Module: xenomai-forge
Branch: master
Commit: 0e883200a0cae37e954a484a42da2dbfbc658284
URL:
http://git.xenomai.org/?p=xenomai-forge.git;a=commit;h=0e883200a0cae37e954a484a42da2dbfbc658284
Author: Philippe Gerum <r...@xenomai.org>
Date: Thu Nov 10 16:31:56 2011 +0100
cobalt: generalize support for extended scheduling attributes
We provide the necessary bits to create threads from userland within
Cobalt-specific scheduling classes, like SCHED_COBALT, SCHED_SPORADIC
or SCHED_TP.
To this end, we introduce pthread_create_ex(), which accepts an
extended thread attribute structure to hold the class-specific
parameters. In addition, a set of attribute accessors for this
structure is also provided, as a collection of pthread_attr_*_ex()
calls.
pthread_create() is internally rebased on pthread_create_ex(), and the
kernel support for creating Cobalt shadows is changed to accept the
extended attribute set.
---
include/cobalt/pthread.h | 141 +++++++++++++++++--------
kernel/cobalt/syscall.c | 39 ++++---
lib/cobalt/Makefile.am | 1 +
lib/cobalt/Makefile.in | 28 ++++--
lib/cobalt/attr.c | 121 +++++++++++++++++++++
lib/cobalt/thread.c | 261 +++++++++++++++++++++++++--------------------
6 files changed, 408 insertions(+), 183 deletions(-)
diff --git a/include/cobalt/pthread.h b/include/cobalt/pthread.h
index 955a6b4..acfda12 100644
--- a/include/cobalt/pthread.h
+++ b/include/cobalt/pthread.h
@@ -258,11 +258,11 @@ int pthread_attr_getfp_np(const pthread_attr_t *attr,
int pthread_attr_setfp_np(pthread_attr_t *attr,
int use_fp);
-int pthread_attr_getaffinity_np (const pthread_attr_t *attr,
- xnarch_cpumask_t *mask);
+int pthread_attr_getaffinity_np(const pthread_attr_t *attr,
+ xnarch_cpumask_t *mask);
-int pthread_attr_setaffinity_np (pthread_attr_t *attr,
- xnarch_cpumask_t mask);
+int pthread_attr_setaffinity_np(pthread_attr_t *attr,
+ xnarch_cpumask_t mask);
int pthread_create(pthread_t *tid,
const pthread_attr_t *attr,
@@ -408,49 +408,18 @@ int pthread_set_name_np(pthread_t thread,
#else /* !(__KERNEL__ || __XENO_SIM__) */
+typedef struct {
+ pthread_attr_t std;
+ struct {
+ int sched_policy;
+ struct sched_param_ex sched_param;
+ } nonstd;
+} pthread_attr_ex_t;
+
#ifdef __cplusplus
extern "C" {
#endif
-#ifndef HAVE_PTHREAD_MUTEXATTR_SETPROTOCOL
-int pthread_mutexattr_getprotocol(const pthread_mutexattr_t *attr,
- int *proto);
-
-int pthread_mutexattr_setprotocol(pthread_mutexattr_t *attr,
- int proto);
-#endif
-
-#ifndef HAVE_PTHREAD_CONDATTR_SETCLOCK
-int pthread_condattr_getclock(const pthread_condattr_t *attr,
- clockid_t *clk_id);
-
-int pthread_condattr_setclock(pthread_condattr_t *attr,
- clockid_t clk_id);
-#endif
-
-int pthread_make_periodic_np(pthread_t thread,
- clockid_t clk_id,
- struct timespec *starttp,
- struct timespec *periodtp);
-
-int pthread_wait_np(unsigned long *overruns_r);
-
-int pthread_set_mode_np(int clrmask, int setmask,
- int *mask_r);
-
-int pthread_set_name_np(pthread_t thread,
- const char *name);
