void _exit(int status)
{
FAR struct tcb_s *tcb;
sinfo("TCB=%p exiting\n", tcb);
/* Destroy the task at the head of the ready to run list. */
(void)task_exit();
/* Now, perform the context switch to the new ready-to-run task at the
* head of the list.
*/
tcb = this_task();
sinfo("New Active Task TCB=%p\n", tcb);
/* The way that we handle signals in the simulation is kind of
* a kludge. This would be unsafe in a truly multi-threaded, interrupt
* driven environment.
*/
if (tcb->xcp.sigdeliver)
{
sinfo("Delivering signals TCB=%p\n", tcb);
((sig_deliver_t)tcb->xcp.sigdeliver)(tcb);
tcb->xcp.sigdeliver = NULL;
}
/* Then switch contexts */
up_longjmp(tcb->xcp.regs, 1);
}
void _exit(int status)
{
struct tcb_s *tcb;
/* Disable interrupts. They will be restored when the next task is
* started.
*/
(void)up_irq_save();
sinfo("TCB=%p exiting\n", this_task());
#ifdef CONFIG_DUMP_ON_EXIT
sinfo("Other tasks:\n");
sched_foreach(_xtensa_dumponexit, NULL);
#endif
#if XCHAL_CP_NUM > 0
/* Disable co-processor support for the task that is exit-ing. */
tcb = this_task();
xtensa_coproc_disable(&tcb->xcp.cpstate, XTENSA_CP_ALLSET);
#endif
/* Destroy the task at the head of the ready to run list. */
(void)task_exit();
/* Now, perform the context switch to the new ready-to-run task at the
* head of the list.
*/
tcb = this_task();
#if XCHAL_CP_NUM > 0
/* Set up the co-processor state for the newly started thread. */
xtensa_coproc_restorestate(&tcb->xcp.cpstate);
#endif
#ifdef CONFIG_ARCH_ADDRENV
/* Make sure that the address environment for the previously running
* task is closed down gracefully (data caches dump, MMU flushed) and
* set up the address environment for the new thread at the head of
* the ready-to-run list.
*/
(void)group_addrenv(tcb);
#endif
/* Then switch contexts */
xtensa_context_restore(tcb->xcp.regs);
/* xtensa_full_context_restore() should not return but could if the software
* interrupts are disabled.
*/
PANIC();
}
void up_sigdeliver(void)
{
#ifndef CONFIG_DISABLE_SIGNALS
struct tcb_s *rtcb = this_task();
uint32_t regs[XCPTCONTEXT_REGS];
sig_deliver_t sigdeliver;
/* Save the errno. This must be preserved throughout the signal handling
* so that the user code final gets the correct errno value (probably
* EINTR).
*/
int saved_errno = rtcb->pterrno;
board_autoled_on(LED_SIGNAL);
sinfo("rtcb=%p sigdeliver=%p sigpendactionq.head=%p\n",
rtcb, rtcb->xcp.sigdeliver, rtcb->sigpendactionq.head);
ASSERT(rtcb->xcp.sigdeliver != NULL);
/* Save the real return state on the stack. */
up_copystate(regs, rtcb->xcp.regs);
regs[REG_PC] = rtcb->xcp.saved_pc;
regs[REG_SR] = rtcb->xcp.saved_sr;
/* Get a local copy of the sigdeliver function pointer. We do this so
* that we can nullify the sigdeliver function pointer in the TCB and
* accept more signal deliveries while processing the current pending
* signals.
*/
sigdeliver = rtcb->xcp.sigdeliver;
rtcb->xcp.sigdeliver = NULL;
/* Then restore the task interrupt state. */
up_irq_restore(regs[REG_SR] & 0x000000f0);
/* Deliver the signals */
sigdeliver(rtcb);
/* Output any debug messages BEFORE restoring errno (because they may
* alter errno), then disable interrupts again and restore the original
* errno that is needed by the user logic (it is probably EINTR).
*/
sinfo("Resuming\n");
(void)up_irq_save();
rtcb->pterrno = saved_errno;
/* Then restore the correct state for this thread of execution. */
board_autoled_off(LED_SIGNAL);
up_fullcontextrestore(regs);
#endif
}
int pthread_cond_broadcast(FAR pthread_cond_t *cond)
{
int ret = OK;
int sval;
sinfo("cond=0x%p\n", cond);
if (!cond)
{
ret = EINVAL;
}
else
{
/* Disable pre-emption until all of the waiting threads have been
* restarted. This is necessary to assure that the sval behaves as
* expected in the following while loop
*/
sched_lock();
/* Get the current value of the semaphore */
if (sem_getvalue((FAR sem_t *)&cond->sem, &sval) != OK)
{
ret = EINVAL;
}
else
{
/* Loop until all of the waiting threads have been restarted. */
while (sval < 0)
{
/* If the value is less than zero (meaning that one or more
* thread is waiting), then post the condition semaphore.
* Only the highest priority waiting thread will get to execute
*/
ret = pthread_givesemaphore((FAR sem_t *)&cond->sem);
/* Increment the semaphore count (as was done by the
* above post).
