os_result
os_procUnregisterThread()
{
os_result rv = os_resultSuccess;
os_threadSetValidity(os_threadIdSelf(), thread_ValExit);
return (rv);
}
c_syncResult
c_condTimedWait (
c_cond *cnd,
c_mutex *mtx,
const c_time time)
{
os_result result;
os_time t;
t.tv_sec = time.seconds;
t.tv_nsec = time.nanoseconds;
#ifdef NDEBUG
result = os_condTimedWait(cnd,mtx,&t);
#else
mtx->owner = OS_THREAD_ID_NONE;
result = os_condTimedWait(cnd,&mtx->mtx,&t);
mtx->owner = os_threadIdSelf();
#endif
#if 1
/* TODO: Remove temporary workaround to prevent spinning
* applications and come up with an actual fix.
*/
wait_on_error(result);
#endif
if((result != os_resultSuccess) && (result != os_resultTimeout)){
OS_REPORT_1(OS_ERROR, "c_condWait", 0, "os_condWait failed; os_result = %d.", result);
assert((result == os_resultSuccess) || (result == os_resultTimeout));
}
return result;
}
/* This method will lock the user-layer and return the reference to the user-layer object if successful.
* If this method returns NULL then the user-layer is either not initialized or
* the process is detaching (process termination).
*/
static u_user
u__userLock(void)
{
u_user u;
os_result r = os_resultFail;
u = u_user(user);
if (u) {
r = os_mutexLock(&u->mutex);
if (r != os_resultSuccess) {
/* The mutex is not valid so apparently the user-layer is either
* destroyed or in process of destruction. */
u = NULL;
} else if ((os_threadIdToInteger(u->detachThreadId) != 0) &&
(os_threadIdToInteger(u->detachThreadId) !=
os_threadIdToInteger(os_threadIdSelf())))
{
/* Another thread is busy destroying the user-layer or the user-
* layer is already destroyed. No access is allowed (anymore).
* The user-layer object will be unlocked and will return null.
*/
os_mutexUnlock(&u->mutex);
u = NULL;
}
} else {
/* The user-layer is not created or destroyed i.e. non existent, therefore return null. */
OS_REPORT(OS_ERROR, "User Layer", 0, "User layer not initialized");
}
return u;
}
c_syncResult
c_mutexLock (
c_mutex *mtx)
{
os_result result;
#ifdef NDEBUG
result = os_mutexLock(mtx);
#else
result = os_mutexLock(&mtx->mtx);
if ( result == os_resultSuccess )
{
mtx->owner = os_threadIdSelf();
}
#endif
#if 1
/* TODO: Remove temporary workaround to prevent spinning
* applications and come up with an actual fix.
*/
wait_on_error(result);
#endif
if(result != os_resultSuccess) {
OS_REPORT_1(OS_ERROR, "c_mutexLock", 0, "os_mutexLock failed; os_result = %d.", result);
assert(result == os_resultSuccess);
}
return result;
}
/** \brief Terminate the process and return the status
* the the parent process
*
* \b os_procExit terminates the process by calling \b exit.
*/
void
os_procExit(
os_exitStatus status)
{
os_procContextData currentProcContext = (os_procContextData)readTLSVarSelf(procContextData);
os_procLocalExit(status);
os_threadDeleteTaskVar(taskIdSelf(), os_threadIdSelf());
os_procDeleteTaskVar(taskIdSelf(), "task", currentProcContext);
exit(status);
}
static void
u__userDetach(
void)
{
u_user u;
u_domain domain;
u_result r;
c_long i;
u = u__userLock();
if (u) {
/* Disable access to user-layer for all other threads except for this thread.
* Any following user access from other threads is gracefully
* aborted.
*/
u->detachThreadId = os_threadIdSelf();
/* Unlock the user-layer
* Part of following code requires to unlock the user object
* This is allowed now all other threads will abort when
* trying to claim the lock
*/
u__userUnlock();
for (i = 1; (i <= u->domainCount); i++) {
domain = u->domainList[i].domain;
if (domain) {
r = u_domainDetachParticipants(domain);
if (r != U_RESULT_OK) {
OS_REPORT_2(OS_ERROR,
"user::u_user::u_userDetach", 0,
"Operation u_domainDetachParticipants(0x%x) failed."
OS_REPORT_NL "result = %s",
domain, u_resultImage(r));
} else {
r = u_domainFree(domain);
if (r != U_RESULT_OK) {
OS_REPORT_2(OS_ERROR,
"user::u_user::u_userDetach", 0,
"Operation u_domainFree(0x%x) failed."
