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nuttx/sched/semaphore/sem_holder.c

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/****************************************************************************
* sched/semaphore/sem_holder.c
*
* Copyright (C) 2009-2011, 2013, 2016-2019 Gregory Nutt. All rights
* reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <semaphore.h>
#include <sched.h>
#include <assert.h>
#include <debug.h>
#include <nuttx/arch.h>
#include "sched/sched.h"
#include "semaphore/semaphore.h"
#ifdef CONFIG_PRIORITY_INHERITANCE
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
#ifndef CONFIG_SEM_PREALLOCHOLDERS
# define CONFIG_SEM_PREALLOCHOLDERS 0
#endif
/****************************************************************************
* Private Type Declarations
****************************************************************************/
typedef int (*holderhandler_t)(FAR struct semholder_s *pholder,
FAR sem_t *sem, FAR void *arg);
/****************************************************************************
* Private Data
****************************************************************************/
/* Preallocated holder structures */
#if CONFIG_SEM_PREALLOCHOLDERS > 0
static struct semholder_s g_holderalloc[CONFIG_SEM_PREALLOCHOLDERS];
static FAR struct semholder_s *g_freeholders;
#endif
/****************************************************************************
* Name: nxsem_allocholder
****************************************************************************/
static inline FAR struct semholder_s *nxsem_allocholder(sem_t *sem)
{
FAR struct semholder_s *pholder;
/* Check if the "built-in" holder is being used. We have this built-in
* holder to optimize for the simplest case where semaphores are only
* used to implement mutexes.
*/
#if CONFIG_SEM_PREALLOCHOLDERS > 0
pholder = g_freeholders;
if (pholder != NULL)
{
/* Remove the holder from the free list an put it into the semaphore's
* holder list
*/
g_freeholders = pholder->flink;
pholder->flink = sem->hhead;
sem->hhead = pholder;
/* Make sure the initial count is zero */
pholder->counts = 0;
}
#else
if (sem->holder[0].htcb == NULL)
{
pholder = &sem->holder[0];
pholder->counts = 0;
}
else if (sem->holder[1].htcb == NULL)
{
pholder = &sem->holder[1];
pholder->counts = 0;
}
#endif
else
{
serr("ERROR: Insufficient pre-allocated holders\n");
pholder = NULL;
}
DEBUGASSERT(pholder != NULL);
return pholder;
}
/****************************************************************************
* Name: nxsem_findholder
****************************************************************************/
static FAR struct semholder_s *nxsem_findholder(sem_t *sem,
FAR struct tcb_s *htcb)
{
FAR struct semholder_s *pholder;
#if CONFIG_SEM_PREALLOCHOLDERS > 0
/* Try to find the holder in the list of holders associated with this
* semaphore
*/
for (pholder = sem->hhead; pholder != NULL; pholder = pholder->flink)
{
if (pholder->htcb == htcb)
{
/* Got it! */
return pholder;
}
}
#else
int i;
pholder = NULL;
/* We have two hard-allocated holder structures in sem_t */
for (i = 0; i < 2; i++)
{
pholder = &sem->holder[i];
if (pholder->htcb == htcb)
{
/* Got it! */
return pholder;
}
}
#endif
/* The holder does not appear in the list */
return NULL;
}
/****************************************************************************
* Name: nxsem_findorallocateholder
****************************************************************************/
static inline FAR struct semholder_s *
nxsem_findorallocateholder(sem_t *sem, FAR struct tcb_s *htcb)
{
FAR struct semholder_s *pholder = nxsem_findholder(sem, htcb);
if (!pholder)
{
pholder = nxsem_allocholder(sem);
}
return pholder;
}
/****************************************************************************
* Name: nxsem_freeholder
****************************************************************************/
static inline void nxsem_freeholder(sem_t *sem,
FAR struct semholder_s *pholder)
{
#if CONFIG_SEM_PREALLOCHOLDERS > 0
FAR struct semholder_s *curr;
FAR struct semholder_s *prev;
#endif
/* Release the holder and counts */
pholder->htcb = NULL;
pholder->counts = 0;
#if CONFIG_SEM_PREALLOCHOLDERS > 0
/* Search the list for the matching holder */
for (prev = NULL, curr = sem->hhead;
curr && curr != pholder;
prev = curr, curr = curr->flink);
if (curr != NULL)
{
/* Remove the holder from the list */
if (prev != NULL)
{
prev->flink = pholder->flink;
}
else
{
sem->hhead = pholder->flink;
}
/* And put it in the free list */
pholder->flink = g_freeholders;
g_freeholders = pholder;
}
#endif
}
/****************************************************************************
* Name: nxsem_findandfreeholder
****************************************************************************/
static inline void nxsem_findandfreeholder(sem_t *sem, FAR struct tcb_s *htcb)
{
FAR struct semholder_s *pholder = nxsem_findholder(sem, htcb);
/* When no more counts are held, remove the holder from the list. The
* count was decremented in nxsem_releaseholder.
