rt-thread操作系统是一个多线程的操作系统，线程对于rt-thread来说是一个很重要的概念，因此，必须掌握它。
1 线程控制块的数据结构
/**
* Thread structure
*/
struct rt_thread
{
/* rt object *///这里就是rt_object的结构,其实也可以用rt_object parent来定义，估计线程在早些时候并没有这么做，后来也就没改过来
char name[RT_NAME_MAX]; /**< the name of thread */
rt_uint8_t type; /**< type of object */
rt_uint8_t flags; /**< thread's flags */
#ifdef RT_USING_MODULE//模块ID
void *module_id; /**< id of application module */
#endif
//内核对象链表
rt_list_t list; /**< the object list */
rt_list_t tlist; /**< the thread list *///线程链表,一般用作就绪队列元素节点
/* stack point and entry */
void *sp; /**< stack point *///栈指针
void *entry; /**< entry *///入口函数
void *parameter; /**< parameter *///入口函数对应的参数
void *stack_addr; /**< stack address *///栈地址
rt_uint16_t stack_size; /**< stack size *///栈大小
/* error code */
rt_err_t error; /**< error code *///错误代码,用于IPC机制中，标志是否已经获取成功
rt_uint8_t stat; /**< thread stat *///线程的当前状态
/* priority */
rt_uint8_t current_priority; /**< current priority *///当前优先级
rt_uint8_t init_priority; /**< initialized priority *///初始优先级
#if RT_THREAD_PRIORITY_MAX > 32
rt_uint8_t number;
rt_uint8_t high_mask;
#endif
rt_uint32_t number_mask;
#if defined(RT_USING_EVENT)//与IPC机制事件相关的一些参数
/* thread event */
rt_uint32_t event_set; //此线程接收到的事件
rt_uint8_t event_info;//此线程的事件过滤信息,用于过滤事件,只保留感兴趣的事件
#endif
rt_ubase_t init_tick; /**< thread's initialized tick *///初始tick
rt_ubase_t remaining_tick; /**< remaining tick *///剩余tick
struct rt_timer thread_timer; /**< built-in thread timer *///线程定时器
void (*cleanup)(struct rt_thread *tid); /**< cleanup function when thread exit *///相当于线程的析构函数，用于销毁线程时做些后续操作
rt_uint32_t user_data; /**< private user data beyond this thread *///析构函数的输入参数
};
typedef struct rt_thread *rt_thread_t;
上面代码其中线程控制块的内部成员number, high_mask, number_mask与线程调度时获获取当前最高优先级线程的算法有关，这里不做介绍，详情请见:http://blog.csdn.net/flydream0/article/details/8588584
event_set, evernt_info与事件相关，在后续讲到IPC机制的事件时将会提出，这里也先不做介绍.
2 线程创建及初始化
2.1 初始化线程
/*@{*/
/**
* This function will initialize a thread, normally it's used to initialize a
* static thread object.
