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Squashed commit of the following:

Browse Source 
sched/:  Convert legitimate uses of task_create() to nxtask_create().  Review handling of returned values from all uses of kthread_create() (as well as nxtask_create()).
    graphics/:  Review return values for all calls to kthread_start() because it no longer returns an errno.
    drivers/:  threads started by drivers should be kernel threads, not user tasks.  Review return values for all calls to kthread_start() because it no longer returns an errno.
    configs/:  threads started by board bringup logic should be kernel threads, not user tasksi (part 2 of 2).
    sched/task:  Add nxtask_create().  Kthread_create() and nxtask_create() are internal OS functions and should not modify the errno variable.  configs/:  threads started by board bringup logic should be kernel threads, not user tasks.
This commit is contained in:
Gregory Nutt 2018-01-31 16:11:54 -06:00
parent 1550ef2f54
commit 50ca32e254
42 changed files with 293 additions and 164 deletions
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2
TODO
View File

@ -258,7 +258,7 @@ o Task/Scheduler (sched/)
message queue used in the OS. I am keeping this issue
open because (1) there are some known remaining calls that
that will modify the errno (such as dup(), dup2(),
task_create(), task_activate(), kthread_create(), exec(), mq_open(),
task_activate(), kthread_create(), exec(), mq_open(),
mq_close(), and others) and (2) there may still be calls that
create cancellation points. Need to check things like open(),
close(), read(), write(), and possibly others.

7
configs/cloudctrl/src/stm32_usb.c
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@ -48,6 +48,7 @@
#include <assert.h>
#include <debug.h>
#include <nuttx/kthread.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbhost.h>
#include <nuttx/usb/usbdev_trace.h>
@ -209,9 +210,9 @@ int stm32_usbhost_initialize(void)
uinfo("Start usbhost_waiter\n");
pid = task_create("usbhost", CONFIG_USBHOST_DEFPRIO,
CONFIG_USBHOST_STACKSIZE,
(main_t)usbhost_waiter, (FAR char * const *)NULL);
pid = kthread_create("usbhost", CONFIG_USBHOST_DEFPRIO,
CONFIG_USBHOST_STACKSIZE,
(main_t)usbhost_waiter, (FAR char * const *)NULL);
return pid < 0 ? -ENOEXEC : OK;
}

6
configs/ea3131/src/lpc31_usbhost.c
View File

@ -48,6 +48,7 @@
#include <debug.h>
#include <nuttx/irq.h>
#include <nuttx/kthread.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbhost.h>
#include <nuttx/usb/usbdev_trace.h>
@ -225,8 +226,9 @@ int lpc31_usbhost_initialize(void)
/* Start a thread to handle device connection. */
pid = task_create("EHCI Monitor", CONFIG_USBHOST_DEFPRIO, CONFIG_USBHOST_STACKSIZE,
(main_t)ehci_waiter, (FAR char * const *)NULL);
pid = kthread_create("EHCI Monitor", CONFIG_USBHOST_DEFPRIO,
CONFIG_USBHOST_STACKSIZE,
(main_t)ehci_waiter, (FAR char * const *)NULL);
if (pid < 0)
{
uerr("ERROR: Failed to create ehci_waiter task: %d\n", ret);

7
configs/indium-f7/src/stm32_usb.c
View File

@ -49,6 +49,7 @@
#include <assert.h>
#include <debug.h>
#include <nuttx/kthread.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbhost.h>
#include <nuttx/usb/usbdev_trace.h>
@ -240,9 +241,9 @@ int stm32_usbhost_initialize(void)
uinfo("Start usbhost_waiter\n");
pid = task_create("usbhost", CONFIG_STM32F4DISCO_USBHOST_PRIO,
CONFIG_STM32F4DISCO_USBHOST_STACKSIZE,
(main_t)usbhost_waiter, (FAR char * const *)NULL);
pid = kthread_create("usbhost", CONFIG_STM32F4DISCO_USBHOST_PRIO,
CONFIG_STM32F4DISCO_USBHOST_STACKSIZE,
(main_t)usbhost_waiter, (FAR char * const *)NULL);
return pid < 0 ? -ENOEXEC : OK;
}

7
configs/mcb1700/src/lpc17_bringup.c
View File

@ -45,6 +45,7 @@
#include <syslog.h>
#include <errno.h>
#include <nuttx/kthread.h>
#include <nuttx/board.h>
#include <nuttx/spi/spi.h>
#include <nuttx/mmcsd.h>
@ -301,9 +302,9 @@ static int nsh_usbhostinitialize(void)
syslog(LOG_ERR, "ERROR: Start nsh_waiter\n");
pid = task_create("usbhost", CONFIG_MCB1700_USBHOST_PRIO,
CONFIG_MCB1700_USBHOST_STACKSIZE,
(main_t)nsh_waiter, (FAR char * const *)NULL);
pid = kthread_create("usbhost", CONFIG_MCB1700_USBHOST_PRIO,
CONFIG_MCB1700_USBHOST_STACKSIZE,
(main_t)nsh_waiter, (FAR char * const *)NULL);
return pid < 0 ? -ENOEXEC : OK;
}

7
configs/mikroe-stm32f4/src/stm32_usb.c
View File

@ -47,6 +47,7 @@
#include <assert.h>
#include <debug.h>
#include <nuttx/kthread.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbhost.h>
#include <nuttx/usb/usbdev_trace.h>
@ -208,9 +209,9 @@ int stm32_usbhost_initialize(void)
uinfo("Start usbhost_waiter\n");
pid = task_create("usbhost", CONFIG_USBHOST_DEFPRIO,
CONFIG_USBHOST_STACKSIZE,
(main_t)usbhost_waiter, (FAR char * const *)NULL);
pid = kthread_create("usbhost", CONFIG_USBHOST_DEFPRIO,
CONFIG_USBHOST_STACKSIZE,
(main_t)usbhost_waiter, (FAR char * const *)NULL);
return pid < 0 ? -ENOEXEC : OK;
}