OS_REPORT_NL "result = %s",
domain, u_resultImage(r));
}
}
}
}
/* user = NULL;
* ES: This was set to NULL here by RP, but this causes errors later on
* when u_userExit is performed. So commented this out here. As I can
* not explain why we would need to set it to NULL here.
*/
}
}
os_result
os_procRegisterThread(
os_procContextData process_procContextData)
{
os_result rv;
if (os_iterInsert(process_procContextData->procThreadList, (void *)os_threadIdSelf()) != NULL) {
rv = os_resultSuccess;
} else {
rv = os_resultFail;
}
return (rv);
}
/* This method will unlock the user-layer.
*/
static void
u__userUnlock(void)
{
u_user u;
u = u_user(user);
if (u) {
if ((os_threadIdToInteger(u->detachThreadId) == 0) ||
(os_threadIdToInteger(u->detachThreadId) ==
os_threadIdToInteger(os_threadIdSelf()))) {
os_mutexUnlock(&u->mutex);
}
}
}
c_syncResult
c_lockTryWrite (
c_lock *lck)
{
os_result result;
#ifdef NDEBUG
result = os_rwlockTryWrite(lck);
#else
result = os_rwlockTryWrite(&lck->lck);
lck->owner = os_threadIdSelf();
#endif
if ((result != os_resultSuccess) && (result != os_resultBusy)) {
OS_REPORT_1(OS_ERROR, "c_lockTryWrite", 0, "os_rwlockTryWrite failed; os_result = %d.", result);
assert((result == os_resultSuccess) || (result == os_resultBusy));
}
return result;
}
c_syncResult
c_mutexUnlock (
c_mutex *mtx)
{
os_result result;
#ifdef NDEBUG
result = os_mutexUnlock(mtx);
#else
assert( os_threadIdToInteger(mtx->owner) ==
os_threadIdToInteger(os_threadIdSelf()) );
mtx->owner = OS_THREAD_ID_NONE;
result = os_mutexUnlock(&mtx->mtx);
#endif
if(result != os_resultSuccess){
OS_REPORT_1(OS_ERROR, "c_mutexUnlock", 0, "os_mutexUnlock failed; os_result = %d.", result);
assert(result == os_resultSuccess);
}
return result;
}
c_syncResult
c_mutexTryLock (
c_mutex *mtx)
{
os_result result;
#ifdef NDEBUG
result = os_mutexTryLock(mtx);
#else
result = os_mutexTryLock(&mtx->mtx);
if ( result == os_resultSuccess )
{
mtx->owner = os_threadIdSelf();
}
#endif
if ((result != os_resultSuccess) && (result != os_resultBusy)) {
OS_REPORT_1(OS_ERROR, "c_mutexTryLock", 0, "os_mutexTryLock failed; os_result = %d.", result);
assert((result == os_resultSuccess) || (result == os_resultBusy));
}
return result;
}
/**
* Returns if the current thread is the signalHandlerThread.
*
* @remarks Do not perform any signal-handling context unsafe operations in this
* function.
*
* @return OS_TRUE if the current thread is the signalHandlerThread, or
* OS_FALSE if it's not.
*/
static os_boolean
inSignalHandlerThread (void)
{
os_int match;
os_signalHandler _this = signalHandlerObj;
#ifndef NDEBUG
/* Assert preconditions (regular assert may trigger this action, so it
* is not used here). */
if (_this == NULL) {
const char panicmsg[] = "Assertion failed: _this != NULL in " __FILE__ ":inSignalHandlerThread\n";
panic(panicmsg, sizeof(panicmsg) - 1);
/* This line will not be reached anymore */
}
#endif
match = os_threadIdToInteger (_this->threadId) ==
os_threadIdToInteger (os_threadIdSelf ());
return match ? OS_TRUE : OS_FALSE;
}
static os_result
os_procWrapper(
os_procContextData process_procContextData,
char *executable_file,
os_int32 *startRoutine,
const char *arguments,
TASK_ID parent,
os_sem_t *blockParent)
{
int taskid;
os_int32 status = os_resultSuccess;
os_int32 routine_status = -1;
os_int32 (*this_startRoutine)(const char *);
#if ( _WRS_VXWORKS_MAJOR > 6 ) || ( _WRS_VXWORKS_MAJOR == 6 && _WRS_VXWORKS_MINOR > 8 )
envPrivateCreate(taskIdSelf(), parent);
os_sem_post(blockParent);
#endif
taskid = taskIdSelf();
os_procSetTaskId(process_procContextData, taskid);
/* create & set context variable for the task */
status = os_procAddTaskVar(taskid, executable_file, process_procContextData, 0);
if (status == os_resultSuccess) {
status = os_threadNew(process_procContextData->procName);
}
if (status == os_resultSuccess) {
this_startRoutine = (os_int32 *)startRoutine;
routine_status = this_startRoutine(arguments);
os_procLocalExit(OS_EXIT_SUCCESS);
os_threadDeleteTaskVar(taskid, os_threadIdSelf());
os_procDeleteTaskVar(taskid, executable_file, process_procContextData);
os_procSetExitValue(process_procContextData, routine_status);
}
#if ( _WRS_VXWORKS_MAJOR > 6 ) || ( _WRS_VXWORKS_MAJOR > 6 && _WRS_VXWORKS_MINOR > 8 )
envPrivateDestroy(taskIdSelf());