*
* @param thread the static thread object
* @param name the name of thread, which shall be unique
* @param entry the entry function of thread
* @param parameter the parameter of thread enter function
* @param stack_start the start address of thread stack
* @param stack_size the size of thread stack
* @param priority the priority of thread
* @param tick the time slice if there are same priority thread
*
* @return the operation status, RT_EOK on OK, -RT_ERROR on error
*/
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)
{
/* thread check *///参数检查
RT_ASSERT(thread != RT_NULL);
RT_ASSERT(stack_start != RT_NULL);
/* init thread object */
rt_object_init((rt_object_t)thread, RT_Object_Class_Thread, name);//初始化内核对象
return _rt_thread_init(thread,
name,
entry,
parameter,
stack_start,
stack_size,
priority,
tick);
}
其中_rt_thread_init的函数如下定义:
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));//初始化线程节点 thread->entry = (void *)entry;//入口函数 thread->parameter = parameter;//入口函数的参数 /* stack init */ thread->stack_addr = stack_start;//栈地址 thread->stack_size = (rt_uint16_t)stack_size;//栈大小 /* init thread stack */ rt_memset(thread->stack_addr, '#', thread->stack_size);//将栈内的所有字节初始化为'#'号 thread->sp = (void *)rt_hw_stack_init(thread->entry, thread->parameter,//初始化时设置sp的内容，rt_hw_stack_init是一个与具体MCU相关的函数，这里就不做介绍 (void *)((char *)thread->stack_addr + thread->stack_size - 4), (void *)rt_thread_exit); /* priority init */ RT_ASSERT(priority < RT_THREAD_PRIORITY_MAX); thread->init_priority = priority;//当前优先级和初始化优先级设置 thread->current_priority = priority; /* tick init */ thread->init_tick = tick;//初始化tick和剩余tick thread->remaining_tick = tick; /* error and flags */ thread->error = RT_EOK;//错误的状态，线程状态初始化时为RT_THREAD_INIT thread->stat = RT_THREAD_INIT; /* initialize cleanup function and user data */ thread->cleanup = 0;//线程析构函数及其参数 thread->user_data = 0; /* init thread timer */ rt_timer_init(&(thread->thread_timer),//初始化线程的定时器 thread->name, rt_thread_timeout, thread, 0, RT_TIMER_FLAG_ONE_SHOT); return RT_EOK;}
初始化函数将线程栈内容全部初始化为'#'号.
其中rt_thread_timeout的函数如下定义:
/**
* This function is the timeout function for thread, normally which is invoked
* when thread is timeout to wait some resource.
*
* @param parameter the parameter of thread timeout function
*/
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_SUSPEND);
/* set error number */
thread->error = -RT_ETIMEOUT;//设置此线程的error为超时错误，这些IPC机制中非常有用，
/* remove from suspend list *///从挂起链表中移除
rt_list_remove(&(thread->tlist));
/* insert to schedule ready list */
rt_schedule_insert_thread(thread);//加入调度器
/* do schedule */
rt_schedule();//重新调度
}
注:当线程进入睡眠时，程序将线程对应的定时器加入到定时器超时链表，一旦时间到达，则调用此定时器的超时处理函数，即rt_thread_timeout函数，可上源码可知，在这个线程定时器超时处理函数内，将会将线程加入到调度器。
此外,需要特别注意地是，此函数会将超时的线程的error设置为-RT_ETIMEOUT,用来标志此线程并未获得IPC，这在IPC机制中判断某个线程是否已成功获取某个IPC对象时非常有用。
此超时回调函数主要是将挂起的线程加入到调度器中进行重新调度，即唤醒它。2.2 创建线程
/**
* This function will create a thread object and allocate thread object memory
* and stack.
*
* @param name the name of thread, which shall be unique
* @param entry the entry function of thread
* @param parameter the parameter of thread enter function
* @param stack_size the size of thread stack
* @param priority the priority of thread
* @param tick the time slice if there are same priority thread
*
* @return the created thread object
*/
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,//动态分配一个内核对象
name);
if (thread == RT_NULL)
return RT_NULL;
stack_start = (void *)rt_malloc(stack_size);//动态分配一个线程栈
if (stack_start == RT_NULL)
{
/* allocate stack failure */
rt_object_delete((rt_object_t)thread);
return RT_NULL;
}
_rt_thread_init(thread,//初始化线程
name,
entry,
parameter,
stack_start,
stack_size,
priority,
tick);
return thread;
}
3 线程的脱离及删除
3.1 脱离线程
/**
* This function will detach a thread. The thread object will be removed from
* thread queue and detached/deleted from system object management.
*
* @param thread the thread to be deleted
*
* @return the operation status, RT_EOK on OK, -RT_ERROR on error
*/
rt_err_t rt_thread_detach(rt_thread_t thread)
{
rt_base_t lock;
/* thread check */
RT_ASSERT(thread != RT_NULL);
/* remove from schedule */
rt_schedule_remove_thread(thread);//将线程从调度器中移除
/* release thread timer */
rt_timer_detach(&(thread->thread_timer));//脱离定时器
/* change stat */
thread->stat = RT_THREAD_CLOSE;//将线程的状态设置为RT_THREAD_CLOSE
/* detach object */
rt_object_detach((rt_object_t)thread);//脱离内核对象
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
}
return RT_EOK;
}
需要注意地是，线程的脱离函数如果当前线程离开进行一些善后工作，即存在cleanup析构函数，此时，会将此线程加入到回收线程链表rt_thread_defunct中去，等到系统空闲时再由空闲线程来“回收"此线程，详情请参考:http://blog.csdn.net/flydream0/article/details/8590415 一文.