7
configs/nucleo-144/src/stm32_usb.c
View File

@ -48,6 +48,7 @@
#include <assert.h>
#include <debug.h>
#include <nuttx/kthread.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbhost.h>
#include <nuttx/usb/usbdev_trace.h>
@ -239,9 +240,9 @@ int stm32_usbhost_initialize(void)
uinfo("Start usbhost_waiter\n");
pid = task_create("usbhost", CONFIG_STM32F4DISCO_USBHOST_PRIO,
CONFIG_STM32F4DISCO_USBHOST_STACKSIZE,
(main_t)usbhost_waiter, (FAR char * const *)NULL);
pid = kthread_create("usbhost", CONFIG_STM32F4DISCO_USBHOST_PRIO,
CONFIG_STM32F4DISCO_USBHOST_STACKSIZE,
(main_t)usbhost_waiter, (FAR char * const *)NULL);
return pid < 0 ? -ENOEXEC : OK;
}

7
configs/nucleo-l496zg/src/stm32_usb.c
View File

@ -48,6 +48,7 @@
#include <assert.h>
#include <debug.h>
#include <nuttx/kthread.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbhost.h>
#include <nuttx/usb/usbdev_trace.h>
@ -239,9 +240,9 @@ int stm32_usbhost_initialize(void)
uinfo("Start usbhost_waiter\n");
pid = task_create("usbhost", CONFIG_STM32F4DISCO_USBHOST_PRIO,
CONFIG_STM32F4DISCO_USBHOST_STACKSIZE,
(main_t)usbhost_waiter, (FAR char * const *)NULL);
pid = kthread_create("usbhost", CONFIG_STM32F4DISCO_USBHOST_PRIO,
CONFIG_STM32F4DISCO_USBHOST_STACKSIZE,
(main_t)usbhost_waiter, (FAR char * const *)NULL);
return pid < 0 ? -ENOEXEC : OK;
}

6
configs/olimex-lpc-h3131/src/lpc31_usbhost.c
View File

@ -48,6 +48,7 @@
#include <debug.h>
#include <nuttx/irq.h>
#include <nuttx/kthread.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbhost.h>
#include <nuttx/usb/usbdev_trace.h>
@ -230,8 +231,9 @@ int lpc31_usbhost_initialize(void)
/* Start a thread to handle device connection. */
pid = task_create("EHCI Monitor", CONFIG_USBHOST_DEFPRIO, CONFIG_USBHOST_STACKSIZE,
(main_t)ehci_waiter, (FAR char * const *)NULL);
pid = kthread_create("EHCI Monitor", CONFIG_USBHOST_DEFPRIO,i
CONFIG_USBHOST_STACKSIZE,
(main_t)ehci_waiter, (FAR char * const *)NULL);
if (pid < 0)
{
uerr("ERROR: Failed to create ehci_waiter task: %d\n", ret);

7
configs/olimex-lpc1766stk/src/lpc17_appinit.c
View File

@ -45,6 +45,7 @@
#include <syslog.h>
#include <errno.h>
#include <nuttx/kthread.h>
#include <nuttx/board.h>
#include <nuttx/spi/spi.h>
#include <nuttx/mmcsd.h>
@ -301,9 +302,9 @@ static int nsh_usbhostinitialize(void)
syslog(LOG_ERR, "ERROR: Start nsh_waiter\n");
pid = task_create("usbhost", CONFIG_LPC1766STK_USBHOST_PRIO,
CONFIG_LPC1766STK_USBHOST_STACKSIZE,
(main_t)nsh_waiter, (FAR char * const *)NULL);
pid = kthread_create("usbhost", CONFIG_LPC1766STK_USBHOST_PRIO,
CONFIG_LPC1766STK_USBHOST_STACKSIZE,
(main_t)nsh_waiter, (FAR char * const *)NULL);
return pid < 0 ? -ENOEXEC : OK;
}

7
configs/olimex-stm32-e407/src/stm32_usb.c
View File

@ -47,6 +47,7 @@
#include <assert.h>
#include <debug.h>
#include <nuttx/kthread.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbhost.h>
#include <nuttx/usb/usbdev_trace.h>
@ -237,9 +238,9 @@ int stm32_usbhost_initialize(void)
uinfo("Start usbhost_waiter\n");
pid = task_create("usbhost", CONFIG_STM32F4DISCO_USBHOST_PRIO,
CONFIG_STM32F4DISCO_USBHOST_STACKSIZE,
(main_t)usbhost_waiter, (FAR char * const *)NULL);
pid = kthread_create("usbhost", CONFIG_STM32F4DISCO_USBHOST_PRIO,
CONFIG_STM32F4DISCO_USBHOST_STACKSIZE,
(main_t)usbhost_waiter, (FAR char * const *)NULL);
return pid < 0 ? -ENOEXEC : OK;
}

7
configs/olimex-stm32-h407/src/stm32_usb.c
View File

@ -47,6 +47,7 @@
#include <assert.h>
#include <debug.h>
#include <nuttx/kthread.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbhost.h>
#include <nuttx/usb/usbdev_trace.h>
@ -215,9 +216,9 @@ int stm32_usbhost_initialize(void)
uinfo("Start usbhost_waiter\n");
pid = task_create("usbhost", CONFIG_STM32H407_USBHOST_PRIO,
CONFIG_STM32H407_USBHOST_STACKSIZE,
(main_t)usbhost_waiter, (FAR char * const *)NULL);
pid = kthread_create("usbhost", CONFIG_STM32H407_USBHOST_PRIO,
CONFIG_STM32H407_USBHOST_STACKSIZE,
(main_t)usbhost_waiter, (FAR char * const *)NULL);
return pid < 0 ? -ENOEXEC : OK;
}

