博客

前言

• 空闲线程是系统中优先级最低的线程，且永远不会被挂起，当系统无其他线程轮转调度时，调度器将调度到空闲线程。

初始化

• 空闲线程初始化于函数rtthread_startup函数中，在调度器启动前执行，具体看RT-Thread西东启动流程分析。函数名为rt_thread_idle_init，具体实现为：

/**
 * @ingroup SystemInit
 *
 * This function will initialize idle thread, then start it.
 *
 * @note this function must be invoked when system init.
 */
void rt_thread_idle_init(void)
{
    /* initialize thread */
    rt_thread_init(&idle,
                   "tidle",
                   rt_thread_idle_entry,
                   RT_NULL,
                   &rt_thread_stack[0],
                   sizeof(rt_thread_stack),
                   RT_THREAD_PRIORITY_MAX - 1,
                   32);

    /* startup */
    rt_thread_startup(&idle);
}

static void rt_thread_idle_entry(void *parameter)
{
    while (1)
    {

#ifdef RT_USING_IDLE_HOOK
        rt_size_t i;

        for (i = 0; i < RT_IDEL_HOOK_LIST_SIZE; i++)
        {
            if (idle_hook_list[i] != RT_NULL)
            {
                idle_hook_list[i]();
            }
        }
#endif

        rt_thread_idle_excute();
#ifdef RT_USING_PM        
        rt_system_power_manager();
#endif
    }
}

• 空闲线程默认栈空间大小为128字节，默认优先级为最低，线程入口函数为rt_thread_idle_entry，此函数中除了处理空闲线程的几个钩子函数，以及系统电源管理，最主要的就是rt_thread_idle_excute函数，此函数具体实现如下：

/* Return whether there is defunctional thread to be deleted. */
rt_inline int _has_defunct_thread(void)
{
    /* The rt_list_isempty has prototype of "int rt_list_isempty(const rt_list_t *l)".
     * So the compiler has a good reason that the rt_thread_defunct list does
     * not change within rt_thread_idle_excute thus optimize the "while" loop
     * into a "if".
     *
     * So add the volatile qualifier here. */
    const volatile rt_list_t *l = (const volatile rt_list_t *)&rt_thread_defunct;

    return l->next != l;
}

/**
 * @ingroup Thread
 *
 * This function will perform system background job when system idle.
 */
void rt_thread_idle_excute(void)
{
    /* Loop until there is no dead thread. So one call to rt_thread_idle_excute
     * will do all the cleanups. */
    while (_has_defunct_thread())
    {
        rt_base_t lock;
        rt_thread_t thread;
#ifdef RT_USING_MODULE
        struct rt_dlmodule *module = RT_NULL;
#endif
        RT_DEBUG_NOT_IN_INTERRUPT;

        /* disable interrupt */
        lock = rt_hw_interrupt_disable();

        /* re-check whether list is empty */
        if (_has_defunct_thread())
        {
            /* get defunct thread */
            thread = rt_list_entry(rt_thread_defunct.next,
                                   struct rt_thread,
                                   tlist);
#ifdef RT_USING_MODULE
            module = (struct rt_dlmodule*)thread->module_id;
            if (module)
            {
                dlmodule_destroy(module);
            }
#endif
            /* remove defunct thread */
            rt_list_remove(&(thread->tlist));

            /* lock scheduler to prevent scheduling in cleanup function. */
            rt_enter_critical();

            /* invoke thread cleanup */
            if (thread->cleanup != RT_NULL)
                thread->cleanup(thread);

#ifdef RT_USING_SIGNALS
            rt_thread_free_sig(thread);
#endif

            /* if it's a system object, not delete it */
            if (rt_object_is_systemobject((rt_object_t)thread) == RT_TRUE)
            {
                /* detach this object */
                rt_object_detach((rt_object_t)thread);
                /* unlock scheduler */
                rt_exit_critical();

                /* enable interrupt */
                rt_hw_interrupt_enable(lock);

                return;
            }

            /* unlock scheduler */
            rt_exit_critical();
        }
        else
        {
            /* enable interrupt */
            rt_hw_interrupt_enable(lock);

            /* may the defunct thread list is removed by others, just return */
            return;
        }

        /* enable interrupt */
        rt_hw_interrupt_enable(lock);

#ifdef RT_USING_HEAP
        /* release thread's stack */
        RT_KERNEL_FREE(thread->stack_addr);
        /* delete thread object */
        rt_object_delete((rt_object_t)thread);
#endif
    }
}

• 此函数主要功能为检测僵尸线程并对其做处理。当检测到僵尸线程时，会将线程相关的资源从线程分离，若资源对象是从堆上申请的，则会对其释放。
• 僵尸线程是在触发线程分离、删除以及退出时产生的，这三个操作会将线程从内核线程列表中分离，而相关的释放操作则在空闲线程中完成。