diff --git a/miosix/kernel/kernel.cpp b/miosix/kernel/kernel.cpp
index 2800811c271b881a56a9626f57285dae74bc42c2..a854c073d14b0ef46e595175ee819ea97d0c4811 100755
--- a/miosix/kernel/kernel.cpp
+++ b/miosix/kernel/kernel.cpp
@@ -484,25 +484,26 @@ bool Thread::exists(Thread *p)
bool Thread::IRQexists(Thread* p)
{
if(p==nullptr) return false;
+ //NOTE: the code in all schedulers is currently safe to be called also with
+ //interrupts disabled
return Scheduler::PKexists(p);
}
Priority Thread::getPriority()
{
+ //NOTE: the code in all schedulers is currently safe to be called either
+ //with interrupt enabed or not, and with the kernel paused or not, so
+ //PKgetPriority() and IRQgetPriority() directly call here. If introducing
+ //changes that break this property, these functions may need to be split
return Scheduler::getPriority(this);
}
-Priority Thread::IRQgetPriority()
-{
- return Scheduler::IRQgetPriority(this);
-}
-
void Thread::setPriority(Priority pr)
{
if(pr.validate()==false) return;
PauseKernelLock lock;
- Thread *running=getCurrentThread();
+ Thread *running=PKgetCurrentThread();
//If thread is locking at least one mutex
if(running->mutexLocked!=nullptr)
{
@@ -516,13 +517,13 @@ void Thread::setPriority(Priority pr)
while(walk!=nullptr)
{
if(walk->waiting.empty()==false)
- pr=std::max(pr,walk->waiting.front()->getPriority());
+ pr=std::max(pr,walk->waiting.front()->PKgetPriority());
walk=walk->next;
}
}
//If old priority == desired priority, nothing to do.
- if(pr==running->getPriority()) return;
+ if(pr==running->PKgetPriority()) return;
Scheduler::PKsetPriority(running,pr);
#ifdef SCHED_TYPE_EDF
if(isKernelRunning()) yield(); //Another thread might have a closer deadline
diff --git a/miosix/kernel/kernel.h b/miosix/kernel/kernel.h
index 1f1abb248267759c92c42e272d75abe5c7f4c858..92682e30d428a660726621d0955c8ae197476ab1 100755
--- a/miosix/kernel/kernel.h
+++ b/miosix/kernel/kernel.h
@@ -786,16 +786,25 @@ public:
* function returns the current priority, which can be higher than the
* original priority due to priority inheritance.
* \return current priority of the thread
- *
- * Can be called when the kernel is paused.
*/
Priority getPriority();
/**
- * Same as getPriority(), but meant to be used inside an IRQ, when
- * interrupts are disabled or when the kernel is paused.
+ * Same as getPriority(), but meant to be used when the kernel is paused.
+ */
+ Priority PKgetPriority()
+ {
+ return getPriority(); //Safe to call directly, see implementation
+ }
+
+ /**
+ * Same as getPriority(), but meant to be used inside an IRQ, or when
+ * interrupts are disabled.
*/
- Priority IRQgetPriority();
+ Priority IRQgetPriority()
+ {
+ return getPriority(); //Safe to call directly, see implementation
+ }
/**
* Set the priority of this thread.<br>
@@ -1245,6 +1254,7 @@ public:
*/
bool operator() (Thread* a, Thread *b)
{
+ //Relying on PKgetPriority and IRQgetPriority being the same
return a->getPriority().mutexLessOp(b->getPriority());
}
};
diff --git a/miosix/kernel/scheduler/control/control_scheduler.cpp b/miosix/kernel/scheduler/control/control_scheduler.cpp
index b162038882cfbceef1bed6973aed2e1b35602c29..68630cfbea603375722610f664ecd4b76a1b3132 100644
--- a/miosix/kernel/scheduler/control/control_scheduler.cpp
+++ b/miosix/kernel/scheduler/control/control_scheduler.cpp
@@ -442,7 +442,7 @@ static IntrusiveList<ThreadsListItem>::iterator curInRound=activeThreads.end();
static inline void addThreadToActiveList(ThreadsListItem *atlEntry)
{
- switch(atlEntry->t->getPriority().getRealtime())
+ switch(atlEntry->t->IRQgetPriority().getRealtime())
{
case ControlRealtimePriority::REALTIME_PRIORITY_IMMEDIATE:
activeThreads.insert(curInRound,atlEntry);
diff --git a/miosix/kernel/scheduler/control/control_scheduler.h b/miosix/kernel/scheduler/control/control_scheduler.h
index d0875b5c60d1cd202494f87faf2e155eb0a2c364..2c974276329af213939b82a5621392c19531786a 100755
--- a/miosix/kernel/scheduler/control/control_scheduler.h
+++ b/miosix/kernel/scheduler/control/control_scheduler.h
@@ -88,7 +88,8 @@ public:
/**
* \internal
- * Get the priority of a thread.