*/
if (pholder != NULL && pholder->counts <= 0)
{
nxsem_freeholder(sem, pholder);
}
}
/****************************************************************************
* Name: nxsem_foreachholder
****************************************************************************/
static int nxsem_foreachholder(FAR sem_t *sem, holderhandler_t handler,
FAR void *arg)
{
FAR struct semholder_s *pholder;
int ret = 0;
#if CONFIG_SEM_PREALLOCHOLDERS > 0
FAR struct semholder_s *next;
for (pholder = sem->hhead; pholder && ret == 0; pholder = next)
{
/* In case this holder gets deleted */
next = pholder->flink;
/* Check if there is a handler... there should always be one
* in this configuration.
*/
if (pholder->htcb != NULL)
{
/* Call the handler */
ret = handler(pholder, sem, arg);
}
}
#else
int i;
/* We have two hard-allocated holder structures in sem_t */
for (i = 0; i < 2; i++)
{
pholder = &sem->holder[i];
/* The hard-allocated containers may hold a NULL holder */
if (pholder->htcb != NULL)
{
/* Call the handler */
ret = handler(pholder, sem, arg);
}
}
#endif
return ret;
}
/****************************************************************************
* Name: nxsem_recoverholders
****************************************************************************/
#if CONFIG_SEM_PREALLOCHOLDERS > 0
static int nxsem_recoverholders(FAR struct semholder_s *pholder,
FAR sem_t *sem, FAR void *arg)
{
nxsem_freeholder(sem, pholder);
return 0;
}
#endif
/****************************************************************************
* Name: nxsem_boostholderprio
****************************************************************************/
static int nxsem_boostholderprio(FAR struct semholder_s *pholder,
FAR sem_t *sem, FAR void *arg)
{
FAR struct tcb_s *htcb = (FAR struct tcb_s *)pholder->htcb;
FAR struct tcb_s *rtcb = (FAR struct tcb_s *)arg;
/* Make sure that the holder thread is still active. If it exited without
* releasing its counts, then that would be a bad thing. But we can take
* no real action because we don't know know that the program is doing.
* Perhaps its plan is to kill a thread, then destroy the semaphore.
*/
if (!sched_verifytcb(htcb))
{
#if 0 /* DSA: sometimes crashes when Telnet calls external cmd (i.e. 'i2c') */
serr("ERROR: TCB 0x%08x is a stale handle, counts lost\n", htcb);
DEBUGPANIC();
#endif
nxsem_freeholder(sem, pholder);
}
#if CONFIG_SEM_NNESTPRIO > 0
/* If the priority of the thread that is waiting for a count is greater
* than the base priority of the thread holding a count, then we may need
* to adjust the holder's priority now or later to that priority.
*/
else if (rtcb->sched_priority > htcb->base_priority)
{
/* If the new priority is greater than the current, possibly already
* boosted priority of the holder thread, then we will have to raise
* the holder's priority now.
