void up_release_stack(FAR struct tcb_s *dtcb, uint8_t ttype)
{
/* Is there a stack allocated? */
if (dtcb->stack_alloc_ptr)
{
#if defined(CONFIG_NUTTX_KERNEL) && defined(CONFIG_MM_KERNEL_HEAP)
/* Use the kernel allocator if this is a kernel thread */
if (ttype == TCB_FLAG_TTYPE_KERNEL)
{
sched_kfree(dtcb->stack_alloc_ptr);
}
else
#endif
{
/* Use the user-space allocator if this is a task or pthread */
sched_ufree(dtcb->stack_alloc_ptr);
}
/* Mark the stack freed */
dtcb->stack_alloc_ptr = NULL;
}
/* The size of the allocated stack is now zero */
dtcb->adj_stack_size = 0;
}
static inline void timer_free(struct posix_timer_s *timer)
{
irqstate_t flags;
/* Remove the timer from the allocated list */
flags = irqsave();
sq_rem((FAR sq_entry_t *)timer, (FAR sq_queue_t *)&g_alloctimers);
/* Return it to the free list if it is one of the preallocated timers */
#if CONFIG_PREALLOC_TIMERS > 0
if ((timer->pt_flags & PT_FLAGS_PREALLOCATED) != 0)
{
sq_addlast((FAR sq_entry_t *)timer, (FAR sq_queue_t *)&g_freetimers);
irqrestore(flags);
}
else
#endif
{
/* Otherwise, return it to the heap */
irqrestore(flags);
sched_kfree(timer);
}
}
int wd_delete(WDOG_ID wdog)
{
irqstate_t state;
DEBUGASSERT(wdog);
/* The following steps are atomic... the watchdog must not be active when
* it is being deallocated.
*/
state = irqsave();
/* Check if the watchdog has been started. */
if (WDOG_ISACTIVE(wdog))
{
/* Yes.. stop it */
wd_cancel(wdog);
}
/* Did this watchdog come from the pool of pre-allocated timers? Or, was
* it allocated from the heap?
*/
if (WDOG_ISALLOCED(wdog))
{
/* It was allocated from the heap. Use sched_kfree() to release the
* memory. If the timer was released from an interrupt handler,
* sched_kfree() will defer the actual deallocation of the memory
* until a more appropriate time.
*
* We don't need interrupts disabled to do this.
*/
irqrestore(state);
sched_kfree(wdog);
}
/* This was a pre-allocated timer. This function should not be called for
* statically allocated timers.
*/
else if (!WDOG_ISSTATIC(wdog))
{
/* Put the timer back on the free list and increment the count of free
* timers, all with interrupts disabled.
*/
sq_addlast((FAR sq_entry_t *)wdog, &g_wdfreelist);
g_wdnfree++;
DEBUGASSERT(g_wdnfree <= CONFIG_PREALLOC_WDOGS);
irqrestore(state);
}
/* Return success */
return OK;
}
static int metal_cntr_irq_handler(int irq, void *context, void *data)
{
if (context != NULL)
return metal_irq_handle(data, irq);
/* context == NULL mean unregister */
irqchain_detach(irq, metal_cntr_irq_handler, data);
sched_kfree(data);
return 0;
}
void lib_stream_release(FAR struct task_group_s *group)
{
FAR struct streamlist *list;
#if CONFIG_STDIO_BUFFER_SIZE > 0
int i;
#endif
#if (defined(CONFIG_BUILD_PROTECTED) || defined(CONFIG_BUILD_KERNEL)) && \
defined(CONFIG_MM_KERNEL_HEAP)
DEBUGASSERT(group && group->tg_streamlist);
list = group->tg_streamlist;
#else
DEBUGASSERT(group);
list = &group->tg_streamlist;
#endif
/* Destroy the semaphore and release the filelist */
(void)sem_destroy(&list->sl_sem);
/* Release each stream in the list */
#if CONFIG_STDIO_BUFFER_SIZE > 0
for (i = 0; i < CONFIG_NFILE_STREAMS; i++)
{
/* Destroy the semaphore that protects the IO buffer */
(void)sem_destroy(&list->sl_streams[i].fs_sem);
/* Release the IO buffer */
if (list->sl_streams[i].fs_bufstart)
{
#ifndef CONFIG_BUILD_KERNEL
/* Release memory from the user heap */
sched_ufree(list->sl_streams[i].fs_bufstart);
#else
/* If the exiting group is unprivileged, then it has an address
* environment. Don't bother to release the memory in this case...