-
-int pthread_probe_np(pid_t tid);
-
-int pthread_getschedparam_ex(pthread_t tid,
- int *pol,
- struct sched_param_ex *par);
-
-int pthread_setschedparam_ex(pthread_t tid,
- int pol,
- const struct sched_param_ex *par);
-
COBALT_DECL(int, pthread_attr_setschedpolicy(pthread_attr_t *attr,
int policy));
@@ -545,6 +514,92 @@ COBALT_DECL(int, pthread_cond_broadcast(pthread_cond_t
*cond));
COBALT_DECL(int, pthread_kill(pthread_t tid, int sig));
+#ifndef HAVE_PTHREAD_MUTEXATTR_SETPROTOCOL
+COBALT_DECL(int, pthread_mutexattr_getprotocol(const pthread_mutexattr_t *attr,
+ int *proto));
+
+COBALT_DECL(int, pthread_mutexattr_setprotocol(pthread_mutexattr_t *attr,
+ int proto));
+#endif
+
+#ifndef HAVE_PTHREAD_CONDATTR_SETCLOCK
+COBALT_DECL(int, pthread_condattr_getclock(const pthread_condattr_t *attr,
+ clockid_t *clk_id));
+
+COBALT_DECL(int pthread_condattr_setclock(pthread_condattr_t *attr,
+ clockid_t clk_id));
+#endif
+
+int pthread_make_periodic_np(pthread_t thread,
+ clockid_t clk_id,
+ struct timespec *starttp,
+ struct timespec *periodtp);
+
+int pthread_wait_np(unsigned long *overruns_r);
+
+int pthread_set_mode_np(int clrmask, int setmask,
+ int *mask_r);
+
+int pthread_set_name_np(pthread_t thread,
+ const char *name);
+
+int pthread_probe_np(pid_t tid);
+
+int pthread_create_ex(pthread_t *tid,
+ const pthread_attr_ex_t *attr_ex,
+ void *(*start)(void *),
+ void *arg);
+
+int pthread_getschedparam_ex(pthread_t tid,
+ int *pol,
+ struct sched_param_ex *par);
+
+int pthread_setschedparam_ex(pthread_t tid,
+ int pol,
+ const struct sched_param_ex *par);
+
+int pthread_attr_init_ex(pthread_attr_ex_t *attr_ex);
+
+int pthread_attr_destroy_ex(pthread_attr_ex_t *attr_ex);
+
+int pthread_attr_setschedpolicy_ex(pthread_attr_ex_t *attr_ex,
+ int policy);
+
+int pthread_attr_getschedpolicy_ex(const pthread_attr_ex_t *attr_ex,
+ int *policy);
+
+int pthread_attr_setschedparam_ex(pthread_attr_ex_t *attr_ex,
+ const struct sched_param_ex *param_ex);
+
+int pthread_attr_getschedparam_ex(const pthread_attr_ex_t *attr_ex,
+ struct sched_param_ex *param_ex);
+
+int pthread_attr_getinheritsched_ex(const pthread_attr_ex_t *attr_ex,
+ int *inheritsched);
+
+int pthread_attr_setinheritsched_ex(pthread_attr_ex_t *attr_ex,
+ int inheritsched);
+
+int pthread_attr_getdetachstate_ex(const pthread_attr_ex_t *attr_ex,
+ int *detachstate);
+
+int pthread_attr_setdetachstate_ex(pthread_attr_ex_t *attr_ex,
+ int detachstate);
+
+int pthread_attr_setdetachstate_ex(pthread_attr_ex_t *attr_ex,
+ int detachstate);
+
+int pthread_attr_getstacksize_ex(const pthread_attr_ex_t *attr_ex,
+ size_t *stacksize);
+
+int pthread_attr_setstacksize_ex(pthread_attr_ex_t *attr_ex,
+ size_t stacksize);
+
+int pthread_attr_getscope_ex(const pthread_attr_ex_t *attr_ex,
+ int *scope);
+
+int pthread_attr_setscope_ex(pthread_attr_ex_t *attr_ex,
+ int scope);
#ifdef __cplusplus
}
#endif
diff --git a/kernel/cobalt/syscall.c b/kernel/cobalt/syscall.c
