sics/task.c

/*------------------------------------------------------------------------

				T A S K E R
				
  Implementation of a portable task switcher.
  
  Mark Koennecke, September 1997
  
  copyleft, 1997.
  
  NO WARRANTIES OF ANY KIND WHATSOEVER TAKEN BY ME OR MY EMPLOYER.
  YOU ARE AT YOUR OWN!
----------------------------------------------------------------------------*/
#include <stdlib.h>
#include <assert.h>
#include "fortify.h"
#include "task.h"
#define READY 1
#define WAITING 2
#define YIELDING 3
/*--------------------------------------------------------------------------*/
typedef struct __TaskHead {
  long lID;
  int iStatus;
  long lWait;
  TaskFunc pRun;
  SignalFunc pSignal;
  void *pData;
  TaskKillFunc pKill;
  pTaskHead pNext;
  pTaskHead pPrevious;
} TaskHead;

typedef struct __TaskMan {
  int iID;
  int iStop;
  pTaskHead pCurrent;
  pTaskHead pHead;
} TaskMan;
/*---------------------------------------------------------------------------*/
static long lIDMama = 0L;
#define  TASKERID 123399
/*---------------------------------------------------------------------------*/

static pTaskHead MakeTaskHead(TaskFunc pTask, SignalFunc pSignal,
                              void *pData, TaskKillFunc pKill)
{
  pTaskHead pNew = NULL;

  pNew = (pTaskHead) malloc(sizeof(TaskHead));
  if (!pNew) {
    return NULL;
  }
  memset(pNew, 0, sizeof(TaskHead));

  pNew->pRun = pTask;
  pNew->pSignal = pSignal;
  pNew->pData = pData;
  pNew->pKill = pKill;
  pNew->lID = lIDMama++;
  pNew->iStatus = READY;

  return pNew;
}

/*--------------------------------------------------------------------------*/
static void DeleteTaskHead(pTaskHead self)
{
  assert(self);

  if (self->pKill) {
    if (self->pData) {
      self->pKill(self->pData);
    }
  }
  /* unlink */
  if (self->pPrevious != NULL) {
    self->pPrevious->pNext = self->pNext;
  }
  if (self->pNext != NULL) {
    self->pNext->pPrevious = self->pPrevious;
  }
  free(self);
}

/*--------------------------------------------------------------------------*/
static int DummyTask(void *pData)
{
  return 1;
}

/*--------------------------------------------------------------------------*/
int TaskerInit(pTaskMan * self)
{
  pTaskMan pNew = NULL;
  pTaskHead pDummyTask = NULL;

  *self = NULL;
  /* a new Task manager */
  pNew = (pTaskMan) malloc(sizeof(TaskMan));
  if (!pNew) {
    return 0;
  }
  memset(pNew, 0, sizeof(TaskMan));
  pNew->iID = TASKERID;

  /* create a dummy task as start point */
  pDummyTask = MakeTaskHead(DummyTask, NULL, NULL, NULL);
  if (!pDummyTask) {
    free(pNew);
    return 0;
  }

  /* link */
  pDummyTask->pNext = NULL;
  pDummyTask->pPrevious = NULL;

  pNew->pCurrent = pDummyTask;
  pNew->pHead = pDummyTask;
  *self = pNew;
  return 1;
}

/*---------------------------------------------------------------------------*/
int TaskerDelete(pTaskMan * pData)
{
  pTaskMan self = *pData;
  pTaskHead pCurrent, pKill;

  assert(self);
  assert(self->iID == TASKERID);

  pCurrent = self->pHead;
  while (pCurrent != NULL) {
    pKill = pCurrent;
    pCurrent = pCurrent->pNext;
    DeleteTaskHead(pKill);
  }
  free(self);
  *pData = NULL;
  return 1;
}

/*---------------------------------------------------------------------------*/
long TaskRegister(pTaskMan self, TaskFunc pTask, SignalFunc pSignal,
                  TaskKillFunc pKill, void *pData, int iPriority)
{
  pTaskHead pNew = NULL;

  assert(self);
  assert(self->iID == TASKERID);
  assert(pTask);

  pNew = MakeTaskHead(pTask, pSignal, pData, pKill);
  if (!pNew) {
    return -1;
  }

  /* link it in */
  if (self->pCurrent->pNext) {
    self->pCurrent->pNext->pPrevious = pNew;
  }
  pNew->pPrevious = self->pCurrent;
  pNew->pNext = self->pCurrent->pNext;
  self->pCurrent->pNext = pNew;

  return pNew->lID;
}

/*-------------------------------------------------------------------------*/
static void IncrTaskPointer(pTaskMan self)
{
  self->pCurrent = self->pCurrent->pNext;
  if (self->pCurrent == NULL) {
    self->pCurrent = self->pHead;
  }
}

/*-------------------------------------------------------------------------*/
static int TaskExist(pTaskMan self, long lID)
{
  pTaskHead pCur = self->pHead;
  while (pCur != NULL) {
    if (pCur->lID == lID) {
      return 1;
    }
    pCur = pCur->pNext;
  }
  return 0;
}