3.2 删除线程
/**
* This function will delete a thread. The thread object will be removed from
* thread queue and detached/deleted from system object management.
*
* @param thread the thread to be deleted
*
* @return the operation status, RT_EOK on OK, -RT_ERROR on error
*/
rt_err_t rt_thread_delete(rt_thread_t thread)
{
rt_base_t lock;
/* thread check */
RT_ASSERT(thread != RT_NULL);
/* remove from schedule */
rt_schedule_remove_thread(thread);//从调度器中移除线程
/* release thread timer */
rt_timer_detach(&(thread->thread_timer));//脱离定时器
/* change stat */
thread->stat = RT_THREAD_CLOSE;//线程状态设置为RT_THREAD_CLOSE
/* disable interrupt */
lock = rt_hw_interrupt_disable();//关中断
/* insert to defunct thread list */
rt_list_insert_after(&rt_thread_defunct, &(thread->tlist));//将当前线程加入到空闲时才会处理的链表中
/* enable interrupt */
rt_hw_interrupt_enable(lock);//开中断
return RT_EOK;
}
4 启动线程
/**
* This function will start a thread and put it to system ready queue
*
* @param thread the thread to be started
*
* @return the operation status, RT_EOK on OK, -RT_ERROR on error
*/
rt_err_t rt_thread_startup(rt_thread_t thread)
{
/* thread check *///参数检查
RT_ASSERT(thread != RT_NULL);
RT_ASSERT(thread->stat == RT_THREAD_INIT);
/* set current priority to init priority */
thread->current_priority = thread->init_priority;//启动线程时将线程当前的优先级设置为初始优先级
/* calculate priority attribute */
#if RT_THREAD_PRIORITY_MAX > 32
thread->number = thread->current_priority >> 3; /* 5bit */
thread->number_mask = 1L << thread->number;
thread->high_mask = 1L << (thread->current_priority & 0x07); /* 3bit */
#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;//将线程的状态设置为RT_THREAD_SUSPEND
/* then resume it */
rt_thread_resume(thread);//还原线程
if (rt_thread_self() != RT_NULL)//如果当前的线程不为空,则执行线程调度操作
{
/* do a scheduling */
rt_schedule();
}
return RT_EOK;
}
由此可见，启动线程时，首先会将线程设置为挂起状态，然后再唤醒它。
其中rt_thread_self函数为获取当前线程，其源码如下定义:
/**rt_current_thread为全局变量，保存当前正在运行的线程。
* This function will return self thread object
*
* @return the self thread object
*/
rt_thread_t rt_thread_self(void)
{
return rt_current_thread;
}
rt_thread_resume函数见后第6章内容,rt_schedule函数见线程调度源码分析相关章节.
5 线程挂起
/**
* This function will suspend the specified thread.
*
* @param thread the thread to be suspended
*
* @return the operation status, RT_EOK on OK, -RT_ERROR on error
*
* @note if suspend self thread, after this function call, the
* rt_schedule() must be invoked.
