Add framework to support task groups

git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@5562 42af7a65-404d-4744-a932-0658087f49c3

1 files changed, 28 insertions, 15 deletions

diff --git a/nuttx/sched/pthread_create.c b/nuttx/sched/pthread_create.c
index f4d0d8fdf..e37c06892 100644
--- a/nuttx/sched/pthread_create.c
+++ b/nuttx/sched/pthread_create.c
@@ -251,6 +251,7 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr,
 #if CONFIG_RR_INTERVAL > 0
   int policy;
 #endif
+  int errcode;
   pid_t pid;
 
   /* If attributes were not supplied, use the default attributes */
@@ -268,6 +269,12 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr,
       return ENOMEM;
     }
 
+  /* Join the parent's task group */
+
+#ifdef HAVE_TASK_GROUP
+  group_join(ptcb);
+#endif
+
   /* Share the address environment of the parent task.  NOTE:  Only tasks
    * created throught the nuttx/binfmt loaders may have an address
    * environment.
@@ -277,8 +284,8 @@ 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
 
@@ -287,8 +294,8 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr,
   ret = sched_setuppthreadfiles(ptcb);
   if (ret != OK)
     {
-      sched_releasetcb(ptcb);
-      return ret;
+      errcode = ret;
+      goto errout_with_tcb;
     }
 
   /* Share the parent's envionment */
@@ -300,8 +307,8 @@ int pthread_create(FAR pthread_t *thread, FAR pthread_attr_t *attr,
   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 +316,8 @@ 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 +366,8 @@ 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
@@ -440,10 +445,18 @@ 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;
 }