Commit Graph

291 Commits

Author SHA1 Message Date
ligd
e59f161fc2 pthread: remove unused temp change sched_priority
old:
pthread_create:

init_priority = prio;
if (sched_priority < parent_prio)
    sched_priority = parent_prio;    // don't need

pthread_start:

if (sched_priority > init_priority)
    sched_priority = init_priority

Signed-off-by: ligd <liguiding1@xiaomi.com>
2023-08-11 21:45:16 +08:00
zhangyuan21
671c5dc3d8 sched/pthread: Don't do cancel when it is already in the exit process
When the task is already in the exit process,
do not execute pthread cancel and return ESRCH.

Signed-off-by: zhangyuan21 <zhangyuan21@xiaomi.com>
2023-08-03 03:12:36 -07:00
guanyi
55a727b1ce ltp: sigprocmask fix
1. change signal/sig_procmask.c and pthread/pthread_sigmask.c together
2. clear signals unconditionally

Signed-off-by: guanyi <guanyi@xiaomi.com>
2023-07-31 22:29:31 -07:00
yangyalei
30367fd4cd sched: inherit parent priority by default, except idle
Signed-off-by: yangyalei <yangyalei@xiaomi.com>

asdfas

Signed-off-by: yangyalei <yangyalei@xiaomi.com>
2023-07-31 07:50:10 -07:00
yangyalei
b2a9c6a3e5 sched: inherit parent priority by default
fix ltp pthread_cond_wait_1 test question, child should inherit parent
priority by default.
nsh> ltp_pthread_cond_wait_1
Error: the policy or priority not correct

Signed-off-by: yangyalei <yangyalei@xiaomi.com>
2023-07-31 07:50:10 -07:00
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
Petro Karashchenko
3fe371f60f nuttx: replace getpid() with nxsched_getpid() in kernel code
Signed-off-by: Petro Karashchenko <petro.karashchenko@gmail.com>
2023-07-07 17:39:39 -03:00
Petro Karashchenko
a0b19226a1 sched/pthread: add missing FAR and fix alignment issues
Signed-off-by: Petro Karashchenko <petro.karashchenko@gmail.com>
2023-07-07 17:39:39 -03:00
fangxinyong
d08b81db9d sched: fix pthread_exit crash
A normal user task calls pthread_exit(), will crash at DEBUGASSERT.
Cause pthread_exit limit in user pthread task.

test case:
int main(int argc, FAR char *argv[])
{
  pthread_exit(NULL);
  return 0;
}
>> test
>> echo $?
>> 0

Signed-off-by: fangxinyong <fangxinyong@xiaomi.com>
2023-06-28 15:17:17 +08:00
chao an
b9b615b425 sched/pthread: fix race condition on pthread_cond_wait()
pthread_cond_wait() should be an atomic operation in the mutex lock/unlock.
Since the sched_lock() has been wrongly deleted in the previous commit,
the context switch will occurred after the mutex was unlocked:

--------------------------------------------------------------------
  Task1(Priority 100)             |      Task2(Priority 101)
                                  |
  pthread_mutex_lock(mutex);      |
  |                               |
  pthread_cond_wait(cond, mutex)  |
  |  |                            |
  |  |                            |
  |  ->enter_critical_section()   |
  |  ->pthread_mutex_give(mutex)  | ----> pthread_mutex_lock(mutex);    // contex switch to high priority task
  |                               |       pthread_cond_signal(cond);    // signal before wait
  |                               | <---- pthread_mutex_unlock(mutex);  // switch back to original task
  |  ->pthread_sem_take(cond->sem)|                                     // try to wait the signal, Deadlock.
  |  ->leave_critical_section()   |
  |
  |  ->pthread_mutex_take(mutex)  |
  |                               |
  pthread_mutex_lock(mutex);      |
---------------------------------------------------------------------

This PR will bring back sched_lock()/sched_unlock() to avoid context switch to ensure atomicity

Signed-off-by: chao an <anchao@xiaomi.com>
2023-06-28 02:25:05 +08:00
zhangyuan21
fc9f87824c sched/pthread: Return ESRCH when the task is in the process of exit.
Resolving the issue with the ltp_interfaces_pthread_join_6_2 test case.