index d5c2ff8..9574eeb 100644
--- a/kernel/cobalt/syscall.c
+++ b/kernel/cobalt/syscall.c
@@ -207,16 +207,19 @@ static int __tid_probe(pid_t h_tid)
return ret;
}
-static int __pthread_create(unsigned long tid,
- int policy, int sched_prio,
+static int __pthread_create(unsigned long tid, int policy,
+ struct sched_param_ex __user *u_param,
unsigned long __user *u_mode)
{
struct task_struct *p = current;
+ struct sched_param_ex param;
struct cobalt_hkey hkey;
pthread_attr_t attr;
pthread_t k_tid;
- int err;
+ int ret;
+ if (__xn_safe_copy_from_user(¶m, u_param, sizeof(param)))
+ return -EFAULT;
/*
* We have been passed the pthread_t identifier the user-space
* POSIX library has assigned to our caller; we'll index our
@@ -233,25 +236,31 @@ static int __pthread_create(unsigned long tid,
pthread_attr_init(&attr);
attr.policy = policy;
attr.detachstate = PTHREAD_CREATE_DETACHED;
- attr.schedparam_ex.sched_priority = sched_prio;
+ attr.schedparam_ex = param;
attr.fp = 1;
attr.name = p->comm;
- err = pthread_create(&k_tid, &attr, NULL, NULL);
+ ret = pthread_create(&k_tid, &attr, NULL, NULL);
+ if (ret)
+ return -ret;
- if (err)
- return -err; /* Conventionally, our error codes are
negative. */
+ ret = xnshadow_map(&k_tid->threadbase, NULL, u_mode);
+ if (ret)
+ goto fail;
- err = xnshadow_map(&k_tid->threadbase, NULL, u_mode);
- if (err == 0 && !__pthread_hash(&hkey, k_tid, task_pid_vnr(p)))
- err = -ENOMEM;
+ if (!__pthread_hash(&hkey, k_tid, task_pid_vnr(p))) {
+ ret = -ENOMEM;
+ goto fail;
+ }
- if (err)
- cobalt_thread_abort(k_tid, NULL);
- else
- k_tid->hkey = hkey;
+ k_tid->hkey = hkey;
- return err;
+ return 0;
+
+fail:
+ cobalt_thread_abort(k_tid, NULL);
+
+ return ret;
}
#define __pthread_detach __cobalt_call_not_available
diff --git a/lib/cobalt/Makefile.am b/lib/cobalt/Makefile.am
index 6e5942f..28d8453 100644
--- a/lib/cobalt/Makefile.am
+++ b/lib/cobalt/Makefile.am
@@ -12,6 +12,7 @@ libcobalt_la_LDFLAGS = @XENO_DLOPEN_CONSTRAINT@ -version-info
2:0:0 -lpthread -l
libcobalt_la_SOURCES = \
assert_context.c \
+ attr.c \
bind.c \
current.c \
sem_heap.c \
diff --git a/lib/cobalt/Makefile.in b/lib/cobalt/Makefile.in
index 38b0342..127e993 100644
--- a/lib/cobalt/Makefile.in
+++ b/lib/cobalt/Makefile.in
@@ -79,15 +79,16 @@ am__installdirs = "$(DESTDIR)$(libdir)"
LTLIBRARIES = $(lib_LTLIBRARIES)
libcobalt_la_LIBADD =
am_libcobalt_la_OBJECTS = libcobalt_la-assert_context.lo \
- libcobalt_la-bind.lo libcobalt_la-current.lo \
- libcobalt_la-sem_heap.lo libcobalt_la-sigshadow.lo \
- libcobalt_la-timeconv.lo libcobalt_la-init.lo \
- libcobalt_la-internal.lo libcobalt_la-thread.lo \
- libcobalt_la-timer.lo libcobalt_la-semaphore.lo \
- libcobalt_la-clock.lo libcobalt_la-cond.lo libcobalt_la-mq.lo \
- libcobalt_la-mutex.lo libcobalt_la-shm.lo \
- libcobalt_la-select.lo libcobalt_la-rtdm.lo \
- libcobalt_la-printf.lo libcobalt_la-wrappers.lo
+ libcobalt_la-attr.lo libcobalt_la-bind.lo \
+ libcobalt_la-current.lo libcobalt_la-sem_heap.lo \
