_MAX > 32
    thread->number = 0;
    thread->high_mask = 0;
#endif

    /* tick init */
    thread->init_tick      = tick; //定时器初始化
    thread->remaining_tick = tick;

    /* error and flags */
    thread->error = RT_EOK;                    //标志位初始化
    thread->stat  = RT_THREAD_INIT;

    /* initialize cleanup function and user data */
    thread->cleanup   = 0;
    thread->user_data = 0;

    /* init thread timer */
    rt_timer_init(&(thread->thread_timer),
                  thread->name,
                  rt_thread_timeout,
                  thread,
                  0,
                  RT_TIMER_FLAG_ONE_SHOT);//线程定时器初始化

    /* initialize signal */
#ifdef RT_USING_SIGNALS
    thread->sig_mask    = 0x00;
    thread->sig_pending = 0x00;

    thread->sig_ret     = RT_NULL;
    thread->sig_vectors = RT_NULL;
    thread->si_list     = RT_NULL;
#endif

#ifdef RT_USING_LWP
    thread->lwp = RT_NULL;
#endif

    RT_OBJECT_HOOK_CALL(rt_thread_inited_hook, (thread));

    return RT_EOK;
}

3启动线程

rt_err_t rt_thread_startup(rt_thread_t thread)
{
    /* thread check */
    RT_ASSERT(thread != RT_NULL);
    RT_ASSERT((thread->stat & RT_THREAD_STAT_MASK) == RT_THREAD_INIT);
    RT_ASSERT(rt_object_get_type((rt_object_t)thread) == RT_Object_Class_Thread);//核查是否为线程并且是否符合线程规定

    /* set current priority to init priority */
    thread->current_priority = thread->init_priority;//系统当前优先级为初始优先级

    /* calculate priority attribute */
#if RT_THREAD_PRIORITY_MAX > 32
    thread->number      = thread->current_priority >> 3;            //优先级右移3位（除以8）（优先级大于32位的操作）
    thread->number_mask = 1L << thread->number;//long字型32位左移number位，制作掩码（优先级组数，一组32个优先级）
    thread->high_mask   = 1L << (thread->current_priority & 0x07);  //制作掩码（优先级数）
#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;//rt_thread_resume只会恢复状态为susupend的线程
    /* then resume it */
    rt_thread_resume(thread);//将线程添加到就绪列表
    if (rt_thread_self() != RT_NULL)
    {
        /* do a scheduling */
        rt_schedule();
    }

    return RT_EOK;
}
RTM_EXPORT(rt_thread_startup);

4.静态线程脱离

rt_err_t rt_thread_detach(rt_thread_t thread)
{
    rt_base_t lock;

    /* thread check */
    RT_ASSERT(thread != RT_NULL);
    RT_ASSERT(rt_object_get_type((rt_object_t)thread) == RT_Object_Class_Thread);//检测类型状态
    RT_ASSERT(rt_object_is_systemobject((rt_object_t)thread));

    if ((thread->stat & RT_THREAD_STAT_MASK) != RT_THREAD_INIT)//判断是否为初始态，如果是线程并未启动，不删除
    {
        /* remove from schedule */
        rt_schedule_remove_thread(thread);
    }

    /* release thread timer */
    rt_timer_detach(&(thread->thread_timer));//移除线程定时器

    /* change stat */
    thread->stat = RT_THREAD_CLOSE;//线程状态为关闭

    /* detach object */
    rt_object_detach((rt_object_t)thread);//对象移除

    if (thread->cleanup != RT_NULL)//线程没清理干净则插入僵尸线程链表
    {
        /* disable interrupt */
        lock = rt_hw_interrupt_disable();

        /* insert to defunct thread list */
        rt_list_insert_after(&rt_thread_defunct, &(thread->tlist));

        /* enable interrupt */
        rt_hw_interrupt_enable(lock);
    }

    return RT_EOK;
}
RTM_EXPORT(rt_thread_detach);

5.创建动态线程

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,
                                                    name);              //创建对象
    if (thread == RT_NULL)
        return RT_NULL;

    stack_start = (void *)RT_KERNEL_MALLOC(stack_size);//分配内存
    if (stack_start == RT_NULL)
    {
        /* allocate stack failure */
        rt_object_delete((rt_object_t)thread);//未分配内存删除对象

        return RT_NULL;
    }

    _rt_thread_init(thread,
                    name,
                    entry,
                    parameter,
                    stack_start,
                    stack_size,
                    priority,
                    tick);

    return thread;
}
RTM_EXPORT(rt_thread_create);

6.动态线程删除

rt_err_t rt_thread_delete(rt_thread_t thread)
·1{
    rt_base_t lock;