/*--------------------------------------------------------------------------*/
int TaskSchedule(pTaskMan self)
{
  int iRet;
  pTaskHead pTemp;

  assert(self);
  assert(self->iID == TASKERID);

  /* forever, until stop is called somehow */
  while (self->iStop == 0) {
    if (self->pCurrent->iStatus == READY) {
      iRet = self->pCurrent->pRun(self->pCurrent->pData);
      if (iRet != 1) {
        pTemp = self->pCurrent;
        IncrTaskPointer(self);
        DeleteTaskHead(pTemp);
      } else {
        IncrTaskPointer(self);
      }
    } else {
      IncrTaskPointer(self);
    }
  }
  return 1;
}

/*-----------------------------------------------------------------*/
int TaskWait(pTaskMan self, long lID)
{
  int iRet;
  long lTest;
  pTaskHead pTemp, pEnd;

  assert(self);
  assert(self->iID == TASKERID);

  /* Cycle until lID is killed. Stop is obeyed as well */
  pEnd = self->pCurrent;
  pEnd->iStatus = WAITING;
  IncrTaskPointer(self);
  while (self->iStop == 0) {
    if ((self->pCurrent != pEnd) && (self->pCurrent->iStatus == READY)
        && self->pCurrent != NULL)
      /* omit ourselves! */
    {
      iRet = self->pCurrent->pRun(self->pCurrent->pData);
      if (iRet != 1) {
        pTemp = self->pCurrent;
        lTest = pTemp->lID;
        IncrTaskPointer(self);
        DeleteTaskHead(pTemp);
        if (lTest == lID) {
          goto ente;
        }
      } else {
        IncrTaskPointer(self);
      }
    } else {
      IncrTaskPointer(self);
    }
    if (self->pCurrent == self->pHead) {
      if (!TaskExist(self, lID))
        goto ente;
    }
  }

ente:
  /* task ended, we need to continue to  pEnd before we are done */
  while (self->pCurrent != pEnd) {
    IncrTaskPointer(self);
  }
  pEnd->iStatus = READY;
  return 1;
}

/*----------------------------------------------------------------*/
int TaskYield(pTaskMan self)
{
  int iRet;
  long lTest;
  pTaskHead pTemp, pEnd;

  assert(self);
  assert(self->iID == TASKERID);

  /* Cycle until back at ourselves  */
  pEnd = self->pCurrent;
  pEnd->iStatus = WAITING;
  IncrTaskPointer(self);
  while ((self->iStop == 0) && (self->pCurrent != pEnd)) {
    if ((self->pCurrent != pEnd) && (self->pCurrent->iStatus == READY))
      /* omit ourselves! */
    {
      iRet = self->pCurrent->pRun(self->pCurrent->pData);
      if (iRet != 1) {
        pTemp = self->pCurrent;
        lTest = pTemp->lID;
        IncrTaskPointer(self);
        DeleteTaskHead(pTemp);
      } else {
        IncrTaskPointer(self);
      }
    } else {
      IncrTaskPointer(self);
    }
  }
  pEnd->iStatus = READY;
  return 1;
}

/*---------------------------------------------------------------------------*/
int TaskSignal(pTaskMan self, int iSignal, void *pSigData)
{
  pTaskHead pTemp, pEnd;
  int myStatus = self->pCurrent->iStatus;

  assert(self);
  assert(self->iID == TASKERID);

  /* Do one cycle until we are at the caller, then return to him */
  pEnd = self->pCurrent;
  pEnd->iStatus = WAITING;
  IncrTaskPointer(self);
  while (self->pCurrent != pEnd) {
    if (self->pCurrent->pSignal) {
      self->pCurrent->pSignal(self->pCurrent->pData, iSignal, pSigData);
    }
    IncrTaskPointer(self);
  }
  /* finally, tell me about the thingie as well */
  pEnd->iStatus = myStatus;
  if (pEnd->pSignal) {
    pEnd->pSignal(pEnd->pData, iSignal, pSigData);
  }

  return 1;
}

/*--------------------------------------------------------------------------*/
int TaskStop(pTaskMan self)
{
  assert(self);
  assert(self->iID == TASKERID);

  self->iStop = 1;
  return 1;
}

/*--------------------------------------------------------------------------*/
int TaskContinue(pTaskMan self)
{
  assert(self);
  assert(self->iID == TASKERID);

  self->iStop = 0;
  return 1;
}

/*--------------------------------------------------------------------------*/
void TaskRemove(pTaskMan self, TaskFunc pTaskRun, void *pData)
{
  int iRet;
  pTaskHead pCurrent, pNext;

  if (self == NULL) return;
  assert(self->iID == TASKERID);

  pNext = self->pHead->pNext;   /* skip dummy task */
  while (pNext != NULL) {
    pCurrent = pNext;
    pNext = pCurrent->pNext;
    if (pCurrent->pRun == pTaskRun && pCurrent->pData == pData) {
      /* unlink */
      if (pCurrent->pPrevious != NULL) {
        pCurrent->pPrevious->pNext = pCurrent->pNext;
      }
      if (pCurrent->pNext != NULL) {
        pCurrent->pNext->pPrevious = pCurrent->pPrevious;
      }
      free(pCurrent);
    }
  }
  return;
}