/****************************************************************************
* sched/misc/assert.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <nuttx/arch.h>
#include <nuttx/board.h>
#include <nuttx/irq.h>
#include <nuttx/tls.h>
#include <nuttx/signal.h>
#include <nuttx/panic_notifier.h>
#include <nuttx/reboot_notifier.h>
#include <nuttx/syslog/syslog.h>
#include <nuttx/usb/usbdev_trace.h>
#include <assert.h>
#include <debug.h>
#include <stdio.h>
#include <stdint.h>
#include <sys/utsname.h>
#include "irq/irq.h"
#include "sched/sched.h"
#include "group/group.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#ifndef CONFIG_BOARD_RESET_ON_ASSERT
# define CONFIG_BOARD_RESET_ON_ASSERT 0
#endif
/* Check if an interrupt stack size is configured */
#ifndef CONFIG_ARCH_INTERRUPTSTACK
# define CONFIG_ARCH_INTERRUPTSTACK 0
#endif
/* USB trace dumping */
#ifndef CONFIG_USBDEV_TRACE
# undef CONFIG_ARCH_USBDUMP
#endif
/****************************************************************************
* Private Data
****************************************************************************/
static uint8_t g_last_regs[XCPTCONTEXT_SIZE];
static FAR const char *g_policy[4] =
{
"FIFO", "RR", "SPORADIC"
};
static FAR const char * const g_ttypenames[4] =
{
"Task",
"pthread",
"Kthread",
"Invalid"
};
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: assert_tracecallback
****************************************************************************/
#ifdef CONFIG_ARCH_USBDUMP
static int usbtrace_syslog(FAR const char *fmt, ...)
{
va_list ap;
/* Let vsyslog do the real work */
va_start(ap, fmt);
vsyslog(LOG_EMERG, fmt, ap);
va_end(ap);
return OK;
}
static int assert_tracecallback(FAR struct usbtrace_s *trace, FAR void *arg)
{
usbtrace_trprintf(usbtrace_syslog, trace->event, trace->value);
return 0;
}
#endif
#ifdef CONFIG_ARCH_STACKDUMP
/****************************************************************************
* Name: stack_dump
****************************************************************************/
static void stack_dump(uintptr_t sp, uintptr_t stack_top)
{
uintptr_t stack;
for (stack = sp & ~0x1f; stack < (stack_top & ~0x1f); stack += 32)
{
FAR uint32_t *ptr = (FAR uint32_t *)stack;
_alert("%p: %08" PRIx32 " %08" PRIx32 " %08" PRIx32
" %08" PRIx32 " %08" PRIx32 " %08" PRIx32 " %08" PRIx32
" %08" PRIx32 "\n",
(FAR void *)stack, ptr[0], ptr[1], ptr[2], ptr[3],
ptr[4], ptr[5], ptr[6], ptr[7]);
}
}
/****************************************************************************
* Name: dump_stack
****************************************************************************/
static void dump_stack(FAR const char *tag, uintptr_t sp,
uintptr_t base, size_t size,
size_t used, bool force)
{
uintptr_t top = base + size;
_alert("%s Stack:\n", tag);
_alert("sp: %p\n", (FAR void *)sp);
_alert(" base: %p\n", (FAR void *)base);
_alert(" size: %08zu\n", size);
if (sp >= base && sp < top)
{
stack_dump(sp, top);
}
else
{
_alert("ERROR: %s Stack pointer is not within the stack\n", tag);
if (force)
{
#ifdef CONFIG_STACK_COLORATION
size_t remain = size - used;
base += remain;
size -= remain;
#endif
#if CONFIG_ARCH_STACKDUMP_MAX_LENGTH > 0
if (size > CONFIG_ARCH_STACKDUMP_MAX_LENGTH)
{
size = CONFIG_ARCH_STACKDUMP_MAX_LENGTH;
}
#endif
stack_dump(base, base + size);
}
}
}
/****************************************************************************
* Name: showstacks
