Module: xenomai-2.5
Branch: master
Commit: c4564431d6304249f49a7cd3005b96bdd6c59b23
URL:
http://git.xenomai.org/?p=xenomai-2.5.git;a=commit;h=c4564431d6304249f49a7cd3005b96bdd6c59b23
Author: Philippe Gerum <r...@xenomai.org>
Date: Sat Jun 5 11:39:24 2010 +0200
nucleus: introduce generic bits for MAYDAY support
This patch enables the nucleus to force a user-space thread running
syscall-less code in primary mode, to call the nucleus back on its way
out from an interrupt via a dedicated syscall (__xn_sys_mayday).
This feature is currently useful for recovering gracefully from a
runaway thread situation detected by the nucleus watchdog. Instead of
killing the runaway thread bluntly, this feature allows to force a
relax on it, despite the syscall-less nature of the code it was
running in primary mode.
The trick is to force the thread to run a piece of user-space code
that issues the mayday syscall, by fixing up its program counter on
its way back to userland. This code is laid on the special "mayday
page", mapped to the process address space at binding time. The
implementation relies on the new IPIPE_EVENT_RETURN notification
available from the latest I-pipe patches, to run the fixup code.
In the future, Xenomai real-time signals will be rebased on this
feature to make them able to preempt syscall-less code as well. In
the same move, the mayday page allocation and setup should move to
user-space. We do this from kernel space for now only to preserve the
2.5.x ABI.
---
include/asm-generic/hal.h | 28 ++++++-
include/asm-generic/syscall.h | 1 +
include/nucleus/ppd.h | 4 +
include/nucleus/shadow.h | 10 ++
ksrc/nucleus/sched.c | 1 +
ksrc/nucleus/shadow.c | 186 ++++++++++++++++++++++++++++++++++++++---
6 files changed, 216 insertions(+), 14 deletions(-)
diff --git a/include/asm-generic/hal.h b/include/asm-generic/hal.h
index f03219d..f90cafa 100644
--- a/include/asm-generic/hal.h
+++ b/include/asm-generic/hal.h
@@ -259,7 +259,7 @@ static int hdlr (unsigned event, struct ipipe_domain *ipd,
void *data) \
static int hdlr (unsigned event, struct ipipe_domain *ipd, void *data) \
{ \
struct task_struct *p = (struct task_struct *)data; \
- do_##hdlr(p,p->rt_priority); \
+ do_##hdlr(p, p->rt_priority); \
return RTHAL_EVENT_PROPAGATE; \
}
@@ -287,6 +287,14 @@ static int hdlr (unsigned event, struct ipipe_domain *ipd,
void *data) \
return RTHAL_EVENT_PROPAGATE; \
}
+#define RTHAL_DECLARE_MAYDAY_EVENT(hdlr) \
+static int hdlr(unsigned event, struct ipipe_domain *ipd, void *data) \
+{ \
+ struct pt_regs *regs = data; \
+ do_##hdlr(regs); \
+ return RTHAL_EVENT_PROPAGATE; \
+}
+
#ifndef TASK_ATOMICSWITCH
#ifdef CONFIG_PREEMPT
/* We want this feature for preemptible kernels, or the behaviour when
@@ -321,6 +329,15 @@ static inline void clear_task_nowakeup(struct task_struct
*p)
#define rthal_set_foreign_stack(ipd) ipipe_set_foreign_stack(ipd)
#define rthal_clear_foreign_stack(ipd) ipipe_clear_foreign_stack(ipd)
+#ifdef __IPIPE_FEATURE_ENABLE_NOTIFIER
+#define rthal_enable_notifier(p) ipipe_enable_notifier(p)
+#else
+static inline void rthal_enable_notifier(struct task_struct *p)
+{
+ p->flags |= PF_EVNOTIFY;
+}
+#endif
+
#define rthal_catch_cleanup(hdlr) \
ipipe_catch_event(ipipe_root_domain,IPIPE_EVENT_CLEANUP,hdlr)
#define rthal_catch_taskexit(hdlr) \
@@ -338,6 +355,15 @@ static inline void clear_task_nowakeup(struct task_struct
*p)
#define rthal_catch_exception(ex,hdlr) \
ipipe_catch_event(&rthal_domain,ex|IPIPE_EVENT_SELF,hdlr)
+#ifdef IPIPE_EVENT_RETURN
+#define RTHAL_HAVE_RETURN_EVENT
+#define rthal_catch_return(hdlr) \
+ ipipe_catch_event(&rthal_domain,IPIPE_EVENT_RETURN,hdlr)
+#define rthal_return_intercept(p) ipipe_return_notify(p)
+#else
+#define rthal_catch_return(hdlr) do { } while(0)
+#endif
+
#define rthal_register_domain(_dom,_name,_id,_prio,_entry) \
({ \
struct ipipe_domain_attr attr; \
diff --git a/include/asm-generic/syscall.h b/include/asm-generic/syscall.h
