Commit Graph

390 Commits

Author SHA1 Message Date
chao an
e456c88c09 Revert "sched: replace some global variables to macro"
sched implementation not depends on macro abstraction, so revert below commit:

This reverts commit 4e62d0005a
This reverts commit 0f0c370520
This reverts commit ad0efd04ee

Signed-off-by: chao an <anchao@lixiang.com>
2024-06-06 22:00:25 +08:00
Yanfeng Liu
a35b2a5cc7 sched/posixspawn: disable tedious logging
This log appears for NSH internal commands in KERNEL build and
duplicates a lot with task_spawn: log. So drop it to make the
DEBUG_SCHED_INFO logging more readable.

Signed-off-by: Yanfeng Liu <yfliu2008@qq.com>
2024-05-10 15:40:34 +08:00
Yanfeng Liu
64e008f65b sched/task: minor polish on task_init()
This removes duplicated mask operation and revises comments.

Signed-off-by: Yanfeng Liu <yfliu2008@qq.com>
2024-05-08 15:43:25 +08:00
chao an
4e62d0005a sched: replace some global variables to macro
replace to macro will help to extend the scheduling implementation

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-21 18:51:25 +08:00
chao an
306c1c0b7d sched/tasklist: replace task status list with macro definition
replace to macro will help to extend the scheduling implementation

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-21 11:23:46 +09:00
chao an
df30a1f8d3 sched/pthread/join: refactor pthread join to support join task
1. add support to join main task

| static pthread_t self;
|
| static void *join_task(void *arg)
| {
|   int ret;
|   ret = pthread_join(self, NULL);          <---  /* Fix Task could not be joined */
|   return NULL;
| }
|
| int main(int argc, char *argv[])
| {
|   pthread_t thread;
|
|   self = pthread_self();
|
|   pthread_create(&thread, NULL, join_task, NULL);
|   sleep(1);
|
|   pthread_exit(NULL);
|   return 0;
| }

2. Detach active thread will not alloc for additional join, just update the task flag.
3. Remove the return value waiting lock logic (data_sem),
   the return value will be stored in the waiting tcb.
4. Revise the return value of pthread_join(), consistent with linux
   e.g:
       Joining a detached and canceled thread should return EINVAL, not ESRCH

   https://pubs.opengroup.org/onlinepubs/009695399/functions/pthread_join.html

   [EINVAL]
      The value specified by thread does not refer to a joinable thread.

NOTE:

This PR will not increase stack usage, but struct tcb_s will increase 32 bytes.

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-13 18:06:56 +09:00
chao an
29e50ffa73 sched/group: move task group into task_tcb_s to improve performance
move task group into task_tcb_s to avoid access allocator to improve performance

for Task Termination, the time consumption will be reduced ~2us (Tricore TC397 300MHZ):
15.97(us) -> 13.55(us)

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-10 11:45:46 -03:00
chao an
ec08031e4b sched/group: change type of task group member to single queue
Change the type of task group member to single list chain to
avoid accessing the memory allocator to improve the performance

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-07 12:39:29 +08:00
chao an
8592e7e009 sched/task: save argument counter to avoid limit check
The maximum startup parameters have been checked accordingly in nxtask_setup_stackargs(),
let us save argument counter to avoid limit check.

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-05 22:25:28 +08:00
chao an
7cb1f3b3c0 sched/group: replace group_findbypid to task_getgroup
Task group could find from process id, replace group_findbypid to
task_getgroup to simplify the search logic

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-05 22:24:52 +08:00
chao an
9489953230 sched/tcb: add free tcb flag to support static tcb
Add support for static tcb, applications in some special case can
initialize system resources in advance through static tcb.

|  static struct task_tcb_s g_tcb;
|
|  memset(&g_tcb, 0, sizeof(struct task_tcb_s));
|  g_tcb.cmn.flags = TCB_FLAG_TTYPE_KERNEL;
|  nxtask_init(&g_tcb, "PTCB", 101, NULL, 1024, ptcb_task, NULL, NULL, NULL);
|
|  ...
|  nxtask_activate(&g_tcb.cmn);

Signed-off-by: chao an <anchao@lixiang.com>
2024-03-04 20:05:11 +08:00
Yanfeng Liu
f280c33311 sched/logging: add task activation/exit logs
Task activation/exit logs are helpful for device bringup,
especially when user space nsh prompt doesn't show up.