#endif
return (status);
}
static void
os__signalHandlerThreadStop(
os_signalHandler _this)
{
struct sig_context info;
void *thread_result;
assert(_this);
memset (&info, 0, sizeof(info));
info.info.si_signo = SIGNAL_THREAD_STOP;
if (write(_this->pipeIn[1], &info, sizeof(info)) < 0) {
/* ignore result */
}
/* When the signalHandlerThread itself is the exiting thread (this can happen
* when an exit call is done in a signalHandler installed by a customer for
* example), we should not invoke os_threadWaitExit but just let this call
* return immediately. */
if (os_threadIdSelf() != _this->threadId ) {
(void) os_threadWaitExit(_this->threadId, &thread_result);
}
}
void
os_signalHandlerFree(
void)
{
#if !defined INTEGRITY && !defined VXWORKS_RTP
void *thread_result;
int i, r;
os_signalHandler _this = signalHandlerObj;
struct sig_context info;
if (isSignallingSafe(0) && _this) {
for (i=0; i<lengthof(exceptions); i++) {
const int sig = exceptions[i];
r = os_sigactionSet(sig, &old_signalHandler[sig], NULL);
if (r<0) {
OS_REPORT_3(OS_ERROR,
"os_signalHandlerFree", 0,
"os_sigactionSet(%d, 0x%x, NULL) failed, result = %d",
sig, &old_signalHandler[sig], r);
assert(OS_FALSE);
}
}
memset (&info, 0, sizeof(info));
info.info.si_signo = SIGNAL_THREAD_STOP;
r = write(_this->pipeIn[1], &info, sizeof(info));
/* when signalhandler is the exiting thread itself, this can happen when an exit call is done in the signalhandler of the customer
* do not call os_threadWaitExit but just let this thread run out of its main function */
if (os_threadIdSelf() != _this->threadId ) {
os_threadWaitExit(_this->threadId, &thread_result);
}
close(_this->pipeIn[0]);
close(_this->pipeIn[1]);
close(_this->pipeOut[0]);
close(_this->pipeOut[1]);
os_free(_this);
signalHandlerObj = NULL;
}
#endif
}
c_syncResult
c_lockWrite (
c_lock *lck)
{
os_result result;
#ifdef NDEBUG
result = os_rwlockWrite(lck);
#else
result = os_rwlockWrite(&lck->lck);
lck->owner = os_threadIdSelf();
#endif
#if 1
/* TODO: Remove temporary workaround to prevent spinning
* applications and come up with an actual fix.
*/
wait_on_error(result);
#endif
if(result != os_resultSuccess){
OS_REPORT_1(OS_ERROR, "c_lockWrite", 0, "os_rwlockWrite failed; os_result = %d.", result);
assert(result == os_resultSuccess);
}
return result;
}
/**
* This is the signal-handler routine that is performed in case of a signal. It
* distinguishes:
* - synchronous:
* - exceptions
* - asynchronous:
* - exceptions
* - quits (termination requests).
*
* @remarks Do not perform any signal-handling context unsafe operations in this
* function.
*/
static void
signalHandler(
int sig,
siginfo_t *info,
void* uap)
{
struct sig_context sync;
struct sig_context sigInfo;
os_signalHandlerCallbackInfo *cbInfo = os__signalHandlerGetCallbackInfo();
/* info can be NULL on Solaris */
if (info == NULL) {
/* Pretend that it was an SI_USER signal. */
memset(&sigInfo.info, 0, sizeof(siginfo_t));
sigInfo.info.si_signo = sig;
sigInfo.info.si_code = SI_USER;
sigInfo.info.si_pid = getpid();
sigInfo.info.si_uid = getuid();
} else {
sigInfo.info = *info;
}
sigInfo.ThreadIdSignalRaised = os_threadIdToInteger(os_threadIdSelf());
sigInfo.domainId = os_reportGetDomain();
#ifdef OS_HAS_UCONTEXT_T
sigInfo.uc = *(ucontext_t *)uap;
#endif
/* WARNING: Don't do any async/signalling-unsafe calls here (so refrain from
* using OS_REPORT_X and the like). */
if (sigismember(&exceptionsMask, sig) == 1 && sigInfo.info.si_code != SI_USER){
os_sigaction *xo;
if (inSignalHandlerThread()) {
/* The signalHandlerThread caught an exception (synchronous)
* itself. The fact that the signalHandlerThread caught an
* exception means there is a bug in the error handling code. */
const char panicmsg[] = "FATAL ERROR: Synchronously trapped signal in signalHandlerThread\n";
panic(panicmsg, sizeof(panicmsg) - 1);
/* This line will not be reached anymore */
}
/* Grab the Mutex for the ExceptionHandler stack and hold it during
* the processing of the exception. This way you avoid handlers
* being added or removed right in between writing the exception
* context into the pipe and the signal handler thread reading it
* and handling it from the pipe. Also you avoid another signal from
* another thread overwriting our context.