*/
sval++;
}
}
/* Now we can let the restarted threads run */
sched_unlock();
}
sinfo("Returning %d\n", ret);
return ret;
}
int pthread_mutex_init(FAR pthread_mutex_t *mutex, FAR const pthread_mutexattr_t *attr)
{
int pshared = 0;
#ifdef CONFIG_MUTEX_TYPES
uint8_t type = PTHREAD_MUTEX_DEFAULT;
#endif
int ret = OK;
int status;
sinfo("mutex=0x%p attr=0x%p\n", mutex, attr);
if (!mutex)
{
ret = EINVAL;
}
else
{
/* Were attributes specified? If so, use them */
if (attr)
{
pshared = attr->pshared;
#ifdef CONFIG_MUTEX_TYPES
type = attr->type;
#endif
}
/* Indicate that the semaphore is not held by any thread. */
mutex->pid = -1;
/* Initialize the mutex like a semaphore with initial count = 1 */
status = sem_init((FAR sem_t *)&mutex->sem, pshared, 1);
if (status != OK)
{
ret = EINVAL;
}
/* Set up attributes unique to the mutex type */
#ifdef CONFIG_MUTEX_TYPES
mutex->type = type;
mutex->nlocks = 0;
#endif
}
sinfo("Returning %d\n", ret);
return ret;
}
static void _up_dumponexit(FAR struct tcb_s *tcb, FAR void *arg)
{
#if CONFIG_NFILE_DESCRIPTORS > 0
FAR struct filelist *filelist;
#if CONFIG_NFILE_STREAMS > 0
FAR struct streamlist *streamlist;
#endif
int i;
#endif
sinfo(" TCB=%p name=%s pid=%d\n", tcb, tcb->argv[0], tcb->pid);
sinfo(" priority=%d state=%d\n", tcb->sched_priority, tcb->task_state);
#if CONFIG_NFILE_DESCRIPTORS > 0
filelist = tcb->group->tg_filelist;
for (i = 0; i < CONFIG_NFILE_DESCRIPTORS; i++)
{
struct inode *inode = filelist->fl_files[i].f_inode;
if (inode)
{
sinfo(" fd=%d refcount=%d\n",
i, inode->i_crefssinfo);
}
}
#endif
#if CONFIG_NFILE_STREAMS > 0
streamlist = tcb->group->tg_streamlist;
for (i = 0; i < CONFIG_NFILE_STREAMS; i++)
{
struct file_struct *filep = &streamlist->sl_streams[i];
if (filep->fs_fd >= 0)
{
#ifndef CONFIG_STDIO_DISABLE_BUFFERING
if (filep->fs_bufstart != NULL)
{
sinfo(" fd=%d nbytes=%d\n",
filep->fs_fd,
filep->fs_bufpos - filep->fs_bufstart);
}
else
#endif
{
sinfo(" fd=%d\n", filep->fs_fd);
}
}
}
#endif
}
static void wait_for_state(int fd, void* data) {
std::unique_ptr<state_info> sinfo(reinterpret_cast<state_info*>(data));
D("wait_for_state %d", sinfo->state);
while (true) {
bool is_ambiguous = false;
std::string error = "unknown error";
const char* serial = sinfo->serial.length() ? sinfo->serial.c_str() : NULL;
atransport* t = acquire_one_transport(sinfo->transport_type, serial, &is_ambiguous, &error);
if (t != nullptr && t->connection_state == sinfo->state) {
SendOkay(fd);
break;
} else if (!is_ambiguous) {
adb_sleep_ms(1000);
// Try again...
} else {
SendFail(fd, error);
break;
}
}
adb_close(fd);
D("wait_for_state is done");
}
void _exit(int status)
{
struct tcb_s *tcb;
/* Disable interrupts. They will be restored when the next
* task is started.
*/
(void)up_irq_save();
sinfo("TCB=%p exiting\n", this_task());
#ifdef CONFIG_DUMP_ON_EXIT
sinfo("Other tasks:\n");
sched_foreach(_up_dumponexit, NULL);
#endif
/* Destroy the task at the head of the ready to run list. */
(void)task_exit();
/* Now, perform the context switch to the new ready-to-run task at the
* head of the list.
*/
tcb = this_task();
#ifdef CONFIG_ARCH_ADDRENV
/* Make sure that the address environment for the previously running
* task is closed down gracefully (data caches dump, MMU flushed) and
* set up the address environment for the new thread at the head of
* the ready-to-run list.
*/
(void)group_addrenv(tcb);
#endif
/* Then switch contexts */
up_fullcontextrestore(tcb->xcp.regs);
/* up_fullcontextrestore() should not return but could if the software
* interrupts are disabled.
*/
PANIC();
}
static inline int spawn_close(FAR struct spawn_close_file_action_s *action)
{
/* The return value from close() is ignored */
sinfo("Closing fd=%d\n", action->fd);
(void)close(action->fd);
return OK;
}
/*--------------------------------------------------------------*
* ss_m::_create_index() *
*--------------------------------------------------------------*/
rc_t
ss_m::_create_index(
vid_t vid,
ndx_t ntype,
store_property_t property,
const char* key_desc,
concurrency_t cc, // = t_cc_kvl
stid_t& stid
)
{
FUNC(ss_m::_create_index);
DBG(<<" vid " << vid);
uint4_t count = max_keycomp;
key_type_s kcomp[max_keycomp];
lpid_t root;
W_DO( key_type_s::parse_key_type(key_desc, count, kcomp) );
{
DBG(<<"vid " << vid);
W_DO( io->create_store(vid, 100/*unused*/, _make_store_flag(property), stid) );
DBG(<<" stid " << stid);
}
// Note: theoretically, some other thread could destroy
// the above store before the following lock request
// is granted. The only forseable way for this to
// happen would be due to a bug in a vas causing
// it to destroy the wrong store. We make no attempt
// to prevent this.