Putting them here will allow cleaning of logs in multiple
up_exit() functions  later.

Signed-off-by: Yanfeng Liu <yfliu2008@qq.com>
2024-01-14 23:04:42 -08:00
simbit18
c494ce4a96 Update kconfig2html.c
Fix nuttx coding style
2023-12-14 20:02:52 -08:00
Ville Juven
57de6484e9 task/pthread_cancelpt: Fix task_delete from another task group
PR #11165 causes an unnecessary regression; task_delete no longer works,
if the deleted task is from another group.

The logic that prevents this comes from:

nxnotify_cancellation() ->
tls_get_info_pid() ->
nxsched_get_stackinfo()

Which checks for permissions, which does not make sense in this case since
it is the kernel asking for the stack information.

Fix this by partially reverting 11165 and implementing a direct path for
the kernel to query for any tasks TLS.
2023-11-22 08:05:58 -08:00
chao an
42427e9e29 sched/taskfiles: skip unnecessary file open/close operations to improve performance
The task files should consult the "spawn action" and "O_CLOEXEC flags"
to determine further whether the file should be duplicated.

This PR will further optimize file list duplicating to avoid the performance
regression caused by additional file operations.

Signed-off-by: chao an <anchao@xiaomi.com>
2023-11-16 07:30:36 -08:00
chao an
342a6bb676 sched/task: ignore return value of nxspawn_close()
Closing an invalid file descriptor will not cause the action fail.

Signed-off-by: chao an <anchao@xiaomi.com>
2023-11-16 07:30:36 -08:00
Ville Juven
0dedbcd4ae task/pthread_cancelpt: Move cancel point handling to libc, data to TLS
This moves task / thread cancel point logic from the NuttX kernel into
libc, while the data needed by the cancel point logic is moved to TLS.

The change is an enabler to move user-space APIs to libc as well, for
a coherent user/kernel separation.
2023-11-15 08:52:04 -08:00
Ville Juven
e935bc53bb task/task_spawnparms.c: Set the new process's signal mask
Set the newly spawned process's signal mask, if the caller has instructed
to do so by setting POSIX_SPAWN_SETSIGMASK.

This is called after the task has been created but has NOT been started
yet.
2023-10-30 22:30:03 +08:00
Ville Juven
6e9e215943 sched/task: Remove spawn_proxyattrs as obsolete implementation
Like the name implies, it is supposed to set the spawn attributes for
the NuttX specific "spawn proxy task" which was historically used as
a proxy to spawn new tasks. The proxy handled file actions and the signal
mask which are inherited from the parent.

The proxy task does not exist anymore, thus the proxy task attributes
do not need to be set anymore either.

Also, the function is currently still used, but the signal mask is set
for the spawning process, not the proxy process, and this is most
DEFINITELY an error (as the spawning process's signal mask changes
unexpectedly).

Setting the signal mask for the newly spawned process is simple, just
set it directly, if instructed to do so. This will be done in a later
patch!
2023-10-30 22:30:03 +08:00
dongjiuzhu1
18819b6b24 sched/task: close file descriptor with O_CLOEXEC before active task or exec
VELAPLATFO-18473

refs:
https://man7.org/linux/man-pages/man2/fcntl.2.html
If the FD_CLOEXEC bit is set, the file descriptor will automatically
be closed during a successful execve(2).
(If the execve(2) fails, the file descriptor is left open.)

modify:
1. Ensure that the child task copies all fds of the parent task,
   including those with O_CLOEXE.
2. Make sure spawn_file_action is executed under fd with O_CLOEXEC,
   otherwise it will fail.
3. When a new task is activated or exec is called, close all fds
   with O_CLOEXEC flags.