+ libcobalt_la-sigshadow.lo libcobalt_la-timeconv.lo \
+ libcobalt_la-init.lo libcobalt_la-internal.lo \
+ libcobalt_la-thread.lo libcobalt_la-timer.lo \
+ libcobalt_la-semaphore.lo libcobalt_la-clock.lo \
+ libcobalt_la-cond.lo libcobalt_la-mq.lo libcobalt_la-mutex.lo \
+ libcobalt_la-shm.lo libcobalt_la-select.lo \
+ libcobalt_la-rtdm.lo libcobalt_la-printf.lo \
+ libcobalt_la-wrappers.lo
libcobalt_la_OBJECTS = $(am_libcobalt_la_OBJECTS)
libcobalt_la_LINK = $(LIBTOOL) --tag=CC $(AM_LIBTOOLFLAGS) \
$(LIBTOOLFLAGS) --mode=link $(CCLD) $(AM_CFLAGS) $(CFLAGS) \
@@ -277,6 +278,7 @@ lib_LTLIBRARIES = libcobalt.la
libcobalt_la_LDFLAGS = @XENO_DLOPEN_CONSTRAINT@ -version-info 2:0:0 -lpthread
-lrt
libcobalt_la_SOURCES = \
assert_context.c \
+ attr.c \
bind.c \
current.c \
sem_heap.c \
@@ -378,6 +380,7 @@ distclean-compile:
-rm -f *.tab.c
@AMDEP_TRUE@@am__include@
@am__quote@./$(DEPDIR)/libcobalt_la-assert_context.Plo@am__quote@
+@AMDEP_TRUE@@am__include@
@am__quote@./$(DEPDIR)/libcobalt_la-attr.Plo@am__quote@
@AMDEP_TRUE@@am__include@
@am__quote@./$(DEPDIR)/libcobalt_la-bind.Plo@am__quote@
@AMDEP_TRUE@@am__include@
@am__quote@./$(DEPDIR)/libcobalt_la-clock.Plo@am__quote@
@AMDEP_TRUE@@am__include@
@am__quote@./$(DEPDIR)/libcobalt_la-cond.Plo@am__quote@
@@ -426,6 +429,13 @@ libcobalt_la-assert_context.lo: assert_context.c
@AMDEP_TRUE@@am__fastdepCC_FALSE@ DEPDIR=$(DEPDIR) $(CCDEPMODE)
$(depcomp) @AMDEPBACKSLASH@
@am__fastdepCC_FALSE@ $(LIBTOOL) --tag=CC $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS)
--mode=compile $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES)
$(libcobalt_la_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o
libcobalt_la-assert_context.lo `test -f 'assert_context.c' || echo
'$(srcdir)/'`assert_context.c
+libcobalt_la-attr.lo: attr.c
+@am__fastdepCC_TRUE@ $(LIBTOOL) --tag=CC $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS)
--mode=compile $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES)
$(libcobalt_la_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -MT
libcobalt_la-attr.lo -MD -MP -MF $(DEPDIR)/libcobalt_la-attr.Tpo -c -o
libcobalt_la-attr.lo `test -f 'attr.c' || echo '$(srcdir)/'`attr.c
+@am__fastdepCC_TRUE@ $(am__mv) $(DEPDIR)/libcobalt_la-attr.Tpo
$(DEPDIR)/libcobalt_la-attr.Plo
+@AMDEP_TRUE@@am__fastdepCC_FALSE@ source='attr.c'
object='libcobalt_la-attr.lo' libtool=yes @AMDEPBACKSLASH@
+@AMDEP_TRUE@@am__fastdepCC_FALSE@ DEPDIR=$(DEPDIR) $(CCDEPMODE)
$(depcomp) @AMDEPBACKSLASH@
+@am__fastdepCC_FALSE@ $(LIBTOOL) --tag=CC $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS)
--mode=compile $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES)
$(libcobalt_la_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o
libcobalt_la-attr.lo `test -f 'attr.c' || echo '$(srcdir)/'`attr.c
+
libcobalt_la-bind.lo: bind.c
@am__fastdepCC_TRUE@ $(LIBTOOL) --tag=CC $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS)