* There is no point since the memory lies in the user heap which
* will be destroyed anyway. But if this is a privileged group,
* when we still have to release the memory using the kernel
* allocator.
*/
if ((group->tg_flags & GROUP_FLAG_PRIVILEGED) != 0)
{
sched_kfree(list->sl_streams[i].fs_bufstart);
}
#endif
}
}
#endif
}
void group_delwaiter(FAR struct task_group_s *group)
{
DEBUGASSERT(group->tg_nwaiters > 0);
group->tg_nwaiters--;
if (group->tg_nwaiters == 0 && (group->tg_flags & GROUP_FLAG_DELETED) != 0)
{
/* Release the group container (all other resources have already been
* freed).
*/
sched_kfree(group);
}
}
void mq_msgfree(FAR mqmsg_t *mqmsg)
{
irqstate_t saved_state;
/* If this is a generally available pre-allocated message,
* then just put it back in the free list.
*/
if (mqmsg->type == MQ_ALLOC_FIXED)
{
/* Make sure we avoid concurrent access to the free
* list from interrupt handlers.
*/
saved_state = irqsave();
sq_addlast((FAR sq_entry_t*)mqmsg, &g_msgfree);
irqrestore(saved_state);
}
/* If this is a message pre-allocated for interrupts,
* then put it back in the correct free list.
*/
else if (mqmsg->type == MQ_ALLOC_IRQ)
{
/* Make sure we avoid concurrent access to the free
* list from interrupt handlers.
*/
saved_state = irqsave();
sq_addlast((FAR sq_entry_t*)mqmsg, &g_msgfreeirq);
irqrestore(saved_state);
}
/* Otherwise, deallocate it. Note: interrupt handlers
* will never deallocate messages because they will not
* received them.
*/
else if (mqmsg->type == MQ_ALLOC_DYN)
{
sched_kfree(mqmsg);
}
else
{
PANIC();
}
}
void igmp_grpfree(FAR struct net_driver_s *dev, FAR struct igmp_group_s *group)
{
net_lock_t flags;
grplldbg("Free: %p flags: %02x\n", group, group->flags);
/* Cancel the wdog */
flags = net_lock();
wd_cancel(group->wdog);
/* Remove the group structure from the group list in the device structure */
sq_rem((FAR sq_entry_t *)group, &dev->grplist);
/* Destroy the wait semaphore */
(void)sem_destroy(&group->sem);
/* Destroy the wdog */
wd_delete(group->wdog);
/* Then release the group structure resources. Check first if this is one
* of the pre-allocated group structures that we will retain in a free list.
*/
#if CONFIG_PREALLOC_IGMPGROUPS > 0
if (IS_PREALLOCATED(group->flags))
{
grplldbg("Put back on free list\n");
sq_addlast((FAR sq_entry_t *)group, &g_freelist);
net_unlock(flags);
}
else
#endif
{
/* No.. deallocate the group structure. Use sched_kfree() just in case
* this function is executing within an interrupt handler.
*/
net_unlock(flags);
grplldbg("Call sched_kfree()\n");
sched_kfree(group);
}
}
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);
}
void sig_releasependingsignal(FAR sigpendq_t *sigpend)
{
irqstate_t saved_state;
/* If this is a generally available pre-allocated structyre,
* then just put it back in the free list.
*/
if (sigpend->type == SIG_ALLOC_FIXED)
{
/* Make sure we avoid concurrent access to the free
* list from interrupt handlers.