index 3f10065..7e3d01a 100644
--- a/include/asm-generic/syscall.h
+++ b/include/asm-generic/syscall.h
@@ -47,6 +47,7 @@
#define __xn_sys_current_info 9 /* r = xnshadow_current_info(&info) */
#define __xn_sys_get_next_sigs 10 /* only unqueue pending signals. */
#define __xn_sys_drop_u_mode 11 /* stop updating thread->u_mode */
+#define __xn_sys_mayday 12 /* request mayday fixup */
#define XENOMAI_LINUX_DOMAIN 0
#define XENOMAI_XENO_DOMAIN 1
diff --git a/include/nucleus/ppd.h b/include/nucleus/ppd.h
index ab1b5fc..972b0f2 100644
--- a/include/nucleus/ppd.h
+++ b/include/nucleus/ppd.h
@@ -2,6 +2,7 @@
#define _XENO_NUCLEUS_PPD_H
#include <nucleus/queue.h>
+#include <nucleus/shadow.h>
struct mm_struct;
@@ -13,6 +14,9 @@ typedef struct xnshadow_ppd_key {
typedef struct xnshadow_ppd_t {
xnshadow_ppd_key_t key;
xnholder_t link;
+#ifdef XNARCH_HAVE_MAYDAY
+ unsigned long mayday_addr;
+#endif
#define link2ppd(ln) container_of(ln, xnshadow_ppd_t, link)
} xnshadow_ppd_t;
diff --git a/include/nucleus/shadow.h b/include/nucleus/shadow.h
index b6971da..93e4206 100644
--- a/include/nucleus/shadow.h
+++ b/include/nucleus/shadow.h
@@ -109,6 +109,16 @@ int xnshadow_mark_sig(struct xnthread *thread, unsigned
muxid);
void xnshadow_clear_sig(struct xnthread *thread, unsigned muxid);
+#ifdef RTHAL_HAVE_RETURN_EVENT
+#define XNARCH_HAVE_MAYDAY 1
+void xnshadow_call_mayday(struct xnthread *thread);
+#else
+static inline void xnshadow_call_mayday(struct xnthread *thread)
+{
+ /* no luck, I-pipe too old. Nobody hears you screaming... */
+}
+#endif
+
#ifdef __cplusplus
}
#endif
diff --git a/ksrc/nucleus/sched.c b/ksrc/nucleus/sched.c
index 0b737a3..0b51882 100644
--- a/ksrc/nucleus/sched.c
+++ b/ksrc/nucleus/sched.c
@@ -100,6 +100,7 @@ static void xnsched_watchdog_handler(struct xntimer *timer)
"'%s'\n", xnthread_name(thread));
xnthread_set_info(thread, XNAMOK | XNKICKED);
xnshadow_send_sig(thread, SIGDEBUG, SIGDEBUG_WATCHDOG, 1);
+ xnshadow_call_mayday(thread);
} else
#endif /* CONFIG_XENO_OPT_PERVASIVE */
{
diff --git a/ksrc/nucleus/shadow.c b/ksrc/nucleus/shadow.c
index 84f6e5c..80b9caa 100644
--- a/ksrc/nucleus/shadow.c
+++ b/ksrc/nucleus/shadow.c
@@ -39,6 +39,8 @@
#include <linux/wait.h>
#include <linux/init.h>
#include <linux/kthread.h>
+#include <linux/mman.h>
+#include <linux/mm.h>
#include <asm/signal.h>
#include <nucleus/pod.h>
#include <nucleus/heap.h>
@@ -715,13 +717,14 @@ static inline void handle_rt_signals(xnthread_t *thread,
int (*sig_unqueue)(xnthread_t *thread, union xnsiginfo __user *si);
struct xnsig __user *u_sigs;
const unsigned max_sigs = ARRAY_SIZE(u_sigs->pending);
- unsigned muxid, i, pending;
- int rc, res;
+ unsigned int muxid, i, pending;
+ int rc, res = -ERESTART;
- u_sigs = (struct xnsig __user *) __xn_reg_sigp(regs);
- res = -ERESTART;
- i = 0;
+ u_sigs = (struct xnsig __user *)__xn_reg_sigp(regs);
+ if (u_sigs == NULL)
+ goto out;
+ i = 0;
pending = xnthread_sigpending(thread);
do {
muxid = ffnz(pending);
@@ -740,6 +743,7 @@ static inline void handle_rt_signals(xnthread_t *thread,
__xn_put_user(i, &u_sigs->nsigs);
__xn_put_user(pending != 0, &u_sigs->remaining);
+out:
/* In the case when we are going to handle linux signals, do not let
the kernel handle the syscall restart to give a chance to the
xenomai handlers to be executed. */
@@ -1332,12 +1336,12 @@ int xnshadow_map(xnthread_t *thread, xncompletion_t
__user *u_completion,
/*
* Switch on propagation of normal kernel events for the bound
* task. This is basically a per-task event filter which
- * restricts event notifications (e.g. syscalls) to tasks
- * bearing the PF_EVNOTIFY flag, so that we don't uselessly
+ * restricts event notifications (e.g. syscalls) to Linux
+ * tasks bearing a specific flag, so that we don't uselessly
* intercept those events when they happen to be caused by
* plain (i.e. non-Xenomai) Linux tasks.