7
configs/olimex-stm32-p207/src/stm32_usb.c
View File

@ -47,6 +47,7 @@
#include <assert.h>
#include <debug.h>
#include <nuttx/kthread.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbhost.h>
#include <nuttx/usb/usbdev_trace.h>
@ -219,9 +220,9 @@ int stm32_usbhost_initialize(void)
uinfo("Start usbhost_waiter\n");
pid = task_create("usbhost", CONFIG_USBHOST_DEFPRIO,
CONFIG_USBHOST_STACKSIZE,
(main_t)usbhost_waiter, (FAR char * const *)NULL);
pid = kthread_create("usbhost", CONFIG_USBHOST_DEFPRIO,
CONFIG_USBHOST_STACKSIZE,
(main_t)usbhost_waiter, (FAR char * const *)NULL);
return pid < 0 ? -ENOEXEC : OK;
}

7
configs/olimex-stm32-p407/src/stm32_usb.c
View File

@ -47,6 +47,7 @@
#include <assert.h>
#include <debug.h>
#include <nuttx/kthread.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbhost.h>
#include <nuttx/usb/usbdev_trace.h>
@ -236,9 +237,9 @@ int stm32_usbhost_setup(void)
uinfo("Start usbhost_waiter\n");
pid = task_create("usbhost", CONFIG_OLIMEXP407_USBHOST_PRIO,
CONFIG_OLIMEXP407_USBHOST_STACKSIZE,
(main_t)usbhost_waiter, (FAR char * const *)NULL);
pid = kthread_create("usbhost", CONFIG_OLIMEXP407_USBHOST_PRIO,
CONFIG_OLIMEXP407_USBHOST_STACKSIZE,
(main_t)usbhost_waiter, (FAR char * const *)NULL);
return pid < 0 ? -ENOEXEC : OK;
}

7
configs/open1788/src/lpc17_bringup.c
View File

@ -46,6 +46,7 @@
#include <assert.h>
#include <nuttx/arch.h>
#include <nuttx/kthread.h>
#include <nuttx/board.h>
#include <nuttx/sdio.h>
#include <nuttx/mmcsd.h>
@ -343,9 +344,9 @@ static int nsh_usbhostinitialize(void)
syslog(LOG_INFO, "Start nsh_waiter\n");
pid = task_create("usbhost", CONFIG_USBHOST_DEFPRIO,
CONFIG_USBHOST_STACKSIZE,
(main_t)nsh_waiter, (FAR char * const *)NULL);
pid = kthread_create("usbhost", CONFIG_USBHOST_DEFPRIO,
CONFIG_USBHOST_STACKSIZE,
(main_t)nsh_waiter, (FAR char * const *)NULL);
return pid < 0 ? -ENOEXEC : OK;
}

7
configs/pic32mx-starterkit/src/pic32mx_appinit.c
View File

@ -45,6 +45,7 @@
#include <errno.h>
#include <assert.h>
#include <nuttx/kthread.h>
#include <nuttx/board.h>
#include <nuttx/spi/spi.h>
#include <nuttx/mmcsd.h>
@ -309,9 +310,9 @@ static int nsh_usbhostinitialize(void)
syslog(LOG_INFO, "Start nsh_waiter\n");
pid = task_create("usbhost", CONFIG_USBHOST_DEFPRIO,
CONFIG_USBHOST_STACKSIZE,
(main_t)nsh_waiter, (FAR char * const *)NULL);
pid = kthread_create("usbhost", CONFIG_USBHOST_DEFPRIO,
CONFIG_USBHOST_STACKSIZE,
(main_t)nsh_waiter, (FAR char * const *)NULL);
return pid < 0 ? -ENOEXEC : OK;
}

7
configs/pic32mx7mmb/src/pic32_bringup.c
View File

@ -46,6 +46,7 @@
#include <errno.h>
#include <assert.h>
#include <nuttx/kthread.h>
#include <nuttx/board.h>
#include <nuttx/spi/spi.h>
#include <nuttx/mmcsd.h>
@ -320,9 +321,9 @@ static int nsh_usbhostinitialize(void)
syslog(LOG_INFO, "Start nsh_waiter\n");
pid = task_create("usbhost", CONFIG_USBHOST_DEFPRIO,
CONFIG_USBHOST_STACKSIZE,
(main_t)nsh_waiter, (FAR char * const *)NULL);
pid = kthread_create("usbhost", CONFIG_USBHOST_DEFPRIO,
CONFIG_USBHOST_STACKSIZE,
(main_t)nsh_waiter, (FAR char * const *)NULL);
return pid < 0 ? -ENOEXEC : OK;
}
return -ENODEV;

13
configs/sama5d3-xplained/src/sam_usb.c
View File

@ -48,6 +48,7 @@
#include <debug.h>
#include <nuttx/irq.h>
#include <nuttx/kthread.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbhost.h>
#include <nuttx/usb/usbdev_trace.h>
@ -357,9 +358,9 @@ int sam_usbhost_initialize(void)
/* Start a thread to handle device connection. */
pid = task_create("OHCI Monitor", CONFIG_SAMA5D3XPLAINED_USBHOST_PRIO,
CONFIG_SAMA5D3XPLAINED_USBHOST_STACKSIZE,
(main_t)ohci_waiter, (FAR char * const *)NULL);
pid = kthread_create("OHCI Monitor", CONFIG_SAMA5D3XPLAINED_USBHOST_PRIO,
CONFIG_SAMA5D3XPLAINED_USBHOST_STACKSIZE,
(main_t)ohci_waiter, (FAR char * const *)NULL);
if (pid < 0)
{
uerr("ERROR: Failed to create ohci_waiter task: %d\n", ret);
@ -379,9 +380,9 @@ int sam_usbhost_initialize(void)
/* Start a thread to handle device connection. */
pid = task_create("EHCI Monitor", CONFIG_SAMA5D3XPLAINED_USBHOST_PRIO,
CONFIG_SAMA5D3XPLAINED_USBHOST_STACKSIZE,
(main_t)ehci_waiter, (FAR char * const *)NULL);
pid = kthread_create("EHCI Monitor", CONFIG_SAMA5D3XPLAINED_USBHOST_PRIO,
CONFIG_SAMA5D3XPLAINED_USBHOST_STACKSIZE,
(main_t)ehci_waiter, (FAR char * const *)NULL);
if (pid < 0)
{
uerr("ERROR: Failed to create ehci_waiter task: %d\n", ret);