*/
saved_state = irqsave();
sq_addlast((FAR sq_entry_t*)sigpend, &g_sigpendingsignal);
irqrestore(saved_state);
}
/* If this is a message pre-allocated for interrupts,
* then put it back in the correct free list.
*/
else if (sigpend->type == SIG_ALLOC_IRQ)
{
/* Make sure we avoid concurrent access to the free
* list from interrupt handlers.
*/
saved_state = irqsave();
sq_addlast((FAR sq_entry_t*)sigpend, &g_sigpendingirqsignal);
irqrestore(saved_state);
}
/* Otherwise, deallocate it. Note: interrupt handlers
* will never deallocate signals because they will not
* receive them.
*/
else if (sigpend->type == SIG_ALLOC_DYN)
{
sched_kfree(sigpend);
}
}
void mq_msgqfree(FAR struct mqueue_inode_s *msgq)
{
FAR struct mqueue_msg_s *curr;
FAR struct mqueue_msg_s *next;
/* Deallocate any stranded messages in the message queue. */
curr = (FAR struct mqueue_msg_s *)msgq->msglist.head;
while (curr)
{
/* Deallocate the message structure. */
next = curr->next;
mq_msgfree(curr);
curr = next;
}
/* Then deallocate the message queue itself */
sched_kfree(msgq);
}
static inline void group_release(FAR struct task_group_s *group)
{
/* Free all un-reaped child exit status */
#if defined(CONFIG_SCHED_HAVE_PARENT) && defined(CONFIG_SCHED_CHILD_STATUS)
group_removechildren(group);
#endif
#ifndef CONFIG_DISABLE_SIGNALS
/* Release pending signals */
sig_release(group);
#endif
#ifndef CONFIG_DISABLE_PTHREAD
/* Release pthread resources */
pthread_release(group);
#endif
#if CONFIG_NFILE_DESCRIPTORS > 0
/* Free all file-related resources now. We really need to close files as
* soon as possible while we still have a functioning task.
*/
/* Free resources held by the file descriptor list */
files_releaselist(&group->tg_filelist);
#if CONFIG_NFILE_STREAMS > 0
/* Free resource held by the stream list */
lib_stream_release(group);
#endif /* CONFIG_NFILE_STREAMS */
#endif /* CONFIG_NFILE_DESCRIPTORS */
#if CONFIG_NSOCKET_DESCRIPTORS > 0
/* Free resource held by the socket list */
net_releaselist(&group->tg_socketlist);
#endif /* CONFIG_NSOCKET_DESCRIPTORS */
#ifndef CONFIG_DISABLE_ENVIRON
/* Release all shared environment variables */
env_release(group);
#endif
#ifndef CONFIG_DISABLE_MQUEUE
/* Close message queues opened by members of the group */
mq_release(group);
#endif
#if defined(CONFIG_BUILD_KERNEL) && defined(CONFIG_MM_SHM)
/* Release any resource held by shared memory virtual page allocator */
(void)shm_group_release(group);
#endif
#ifdef CONFIG_ARCH_ADDRENV
/* Destroy the group address environment */
(void)up_addrenv_destroy(&group->tg_addrenv);
/* Mark no address environment */
g_gid_current = 0;
#endif
#if defined(HAVE_GROUP_MEMBERS) || defined(CONFIG_ARCH_ADDRENV)
/* Remove the group from the list of groups */
group_remove(group);
#endif
#ifdef HAVE_GROUP_MEMBERS
/* Release the members array */
if (group->tg_members)
{
sched_kfree(group->tg_members);
group->tg_members = NULL;
}
#endif
#if CONFIG_NFILE_STREAMS > 0 && defined(CONFIG_MM_KERNEL_HEAP)
/* In a flat, single-heap build. The stream list is part of the
* group structure and, hence will be freed when the group structure
* is freed. Otherwise, it is separately allocated an must be
* freed here.
*/
# if defined(CONFIG_BUILD_PROTECTED)
/* In the protected build, the task's stream list is always allocated
* and freed from the single, global user allocator.
