src/bsp/lk/kernel/thread.c

/*
 * Copyright (c) 2008-2015 Travis Geiselbrecht
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files
 * (the "Software"), to deal in the Software without restriction,
 * including without limitation the rights to use, copy, modify, merge,
 * publish, distribute, sublicense, and/or sell copies of the Software,
 * and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be
 * included in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
 * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
 * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
 * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
 * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

/**
 * @file
 * @brief  Kernel threading
 *
 * This file is the core kernel threading interface.
 *
 * @defgroup thread Threads
 * @{
 */
#include <debug.h>
#include <assert.h>
#include <list.h>
#include <malloc.h>
#include <string.h>
#include <printf.h>
#include <err.h>
#include <lib/dpc.h>
#include <kernel/thread.h>
#include <kernel/timer.h>
#include <kernel/debug.h>
#include <kernel/mp.h>
#include <platform.h>
#include <target.h>
#include <lib/heap.h>

#if THREAD_STATS
struct thread_stats thread_stats[SMP_MAX_CPUS];
#endif

#define STACK_DEBUG_BYTE (0x99)
#define STACK_DEBUG_WORD (0x99999999)

#define DEBUG_THREAD_CONTEXT_SWITCH 0

/* global thread list */
static struct list_node thread_list;

/* master thread spinlock */
spin_lock_t thread_lock = SPIN_LOCK_INITIAL_VALUE;

/* the run queue */
static struct list_node run_queue[NUM_PRIORITIES];
static uint32_t run_queue_bitmap;

/* make sure the bitmap is large enough to cover our number of priorities */
STATIC_ASSERT(NUM_PRIORITIES <= sizeof(run_queue_bitmap) * 8);

/* the idle thread(s) (statically allocated) */
#if WITH_SMP
static thread_t _idle_threads[SMP_MAX_CPUS];
#define idle_thread(cpu) (&_idle_threads[cpu])
#else
static thread_t _idle_thread;
#define idle_thread(cpu) (&_idle_thread)
#endif

/* local routines */
static void thread_resched(void);
static void idle_thread_routine(void) __NO_RETURN;

#if PLATFORM_HAS_DYNAMIC_TIMER
/* preemption timer */
static timer_t preempt_timer[SMP_MAX_CPUS];
#endif

/* run queue manipulation */
static void insert_in_run_queue_head(thread_t *t)
{
	DEBUG_ASSERT(t->magic == THREAD_MAGIC);
	DEBUG_ASSERT(t->state == THREAD_READY);
	DEBUG_ASSERT(!list_in_list(&t->queue_node));
	DEBUG_ASSERT(arch_ints_disabled());
	DEBUG_ASSERT(spin_lock_held(&thread_lock));

	list_add_head(&run_queue[t->priority], &t->queue_node);
	run_queue_bitmap |= (1<<t->priority);
}

static void insert_in_run_queue_tail(thread_t *t)
{
	DEBUG_ASSERT(t->magic == THREAD_MAGIC);
	DEBUG_ASSERT(t->state == THREAD_READY);
	DEBUG_ASSERT(!list_in_list(&t->queue_node));
	DEBUG_ASSERT(arch_ints_disabled());
	DEBUG_ASSERT(spin_lock_held(&thread_lock));

	list_add_tail(&run_queue[t->priority], &t->queue_node);
	run_queue_bitmap |= (1<<t->priority);
}

static void init_thread_struct(thread_t *t, const char *name)
{
	memset(t, 0, sizeof(thread_t));
	t->magic = THREAD_MAGIC;
	thread_set_pinned_cpu(t, -1);
	strlcpy(t->name, name, sizeof(t->name));
}

/**
 * @brief  Create a new thread
 *
 * This function creates a new thread.  The thread is initially suspended, so you
 * need to call thread_resume() to execute it.
 *
 * @param  name        Name of thread
 * @param  entry       Entry point of thread
 * @param  arg         Arbitrary argument passed to entry()
 * @param  priority    Execution priority for the thread.
 * @param  stack_size  Stack size for the thread.
 *
 * Thread priority is an integer from 0 (lowest) to 31 (highest).  Some standard
 * prioritys are defined in <kernel/thread.h>:
 *
 *  HIGHEST_PRIORITY
 *  DPC_PRIORITY
 *  HIGH_PRIORITY
 *  DEFAULT_PRIORITY
 *  LOW_PRIORITY
 *  IDLE_PRIORITY
 *  LOWEST_PRIORITY
 *
 * Stack size is typically set to DEFAULT_STACK_SIZE
 *
 * @return  Pointer to thread object, or NULL on failure.
 */
thread_t *thread_create_etc(thread_t *t, const char *name, thread_start_routine entry, void *arg, int priority, void *stack, size_t stack_size)
{
	unsigned int flags = 0;

	if (!t) {
		t = malloc(sizeof(thread_t));
		if (!t)
			return NULL;
		flags |= THREAD_FLAG_FREE_STRUCT;
	}

	init_thread_struct(t, name);

	t->entry = entry;
	t->arg = arg;
	t->priority = priority;
	t->state = THREAD_SUSPENDED;
	t->blocking_wait_queue = NULL;
	t->wait_queue_block_ret = NO_ERROR;
	thread_set_curr_cpu(t, -1);

	t->retcode = 0;
	wait_queue_init(&t->retcode_wait_queue);