--mode=compile $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES)
$(libcobalt_la_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -MT
libcobalt_la-bind.lo -MD -MP -MF $(DEPDIR)/libcobalt_la-bind.Tpo -c -o
libcobalt_la-bind.lo `test -f 'bind.c' || echo '$(srcdir)/'`bind.c
@am__fastdepCC_TRUE@ $(am__mv) $(DEPDIR)/libcobalt_la-bind.Tpo
$(DEPDIR)/libcobalt_la-bind.Plo
diff --git a/lib/cobalt/attr.c b/lib/cobalt/attr.c
new file mode 100644
index 0000000..5c8f8d7
--- /dev/null
+++ b/lib/cobalt/attr.c
@@ -0,0 +1,121 @@
+/*
+ * Copyright (C) 2011 Philippe Gerum <r...@xenomai.org>.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <stddef.h>
+#include <errno.h>
+#include <pthread.h>
+
+int pthread_attr_init_ex(pthread_attr_ex_t *attr_ex)
+{
+ struct sched_param param;
+ int policy;
+
+ /* We start with the default standard attribute set. */
+ pthread_attr_init(&attr_ex->std);
+ pthread_attr_getschedpolicy(&attr_ex->std, &policy);
+ attr_ex->nonstd.sched_policy = policy;
+ pthread_attr_getschedparam(&attr_ex->std, ¶m);
+ attr_ex->nonstd.sched_param.sched_priority = param.sched_priority;
+
+ return 0;
+}
+
+int pthread_attr_destroy_ex(pthread_attr_ex_t *attr_ex)
+{
+ return pthread_attr_destroy(&attr_ex->std);
+}
+
+int pthread_attr_setschedpolicy_ex(pthread_attr_ex_t *attr_ex,
+ int policy)
+{
+ attr_ex->nonstd.sched_policy = policy;
+
+ return 0;
+}
+
+int pthread_attr_getschedpolicy_ex(const pthread_attr_ex_t *attr_ex,
+ int *policy)
+{
+ *policy = attr_ex->nonstd.sched_policy;
+
+ return 0;
+}
+
+int pthread_attr_setschedparam_ex(pthread_attr_ex_t *attr_ex,
+ const struct sched_param_ex *param_ex)
+{
+ attr_ex->nonstd.sched_param = *param_ex;
+
+ return 0;
+}
+
+int pthread_attr_getschedparam_ex(const pthread_attr_ex_t *attr_ex,
+ struct sched_param_ex *param_ex)
+{
+ *param_ex = attr_ex->nonstd.sched_param;
+
+ return 0;
+}
+
+int pthread_attr_setinheritsched_ex(pthread_attr_ex_t *attr_ex,
+ int inheritsched)
+{
+ return pthread_attr_setinheritsched(&attr_ex->std, inheritsched);
+}
+
+int pthread_attr_getinheritsched_ex(const pthread_attr_ex_t *attr_ex,
+ int *inheritsched)
+{
+ return pthread_attr_getinheritsched(&attr_ex->std, inheritsched);
+}
+
+int pthread_attr_getdetachstate_ex(const pthread_attr_ex_t *attr_ex,
+ int *detachstate)
+{
+ return pthread_attr_getdetachstate(&attr_ex->std, detachstate);
+}
+
+int pthread_attr_setdetachstate_ex(pthread_attr_ex_t *attr_ex,
+ int detachstate)
+{
+ return pthread_attr_setdetachstate(&attr_ex->std, detachstate);
+}
+
+int pthread_attr_getstacksize_ex(const pthread_attr_ex_t *attr_ex,
+ size_t *stacksize)
+{
+ return pthread_attr_getstacksize(&attr_ex->std, stacksize);
+}
+
+int pthread_attr_setstacksize_ex(pthread_attr_ex_t *attr_ex,
+ size_t stacksize)
+{
+ return pthread_attr_setstacksize(&attr_ex->std, stacksize);
+}
+
+int pthread_attr_getscope_ex(const pthread_attr_ex_t *attr_ex,
+ int *scope)
+{
+ return pthread_attr_getscope(&attr_ex->std, scope);
+}
+