13
configs/sama5d3x-ek/src/sam_usb.c
View File

@ -48,6 +48,7 @@
#include <debug.h>
#include <nuttx/irq.h>
#include <nuttx/kthread.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbhost.h>
#include <nuttx/usb/usbdev_trace.h>
@ -355,9 +356,9 @@ int sam_usbhost_initialize(void)
/* Start a thread to handle device connection. */
pid = task_create("OHCI Monitor", CONFIG_SAMA5D3xEK_USBHOST_PRIO,
CONFIG_SAMA5D3xEK_USBHOST_STACKSIZE,
(main_t)ohci_waiter, (FAR char * const *)NULL);
pid = kthread_create("OHCI Monitor", CONFIG_SAMA5D3xEK_USBHOST_PRIO,
CONFIG_SAMA5D3xEK_USBHOST_STACKSIZE,
(main_t)ohci_waiter, (FAR char * const *)NULL);
if (pid < 0)
{
uerr("ERROR: Failed to create ohci_waiter task: %d\n", ret);
@ -377,9 +378,9 @@ int sam_usbhost_initialize(void)
/* Start a thread to handle device connection. */
pid = task_create("EHCI Monitor", CONFIG_SAMA5D3xEK_USBHOST_PRIO,
CONFIG_SAMA5D3xEK_USBHOST_STACKSIZE,
(main_t)ehci_waiter, (FAR char * const *)NULL);
pid = kthread_create("EHCI Monitor", CONFIG_SAMA5D3xEK_USBHOST_PRIO,
CONFIG_SAMA5D3xEK_USBHOST_STACKSIZE,
(main_t)ehci_waiter, (FAR char * const *)NULL);
if (pid < 0)
{
uerr("ERROR: Failed to create ehci_waiter task: %d\n", ret);

13
configs/sama5d4-ek/src/sam_usb.c
View File

@ -48,6 +48,7 @@
#include <debug.h>
#include <nuttx/irq.h>
#include <nuttx/kthread.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbhost.h>
#include <nuttx/usb/usbdev_trace.h>
@ -356,9 +357,9 @@ int sam_usbhost_initialize(void)
/* Start a thread to handle device connection. */
pid = task_create("OHCI Monitor", CONFIG_SAMA5D4EK_USBHOST_PRIO,
CONFIG_SAMA5D4EK_USBHOST_STACKSIZE,
(main_t)ohci_waiter, (FAR char * const *)NULL);
pid = kthread_create("OHCI Monitor", CONFIG_SAMA5D4EK_USBHOST_PRIO,
CONFIG_SAMA5D4EK_USBHOST_STACKSIZE,
(main_t)ohci_waiter, (FAR char * const *)NULL);
if (pid < 0)
{
uerr("ERROR: Failed to create ohci_waiter task: %d\n", ret);
@ -378,9 +379,9 @@ int sam_usbhost_initialize(void)
/* Start a thread to handle device connection. */
pid = task_create("EHCI Monitor", CONFIG_SAMA5D4EK_USBHOST_PRIO,
CONFIG_SAMA5D4EK_USBHOST_STACKSIZE,
(main_t)ehci_waiter, (FAR char * const *)NULL);
pid = kthread_create("EHCI Monitor", CONFIG_SAMA5D4EK_USBHOST_PRIO,
CONFIG_SAMA5D4EK_USBHOST_STACKSIZE,
(main_t)ehci_waiter, (FAR char * const *)NULL);
if (pid < 0)
{
uerr("ERROR: Failed to create ehci_waiter task: %d\n", ret);

7
configs/shenzhou/src/stm32_usb.c
View File

@ -47,6 +47,7 @@
#include <assert.h>
#include <debug.h>
#include <nuttx/kthread.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbhost.h>
#include <nuttx/usb/usbdev_trace.h>
@ -208,9 +209,9 @@ int stm32_usbhost_initialize(void)
uinfo("Start usbhost_waiter\n");
pid = task_create("usbhost", CONFIG_USBHOST_DEFPRIO,
CONFIG_USBHOST_STACKSIZE,
(main_t)usbhost_waiter, (FAR char * const *)NULL);
pid = kthread_create("usbhost", CONFIG_USBHOST_DEFPRIO,
CONFIG_USBHOST_STACKSIZE,
(main_t)usbhost_waiter, (FAR char * const *)NULL);
return pid < 0 ? -ENOEXEC : OK;
}

7
configs/stm3220g-eval/src/stm32_usb.c
View File

@ -47,6 +47,7 @@
#include <assert.h>
#include <debug.h>
#include <nuttx/kthread.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbhost.h>
#include <nuttx/usb/usbdev_trace.h>
@ -208,9 +209,9 @@ int stm32_usbhost_initialize(void)
uinfo("Start usbhost_waiter\n");
pid = task_create("usbhost", CONFIG_USBHOST_DEFPRIO,
CONFIG_USBHOST_STACKSIZE,
(main_t)usbhost_waiter, (FAR char * const *)NULL);
pid = kthread_create("usbhost", CONFIG_USBHOST_DEFPRIO,
CONFIG_USBHOST_STACKSIZE,
(main_t)usbhost_waiter, (FAR char * const *)NULL);
return pid < 0 ? -ENOEXEC : OK;
}

3
configs/stm3240g-eval/src/stm32_usb.c
View File

@ -47,6 +47,7 @@
#include <assert.h>
#include <debug.h>
#include <nuttx/kthread.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbhost.h>
#include <nuttx/usb/usbdev_trace.h>
@ -208,7 +209,7 @@ int stm32_usbhost_initialize(void)
uinfo("Start usbhost_waiter\n");
pid = task_create("usbhost", CONFIG_USBHOST_DEFPRIO,
pid = kthread_create("usbhost", CONFIG_USBHOST_DEFPRIO,
CONFIG_USBHOST_STACKSIZE,
(main_t)usbhost_waiter, (FAR char * const *)NULL);
return pid < 0 ? -ENOEXEC : OK;