	/* create the stack */
	if (!stack) {
#if THREAD_STACK_BOUNDS_CHECK
		stack_size += THREAD_STACK_PADDING_SIZE;
		flags |= THREAD_FLAG_DEBUG_STACK_BOUNDS_CHECK;
#endif
		t->stack = malloc(stack_size);
		if (!t->stack) {
			if (flags & THREAD_FLAG_FREE_STRUCT)
				free(t);
			return NULL;
		}
		flags |= THREAD_FLAG_FREE_STACK;
#if THREAD_STACK_BOUNDS_CHECK
		memset(t->stack, STACK_DEBUG_BYTE, THREAD_STACK_PADDING_SIZE);
#endif
	} else {
		t->stack = stack;
	}

	t->stack_size = stack_size;

	/* save whether or not we need to free the thread struct and/or stack */
	t->flags = flags;

#if (MAX_TLS_ENTRY > 0)
	/* inheirit thread local storage from the parent */
	thread_t *current_thread = get_current_thread();
	int i;
	for (i=0; i < MAX_TLS_ENTRY; i++)
		t->tls[i] = current_thread->tls[i];
#endif

	/* set up the initial stack frame */
	arch_thread_initialize(t);

	/* add it to the global thread list */
	THREAD_LOCK(state);
	list_add_head(&thread_list, &t->thread_list_node);
	THREAD_UNLOCK(state);

	return t;
}

thread_t *thread_create(const char *name, thread_start_routine entry, void *arg, int priority, size_t stack_size)
{
	return thread_create_etc(NULL, name, entry, arg, priority, NULL, stack_size);
}

/**
 * @brief Flag a thread as real time
 *
 * @param t Thread to flag
 *
 * @return NO_ERROR on success
 */
status_t thread_set_real_time(thread_t *t)
{
	if (!t)
		return ERR_INVALID_ARGS;

	DEBUG_ASSERT(t->magic == THREAD_MAGIC);

	THREAD_LOCK(state);
#if PLATFORM_HAS_DYNAMIC_TIMER
	if (t == get_current_thread()) {
		/* if we're currently running, cancel the preemption timer. */
		timer_cancel(&preempt_timer[arch_curr_cpu_num()]);
	}
#endif
	t->flags |= THREAD_FLAG_REAL_TIME;
	THREAD_UNLOCK(state);

	return NO_ERROR;
}

static bool thread_is_realtime(thread_t *t)
{
	return (t->flags & THREAD_FLAG_REAL_TIME) && t->priority > DEFAULT_PRIORITY;
}

static bool thread_is_idle(thread_t *t)
{
	return !!(t->flags & THREAD_FLAG_IDLE);
}

static bool thread_is_real_time_or_idle(thread_t *t)
{
	return !!(t->flags & (THREAD_FLAG_REAL_TIME | THREAD_FLAG_IDLE));
}

/**
 * @brief  Make a suspended thread executable.
 *
 * This function is typically called to start a thread which has just been
 * created with thread_create()
 *
 * @param t  Thread to resume
 *
 * @return NO_ERROR on success, ERR_NOT_SUSPENDED if thread was not suspended.
 */
status_t thread_resume(thread_t *t)
{
	DEBUG_ASSERT(t->magic == THREAD_MAGIC);
	DEBUG_ASSERT(t->state != THREAD_DEATH);

	bool resched = false;
	bool ints_disabled = arch_ints_disabled();
	THREAD_LOCK(state);
	if (t->state == THREAD_SUSPENDED) {
		t->state = THREAD_READY;
		insert_in_run_queue_head(t);
		if (!ints_disabled) /* HACK, don't resced into bootstrap thread before idle thread is set up */
			resched = true;
	}

	mp_reschedule(MP_CPU_ALL_BUT_LOCAL, 0);

	THREAD_UNLOCK(state);

	if (resched)
		thread_yield();

	return NO_ERROR;
}

status_t thread_detach_and_resume(thread_t *t)
{
	status_t err;
	err = thread_detach(t);
	if (err < 0)
		return err;
	return thread_resume(t);
}

status_t thread_join(thread_t *t, int *retcode, lk_time_t timeout)
{
	DEBUG_ASSERT(t->magic == THREAD_MAGIC);

	THREAD_LOCK(state);

	if (t->flags & THREAD_FLAG_DETACHED) {
		/* the thread is detached, go ahead and exit */
		THREAD_UNLOCK(state);
		return ERR_THREAD_DETACHED;
	}

	/* wait for the thread to die */
	if (t->state != THREAD_DEATH) {
		status_t err = wait_queue_block(&t->retcode_wait_queue, timeout);
		if (err < 0) {
			THREAD_UNLOCK(state);
			return err;
		}
	}

	DEBUG_ASSERT(t->magic == THREAD_MAGIC);
	DEBUG_ASSERT(t->state == THREAD_DEATH);
	DEBUG_ASSERT(t->blocking_wait_queue == NULL);
	DEBUG_ASSERT(!list_in_list(&t->queue_node));

	/* save the return code */
	if (retcode)
		*retcode = t->retcode;

	/* remove it from the master thread list */
	list_delete(&t->thread_list_node);

	/* clear the structure's magic */
	t->magic = 0;