+ * Get the priority of a thread. Must be callable also with kernel paused
+ * or IRQ disabled.
* Note that the meaning of priority is scheduler specific.
* \param thread thread whose priority needs to be queried.
* \return the priority of thread.
@@ -98,17 +99,6 @@ public:
return thread->schedData.priority;
}
- /**
- * \internal
- * Same as getPriority, but meant to be called with interrupts disabled.
- * \param thread thread whose priority needs to be queried.
- * \return the priority of thread.
- */
- static ControlSchedulerPriority IRQgetPriority(Thread *thread)
- {
- return thread->schedData.priority;
- }
-
/**
* \internal
* This is called before the kernel is started to by the kernel. The given
diff --git a/miosix/kernel/scheduler/edf/edf_scheduler.h b/miosix/kernel/scheduler/edf/edf_scheduler.h
index ab5c4122e47a2004079b970fc068b3accf56821f..4750eefa584b0f5b8df691448cea8a98557d0498 100755
--- a/miosix/kernel/scheduler/edf/edf_scheduler.h
+++ b/miosix/kernel/scheduler/edf/edf_scheduler.h
@@ -85,7 +85,8 @@ public:
/**
* \internal
- * Get the priority of a thread.
+ * Get the priority of a thread. Must be callable also with kernel paused
+ * or IRQ disabled.
* Note that the meaning of priority is scheduler specific.
* \param thread thread whose priority needs to be queried.
* \return the priority of thread.
@@ -95,16 +96,6 @@ public:
return thread->schedData.deadline;
}
- /**
- * Same as getPriority, but meant to be called with interrupts disabled.
- * \param thread thread whose priority needs to be queried.
- * \return the priority of thread.
- */
- static EDFSchedulerPriority IRQgetPriority(Thread *thread)
- {
- return thread->schedData.deadline;
- }
-
/**
* \internal
* This is called before the kernel is started to by the kernel. The given
diff --git a/miosix/kernel/scheduler/priority/priority_scheduler.cpp b/miosix/kernel/scheduler/priority/priority_scheduler.cpp
index 435451ee684e032d44b6138885f384c217de5db1..ee1425c2d99c88342e4454520c7967839ddf45ef 100644
--- a/miosix/kernel/scheduler/priority/priority_scheduler.cpp
+++ b/miosix/kernel/scheduler/priority/priority_scheduler.cpp
@@ -140,7 +140,7 @@ void PriorityScheduler::PKremoveDeadThreads()
void PriorityScheduler::PKsetPriority(Thread *thread,
PrioritySchedulerPriority newPriority)
{
- PrioritySchedulerPriority oldPriority=getPriority(thread);
+ PrioritySchedulerPriority oldPriority=thread->PKgetPriority();
//First set priority to the new value
thread->schedData.priority=newPriority;
//Then remove the thread from its old list
diff --git a/miosix/kernel/scheduler/priority/priority_scheduler.h b/miosix/kernel/scheduler/priority/priority_scheduler.h
index c5e34cc5a362c1d0db3c6f84fb67d5e403efaaac..b27dd91390cf41ab577e2a243fe092799c120c78 100755
--- a/miosix/kernel/scheduler/priority/priority_scheduler.h
+++ b/miosix/kernel/scheduler/priority/priority_scheduler.h
@@ -86,7 +86,8 @@ public:
/**
* \internal
- * Get the priority of a thread.
+ * Get the priority of a thread. Must be callable also with kernel paused
+ * or IRQ disabled.
* Note that the meaning of priority is scheduler specific.
* \param thread thread whose priority needs to be queried.
* \return the priority of thread.
@@ -96,17 +97,6 @@ public:
return thread->schedData.priority;
}
- /**
- * \internal
- * Same as getPriority, but meant to be called with interrupts disabled.
- * \param thread thread whose priority needs to be queried.
- * \return the priority of thread.
- */
- static PrioritySchedulerPriority IRQgetPriority(Thread *thread)
- {
- return thread->schedData.priority;
- }
-
/**
* \internal
* This is called before the kernel is started to by the kernel. The given
diff --git a/miosix/kernel/scheduler/scheduler.h b/miosix/kernel/scheduler/scheduler.h
index 60a36ff149dbd9cf47d0af3fd476c5d653c0ea6c..0398f161f228d977b4da69e78f7394d86611b318 100755
--- a/miosix/kernel/scheduler/scheduler.h
+++ b/miosix/kernel/scheduler/scheduler.h
@@ -115,7 +115,8 @@ public:
/**
* \internal
- * Get the priority of a thread.