*/
sched_ufree(group->tg_streamlist);
# elif defined(CONFIG_BUILD_KERNEL)
/* In the kernel build, the unprivileged process' stream list will be
* allocated from with its per-process, private user heap. But in that
* case, there is no reason to do anything here: That allocation resides
* in the user heap which which be completely freed when we destroy the
* process' address environment.
*/
if ((group->tg_flags & GROUP_FLAG_PRIVILEGED) != 0)
{
/* But kernel threads are different in this build configuration: Their
* stream lists were allocated from the common, global kernel heap and
* must explicitly freed here.
*/
sched_kfree(group->tg_streamlist);
}
# endif
#endif
#if defined(CONFIG_SCHED_WAITPID) && !defined(CONFIG_SCHED_HAVE_PARENT)
/* If there are threads waiting for this group to be freed, then we cannot
* yet free the memory resources. Instead just mark the group deleted
* and wait for those threads complete their waits.
*/
if (group->tg_nwaiters > 0)
{
group->tg_flags |= GROUP_FLAG_DELETED;
}
else
#endif
{
/* Release the group container itself */
sched_kfree(group);
}
}
mqd_t mq_open(const char *mq_name, int oflags, ...)
{
FAR struct tcb_s *rtcb = (FAR struct tcb_s*)g_readytorun.head;
FAR msgq_t *msgq;
mqd_t mqdes = NULL;
va_list arg; /* Points to each un-named argument */
struct mq_attr *attr; /* MQ creation attributes */
int namelen; /* Length of MQ name */
/* Make sure that a non-NULL name is supplied */
if (mq_name)
{
sched_lock();
namelen = strlen(mq_name);
if (namelen > 0)
{
/* See if the message queue already exists */
msgq = mq_findnamed(mq_name);
if (msgq)
{
/* It does. Check if the caller wanted to create a new
* message queue with this name (i.e., O_CREAT|O_EXCL)
*/
if ((oflags & O_CREAT) == 0 || (oflags & O_EXCL) == 0)
{
/* Create a message queue descriptor for the TCB */
mqdes = mq_descreate(rtcb, msgq, oflags);
if (mqdes)
{
/* Allow a new connection to the message queue */
msgq->nconnect++;
}
}
}
/* It doesn't exist. Should we create one? */
else if ((oflags & O_CREAT) != 0)
{
/* Allocate memory for the new message queue. The size to
* allocate is the size of the msgq_t header plus the size
* of the message queue name+1.
*/
msgq = (FAR msgq_t*)kmm_zalloc(SIZEOF_MQ_HEADER + namelen + 1);
if (msgq)
{
/* Create a message queue descriptor for the TCB */
mqdes = mq_descreate(rtcb, msgq, oflags);
if (mqdes)
{
/* Set up to get the optional arguments needed to create
* a message queue.
*/
va_start(arg, oflags);
(void)va_arg(arg, mode_t); /* MQ creation mode parameter (ignored) */
attr = va_arg(arg, struct mq_attr*);
/* Initialize the new named message queue */
sq_init(&msgq->msglist);
if (attr)
{
msgq->maxmsgs = (int16_t)attr->mq_maxmsg;
if (attr->mq_msgsize <= MQ_MAX_BYTES)
{
msgq->maxmsgsize = (int16_t)attr->mq_msgsize;
}
else
{
msgq->maxmsgsize = MQ_MAX_BYTES;
}
}
else
{
msgq->maxmsgs = MQ_MAX_MSGS;
msgq->maxmsgsize = MQ_MAX_BYTES;
}
msgq->nconnect = 1;
#ifndef CONFIG_DISABLE_SIGNALS
msgq->ntpid = INVALID_PROCESS_ID;
#endif
strcpy(msgq->name, mq_name);
/* Add the new message queue to the list of
* message queues
*/
sq_addlast((FAR sq_entry_t*)msgq, &g_msgqueues);
/* Clean-up variable argument stuff */
va_end(arg);
}
else
{
/* Deallocate the msgq structure. Since it is
* uninitialized, mq_deallocate() is not used.
