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author | patacongo <patacongo@42af7a65-404d-4744-a932-0658087f49c3> | 2013-01-23 22:23:46 +0000 |
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committer | patacongo <patacongo@42af7a65-404d-4744-a932-0658087f49c3> | 2013-01-23 22:23:46 +0000 |
commit | 340a72b7cdfb3c1c79044f53decc055ee6c06f19 (patch) | |
tree | dbc9c30e5aec5ddcdf6f0abd2b9a9416721c9bce /nuttx/sched/task_setup.c | |
parent | f86f863834bf7eae566e4ccce00ecfef3f914b05 (diff) | |
download | px4-firmware-340a72b7cdfb3c1c79044f53decc055ee6c06f19.tar.gz px4-firmware-340a72b7cdfb3c1c79044f53decc055ee6c06f19.tar.bz2 px4-firmware-340a72b7cdfb3c1c79044f53decc055ee6c06f19.zip |
Add logic to retain child task exit status if so configured
git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5553 42af7a65-404d-4744-a932-0658087f49c3
Diffstat (limited to 'nuttx/sched/task_setup.c')
-rw-r--r-- | nuttx/sched/task_setup.c | 68 |
1 files changed, 61 insertions, 7 deletions
diff --git a/nuttx/sched/task_setup.c b/nuttx/sched/task_setup.c index 92897f0ae..80aefded3 100644 --- a/nuttx/sched/task_setup.c +++ b/nuttx/sched/task_setup.c @@ -153,7 +153,8 @@ static int task_assignpid(FAR _TCB *tcb) * Save the task ID of the parent task in the child task's TCB. * * Parameters: - * tcb - The TCB of the new, child task. + * tcb - The TCB of the new, child task. + * ttype - Type of the new thread: task, pthread, or kernel thread * * Returned Value: * None @@ -165,13 +166,57 @@ static int task_assignpid(FAR _TCB *tcb) ****************************************************************************/ #ifdef CONFIG_SCHED_HAVE_PARENT -static inline void task_saveparent(FAR _TCB *tcb) +static inline void task_saveparent(FAR _TCB *tcb, uint8_t ttype) { FAR _TCB *rtcb = (FAR _TCB*)g_readytorun.head; - DEBUGASSERT(rtcb->nchildren < UINT16_MAX); + /* Save the parent task's ID in the child task's TCB. I am not sure if + * this makes sense for the case of pthreads or not, but I don't think it + * is harmful in any event. + */ + tcb->parent = rtcb->pid; - rtcb->nchildren++; + + /* Exit status only needs to be retained for the case of tasks, however */ + + if (ttype == TCB_FLAG_TTYPE_TASK) + { +#ifdef CONFIG_SCHED_CHILD_STATUS + FAR struct child_status_s *child; + + /* Make sure that there is not already a structure for this PID in the + * parent TCB. There should not be. + */ + + child = task_findchild(rtcb, tcb->pid); + DEBUGASSERT(!child); + if (!child) + { + /* Allocate a new status structure */ + + child = task_allocchild(); + } + + /* Did we successfully find/allocate the child status structure? */ + + DEBUGASSERT(child); + if (child) + { + /* Yes.. Initialize the structure */ + + child->ch_flags = ttype; + child->ch_pid = tcb->pid; + child->ch_status = 0; + + /* Add the entry into the TCB list of children */ + + task_addchild(rtcb, child); + } +#else + DEBUGASSERT(rtcb->nchildren < UINT16_MAX); + rtcb->nchildren++; +#endif + } } #else # define task_saveparent(tcb) @@ -235,7 +280,7 @@ static inline void task_dupdspace(FAR _TCB *tcb) * priority - Priority of the new task * entry - Entry point of a new task * main - Application start point of the new task - * type - Type of the new thread: task, pthread, or kernel thread + * ttype - Type of the new thread: task, pthread, or kernel thread * * Return Value: * OK on success; ERROR on failure. @@ -245,7 +290,8 @@ static inline void task_dupdspace(FAR _TCB *tcb) * ****************************************************************************/ -int task_schedsetup(FAR _TCB *tcb, int priority, start_t start, main_t main) +int task_schedsetup(FAR _TCB *tcb, int priority, start_t start, main_t main, + uint8_t ttype) { int ret; @@ -264,9 +310,17 @@ int task_schedsetup(FAR _TCB *tcb, int priority, start_t start, main_t main) tcb->start = start; tcb->entry.main = main; + /* Save the thrad type. This setting will be needed in + * up_initial_state() is called. + */ + + ttype &= TCB_FLAG_TTYPE_MASK; + tcb->flags &= ~TCB_FLAG_TTYPE_MASK; + tcb->flags |= ttype; + /* Save the task ID of the parent task in the TCB */ - task_saveparent(tcb); + task_saveparent(tcb, ttype); /* exec(), pthread_create(), task_create(), and vfork() all * inherit the signal mask of the parent thread. |