*/
rt_err_t rt_thread_suspend(rt_thread_t thread)
{
register rt_base_t temp;
/* thread check */
RT_ASSERT(thread != RT_NULL);
RT_DEBUG_LOG(RT_DEBUG_THREAD, ("thread suspend: %s\n", thread->name));
if (thread->stat != RT_THREAD_READY)//此函数只对处于就绪状态的线程操作
{
RT_DEBUG_LOG(RT_DEBUG_THREAD, ("thread suspend: thread disorder, %d\n",
thread->stat));
return -RT_ERROR;
}
/* disable interrupt */
temp = rt_hw_interrupt_disable();//关中断
/* change thread stat */
thread->stat = RT_THREAD_SUSPEND;//将线程设置为挂起状态
rt_schedule_remove_thread(thread);//将线程从调试器中移除
/* enable interrupt */
rt_hw_interrupt_enable(temp);//开中断
return RT_EOK;
}
有关rt_schedule_remove_thread函数见后续在前调度器源码分析的文章。
此函数比较简单。
6 线程唤醒
/**由上源码可见，此函数只是将线程加入到调度器就绪队列中，并没有真正唤醒它，而真正唤醒线程需要rt_schedule.
* This function will resume a thread and put it to system ready queue.
*
* @param thread the thread to be resumed
*
* @return the operation status, RT_EOK on OK, -RT_ERROR on error
*/
rt_err_t rt_thread_resume(rt_thread_t thread)
{
register rt_base_t temp;
/* thread check */
RT_ASSERT(thread != RT_NULL);
RT_DEBUG_LOG(RT_DEBUG_THREAD, ("thread resume: %s\n", thread->name));
if (thread->stat != RT_THREAD_SUSPEND)//只对处于挂起的线程进行还原操作
{
RT_DEBUG_LOG(RT_DEBUG_THREAD, ("thread resume: thread disorder, %d\n",
thread->stat));
return -RT_ERROR;
}
/* disable interrupt */
temp = rt_hw_interrupt_disable();//关中断
/* remove from suspend list */
rt_list_remove(&(thread->tlist));//从挂起队列中移除
/* remove thread timer */
rt_list_remove(&(thread->thread_timer.list));//因线程即将运行，所以需要移除定时器，无需再定时
/* change timer state */
thread->thread_timer.parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;//将内核对象的标志设置为定时器非激活标志
/* enable interrupt */
rt_hw_interrupt_enable(temp);//开中断
/* insert to schedule ready list */
rt_schedule_insert_thread(thread);//将线程加入调度器
return RT_EOK;
}
7 线程让出处理机
当前线程的时间片用完或者该线程自动要求让出处理器资源时，它不再占有处理机，调度器会选择下一个最高优先级的线程执行。这时，放弃处理器资源的线程仍然在就绪队列中,只不过放到就绪队列末尾去 了.
/**此函数用于线程的时间片耗尽时，就此线程挂起后加入到就绪队列的末端，然后再等待下一次调度。
* This function will let current thread yield processor, and scheduler will
* choose a highest thread to run. After yield processor, the current thread
* is still in READY state.
*
* @return RT_EOK
*/
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
/* set to current thread */
thread = rt_current_thread;//得到当前线程
/* if the thread stat is READY and on ready queue list */
if (thread->stat == RT_THREAD_READY &&//如果当前线程处于就绪状态且在就绪队列
thread->tlist.next != thread->tlist.prev)
{
/* remove thread from thread list */
rt_list_remove(&(thread->tlist));//从就绪队列中移除当前线程
/* put thread to end of ready queue */
rt_list_insert_before(&(rt_thread_priority_table[thread->current_priority]),//加入到就绪队列末尾
&(thread->tlist));
/* enable interrupt */
rt_hw_interrupt_enable(level);//开中断
rt_schedule();//重新调度线程
return RT_EOK;
}
/* enable interrupt */
rt_hw_interrupt_enable(level);//开中断
return RT_EOK;
}
8 线程睡眠
/**
* This function will let current thread sleep for some ticks.
*
* @param tick the sleep ticks
*
* @return RT_EOK
*/
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
/* set to current thread */
thread = rt_current_thread;//得到当前线程
RT_ASSERT(thread != RT_NULL);
/* suspend thread */
rt_thread_suspend(thread);//挂起当前线程
/* reset the timeout of thread timer and start it */
rt_timer_control(&(thread->thread_timer), RT_TIMER_CTRL_SET_TIME, &tick);//设置定时器
rt_timer_start(&(thread->thread_timer));//启动定时器
/* enable interrupt */
rt_hw_interrupt_enable(temp);//开中断
rt_schedule();//启动调度器
/* clear error number of this thread to RT_EOK */
if (thread->error == -RT_ETIMEOUT)//将当前线程的错误码设置为超时
thread->error = RT_EOK;
return RT_EOK;
}
/**此函数是将当前线程挂起后，然后开启线程中的定时器，并等待定时器时间到达，一旦到达，定时器超时回调函数中将会将此线程重新加入到就绪队列，并重新调度。见2.1节的rt_thread_timeout函数实现部分。
* This function will let current thread delay for some ticks.