W_DO(lm->lock(stid, EX, t_long, WAIT_SPECIFIED_BY_XCT));
if( (cc != t_cc_none) && (cc != t_cc_file) &&
(cc != t_cc_kvl) && (cc != t_cc_modkvl) &&
(cc != t_cc_im)
) return RC(eBADCCLEVEL);
switch (ntype) {
case t_btree:
case t_uni_btree:
// compress prefixes only if the first part is compressed
W_DO( bt->create(stid, root, kcomp[0].compressed != 0) );
break;
default:
return RC(eBADNDXTYPE);
}
sinfo_s sinfo(stid.store, t_index, 100/*unused*/,
ntype,
cc,
root.page,
count, kcomp);
W_DO( dir->insert(stid, sinfo) );
return RCOK;
}
int pthread_mutex_destroy(FAR pthread_mutex_t *mutex)
{
int ret = OK;
int status;
sinfo("mutex=0x%p\n", mutex);
if (!mutex)
{
ret = EINVAL;
}
else
{
/* Make sure the semaphore is stable while we make the following
* checks
*/
sched_lock();
/* Is the semaphore available? */
if (mutex->pid != -1)
{
ret = EBUSY;
}
else
{
/* Destroy the semaphore */
status = sem_destroy((FAR sem_t *)&mutex->sem);
if (status != OK)
{
ret = EINVAL;
}
}
sched_unlock();
}
sinfo("Returning %d\n", ret);
return ret;
}
void _exit(int status)
{
struct tcb_s *tcb;
/* Make sure that we are in a critical section with local interrupts.
* The IRQ state will be restored when the next task is started.
*/
(void)enter_critical_section();
sinfo("TCB=%p exiting\n", this_task());
#ifdef CONFIG_DUMP_ON_EXIT
sinfo("Other tasks:\n");
sched_foreach(_up_dumponexit, NULL);
#endif
/* Destroy the task at the head of the ready to run list. */
(void)task_exit();
/* Now, perform the context switch to the new ready-to-run task at the
* head of the list.
*/
tcb = this_task();
#ifdef CONFIG_ARCH_ADDRENV
/* Make sure that the address environment for the previously running
* task is closed down gracefully (data caches dump, MMU flushed) and
* set up the address environment for the new thread at the head of
* the ready-to-run list.
*/
(void)group_addrenv(tcb);
#endif
/* Then switch contexts */
up_fullcontextrestore(tcb->xcp.regs);
}
static inline int spawn_open(FAR struct spawn_open_file_action_s *action)
{
int fd;
int ret = OK;
/* Open the file */
sinfo("Open'ing path=%s oflags=%04x mode=%04x\n",
action->path, action->oflags, action->mode);
fd = open(action->path, action->oflags, action->mode);
if (fd < 0)
{
ret = get_errno();
serr("ERROR: open failed: %d\n", ret);
}
/* Does the return file descriptor happen to match the required file
* descriptor number?
*/
else if (fd != action->fd)
{
/* No.. dup2 to get the correct file number */
sinfo("Dup'ing %d->%d\n", fd, action->fd);
ret = dup2(fd, action->fd);
if (ret < 0)
{
ret = get_errno();
serr("ERROR: dup2 failed: %d\n", ret);
}
sinfo("Closing fd=%d\n", fd);
close(fd);
}
return ret;
}
int pthread_completejoin(pid_t pid, FAR void *exit_value)
{
FAR struct task_group_s *group = task_getgroup(pid);
FAR struct join_s *pjoin;
sinfo("pid=%d exit_value=%p group=%p\n", pid, exit_value, group);
DEBUGASSERT(group);
/* First, find thread's structure in the private data set. */
(void)pthread_takesemaphore(&group->tg_joinsem);
pjoin = pthread_findjoininfo(group, pid);
if (!pjoin)
{
serr("ERROR: Could not find join info, pid=%d\n", pid);
(void)pthread_givesemaphore(&group->tg_joinsem);
return ERROR;
}
else
{
bool waiters;
/* Save the return exit value in the thread structure. */
pjoin->terminated = true;
pjoin->exit_value = exit_value;
/* Notify waiters of the availability of the exit value */
waiters = pthread_notifywaiters(pjoin);
/* If there are no waiters and if the thread is marked as detached.
* then discard the join information now. Otherwise, the pthread
* join logic will call pthread_destroyjoin() when all of the threads
* have sampled the exit value.
*/
if (!waiters && pjoin->detached)
{
pthread_destroyjoin(group, pjoin);
}
/* Giving the following semaphore will allow the waiters
* to call pthread_destroyjoin.
