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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/task_reparent.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/task_reparent.c')
-rw-r--r-- | nuttx/sched/task_reparent.c | 177 |
1 files changed, 167 insertions, 10 deletions
diff --git a/nuttx/sched/task_reparent.c b/nuttx/sched/task_reparent.c index 28d371bf1..5bb62893f 100644 --- a/nuttx/sched/task_reparent.c +++ b/nuttx/sched/task_reparent.c @@ -42,6 +42,7 @@ #include <errno.h> #include "os_internal.h" +#include "group_internal.h" #ifdef CONFIG_SCHED_HAVE_PARENT @@ -69,6 +70,141 @@ * *****************************************************************************/ +#ifdef HAVE_GROUP_MEMBERS +int task_reparent(pid_t ppid, pid_t chpid) +{ +#ifdef CONFIG_SCHED_CHILD_STATUS + FAR struct child_status_s *child; +#endif + FAR struct task_group_s *chgrp; + FAR struct task_group_s *ogrp; + FAR struct task_group_s *pgrp; + _TCB *tcb; + gid_t ogid; + gid_t pgid; + irqstate_t flags; + int ret; + + /* Disable interrupts so that nothing can change in the relatinoship of + * the three task: Child, current parent, and new parent. + */ + + flags = irqsave(); + + /* Get the child tasks task group */ + + tcb = sched_gettcb(chpid); + if (!tcb) + { + ret = -ECHILD; + goto errout_with_ints; + } + + DEBUGASSERT(tcb->group); + chgrp = tcb->group; + + /* Get the GID of the old parent task's task group (ogid) */ + + ogid = chgrp->tg_pgid; + + /* Get the old parent task's task group (ogrp) */ + + ogrp = group_find(ogid); + if (!ogrp) + { + ret = -ESRCH; + goto errout_with_ints; + } + + /* If new parent task's PID (ppid) is zero, then new parent is the + * grandparent will be the new parent, i.e., the parent of the current + * parent task. + */ + + if (ppid == 0) + { + /* Get the grandparent task's task group (pgrp) */ + + pgid = ogrp->tg_pgid; + pgrp = group_find(pgid); + } + else + { + /* Get the new parent task's task group (pgrp) */ + + tcb = sched_gettcb(ppid); + if (!tcb) + { + ret = -ESRCH; + goto errout_with_ints; + } + + pgrp = tcb->group; + pgid = pgrp->tg_gid; + } + + if (!pgrp) + { + ret = -ESRCH; + goto errout_with_ints; + } + + /* Then reparent the child. Notice that we don't actually change the + * parent of the task. Rather, we change the parent task group for + * all members of the child's task group. + */ + + chgrp->tg_pgid = pgid; + +#ifdef CONFIG_SCHED_CHILD_STATUS + /* Remove the child status entry from old parent task group */ + + child = group_removechild(ogrp, chpid); + if (child) + { + /* Has the new parent's task group supressed child exit status? */ + + if ((pgrp->tg_flags && GROUP_FLAG_NOCLDWAIT) == 0) + { + /* No.. Add the child status entry to the new parent's task group */ + + group_addchild(pgrp, child); + } + else + { + /* Yes.. Discard the child status entry */ + + group_freechild(child); + } + + /* Either case is a success */ + + ret = OK; + } + else + { + /* This would not be an error if the original parent's task group has + * suppressed child exit status. + */ + + ret = ((ogrp->tg_flags && GROUP_FLAG_NOCLDWAIT) == 0) ? -ENOENT : OK; + } + +#else /* CONFIG_SCHED_CHILD_STATUS */ + + DEBUGASSERT(otcb->nchildren > 0); + + otcb->nchildren--; /* The orignal parent now has one few children */ + ptcb->nchildren++; /* The new parent has one additional child */ + ret = OK; + +#endif /* CONFIG_SCHED_CHILD_STATUS */ + +errout_with_ints: + irqrestore(flags); + return ret; +} +#else int task_reparent(pid_t ppid, pid_t chpid) { #ifdef CONFIG_SCHED_CHILD_STATUS @@ -98,7 +234,7 @@ int task_reparent(pid_t ppid, pid_t chpid) /* Get the PID of the child task's parent (opid) */ - opid = chtcb->parent; + opid = chtcb->ppid; /* Get the TCB of the child task's parent (otcb) */ @@ -116,7 +252,7 @@ int task_reparent(pid_t ppid, pid_t chpid) if (ppid == 0) { - ppid = otcb->parent; + ppid = otcb->ppid; } /* Get the new parent task's TCB (ptcb) */ @@ -130,34 +266,55 @@ int task_reparent(pid_t ppid, pid_t chpid) /* Then reparent the child */ - chtcb->parent = ppid; /* The task specified by ppid is the new parent */ + chtcb->ppid = ppid; /* The task specified by ppid is the new parent */ #ifdef CONFIG_SCHED_CHILD_STATUS /* Remove the child status entry from old parent TCB */ - child = task_removechild(otcb, chpid); + child = group_removechild(otcb->group, chpid); if (child) { - /* Add the child status entry to the new parent TCB */ + /* Has the new parent's task group supressed child exit status? */ + + if ((ptcb->group->tg_flags && GROUP_FLAG_NOCLDWAIT) == 0) + { + /* No.. Add the child status entry to the new parent's task group */ + + group_addchild(ptcb->group, child); + } + else + { + /* Yes.. Discard the child status entry */ + + group_freechild(child); + } + + /* Either case is a success */ - task_addchild(ptcb, child); ret = OK; } else { - ret = -ENOENT; + /* This would not be an error if the original parent's task group has + * suppressed child exit status. + */ + + ret = ((otcb->group->tg_flags && GROUP_FLAG_NOCLDWAIT) == 0) ? -ENOENT : OK; } -#else + +#else /* CONFIG_SCHED_CHILD_STATUS */ + DEBUGASSERT(otcb->nchildren > 0); otcb->nchildren--; /* The orignal parent now has one few children */ ptcb->nchildren++; /* The new parent has one additional child */ ret = OK; -#endif + +#endif /* CONFIG_SCHED_CHILD_STATUS */ errout_with_ints: irqrestore(flags); return ret; } - +#endif #endif /* CONFIG_SCHED_HAVE_PARENT */ |