	THREAD_UNLOCK(state);

	/* free its stack and the thread structure itself */
	if (t->flags & THREAD_FLAG_FREE_STACK && t->stack)
		free(t->stack);

	if (t->flags & THREAD_FLAG_FREE_STRUCT)
		free(t);

	return NO_ERROR;
}

status_t thread_detach(thread_t *t)
{
	DEBUG_ASSERT(t->magic == THREAD_MAGIC);

	THREAD_LOCK(state);

	/* if another thread is blocked inside thread_join() on this thread,
	 * wake them up with a specific return code */
	wait_queue_wake_all(&t->retcode_wait_queue, false, ERR_THREAD_DETACHED);

	/* if it's already dead, then just do what join would have and exit */
	if (t->state == THREAD_DEATH) {
		t->flags &= ~THREAD_FLAG_DETACHED; /* makes sure thread_join continues */
		THREAD_UNLOCK(state);
		return thread_join(t, NULL, 0);
	} else {
		t->flags |= THREAD_FLAG_DETACHED;
		THREAD_UNLOCK(state);
		return NO_ERROR;
	}
}

/**
 * @brief  Terminate the current thread
 *
 * Current thread exits with the specified return code.
 *
 * This function does not return.
 */
void thread_exit(int retcode)
{
	thread_t *current_thread = get_current_thread();

	DEBUG_ASSERT(current_thread->magic == THREAD_MAGIC);
	DEBUG_ASSERT(current_thread->state == THREAD_RUNNING);
	DEBUG_ASSERT(!thread_is_idle(current_thread));

//	dprintf("thread_exit: current %p\n", current_thread);

	THREAD_LOCK(state);

	/* enter the dead state */
	current_thread->state = THREAD_DEATH;
	current_thread->retcode = retcode;

	/* if we're detached, then do our teardown here */
	if (current_thread->flags & THREAD_FLAG_DETACHED) {
		/* remove it from the master thread list */
		list_delete(&current_thread->thread_list_node);

		/* clear the structure's magic */
		current_thread->magic = 0;

		/* free its stack and the thread structure itself */
		if (current_thread->flags & THREAD_FLAG_FREE_STACK && current_thread->stack) {
			heap_delayed_free(current_thread->stack);

			/* make sure its not going to get a bounds check performed on the half-freed stack */
			current_thread->flags &= ~THREAD_FLAG_DEBUG_STACK_BOUNDS_CHECK;
		}

		if (current_thread->flags & THREAD_FLAG_FREE_STRUCT)
			heap_delayed_free(current_thread);
	} else {
		/* signal if anyone is waiting */
		wait_queue_wake_all(&current_thread->retcode_wait_queue, false, 0);
	}

	/* reschedule */
	thread_resched();

	panic("somehow fell through thread_exit()\n");
}

static void idle_thread_routine(void)
{
	for (;;)
		arch_idle();
}

static thread_t *get_top_thread(int cpu)
{
	thread_t *newthread;
	uint32_t local_run_queue_bitmap = run_queue_bitmap;

	while (local_run_queue_bitmap) {
		/* find the first (remaining) queue with a thread in it */
		uint next_queue = HIGHEST_PRIORITY - __builtin_clz(local_run_queue_bitmap)
			- (sizeof(run_queue_bitmap) * 8 - NUM_PRIORITIES);

		list_for_every_entry(&run_queue[next_queue], newthread, thread_t, queue_node) {
#if WITH_SMP
			if (newthread->pinned_cpu < 0 || newthread->pinned_cpu == cpu)
#endif
			{
				list_delete(&newthread->queue_node);

				if (list_is_empty(&run_queue[next_queue]))
					run_queue_bitmap &= ~(1<<next_queue);

				return newthread;
			}
		}

		local_run_queue_bitmap &= ~(1<<next_queue);
	}
	/* no threads to run, select the idle thread for this cpu */
	return idle_thread(cpu);
}

/**
 * @brief  Cause another thread to be executed.
 *
 * Internal reschedule routine. The current thread needs to already be in whatever
 * state and queues it needs to be in. This routine simply picks the next thread and
 * switches to it.
 *
 * This is probably not the function you're looking for. See
 * thread_yield() instead.
 */
void thread_resched(void)
{
	thread_t *oldthread;
	thread_t *newthread;

	thread_t *current_thread = get_current_thread();
	uint cpu = arch_curr_cpu_num();

	DEBUG_ASSERT(arch_ints_disabled());
	DEBUG_ASSERT(spin_lock_held(&thread_lock));
	DEBUG_ASSERT(current_thread->state != THREAD_RUNNING);

	THREAD_STATS_INC(reschedules);

	newthread = get_top_thread(cpu);

	DEBUG_ASSERT(newthread);

	newthread->state = THREAD_RUNNING;

	oldthread = current_thread;

	if (newthread == oldthread)
		return;

	/* set up quantum for the new thread if it was consumed */
	if (newthread->remaining_quantum <= 0) {
		newthread->remaining_quantum = 5; // XXX make this smarter
	}

	/* mark the cpu ownership of the threads */
	thread_set_curr_cpu(oldthread, -1);
	thread_set_curr_cpu(newthread, cpu);