*/
(void)pthread_givesemaphore(&group->tg_joinsem);
}
return OK;
}
asocket* host_service_to_socket(const char* name, const char* serial) {
if (!strcmp(name,"track-devices")) {
return create_device_tracker();
} else if (android::base::StartsWith(name, "wait-for-")) {
name += strlen("wait-for-");
std::unique_ptr<state_info> sinfo(new state_info);
if (sinfo == nullptr) {
fprintf(stderr, "couldn't allocate state_info: %s", strerror(errno));
return nullptr;
}
if (serial) sinfo->serial = serial;
if (android::base::StartsWith(name, "local")) {
name += strlen("local");
sinfo->transport_type = kTransportLocal;
} else if (android::base::StartsWith(name, "usb")) {
name += strlen("usb");
sinfo->transport_type = kTransportUsb;
} else if (android::base::StartsWith(name, "any")) {
name += strlen("any");
sinfo->transport_type = kTransportAny;
} else {
return nullptr;
}
if (!strcmp(name, "-device")) {
sinfo->state = kCsDevice;
} else if (!strcmp(name, "-recovery")) {
sinfo->state = kCsRecovery;
} else if (!strcmp(name, "-sideload")) {
sinfo->state = kCsSideload;
} else if (!strcmp(name, "-bootloader")) {
sinfo->state = kCsBootloader;
} else {
return nullptr;
}
int fd = create_service_thread(wait_for_state, sinfo.release());
return create_local_socket(fd);
} else if (!strncmp(name, "connect:", 8)) {
char* host = strdup(name + 8);
int fd = create_service_thread(connect_service, host);
return create_local_socket(fd);
}
return NULL;
}
int work_lpstart(void)
{
pid_t pid;
int wndx;
/* Initialize work queue data structures */
memset(&g_lpwork, 0, sizeof(struct kwork_wqueue_s));
g_lpwork.delay = CONFIG_SCHED_LPWORKPERIOD / USEC_PER_TICK;
dq_init(&g_lpwork.q);
/* Don't permit any of the threads to run until we have fully initialized
* g_lpwork.
*/
sched_lock();
/* Start the low-priority, kernel mode worker thread(s) */
sinfo("Starting low-priority kernel worker thread(s)\n");
for (wndx = 0; wndx < CONFIG_SCHED_LPNTHREADS; wndx++)
{
pid = kernel_thread(LPWORKNAME, CONFIG_SCHED_LPWORKPRIORITY,
CONFIG_SCHED_LPWORKSTACKSIZE,
(main_t)work_lpthread,
(FAR char * const *)NULL);
DEBUGASSERT(pid > 0);
if (pid < 0)
{
int errcode = errno;
DEBUGASSERT(errcode > 0);
serr("ERROR: kernel_thread %d failed: %d\n", wndx, errcode);
sched_unlock();
return -errcode;
}
g_lpwork.worker[wndx].pid = pid;
g_lpwork.worker[wndx].busy = true;
}
sched_unlock();
return g_lpwork.worker[0].pid;
}
void pthread_destroyjoin(FAR struct task_group_s *group,
FAR struct join_s *pjoin)
{
sinfo("pjoin=0x%p\n", pjoin);
/* Remove the join info from the set of joins */
pthread_removejoininfo(group, (pid_t)pjoin->thread);
/* Destroy its semaphores */
(void)sem_destroy(&pjoin->data_sem);
(void)sem_destroy(&pjoin->exit_sem);
/* And deallocate the pjoin structure */
sched_kfree(pjoin);
}
static inline int spawn_dup2(FAR struct spawn_dup2_file_action_s *action)
{
int ret;
/* Perform the dup */
sinfo("Dup'ing %d->%d\n", action->fd1, action->fd2);
ret = dup2(action->fd1, action->fd2);
if (ret < 0)
{
int errcode = get_errno();
serr("ERROR: dup2 failed: %d\n", errcode);
return -errcode;
}
return OK;
}
static bool pthread_notifywaiters(FAR struct join_s *pjoin)
{
int ntasks_waiting;
int status;
sinfo("pjoin=0x%p\n", pjoin);
/* Are any tasks waiting for our exit value? */
status = sem_getvalue(&pjoin->exit_sem, &ntasks_waiting);
if (status == OK && ntasks_waiting < 0)
{
/* Set the data semaphore so that this thread will be
* awakened when all waiting tasks receive the data
*/
(void)sem_init(&pjoin->data_sem, 0, (ntasks_waiting+1));
/* Post the semaphore to restart each thread that is waiting
* on the semaphore
*/
do
{
status = pthread_givesemaphore(&pjoin->exit_sem);
if (status == OK)
{
status = sem_getvalue(&pjoin->exit_sem, &ntasks_waiting);
}
}
while (ntasks_waiting < 0 && status == OK);
/* Now wait for all these restarted tasks to obtain the return
* value.