7
configs/stm32f411e-disco/src/stm32_usb.c
View File

@ -50,6 +50,7 @@
#include <assert.h>
#include <debug.h>
#include <nuttx/kthread.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbhost.h>
#include <nuttx/usb/usbdev_trace.h>
@ -248,9 +249,9 @@ int stm32_usbhost_initialize(void)
uinfo("Start usbhost_waiter\n");
pid = task_create("usbhost", CONFIG_STM32F411DISCO_USBHOST_PRIO,
CONFIG_STM32F411DISCO_USBHOST_STACKSIZE,
(main_t)usbhost_waiter, (FAR char * const *)NULL);
pid = kthread_create("usbhost", CONFIG_STM32F411DISCO_USBHOST_PRIO,
CONFIG_STM32F411DISCO_USBHOST_STACKSIZE,
(main_t)usbhost_waiter, (FAR char * const *)NULL);
return pid < 0 ? -ENOEXEC : OK;
}

7
configs/stm32f429i-disco/src/stm32_usb.c
View File

@ -47,6 +47,7 @@
#include <assert.h>
#include <debug.h>
#include <nuttx/kthread.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbhost.h>
#include <nuttx/usb/usbdev_trace.h>
@ -214,9 +215,9 @@ int stm32_usbhost_initialize(void)
uinfo("Start usbhost_waiter\n");
pid = task_create("usbhost", CONFIG_STM32F429IDISCO_USBHOST_PRIO,
CONFIG_STM32F429IDISCO_USBHOST_STACKSIZE,
(main_t)usbhost_waiter, (FAR char * const *)NULL);
pid = kthread_create("usbhost", CONFIG_STM32F429IDISCO_USBHOST_PRIO,
CONFIG_STM32F429IDISCO_USBHOST_STACKSIZE,
(main_t)usbhost_waiter, (FAR char * const *)NULL);
return pid < 0 ? -ENOEXEC : OK;
}

3
configs/stm32f4discovery/src/stm32_usb.c
View File

@ -47,6 +47,7 @@
#include <assert.h>
#include <debug.h>
#include <nuttx/kthread.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbhost.h>
#include <nuttx/usb/usbdev_trace.h>
@ -248,7 +249,7 @@ int stm32_usbhost_initialize(void)
uinfo("Start usbhost_waiter\n");
pid = task_create("usbhost", CONFIG_STM32F4DISCO_USBHOST_PRIO,
pid = kthread_create("usbhost", CONFIG_STM32F4DISCO_USBHOST_PRIO,
CONFIG_STM32F4DISCO_USBHOST_STACKSIZE,
(main_t)usbhost_waiter, (FAR char * const *)NULL);
return pid < 0 ? -ENOEXEC : OK;

3
configs/stm32f746-ws/src/stm32_usb.c
View File

@ -47,6 +47,7 @@
#include <assert.h>
#include <debug.h>
#include <nuttx/kthread.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbhost.h>
#include <nuttx/usb/usbdev_trace.h>
@ -240,7 +241,7 @@ int stm32_usbhost_initialize(void)
uinfo("Start usbhost_waiter\n");
pid = task_create("usbhost", CONFIG_STM32F7F4DISCO_USBHOST_PRIO,
pid = kthread_create("usbhost", CONFIG_STM32F7F4DISCO_USBHOST_PRIO,
CONFIG_STM32F7F4DISCO_USBHOST_STACKSIZE,
(main_t)usbhost_waiter, (FAR char * const *)NULL);
return pid < 0 ? -ENOEXEC : OK;

7
configs/stm32l476vg-disco/src/stm32_usb.c
View File

@ -47,6 +47,7 @@
#include <assert.h>
#include <debug.h>
#include <nuttx/kthread.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbhost.h>
#include <nuttx/usb/usbdev_trace.h>
@ -237,9 +238,9 @@ int stm32l4_usbhost_initialize(void)
uvdbg("Start usbhost_waiter\n");
pid = task_create("usbhost", CONFIG_STM32L4DISCO_USBHOST_PRIO,
CONFIG_STM32L4DISCO_USBHOST_STACKSIZE,
(main_t)usbhost_waiter, (FAR char * const *)NULL);
pid = kthread_create("usbhost", CONFIG_STM32L4DISCO_USBHOST_PRIO,
CONFIG_STM32L4DISCO_USBHOST_STACKSIZE,
(main_t)usbhost_waiter, (FAR char * const *)NULL);
return pid < 0 ? -ENOEXEC : OK;
}

7
configs/sure-pic32mx/src/pic32mx_appinit.c
View File

@ -45,6 +45,7 @@
#include <errno.h>
#include <assert.h>
#include <nuttx/kthread.h>
#include <nuttx/board.h>
#include <nuttx/spi/spi.h>
#include <nuttx/mmcsd.h>
@ -318,9 +319,9 @@ static int nsh_usbhostinitialize(void)
syslog(LOG_INFO, "Start nsh_waiter\n");
pid = task_create("usbhost", CONFIG_USBHOST_DEFPRIO,
CONFIG_USBHOST_STACKSIZE,
(main_t)nsh_waiter, (FAR char * const *)NULL);
pid = kthread_create("usbhost", CONFIG_USBHOST_DEFPRIO,
CONFIG_USBHOST_STACKSIZE,
(main_t)nsh_waiter, (FAR char * const *)NULL);
return pid < 0 ? -ENOEXEC : OK;
}
return -ENODEV;