#if WITH_SMP
	if (thread_is_idle(newthread)) {
		mp_set_cpu_idle(cpu);
	} else {
		mp_set_cpu_busy(cpu);
	}

	if (thread_is_realtime(newthread)) {
		mp_set_cpu_realtime(cpu);
	} else {
		mp_set_cpu_non_realtime(cpu);
	}
#endif

#if THREAD_STATS
	THREAD_STATS_INC(context_switches);

	if (thread_is_idle(oldthread)) {
		lk_bigtime_t now = current_time_hires();
		thread_stats[cpu].idle_time += now - thread_stats[cpu].last_idle_timestamp;
	}
	if (thread_is_idle(newthread)) {
		thread_stats[cpu].last_idle_timestamp = current_time_hires();
	}
#endif

	KEVLOG_THREAD_SWITCH(oldthread, newthread);

#if PLATFORM_HAS_DYNAMIC_TIMER
	if (thread_is_real_time_or_idle(newthread)) {
		if (!thread_is_real_time_or_idle(oldthread)) {
			/* if we're switching from a non real time to a real time, cancel
			 * the preemption timer. */
#if DEBUG_THREAD_CONTEXT_SWITCH
			dprintf(ALWAYS, "arch_context_switch: stop preempt, cpu %d, old %p (%s), new %p (%s)\n",
				cpu, oldthread, oldthread->name, newthread, newthread->name);
#endif
			timer_cancel(&preempt_timer[cpu]);
		}
	} else if (thread_is_real_time_or_idle(oldthread)) {
		/* if we're switching from a real time (or idle thread) to a regular one,
		 * set up a periodic timer to run our preemption tick. */
#if DEBUG_THREAD_CONTEXT_SWITCH
		dprintf(ALWAYS, "arch_context_switch: start preempt, cpu %d, old %p (%s), new %p (%s)\n",
			cpu, oldthread, oldthread->name, newthread, newthread->name);
#endif
		timer_set_periodic(&preempt_timer[cpu], 10, thread_timer_tick, NULL);
	}
#endif

	/* set some optional target debug leds */
	target_set_debug_led(0, !thread_is_idle(newthread));

	/* do the switch */
	set_current_thread(newthread);

#if DEBUG_THREAD_CONTEXT_SWITCH
	dprintf(ALWAYS, "arch_context_switch: cpu %d, old %p (%s, pri %d, flags 0x%x), new %p (%s, pri %d, flags 0x%x)\n",
		cpu, oldthread, oldthread->name, oldthread->priority,
		oldthread->flags, newthread, newthread->name,
		newthread->priority, newthread->flags);
#endif

#if THREAD_STACK_BOUNDS_CHECK
	/* check that the old thread has not blown its stack just before pushing its context */
	if (oldthread->flags & THREAD_FLAG_DEBUG_STACK_BOUNDS_CHECK) {
		STATIC_ASSERT((THREAD_STACK_PADDING_SIZE % sizeof(uint32_t)) == 0);
		uint32_t *s = (uint32_t *)oldthread->stack;
		for (size_t i = 0; i < THREAD_STACK_PADDING_SIZE / sizeof(uint32_t); i++) {
			if (unlikely(s[i] != STACK_DEBUG_WORD)) {
				/* NOTE: will probably blow the stack harder here, but hopefully enough
				 * state exists to at least get some sort of debugging done.
				 */
				panic("stack overrun at %p: thread %p (%s), stack %p\n", &s[i],
						oldthread, oldthread->name, oldthread->stack);
			}
		}
	}
#endif

#ifdef WITH_LIB_UTHREAD
	uthread_context_switch(oldthread, newthread);
#endif
	arch_context_switch(oldthread, newthread);
}

/**
 * @brief Yield the cpu to another thread
 *
 * This function places the current thread at the end of the run queue
 * and yields the cpu to another waiting thread (if any.)
 *
 * This function will return at some later time. Possibly immediately if
 * no other threads are waiting to execute.
 */
void thread_yield(void)
{
	thread_t *current_thread = get_current_thread();

	DEBUG_ASSERT(current_thread->magic == THREAD_MAGIC);
	DEBUG_ASSERT(current_thread->state == THREAD_RUNNING);

	THREAD_LOCK(state);

	THREAD_STATS_INC(yields);

	/* we are yielding the cpu, so stick ourselves into the tail of the run queue and reschedule */
	current_thread->state = THREAD_READY;
	current_thread->remaining_quantum = 0;
	if (likely(!thread_is_idle(current_thread))) { /* idle thread doesn't go in the run queue */
		insert_in_run_queue_tail(current_thread);
	}
	thread_resched();

	THREAD_UNLOCK(state);
}

/**
 * @brief  Briefly yield cpu to another thread
 *
 * This function is similar to thread_yield(), except that it will
 * restart more quickly.
 *
 * This function places the current thread at the head of the run
 * queue and then yields the cpu to another thread.
 *
 * Exception:  If the time slice for this thread has expired, then
 * the thread goes to the end of the run queue.
 *
 * This function will return at some later time. Possibly immediately if
 * no other threads are waiting to execute.
 */
void thread_preempt(void)
{
	thread_t *current_thread = get_current_thread();

	DEBUG_ASSERT(current_thread->magic == THREAD_MAGIC);
	DEBUG_ASSERT(current_thread->state == THREAD_RUNNING);