*/
(void)pthread_takesemaphore(&pjoin->data_sem);
return true;
}
return false;
}
void Tracer::info(const char* method, const char* message, ...) const
{
// immediately return if the current set tracelevel is higher
if (m_tracelevel > LEVEL_INFO) {
return;
}
///@todo with qt4 the follwing code can be used:
/*
va_list ap;
va_start(ap, message);
QString str;
str.vsprintf(message, ap);
va_end(ap);
sinfo(method) << str << endl;
*/
va_list ap;
int maxLength = 1024;
int result = maxLength;
char* str;
while (result >= maxLength) {
va_start(ap, message);
str = (char*)malloc(maxLength);
result = vsnprintf(str, maxLength-1, message, ap);
va_end(ap);
if (result >= maxLength) {
delete str;
maxLength = 2 * maxLength;
result = maxLength;
}
}
sinfo(method) << str << endl;
delete str;
}
int mod_findsection(FAR struct mod_loadinfo_s *loadinfo,
FAR const char *sectname)
{
FAR const Elf32_Shdr *shdr;
int ret;
int i;
/* Search through the shdr[] array in loadinfo for a section named 'sectname' */
for (i = 0; i < loadinfo->ehdr.e_shnum; i++)
{
/* Get the name of this section */
shdr = &loadinfo->shdr[i];
ret = mod_sectname(loadinfo, shdr);
if (ret < 0)
{
serr("ERROR: mod_sectname failed: %d\n", ret);
return ret;
}
/* Check if the name of this section is 'sectname' */
sinfo("%d. Comparing \"%s\" and .\"%s\"\n",
i, loadinfo->iobuffer, sectname);
if (strcmp((FAR const char *)loadinfo->iobuffer, sectname) == 0)
{
/* We found it... return the index */
return i;
}
}
/* We failed to find a section with this name. */
return -ENOENT;
}
/*--------------------------------------------------------------*
* ss_m::_create_md_index() *
*--------------------------------------------------------------*/
rc_t
ss_m::_create_md_index(
vid_t vid,
ndx_t ntype,
store_property_t property,
stid_t& stid,
int2_t dim
)
{
W_DO( io->create_store(vid, 100/*unused*/,
_make_store_flag(property), stid) );
lpid_t root;
// Note: theoretically, some other thread could destroy
// the above store before the following lock request
// is granted. The only forseable way for this to
// happen would be due to a bug in a vas causing
// it to destroy the wrong store. We make no attempt
// to prevent this.
W_DO(lm->lock(stid, EX, t_long, WAIT_SPECIFIED_BY_XCT));
switch (ntype) {
case t_rtree:
W_DO( rt->create(stid, root, dim) );
break;
default:
return RC(eBADNDXTYPE);
}
sinfo_s sinfo(stid.store, t_index, 100/*unused*/,
ntype, t_cc_none, // cc not used for md indexes
root.page,
0, 0);
W_DO( dir->insert(stid, sinfo) );
return RCOK;
}
int pthread_getaffinity_np(pthread_t thread, size_t cpusetsize,
FAR cpu_set_t *cpuset)
{
int ret;
sinfo("thread ID=%d cpusetsize=%d cpuset=%p\n",
(int)thread, (int)cpusetsize, cpusetsize);
DEBUGASSERT(thread > 0 && cpusetsize == sizeof(cpu_set_t) &&
cpuset != NULL);
/* Let sched_getaffinity do all of the work */
ret = sched_getaffinity((pid_t)thread, cpusetsize, cpuset);
if (ret < 0)
{
/* If sched_getaffinity() fails, return the errno */
ret = get_errno();
DEBUGASSERT(ret > 0);
}
return ret;
}
void up_reprioritize_rtr(struct tcb_s *tcb, uint8_t priority)
{
/* Verify that the caller is sane */
if (tcb->task_state < FIRST_READY_TO_RUN_STATE ||
tcb->task_state > LAST_READY_TO_RUN_STATE
#if SCHED_PRIORITY_MIN > 0
|| priority < SCHED_PRIORITY_MIN
#endif
#if SCHED_PRIORITY_MAX < UINT8_MAX
|| priority > SCHED_PRIORITY_MAX
#endif
)
{
PANIC();
}
else
{
FAR struct tcb_s *rtcb = this_task();
bool switch_needed;
sinfo("TCB=%p PRI=%d\n", tcb, priority);
/* Remove the tcb task from the ready-to-run list.
* sched_removereadytorun will return true if we just
* remove the head of the ready to run list.
*/
switch_needed = sched_removereadytorun(tcb);
/* Setup up the new task priority */
tcb->sched_priority = (uint8_t)priority;
/* Return the task to the specified blocked task list.
* sched_addreadytorun will return true if the task was
* added to the new list. We will need to perform a context
* switch only if the EXCLUSIVE or of the two calls is non-zero
* (i.e., one and only one the calls changes the head of the
* ready-to-run list).
*/
switch_needed ^= sched_addreadytorun(tcb);
/* Now, perform the context switch if one is needed */
if (switch_needed)
{
/* If we are going to do a context switch, then now is the right
* time to add any pending tasks back into the ready-to-run list.
* task list now
*/
if (g_pendingtasks.head)
{
sched_mergepending();
}
/* Update scheduler parameters */
sched_suspend_scheduler(rtcb);
/* Copy the exception context into the TCB at the (old) head of the
* ready-to-run Task list. if up_setjmp returns a non-zero
* value, then this is really the previously running task restarting!
*/
if (!up_setjmp(rtcb->xcp.regs))
{
/* Restore the exception context of the rtcb at the (new) head
* of the ready-to-run task list.
*/
rtcb = this_task();
sinfo("New Active Task TCB=%p\n", rtcb);
/* The way that we handle signals in the simulation is kind of
* a kludge. This would be unsafe in a truly multi-threaded, interrupt
* driven environment.
*/
if (rtcb->xcp.sigdeliver)
{
sinfo("Delivering signals TCB=%p\n", rtcb);
((sig_deliver_t)rtcb->xcp.sigdeliver)(rtcb);
rtcb->xcp.sigdeliver = NULL;
}
/* Update scheduler parameters */
sched_resume_scheduler(rtcb);
/* Then switch contexts */
up_longjmp(rtcb->xcp.regs, 1);
}
}
}
}
void up_sigdeliver(void)
{
struct tcb_s *rtcb = this_task();
uint32_t regs[XCPTCONTEXT_REGS];
sig_deliver_t sigdeliver;
/* Save the errno. This must be preserved throughout the signal handling
* so that the user code final gets the correct errno value (probably
* EINTR).