    /* thread check */
    RT_ASSERT(thread != RT_NULL);//核查线程是否为空，检查类型
    RT_ASSERT(rt_object_get_type((rt_object_t)thread) == RT_Object_Class_Thread);
    RT_ASSERT(rt_object_is_systemobject((rt_object_t)thread) == RT_FALSE);

    if ((thread->stat & RT_THREAD_STAT_MASK) != RT_THREAD_INIT)//判断是否为初始态，如果是线程并未启动，不删除
    {
        /* remove from schedule */
        rt_schedule_remove_thread(thread);
    }

    /* release thread timer */
    rt_timer_detach(&(thread->thread_timer));//移除线程定时器

    /* change stat */
    thread->stat = RT_THREAD_CLOSE;//状态设置为关闭

    /* disable interrupt */
    lock = rt_hw_interrupt_disable();//关中断1

    /* insert to defunct thread list */
    rt_list_insert_after(&rt_thread_defunct, &(thread->tlist));//插入僵尸队列

    /* enable interrupt */
    rt_hw_interrupt_enable(lock);//开中断1

    return RT_EOK;
}
RTM_EXPORT(rt_thread_delete);
#endif

7.使线程让出处理器资源

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1

    /* set to current thread */
    thread = rt_current_thread;//获得当前线程

    /* if the thread stat is READY and on ready queue list */
    if ((thread->stat & RT_THREAD_STAT_MASK) == RT_THREAD_READY &&
        thread->tlist.next != thread->tlist.prev)//判断获得线程是否位于就绪链表第一个
    {
        /* remove thread from thread list */
        rt_list_remove(&(thread->tlist));//移除就绪链表

        /* put thread to end of ready queue */
        rt_list_insert_before(&(rt_thread_priority_table[thread->current_priority]),
                              &(thread->tlist));        //重新插入就绪链表

        /* enable interrupt */
        rt_hw_interrupt_enable(level);//开中断1

        rt_schedule();

        return RT_EOK;
    }

    /* enable interrupt */
    rt_hw_interrupt_enable(level);//开中断1

    return RT_EOK;
}
RTM_EXPORT(rt_thread_yield);

8.使线程休眠几个节拍

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1
    /* set to current thread */
    thread = rt_current_thread;
    RT_ASSERT(thread != RT_NULL);
    RT_ASSERT(rt_object_get_type((rt_object_t)thread) == RT_Object_Class_Thread);

    /* suspend thread */
    rt_thread_suspend(thread);//挂起线程

    /* reset the timeout of thread timer and start it */
    rt_timer_control(&(thread->thread_timer), RT_TIMER_CTRL_SET_TIME, &tick);//重置延时节拍参数
    rt_timer_start(&(thread->thread_timer));//开启线程定时器

    /* enable interrupt */
    rt_hw_interrupt_enable(temp);//开中断1

    rt_schedule();

    /* clear error number of this thread to RT_EOK */
    if (thread->error == -RT_ETIMEOUT)//错误号修正
        thread->error = RT_EOK;

    return RT_EOK;
}

9.线程节拍延时

rt_err_t rt_thread_delay(rt_tick_t tick)
{
    return rt_thread_sleep(tick);//效果一样
}
RTM_EXPORT(rt_thread_delay);

10.线程毫秒延时

rt_err_t rt_thread_mdelay(rt_int32_t ms)
{
    rt_tick_t tick;

    tick = rt_tick_from_millisecond(ms);//换算下ms到节拍

    return rt_thread_sleep(tick);
}
RTM_EXPORT(rt_thread_mdelay);

11.修改线程参数

rt_err_t rt_thread_control(rt_thread_t thread, int cmd, void *arg)
{
    register rt_base_t temp;

    /* thread check */
    RT_ASSERT(thread != RT_NULL);
    RT_ASSERT(rt_object_get_type((rt_object_t)thread) == RT_Object_Class_Thread);

    switch (cmd)//接收指令，并运行
    {
    case RT_THREAD_CTRL_CHANGE_PRIORITY://改变线程优先级
        /* disable interrupt */
        temp = rt_hw_interrupt_disable();

        /* for ready thread, change queue */
        if ((thread->stat & RT_THREAD_STAT_MASK) == RT_THREAD_READY)
        {
            /* remove thread from schedule queue first */
            rt_schedule_remove_thread(thread);

            /* change thread priority */
            thread->current_priority = *(rt_uint8_t *)arg;

            /* recalculate priority attribute */
#if RT_THREAD_PRIORITY_MAX > 32                                     //优先级参数是否合法判断
            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);
        }
        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://开启线程
        return rt_thread_startup(thread);

#ifdef RT_USING_HEAP
    case RT_THREAD_CTRL_CLOSE://删除线程
        return rt_thread_delete(thread);
#endif

    default:
        break;
    }

    return RT_EOK;
}
RTM_EXPORT(rt_thread_control);

12.挂起线程

rt_err_t rt_thread_suspend(rt_thread_t thread)
{
    register rt_base_t temp;

    /* thread check */
    RT_ASSERT(thread != RT_NULL);
    RT_ASSERT(rt_object_get_type((rt_object_t)thread) == RT_Object_Class_Thread);