Signed-off-by: dongjiuzhu1 <dongjiuzhu1@xiaomi.com>
2023-10-27 21:15:07 +08:00
Ville Juven
ab78e3817a sched/task_[posix]spawn: Simplify how spawn attributes are handled
Handle task spawn attributes as task spawn file actions are handled.

Why? This removes the need for sched_lock() when the task is being
spawned. When loading the new task from a file the scheduler can be
locked for a VERY LONG time, in the order of hundreds of milliseconds!

This is unacceptable for real time operation.

Also fixes a latent bug in exec_module, spawn_file_actions is executed
at a bad location; when CONFIG_ARCH_ADDRENV=y actions will point to the
new process's address environment (as it is temporarily instantiated at
that point). Fix this by moving it to after addrenv_restore.
2023-10-25 11:55:44 -03:00
chao an
87d6084f31 sched: fix the minor style issue
and remove the unused return value

Signed-off-by: chao an <anchao@xiaomi.com>
2023-10-25 15:46:45 +08:00
xuxin19
d93d377257 cmake:complete missing changes during cmake reforming for sched
Signed-off-by: xuxin19 <xuxin19@xiaomi.com>
2023-09-08 21:20:16 +03:00
chao an
664927c86e mm/alloc: remove all unnecessary cast for alloc
Fix the minor style issue and remove unnecessary cast

Signed-off-by: chao an <anchao@xiaomi.com>
2023-08-30 14:34:20 +08:00
Xiang Xiao
47faeeb360 tls: Move task_tls_alloc and task_tls_destruct to libc
so task_tls_destruct can be called from usrspace, which is required by:
https://github.com/apache/nuttx/pull/10288

Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
2023-08-28 11:02:18 +03:00
yinshengkai
8fa4f2d61d add the startup process tracepoint
Signed-off-by: yinshengkai <yinshengkai@xiaomi.com>
2023-08-19 21:50:08 +08:00
yinshengkai
63252af054 sched: remove space in task name
Signed-off-by: yinshengkai <yinshengkai@xiaomi.com>
2023-08-11 13:27:17 +08:00
cuiziwei
7c8bb8c293 nuttx/tls: Remove the max key limiatation in task_tls_alloc and pthread_key_create
Signed-off-by: cuiziwei <cuiziwei@xiaomi.com>
2023-08-05 06:33:49 -07:00
cuiziwei
5334c065b4 nuttx/tls:Setting the candidtate index to null prevents dangling pointers.
Signed-off-by: cuiziwei <cuiziwei@xiaomi.com>
2023-08-05 06:33:49 -07:00
cuiziwei
8ffde7cf16 nuttx/tls:Setting the candidtate index to null prevents dangling pointers.
Signed-off-by: cuiziwei <cuiziwei@xiaomi.com>
2023-08-05 06:33:49 -07:00
cuiziwei
5e3df24092 replace nxsched_gettid with nxsched_getpid.
When we find the exit status entry in this task, we need to use pid instead of tid.

Signed-off-by: cuiziwei <cuiziwei@xiaomi.com>
2023-08-04 04:21:08 -07:00
zhangyuan21
e50d1211df task_spawnparms: out of loop when ret less than 0
The nxspawn_dup2 function will return a value greater than 0,
so the loop should only exit if ret is less than 0.

Signed-off-by: zhangyuan21 <zhangyuan21@xiaomi.com>
2023-07-31 00:47:42 -07:00
raiden00pl
ad6361f0cc cmake: fix build after c33d1c9c97 (vfork -> fork) 2023-07-12 09:47:54 -03:00
guoshichao
c33d1c9c97 sched/task/fork: add fork implementation
1. as we can use fork to implement vfork, so we rename the vfork to
fork, and use the fork method as the base to implement vfork method
2. create the vfork function as a libc function based on fork
function

Signed-off-by: guoshichao <guoshichao@xiaomi.com>
2023-07-12 02:27:37 +08:00
chao an
6ee9ec7656 build: add initial cmake build system
1. Update all CMakeLists.txt to adapt to new layout
2. Fix cmake build break
3. Update all new file license
4. Fully compatible with current compilation environment(use configure.sh or cmake as you choose)