*/
int saved_errno = rtcb->pterrno;
board_autoled_on(LED_SIGNAL);
sinfo("rtcb=%p sigdeliver=%p sigpendactionq.head=%p\n",
rtcb, rtcb->xcp.sigdeliver, rtcb->sigpendactionq.head);
ASSERT(rtcb->xcp.sigdeliver != NULL);
/* Save the real return state on the stack. */
up_copystate(regs, rtcb->xcp.regs);
regs[REG_EPC] = rtcb->xcp.saved_epc;
regs[REG_STATUS] = rtcb->xcp.saved_status;
/* Get a local copy of the sigdeliver function pointer. We do this so that
* we can nullify the sigdeliver function pointer in the TCB and accept
* more signal deliveries while processing the current pending signals.
*/
sigdeliver = rtcb->xcp.sigdeliver;
rtcb->xcp.sigdeliver = NULL;
/* Then restore the task interrupt state */
up_irq_restore((irqstate_t)regs[REG_STATUS]);
/* Deliver the signals */
sigdeliver(rtcb);
/* Output any debug messages BEFORE restoring errno (because they may
* alter errno), then disable interrupts again and restore the original
* errno that is needed by the user logic (it is probably EINTR).
*/
sinfo("Resuming EPC: %08x STATUS: %08x\n", regs[REG_EPC], regs[REG_STATUS]);
(void)up_irq_save();
rtcb->pterrno = saved_errno;
/* Then restore the correct state for this thread of
* execution.
*/
board_autoled_off(LED_SIGNAL);
up_fullcontextrestore(regs);
/* up_fullcontextrestore() should not return but could if the software
* interrupts are disabled.
*/
PANIC();
}
void up_sigdeliver(void)
{
struct tcb_s *rtcb = this_task();
#if 0
uint32_t regs[XCPTCONTEXT_REGS+3]; /* Why +3? See below */
#else
uint32_t regs[XCPTCONTEXT_REGS];
#endif
sig_deliver_t sigdeliver;
/* Save the errno. This must be preserved throughout the signal handling
* so that the user code final gets the correct errno value (probably EINTR).
*/
int saved_errno = rtcb->pterrno;
board_autoled_on(LED_SIGNAL);
sinfo("rtcb=%p sigdeliver=%p sigpendactionq.head=%p\n",
rtcb, rtcb->xcp.sigdeliver, rtcb->sigpendactionq.head);
DEBUGASSERT(rtcb->xcp.sigdeliver != NULL);
/* Save the real return state on the stack. */
up_copystate(regs, rtcb->xcp.regs);
regs[REG_PC] = rtcb->xcp.saved_pc;
regs[REG_SR] = rtcb->xcp.saved_sr;
/* Get a local copy of the sigdeliver function pointer. We do this so that
* we can nullify the sigdeliver function pointer in the TCB and accept
* more signal deliveries while processing the current pending signals.
*/
sigdeliver = rtcb->xcp.sigdeliver;
rtcb->xcp.sigdeliver = NULL;
#ifndef CONFIG_SUPPRESS_INTERRUPTS
/* Then make sure that interrupts are enabled. Signal handlers must always
* run with interrupts enabled.
*/
up_irq_enable();
#endif
/* Deliver the signals */
sigdeliver(rtcb);
/* Output any debug messages BEFORE restoring errno (because they may
* alter errno), then disable interrupts again and restore the original
* errno that is needed by the user logic (it is probably EINTR).
*/
sinfo("Resuming\n");
(void)up_irq_save();
rtcb->pterrno = saved_errno;
/* Then restore the correct state for this thread of execution. This is an
* unusual case that must be handled by up_fullcontextresore. This case is
* unusal in two ways:
*
* 1. It is not a context switch between threads. Rather, up_fullcontextrestore
* must behave more it more like a longjmp within the same task, using
* he same stack.
* 2. In this case, up_fullcontextrestore is called with r12 pointing to
* a register save area on the stack to be destroyed. This is
* dangerous because there is the very real possibility that the new
* stack pointer might overlap with the register save area and hat stack
* usage in up_fullcontextrestore might corrupt the register save data
* before the state is restored. At present, there does not appear to
* be any stack overlap problems. If there were, then adding 3 words
* to the size of register save structure size will protect its contents.
*/
board_autoled_off(LED_SIGNAL);
up_fullcontextrestore(regs);
}
pid_t task_vforkstart(FAR struct task_tcb_s *child)
{
struct tcb_s *parent = this_task();
pid_t pid;
int rc;
int ret;
sinfo("Starting Child TCB=%p, parent=%p\n", child, this_task());
DEBUGASSERT(child);
/* Duplicate the original argument list in the forked child TCB */
ret = vfork_argsetup(parent, child);
if (ret < 0)
{
task_vforkabort(child, -ret);
return ERROR;
}
/* Now we have enough in place that we can join the group */
#ifdef HAVE_TASK_GROUP
ret = group_initialize(child);
if (ret < 0)
{
task_vforkabort(child, -ret);
return ERROR;
}
#endif
/* Get the assigned pid before we start the task */
pid = (int)child->cmn.pid;
/* Eliminate a race condition by disabling pre-emption. The child task
* can be instantiated, but cannot run until we call waitpid(). This
* assures us that we cannot miss the the death-of-child signal (only
* needed in the SMP case).