*/
if (rtcb->sched_priority > htcb->sched_priority)
{
/* If the current priority of holder thread has already been
* boosted, then add the boost priority to the list of restoration
* priorities. When the higher priority waiter thread gets its
* count, then we need to revert the holder thread to this saved
* priority (not to its base priority).
*/
if (htcb->sched_priority > htcb->base_priority)
{
/* Save the current, boosted priority of the holder thread. */
if (htcb->npend_reprio < CONFIG_SEM_NNESTPRIO)
{
htcb->pend_reprios[htcb->npend_reprio] = htcb->sched_priority;
htcb->npend_reprio++;
}
else
{
serr("ERROR: CONFIG_SEM_NNESTPRIO exceeded\n");
DEBUGASSERT(htcb->npend_reprio < CONFIG_SEM_NNESTPRIO);
}
}
/* Raise the priority of the thread holding of the semaphore.
* This cannot cause a context switch because we have preemption
* disabled. The holder thread may be marked "pending" and the
* switch may occur during up_block_task() processing.
*/
(void)nxsched_setpriority(htcb, rtcb->sched_priority);
}
else
{
/* The new priority is above the base priority of the holder,
* but not as high as its current working priority. Just put it
* in the list of pending restoration priorities so that when the
* higher priority thread gets its count, we can revert to this
* saved priority and not to the base priority.
*/
if (htcb->npend_reprio < CONFIG_SEM_NNESTPRIO)
{
htcb->pend_reprios[htcb->npend_reprio] = rtcb->sched_priority;
htcb->npend_reprio++;
}
else
{
serr("ERROR: CONFIG_SEM_NNESTPRIO exceeded\n");
DEBUGASSERT(htcb->npend_reprio < CONFIG_SEM_NNESTPRIO);
}
}
}
#else
/* If the priority of the thread that is waiting for a count is less than
* of equal to the priority of the thread holding a count, then do nothing
* because the thread is already running at a sufficient priority.
*/
else if (rtcb->sched_priority > htcb->sched_priority)
{
/* Raise the priority of the holder of the semaphore. This
* cannot cause a context switch because we have preemption
* disabled. The task will be marked "pending" and the switch
* will occur during up_block_task() processing.
*/
(void)nxsched_setpriority(htcb, rtcb->sched_priority);
}
#endif
return 0;
}
/****************************************************************************
* Name: nxsem_verifyholder
****************************************************************************/
#ifdef CONFIG_DEBUG_ASSERTIONS
static int nxsem_verifyholder(FAR struct semholder_s *pholder,
FAR sem_t *sem, FAR void *arg)
{
#if 0 /* Need to revisit this, but these assumptions seem to be untrue -- \
* OR there is a bug??? */
FAR struct tcb_s *htcb = (FAR struct tcb_s *)pholder->htcb;
/* Called after a semaphore has been released (incremented), the semaphore
* could is non-negative, and there is no thread waiting for the count.
* In this case, the priority of the holder should not be boosted.
*/
#if CONFIG_SEM_NNESTPRIO > 0
DEBUGASSERT(htcb->npend_reprio == 0);
#endif
DEBUGASSERT(htcb->sched_priority == htcb->base_priority);
#endif
return 0;
}
#endif
/****************************************************************************
* Name: nxsem_dumpholder
****************************************************************************/
#if defined(CONFIG_DEBUG_INFO) && defined(CONFIG_SEM_PHDEBUG)
static int nxsem_dumpholder(FAR struct semholder_s *pholder, FAR sem_t *sem,
FAR void *arg)
{
#if CONFIG_SEM_PREALLOCHOLDERS > 0
_info(" %08x: %08x %08x %04x\n",
pholder, pholder->flink, pholder->htcb, pholder->counts);
#else
_info(" %08x: %08x %04x\n", pholder, pholder->htcb, pholder->counts);
#endif
return 0;
}
#endif
/****************************************************************************
* Name: nxsem_restoreholderprio
****************************************************************************/
static int nxsem_restoreholderprio(FAR struct tcb_s *htcb,
FAR sem_t *sem, FAR void *arg)
{
FAR struct semholder_s *pholder = 0;
#if CONFIG_SEM_NNESTPRIO > 0
FAR struct tcb_s *stcb = (FAR struct tcb_s *)arg;
int rpriority;
int i;
int j;
#endif
/* Make sure that the holder thread is still active. If it exited without
* releasing its counts, then that would be a bad thing. But we can take
* no real action because we don't know know that the program is doing.