#if THREAD_STATS
	if (!thread_is_idle(current_thread))
		THREAD_STATS_INC(preempts); /* only track when a meaningful preempt happens */
#endif

	KEVLOG_THREAD_PREEMPT(current_thread);

	THREAD_LOCK(state);

	/* we are being preempted, so we get to go back into the front of the run queue if we have quantum left */
	current_thread->state = THREAD_READY;
	if (likely(!thread_is_idle(current_thread))) { /* idle thread doesn't go in the run queue */
		if (current_thread->remaining_quantum > 0)
			insert_in_run_queue_head(current_thread);
		else
			insert_in_run_queue_tail(current_thread); /* if we're out of quantum, go to the tail of the queue */
	}
	thread_resched();

	THREAD_UNLOCK(state);
}

/**
 * @brief  Suspend thread until woken.
 *
 * This function schedules another thread to execute.  This function does not
 * return until the thread is made runable again by some other module.
 *
 * You probably don't want to call this function directly; it's meant to be called
 * from other modules, such as mutex, which will presumably set the thread's
 * state to blocked and add it to some queue or another.
 */
void thread_block(void)
{
	__UNUSED thread_t *current_thread = get_current_thread();

	DEBUG_ASSERT(current_thread->magic == THREAD_MAGIC);
	DEBUG_ASSERT(current_thread->state == THREAD_BLOCKED);
	DEBUG_ASSERT(spin_lock_held(&thread_lock));
	DEBUG_ASSERT(!thread_is_idle(current_thread));

	/* we are blocking on something. the blocking code should have already stuck us on a queue */
	thread_resched();
}

void thread_unblock(thread_t *t, bool resched)
{
	DEBUG_ASSERT(t->magic == THREAD_MAGIC);
	DEBUG_ASSERT(t->state == THREAD_BLOCKED);
	DEBUG_ASSERT(spin_lock_held(&thread_lock));
	DEBUG_ASSERT(!thread_is_idle(t));

	t->state = THREAD_READY;
	insert_in_run_queue_head(t);
	mp_reschedule(MP_CPU_ALL_BUT_LOCAL, 0);
	if (resched)
		thread_resched();
}

enum handler_return thread_timer_tick(struct timer *t, lk_time_t now, void *arg)
{
	thread_t *current_thread = get_current_thread();

	if (thread_is_real_time_or_idle(current_thread))
		return INT_NO_RESCHEDULE;

	current_thread->remaining_quantum--;
	if (current_thread->remaining_quantum <= 0) {
		return INT_RESCHEDULE;
	} else {
		return INT_NO_RESCHEDULE;
	}
}

/* timer callback to wake up a sleeping thread */
static enum handler_return thread_sleep_handler(timer_t *timer, lk_time_t now, void *arg)
{
	thread_t *t = (thread_t *)arg;

	DEBUG_ASSERT(t->magic == THREAD_MAGIC);
	DEBUG_ASSERT(t->state == THREAD_SLEEPING);

	THREAD_LOCK(state);

	t->state = THREAD_READY;
	insert_in_run_queue_head(t);

	THREAD_UNLOCK(state);

	return INT_RESCHEDULE;
}

/**
 * @brief  Put thread to sleep; delay specified in ms
 *
 * This function puts the current thread to sleep until the specified
 * delay in ms has expired.
 *
 * Note that this function could sleep for longer than the specified delay if
 * other threads are running.  When the timer expires, this thread will
 * be placed at the head of the run queue.
 */
void thread_sleep(lk_time_t delay)
{
	timer_t timer;

	thread_t *current_thread = get_current_thread();

	DEBUG_ASSERT(current_thread->magic == THREAD_MAGIC);
	DEBUG_ASSERT(current_thread->state == THREAD_RUNNING);
	DEBUG_ASSERT(!thread_is_idle(current_thread));

	timer_initialize(&timer);

	THREAD_LOCK(state);
	timer_set_oneshot(&timer, delay, thread_sleep_handler, (void *)current_thread);
	current_thread->state = THREAD_SLEEPING;
	thread_resched();
	THREAD_UNLOCK(state);
}

/**
 * @brief  Initialize threading system
 *
 * This function is called once, from kmain()
 */
void thread_init_early(void)
{
	int i;

	DEBUG_ASSERT(arch_curr_cpu_num() == 0);

	/* initialize the run queues */
	for (i=0; i < NUM_PRIORITIES; i++)
		list_initialize(&run_queue[i]);

	/* initialize the thread list */
	list_initialize(&thread_list);

	/* create a thread to cover the current running state */
	thread_t *t = idle_thread(0);
	init_thread_struct(t, "bootstrap");

	/* half construct this thread, since we're already running */
	t->priority = HIGHEST_PRIORITY;
	t->state = THREAD_RUNNING;
	t->flags = THREAD_FLAG_DETACHED;
	thread_set_curr_cpu(t, 0);
	thread_set_pinned_cpu(t, 0);
	wait_queue_init(&t->retcode_wait_queue);
	list_add_head(&thread_list, &t->thread_list_node);
	set_current_thread(t);
}

/**
 * @brief Complete thread initialization
 *
 * This function is called once at boot time
 */
void thread_init(void)
{
#if PLATFORM_HAS_DYNAMIC_TIMER
	for (uint i = 0; i < SMP_MAX_CPUS; i++) {
		timer_initialize(&preempt_timer[i]);
	}
#endif
}