*/
- current->flags |= PF_EVNOTIFY;
+ rthal_enable_notifier(current);
xnarch_init_shadow_tcb(xnthread_archtcb(thread), thread,
xnthread_name(thread));
@@ -1565,6 +1569,137 @@ static void stringify_feature_set(u_long fset, char
*buf, int size)
}
}
+#ifdef XNARCH_HAVE_MAYDAY
+
+static void *mayday_page;
+
+static int mayday_map(struct file *filp, struct vm_area_struct *vma)
+{
+ vma->vm_pgoff = (unsigned long)mayday_page >> PAGE_SHIFT;
+ return wrap_remap_vm_page(vma, vma->vm_start, mayday_page);
+}
+
+#ifndef CONFIG_MMU
+static unsigned long mayday_unmapped_area(struct file *file,
+ unsigned long addr,
+ unsigned long len,
+ unsigned long pgoff,
+ unsigned long flags)
+{
+ return (unsigned long)mayday_page;
+}
+#else
+#define mayday_unmapped_area NULL
+#endif
+
+static struct file_operations mayday_fops = {
+ .mmap = mayday_map,
+ .get_unmapped_area = mayday_unmapped_area
+};
+
+static unsigned long map_mayday_page(struct task_struct *p)
+{
+ const struct file_operations *old_fops;
+ unsigned long u_addr;
+ struct file *filp;
+
+ filp = filp_open(XNHEAP_DEV_NAME, O_RDONLY, 0);
+ if (IS_ERR(filp))
+ return 0;
+
+ old_fops = filp->f_op;
+ filp->f_op = &mayday_fops;
+ down_write(&p->mm->mmap_sem);
+ u_addr = do_mmap(filp, 0, PAGE_SIZE, PROT_EXEC|PROT_READ, MAP_SHARED,
0);
+ up_write(&p->mm->mmap_sem);
+ filp->f_op = (typeof(filp->f_op))old_fops;
+ filp_close(filp, p->files);
+
+ return IS_ERR_VALUE(u_addr) ? 0UL : u_addr;
+}
+
+void xnshadow_call_mayday(struct xnthread *thread)
+{
+ XENO_BUGON(NUCLEUS, !xnpod_current_p(thread));
+ xnarch_call_mayday();
+}
+
+static int xnshadow_sys_mayday(struct pt_regs *regs)
+{
+ struct xnthread *cur;
+
+ cur = xnshadow_thread(current);
+ if (likely(cur != NULL)) {
+ /*
+ * If the thread is amok in primary mode, this syscall
+ * we have just forced on it will cause it to
+ * relax. See do_hisyscall_event().