* Perhaps its plan is to kill a thread, then destroy the semaphore.
*/
if (!sched_verifytcb(htcb))
{
serr("ERROR: TCB 0x%08x is a stale handle, counts lost\n", htcb);
DEBUGPANIC();
pholder = nxsem_findholder(sem, htcb);
if (pholder != NULL)
{
nxsem_freeholder(sem, pholder);
}
}
/* Was the priority of the holder thread boosted? If so, then drop its
* priority back to the correct level. What is the correct level?
*/
else if (htcb->sched_priority != htcb->base_priority)
{
#if CONFIG_SEM_NNESTPRIO > 0
/* Are there other, pending priority levels to revert to? */
if (htcb->npend_reprio < 1)
{
/* No... the holder thread has only been boosted once.
* npend_reprio should be 0 and the boosted priority should be the
* priority of the task that just got the semaphore
* (stcb->sched_priority)
*
* That latter assumption may not be true if the stcb's priority
* was also boosted so that it no longer matches the htcb's
* sched_priority. Or if CONFIG_SEM_NNESTPRIO is too small (so
* that we do not have a proper record of the reprioritizations).
*/
DEBUGASSERT(/* htcb->sched_priority == stcb->sched_priority && */
htcb->npend_reprio == 0);
/* Reset the holder's priority back to the base priority. */
(void)nxsched_reprioritize(htcb, htcb->base_priority);
}
/* There are multiple pending priority levels. The holder thread's
* "boosted" priority could greater than or equal to
* "stcb->sched_priority" (it could be greater if its priority we
* boosted because it also holds another semaphore).
*/
else if (htcb->sched_priority <= stcb->sched_priority)
{
/* The holder thread has been boosted to the same priority as the
* waiter thread that just received the count. We will simply
* reprioritize to the next highest priority that we have in
* rpriority.
*/
/* Find the highest pending priority and remove it from the list */
for (i = 1, j = 0; i < htcb->npend_reprio; i++)
{
if (htcb->pend_reprios[i] > htcb->pend_reprios[j])
{
j = i;
}
}
/* Remove the highest priority pending priority from the list */
rpriority = htcb->pend_reprios[j];
i = htcb->npend_reprio - 1;
if (i > 0)
{
htcb->pend_reprios[j] = htcb->pend_reprios[i];
}
htcb->npend_reprio = i;
/* And apply that priority to the thread (while retaining the
* base_priority)
*/
nxsched_setpriority(htcb, rpriority);
}
else
{
/* The holder thread has been boosted to a higher priority than the
* waiter task. The pending priority should be in the list (unless
* it was lost because of of list overflow or because the holder
* was reprioritized again unbeknownst to the priority inheritance
* logic).
*
* Search the list for the matching priority.
*/
for (i = 0; i < htcb->npend_reprio; i++)
{
/* Does this pending priority match the priority of the thread
* that just received the count?
*/
if (htcb->pend_reprios[i] == stcb->sched_priority)
{
/* Yes, remove it from the list */
j = htcb->npend_reprio - 1;
if (j > 0)
{
htcb->pend_reprios[i] = htcb->pend_reprios[j];
}
htcb->npend_reprio = j;
break;
}
}
}
#else
/* There is no alternative restore priorities, drop the priority
* of the holder thread all the way back to the threads "base"
* priority.