/**
 * @brief Change name of current thread
 */
void thread_set_name(const char *name)
{
	thread_t *current_thread = get_current_thread();
	strlcpy(current_thread->name, name, sizeof(current_thread->name));
}

/**
 * @brief Change priority of current thread
 *
 * See thread_create() for a discussion of priority values.
 */
void thread_set_priority(int priority)
{
	thread_t *current_thread = get_current_thread();

	THREAD_LOCK(state);

	if (priority <= IDLE_PRIORITY)
		priority = IDLE_PRIORITY + 1;
	if (priority > HIGHEST_PRIORITY)
		priority = HIGHEST_PRIORITY;
	current_thread->priority = priority;

	current_thread->state = THREAD_READY;
	insert_in_run_queue_head(current_thread);
	thread_resched();

	THREAD_UNLOCK(state);
}

/**
 * @brief  Become an idle thread
 *
 * This function marks the current thread as the idle thread -- the one which
 * executes when there is nothing else to do.  This function does not return.
 * This function is called once at boot time.
 */
void thread_become_idle(void)
{
	DEBUG_ASSERT(arch_ints_disabled());

	thread_t *t = get_current_thread();

#if WITH_SMP
	int n;
	char name[16];
	n = snprintf(name, sizeof(name), "idle %d", arch_curr_cpu_num());
	DEBUG_ASSERT(!((n < 0) || (n >= sizeof(name))));

	thread_set_name(name);
#else
	thread_set_name("idle");
#endif

	/* mark ourself as idle */
	t->priority = IDLE_PRIORITY;
	t->flags |= THREAD_FLAG_IDLE;
	thread_set_pinned_cpu(t, arch_curr_cpu_num());

	mp_set_curr_cpu_active(true);
	mp_set_cpu_idle(arch_curr_cpu_num());

	/* enable interrupts and start the scheduler */
	arch_enable_ints();
	thread_yield();

	idle_thread_routine();
}

/* create an idle thread for the cpu we're on, and start scheduling */

void thread_secondary_cpu_init_early(void)
{
	DEBUG_ASSERT(arch_ints_disabled());

	/* construct an idle thread to cover our cpu */
	uint cpu = arch_curr_cpu_num();
	thread_t *t = idle_thread(cpu);

	int n;
	char name[16];

	n = snprintf(name, sizeof(name), "idle %u", cpu);
	DEBUG_ASSERT(!((n < 0) || (n >= sizeof(name))));

	init_thread_struct(t, name);
	thread_set_pinned_cpu(t, cpu);

	/* half construct this thread, since we're already running */
	t->priority = HIGHEST_PRIORITY;
	t->state = THREAD_RUNNING;
	t->flags = THREAD_FLAG_DETACHED | THREAD_FLAG_IDLE;
	thread_set_curr_cpu(t, cpu);
	thread_set_pinned_cpu(t, cpu);
	wait_queue_init(&t->retcode_wait_queue);

	THREAD_LOCK(state);

	list_add_head(&thread_list, &t->thread_list_node);
	set_current_thread(t);

	THREAD_UNLOCK(state);
}

void thread_secondary_cpu_entry(void)
{
	uint cpu = arch_curr_cpu_num();
	thread_t *t = get_current_thread();
	t->priority = IDLE_PRIORITY;

	mp_set_curr_cpu_active(true);
	mp_set_cpu_idle(cpu);

	/* enable interrupts and start the scheduler on this cpu */
	arch_enable_ints();
	thread_yield();

	idle_thread_routine();
}

static const char *thread_state_to_str(enum thread_state state)
{
	switch (state) {
		case THREAD_SUSPENDED: return "susp";
		case THREAD_READY: return "rdy";
		case THREAD_RUNNING: return "run";
		case THREAD_BLOCKED: return "blok";
		case THREAD_SLEEPING: return "slep";
		case THREAD_DEATH: return "deth";
		default: return "unkn";
	}
}

/**
 * @brief  Dump debugging info about the specified thread.
 */
void dump_thread(thread_t *t)
{
	dprintf(INFO, "dump_thread: t %p (%s)\n", t, t->name);
#if WITH_SMP
	dprintf(INFO, "\tstate %s, curr_cpu %d, pinned_cpu %d, priority %d, remaining quantum %d\n",
				  thread_state_to_str(t->state), t->curr_cpu, t->pinned_cpu, t->priority, t->remaining_quantum);
#else
	dprintf(INFO, "\tstate %s, priority %d, remaining quantum %d\n",
				  thread_state_to_str(t->state), t->priority, t->remaining_quantum);
#endif
	dprintf(INFO, "\tstack %p, stack_size %zd\n", t->stack, t->stack_size);
	dprintf(INFO, "\tentry %p, arg %p, flags 0x%x\n", t->entry, t->arg, t->flags);
	dprintf(INFO, "\twait queue %p, wait queue ret %d\n", t->blocking_wait_queue, t->wait_queue_block_ret);
#if (MAX_TLS_ENTRY > 0)
	dprintf(INFO, "\ttls:");
	int i;
	for (i=0; i < MAX_TLS_ENTRY; i++) {
		dprintf(INFO, " 0x%lx", t->tls[i]);
	}
	dprintf(INFO, "\n");
#endif
	arch_dump_thread(t);
}

