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author | patacongo <patacongo@42af7a65-404d-4744-a932-0658087f49c3> | 2013-01-12 19:58:45 +0000 |
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committer | patacongo <patacongo@42af7a65-404d-4744-a932-0658087f49c3> | 2013-01-12 19:58:45 +0000 |
commit | b58281cab8add0af82167282126132b069170dd6 (patch) | |
tree | 84c6da5c61268158365bdafe58f546b34a0b8a91 /nuttx/include | |
parent | db161f73bc2608dbb8ad8c022609198f7f0b3f95 (diff) | |
download | px4-firmware-b58281cab8add0af82167282126132b069170dd6.tar.gz px4-firmware-b58281cab8add0af82167282126132b069170dd6.tar.bz2 px4-firmware-b58281cab8add0af82167282126132b069170dd6.zip |
Fix a *critical* bug in the task exit logic. Implements SIGCHILD
git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5513 42af7a65-404d-4744-a932-0658087f49c3
Diffstat (limited to 'nuttx/include')
-rw-r--r-- | nuttx/include/nuttx/sched.h | 3 | ||||
-rw-r--r-- | nuttx/include/nuttx/wqueue.h | 2 | ||||
-rw-r--r-- | nuttx/include/signal.h | 68 |
3 files changed, 49 insertions, 24 deletions
diff --git a/nuttx/include/nuttx/sched.h b/nuttx/include/nuttx/sched.h index 940bf1f1b..6c67e1500 100644 --- a/nuttx/include/nuttx/sched.h +++ b/nuttx/include/nuttx/sched.h @@ -202,6 +202,9 @@ struct _TCB /* Task Management Fields *****************************************************/ pid_t pid; /* This is the ID of the thread */ +#ifdef CONFIG_SCHED_HAVE_PARENT + pid_t parent; /* This is the ID of the parent thread */ +#endif start_t start; /* Thread start function */ entry_t entry; /* Entry Point into the thread */ diff --git a/nuttx/include/nuttx/wqueue.h b/nuttx/include/nuttx/wqueue.h index c509bf197..d56901d89 100644 --- a/nuttx/include/nuttx/wqueue.h +++ b/nuttx/include/nuttx/wqueue.h @@ -68,7 +68,7 @@ * CONFIG_SCHED_WORKSTACKSIZE - The stack size allocated for the worker * thread. Default: CONFIG_IDLETHREAD_STACKSIZE. * CONFIG_SIG_SIGWORK - The signal number that will be used to wake-up - * the worker thread. Default: 4 + * the worker thread. Default: 17 * * CONFIG_SCHED_LPWORK. If CONFIG_SCHED_WORKQUEUE is defined, then a single * work queue is created by default. If CONFIG_SCHED_LPWORK is also defined diff --git a/nuttx/include/signal.h b/nuttx/include/signal.h index 02b222343..30726105b 100644 --- a/nuttx/include/signal.h +++ b/nuttx/include/signal.h @@ -66,44 +66,56 @@ /* A few of the real time signals are used within the OS. They have * default values that can be overridden from the configuration file. The - * rest are all user signals: + * rest are all user signals. + * + * These are semi-standard signal definitions: */ #ifndef CONFIG_SIG_SIGUSR1 -#define SIGUSR1 0 /* User signal 1 */ +# define SIGUSR1 1 /* User signal 1 */ #else -#define SIGUSR1 CONFIG_SIG_SIGUSR1 +# define SIGUSR1 CONFIG_SIG_SIGUSR1 #endif #ifndef CONFIG_SIG_SIGUSR2 -#define SIGUSR2 1 /* User signal 2 */ +# define SIGUSR2 2 /* User signal 2 */ #else -#define SIGUSR2 CONFIG_SIG_SIGUSR2 +# define SIGUSR2 CONFIG_SIG_SIGUSR2 #endif #ifndef CONFIG_SIG_SIGALARM -#define SIGALRM 2 /* Default