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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_setup.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_setup.c')
-rw-r--r-- | nuttx/sched/task_setup.c | 58 |
1 files changed, 44 insertions, 14 deletions
diff --git a/nuttx/sched/task_setup.c b/nuttx/sched/task_setup.c index 43ed24b32..b770d46e6 100644 --- a/nuttx/sched/task_setup.c +++ b/nuttx/sched/task_setup.c @@ -1,7 +1,7 @@ /**************************************************************************** * sched/task_setup.c * - * Copyright (C) 2007-2012 Gregory Nutt. All rights reserved. + * Copyright (C) 2007-2013 Gregory Nutt. All rights reserved. * Author: Gregory Nutt <gnutt@nuttx.org> * * Redistribution and use in source and binary forms, with or without @@ -49,6 +49,7 @@ #include <nuttx/arch.h> #include "os_internal.h" +#include "group_internal.h" /**************************************************************************** * Definitions @@ -150,7 +151,8 @@ static int task_assignpid(FAR _TCB *tcb) * Name: task_saveparent * * Description: - * Save the task ID of the parent task in the child task's TCB. + * Save the task ID of the parent task in the child task's TCB and allocate + * a child status structure to catch the child task's exit status. * * Parameters: * tcb - The TCB of the new, child task. @@ -170,31 +172,57 @@ static inline void task_saveparent(FAR _TCB *tcb, uint8_t ttype) { FAR _TCB *rtcb = (FAR _TCB*)g_readytorun.head; +#if defined(HAVE_GROUP_MEMBERS) || defined(CONFIG_SCHED_CHILD_STATUS) + DEBUGASSERT(tcb && tcb->group && rtcb->group); +#else +#endif + +#ifdef HAVE_GROUP_MEMBERS + /* Save the ID of the parent tasks' task group in the child's task group. + * Do nothing for pthreads. The parent and the child are both members of + * the same task group. + */ + + if ((tcb->flags & TCB_FLAG_TTYPE_MASK) != TCB_FLAG_TTYPE_PTHREAD) + { + /* This is a new task in a new task group, we have to copy the ID from + * the parent's task group structure to child's task group. + */ + + tcb->group->tg_pgid = rtcb->group->tg_gid; + } + +#else + DEBUGASSERT(tcb); + /* 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; + tcb->ppid = rtcb->pid; +#endif - /* Exit status only needs to be retained for the case of tasks, however */ +#ifdef CONFIG_SCHED_CHILD_STATUS + /* Tasks can also suppress retention of their child status by applying + * the SA_NOCLDWAIT flag with sigaction(). + */ - if (ttype == TCB_FLAG_TTYPE_TASK) + if ((rtcb->group->tg_flags && GROUP_FLAG_NOCLDWAIT) == 0) { -#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); + child = group_findchild(rtcb->group, tcb->pid); DEBUGASSERT(!child); if (!child) { /* Allocate a new status structure */ - child = task_allocchild(); + child = group_allocchild(); } /* Did we successfully find/allocate the child status structure? */ @@ -210,16 +238,16 @@ static inline void task_saveparent(FAR _TCB *tcb, uint8_t ttype) /* Add the entry into the TCB list of children */ - task_addchild(rtcb, child); + group_addchild(rtcb->group, child); } + } #else - DEBUGASSERT(rtcb->nchildren < UINT16_MAX); - rtcb->nchildren++; + DEBUGASSERT(rtcb->nchildren < UINT16_MAX); + rtcb->nchildren++; #endif - } } #else -# define task_saveparent(tcb, type) +# define task_saveparent(tcb,ttype) #endif /**************************************************************************** @@ -318,7 +346,9 @@ int task_schedsetup(FAR _TCB *tcb, int priority, start_t start, main_t main, tcb->flags &= ~TCB_FLAG_TTYPE_MASK; tcb->flags |= ttype; - /* Save the task ID of the parent task in the TCB */ + /* Save the task ID of the parent task in the TCB and allocate + * a child status structure. + */ task_saveparent(tcb, ttype); |