17
drivers/net/slip.c
View File

@ -57,6 +57,7 @@
#include <nuttx/irq.h>
#include <nuttx/clock.h>
#include <nuttx/signal.h>
#include <nuttx/kthread.h>
#include <nuttx/semaphore.h>
#include <nuttx/net/net.h>
#include <nuttx/net/netdev.h>
@ -971,15 +972,15 @@ int slip_initialize(int intf, FAR const char *devname)
slip_ifdown(&priv->dev);
/* Start the SLIP receiver task */
/* Start the SLIP receiver kernel thread */
snprintf(buffer, 8, "%d", intf);
argv[0] = buffer;
argv[1] = NULL;
priv->rxpid = task_create("rxslip", CONFIG_NET_SLIP_DEFPRIO,
CONFIG_NET_SLIP_STACKSIZE, (main_t)slip_rxtask,
(FAR char * const *)argv);
priv->rxpid = kthread_create("rxslip", CONFIG_NET_SLIP_DEFPRIO,
CONFIG_NET_SLIP_STACKSIZE, (main_t)slip_rxtask,
(FAR char * const *)argv);
if (priv->rxpid < 0)
{
nerr("ERROR: Failed to start receiver task\n");
@ -990,11 +991,11 @@ int slip_initialize(int intf, FAR const char *devname)
slip_semtake(priv);
/* Start the SLIP transmitter task */
/* Start the SLIP transmitter kernel thread */
priv->txpid = task_create("txslip", CONFIG_NET_SLIP_DEFPRIO,
CONFIG_NET_SLIP_STACKSIZE, (main_t)slip_txtask,
(FAR char * const *)argv);
priv->txpid = kthread_create("txslip", CONFIG_NET_SLIP_DEFPRIO,
CONFIG_NET_SLIP_STACKSIZE, (main_t)slip_txtask,
(FAR char * const *)argv);
if (priv->txpid < 0)
{
nerr("ERROR: Failed to start receiver task\n");

4
drivers/usbhost/usbhost_hidkbd.c
View File

@ -1629,12 +1629,12 @@ static inline int usbhost_devinit(FAR struct usbhost_state_s *priv)
CONFIG_HIDKBD_STACKSIZE,
(main_t)usbhost_kbdpoll,
(FAR char * const *)NULL);
if (priv->pollpid == ERROR)
if (priv->pollpid < 0)
{
/* Failed to started the poll thread... probably due to memory resources */
usbhost_givesem(&g_exclsem);
ret = -ENOMEM;
ret = (int)priv->pollpid;
goto errout;
}

4
drivers/usbhost/usbhost_hidmouse.c
View File

@ -1699,12 +1699,12 @@ static inline int usbhost_devinit(FAR struct usbhost_state_s *priv)
CONFIG_HIDMOUSE_STACKSIZE,
(main_t)usbhost_mouse_poll,
(FAR char * const *)NULL);
if (priv->pollpid == ERROR)
if (priv->pollpid < 0)
{
/* Failed to started the poll thread... probably due to memory resources */
usbhost_givesem(&g_exclsem);
ret = -ENOMEM;
ret = priv->pollpid;
goto errout;
}

4
drivers/usbhost/usbhost_xboxcontroller.c
View File

@ -1341,12 +1341,12 @@ static inline int usbhost_devinit(FAR struct usbhost_state_s *priv)
CONFIG_XBOXCONTROLLER_STACKSIZE,
(main_t)usbhost_xboxcontroller_poll,
(FAR char * const *)NULL);
if (priv->pollpid == ERROR)
if (priv->pollpid < 0)
{
/* Failed to started the poll thread... probably due to memory resources */
usbhost_givesem(&g_exclsem);
ret = -ENOMEM;
ret = priv->pollpid;
goto errout;
}

9
drivers/usbmonitor/usbmonitor.c
View File

@ -231,25 +231,24 @@ int usbmonitor_start(void)
(FAR char * const *)NULL);
if (ret < 0)
{
int errcode = get_errno();
uerr("ERROR: Failed to start the USB monitor: %d\n",
errcode);
UNUSED(errcode);
ret);
}
else
{
g_usbmonitor.pid = ret;
uinfo("Started: %d\n", g_usbmonitor.pid);
ret = OK;
}
sched_unlock();
return 0;
return ret;
}
sched_unlock();
uinfo("%s: %d\n",
g_usbmonitor.stop ? "Stopping" : "Running", g_usbmonitor.pid);
return 0;
return OK;
}
/****************************************************************************

7
graphics/nxmu/nx_start.c
View File

@ -190,11 +190,8 @@ int nx_start(void)
CONFIG_NXSTART_SERVERSTACK, nx_server, NULL);
if (server < 0)
{
int errcode = get_errno();
DEBUGASSERT(errcode > 0);
gerr("ERROR: Failed to create nx_server kernel thread: %d\n", errcode);
return -errcode;
gerr("ERROR: Failed to create nx_server kernel thread: %d\n", ret);
return ret;
}
g_nxserver_started = true;

57
include/nuttx/kthread.h
View File

@ -64,6 +64,49 @@ extern "C"
* Public Function Prototypes
****************************************************************************/
/****************************************************************************
* Name: nxtask_create
*
* Description:
* This function creates and activates a new user task with a specified
* priority and returns its system-assigned ID.
*
* The entry address entry is the address of the "main" function of the
* task. This function will be called once the C environment has been
* set up. The specified function will be called with four arguments.
* Should the specified routine return, a call to exit() will
* automatically be made.
*
* Note that four (and only four) arguments must be passed for the spawned
* functions.
*
* nxtask_create() is identical to the function task_create(), differing
* only in its return value: This function does not modify the errno
* variable. This is a non-standard, internal OS function and is not
* intended for use by application logic. Applications should use
* task_create().
*
* Input Parameters:
* name - Name of the new task
* priority - Priority of the new task
* stack_size - size (in bytes) of the stack needed
* entry - Entry point of a new task
* arg - A pointer to an array of input parameters. Up to
* CONFIG_MAX_TASK_ARG parameters may be provided. If fewer
* than CONFIG_MAX_TASK_ARG parameters are passed, the list
* should be terminated with a NULL argv[] value. If no
* parameters are required, argv may be NULL.
*
* Return Value:
* Returns the positive, non-zero process ID of the new task or a negated
* errno value to indicate the nature of any failure. If memory is
* insufficient or the task cannot be created -ENOMEM will be returned.
*
****************************************************************************/
int nxtask_create(FAR const char *name, int priority,
int stack_size, main_t entry, FAR char * const argv[]);
/********************************************************************************
* Name: kthread_create
*
@ -73,10 +116,20 @@ extern "C"
* newly started thread to run in kernel model.
*
* Input Parameters:
* (same as task_create())
* name - Name of the new task
* priority - Priority of the new task
* stack_size - size (in bytes) of the stack needed
* entry - Entry point of a new task
* arg - A pointer to an array of input parameters. Up to
* CONFIG_MAX_TASK_ARG parameters may be provided. If fewer
* than CONFIG_MAX_TASK_ARG parameters are passed, the list
* should be terminated with a NULL argv[] value. If no
* parameters are required, argv may be NULL.
*
* Return Value:
* (same as task_create())
* Returns the positive, non-zero process ID of the new task or a negated
* errno value to indicate the nature of any failure. If memory is
* insufficient or the task cannot be created -ENOMEM will be returned.
*
********************************************************************************/