*/
(void)nxsched_reprioritize(htcb, htcb->base_priority);
#endif
}
return 0;
}
/****************************************************************************
* Name: nxsem_restoreholderprioall
*
* Description:
* Reprioritize all holders
*
****************************************************************************/
static int nxsem_restoreholderprioall(FAR struct semholder_s *pholder,
FAR sem_t *sem, FAR void *arg)
{
return nxsem_restoreholderprio(pholder->htcb, sem, arg);
}
/****************************************************************************
* Name: nxsem_restoreholderprioA
*
* Description:
* Reprioritize all holders except the currently executing task
*
****************************************************************************/
static int nxsem_restoreholderprioA(FAR struct semholder_s *pholder,
FAR sem_t *sem, FAR void *arg)
{
FAR struct tcb_s *rtcb = this_task();
if (pholder->htcb != rtcb)
{
return nxsem_restoreholderprio(pholder->htcb, sem, arg);
}
return 0;
}
/****************************************************************************
* Name: nxsem_restoreholderprioB
*
* Description:
* Reprioritize only the currently executing task
*
****************************************************************************/
static int nxsem_restoreholderprioB(FAR struct semholder_s *pholder,
FAR sem_t *sem, FAR void *arg)
{
FAR struct tcb_s *rtcb = this_task();
if (pholder->htcb == rtcb)
{
/* The running task has given up a count on the semaphore */
#if CONFIG_SEM_PREALLOCHOLDERS == 0
/* In the case where there are only 2 holders. This step
* is necessary to insure we have space. Release the holder
* if all counts have been given up. before reprioritizing
* causes a context switch.
*/
nxsem_findandfreeholder(sem, rtcb);
#endif
(void)nxsem_restoreholderprio(rtcb, sem, arg);
return 1;
}
return 0;
}
/****************************************************************************
* Name: nxsem_restorebaseprio_irq
*
* Description:
* This function is called after the an interrupt handler posts a count on
* the semaphore. It will check if we need to drop the priority of any
* threads holding a count on the semaphore. Their priority could have
* been boosted while they held the count.
*
* Input Parameters:
* stcb - The TCB of the task that was just started (if any). If the
* post action caused a count to be given to another thread, then stcb
* is the TCB that received the count. Note, just because stcb received
* the count, it does not mean that it it is higher priority than other
* threads.
* sem - A reference to the semaphore being posted.
* - If the semaphore count is <0 then there are still threads waiting
* for a count. stcb should be non-null and will be higher priority
* than all of the other threads still waiting.
* - If it is ==0 then stcb refers to the thread that got the last count;
* no other threads are waiting.
* - If it is >0 then there should be no threads waiting for counts and
* stcb should be null.
*
* Returned Value:
* None
*
* Assumptions:
* The scheduler is locked.
*
****************************************************************************/
static inline void nxsem_restorebaseprio_irq(FAR struct tcb_s *stcb,
FAR sem_t *sem)
{
/* Perform the following actions only if a new thread was given a count.
* The thread that received the count should be the highest priority
* of all threads waiting for a count from the semaphore. So in that
* case, the priority of all holder threads should be dropped to the
* next highest pending priority.
*/
if (stcb != NULL)
{
/* Drop the priority of all holder threads */
(void)nxsem_foreachholder(sem, nxsem_restoreholderprioall, stcb);
}
/* If there are no tasks waiting for available counts, then all holders
* should be at their base priority.
*/
#ifdef CONFIG_DEBUG_ASSERTIONS
else
{
(void)nxsem_foreachholder(sem, nxsem_verifyholder, NULL);
}
#endif
}
/****************************************************************************
* Name: nxsem_restorebaseprio_task
*
* Description:
* This function is called after the current running task releases a
* count on the semaphore. It will check if we need to drop the priority
* of any threads holding a count on the semaphore. Their priority could
* have been boosted while they held the count.