In SMP mode, the pthread may still be in the process of exiting when
pthread_join returns, and calling pthread_join again at this time will
result in an error. The error code returned should be ESRCH.

Signed-off-by: zhangyuan21 <zhangyuan21@xiaomi.com>
2023-06-15 10:12:25 -03:00
yanghuatao
29a336d6a8 sched/tls: remove PTHREAD_CLEANUP from Kconfig
use PTHREAD_CLEANUP_STACKSIZE to enable or disable interfaces pthread_cleanup_push() and pthread_cleanup_pop().
reasons:(1)same as TLS_TASK_NELEM (2)it is no need to use two variables

Signed-off-by: yanghuatao <yanghuatao@xiaomi.com>
2023-06-14 12:00:48 +08:00
Ville Juven
a636edcbe4 addrenv/kstack: Allocate the kernel stack before initializing tcb
This is preparation to use kernel stack for everything when the user
process enters the kernel. Now the user stack is in use when the user
process runs a system call, which might not be the safest option.
2023-06-09 13:53:27 +08:00
chao an
c1bcf59a85 libs/libc: fix build break on kernel mode
Signed-off-by: chao an <anchao@xiaomi.com>
2023-06-06 13:30:07 +08:00
zhangyuan21
ff6ba02378 sched/pthread: return ESRCH when thread not found at pthread_detach
https://pubs.opengroup.org/onlinepubs/9699919799/functions/pthread_detach.html

If an implementation detects that the value specified by the thread argument
to pthread_detach() does not refer to a joinable thread, it is recommended
that the function should fail and report an [EINVAL] error.

If an implementation detects use of a thread ID after the end of its lifetime,
it is recommended that the function should fail and report an [ESRCH] error.

Signed-off-by: zhangyuan21 <zhangyuan21@xiaomi.com>
2023-05-12 01:06:23 +08:00
Xiang Xiao
325f395300 Replace all strncpy with strlcpy
Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
2023-05-08 09:57:01 +02:00
hujun5
9cd8ff5a0b pthread: sched_lock should replace with enter_critical_secion
sched_lock cannot lock threads from other CPUs, use enter_critical_section

Signed-off-by: hujun5 <hujun5@xiaomi.com>
2023-05-06 23:12:20 +08:00
hujun5
d189a86a35 system: pthread_barrierwait should be moved to kernel space
The current implementation requires the use of enter_critical_section, so the source code needs to be moved to kernel space

Signed-off-by: hujun5 <hujun5@xiaomi.com>
2023-04-25 15:34:40 +08:00
hujun5
0477fb116a pthread: pthread_cond_wait dead lock
pthread_cond_wait is preempted after releasing the lock, sched_lock cannot lock threads from other CPUs, use enter_critical_section

Signed-off-by: hujun5 <hujun5@xiaomi.com>
2023-04-24 12:53:56 +03:00
yinshengkai
a40a802f9b sched/pthread: repalce sched_lock to enter_critical_section
After RR is enabled, an interrupt occurs during this period and the task cannot be switched

Signed-off-by: yinshengkai <yinshengkai@xiaomi.com>
2023-04-24 01:54:44 +08:00
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
Petro Karashchenko
5651715486 signal: remove unused SIGCONDTIMEDOUT
Signed-off-by: Petro Karashchenko <petro.karashchenko@gmail.com>
2023-03-23 17:17:25 -06:00
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
zhangyuan21
a20bc77010 sched/pthread: change the wrong type cast
Signed-off-by: zhangyuan21 <zhangyuan21@xiaomi.com>
2023-02-13 23:17:29 +08:00
zhangyuan21
9017f70561 sched/pthread: check pthread group after find joininfo
Need check tcb or group info after find joininfo,
otherwise the wrong value will be returned.

Signed-off-by: zhangyuan21 <zhangyuan21@xiaomi.com>
2023-02-12 16:47:28 +08:00
Ville Juven
09e7987121 sched/addrenv: Fix system crash when process group has been deleted
There is currently a big problem in the address environment handling which
is that the address environment is released too soon when the process is
exiting. The current MMU mappings will always be the exiting process's, which means
the system needs them AT LEAST until the next context switch happens. If
the next thread is a kernel thread, the address environment is needed for
longer.