*
* @param tick the delay ticks
*
* @return RT_EOK
*/
rt_err_t rt_thread_delay(rt_tick_t tick)
{
return rt_thread_sleep(tick);
}
9 线程控制
/**此函数在修改线程优先级时，当线程处于就绪状态时，为了安全起见，首先将线程从就绪队列中移除，然后再修改优先级，最后再次线程重新加入到调度器的就绪队列中。
* This function will control thread behaviors according to control command.
*
* @param thread the specified thread to be controlled
* @param cmd the control command, which includes
* RT_THREAD_CTRL_CHANGE_PRIORITY for changing priority level of thread;
* RT_THREAD_CTRL_STARTUP for starting a thread;
* RT_THREAD_CTRL_CLOSE for delete a thread.
* @param arg the argument of control command
*
* @return RT_EOK
*/
rt_err_t rt_thread_control(rt_thread_t thread, rt_uint8_t cmd, void *arg)
{
register rt_base_t temp;
/* thread check */
RT_ASSERT(thread != RT_NULL);
switch (cmd)
{
case RT_THREAD_CTRL_CHANGE_PRIORITY://修改优先级
/* disable interrupt */
temp = rt_hw_interrupt_disable();//关中断
/* for ready thread, change queue */
if (thread->stat == RT_THREAD_READY)//如果线程处于就绪状态
{
/* remove thread from schedule queue first */
rt_schedule_remove_thread(thread);//移除
/* change thread priority */
thread->current_priority = *(rt_uint8_t *)arg;//设置优先级
/* 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
/* insert thread to schedule queue again */
rt_schedule_insert_thread(thread);//加入调度器
}
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://启动
return rt_thread_startup(thread);
#ifdef RT_USING_HEAP
case RT_THREAD_CTRL_CLOSE://关闭线程
return rt_thread_delete(thread);
#endif
default:
break;
}
return RT_EOK;
}
10 查找线程
/**
* This function will find the specified thread.
*
* @param name the name of thread finding
*
* @return the found thread
*
* @note please don't invoke this function in interrupt status.
*/
rt_thread_t rt_thread_find(char *name)
{
struct rt_object_information *information;
struct rt_object *object;
struct rt_list_node *node;
extern struct rt_object_information rt_object_container[];
/* enter critical */
if (rt_thread_self() != RT_NULL)
rt_enter_critical();//进入临界区
/* try to find device object */
information = &rt_object_container[RT_Object_Class_Thread];//从内核对象容器中获取内核对象链表
for (node = information->object_list.next;
node != &(information->object_list);
node = node->next)
{
object = rt_list_entry(node, struct rt_object, list);//得到内核对象
if (rt_strncmp(object->name, name, RT_NAME_MAX) == 0)//比较名字
{
/* leave critical */
if (rt_thread_self() != RT_NULL)
rt_exit_critical();//退出临界区
return (rt_thread_t)object;//返回内核对象
}
}
/* leave critical */
if (rt_thread_self() != RT_NULL)
rt_exit_critical();//退出临界区
/* not found */
return RT_NULL;//返回未找到
}
查找线程是通过内核对象管理系统来查找的，根据内核对象的类型，找到相应内核对象链表，并遍历它，比较名字，如果找到则返回。
需要注意的是，这里的进入临界区的功能只是让调度器暂时停止工作，即停止调度线程，而退出临界区则是让停止工作的调度器重新恢复工作。这样做的理由是防止临界区内的执行调度器终止，切换到其它线程去了。