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nuttx/sched/group/group_create.c
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

227 lines
6.7 KiB
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/****************************************************************************
* sched/group/group_create.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 <sched.h>
#include <assert.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/irq.h>
#include <nuttx/fs/fs.h>
#include <nuttx/kmalloc.h>
#include <nuttx/semaphore.h>
#include <nuttx/sched.h>
#include "sched/sched.h"
#include "group/group.h"
#include "tls/tls.h"
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: group_inherit_identity
*
* Description:
* All inherit the user identity from the parent task group.
*
* Input Parameters:
* group - The new task group.
*
* Returned Value:
* None
*
* Assumptions:
* The parent of the new task is the task at the head of the assigned task
* list for the current CPU.
*
****************************************************************************/
#ifdef CONFIG_SCHED_USER_IDENTITY
static inline void group_inherit_identity(FAR struct task_group_s *group)
{
FAR struct tcb_s *rtcb = this_task();
FAR struct task_group_s *rgroup = rtcb->group;
/* Inherit the user identity from the parent task group. */
DEBUGASSERT(group != NULL);
group->tg_uid = rgroup->tg_uid;
group->tg_gid = rgroup->tg_gid;
group->tg_euid = rgroup->tg_euid;
group->tg_egid = rgroup->tg_egid;
}
#else
# define group_inherit_identity(group)
#endif
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: group_initialize
*
* Description:
* Create and a new task group structure for the specified TCB. This
* function is called as part of the task creation sequence. The structure
* allocated and zeroed, but otherwise uninitialized. The full creation
* of the group of a two step process: (1) First, this function allocates
* group structure early in the task creation sequence in order to provide
* a group container, then (2) group_postinitialize() is called to set up
* the group membership.
*
* Input Parameters:
* tcb - The tcb in need of the task group.
* ttype - Type of the thread that is the parent of the group
*
* Returned Value:
* 0 (OK) on success; a negated errno value on failure.
*
* Assumptions:
* Called during task creation in a safe context. No special precautions
* are required here.
*
****************************************************************************/
int group_initialize(FAR struct task_tcb_s *tcb, uint8_t ttype)
{
FAR struct task_group_s *group;
int ret;
DEBUGASSERT(tcb && !tcb->cmn.group);
/* Allocate the group structure and assign it to the TCB */
group = &tcb->group;
#if defined(CONFIG_MM_KERNEL_HEAP)
/* If this group is being created for a privileged thread, then all
* elements of the group must be created for privileged access.
*/
if ((ttype & TCB_FLAG_TTYPE_MASK) == TCB_FLAG_TTYPE_KERNEL)
{
group->tg_flags |= GROUP_FLAG_PRIVILEGED;
}
#endif /* defined(CONFIG_MM_KERNEL_HEAP) */
#ifdef HAVE_GROUP_MEMBERS
/* Initialize member list of the group */
sq_init(&group->tg_members);
#endif
/* Attach the group to the TCB */
tcb->cmn.group = group;
/* Inherit the user identity from the parent task group */
group_inherit_identity(group);
/* Initialize file descriptors for the TCB */
files_initlist(&group->tg_filelist);
/* Alloc task info for group */
ret = task_init_info(group);
if (ret < 0)
{
return ret;
}
#ifndef CONFIG_DISABLE_PTHREAD
/* Initialize the task group join */
nxrmutex_init(&group->tg_joinlock);
sq_init(&group->tg_joinqueue);
#endif
#if defined(CONFIG_SCHED_WAITPID) && !defined(CONFIG_SCHED_HAVE_PARENT)
/* Initialize the exit/wait semaphores */
nxsem_init(&group->tg_exitsem, 0, 0);
#endif
return OK;
}
/****************************************************************************
* Name: group_postinitialize
*
* Description:
* Add the task as the initial member of the group. The full creation of
* the group of a two step process: (1) First, this group structure is
* allocated by group_initialize() early in the task creation sequence,
* then (2) this function is called to set up the initial group
* membership.
*
* Input Parameters:
* tcb - The tcb in need of the task group.
*
* Returned Value:
* None.
*
* Assumptions:
* Called during task creation in a safe context. No special precautions
* are required here.
*
****************************************************************************/
void group_postinitialize(FAR struct task_tcb_s *tcb)
{
FAR struct task_group_s *group;
DEBUGASSERT(tcb && tcb->cmn.group);
group = tcb->cmn.group;
/* Allocate mm_map list if required */
mm_map_initialize(&group->tg_mm_map,
(tcb->cmn.flags & TCB_FLAG_TTYPE_KERNEL) != 0);
#ifdef HAVE_GROUP_MEMBERS
/* Assign the PID of this new task as a member of the group. */
sq_addlast(&tcb->cmn.member, &group->tg_members);
#endif
/* Save the ID of the main task within the group of threads. This needed
* for things like SIGCHLD. It ID is also saved in the TCB of the main
* task but is also retained in the group which may persist after the main
* task has exited.
*/
group->tg_pid = tcb->cmn.pid;
}
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