*
* Input Parameters:
* stcb - The TCB of the task that was just started (if any). If the
* post action caused a count to be given to another thread, then stcb
* is the TCB that received the count. Note, just because stcb received
* the count, it does not mean that it it is higher priority than other
* threads.
* sem - A reference to the semaphore being posted.
* - If the semaphore count is <0 then there are still threads waiting
* for a count. stcb should be non-null and will be higher priority
* than all of the other threads still waiting.
* - If it is ==0 then stcb refers to the thread that got the last count;
* no other threads are waiting.
* - If it is >0 then there should be no threads waiting for counts and
* stcb should be null.
*
* Returned Value:
* None
*
* Assumptions:
* The scheduler is locked.
*
****************************************************************************/
static inline void nxsem_restorebaseprio_task(FAR struct tcb_s *stcb,
FAR sem_t *sem)
{
FAR struct tcb_s *rtcb = this_task();
/* Perform the following actions only if a new thread was given a count.
* The thread that received the count should be the highest priority
* of all threads waiting for a count from the semaphore. So in that
* case, the priority of all holder threads should be dropped to the
* next highest pending priority.
*/
if (stcb != NULL)
{
/* The currently executed thread should be the lower priority
* thread that just posted the count and caused this action.
* However, we cannot drop the priority of the currently running
* thread -- because that will cause it to be suspended.
*
* So, do this in two passes. First, reprioritizing all holders
* except for the running thread.
*/
(void)nxsem_foreachholder(sem, nxsem_restoreholderprioA, stcb);
/* Now, find an reprioritize only the ready to run task */
(void)nxsem_foreachholder(sem, nxsem_restoreholderprioB, stcb);
}
/* If there are no tasks waiting for available counts, then all holders
* should be at their base priority.
*/
#ifdef CONFIG_DEBUG_ASSERTIONS
else
{
(void)nxsem_foreachholder(sem, nxsem_verifyholder, NULL);
}
#endif
/* In any case, the currently executing task should have an entry in the
* list. Its counts were previously decremented; if it now holds no
* counts, then we need to remove it from the list of holders.
*/
nxsem_findandfreeholder(sem, rtcb);
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: nxsem_initholders
*
* Description:
* Called from nxsem_initialize() to set up semaphore holder information.
*
* Input Parameters:
* None
*
* Returned Value:
* None
*
* Assumptions:
*
****************************************************************************/
void nxsem_initholders(void)
{
#if CONFIG_SEM_PREALLOCHOLDERS > 0
int i;
/* Put all of the pre-allocated holder structures into the free list */
g_freeholders = g_holderalloc;
for (i = 0; i < (CONFIG_SEM_PREALLOCHOLDERS - 1); i++)
{
g_holderalloc[i].flink = &g_holderalloc[i + 1];
}
g_holderalloc[CONFIG_SEM_PREALLOCHOLDERS - 1].flink = NULL;
#endif
}
/****************************************************************************
* Name: nxsem_destroyholder
*
* Description:
* Called from nxsem_destroy() to handle any holders of a semaphore
* when it is destroyed.
*
* Input Parameters:
* sem - A reference to the semaphore being destroyed
*
* Returned Value:
* None
*
* Assumptions:
*
****************************************************************************/
void nxsem_destroyholder(FAR sem_t *sem)
{
/* It might be an error if a semaphore is destroyed while there are any
* holders of the semaphore (except perhaps the thread that release the
* semaphore itself). We actually have to assume that the caller knows
* what it is doing because could have killed another thread that is the
* actual holder of the semaphore.
*
* It is also a standard practice to destroy the semaphore while the
* caller holds it. Of course, the caller MUST assure that there are no
* other holders of the semaphore in this case. This occurs, for example,
* when a driver is unlink'ed and the driver instance must be destroyed.
*
* Therefore, we cannot make any assumptions about the state of the
* semaphore or the state of any of the holder threads. So just recover
* any stranded holders and hope the task knows what it is doing.
