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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-02-17 09:14:12 -0800 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-02-17 09:14:12 -0800 |
commit | 520a2b417410bed7db6f08a3a69f3bcccc55910b (patch) | |
tree | 2365774545ed145c307630b63cb5f075fca71c21 /nuttx/sched/pthread_create.c | |
parent | 2745c3276f5c2377a9713555c5941b17912b6ce7 (diff) | |
parent | caa11f0bbb7f30679c5c01a64e1d0f6d8627db9d (diff) | |
download | px4-firmware-520a2b417410bed7db6f08a3a69f3bcccc55910b.tar.gz px4-firmware-520a2b417410bed7db6f08a3a69f3bcccc55910b.tar.bz2 px4-firmware-520a2b417410bed7db6f08a3a69f3bcccc55910b.zip |
Merge pull request #198 from PX4/nuttx-merge-5596
Nuttx merge 5596
Diffstat (limited to 'nuttx/sched/pthread_create.c')
-rw-r--r-- | nuttx/sched/pthread_create.c | 74 |
1 files changed, 46 insertions, 28 deletions
diff --git a/nuttx/sched/pthread_create.c b/nuttx/sched/pthread_create.c index f4d0d8fdf..48a0788a6 100644 --- a/nuttx/sched/pthread_create.c +++ b/nuttx/sched/pthread_create.c @@ -53,8 +53,8 @@ #include <nuttx/arch.h> #include "os_internal.h" +#include "group_internal.h" #include "clock_internal.h" -#include "env_internal.h" #include "pthread_internal.h" /**************************************************************************** @@ -246,12 +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 */ @@ -268,6 +269,19 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr, return ENOMEM; } + /* Bind the parent's group to the new TCB (we have not yet joined the + * group). + */ + +#ifdef HAVE_TASK_GROUP + 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 * created throught the nuttx/binfmt loaders may have an address * environment. @@ -277,31 +291,18 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr, ret = up_addrenv_share((FAR const _TCB *)g_readytorun.head, ptcb); if (ret < 0) { - sched_releasetcb(ptcb); - return -ret; + errcode = -ret; + goto errout_with_tcb; } #endif - /* Associate file descriptors with the new task */ - - ret = sched_setuppthreadfiles(ptcb); - if (ret != OK) - { - sched_releasetcb(ptcb); - return ret; - } - - /* Share the parent's envionment */ - - (void)env_share(ptcb); - /* Allocate a detachable structure to support pthread_join logic */ pjoin = (FAR join_t*)kzalloc(sizeof(join_t)); if (!pjoin) { - sched_releasetcb(ptcb); - return ENOMEM; + errcode = ENOMEM; + goto errout_with_tcb; } /* Allocate the stack for the TCB */ @@ -309,9 +310,8 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr, ret = up_create_stack(ptcb, attr->stacksize); if (ret != OK) { - sched_releasetcb(ptcb); - sched_free(pjoin); - return ENOMEM; + errcode = ENOMEM; + goto errout_with_join; } /* Should we use the priority and scheduler specified in the @@ -360,9 +360,8 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr, TCB_FLAG_TTYPE_PTHREAD); if (ret != OK) { - sched_releasetcb(ptcb); - sched_free(pjoin); - return EBUSY; + errcode = EBUSY; + goto errout_with_join; } /* Configure the TCB for a pthread receiving on parameter @@ -371,6 +370,17 @@ 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; @@ -440,10 +450,18 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr, dq_rem((FAR dq_entry_t*)ptcb, (dq_queue_t*)&g_inactivetasks); (void)sem_destroy(&pjoin->data_sem); (void)sem_destroy(&pjoin->exit_sem); - sched_releasetcb(ptcb); - sched_free(pjoin); - ret = EIO; + + errcode = EIO; + goto errout_with_join; } return ret; + +errout_with_join: + sched_free(pjoin); + ptcb->joininfo = NULL; + +errout_with_tcb: + sched_releasetcb(ptcb); + return errcode; } |