* To visualize the the duration for this mutex claim, the resulting
* handler code has been placed in its own (indented) scope.
*/
{
os_mutexLock(&cbInfo->exceptionMtx);
/* Obtain the context of the thread that called the signalHandler.
* This information will be needed by the callback invoked by the
* signalHandlerThread, to decide what kind of action needs to
* be taken.
*/
os__signalHandlerExceptionGetThreadContextCallbackInvoke(cbInfo);
/* We have an exception (synchronous) here. The assumption is
* that exception don't occur in middleware-code, so we can
* synchronously call the signalHandlerThread in order to detach user-
* layer from all Domains (kernels). */
signalHandlerThreadNotify(sigInfo, &sync);
os_mutexUnlock(&cbInfo->exceptionMtx);
}
/* BEWARE: This may be an interleaved handling of an exception, so use
* sync from now on instead of sigInfo.*/
/* Reset the original signal-handler. If the exception was synchronous,
* running out of this handler will regenerate the signal, which will
* then be handled by the original signal-handler. Otherwise it needs
* to be re-raised. */
xo = &old_signalHandler[sync.info.si_signo];
os_sigactionSet(sync.info.si_signo, xo, NULL);
/* Positive values are reserved for kernel-generated signals, i.e.,
* actual synchronous hard errors. The rest are 'soft' errors and thus
* need to be re-raised. */
if(sigInfo.info.si_code <= 0){
raise(sig);
}
} else {
/* Pass signal to signal-handler thread for asynchronous handling */
os_uint32 index = pa_inc32_nv(&cbInfo->exitRequestInsertionIndex) % EXIT_REQUEST_BUFFER_SIZE;
os__signalHandlerExitRequestGetThreadContextCallbackInvoke(cbInfo, index);
signalHandlerThreadNotify(sigInfo, NULL);
}
}
void
u_userExit(
void)
{
u_user u;
u_domain domain;
os_result mr = os_resultFail;
u_result r;
c_long i;
u = u__userLock();
if (u) {
/* Disable access to user-layer for all other threads except for this thread.
* Any following user access from other threads is gracefully
* aborted.
*/
u->detachThreadId = os_threadIdSelf();
/* Unlock the user-layer
* Part of following code requires to unlock the user object
* This is allowed now all other threads will abort when
* trying to claim the lock
*/
u__userUnlock();
for (i = 1; (i <= u->domainCount); i++) {
domain = u->domainList[i].domain;
if (domain) {
r = u_domainDetachParticipants(domain);
if (r != U_RESULT_OK) {
OS_REPORT_2(OS_ERROR,
"user::u_user::u_userExit", 0,
"Operation u_domainDetachParticipants(0x%x) failed."
OS_REPORT_NL "result = %s",
domain, u_resultImage(r));
} else {
r = u_domainFree(domain);
if (r != U_RESULT_OK) {
OS_REPORT_2(OS_ERROR,
"user::u_user::u_userExit", 0,
"Operation u_domainFree(0x%x) failed."
OS_REPORT_NL "result = %s",
domain, u_resultImage(r));
}
}
}
}
user = NULL;
/* Destroy the user-layer mutex */
mr = os_mutexDestroy(&u->mutex);
if(mr != os_resultSuccess){
OS_REPORT_1(OS_ERROR,
"user::u_user::u_userExit",0,
"Operation os_mutexDestroy(0x%x) failed:"
OS_REPORT_NL "os_result == %d.",
mr);
}
/* Free the user-object */
os_free(u);
}
/* Even if access to the user layer is denied, we still need to cleanup
* the signal handler, which includes waiting for the threads to exit
* the DDS database */
os_signalHandlerFree();
/* De-init the OS-abstraction layer */
os_osExit();
}