*/
#if CONFIG_SEM_PREALLOCHOLDERS > 0
if (sem->hhead != NULL)
{
/* There may be an issue if there are multiple holders of
* the semaphore.
*/
DEBUGASSERT(sem->hhead->flink == NULL);
(void)nxsem_foreachholder(sem, nxsem_recoverholders, NULL);
}
#else
/* There may be an issue if there are multiple holders of the semaphore. */
DEBUGASSERT(sem->holder[0].htcb == NULL || sem->holder[1].htcb == NULL);
sem->holder[0].htcb = NULL;
sem->holder[1].htcb = NULL;
#endif
}
/****************************************************************************
* Name: nxsem_addholder_tcb
*
* Description:
* Called from nxsem_wait() when the calling thread obtains the semaphore;
* Called from sem_post() when the waiting thread obtains the semaphore.
*
* Input Parameters:
* htcb - TCB of the thread that just obtained the semaphore
* sem - A reference to the incremented semaphore
*
* Returned Value:
* 0 (OK) or -1 (ERROR) if unsuccessful
*
* Assumptions:
* Interrupts are disabled.
*
****************************************************************************/
void nxsem_addholder_tcb(FAR struct tcb_s *htcb, FAR sem_t *sem)
{
FAR struct semholder_s *pholder;
/* If priority inheritance is disabled for this thread, then do not add
* the holder. If there are never holders of the semaphore, the priority
* inheritance is effectively disabled.
*/
if ((sem->flags & PRIOINHERIT_FLAGS_DISABLE) == 0)
{
/* Find or allocate a container for this new holder */
pholder = nxsem_findorallocateholder(sem, htcb);
if (pholder != NULL)
{
/* Then set the holder and increment the number of counts held by this
* holder
*/
pholder->htcb = htcb;
pholder->counts++;
}
}
}
/****************************************************************************
* Name: nxsem_addholder
*
* Description:
* Called from nxsem_wait() when the calling thread obtains the semaphore
*
* Input Parameters:
* sem - A reference to the incremented semaphore
*
* Returned Value:
* 0 (OK) or -1 (ERROR) if unsuccessful
*
* Assumptions:
* Interrupts are disabled.
*
****************************************************************************/
void nxsem_addholder(FAR sem_t *sem)
{
nxsem_addholder_tcb(this_task(), sem);
}
/****************************************************************************
* Name: void nxsem_boostpriority(sem_t *sem)
*
* Description:
*
*
* Input Parameters:
* None
*
* Returned Value:
* 0 (OK) or -1 (ERROR) if unsuccessful
*
* Assumptions:
*
****************************************************************************/
void nxsem_boostpriority(FAR sem_t *sem)
{
FAR struct tcb_s *rtcb = this_task();
/* Boost the priority of every thread holding counts on this semaphore
* that are lower in priority than the new thread that is waiting for a
* count.
*/
(void)nxsem_foreachholder(sem, nxsem_boostholderprio, rtcb);
}
/****************************************************************************
* Name: nxsem_releaseholder
*
* Description:
* Called from sem_post() after a thread releases one count on the
* semaphore.
*
* Input Parameters:
* sem - A reference to the semaphore being posted
*
* Returned Value:
* None
*
* Assumptions:
*
****************************************************************************/
void nxsem_releaseholder(FAR sem_t *sem)
{
FAR struct tcb_s *rtcb = this_task();
FAR struct semholder_s *pholder;
/* Find the container for this holder */
pholder = nxsem_findholder(sem, rtcb);
if (pholder != NULL && pholder->counts > 0)
{
/* Decrement the counts on this holder -- the holder will be freed
* later in nxsem_restorebaseprio.
*/
pholder->counts--;
}
}
/****************************************************************************
* Name: nxsem_restorebaseprio
*
* Description:
* This function is called after the current running task releases a
* count on the semaphore or an interrupt handler posts a new count. It
* will check if we need to drop the priority of any threads holding a
* count on the semaphore. Their priority could have been boosted while
* they held the count.