/**
 * @brief  Dump debugging info about all threads
 */
void dump_all_threads(void)
{
	thread_t *t;

	THREAD_LOCK(state);
	list_for_every_entry(&thread_list, t, thread_t, thread_list_node) {
		if (t->magic != THREAD_MAGIC) {
			dprintf(INFO, "bad magic on thread struct %p, aborting.\n", t);
			hexdump(t, sizeof(thread_t));
			break;
		}
		dump_thread(t);
	}
	THREAD_UNLOCK(state);
}

/** @} */


/**
 * @defgroup  wait  Wait Queue
 * @{
 */
void wait_queue_init(wait_queue_t *wait)
{
	*wait = (wait_queue_t)WAIT_QUEUE_INITIAL_VALUE(*wait);
}

static enum handler_return wait_queue_timeout_handler(timer_t *timer, lk_time_t now, void *arg)
{
	thread_t *thread = (thread_t *)arg;

	DEBUG_ASSERT(thread->magic == THREAD_MAGIC);

	spin_lock(&thread_lock);

	enum handler_return ret = INT_NO_RESCHEDULE;
	if (thread_unblock_from_wait_queue(thread, ERR_TIMED_OUT) >= NO_ERROR) {
		ret = INT_RESCHEDULE;
	}

	spin_unlock(&thread_lock);

	return ret;
}

/**
 * @brief  Block until a wait queue is notified.
 *
 * This function puts the current thread at the end of a wait
 * queue and then blocks until some other thread wakes the queue
 * up again.
 *
 * @param  wait     The wait queue to enter
 * @param  timeout  The maximum time, in ms, to wait
 *
 * If the timeout is zero, this function returns immediately with
 * ERR_TIMED_OUT.  If the timeout is INFINITE_TIME, this function
 * waits indefinitely.  Otherwise, this function returns with
 * ERR_TIMED_OUT at the end of the timeout period.
 *
 * @return ERR_TIMED_OUT on timeout, else returns the return
 * value specified when the queue was woken by wait_queue_wake_one().
 */
status_t wait_queue_block(wait_queue_t *wait, lk_time_t timeout)
{
	timer_t timer;

	thread_t *current_thread = get_current_thread();

	DEBUG_ASSERT(wait->magic == WAIT_QUEUE_MAGIC);
	DEBUG_ASSERT(current_thread->state == THREAD_RUNNING);
	DEBUG_ASSERT(arch_ints_disabled());
	DEBUG_ASSERT(spin_lock_held(&thread_lock));

	if (timeout == 0)
		return ERR_TIMED_OUT;

	list_add_tail(&wait->list, &current_thread->queue_node);
	wait->count++;
	current_thread->state = THREAD_BLOCKED;
	current_thread->blocking_wait_queue = wait;
	current_thread->wait_queue_block_ret = NO_ERROR;

	/* if the timeout is nonzero or noninfinite, set a callback to yank us out of the queue */
	if (timeout != INFINITE_TIME) {
		timer_initialize(&timer);
		timer_set_oneshot(&timer, timeout, wait_queue_timeout_handler, (void *)current_thread);
	}

	thread_resched();

	/* we don't really know if the timer fired or not, so it's better safe to try to cancel it */
	if (timeout != INFINITE_TIME) {
		timer_cancel(&timer);
	}

	return current_thread->wait_queue_block_ret;
}

/**
 * @brief  Wake up one thread sleeping on a wait queue
 *
 * This function removes one thread (if any) from the head of the wait queue and
 * makes it executable.  The new thread will be placed at the head of the
 * run queue.
 *
 * @param wait  The wait queue to wake
 * @param reschedule  If true, the newly-woken thread will run immediately.
 * @param wait_queue_error  The return value which the new thread will receive
 * from wait_queue_block().
 *
 * @return  The number of threads woken (zero or one)
 */
int wait_queue_wake_one(wait_queue_t *wait, bool reschedule, status_t wait_queue_error)
{
	thread_t *t;
	int ret = 0;

	thread_t *current_thread = get_current_thread();

	DEBUG_ASSERT(wait->magic == WAIT_QUEUE_MAGIC);
	DEBUG_ASSERT(arch_ints_disabled());
	DEBUG_ASSERT(spin_lock_held(&thread_lock));

	t = list_remove_head_type(&wait->list, thread_t, queue_node);
	if (t) {
		wait->count--;
		DEBUG_ASSERT(t->state == THREAD_BLOCKED);
		t->state = THREAD_READY;
		t->wait_queue_block_ret = wait_queue_error;
		t->blocking_wait_queue = NULL;

		/* if we're instructed to reschedule, stick the current thread on the head
		 * of the run queue first, so that the newly awakened thread gets a chance to run
		 * before the current one, but the current one doesn't get unnecessarilly punished.
		 */
		if (reschedule) {
			current_thread->state = THREAD_READY;
			insert_in_run_queue_head(current_thread);
		}
		insert_in_run_queue_head(t);
		mp_reschedule(MP_CPU_ALL_BUT_LOCAL, 0);
		if (reschedule) {
			thread_resched();
		}
		ret = 1;