+ * Get the priority of a thread. Must be callable also with kernel paused
+ * or IRQ disabled.
* Note that the meaning of priority is scheduler specific.
* \param thread thread whose priority needs to be queried.
* \return the priority of thread.
@@ -125,17 +126,6 @@ public:
return T::getPriority(thread);
}
- /**
- * \internal
- * Same as getPriority, but meant to be called with interrupts disabled.
- * \param thread thread whose priority needs to be queried.
- * \return the priority of thread.
- */
- static Priority IRQgetPriority(Thread *thread)
- {
- return T::IRQgetPriority(thread);
- }
-
/**
* \internal
* This is called before the kernel is started to by the kernel. The given
diff --git a/miosix/kernel/sync.cpp b/miosix/kernel/sync.cpp
index d893946010221ffce02d70b7a8d0cbef6e473da8..f8a7a873ccfb8d0cfeaed8fb9dd40e8ff8ec7e93 100644
--- a/miosix/kernel/sync.cpp
+++ b/miosix/kernel/sync.cpp
@@ -53,7 +53,7 @@ void Mutex::PKlock(PauseKernelLock& dLock)
owner=p;
//Save original thread priority, if the thread has not yet locked
//another mutex
- if(owner->mutexLocked==nullptr) owner->savedPriority=owner->getPriority();
+ if(owner->mutexLocked==nullptr) owner->savedPriority=owner->PKgetPriority();
//Add this mutex to the list of mutexes locked by owner
this->next=owner->mutexLocked;
owner->mutexLocked=this;
@@ -80,12 +80,12 @@ void Mutex::PKlock(PauseKernelLock& dLock)
//Handle priority inheritance
if(p->mutexWaiting!=nullptr) errorHandler(UNEXPECTED);
p->mutexWaiting=this;
- if(owner->getPriority().mutexLessOp(p->getPriority()))
+ if(owner->PKgetPriority().mutexLessOp(p->PKgetPriority()))
{
Thread *walk=owner;
for(;;)
{
- Scheduler::PKsetPriority(walk,p->getPriority());
+ Scheduler::PKsetPriority(walk,p->PKgetPriority());
if(walk->mutexWaiting==nullptr) break;
make_heap(walk->mutexWaiting->waiting.begin(),
walk->mutexWaiting->waiting.end(),l);
@@ -106,7 +106,7 @@ void Mutex::PKlockToDepth(PauseKernelLock& dLock, unsigned int depth)
if(recursiveDepth>=0) recursiveDepth=depth;
//Save original thread priority, if the thread has not yet locked
//another mutex
- if(owner->mutexLocked==nullptr) owner->savedPriority=owner->getPriority();
+ if(owner->mutexLocked==nullptr) owner->savedPriority=owner->PKgetPriority();
//Add this mutex to the list of mutexes locked by owner
this->next=owner->mutexLocked;
owner->mutexLocked=this;
@@ -133,12 +133,12 @@ void Mutex::PKlockToDepth(PauseKernelLock& dLock, unsigned int depth)
//Handle priority inheritance
if(p->mutexWaiting!=nullptr) errorHandler(UNEXPECTED);
p->mutexWaiting=this;
- if(owner->getPriority().mutexLessOp(p->getPriority()))
+ if(owner->PKgetPriority().mutexLessOp(p->PKgetPriority()))
{
Thread *walk=owner;
for(;;)
{
- Scheduler::PKsetPriority(walk,p->getPriority());
+ Scheduler::PKsetPriority(walk,p->PKgetPriority());
if(walk->mutexWaiting==nullptr) break;
make_heap(walk->mutexWaiting->waiting.begin(),
walk->mutexWaiting->waiting.end(),l);
@@ -159,7 +159,7 @@ bool Mutex::PKtryLock(PauseKernelLock& dLock)
owner=p;
//Save original thread priority, if the thread has not yet locked
//another mutex
- if(owner->mutexLocked==nullptr) owner->savedPriority=owner->getPriority();
+ if(owner->mutexLocked==nullptr) owner->savedPriority=owner->PKgetPriority();
//Add this mutex to the list of mutexes locked by owner
this->next=owner->mutexLocked;
owner->mutexLocked=this;
@@ -207,7 +207,7 @@ bool Mutex::PKunlock(PauseKernelLock& dLock)
if(owner->mutexLocked==nullptr)
{
//Not locking any other mutex
- if(owner->savedPriority!=owner->getPriority())
+ if(owner->savedPriority!=owner->PKgetPriority())
Scheduler::PKsetPriority(owner,owner->savedPriority);
} else {