*
* Input Parameters:
* stcb - The TCB of the task that was just started (if any). If the
* post action caused a count to be given to another thread, then stcb
* is the TCB that received the count. Note, just because stcb received
* the count, it does not mean that it it is higher priority than other
* threads.
* sem - A reference to the semaphore being posted.
* - If the semaphore count is <0 then there are still threads waiting
* for a count. stcb should be non-null and will be higher priority
* than all of the other threads still waiting.
* - If it is ==0 then stcb refers to the thread that got the last count;
* no other threads are waiting.
* - If it is >0 then there should be no threads waiting for counts and
* stcb should be null.
*
* Returned Value:
* None
*
* Assumptions:
* The scheduler is locked.
*
****************************************************************************/
void nxsem_restorebaseprio(FAR struct tcb_s *stcb, FAR sem_t *sem)
{
#if 0 /* DSA: sometimes crashes when Telnet calls external cmd (i.e. 'i2c') */
/* Check our assumptions */
DEBUGASSERT((sem->semcount > 0 && stcb == NULL) ||
(sem->semcount <= 0 && stcb != NULL));
#endif
/* Handler semaphore counts posed from an interrupt handler differently
* from interrupts posted from threads. The primary difference is that
* if the semaphore is posted from a thread, then the poster thread is
* a player in the priority inheritance scheme. The interrupt handler
* externally injects the new count without otherwise participating
* itself.
*/
if (up_interrupt_context())
{
nxsem_restorebaseprio_irq(stcb, sem);
}
else
{
nxsem_restorebaseprio_task(stcb, sem);
}
}
/****************************************************************************
* Name: nxsem_canceled
*
* Description:
* Called from nxsem_wait_irq() after a thread that was waiting for a semaphore
* count was awakened because of a signal and the semaphore wait has been
* cancelled. This function restores the correct thread priority of each
* holder of the semaphore.
*
* Input Parameters:
* sem - A reference to the semaphore no longer being waited for
*
* Returned Value:
* None
*
* Assumptions:
*
****************************************************************************/
void nxsem_canceled(FAR struct tcb_s *stcb, FAR sem_t *sem)
{
/* Check our assumptions */
DEBUGASSERT(sem->semcount <= 0);
/* Adjust the priority of every holder as necessary */
(void)nxsem_foreachholder(sem, nxsem_restoreholderprioall, stcb);
}
/****************************************************************************
* Name: sem_enumholders
*
* Description:
* Show information about threads currently waiting on this semaphore
*
* Input Parameters:
* sem - A reference to the semaphore
*
* Returned Value:
* None
*
* Assumptions:
*
****************************************************************************/
#if defined(CONFIG_DEBUG_FEATURES) && defined(CONFIG_SEM_PHDEBUG)
void sem_enumholders(FAR sem_t *sem)
{
#ifdef CONFIG_DEBUG_INFO
(void)nxsem_foreachholder(sem, nxsem_dumpholder, NULL);
#endif
}
#endif
/****************************************************************************
* Name: nxsem_nfreeholders
*
* Description:
* Return the number of available holder containers. This is a good way
* to find out which threads are not calling sem_destroy.
*
* Input Parameters:
* sem - A reference to the semaphore
*
* Returned Value:
* The number of available holder containers
*
* Assumptions:
*
****************************************************************************/
#if defined(CONFIG_DEBUG_FEATURES) && defined(CONFIG_SEM_PHDEBUG)
int nxsem_nfreeholders(void)
{
#if CONFIG_SEM_PREALLOCHOLDERS > 0
FAR struct semholder_s *pholder;
int n;
for (pholder = g_freeholders, n = 0; pholder; pholder = pholder->flink)
{
n++;
}
return n;
#else
return 0;
#endif
}
#endif
#endif /* CONFIG_PRIORITY_INHERITANCE */
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