text: /****************************************************************************
   *
   * Copyright 2016 Samsung Electronics All Rights Reserved.
   *
   * Licensed 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.
   *
   ****************************************************************************/
  /****************************************************************************
   * kernel/init/os_bringup.c
   *
   *   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
   *   Author: Gregory Nutt <gnutt@nuttx.org>
   *
   * With extensions by:
   *
   *   Author: Uros Platise <uros.platise@isotel.eu>
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in
   *    the documentation and/or other materials provided with the
   *    distribution.
   * 3. Neither the name NuttX nor the names of its contributors may be
   *    used to endorse or promote products derived from this software
   *    without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
   * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   *
   ****************************************************************************/
  
  /****************************************************************************
   * Included Files
   ****************************************************************************/
  
  #include <tinyara/config.h>
  
  #include <sched.h>
  #include <stdlib.h>
  #include <debug.h>
  
  #include <tinyara/arch.h>
  #include <tinyara/init.h>
  #include <tinyara/kthread.h>
  #include <tinyara/userspace.h>
  #include <tinyara/net/net.h>
  #ifdef CONFIG_SCHED_WORKQUEUE
  #include <tinyara/wqueue.h>
  #endif
  #ifdef CONFIG_LOGM
  #include <tinyara/logm.h>
  #endif
  #ifdef CONFIG_SCHED_CPULOAD
  #include <tinyara/cpuload.h>
  #endif
  #ifdef CONFIG_ENABLE_HEAPINFO
  #include <tinyara/heapinfo_drv.h>
  #endif
  #ifdef CONFIG_TASK_MANAGER
  #include <tinyara/task_manager_drv.h>
  #endif
  #include "init/init.h"
  #ifdef CONFIG_PAGING
  #include "paging/paging.h"
  #endif
  #ifdef CONFIG_BINARY_MANAGER
  #include "binary_manager/binary_manager.h"
  #endif
  #ifdef CONFIG_TASK_MONITOR
  #include "task_monitor/task_monitor_internal.h"
  #endif
  #ifdef CONFIG_MESSAGING_IPC
  #include "messaging/message_ctrl.h"
  #endif
  
  /****************************************************************************
   * Pre-processor Definitions
   ****************************************************************************/
  
  /* Configuration */
  
  #if defined(CONFIG_INIT_NONE)
  /* Kconfig logic will set CONFIG_INIT_NONE if dependencies are not met */
  
  #error No initialization mechanism selected (CONFIG_INIT_NONE)
  
  #else
  #if !defined(CONFIG_INIT_ENTRYPOINT)
  /* For backward compatibility with older defconfig files when this was
   * the way things were done.
   */
  
  #define CONFIG_INIT_ENTRYPOINT 1
  #endif
  
  #if defined(CONFIG_INIT_ENTRYPOINT)
  /* Initialize by starting a task at an entry point */
  
  #if !defined(CONFIG_USER_ENTRYPOINT) && !defined(CONFIG_TASH)
  /* Entry point name must have been provided */
  
  #error CONFIG_USER_ENTRYPOINT must be defined
  #endif
  #endif
  #endif
  
  /****************************************************************************
   * Private Types
   ****************************************************************************/
  
  /****************************************************************************
   * Private Function Prototypes
   ****************************************************************************/
  
  /****************************************************************************
   * Private Data
   ****************************************************************************/
  
  /****************************************************************************
   * Public Data
   ****************************************************************************/
  
  /****************************************************************************
   * Private Functions
   ****************************************************************************/
  
  /****************************************************************************
   * Name: os_pgworker
   *
   * Description:
   *   Start the page fill worker kernel thread that will resolve page faults.
   *   This should always be the first thread started because it may have to
   *   resolve page faults in other threads
   *
   * Input Parameters:
   *   None
   *
   * Returned Value:
   *   None
   *
   ****************************************************************************/
  
  #ifdef CONFIG_PAGING
  static inline void os_pgworker(void)
  {
  	/* Start the page fill worker kernel thread that will resolve page faults.
  	 * This should always be the first thread started because it may have to
  	 * resolve page faults in other threads
  	 */
  
  	svdbg("Starting paging thread\n");
  
  	g_pgworker = kernel_thread("pgfill", CONFIG_PAGING_DEFPRIO, CONFIG_PAGING_STACKSIZE, (main_t)pg_worker, (FAR char *const *)NULL);
  	DEBUGASSERT(g_pgworker > 0);
  }
  