****************************************************************************/
static void show_stacks(FAR struct tcb_s *rtcb)
{
uintptr_t sp = up_getsp();
/* Get the limits on the interrupt stack memory */
#if CONFIG_ARCH_INTERRUPTSTACK > 0
dump_stack("IRQ", sp,
up_get_intstackbase(),
CONFIG_ARCH_INTERRUPTSTACK,
# ifdef CONFIG_STACK_COLORATION
up_check_intstack(),
# else
0,
# endif
up_interrupt_context());
if (up_interrupt_context())
{
sp = up_getusrsp();
}
#endif
dump_stack("User", sp,
(uintptr_t)rtcb->stack_base_ptr,
(size_t)rtcb->adj_stack_size,
#ifdef CONFIG_STACK_COLORATION
up_check_tcbstack(rtcb),
#else
0,
#endif
#ifdef CONFIG_ARCH_KERNEL_STACK
false
#else
true
#endif
);
#ifdef CONFIG_ARCH_KERNEL_STACK
dump_stack("Kernel", sp,
(uintptr_t)rtcb->xcp.kstack,
CONFIG_ARCH_KERNEL_STACKSIZE,
0, false);
#endif
}
#endif
/****************************************************************************
* Name: dump_task
****************************************************************************/
static void dump_task(FAR struct tcb_s *tcb, FAR void *arg)
{
char args[64] = "";
char state[32];
FAR char *s;
#ifdef CONFIG_STACK_COLORATION
size_t stack_filled = 0;
size_t stack_used;
#endif
#ifdef CONFIG_SCHED_CPULOAD
struct cpuload_s cpuload;
size_t fracpart = 0;
size_t intpart = 0;
size_t tmp;
clock_cpuload(tcb->pid, &cpuload);
if (cpuload.total > 0)
{
tmp = (1000 * cpuload.active) / cpuload.total;
intpart = tmp / 10;
fracpart = tmp - 10 * intpart;
}
#endif
#ifdef CONFIG_STACK_COLORATION
stack_used = up_check_tcbstack(tcb);
if (tcb->adj_stack_size > 0 && stack_used > 0)
{
/* Use fixed-point math with one decimal place */
stack_filled = 10 * 100 * stack_used / tcb->adj_stack_size;
}
#endif
/* Stringify the argument vector */
group_argvstr(tcb, args, sizeof(args));
/* get the task_state */
nxsched_get_stateinfo(tcb, state, sizeof(state));
if ((s = strchr(state, ',')) != NULL)
{
*s = ' ';
}
/* Dump interesting properties of this task */
_alert(" %4d %5d"
#ifdef CONFIG_SMP
" %4d"
#endif
" %3d %-8s %-7s %c%c%c"
" %-18s"
" " SIGSET_FMT
" %p"
" %7zu"
#ifdef CONFIG_STACK_COLORATION
" %7zu %3zu.%1zu%%%c"
#endif
#ifdef CONFIG_SCHED_CPULOAD
" %3zu.%01zu%%"
#endif
" %s%s\n"
, tcb->pid
, tcb->group ? tcb->group->tg_pid : -1
#ifdef CONFIG_SMP
, tcb->cpu
#endif
, tcb->sched_priority
, g_policy[(tcb->flags & TCB_FLAG_POLICY_MASK) >>
TCB_FLAG_POLICY_SHIFT]
, g_ttypenames[(tcb->flags & TCB_FLAG_TTYPE_MASK)
>> TCB_FLAG_TTYPE_SHIFT]
, tcb->flags & TCB_FLAG_NONCANCELABLE ? 'N' : '-'
, tcb->flags & TCB_FLAG_CANCEL_PENDING ? 'P' : '-'
, tcb->flags & TCB_FLAG_EXIT_PROCESSING ? 'P' : '-'
, state
, SIGSET_ELEM(&tcb->sigprocmask)
, tcb->stack_base_ptr
, tcb->adj_stack_size
#ifdef CONFIG_STACK_COLORATION
, up_check_tcbstack(tcb)
, stack_filled / 10, stack_filled % 10
, (stack_filled >= 10 * 80 ? '!' : ' ')
#endif
#ifdef CONFIG_SCHED_CPULOAD
, intpart, fracpart
#endif
#if CONFIG_TASK_NAME_SIZE > 0
, tcb->name
#else
, "<noname>"
#endif
, args
);
}
/****************************************************************************
* Name: dump_backtrace
****************************************************************************/
#ifdef CONFIG_SCHED_BACKTRACE
static void dump_backtrace(FAR struct tcb_s *tcb, FAR void *arg)
{
sched_dumpstack(tcb->pid);
}
#endif
/****************************************************************************
* Name: showtasks