*/
sched_kfree(msgq);
}
}
}
int pthread_create(FAR pthread_t *thread, FAR const pthread_attr_t *attr,
pthread_startroutine_t start_routine, pthread_addr_t arg)
{
FAR struct pthread_tcb_s *ptcb;
FAR struct join_s *pjoin;
struct sched_param param;
int policy;
int errcode;
pid_t pid;
int ret;
#ifdef HAVE_TASK_GROUP
bool group_joined = false;
#endif
/* If attributes were not supplied, use the default attributes */
if (!attr)
{
attr = &g_default_pthread_attr;
}
/* Allocate a TCB for the new task. */
ptcb = (FAR struct pthread_tcb_s *)kmm_zalloc(sizeof(struct pthread_tcb_s));
if (!ptcb)
{
sdbg("ERROR: Failed to allocate TCB\n");
return ENOMEM;
}
#ifdef HAVE_TASK_GROUP
/* Bind the parent's group to the new TCB (we have not yet joined the
* group).
*/
ret = group_bind(ptcb);
if (ret < 0)
{
errcode = ENOMEM;
goto errout_with_tcb;
}
#endif
#ifdef CONFIG_ARCH_ADDRENV
/* Share the address environment of the parent task group. */
ret = up_addrenv_attach(ptcb->cmn.group,
(FAR struct tcb_s *)g_readytorun.head);
if (ret < 0)
{
errcode = -ret;
goto errout_with_tcb;
}
#endif
/* Allocate a detachable structure to support pthread_join logic */
pjoin = (FAR struct join_s *)kmm_zalloc(sizeof(struct join_s));
if (!pjoin)
{
sdbg("ERROR: Failed to allocate join\n");
errcode = ENOMEM;
goto errout_with_tcb;
}
/* Allocate the stack for the TCB */
ret = up_create_stack((FAR struct tcb_s *)ptcb, attr->stacksize,
TCB_FLAG_TTYPE_PTHREAD);
if (ret != OK)
{
errcode = ENOMEM;
goto errout_with_join;
}
/* Should we use the priority and scheduler specified in the pthread
* attributes? Or should we use the current thread's priority and
* scheduler?
*/
if (attr->inheritsched == PTHREAD_INHERIT_SCHED)
{
/* Get the priority (and any other scheduling parameters) for this
* thread.
*/
ret = sched_getparam(0, ¶m);
if (ret == ERROR)
{
errcode = get_errno();
goto errout_with_join;
}
/* Get the scheduler policy for this thread */
policy = sched_getscheduler(0);
if (policy == ERROR)
{
errcode = get_errno();
goto errout_with_join;
}
}
else
{
/* Use the scheduler policy and policy the attributes */
policy = attr->policy;
param.sched_priority = attr->priority;
#ifdef CONFIG_SCHED_SPORADIC
param.sched_ss_low_priority = attr->low_priority;
param.sched_ss_max_repl = attr->max_repl;
param.sched_ss_repl_period.tv_sec = attr->repl_period.tv_sec;
param.sched_ss_repl_period.tv_nsec = attr->repl_period.tv_nsec;
param.sched_ss_init_budget.tv_sec = attr->budget.tv_sec;
param.sched_ss_init_budget.tv_nsec = attr->budget.tv_nsec;
#endif
}
#ifdef CONFIG_SCHED_SPORADIC
if (policy == SCHED_SPORADIC)
{
FAR struct sporadic_s *sporadic;
int repl_ticks;
int budget_ticks;
/* Convert timespec values to system clock ticks */
(void)clock_time2ticks(¶m.sched_ss_repl_period, &repl_ticks);
(void)clock_time2ticks(¶m.sched_ss_init_budget, &budget_ticks);
/* The replenishment period must be greater than or equal to the
* budget period.