Kernel threads "lend" the address environment of the previous user process.
This is beneficial in two ways:
- The kernel processes do not need an allocated address environment
- When a context switch happens from user -> kernel or kernel -> kernel,
  the TLB does not need to be flushed. This must be done only when
  changing to a different user address environment.

Another issue is when a new process is created; the address environment
of the new process must be temporarily instantiated by up_addrenv_select().
However, the system scheduler does not know that the process has a different
address environment to its own and when / if a context restore happens, the
wrong MMU page directory is restored and the process will either crash or
do something horribly wrong.

The following changes are needed to fix the issues:
- Add mm_curr which is the current address environment of the process
- Add a reference counter to safeguard the address environment
- Whenever an address environment is mapped to MMU, its reference counter
  is incremented
- Whenever and address environment is unmapped from MMU, its reference
  counter is decremented, and tested. If no more references -> drop the
  address environment and release the memory as well
- To limit the context switch delay, the address environment is freed in
  a separate low priority clean-up thread (LPWORK)
- When a process temporarily instantiates another process's address
  environment, the scheduler will now know of this and will restore the
  correct mappings to MMU

Why is this not causing more noticeable issues ? The problem only happens
under the aforementioned special conditions, and if a context switch or
IRQ occurs during this time.
2023-02-08 02:51:23 +08:00
Ville Juven
5713d85df0 group/group_addrenv: Move address environment from group -> tcb
Detach the address environment handling from the group structure to the
tcb. This is preparation to fix rare cases where the system (MMU) is left
without a valid page directory, e.g. when a process exits.
2023-02-08 02:51:23 +08:00
chao an
4c8d244fae sched/getpid: replace syscall getpid/tid/ppid() to kernel version
NuttX kernel should not use the syscall functions, especially after
enabling CONFIG_SCHED_INSTRUMENTATION_SYSCALL, all system functions
will be traced to backend, which will impact system performance.

Signed-off-by: chao an <anchao@xiaomi.com>
2023-02-02 10:33:01 +08:00
Xiang Xiao
631a8da1e2 sched: Map SCHED_OTHER to SCHED_FIFO or SCHED_RR
this behaviour is explicitly specified here:
https://pubs.opengroup.org/onlinepubs/009695399/functions/xsh_chap02_08.html
and map SCHED_NORMAL to SCHED_OTHER like Linux:
https://man7.org/linux/man-pages/man7/sched.7.html

Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
2023-01-30 03:01:03 +02:00
chao an
2ad0a02182 sched/pthread: set default pthread name to parent's name
Align ps behavior with linux:

linux:

  $ ps -e -T | grep hello
  3758130 3758130 pts/10   00:00:00 hello
  3758130 3758131 pts/10   00:00:00 hello

nuttx:

  nsh> ps
    PID GROUP PRI POLICY   TYPE    NPX STATE    EVENT     SIGMASK   STACK COMMAND
  ...
      4     4 100 FIFO     Task    --- Waiting  Signal    00000000 067504 hello
      5     4 100 FIFO     pthread --- Waiting  Signal    00000000 067536 hello 0x561cef0dfc53 0x1

Signed-off-by: chao an <anchao@xiaomi.com>
2023-01-30 02:59:17 +02:00
Xiang Xiao
819fbd22cc sched: Implement tkill/tgkill
https://linux.die.net/man/2/tgkill

Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
2023-01-26 08:11:56 +02:00
Petro Karashchenko
5f55290e41 sched/pthread: restore C89 compliance in pthread_create
Signed-off-by: Petro Karashchenko <petro.karashchenko@gmail.com>
2023-01-26 01:26:11 +08:00
zhangyuan21
9fd30c7f63 sched/pthread: check pthread group and flags before join
Prevent users from using the wrong pid and causing system crash.

Signed-off-by: zhangyuan21 <zhangyuan21@xiaomi.com>
2023-01-18 11:57:40 +08:00
ligd
c821088734 pthread: fix pthread exit error when set DETACHED
Signed-off-by: ligd <liguiding1@xiaomi.com>
2023-01-17 11:09:36 +08:00
Ville Juven
3be81e649f libc/stdio: Flush streams in userspace when process exits
This fixes a long standing issue, where the kernel does flushing of file
streams, although it should not handle such streams at all.
2022-12-22 20:16:11 +08:00
zhangyuan21
0113865bb0 sched/pthread: Delay pjoininfo allocation time
Create pjoininfo until pthread_exit/pthread_canel/pthread_join get called.

