sched/sleep: add support for scheduling sleep

include/nuttx/sched.h

@@ -1714,6 +1714,82 @@ int nxsched_smp_call_async(cpu_set_t cpuset,
                            FAR struct smp_call_data_s *data);
 #endif
 
+/****************************************************************************
+ * Name: nxsched_ticksleep
+ *
+ * Description:
+ *   The nxsched_ticksleep() function will cause the calling thread to be
+ *   suspended from execution for the specified number of system ticks.
+ *
+ *   It can only be resumed through scheduler operations.
+ *
+ * Input Parameters:
+ *   ticks - The number of system ticks to sleep.
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+void nxsched_ticksleep(unsigned int ticks);
+
+/****************************************************************************
+ * Name: nxsched_usleep
+ *
+ * Description:
+ *   The nxsched_usleep() function will cause the calling thread to be
+ *   suspended from execution for the specified number of microseconds.
+ *
+ *   It can only be resumed through scheduler.
+ *
+ * Input Parameters:
+ *   usec - The number of microseconds to sleep.
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+void nxsched_usleep(useconds_t usec);
+
+/****************************************************************************
+ * Name: nxsched_msleep
+ *
+ * Description:
+ *   The nxsched_msleep() function will cause the calling thread to be
+ *   suspended from execution for the specified number of milliseconds.
+ *
+ *   It can only be resumed through scheduler.
+ *
+ * Input Parameters:
+ *   msec - The number of milliseconds to sleep.
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+void nxsched_msleep(unsigned int msec);
+
+/****************************************************************************
+ * Name: nxsched_sleep
+ *
+ * Description:
+ *   The nxsched_sleep() function will cause the calling thread to be
+ *   suspended from execution for the specified number of seconds.
+ *
+ *   It can only be resumed through scheduler.
+ *
+ * Input Parameters:
+ *   sec - The number of seconds to sleep.
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+void nxsched_sleep(unsigned int sec);
+
 #undef EXTERN
 #if defined(__cplusplus)
 }

sched/sched/CMakeLists.txt

@@ -47,7 +47,8 @@ set(SRCS
     sched_get_tls.c
     sched_sysinfo.c
     sched_get_stateinfo.c
-    sched_switchcontext.c)
+    sched_switchcontext.c
+    sched_sleep.c)
 
 if(DEFINED CONFIG_STACKCHECK_MARGIN)
   if(NOT CONFIG_STACKCHECK_MARGIN EQUAL -1)

sched/sched/Make.defs

@@ -30,7 +30,7 @@ CSRCS += sched_yield.c sched_rrgetinterval.c sched_foreach.c
 CSRCS += sched_lock.c sched_unlock.c sched_lockcount.c
 CSRCS += sched_idletask.c sched_self.c sched_get_stackinfo.c sched_get_tls.c
 CSRCS += sched_sysinfo.c sched_get_stateinfo.c sched_getcpu.c
-CSRCS += sched_switchcontext.c
+CSRCS += sched_switchcontext.c sched_sleep.c
 
 ifneq ($(CONFIG_STACKCHECK_MARGIN),)
   ifneq ($(CONFIG_STACKCHECK_MARGIN),-1)

sched/sched/sched_sleep.c

@@ -0,0 +1,213 @@
+/****************************************************************************
+ * sched/sched/sched_sleep.c
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <nuttx/irq.h>
+#include <nuttx/clock.h>
+
+#include "sched/sched.h"
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: nxsched_timeout
+ *
+ * Description:
+ *   A timeout elapsed while waiting for timeout.
+ *
+ * Assumptions:
+ *   This function executes in the context of the timer interrupt handler.
+ *   Local interrupts are assumed to be disabled on entry.
+ *
+ * Input Parameters:
+ *   arg - Parameter to pass to wdentry.
+ *
+ ****************************************************************************/
+
+static void nxsched_timeout(wdparm_t arg)
+{
+  FAR struct tcb_s *wtcb;
+  irqstate_t flags;
+
+  /* Get waiting tcb from parameter */
+
+  wtcb = (FAR struct tcb_s *)(uintptr_t)arg;
+
+  /* We must be in a critical section in order to call up_switch_context()
+   * below.
+   */
+
+  flags = enter_critical_section();
+
+  /* There may be a race condition -- make sure the task is
+   * still waiting for a signal
+   */
+
+  if (wtcb->task_state == TSTATE_WAIT_SIG)
+    {
+      FAR struct tcb_s *rtcb = this_task();
+
+      /* Remove the task from waiting list */
+
+      dq_rem((FAR dq_entry_t *)wtcb, list_waitingforsignal());
+
+      /* Add the task to ready-to-run task list, and
+       * perform the context switch if one is needed
+       */
+
+      if (nxsched_add_readytorun(wtcb))
+        {
+          up_switch_context(this_task(), rtcb);
+        }
+    }
+
+  leave_critical_section(flags);
+}
+
+/****************************************************************************
+ * Name: nxsched_ticksleep
+ *
+ * Description:
+ *   The nxsched_ticksleep() function will cause the calling thread to be
+ *   suspended from execution for the specified number of system ticks.
+ *
+ *   It can only be resumed through scheduler operations.
+ *
+ * Input Parameters:
+ *   ticks - The number of system ticks to sleep.
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+void nxsched_ticksleep(unsigned int ticks)
+{
+  FAR struct tcb_s *rtcb;
+  irqstate_t flags;
+
+  if (ticks == 0)
+    {
+      sched_yield();
+      return;
+    }
+
+  flags = enter_critical_section();
+
+  rtcb = this_task();
+
+  wd_start(&rtcb->waitdog, ticks, nxsched_timeout, (uintptr_t)rtcb);
+
+  /* Remove the tcb task from the ready-to-run list. */
+
+  nxsched_remove_self(rtcb);
+
+  /* Add the task to the specified blocked task list */
+
+  rtcb->task_state = TSTATE_WAIT_SIG;
+  dq_addlast((FAR dq_entry_t *)rtcb, &g_waitingforsignal);
+
+  /* Now, perform the context switch if one is needed */
+
+  up_switch_context(this_task(), rtcb);
+
+  wd_cancel(&rtcb->waitdog);
+
+  leave_critical_section(flags);
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: nxsched_usleep
+ *
+ * Description:
+ *   The nxsched_usleep() function will cause the calling thread to be
+ *   suspended from execution for the specified number of microseconds.
+ *
+ *   It can only be resumed through scheduler.
+ *
+ * Input Parameters:
+ *   usec - The number of microseconds to sleep.
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+void nxsched_usleep(useconds_t usec)
+{
+  nxsched_ticksleep(USEC2TICK(usec));
+}
+
+/****************************************************************************
+ * Name: nxsched_msleep
+ *
+ * Description:
+ *   The nxsched_msleep() function will cause the calling thread to be
+ *   suspended from execution for the specified number of milliseconds.
+ *
+ *   It can only be resumed through scheduler.
+ *
+ * Input Parameters:
+ *   msec - The number of milliseconds to sleep.
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+void nxsched_msleep(unsigned int msec)
+{
+  nxsched_ticksleep(MSEC2TICK(msec));
+}
+
+/****************************************************************************
+ * Name: nxsched_sleep
+ *
+ * Description:
+ *   The nxsched_sleep() function will cause the calling thread to be
+ *   suspended from execution for the specified number of seconds.
+ *
+ *   It can only be resumed through scheduler.
+ *
+ * Input Parameters:
+ *   sec - The number of seconds to sleep.
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+void nxsched_sleep(unsigned int sec)
+{
+  nxsched_ticksleep(SEC2TICK(sec));
+}