------------------

How to test

From within nuttx/. Configure:

cmake -B build -DBOARD_CONFIG=sim/nsh -GNinja
cmake -B build -DBOARD_CONFIG=sim:nsh -GNinja
cmake -B build -DBOARD_CONFIG=sabre-6quad/smp -GNinja
cmake -B build -DBOARD_CONFIG=lm3s6965-ek/qemu-flat -GNinja

(or full path in custom board) :
cmake -B build -DBOARD_CONFIG=$PWD/boards/sim/sim/sim/configs/nsh -GNinja

This uses ninja generator (install with sudo apt install ninja-build). To build:

$ cmake --build build

menuconfig:

$ cmake --build build -t menuconfig

--------------------------

2. cmake/build: reformat the cmake style by cmake-format

https://github.com/cheshirekow/cmake_format

$ pip install cmakelang

$ for i in `find -name CMakeLists.txt`;do cmake-format $i -o $i;done
$ for i in `find -name *\.cmake`;do cmake-format $i -o $i;done

Co-authored-by: Matias N <matias@protobits.dev>
Signed-off-by: chao an <anchao@xiaomi.com>
2023-07-08 13:50:48 +08:00
Xiang Xiao
a8e0a5faa4 sched: Remove the unnecessary cast from pid_t to int
Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
2023-06-19 11:37:34 +03:00
wangbowen6
4b8db6f22c taks_exithook: fix the build error when enable CONFIG_SCHED_DUMP_LEAK
Signed-off-by: wangbowen6 <wangbowen6@xiaomi.com>
2023-06-17 19:37:14 +08:00
chao an
fb9b41221d semantic/parser: fix compile warning found by sparse
Reference:
https://linux.die.net/man/1/sparse