*/
sched_lock();
/* Activate the task */
ret = task_activate((FAR struct tcb_s *)child);
if (ret < OK)
{
task_vforkabort(child, -ret);
sched_unlock();
return ERROR;
}
/* The child task has not yet ran because pre-emption is disabled.
* The child task has the same priority as the parent task, so that
* would typically be the case anyway. However, in the SMP
* configuration, the child thread might have already ran on
* another CPU if pre-emption were not disabled.
*
* It is a requirement that the parent environment be stable while
* vfork runs; the child thread is still dependent on things in the
* parent thread... like the pointers into parent thread's stack
* which will still appear in the child's registers and environment.
*
* We assure that by waiting for the child thread to exit before
* returning to the parent thread. NOTE that pre-emption will be
* re-enabled while we are waiting, giving the child thread the
* opportunity to run.
*/
rc = 0;
#ifdef CONFIG_DEBUG_FEATURES
ret = waitpid(pid, &rc, 0);
if (ret < 0)
{
serr("ERROR: waitpid failed: %d\n", errno);
}
#else
(void)waitpid(pid, &rc, 0);
#endif
sched_unlock();
return pid;
}
static void mod_dumploadinfo(FAR struct mod_loadinfo_s *loadinfo)
{
int i;
sinfo("LOAD_INFO:\n");
sinfo(" textalloc: %08lx\n", (long)loadinfo->textalloc);
sinfo(" datastart: %08lx\n", (long)loadinfo->datastart);
sinfo(" textsize: %ld\n", (long)loadinfo->textsize);
sinfo(" datasize: %ld\n", (long)loadinfo->datasize);
sinfo(" filelen: %ld\n", (long)loadinfo->filelen);
sinfo(" filfd: %d\n", loadinfo->filfd);
sinfo(" symtabidx: %d\n", loadinfo->symtabidx);
sinfo(" strtabidx: %d\n", loadinfo->strtabidx);
sinfo("ELF Header:\n");
sinfo(" e_ident: %02x %02x %02x %02x\n",
loadinfo->ehdr.e_ident[0], loadinfo->ehdr.e_ident[1],
loadinfo->ehdr.e_ident[2], loadinfo->ehdr.e_ident[3]);
sinfo(" e_type: %04x\n", loadinfo->ehdr.e_type);
sinfo(" e_machine: %04x\n", loadinfo->ehdr.e_machine);
sinfo(" e_version: %08x\n", loadinfo->ehdr.e_version);
sinfo(" e_entry: %08lx\n", (long)loadinfo->ehdr.e_entry);
sinfo(" e_phoff: %d\n", loadinfo->ehdr.e_phoff);
sinfo(" e_shoff: %d\n", loadinfo->ehdr.e_shoff);
sinfo(" e_flags: %08x\n" , loadinfo->ehdr.e_flags);
sinfo(" e_ehsize: %d\n", loadinfo->ehdr.e_ehsize);
sinfo(" e_phentsize: %d\n", loadinfo->ehdr.e_phentsize);
sinfo(" e_phnum: %d\n", loadinfo->ehdr.e_phnum);
sinfo(" e_shentsize: %d\n", loadinfo->ehdr.e_shentsize);
sinfo(" e_shnum: %d\n", loadinfo->ehdr.e_shnum);
sinfo(" e_shstrndx: %d\n", loadinfo->ehdr.e_shstrndx);
if (loadinfo->shdr && loadinfo->ehdr.e_shnum > 0)
{
for (i = 0; i < loadinfo->ehdr.e_shnum; i++)
{
FAR Elf32_Shdr *shdr = &loadinfo->shdr[i];
sinfo("Sections %d:\n", i);
sinfo(" sh_name: %08x\n", shdr->sh_name);
sinfo(" sh_type: %08x\n", shdr->sh_type);
sinfo(" sh_flags: %08x\n", shdr->sh_flags);
sinfo(" sh_addr: %08x\n", shdr->sh_addr);
sinfo(" sh_offset: %d\n", shdr->sh_offset);
sinfo(" sh_size: %d\n", shdr->sh_size);
sinfo(" sh_link: %d\n", shdr->sh_link);
sinfo(" sh_info: %d\n", shdr->sh_info);
sinfo(" sh_addralign: %d\n", shdr->sh_addralign);
sinfo(" sh_entsize: %d\n", shdr->sh_entsize);
}
}
}
int insmod(FAR const char *filename, FAR const char *modulename)
{
struct mod_loadinfo_s loadinfo;
FAR struct module_s *modp;
mod_initializer_t initializer;
int ret;
DEBUGASSERT(filename != NULL && modulename != NULL);
sinfo("Loading file: %s\n", filename);
/* Get exclusive access to the module registry */
mod_registry_lock();
/* Check if this module is already installed */
if (mod_registry_find(modulename) != NULL)
{
mod_registry_unlock();
ret = -EEXIST;
goto errout_with_lock;
}
/* Initialize the ELF library to load the program binary. */
ret = mod_initialize(filename, &loadinfo);
mod_dumploadinfo(&loadinfo);
if (ret != 0)
{
serr("ERROR: Failed to initialize to load module: %d\n", ret);
goto errout_with_lock;
}
/* Allocate a module registry entry to hold the module data */
modp = (FAR struct module_s *)kmm_zalloc(sizeof(struct module_s));
if (ret != 0)
{
sinfo("Failed to initialize for load of ELF program: %d\n", ret);
goto errout_with_loadinfo;
}
/* Save the module name in the registry entry */
strncpy(modp->modulename, modulename, MODULENAME_MAX);
/* Load the program binary */
