diff options
author | patacongo <patacongo@42af7a65-404d-4744-a932-0658087f49c3> | 2013-01-25 19:15:05 +0000 |
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committer | patacongo <patacongo@42af7a65-404d-4744-a932-0658087f49c3> | 2013-01-25 19:15:05 +0000 |
commit | 80904539e63681b2dca74e3978effb17f0c071b0 (patch) | |
tree | eb49c2f705d2255cc6f05a7ee433aa87472c8a88 | |
parent | e95efd5d2a08dcb62c8c635089e4fe146965db45 (diff) | |
download | px4-firmware-80904539e63681b2dca74e3978effb17f0c071b0.tar.gz px4-firmware-80904539e63681b2dca74e3978effb17f0c071b0.tar.bz2 px4-firmware-80904539e63681b2dca74e3978effb17f0c071b0.zip |
Add logic to keep track of members of a task group
git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5563 42af7a65-404d-4744-a932-0658087f49c3
-rw-r--r-- | nuttx/include/nuttx/sched.h | 24 | ||||
-rw-r--r-- | nuttx/sched/group_create.c | 74 | ||||
-rw-r--r-- | nuttx/sched/group_join.c | 103 | ||||
-rw-r--r-- | nuttx/sched/group_leave.c | 68 | ||||
-rw-r--r-- | nuttx/sched/os_internal.h | 10 | ||||
-rw-r--r-- | nuttx/sched/os_start.c | 19 | ||||
-rw-r--r-- | nuttx/sched/pthread_create.c | 24 | ||||
-rw-r--r-- | nuttx/sched/task_create.c | 17 | ||||
-rw-r--r-- | nuttx/sched/task_exithook.c | 2 | ||||
-rw-r--r-- | nuttx/sched/task_init.c | 13 |
10 files changed, 298 insertions, 56 deletions
diff --git a/nuttx/include/nuttx/sched.h b/nuttx/include/nuttx/sched.h index 4a3bae5e4..a29f8dfeb 100644 --- a/nuttx/include/nuttx/sched.h +++ b/nuttx/include/nuttx/sched.h @@ -60,10 +60,18 @@ /* Configuration ****************************************************************/ /* Task groups currently only supported for retention of child status */ +#undef HAVE_TASK_GROUP +#undef HAVE_GROUP_MEMBERS + #if defined(CONFIG_SCHED_HAVE_PARENT) && defined(CONFIG_SCHED_CHILD_STATUS) -# define HAVE_TASK_GROUP 1 -#else -# undef HAVE_TASK_GROUP +# define HAVE_TASK_GROUP 1 +# define HAVE_GROUP_MEMBERS 1 +#endif + +/* In any event, we don't need group members if support for pthreads is disabled */ + +#ifdef CONFIG_PTHREADS_DISABLE +# undef HAVE_GROUP_MEMBERS #endif /* Task Management Definitins ***************************************************/ @@ -255,12 +263,18 @@ struct dspace_s #ifdef HAVE_TASK_GROUP struct task_group_s { - uint16_t tg_crefs; /* Count of threads sharing this data */ - uint8_t tg_flags; /* See GROUP_FLAG_* definitions */ + uint8_t tg_flags; /* See GROUP_FLAG_* definitions */ + uint8_t tg_nmembers; /* Number of members in the group */ +#ifdef HAVE_GROUP_MEMBERS + uint8_t tg_mxmembers; /* Number of members in allocation */ + FAR pid_t *tg_members; /* Members of the group */ +#endif /* Child exit status **********************************************************/ +#if defined(CONFIG_SCHED_HAVE_PARENT) && defined(CONFIG_SCHED_CHILD_STATUS) FAR struct child_status_s *tg_children; /* Head of a list of child status */ +#endif /* Environment varibles *******************************************************/ /* Not yet (see type environ_t) */ diff --git a/nuttx/sched/group_create.c b/nuttx/sched/group_create.c index d036b9084..4612ae8c5 100644 --- a/nuttx/sched/group_create.c +++ b/nuttx/sched/group_create.c @@ -1,5 +1,5 @@ /***************************************************************************** - * sched/group_create.c + * sched/group_allocate.c * * Copyright (C) 2013 Gregory Nutt. All rights reserved. * Author: Gregory Nutt <gnutt@nuttx.org> @@ -51,6 +51,9 @@ /***************************************************************************** * Pre-processor Definitions *****************************************************************************/ +/* Is this worth making a configuration option? */ + +#define GROUP_INITIAL_MEMBERS 4 /***************************************************************************** * Private Types @@ -69,11 +72,16 @@ *****************************************************************************/ /***************************************************************************** - * Name: group_create + * Name: group_allocate * * Description: - * Create and initialize a new task group structure for the specified TCB. - * This function is called as part of the task creation sequence. + * 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 zered, 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_initialize() is called to set up the + * group membership. * * Parameters: * tcb - The tcb in need of the task group. @@ -87,24 +95,66 @@ * *****************************************************************************/ -int group_create(FAR _TCB *tcb) +int group_allocate(FAR _TCB *tcb) { + DEBUGASSERT(tcb && !tcb->group); + + /* Allocate the group structure and assign it to the TCB */ + + tcb->group = (FAR struct task_group_s *)kzalloc(sizeof(struct task_group_s)); + return tcb->group ? OK : -ENOMEM; +} + +/***************************************************************************** + * Name: group_initialize + * + * 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_allocate() early in the task creation sequence, then + * (2) this function is called to set up the initial group membership. + * + * Parameters: + * tcb - The tcb in need of the task group. + * + * Return 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 _TCB *tcb) +{ +#ifdef HAVE_GROUP_MEMBERS FAR struct task_group_s *group; - DEBUGASSERT(tcb && !tcb->group); + DEBUGASSERT(tcb && tcb->group); + group = tcb->group; - /* Allocate the group structure */ + /* Allocate space to hold GROUP_INITIAL_MEMBERS members of the group */ - group = (FAR struct task_group_s *)kzalloc(sizeof(struct task_group_s)); - if (!group) + group->tg_members = (FAR pid_t *)kmalloc(GROUP_INITIAL_MEMBERS*sizeof(pid_t)); + if (!group->tg_members) { + free(group); return -ENOMEM; } - /* Initialize the group structure and assign it to the tcb */ + /* Assign the PID of this new task as a member of the group*/ + + group->tg_members[0] = tcb->pid; + + /* Initialize the non-zero elements of group structure and assign it to + * the tcb. + */ + + group->tg_mxmembers = GROUP_INITIAL_MEMBERS; /* Number of members in allocation */ +#endif - group->tg_crefs = 1; - tcb->group = group; + group->tg_nmembers = 1; /* Number of members in the group */ return OK; } diff --git a/nuttx/sched/group_join.c b/nuttx/sched/group_join.c index 987c1ba87..9dcea6599 100644 --- a/nuttx/sched/group_join.c +++ b/nuttx/sched/group_join.c @@ -41,8 +41,11 @@ #include <sched.h> #include <assert.h> +#include <errno.h> #include <debug.h> +#include <nuttx/kmalloc.h> + #include "os_internal.h" #ifdef HAVE_TASK_GROUP @@ -50,6 +53,9 @@ /***************************************************************************** * Pre-processor Definitions *****************************************************************************/ +/* Is this worth making a configuration option? */ + +#define GROUP_REALLOC_MEMBERS 4 /***************************************************************************** * Private Types @@ -68,19 +74,21 @@ *****************************************************************************/ /***************************************************************************** - * Name: group_join + * Name: group_bind * * Description: - * Copy the group structure reference from one TCB to another, incrementing - * the refrence count on the group. This function is called when a pthread - * is produced within the task group so that the pthread can share the - * resources of