	}

	return ret;
}


/**
 * @brief  Wake all threads sleeping on a wait queue
 *
 * This function removes all threads (if any) from the wait queue and
 * makes them executable.  The new threads will be placed at the head of the
 * run queue.
 *
 * @param wait  The wait queue to wake
 * @param reschedule  If true, the newly-woken threads will run immediately.
 * @param wait_queue_error  The return value which the new thread will receive
 * from wait_queue_block().
 *
 * @return  The number of threads woken (zero or one)
 */
int wait_queue_wake_all(wait_queue_t *wait, bool reschedule, status_t wait_queue_error)
{
	thread_t *t;
	int ret = 0;

	thread_t *current_thread = get_current_thread();

	DEBUG_ASSERT(wait->magic == WAIT_QUEUE_MAGIC);
	DEBUG_ASSERT(arch_ints_disabled());
	DEBUG_ASSERT(spin_lock_held(&thread_lock));

	if (reschedule && wait->count > 0) {
		/* if we're instructed to reschedule, stick the current thread on the head
		 * of the run queue first, so that the newly awakened threads get a chance to run
		 * before the current one, but the current one doesn't get unnecessarilly punished.
		 */
		current_thread->state = THREAD_READY;
		insert_in_run_queue_head(current_thread);
	}

	/* pop all the threads off the wait queue into the run queue */
	while ((t = list_remove_head_type(&wait->list, thread_t, queue_node))) {
		wait->count--;
		DEBUG_ASSERT(t->state == THREAD_BLOCKED);
		t->state = THREAD_READY;
		t->wait_queue_block_ret = wait_queue_error;
		t->blocking_wait_queue = NULL;

		insert_in_run_queue_head(t);
		ret++;
	}

	DEBUG_ASSERT(wait->count == 0);

	if (ret > 0) {
		mp_reschedule(MP_CPU_ALL_BUT_LOCAL, 0);
		if (reschedule) {
			thread_resched();
		}
	}

	return ret;
}

/**
 * @brief  Free all resources allocated in wait_queue_init()
 *
 * If any threads were waiting on this queue, they are all woken.
 */
void wait_queue_destroy(wait_queue_t *wait, bool reschedule)
{
	DEBUG_ASSERT(wait->magic == WAIT_QUEUE_MAGIC);
	DEBUG_ASSERT(arch_ints_disabled());
	DEBUG_ASSERT(spin_lock_held(&thread_lock));

	wait_queue_wake_all(wait, reschedule, ERR_OBJECT_DESTROYED);
	wait->magic = 0;
}

/**
 * @brief  Wake a specific thread in a wait queue
 *
 * This function extracts a specific thread from a wait queue, wakes it, and
 * puts it at the head of the run queue.
 *
 * @param t  The thread to wake
 * @param wait_queue_error  The return value which the new thread will receive
 *   from wait_queue_block().
 *
 * @return ERR_NOT_BLOCKED if thread was not in any wait queue.
 */
status_t thread_unblock_from_wait_queue(thread_t *t, status_t wait_queue_error)
{
	DEBUG_ASSERT(t->magic == THREAD_MAGIC);
	DEBUG_ASSERT(arch_ints_disabled());
	DEBUG_ASSERT(spin_lock_held(&thread_lock));

	if (t->state != THREAD_BLOCKED)
		return ERR_NOT_BLOCKED;

	DEBUG_ASSERT(t->blocking_wait_queue != NULL);
	DEBUG_ASSERT(t->blocking_wait_queue->magic == WAIT_QUEUE_MAGIC);
	DEBUG_ASSERT(list_in_list(&t->queue_node));

	list_delete(&t->queue_node);
	t->blocking_wait_queue->count--;
	t->blocking_wait_queue = NULL;
	t->state = THREAD_READY;
	t->wait_queue_block_ret = wait_queue_error;
	insert_in_run_queue_head(t);
	mp_reschedule(MP_CPU_ALL_BUT_LOCAL, 0);

	return NO_ERROR;
}

#if defined(WITH_DEBUGGER_INFO)
// This is, by necessity, arch-specific, and arm-m specific right now,
// but lives here due to thread_list being static.
//
// It contains sufficient information for a remote debugger to walk
// the thread list without needing the symbols and debug sections in
// the elf binary for lk or the ability to parse them.
const struct __debugger_info__ {
	u32 version; // flags:16 major:8 minor:8
	void *thread_list_ptr;
	void *current_thread_ptr;
	u8 off_list_node;
	u8 off_state;
	u8 off_saved_sp;
	u8 off_was_preempted;
	u8 off_name;
	u8 off_waitq;
} _debugger_info = {
	.version = 0x0100,
	.thread_list_ptr = &thread_list,
	.current_thread_ptr = &_current_thread,
	.off_list_node = __builtin_offsetof(thread_t, thread_list_node),
	.off_state = __builtin_offsetof(thread_t, state),
	.off_saved_sp = __builtin_offsetof(thread_t, arch.sp),
	.off_was_preempted = __builtin_offsetof(thread_t, arch.was_preempted),
	.off_name = __builtin_offsetof(thread_t, name),
	.off_waitq = __builtin_offsetof(thread_t, blocking_wait_queue),
};
#endif

/* vim: set ts=4 sw=4 noexpandtab: */