ret = mod_load(&loadinfo);
mod_dumploadinfo(&loadinfo);
if (ret != 0)
{
sinfo("Failed to load ELF program binary: %d\n", ret);
goto errout_with_registry_entry;
}
/* Bind the program to the kernel symbol table */
ret = mod_bind(&loadinfo);
if (ret != 0)
{
sinfo("Failed to bind symbols program binary: %d\n", ret);
goto errout_with_load;
}
/* Return the load information */
modp->alloc = (FAR void *)loadinfo.textalloc;
#if defined(CONFIG_FS_PROCFS) && !defined(CONFIG_FS_PROCFS_EXCLUDE_MODULE)
modp->textsize = loadinfo.textsize;
modp->datasize = loadinfo.datasize;
#endif
/* Get the module initializer entry point */
initializer = (mod_initializer_t)(loadinfo.textalloc + loadinfo.ehdr.e_entry);
#if defined(CONFIG_FS_PROCFS) && !defined(CONFIG_FS_PROCFS_EXCLUDE_MODULE)
modp->initializer = initializer;
#endif
mod_dumpinitializer(initializer, &loadinfo);
/* Call the module initializer */
ret = initializer(&modp->uninitializer, &modp->arg);
if (ret < 0)
{
sinfo("Failed to initialize the module: %d\n", ret);
goto errout_with_load;
}
/* Add the new module entry to the registry */
mod_registry_add(modp);
mod_uninitialize(&loadinfo);
mod_registry_unlock();
return OK;
errout_with_load:
mod_unload(&loadinfo);
errout_with_registry_entry:
kmm_free(modp);
errout_with_loadinfo:
mod_uninitialize(&loadinfo);
errout_with_lock:
mod_registry_unlock();
set_errno(-ret);
return ERROR;
}
void up_reprioritize_rtr(struct tcb_s *tcb, uint8_t priority)
{
/* Verify that the caller is sane */
if (tcb->task_state < FIRST_READY_TO_RUN_STATE ||
tcb->task_state > LAST_READY_TO_RUN_STATE
#if SCHED_PRIORITY_MIN > 0
|| priority < SCHED_PRIORITY_MIN
#endif
#if SCHED_PRIORITY_MAX < UINT8_MAX
|| priority > SCHED_PRIORITY_MAX
#endif
)
{
DEBUGPANIC();
}
else
{
struct tcb_s *rtcb = this_task();
bool switch_needed;
sinfo("TCB=%p PRI=%d\n", tcb, priority);
/* Remove the tcb task from the ready-to-run list.
* sched_removereadytorun will return true if we just
* remove the head of the ready to run list.
*/
switch_needed = sched_removereadytorun(tcb);
/* Setup up the new task priority */
tcb->sched_priority = (uint8_t)priority;
/* Return the task to the specified blocked task list.
* sched_addreadytorun will return true if the task was
* added to the new list. We will need to perform a context
* switch only if the EXCLUSIVE or of the two calls is non-zero
* (i.e., one and only one the calls changes the head of the
* ready-to-run list).
*/
switch_needed ^= sched_addreadytorun(tcb);
/* Now, perform the context switch if one is needed */
if (switch_needed)
{
/* If we are going to do a context switch, then now is the right
* time to add any pending tasks back into the ready-to-run list.
* task list now
*/
if (g_pendingtasks.head)
{
sched_mergepending();
}
/* Update scheduler parameters */
sched_suspend_scheduler(rtcb);
/* Are we in an interrupt handler? */
if (g_current_regs)
{
/* Yes, then we have to do things differently.
* Just copy the g_current_regs into the OLD rtcb.
*/
up_savestate(rtcb->xcp.regs);
/* Restore the exception context of the rtcb at the (new) head
* of the ready-to-run task list.
*/
rtcb = this_task();
/* Update scheduler parameters */
sched_resume_scheduler(rtcb);
/* Then switch contexts. Any necessary address environment
* changes will be made when the interrupt returns.
*/
up_restorestate(rtcb->xcp.regs);
}
/* No, then we will need to perform the user context switch */
else
{
/* Switch context to the context of the task at the head of the
* ready to run list.
*/
struct tcb_s *nexttcb = this_task();
#ifdef CONFIG_ARCH_ADDRENV
/* Make sure that the address environment for the previously
* running task is closed down gracefully (data caches dump,
* MMU flushed) and set up the address environment for the new
* thread at the head of the ready-to-run list.
*/
(void)group_addrenv(nexttcb);
#endif
/* Update scheduler parameters */
sched_resume_scheduler(nexttcb);
/* Then switch contexts */
up_switchcontext(rtcb->xcp.regs, nexttcb->xcp.regs);
/* up_switchcontext forces a context switch to the task at the
* head of the ready-to-run list. It does not 'return' in the
* normal sense. When it does return, it is because the blocked
* task is again ready to run and has execution priority.
*/
}
}
}
}