18
sched/init/os_bringup.c
View File

@ -257,16 +257,16 @@ static inline void os_do_appstart(void)
#ifdef CONFIG_BUILD_PROTECTED
DEBUGASSERT(USERSPACE->us_entrypoint != NULL);
pid = task_create("init", SCHED_PRIORITY_DEFAULT,
CONFIG_USERMAIN_STACKSIZE, USERSPACE->us_entrypoint,
(FAR char * const *)NULL);
pid = nxtask_create("init", SCHED_PRIORITY_DEFAULT,
CONFIG_USERMAIN_STACKSIZE, USERSPACE->us_entrypoint,
(FAR char * const *)NULL);
#else
pid = task_create("init", SCHED_PRIORITY_DEFAULT,
CONFIG_USERMAIN_STACKSIZE,
(main_t)CONFIG_USER_ENTRYPOINT,
(FAR char * const *)NULL);
pid = nxtask_create("init", SCHED_PRIORITY_DEFAULT,
CONFIG_USERMAIN_STACKSIZE,
(main_t)CONFIG_USER_ENTRYPOINT,
(FAR char * const *)NULL);
#endif
ASSERT(pid > 0);
DEBUGASSERT(pid > 0);
}
#elif defined(CONFIG_INIT_FILEPATH)
@ -357,7 +357,7 @@ static inline void os_start_application(void)
pid = kthread_create("AppBringUp", CONFIG_BOARD_INITTHREAD_PRIORITY,
CONFIG_BOARD_INITTHREAD_STACKSIZE,
(main_t)os_start_task, (FAR char * const *)NULL);
ASSERT(pid > 0);
DEBUGASSERT(pid > 0);
#else
/* Do the board/application initialization on this thread of execution. */

100
sched/task/task_create.c
View File

@ -1,7 +1,8 @@
/****************************************************************************
* sched/task/task_create.c
*
* Copyright (C) 2007-2010, 2013-2014, 2016 Gregory Nutt. All rights reserved.
* Copyright (C) 2007-2010, 2013-2014, 2016, 2018 Gregory Nutt. All rights
* reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@ -78,9 +79,9 @@
* parameters are required, argv may be NULL.
*
* Return Value:
* Returns the non-zero process ID of the new task or ERROR if memory is
* insufficient or the task cannot be created. The errno will be set to
* indicate the nature of the error (always ENOMEM).
* Returns the positive, non-zero process ID of the new task or a negated
* errno value to indicate the nature of any failure. If memory is
* insufficient or the task cannot be created -ENOMEM will be returned.
*
****************************************************************************/
@ -90,7 +91,6 @@ static int thread_create(FAR const char *name, uint8_t ttype, int priority,
{
FAR struct task_tcb_s *tcb;
pid_t pid;
int errcode;
int ret;
/* Allocate a TCB for the new task. */
@ -99,7 +99,7 @@ static int thread_create(FAR const char *name, uint8_t ttype, int priority,
if (!tcb)
{
serr("ERROR: Failed to allocate TCB\n");
errcode = ENOMEM;
return -ENOMEM;
goto errout;
}
@ -111,7 +111,6 @@ static int thread_create(FAR const char *name, uint8_t ttype, int priority,
ret = group_allocate(tcb, ttype);
if (ret < 0)
{
errcode = -ret;
goto errout_with_tcb;
}
#endif
@ -129,7 +128,6 @@ static int thread_create(FAR const char *name, uint8_t ttype, int priority,
ret = group_setuptaskfiles(tcb);
if (ret < OK)
{
errcode = -ret;
goto errout_with_tcb;
}
}
@ -140,7 +138,6 @@ static int thread_create(FAR const char *name, uint8_t ttype, int priority,
ret = up_create_stack((FAR struct tcb_s *)tcb, stack_size, ttype);
if (ret < OK)
{
errcode = -ret;
goto errout_with_tcb;
}
@ -149,7 +146,6 @@ static int thread_create(FAR const char *name, uint8_t ttype, int priority,
ret = task_schedsetup(tcb, priority, task_start, entry, ttype);
if (ret < OK)
{
errcode = -ret;
goto errout_with_tcb;
}
@ -163,7 +159,6 @@ static int thread_create(FAR const char *name, uint8_t ttype, int priority,
ret = group_initialize(tcb);
if (ret < 0)
{
errcode = -ret;
goto errout_with_tcb;
}
#endif
@ -177,7 +172,8 @@ static int thread_create(FAR const char *name, uint8_t ttype, int priority,
ret = task_activate((FAR struct tcb_s *)tcb);
if (ret < OK)
{
errcode = get_errno();
ret = -get_errno();
DEBUGASSERT(ret < 0);
/* The TCB was added to the active task list by task_schedsetup() */
@ -189,16 +185,60 @@ static int thread_create(FAR const char *name, uint8_t ttype, int priority,
errout_with_tcb:
sched_releasetcb((FAR struct tcb_s *)tcb, ttype);
errout:
set_errno(errcode);
return ERROR;
return ret;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: nxtask_create
*
* Description:
* This function creates and activates a new task with a specified
* priority and returns its system-assigned ID.
*
* The entry address entry is the address of the "main" function of the
* task. This function will be called once the C environment has been
* set up. The specified function will be called with four arguments.
* Should the specified routine return, a call to exit() will
* automatically be made.
*
* Note that four (and only four) arguments must be passed for the spawned
* functions.
*
* nxtask_create() is identical to the function task_create(), differing
* only in its return value: This function does not modify the errno
* variable. This is a non-standard, internal OS function and is not
* intended for use by application logic. Applications should use
* task_create().
*
* Input Parameters:
* name - Name of the new task
* priority - Priority of the new task
* stack_size - size (in bytes) of the stack needed
* entry - Entry point of a new task
* arg - A pointer to an array of input parameters. Up to
* CONFIG_MAX_TASK_ARG parameters may be provided. If fewer
* than CONFIG_MAX_TASK_ARG parameters are passed, the list
* should be terminated with a NULL argv[] value. If no
* parameters are required, argv may be NULL.
*
* Return Value:
* Returns the positive, non-zero process ID of the new task or a negated
* errno value to indicate the nature of any failure. If memory is
* insufficient or the task cannot be created -ENOMEM will be returned.
*
****************************************************************************/
int nxtask_create(FAR const char *name, int priority,
int stack_size, main_t entry, FAR char * const argv[])
{
return thread_create(name, TCB_FLAG_TTYPE_TASK, priority, stack_size,
entry, argv);
}
/****************************************************************************
* Name: task_create
*
@ -228,8 +268,8 @@ errout:
*
* Return Value:
* Returns the non-zero process ID of the new task or ERROR if memory is
* insufficient or the task cannot be created. The errno will be set to
* indicate the nature of the error (always ENOMEM).
* insufficient or the task cannot be created. The errno will be set in
* the failure case to indicate the nature of the error.
*
****************************************************************************/
@ -237,8 +277,14 @@ errout:
int task_create(FAR const char *name, int priority,
int stack_size, main_t entry, FAR char * const argv[])
{
return thread_create(name, TCB_FLAG_TTYPE_TASK, priority, stack_size,
entry, argv);
int ret = nxtask_create(name, priority, stack_size, entry, argv);
if (ret < 0)
{
set_errno(-ret);
ret = ERROR;
}
return ret;
}
#endif
@ -251,10 +297,20 @@ int task_create(FAR const char *name, int priority,
* configures the newly started thread to run in kernel model.
*
* Input Parameters:
* (same as task_create())
* name - Name of the new task
* priority - Priority of the new task
* stack_size - size (in bytes) of the stack needed
* entry - Entry point of a new task
* arg - A pointer to an array of input parameters. Up to
* CONFIG_MAX_TASK_ARG parameters may be provided. If fewer
* than CONFIG_MAX_TASK_ARG parameters are passed, the list
* should be terminated with a NULL argv[] value. If no
* parameters are required, argv may be NULL.
*
* Return Value:
* (same as task_create())
* Returns the positive, non-zero process ID of the new task or a negated
* errno value to indicate the nature of any failure. If memory is
* insufficient or the task cannot be created -ENOMEM will be returned.
*
****************************************************************************/