****************************************************************************/
static void show_tasks(void)
{
#if CONFIG_ARCH_INTERRUPTSTACK > 0 && defined(CONFIG_STACK_COLORATION)
size_t stack_used = up_check_intstack();
size_t stack_filled = 0;
if (stack_used > 0)
{
/* Use fixed-point math with one decimal place */
stack_filled = 10 * 100 *
stack_used / CONFIG_ARCH_INTERRUPTSTACK;
}
#endif
/* Dump interesting properties of each task in the crash environment */
_alert(" PID GROUP"
#ifdef CONFIG_SMP
" CPU"
#endif
" PRI POLICY TYPE NPX"
" STATE EVENT"
" SIGMASK"
" STACKBASE"
" STACKSIZE"
#ifdef CONFIG_STACK_COLORATION
" USED FILLED "
#endif
#ifdef CONFIG_SCHED_CPULOAD
" CPU"
#endif
" COMMAND\n");
#if CONFIG_ARCH_INTERRUPTSTACK > 0
_alert(" ---- ---"
# ifdef CONFIG_SMP
" ----"
# endif
" --- --------"
" ------- ---"
" ------- ----------"
" --------"
" %p"
" %7u"
# ifdef CONFIG_STACK_COLORATION
" %7zu %3zu.%1zu%%%c"
# endif
# ifdef CONFIG_SCHED_CPULOAD
" ----"
# endif
" irq\n"
, (FAR void *)up_get_intstackbase()
, CONFIG_ARCH_INTERRUPTSTACK
# ifdef CONFIG_STACK_COLORATION
, stack_used
, stack_filled / 10, stack_filled % 10,
(stack_filled >= 10 * 80 ? '!' : ' ')
# endif
);
#endif
nxsched_foreach(dump_task, NULL);
#ifdef CONFIG_SCHED_BACKTRACE
nxsched_foreach(dump_backtrace, NULL);
#endif
}
/****************************************************************************
* Public Functions
****************************************************************************/
void _assert(FAR const char *filename, int linenum, FAR const char *msg)
{
FAR struct tcb_s *rtcb = running_task();
struct utsname name;
bool fatal = false;
/* Flush any buffered SYSLOG data (from prior to the assertion) */
syslog_flush();
#if CONFIG_BOARD_RESET_ON_ASSERT < 2
if (up_interrupt_context() ||
(rtcb->flags & TCB_FLAG_TTYPE_MASK) == TCB_FLAG_TTYPE_KERNEL)
{
fatal = true;
}
#else
fatal = true;
#endif
panic_notifier_call_chain(fatal ? PANIC_KERNEL : PANIC_TASK, rtcb);
uname(&name);
_alert("Current Version: %s %s %s %s %s\n",
name.sysname, name.nodename,
name.release, name.version, name.machine);
_alert("Assertion failed %s: at file: %s:%d task"
#ifdef CONFIG_SMP
"(CPU%d)"
#endif
": "
#if CONFIG_TASK_NAME_SIZE > 0
"%s "
#endif
"%p\n",
msg ? msg : "",
filename ? filename : "", linenum,
#ifdef CONFIG_SMP
up_cpu_index(),
#endif
#if CONFIG_TASK_NAME_SIZE > 0
rtcb->name,
#endif
rtcb->entry.main);
/* Show back trace */
#ifdef CONFIG_SCHED_BACKTRACE
sched_dumpstack(rtcb->pid);
#endif
/* Register dump */
if (up_interrupt_context())
{
up_dump_register(NULL);
}
else
{
up_saveusercontext(g_last_regs);
up_dump_register(g_last_regs);
}
#ifdef CONFIG_ARCH_STACKDUMP
show_stacks(rtcb);
#endif
/* Flush any buffered SYSLOG data */
syslog_flush();
if (fatal)
{
show_tasks();
#ifdef CONFIG_ARCH_USBDUMP
/* Dump USB trace data */
usbtrace_enumerate(assert_tracecallback, NULL);
#endif
#ifdef CONFIG_BOARD_CRASHDUMP
board_crashdump(up_getsp(), rtcb, filename, linenum, msg);
#endif
/* Flush any buffered SYSLOG data */
syslog_flush();
panic_notifier_call_chain(PANIC_KERNEL_FINAL, rtcb);
reboot_notifier_call_chain(SYS_HALT, NULL);
#if CONFIG_BOARD_RESET_ON_ASSERT >= 1
board_reset(CONFIG_BOARD_ASSERT_RESET_VALUE);
#else
/* Disable interrupts on this CPU */
up_irq_save();
# ifdef CONFIG_SMP
/* Try (again) to stop activity on other CPUs */
spin_trylock(&g_cpu_irqlock);
# endif
for (; ; )
{
up_mdelay(250);
}
#endif
}
}