the task group. + * A thread joins the group when it is created. This is a two step process, + * first, the group must bound to the new threads TCB. group_bind() does + * this (at the return from group_join, things are a little unstable: The + * group has been bound, but tg_nmembers hs not yet been incremented). + * Then, after the new thread is initialized and has a PID assigned to it, + * group_join() is called, incrementing the tg_nmembers count on the group. * * Parameters: * tcb - The TCB of the new "child" task that need to join the group. * * Return Value: - * None + * 0 (OK) on success; a negated errno value on failure. * * Assumptions: * - The parent task from which the group will be inherited is the task at @@ -90,18 +98,91 @@ * *****************************************************************************/ -void group_join(FAR _TCB *tcb) +int group_bind(FAR _TCB *tcb) { FAR _TCB *ptcb = (FAR _TCB *)g_readytorun.head; DEBUGASSERT(ptcb && tcb && ptcb->group && !tcb->group); - /* Copy the group reference from the parent to the child, incrementing the - * reference count. - */ + /* Copy the group reference from the parent to the child */ tcb->group = ptcb->group; - ptcb->group->tg_crefs++; + return OK; +} + +/***************************************************************************** + * Name: group_join + * + * Description: + * A thread joins the group when it is created. This is a two step process, + * first, the group must bound to the new threads TCB. group_bind() does + * this (at the return from group_join, things are a little unstable: The + * group has been bound, but tg_nmembers hs not yet been incremented). + * Then, after the new thread is initialized and has a PID assigned to it, + * group_join() is called, incrementing the tg_nmembers count on the group. + * + * Parameters: + * tcb - The TCB of the new "child" task that need to join the group. + * + * Return Value: + * 0 (OK) on success; a negated errno value on failure. + * + * Assumptions: + * - The parent task from which the group will be inherited is the task at + * the thead of the ready to run list. + * - Called during thread creation in a safe context. No special precautions + * are required here. + * + *****************************************************************************/ + +int group_join(FAR _TCB *tcb) +{ +#ifdef HAVE_GROUP_MEMBERS + FAR struct task_group_s *group; + + DEBUGASSERT(tcb && tcb->group && + tcb->group->tg_nmembers < UINT8_MAX); + + /* Get the group from the TCB */ + + group = tcb->group; + + /* Will we need to extend the size of the array of groups? */ + + if (group->tg_nmembers >= group->tg_mxmembers) + { + FAR pid_t *newmembers; + unsigned int newmax; + + /* Yes... reallocate the array of members */ + + newmax = group->tg_mxmembers + GROUP_REALLOC_MEMBERS; + if (newmax > UINT8_MAX) + { + newmax = UINT8_MAX; + } + + newmembers = (FAR pid_t *) + krealloc(group->tg_members, sizeof(pid_t) * newmax); + + if (!newmembers) + { + return -ENOMEM; + } + + /* Save the new number of members in the reallocated members array */ + + group->tg_members = newmembers; + group->tg_mxmembers = newmax; + } + + /* Assign this new pid to the group. */ + + group->tg_members[group->tg_nmembers] = tcb->pid; +#endif + + group->tg_nmembers++; + return OK; } #endif /* HAVE_TASK_GROUP */ diff --git a/nuttx/sched/group_leave.c b/nuttx/sched/group_leave.c index 69a6ea8b2..223af1556 100644 --- a/nuttx/sched/group_leave.c +++ b/nuttx/sched/group_leave.c @@ -92,6 +92,7 @@ void group_leave(FAR _TCB *tcb) { FAR struct task_group_s *group; + int i; DEBUGASSERT(tcb); @@ -100,17 +101,69 @@ void group_leave(FAR _TCB *tcb) group = tcb->group; if (group) { - /* Would the reference count