  #else							/* CONFIG_PAGING */
  #define os_pgworker()
  
  #endif							/* CONFIG_PAGING */
  
  /****************************************************************************
   * Name: os_workqueues
   *
   * Description:
   *   Start the worker threads that service the work queues.
   *
   * Input Parameters:
   *   None
   *
   * Returned Value:
   *   None
   *
   ****************************************************************************/
  
  #ifdef CONFIG_SCHED_WORKQUEUE
  static inline void os_workqueues(void)
  {
  #ifdef CONFIG_SCHED_HPWORK
  	/* Start the high-priority worker thread to support device driver lower
  	 * halves.
  	 */
  
  	(void)work_hpstart();
  
  #endif							/* CONFIG_SCHED_HPWORK */
  
  #ifdef CONFIG_SCHED_LPWORK
  	/* Start the low-priority worker thread for other, non-critical continuation
  	 * tasks
  	 */
  
  	(void)work_lpstart();
  
  #endif							/* CONFIG_SCHED_LPWORK */
  }
  
  #else							/* CONFIG_SCHED_WORKQUEUE */
  #define os_workqueues()
  
  #endif							/* CONFIG_SCHED_WORKQUEUE */
  
  /****************************************************************************
   * Name: os_start_application
   *
   * Description:
   *   Execute the board initialization function (if so configured) and start
   *   the application initialization thread.
   *
   * Input Parameters:
   *   None
   *
   * Returned Value:
   *   None
   *
   ****************************************************************************/
  
  #if defined(CONFIG_INIT_ENTRYPOINT)
  static inline void os_do_appstart(void)
  {
  	int pid;
  
  #ifdef CONFIG_BOARD_INITIALIZE
  	/* Perform any last-minute, board-specific initialization, if so
  	 * configured.
  	 */
  
  	board_initialize();
  #endif
  
  #ifdef CONFIG_SE
  	se_initialize();
  #endif
  
  #ifdef CONFIG_IOTDEV
  	iotbus_sig_register();
  #endif
  
  #ifdef CONFIG_NET
  	/* Initialize the network system & Create network task if required */
  
  	net_initialize();
  #endif
  
  #ifdef CONFIG_SCHED_CPULOAD
  	cpuload_initialize();
  #endif
  
  #ifdef CONFIG_TASK_MANAGER
  	task_manager_drv_register();
  #endif
  
  #ifdef CONFIG_MESSAGING_IPC
  	messaging_initialize();
  #endif
  
  #ifdef CONFIG_TASK_MONITOR
  	pid = kernel_thread("taskmonitor", CONFIG_TASK_MONITOR_PRIORITY, 1024, task_monitor, (FAR char *const *)NULL);
  	if (pid < 0) {
  		sdbg("Failed to start task monitor\n");
  	}
  #endif
  
  #if defined(CONFIG_SYSTEM_PREAPP_INIT) && !defined(CONFIG_APP_BINARY_SEPARATION)
  	svdbg("Starting application init task\n");
  
  	pid = task_create("appinit", SCHED_PRIORITY_DEFAULT, CONFIG_SYSTEM_PREAPP_STACKSIZE, preapp_start, (FAR char *const *)NULL);
  	if (pid < 0) {
  		svdbg("Failed to create application init thread\n");
  	}
  #endif
  
  #ifdef CONFIG_BINARY_MANAGER
  	svdbg("Starting binary manager thread\n");
  
  	pid = kernel_thread(BINARY_MANAGER_NAME, BINARY_MANAGER_PRIORITY, BINARY_MANAGER_STACKSIZE, binary_manager, NULL);
  	if (pid < 0) {
  		sdbg("Failed to start binary manager");
  	}
  #endif
  
  #ifdef CONFIG_ENABLE_HEAPINFO
  	heapinfo_drv_register();
  #endif
  
  #if !defined(CONFIG_BINARY_MANAGER)
  	/* Start the application initialization task.  In a flat build, this is
  	 * entrypoint is given by the definitions, CONFIG_USER_ENTRYPOINT.  In
  	 * the protected build, however, we must get the address of the
  	 * entrypoint from the header at the beginning of the user-space blob.
  	 */
  
  	svdbg("Starting application main task\n");
  
  #if defined(CONFIG_USER_ENTRYPOINT)
  	pid = task_create("appmain", SCHED_PRIORITY_DEFAULT, CONFIG_USERMAIN_STACKSIZE, (main_t)CONFIG_USER_ENTRYPOINT, (FAR char *const *)NULL);
  #endif
  #endif // !CONFIG_BINARY_MANAGER
  