Signed-off-by: chao an <anchao@xiaomi.com>
2023-05-30 23:00:00 +08:00
Xiang Xiao
7dc0d70092 arch: Save sigdeliver into xcp in the case of signal self delevery
to avoid the infinite recusive dispatch:
*0  myhandler (signo=27, info=0xf3e38b9c, context=0x0) at ltp/testcases/open_posix_testsuite/conformance/interfaces/sigqueue/7-1.c:39
*1  0x58f1c39e in nxsig_deliver (stcb=0xf4e20f40) at signal/sig_deliver.c:167
*2  0x58fa0664 in up_schedule_sigaction (tcb=0xf4e20f40, sigdeliver=0x58f1bab5 <nxsig_deliver>) at sim/sim_schedulesigaction.c:88
*3  0x58f19907 in nxsig_queue_action (stcb=0xf4e20f40, info=0xf4049334) at signal/sig_dispatch.c:115
*4  0x58f1b089 in nxsig_tcbdispatch (stcb=0xf4e20f40, info=0xf4049334) at signal/sig_dispatch.c:435
*5  0x58f31853 in nxsig_unmask_pendingsignal () at signal/sig_unmaskpendingsignal.c:104
*6  0x58f1ca09 in nxsig_deliver (stcb=0xf4e20f40) at signal/sig_deliver.c:199
*7  0x58fa0664 in up_schedule_sigaction (tcb=0xf4e20f40, sigdeliver=0x58f1bab5 <nxsig_deliver>) at sim/sim_schedulesigaction.c:88
*8  0x58f19907 in nxsig_queue_action (stcb=0xf4e20f40, info=0xf4049304) at signal/sig_dispatch.c:115
*9  0x58f1b089 in nxsig_tcbdispatch (stcb=0xf4e20f40, info=0xf4049304) at signal/sig_dispatch.c:435
*10 0x58f31853 in nxsig_unmask_pendingsignal () at signal/sig_unmaskpendingsignal.c:104
*11 0x58f1ca09 in nxsig_deliver (stcb=0xf4e20f40) at signal/sig_deliver.c:199
*12 0x58fa0664 in up_schedule_sigaction (tcb=0xf4e20f40, sigdeliver=0x58f1bab5 <nxsig_deliver>) at sim/sim_schedulesigaction.c:88
*13 0x58f19907 in nxsig_queue_action (stcb=0xf4e20f40, info=0xf40492d4) at signal/sig_dispatch.c:115
*14 0x58f1b089 in nxsig_tcbdispatch (stcb=0xf4e20f40, info=0xf40492d4) at signal/sig_dispatch.c:435
*15 0x58f31853 in nxsig_unmask_pendingsignal () at signal/sig_unmaskpendingsignal.c:104
*16 0x58f1ca09 in nxsig_deliver (stcb=0xf4e20f40) at signal/sig_deliver.c:199
*17 0x58fa0664 in up_schedule_sigaction (tcb=0xf4e20f40, sigdeliver=0x58f1bab5 <nxsig_deliver>) at sim/sim_schedulesigaction.c:88
*18 0x58f19907 in nxsig_queue_action (stcb=0xf4e20f40, info=0xf40492a4) at signal/sig_dispatch.c:115
*19 0x58f1b089 in nxsig_tcbdispatch (stcb=0xf4e20f40, info=0xf40492a4) at signal/sig_dispatch.c:435
*20 0x58f31853 in nxsig_unmask_pendingsignal () at signal/sig_unmaskpendingsignal.c:104
*21 0x58f1ca09 in nxsig_deliver (stcb=0xf4e20f40) at signal/sig_deliver.c:199
*22 0x58fa0664 in up_schedule_sigaction (tcb=0xf4e20f40, sigdeliver=0x58f1bab5 <nxsig_deliver>) at sim/sim_schedulesigaction.c:88
*23 0x58f19907 in nxsig_queue_action (stcb=0xf4e20f40, info=0xf4049274) at signal/sig_dispatch.c:115
*24 0x58f1b089 in nxsig_tcbdispatch (stcb=0xf4e20f40, info=0xf4049274) at signal/sig_dispatch.c:435
*25 0x58f31853 in nxsig_unmask_pendingsignal () at signal/sig_unmaskpendingsignal.c:104
*26 0x58f1ca09 in nxsig_deliver (stcb=0xf4e20f40) at signal/sig_deliver.c:199
*27 0x58fa0664 in up_schedule_sigaction (tcb=0xf4e20f40, sigdeliver=0x58f1bab5 <nxsig_deliver>) at sim/sim_schedulesigaction.c:88
*28 0x58f19907 in nxsig_queue_action (stcb=0xf4e20f40, info=0xf4049244) at signal/sig_dispatch.c:115
*29 0x58f1b089 in nxsig_tcbdispatch (stcb=0xf4e20f40, info=0xf4049244) at signal/sig_dispatch.c:435
*30 0x58f31853 in nxsig_unmask_pendingsignal () at signal/sig_unmaskpendingsignal.c:104
*31 0x58f1ca09 in nxsig_deliver (stcb=0xf4e20f40) at signal/sig_deliver.c:199

Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
2023-05-17 11:53:18 -06:00
simbit18
bf9b8dfbfe sched: Fix nxstyle errors
error: Long line found
2023-05-11 11:25:58 -03:00
chao an
507c8145a9 sched/spawn: remove spawn proxy thread to simplify task/posix_spawn()
The spawn proxy thread is a special existence in NuttX, usually some developers
spend a lot of time on stack overflow of spawn proxy thread:

https://github.com/apache/nuttx/issues/9046
https://github.com/apache/nuttx/pull/9081

In order to avoid similar issues, this PR will remove spawn proxy thread to simplify
the process of task/posix_spawn().

1. Postpone the related processing of spawn file actions until after task_init()
2. Delete the temporary thread of spawn proxy and related global variables

Signed-off-by: chao an <anchao@xiaomi.com>
2023-04-27 17:35:58 +08:00
Ville Juven
64d8249895 sched/addrenv, binfmt: Always allocate address environment from heap
Instead of using a volatile storage for the address environment in the
binfmt / loadinfo structures, always allocate the address environment
from kheap.