decrement to zero? */ +#ifdef HAVE_GROUP_MEMBERS + /* Find the member in the array of members and remove it */ - if (group->tg_crefs > 1) + for (i = 0; i < group->tg_nmembers; i++) { - /* No.. just decrement the reference count and return */ + /* Does this member have the matching pid */ + + if (group->tg_members[i] == tcb->pid) + { + /* Yes.. break out of the loop. We don't do the actual + * removal here, instead we re-test i and do the adjustments + * outside of the loop. We do this because we want the + * DEBUGASSERT to work properly. + */ + + break; + } + } + + /* Now, test if we found the task in the array of members. */ + + DEBUGASSERT(i < group->tg_nmembers); + if (i < group->tg_nmembers) + { + /* Yes..Is this the last member of the group? */ + + if (group->tg_nmembers > 1) + { + /* No.. remove the member from the array of members */ + + group->tg_members[i] = group->tg_members[group->tg_nmembers - 1]; + group->tg_nmembers--; + } + + /* Yes.. that was the last member remaining in the group */ + + else + { + /* Release all of the resource contained within the group */ + /* Free all un-reaped child exit status */ + + task_removechildren(tcb); - group->tg_crefs--; + /* Release the group container itself */ + + sched_free(group); + } + } +#else + /* Yes..Is this the last member of the group? */ + + if (group->tg_nmembers > 1) + { + /* No.. just decrement the number of members in the group */ + + group->tg_nmembers--; } + + /* Yes.. that was the last member remaining in the group */ + else { - /* Yes.. Release all of the resource contained within the group */ + /* Release all of the resource contained within the group */ /* Free all un-reaped child exit status */ task_removechildren(tcb); @@ -119,6 +172,11 @@ void group_leave(FAR _TCB *tcb) sched_free(group); } +#endif + + /* In any event, we can detach the group from the TCB so we won't do + * this again. + */ tcb->group = NULL; } diff --git a/nuttx/sched/os_internal.h b/nuttx/sched/os_internal.h index ee5ada165..8ce99bc44 100644 --- a/nuttx/sched/os_internal.h +++ b/nuttx/sched/os_internal.h @@ -273,12 +273,14 @@ int task_deletecurrent(void); int task_reparent(pid_t ppid, pid_t chpid); #ifdef HAVE_TASK_GROUP -int group_create(FAR _TCB *tcb); -void group_join(FAR _TCB *tcb); +int group_allocate(FAR _TCB *tcb); +int group_initialize(FAR _TCB *tcb); +int group_join(FAR _TCB *tcb); void group_leave(FAR _TCB *tcb); #else -# define group_create(tcb) -# define group_join(tcb) +# define group_allocate(tcb) (0) +# define group_initialize(tcb) (0) +# define group_join(tcb) (0) # define group_leave(tcb) #endif diff --git a/nuttx/sched/os_start.c b/nuttx/sched/os_start.c index 244aec967..3aecc7efb 100644 --- a/nuttx/sched/os_start.c +++ b/nuttx/sched/os_start.c @@ -202,9 +202,6 @@ const tasklist_t g_tasklisttable[NUM_TASK_STATES] = */ static FAR _TCB g_idletcb; -#if defined(CONFIG_SCHED_HAVE_PARENT) && defined(CONFIG_SCHED_CHILD_STATUS) -static struct task_group_s g_idlegroup; -#endif /* This is the name of the idle task */ @@ -283,14 +280,6 @@ void os_start(void) g_idletcb.argv[0] = (char*)g_idlename; #endif /* CONFIG_TASK_NAME_SIZE */ - /* Join the IDLE group */ - -#ifdef HAVE_TASK_GROUP - g_idlegroup.tg_crefs = 1; - g_idlegroup.tg_flags = GROUP_FLAG_NOCLDWAIT; - g_idletcb.group = &g_idlegroup; -#endif - /* Then add the idle task's TCB to the head of the ready to run list */ dq_addfirst((FAR dq_entry_t*)&g_idletcb, (FAR dq_queue_t*)&g_readytorun); @@ -447,6 +436,14 @@ void os_start(void) lib_initialize(); } + /* Create the IDLE group and suppress child status */ + +#ifdef HAVE_TASK_GROUP + (void)group_allocate(&g_idletcb); + (void)group_initialize(&g_idletcb); + g_idletcb.group->tg_flags = GROUP_FLAG_NOCLDWAIT; +#endif + /* Create stdout, stderr, stdin on the IDLE task. These will be * inherited by all of the threads created by the IDLE task. */ diff --git a/nuttx/sched/pthread_create.c b/nuttx/sched/pthread_create.c index e37c06892..89a2feb00 100644 --- a/nuttx/sched/pthread_create.c +++ b/nuttx/sched/pthread_create.c @@ -246,13 +246,13 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr, { FAR _TCB *ptcb; FAR join_t *pjoin; - int ret; int priority; #if CONFIG_RR_INTERVAL > 0 int policy; #endif int errcode; pid_t pid; + int ret; /* If attributes were not supplied, use the default attributes */ @@ -269,10 +269,17 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr, return ENOMEM; } - /* Join the parent's task group */ + /* Bind the parent's group to the new TCB (we have not yet joined the + * group). + */ #ifdef HAVE_TASK_GROUP - group_join(ptcb); + ret = group_bind(ptcb); + if (ret < 0) + { + errcode = ENOMEM; + goto errout_with_tcb; + } #endif /* Share the address environment of the parent task. NOTE: Only tasks @@ -376,6 +383,17 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr, pthread_argsetup(ptcb, arg); + /* Join the parent's task group */ + +#ifdef HAVE_TASK_GROUP + ret = group_join(ptcb); + if (ret < 0) + { + errcode = ENOMEM; + goto errout_with_join; + } +#endif + /* Attach the join info to the TCB. */ ptcb->joininfo = (void*)pjoin; diff --git a/nuttx/sched/task_create.c b/nuttx/sched/task_create.c index f2aeeeec0..bb309444b 100644 --- a/nuttx/sched/task_create.c +++ b/nuttx/sched/task_create.c @@ -120,10 +120,10 @@ static int thread_create(const char *name, uint8_t ttype, int priority, goto errout; } - /* Create a new task group */ + /* Allocate a new task group */ #ifdef HAVE_TASK_GROUP - ret = group_create(tcb); + ret = group_allocate(tcb); if (ret < 0) { errcode = -ret; @@ -160,7 +160,7 @@ static int thread_create(const char *name, uint8_t ttype, int priority, /* Initialize the task control block */ ret = task_schedsetup(tcb, priority, task_start, entry, ttype); - if (ret != OK) + if (ret < OK) { errcode = -ret; goto errout_with_tcb; @@ -170,6 +170,17 @@ static int thread_create(const char *name, uint8_t ttype, int priority, (void)task_argsetup(tcb, name, argv); + /* Now we have enough in place that we can join the group */ + +#ifdef HAVE_TASK_GROUP + ret = group_initialize(tcb); + if (ret < 0) + { + errcode = -ret; + goto errout_with_tcb; + } +#endif + /* Get the assigned pid before we start the task */ pid = (int)tcb->pid; diff --git a/nuttx/sched/task_exithook.c b/nuttx/sched/task_exithook.c index 30ce41f71..36836301c 100644 --- a/nuttx/sched/task_exithook.c +++ b/nuttx/sched/task_exithook.c @@ -207,7 +207,7 @@ static inline void task_sigchild(FAR _TCB *ptcb, FAR _TCB *ctcb, int status) */ #ifdef CONFIG_SCHED_CHILD_STATUS - if (ctcb->group->tg_crefs == 1) + if (ctcb->group->tg_nmembers == 1) #else if ((ctcb->flags & TCB_FLAG_TTYPE_MASK) == TCB_FLAG_TTYPE_TASK) #endif diff --git a/nuttx/sched/task_init.c b/nuttx/sched/task_init.c index 5ba6b7e7d..6ae643948 100644 --- a/nuttx/sched/task_init.c +++ b/nuttx/sched/task_init.c @@ -126,7 +126,7 @@ int task_init(FAR _TCB *tcb, const char *name, int priority, /* Create a new task group */ #ifdef HAVE_TASK_GROUP - ret = group_create(tcb); + ret = group_allocate(tcb); if (ret < 0) { errcode = -ret; @@ -168,6 +168,17 @@ int task_init(FAR _TCB *tcb, const char *name, int priority, /* Setup to pass parameters to the new task */ (void)task_argsetup(tcb, name, argv); + + /* Now we have enough in place that we can join the group */ + +#ifdef HAVE_TASK_GROUP + ret = group_initialize(tcb); + if (ret < 0) + { + errcode = -ret; + goto errout_with_env; + } +#endif return OK; errout_with_env: |