  	ASSERT(pid > 0);
  }
  
  #elif defined(CONFIG_INIT_NONE)
  #define os_do_appstart()
  
  #else
  #error "Cannot start initialization thread"
  
  #endif
  
  /****************************************************************************
   * Name: os_start_task
   *
   * Description:
   *   This is the framework for a short duration worker thread.  It off-loads
   *   the board initialization and application start-up from the limited
   *   start-up, initialization thread to a more robust kernel thread.
   *
   * Input Parameters:
   *   None
   *
   * Returned Value:
   *   None
   *
   ****************************************************************************/
  
  #ifdef CONFIG_BOARD_INITTHREAD
  static int os_start_task(int argc, FAR char **argv)
  {
  	/* Do the board/application initialization and exit */
  
  	os_do_appstart();
  	return OK;
  }
  #endif
  
  /****************************************************************************
   * Name: os_start_application
   *
   * Description:
   *   Execute the board initialization function (if so configured) and start
   *   the application initialization thread.  This will be done either on the
   *   thread of execution of the caller or on a separate thread of execution
   *   if so configured.
   *
   * Input Parameters:
   *   None
   *
   * Returned Value:
   *   None
   *
   ****************************************************************************/
  
  static inline void os_start_application(void)
  {
  #ifdef CONFIG_BOARD_INITTHREAD
  	int pid;
  
  	/* Do the board/application initialization on a separate thread of
  	 * execution.
  	 */
  
  	pid = kernel_thread("AppBringUp", CONFIG_BOARD_INITTHREAD_PRIORITY, CONFIG_BOARD_INITTHREAD_STACKSIZE, (main_t)os_start_task, (FAR char *const *)NULL);
  
  	ASSERT(pid > 0);
  
  #else
  	/* Do the board/application initialization on this thread of execution. */
  
  	os_do_appstart();
  
  #endif
  }
  
  /****************************************************************************
   * Public Functions
   ****************************************************************************/
  
  /****************************************************************************
   * Name: os_bringup
   *
   * Description:
   *   Start all initial system tasks.  This does the "system bring-up" after
   *   the conclusion of basic OS initialization.  These initial system tasks
   *   may include:
   *
   *   - pg_worker:   The page-fault worker thread (only if CONFIG_PAGING is
   *                  defined.
   *   - work_thread: The work thread.  This general thread can be used to
   *                  perform most any kind of queued work.  Its primary
   *                  function is to serve as the "bottom half" of device
   *                  drivers.
   *
   *   And the main application entry point:
   *   symbols, either:
   *
   *   - CONFIG_USER_ENTRYPOINT: This is the default user application entry
   *                 point
   *
   * Input Parameters:
   *   None
   *
   * Returned Value:
   *   None
   *
   ****************************************************************************/
  
  int os_bringup(void)
  {
  	/* Setup up the initial environment for the idle task.  At present, this
  	 * may consist of only the initial PATH variable.  The PATH variable is
  	 * (probably) not used by the IDLE task.  However, the environment
  	 * containing the PATH variable will be inherited by all of the threads
  	 * created by the IDLE task.
  	 */
  
  #if !defined(CONFIG_DISABLE_ENVIRON) && defined(CONFIG_PATH_INITIAL)
  	(void)setenv("PATH", CONFIG_PATH_INITIAL, 1);
  #endif
  
  	/* Start the page fill worker kernel thread that will resolve page faults.
  	 * This should always be the first thread started because it may have to
  	 * resolve page faults in other threads
  	 */
  
  	os_pgworker();
  
  	/* Start the worker thread that will serve as the device driver "bottom-
  	 * half" and will perform misc garbage clean-up.
  	 */
  
  	os_workqueues();
  
  #ifdef CONFIG_LOGM
  	logm_start();
  #endif
  
  	/* Once the operating system has been initialized, the system must be
  	 * started by spawning the user initialization thread of execution.  This
  	 * will be the first user-mode thread.
  	 */
  
  	os_start_application();
  
  
  	/* We an save a few bytes by discarding the IDLE thread's environment. */
  
  #if !defined(CONFIG_DISABLE_ENVIRON) && defined(CONFIG_PATH_INITIAL)
  	(void)clearenv();
  #endif
  
  	return OK;
  }
  