Signed-off-by: zhangyuan21 <zhangyuan21@xiaomi.com>
2022-12-20 10:26:02 +08:00
zhangyuan21
3d2ffed8ae Revert "pthread: Change the default name from <pthread> to <0xyyyyyyyy>"
This reverts commit 092d23b25d.

Signed-off-by: zhangyuan21 <zhangyuan21@xiaomi.com>
2022-12-17 14:53:59 +08:00
Marco Casaroli
7ee8d38fda Remove intr param from pthread_mutex_take 2022-12-08 03:13:44 +08:00
Marco Casaroli
4cc7f3747c Remove intr param from pthread_sem_take 2022-12-08 03:13:44 +08:00
Marco Casaroli
11cc232de5 pthread_mutex_timedlock never returns EINTR
According to posix spec, this function should never return `EINTR`.

This fixes the call to `pthread_mutex_take` so it keeps retrying the
lock and doesn't return `EINTR`
2022-12-07 21:08:23 +08:00
qinwei1
8021dfece6 sched/task/task_getpid: getpid should return process id not thread id
Summary:
   implement the right semantics:
1. getpid should return the main thread id
2. gettid should return the current thread id

Refer to:
 https://github.com/apache/incubator-nuttx/issues/2499
 https://github.com/apache/incubator-nuttx/pull/2518

Signed-off-by: qinwei1 <qinwei1@xiaomi.com>
2022-11-17 17:58:08 +08:00
Xiang Xiao
3f12b4f1e3 sched: Remove the unnecessary (FAR sem_t *) cast
Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
2022-10-29 21:12:40 +02:00
anjiahao
5724c6b2e4 sem:remove sem default protocl
Signed-off-by: anjiahao <anjiahao@xiaomi.com>
2022-10-22 14:50:48 +08:00
anjiahao
d1d46335df Replace nxsem API when used as a lock with nxmutex API
Signed-off-by: anjiahao <anjiahao@xiaomi.com>
Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
2022-10-17 15:59:46 +09:00
Xiang Xiao
40ef5bc6db libc: Move queue.h from include to include/nuttx
to avoid the conflict with libuv's queue.h

Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
2022-09-26 08:04:58 +02:00
Juha Niskanen
fb852440af pthread: fix typo with CONFIG_PTHREAD_MUTEX_DEFAULT_PRIO_INHERIT
Signed-off-by: Juha Niskanen <juha.niskanen@haltian.com>
2022-09-05 15:36:23 +02:00
Xiang Xiao
2a981cec95 sched: Remove the unnecessary "FAR dq_queue_t *" cast
Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
2022-08-31 08:50:57 +09:00
chao.an
6e5908cc92 sched: fix visual studio Compiler Warning (level 4) C4189
D:\code\incubator-nuttx\sched\pthread\pthread_create.c(154,22):
  warning C4189: “pjoin”: local variable is initialized but not referenced
  [D:\code\incubator-nuttx\vs20221\sched\sched.vcxproj]

D:\code\incubator-nuttx\sched\group\group_setupidlefiles.c(61,28):
  warning C4189: “group”: local variable is initialized but not referenced
  [D:\code\incubator-nuttx\vs20221\sched\sched.vcxproj]

Reference:
https://docs.microsoft.com/en-us/cpp/error-messages/compiler-warnings/compiler-warning-level-4-c4189?view=msvc-170

Signed-off-by: chao.an <anchao@xiaomi.com>
2022-08-17 10:00:20 +03:00
Gustavo Henrique Nihei
1416afc6b6 sched: Remove "0x" prefix preceding "%p" specifier on format string
The "p" format specifier already prepends the pointer address with
"0x" when printing.

Signed-off-by: Gustavo Henrique Nihei <gustavo.nihei@espressif.com>
2022-06-30 22:08:58 +03:00
Xiang Xiao
11c8f3125d sched/tls: Wrap up_info_size into tls_info_size
Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
2022-06-08 19:07:33 +09:00