+ */
+ xnarch_fixup_mayday(xnthread_archtcb(cur), regs);
+ return 0;
+ }
+
+ printk(KERN_WARNING
+ "Xenomai: MAYDAY received from invalid context %s[%d]\n",
+ current->comm, current->pid);
+
+ return -EPERM;
+}
+
+static inline int mayday_init_page(void)
+{
+ mayday_page = vmalloc(PAGE_SIZE);
+ if (mayday_page == NULL) {
+ printk(KERN_ERR "Xenomai: can't alloc MAYDAY page\n");
+ return -ENOMEM;
+ }
+
+ xnarch_setup_mayday_page(mayday_page);
+
+ return 0;
+}
+
+static inline void mayday_cleanup_page(void)
+{
+ if (mayday_page)
+ vfree(mayday_page);
+}
+
+static inline void do_mayday_event(struct pt_regs *regs)
+{
+ struct xnthread *thread = xnshadow_thread(current);
+ struct xnarchtcb *tcb = xnthread_archtcb(thread);
+ struct xnshadow_ppd_t *sys_ppd;
+
+ /* We enter the event handler with hw IRQs off. */
+ xnlock_get(&nklock);
+ sys_ppd = xnshadow_ppd_get(0);
+ xnlock_put(&nklock);
+ XENO_BUGON(NUCLEUS, sys_ppd == NULL);
+
+ xnarch_handle_mayday(tcb, regs, sys_ppd->mayday_addr);
+}
+
+RTHAL_DECLARE_MAYDAY_EVENT(mayday_event);
+
+#else /* !XNARCH_HAVE_MAYDAY */
+
+static int xnshadow_sys_mayday(struct pt_regs *regs)
+{
+ return -ENOSYS;
+}
+
+static inline int mayday_init_page(void)
+{
+ return 0;
+}
+
+static inline void mayday_cleanup_page(void)
+{
+}
+
+#endif /* XNARCH_HAVE_MAYDAY */
+
static int xnshadow_sys_bind(struct pt_regs *regs)
{
xnshadow_ppd_t *ppd = NULL, *sys_ppd = NULL;
@@ -1656,6 +1791,16 @@ static int xnshadow_sys_bind(struct pt_regs *regs)
sys_ppd->key.muxid = 0;
sys_ppd->key.mm = current->mm;
+#ifdef XNARCH_HAVE_MAYDAY
+ sys_ppd->mayday_addr = map_mayday_page(current);
+ if (sys_ppd->mayday_addr == 0) {
+ printk(KERN_WARNING
+ "Xenomai: %s[%d] cannot map MAYDAY page\n",
+ current->comm, current->pid);
+ err = -ENOMEM;
+ goto fail_destroy_sys_ppd;
+ }
+#endif /* XNARCH_HAVE_MAYDAY */
if (ppd_insert(sys_ppd) == -EBUSY) {
/* In case of concurrent binding (which can not happen with
@@ -1985,6 +2130,7 @@ static xnsysent_t __systab[] = {
{&xnshadow_sys_get_next_sigs, __xn_exec_conforming},
[__xn_sys_drop_u_mode] =
{&xnshadow_sys_drop_u_mode, __xn_exec_shadow},
+ [__xn_sys_mayday] = {&xnshadow_sys_mayday,
__xn_exec_any|__xn_exec_norestart},
};
static void post_ppd_release(struct xnheap *h)
@@ -2753,6 +2899,7 @@ void xnshadow_grab_events(void)
rthal_catch_schedule(&schedule_event);
rthal_catch_setsched(&setsched_event);
rthal_catch_cleanup(&cleanup_event);
+ rthal_catch_return(&mayday_event);
}
void xnshadow_release_events(void)
@@ -2762,13 +2909,14 @@ void xnshadow_release_events(void)
rthal_catch_schedule(NULL);
rthal_catch_setsched(NULL);
rthal_catch_cleanup(NULL);
+ rthal_catch_return(NULL);
}
int xnshadow_mount(void)
{
struct xnsched *sched;
unsigned i, size;
- int cpu;
+ int cpu, ret;
nucleus_muxid = -1;
@@ -2776,7 +2924,7 @@ int xnshadow_mount(void)
nkerrptd = rthal_alloc_ptdkey();
if (nkthrptd < 0 || nkerrptd < 0) {
- printk(KERN_WARNING "Xenomai: cannot allocate PTD slots\n");
+ printk(KERN_ERR "Xenomai: cannot allocate PTD slots\n");
return -ENOMEM;
}
@@ -2797,6 +2945,16 @@ int xnshadow_mount(void)
down(&sched->gksync);
}
+ /*
+ * Setup the mayday page early, before userland can mess with
+ * real-time ops.
+ */
+ ret = mayday_init_page();
+ if (ret) {
+ xnshadow_cleanup();
+ return ret;
+ }
+
/* We need to grab these ones right now. */
rthal_catch_losyscall(&losyscall_event);
rthal_catch_hisyscall(&hisyscall_event);
@@ -2836,10 +2994,10 @@ void xnshadow_cleanup(void)
struct xnsched *sched;
int cpu;
- if (nucleus_muxid >= 0)
+ if (nucleus_muxid >= 0) {
xnshadow_unregister_interface(nucleus_muxid);
-
- nucleus_muxid = -1;
+ nucleus_muxid = -1;
+ }
if (ppd_hash)
xnarch_free_host_mem(ppd_hash,
@@ -2862,6 +3020,8 @@ void xnshadow_cleanup(void)
rthal_apc_free(lostage_apc);
rthal_free_ptdkey(nkerrptd);
rthal_free_ptdkey(nkthrptd);
+
+ mayday_cleanup_page();
}
#ifdef CONFIG_PROC_FS
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