Priority pr=owner->savedPriority;
@@ -217,11 +217,11 @@ bool Mutex::PKunlock(PauseKernelLock& dLock)
while(walk!=nullptr)
{
if(walk->waiting.empty()==false)
- if (pr.mutexLessOp(walk->waiting.front()->getPriority()))
- pr = walk->waiting.front()->getPriority();
+ if(pr.mutexLessOp(walk->waiting.front()->PKgetPriority()))
+ pr=walk->waiting.front()->PKgetPriority();
walk=walk->next;
}
- if(pr!=owner->getPriority()) Scheduler::PKsetPriority(owner,pr);
+ if(pr!=owner->PKgetPriority()) Scheduler::PKsetPriority(owner,pr);
}
//Choose next thread to lock the mutex
@@ -235,15 +235,15 @@ bool Mutex::PKunlock(PauseKernelLock& dLock)
if(owner->mutexWaiting!=this) errorHandler(UNEXPECTED);
owner->mutexWaiting=nullptr;
owner->PKwakeup();
- if(owner->mutexLocked==nullptr) owner->savedPriority=owner->getPriority();
+ if(owner->mutexLocked==nullptr) owner->savedPriority=owner->PKgetPriority();
//Add this mutex to the list of mutexes locked by owner
this->next=owner->mutexLocked;
owner->mutexLocked=this;
//Handle priority inheritance of new owner
if(waiting.empty()==false &&
- owner->getPriority().mutexLessOp(waiting.front()->getPriority()))
- Scheduler::PKsetPriority(owner,waiting.front()->getPriority());
- return p->getPriority().mutexLessOp(owner->getPriority());
+ owner->PKgetPriority().mutexLessOp(waiting.front()->PKgetPriority()))
+ Scheduler::PKsetPriority(owner,waiting.front()->PKgetPriority());
+ return p->PKgetPriority().mutexLessOp(owner->PKgetPriority());
} else {
owner=nullptr; //No threads waiting
std::vector<Thread *>().swap(waiting); //Save some RAM
@@ -279,7 +279,7 @@ unsigned int Mutex::PKunlockAllDepthLevels(PauseKernelLock& dLock)
if(owner->mutexLocked==nullptr)
{
//Not locking any other mutex
- if(owner->savedPriority!=owner->getPriority())
+ if(owner->savedPriority!=owner->PKgetPriority())
Scheduler::PKsetPriority(owner,owner->savedPriority);
} else {
Priority pr=owner->savedPriority;
@@ -289,11 +289,11 @@ unsigned int Mutex::PKunlockAllDepthLevels(PauseKernelLock& dLock)
while(walk!=nullptr)
{
if(walk->waiting.empty()==false)
- if(pr.mutexLessOp(walk->waiting.front()->getPriority()))
- pr=walk->waiting.front()->getPriority();
+ if(pr.mutexLessOp(walk->waiting.front()->PKgetPriority()))
+ pr=walk->waiting.front()->PKgetPriority();
walk=walk->next;
}
- if(pr!=owner->getPriority()) Scheduler::PKsetPriority(owner,pr);
+ if(pr!=owner->PKgetPriority()) Scheduler::PKsetPriority(owner,pr);
}
//Choose next thread to lock the mutex
@@ -307,14 +307,14 @@ unsigned int Mutex::PKunlockAllDepthLevels(PauseKernelLock& dLock)
if(owner->mutexWaiting!=this) errorHandler(UNEXPECTED);
owner->mutexWaiting=nullptr;
owner->PKwakeup();
- if(owner->mutexLocked==nullptr) owner->savedPriority=owner->getPriority();
+ if(owner->mutexLocked==nullptr) owner->savedPriority=owner->PKgetPriority();
//Add this mutex to the list of mutexes locked by owner
this->next=owner->mutexLocked;
owner->mutexLocked=this;
//Handle priority inheritance of new owner
if(waiting.empty()==false &&
- owner->getPriority().mutexLessOp(waiting.front()->getPriority()))
- Scheduler::PKsetPriority(owner,waiting.front()->getPriority());
+ owner->PKgetPriority().mutexLessOp(waiting.front()->PKgetPriority()))
+ Scheduler::PKsetPriority(owner,waiting.front()->PKgetPriority());
} else {
owner=nullptr; //No threads waiting
std::vector<Thread *>().swap(waiting); //Save some RAM
@@ -404,7 +404,7 @@ bool ConditionVariable::doBroadcast()
Thread *t=condList.front()->thread;
condList.pop_front();
t->PKwakeup();
- if(t->getPriority()>Thread::PKgetCurrentThread()->getPriority())
+ if(t->PKgetPriority()>Thread::PKgetCurrentThread()->PKgetPriority())
hppw=true;
}
return hppw;