*/
if (repl_ticks < budget_ticks)
{
errcode = EINVAL;
goto errout_with_join;
}
/* Initialize the sporadic policy */
ret = sched_sporadic_initialize(&ptcb->cmn);
if (ret >= 0)
{
sporadic = ptcb->cmn.sporadic;
DEBUGASSERT(sporadic != NULL);
/* Save the sporadic scheduling parameters */
sporadic->hi_priority = param.sched_priority;
sporadic->low_priority = param.sched_ss_low_priority;
sporadic->max_repl = param.sched_ss_max_repl;
sporadic->repl_period = repl_ticks;
sporadic->budget = budget_ticks;
/* And start the first replenishment interval */
ret = sched_sporadic_start(&ptcb->cmn);
}
/* Handle any failures */
if (ret < 0)
{
errcode = -ret;
goto errout_with_join;
}
}
#endif
/* Initialize the task control block */
ret = pthread_schedsetup(ptcb, param.sched_priority, pthread_start,
start_routine);
if (ret != OK)
{
errcode = EBUSY;
goto errout_with_join;
}
/* Configure the TCB for a pthread receiving on parameter
* passed by value
*/
pthread_argsetup(ptcb, arg);
#ifdef HAVE_TASK_GROUP
/* Join the parent's task group */
ret = group_join(ptcb);
if (ret < 0)
{
errcode = ENOMEM;
goto errout_with_join;
}
group_joined = true;
#endif
/* Attach the join info to the TCB. */
ptcb->joininfo = (FAR void *)pjoin;
/* Set the appropriate scheduling policy in the TCB */
ptcb->cmn.flags &= ~TCB_FLAG_POLICY_MASK;
switch (policy)
{
default:
DEBUGPANIC();
case SCHED_FIFO:
ptcb->cmn.flags |= TCB_FLAG_SCHED_FIFO;
break;
#if CONFIG_RR_INTERVAL > 0
case SCHED_RR:
ptcb->cmn.flags |= TCB_FLAG_SCHED_RR;
ptcb->cmn.timeslice = MSEC2TICK(CONFIG_RR_INTERVAL);
break;
#endif
#ifdef CONFIG_SCHED_SPORADIC
case SCHED_SPORADIC:
ptcb->cmn.flags |= TCB_FLAG_SCHED_SPORADIC;
break;
#endif
#if 0 /* Not supported */
case SCHED_OTHER:
ptcb->cmn.flags |= TCB_FLAG_SCHED_OTHER;
break;
#endif
}
/* Get the assigned pid before we start the task (who knows what
* could happen to ptcb after this!). Copy this ID into the join structure
* as well.
*/
pid = (int)ptcb->cmn.pid;
pjoin->thread = (pthread_t)pid;
/* Initialize the semaphores in the join structure to zero. */
ret = sem_init(&pjoin->data_sem, 0, 0);
if (ret == OK)
{
ret = sem_init(&pjoin->exit_sem, 0, 0);
}
/* Activate the task */
sched_lock();
if (ret == OK)
{
ret = task_activate((FAR struct tcb_s *)ptcb);
}
if (ret == OK)
{
/* Wait for the task to actually get running and to register
* its join structure.
*/
(void)pthread_takesemaphore(&pjoin->data_sem);
/* Return the thread information to the caller */
if (thread)
{
*thread = (pthread_t)pid;
}
if (!pjoin->started)
{
ret = EINVAL;
}
sched_unlock();
(void)sem_destroy(&pjoin->data_sem);
}
else
{
sched_unlock();
dq_rem((FAR dq_entry_t *)ptcb, (FAR dq_queue_t *)&g_inactivetasks);
(void)sem_destroy(&pjoin->data_sem);
(void)sem_destroy(&pjoin->exit_sem);
errcode = EIO;
goto errout_with_join;
}
return ret;
errout_with_join:
sched_kfree(pjoin);
ptcb->joininfo = NULL;
errout_with_tcb:
#ifdef HAVE_TASK_GROUP
/* Clear group binding */
if (ptcb && !group_joined)
{
ptcb->cmn.group = NULL;
}
#endif
sched_releasetcb((FAR struct tcb_s *)ptcb, TCB_FLAG_TTYPE_PTHREAD);
return errcode;
}