This serves two purposes:
- If the task creation fails, any kernel thread that depends on the
  address environment created during task creation will not lose their
  mappings (because they hold a reference to it)
- The current address environment variable (g_addrenv) will NEVER contain
  a stale / incorrect value
- Releasing the address environment is simplified as any pointer given
  to addrenv_drop() can be assumed to be heap memory
- Makes the kludge function addrenv_clear_current irrelevant, as the
  system will NEVER have invalid mappings any more
2023-04-22 00:43:30 +08:00
Fotis Panagiotopoulos
95af4b35cf Fixed improper access of g_pidhash. 2023-04-04 18:00:36 -06:00
Gregory Nutt
717bb04cb7 Increase the number of real time signals. Two is not enough.
Refer to issue #8867 for details and rational.

Convert sigset_t to an array type so that more than 32 signals can be supported.

Why not use a uin64_t?
- Using a uin32_t is more flexible if we decide to increase the number of signals beyound 64.
- 64-bit accesses are not atomic, at least not on 32-bit ARMv7-M and similar
- Keeping the base type as uint32_t does not introduce additional overhead due to padding to achieve 64-bit alignment of uin64_t
- Some architectures still supported by NuttX do not support uin64_t
  types,

Increased the number of signals to 64. This matches Linux. This will support all xsignals defined by Linux and also 32 real time signals (also like Linux).

This is is a work in progress; a draft PR that you are encouraged to comment on.
2023-03-27 16:59:04 +03:00
wangbowen6
14ba7a7dd1 sched: build error fix in task_exithook
CC:  task/task_recover.c task/task_exithook.c: In function 'nxtask_exithook':
task/task_exithook.c:464:11: error: 'struct tcb_s' has no member named 'cmn'
  464 |   if ((tcb->cmn.flags & TCB_FLAG_TTYPE_MASK) == TCB_FLAG_TTYPE_KERNEL)
      |           ^~
CC:  opus/silk/shell_coder.c make[1]: *** [Makefile:60: task_exithook.o] Error 1

Signed-off-by: wangbowen6 <wangbowen6@xiaomi.com>
2023-03-03 20:10:43 +08:00
lilei19
38f64f559d change strcpy to strlcpy
Signed-off-by: lilei19 <lilei19@xiaomi.com>
2023-02-24 12:15:40 +08:00
Ville Juven
df1d7dd480 libc/exit: Purge calls to userspace API exit() from kernel
Remove calls to the userspace API exit() from the kernel. The problem
with doing such calls is that the exit functions are called with kernel
mode privileges which is a big security no-no.
2023-02-17 23:07:17 +08:00
Ville Juven
2cdba4a0a2 task/task_cancelpt: Kill the child if it is not in a cancel point
Do not allow a deferred cancellation if the group is exiting, it is too
dangerous to allow the threads to execute any user space code after the
exit has started.

If the cancelled thread is not inside a cancellation point, just kill it
immediately via asynchronous cancellation. This will create far less
problems than allowing it to continue running user code.
2023-02-17 22:57:36 +08:00
Ville Juven
40800823c6 sched/nxtask_sigchild: Set exit code when CONFIG_SCHED_CHILD_STATUS=y
This is a follow-up to https://github.com/apache/nuttx/pull/8486
2023-02-14 10:27:46 +09:00
Ville Juven
9638187192 sched/nxtask_sigchild: Set process exit code to group exit code
There is an issue where the wrong process exit code is given to the parent
when a process exits. This happens when the process has pthreads running
user code i.e. not within a cancel point / system call.

Why does this happen ?

When exit() is called, the following steps are done:
- group_kill_children(), which tells the children to die via pthread_cancel()

Then, one of two things can happen:
1. if the child is in a cancel point, it gets scheduled to allow it to leave
   the cancel point and gets destroyed immediately
2. if the child is not in a cancel point, a "cancel pending" flag is set and
   the child will die when the next cancel point is encountered

So what is the problem here?

The last thread alive dispatches SIGCHLD to the parent, which carries the
process's exit code. The group head has the only meaningful exit code and
this is what should be passed. However, in the second case, the group head
exits before the child, taking the process exit code to its grave. The child
that was alive will exit next and will pass its "status" to the parent process,
but this status is not the correct value to pass.

This commit fixes the issue by passing the group head's exit code ALWAYS to
the parent process.
2023-02-10 00:36:30 +08:00