3
sched/task/task_posixspawn.c
View File

@ -420,9 +420,8 @@ int posix_spawn(FAR pid_t *pid, FAR const char *path,
(FAR char * const *)NULL);
if (proxy < 0)
{
ret = get_errno();
ret = -proxy;
serr("ERROR: Failed to start posix_spawn_proxy: %d\n", ret);
goto errout_with_lock;
}

18
sched/task/task_spawn.c
View File

@ -45,6 +45,7 @@
#include <debug.h>
#include <nuttx/sched.h>
#include <nuttx/kthread.h>
#include "sched/sched.h"
#include "group/group.h"
@ -138,11 +139,11 @@ static int task_spawn_exec(FAR pid_t *pidp, FAR const char *name,
/* Start the task */
pid = task_create(name, priority, stacksize, entry, argv);
pid = nxtask_create(name, priority, stacksize, entry, argv);
if (pid < 0)
{
ret = get_errno();
serr("ERROR: task_create failed: %d\n", ret);
ret = -pid;
serr("ERROR: nxtask_create failed: %d\n", ret);
goto errout;
}
@ -403,15 +404,14 @@ int task_spawn(FAR pid_t *pid, FAR const char *name, main_t entry,
* task.
*/
proxy = task_create("task_spawn_proxy", param.sched_priority,
CONFIG_POSIX_SPAWN_PROXY_STACKSIZE,
(main_t)task_spawn_proxy,
(FAR char * const *)NULL);
proxy = nxtask_create("task_spawn_proxy", param.sched_priority,
CONFIG_POSIX_SPAWN_PROXY_STACKSIZE,
(main_t)task_spawn_proxy,
(FAR char * const *)NULL);
if (proxy < 0)
{
ret = get_errno();
ret = -proxy;
serr("ERROR: Failed to start task_spawn_proxy: %d\n", ret);
goto errout_with_lock;
}

7
sched/wqueue/kwork_hpthread.c
View File

@ -162,11 +162,8 @@ int work_hpstart(void)
DEBUGASSERT(pid > 0);
if (pid < 0)
{
int errcode = get_errno();
DEBUGASSERT(errcode > 0);
serr("ERROR: kthread_create failed: %d\n", errcode);
return -errcode;
serr("ERROR: kthread_create failed: %d\n", (int)pid);
return (int)pid;
}
g_hpwork.worker[0].pid = pid;

7
sched/wqueue/kwork_lpthread.c
View File

@ -209,12 +209,9 @@ int work_lpstart(void)
DEBUGASSERT(pid > 0);
if (pid < 0)
{
int errcode = get_errno();
DEBUGASSERT(errcode > 0);
serr("ERROR: kthread_create %d failed: %d\n", wndx, errcode);
serr("ERROR: kthread_create %d failed: %d\n", wndx, (int)pid);
sched_unlock();
return -errcode;
return (int)pid;
}
g_lpwork.worker[wndx].pid = pid;