    RT_DEBUG_LOG(RT_DEBUG_THREAD, ("thread suspend:  %s\n", thread->name));

    if ((thread->stat & RT_THREAD_STAT_MASK) != RT_THREAD_READY)//线程不是就绪状态发送当前状态日志
    {
        RT_DEBUG_LOG(RT_DEBUG_THREAD, ("thread suspend: thread disorder, 0x%2x\n",
                                       thread->stat));

        return -RT_ERROR;
    }

    /* disable interrupt */
    temp = rt_hw_interrupt_disable();//关中断1

    /* change thread stat */
    thread->stat = RT_THREAD_SUSPEND | (thread->stat & ~RT_THREAD_STAT_MASK);//设置线程标志位
    rt_schedule_remove_thread(thread);//调度器移除线程

    /* stop thread timer anyway */
    rt_timer_stop(&(thread->thread_timer));//关闭线程定时器

    /* enable interrupt */
    rt_hw_interrupt_enable(temp);//开中断1

    RT_OBJECT_HOOK_CALL(rt_thread_suspend_hook, (thread));
    return RT_EOK;
}
RTM_EXPORT(rt_thread_suspend);

13.恢复挂起线程

rt_err_t rt_thread_resume(rt_thread_t thread)
{
    register rt_base_t temp;

    /* thread check */
    RT_ASSERT(thread != RT_NULL);
    RT_ASSERT(rt_object_get_type((rt_object_t)thread) == RT_Object_Class_Thread);

    RT_DEBUG_LOG(RT_DEBUG_THREAD, ("thread resume:  %s\n", thread->name));

    if ((thread->stat & RT_THREAD_STAT_MASK) != RT_THREAD_SUSPEND)
    {
        RT_DEBUG_LOG(RT_DEBUG_THREAD, ("thread resume: thread disorder, %d\n",
                                       thread->stat));

        return -RT_ERROR;
    }

    /* disable interrupt */
    temp = rt_hw_interrupt_disable();//开中断1

    /* remove from suspend list */
    rt_list_remove(&(thread->tlist));//线程挂起队列中移除

    rt_timer_stop(&thread->thread_timer);//停止线程定时器

    /* enable interrupt */
    rt_hw_interrupt_enable(temp);//开中断1

    /* insert to schedule ready list */
    rt_schedule_insert_thread(thread);//将线程

    RT_OBJECT_HOOK_CALL(rt_thread_resume_hook, (thread));
    return RT_EOK;
}
RTM_EXPORT(rt_thread_resume);

14.线程超时等待资源使用

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_STAT_MASK) == RT_THREAD_SUSPEND);
    RT_ASSERT(rt_object_get_type((rt_object_t)thread) == RT_Object_Class_Thread);

    /* set error number */
    thread->error = -RT_ETIMEOUT;//为什么设置为负数？？？

    /* remove from suspend list */
    rt_list_remove(&(thread->tlist));//线程移出队列

    /* insert to schedule ready list */
    rt_schedule_insert_thread(thread);//线程加入就绪链表

    /* do schedule */
    rt_schedule();//启动调度器
}
RTM_EXPORT(rt_thread_timeout);

15.查找线程

rt_thread_t rt_thread_find(char *name)
{
    struct rt_object_information *information;
    struct rt_object *object;
    struct rt_list_node *node;

    /* enter critical */
    if (rt_thread_self() != RT_NULL)
        rt_enter_critical();      //打开调度锁

    /* try to find device object */
    information = rt_object_get_information(RT_Object_Class_Thread);//获得线程对象（储存再对象容器中）结构体参数
    RT_ASSERT(information != RT_NULL);
    for (node  = information->object_list.next;           //对象链表中遍历
         node != &(information->object_list);
         node  = node->next)
    {
        object = rt_list_entry(node, struct rt_object, list);//取出对象节点参数
        if (rt_strncmp(object->name, name, RT_NAME_MAX) == 0)
        {
            /* leave critical */
            if (rt_thread_self() != RT_NULL)
                rt_exit_critical();//关调度锁并返回找到线程

            return (rt_thread_t)object;
        }
    }

    /* leave critical */
    if (rt_thread_self() != RT_NULL)
        rt_exit_critical();   //关调度锁并返回未找到

    /* not found */
    return RT_NULL;
}
RTM_EXPORT(rt_thread_find);

16.空闲线程

空闲线程是一个线程状态永远为就绪态的线程

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3. rtthread例程下载

https://gitee.com/rtthread/docs-online/raw/master/rt-thread-version/rt-thread-standard/tutorial/quick-start/stm32f103-simulator/rtthread_simulator_v0.1.0.7z
例程来源链接https://www.rt-thread.org/document/site/#/rt-thread-version/rt-thread-standard/tutorial/quick-start/stm32f103-simulator/stm32f103-simulator?id=%e5%85%b6%e4%bb%96%e4%be%8b%e5%ad%90