signal used with POSIX timers (used only */ +# define SIGALRM 3 /* Default signal used with POSIX timers (used only */ /* no other signal is provided) */ #else -#define SIGALRM CONFIG_SIG_SIGALARM +# define SIGALRM CONFIG_SIG_SIGALARM #endif -#ifndef CONFIG_DISABLE_PTHREAD -#ifndef CONFIG_SIG_SIGCONDTIMEDOUT -#define SIGCONDTIMEDOUT 3 /* Used in the implementation of pthread_cond_timedwait */ -#else -#define SIGCONDTIMEDOUT CONFIG_SIG_SIGCONDTIMEDOUT +#ifdef CONFIG_SCHED_HAVE_PARENT +# ifndef CONFIG_SIG_SIGCHLD +# define SIGCHLD 4 /* Used by child threads to signal parent thread */ +# else +# define SIGCHLD CONFIG_SIG_SIGCHLD +# endif #endif + +/* The following are non-standard signal definitions */ + +#ifndef CONFIG_DISABLE_PTHREAD +# ifndef CONFIG_SIG_SIGCONDTIMEDOUT +# define SIGCONDTIMEDOUT 16 /* Used in the implementation of pthread_cond_timedwait */ +# else +# define SIGCONDTIMEDOUT CONFIG_SIG_SIGCONDTIMEDOUT +# endif #endif /* SIGWORK is used to wake up various internal, NuttX worker thread */ #if defined(CONFIG_SCHED_WORKQUEUE) || defined(CONFIG_PAGING) -#ifndef CONFIG_SIG_SIGWORK -#define SIGWORK 4 /* Used to wake up the work queue */ -#else -#define SIGWORK CONFIG_SIG_SIGWORK -#endif +# ifndef CONFIG_SIG_SIGWORK +# define SIGWORK 17 /* Used to wake up the work queue */ +# else +# define SIGWORK CONFIG_SIG_SIGWORK +# endif #endif /* sigprocmask() "how" definitions. Only one of the following can be specified: */ @@ -122,12 +134,18 @@ /* These are the possible values of the signfo si_code field */ -#define SI_USER 0 /* Signal sent from kill, raise, or abort */ -#define SI_QUEUE 1 /* Signal sent from sigqueue */ -#define SI_TIMER 2 /* Signal is result of timer expiration */ -#define SI_ASYNCIO 3 /* Signal is the result of asynch IO completion */ -#define SI_MESGQ 4 /* Signal generated by arrival of a message on an */ - /* empty message queue */ +#define SI_USER 0 /* Signal sent from kill, raise, or abort */ +#define SI_QUEUE 1 /* Signal sent from sigqueue */ +#define SI_TIMER 2 /* Signal is result of timer expiration */ +#define SI_ASYNCIO 3 /* Signal is the result of asynch IO completion */ +#define SI_MESGQ 4 /* Signal generated by arrival of a message on an */ + /* empty message queue */ +#define CLD_EXITED 5 /* Child has exited (SIGCHLD only) */ +#define CLD_KILLED 6 /* Child was killed (SIGCHLD only) */ +#define CLD_DUMPED 7 /* Child terminated abnormally (SIGCHLD only) */ +#define CLD_TRAPPED 8 /* Traced child has trapped (SIGCHLD only) */ +#define CLD_STOPPED 9 /* Child has stopped (SIGCHLD only) */ +#define CLD_CONTINUED 10 /* Stopped child had continued (SIGCHLD only) */ /* Values for the sigev_notify field of struct sigevent */ @@ -175,6 +193,10 @@ struct siginfo uint8_t si_signo; /* Identifies signal */ uint8_t si_code; /* Source: SI_USER, SI_QUEUE, SI_TIMER, SI_ASYNCIO, or SI_MESGQ */ union sigval si_value; /* Data passed with signal */ +#ifdef CONFIG_SCHED_HAVE_PARENT + pid_t si_pid; /* Sending task ID */ + int si_status; /* Exit value or signal (SIGCHLD only). */ +#endif }; typedef struct siginfo siginfo_t; |