+int pthread_attr_setscope_ex(pthread_attr_ex_t *attr_ex,
+ int scope)
+{
+ return pthread_attr_setscope(&attr_ex->std, scope);
+}
diff --git a/lib/cobalt/thread.c b/lib/cobalt/thread.c
index e4a2ca2..dd23587 100644
--- a/lib/cobalt/thread.c
+++ b/lib/cobalt/thread.c
@@ -32,28 +32,29 @@
extern int __cobalt_muxid;
-static pthread_attr_t default_attr;
+static pthread_attr_ex_t default_attr_ex;
+
static int linuxthreads;
int __wrap_pthread_setschedparam(pthread_t thread,
int policy, const struct sched_param *param)
{
- pthread_t myself = pthread_self();
+ volatile pthread_t myself = pthread_self();
unsigned long mode_offset;
- int err, promoted;
+ int ret, promoted;
if (thread == myself)
xeno_fault_stack();
- err = -XENOMAI_SKINCALL5(__cobalt_muxid,
+ ret = -XENOMAI_SKINCALL5(__cobalt_muxid,
__cobalt_thread_setschedparam,
thread, policy, param,
&mode_offset, &promoted);
- if (err == EPERM)
+ if (ret == EPERM)
return __STD(pthread_setschedparam(thread, policy, param));
- if (!err && promoted) {
+ if (ret == 0 && promoted) {
xeno_sigshadow_install_once();
xeno_set_current();
xeno_set_current_mode(mode_offset);
@@ -61,31 +62,30 @@ int __wrap_pthread_setschedparam(pthread_t thread,
XENOMAI_SYSCALL1(__xn_sys_migrate, XENOMAI_XENO_DOMAIN);
}
- return err;
+ return ret;
}
int pthread_setschedparam_ex(pthread_t thread,
int policy, const struct sched_param_ex *param)
{
- pthread_t myself = pthread_self();
+ volatile pthread_t myself = pthread_self();
struct sched_param short_param;
unsigned long mode_offset;
- int err, promoted;
+ int ret, promoted;
if (thread == myself)
xeno_fault_stack();
- err = -XENOMAI_SKINCALL5(__cobalt_muxid,
+ ret = -XENOMAI_SKINCALL5(__cobalt_muxid,
__cobalt_thread_setschedparam_ex,
thread, policy, param,
&mode_offset, &promoted);
-
- if (err == EPERM) {
+ if (ret == EPERM) {
short_param.sched_priority = param->sched_priority;
return __STD(pthread_setschedparam(thread, policy,
&short_param));
}
- if (!err && promoted) {
+ if (ret == 0 && promoted) {
xeno_sigshadow_install_once();
xeno_set_current();
xeno_set_current_mode(mode_offset);
@@ -93,23 +93,22 @@ int pthread_setschedparam_ex(pthread_t thread,
XENOMAI_SYSCALL1(__xn_sys_migrate, XENOMAI_XENO_DOMAIN);
}
- return err;
+ return ret;
}
int __wrap_pthread_getschedparam(pthread_t thread,
int *__restrict__ policy,
struct sched_param *__restrict__ param)
{
- int err;
+ int ret;
- err = -XENOMAI_SKINCALL3(__cobalt_muxid,
+ ret = -XENOMAI_SKINCALL3(__cobalt_muxid,
__cobalt_thread_getschedparam,
thread, policy, param);
-
- if (err == ESRCH)
+ if (ret == ESRCH)
return __STD(pthread_getschedparam(thread, policy, param));
- return err;
+ return ret;
}
int pthread_getschedparam_ex(pthread_t thread,
@@ -117,29 +116,29 @@ int pthread_getschedparam_ex(pthread_t thread,
struct sched_param_ex *__restrict__ param)
{
struct sched_param short_param;
- int err;
+ int ret;
- err = -XENOMAI_SKINCALL3(__cobalt_muxid,
+ ret = -XENOMAI_SKINCALL3(__cobalt_muxid,
__cobalt_thread_getschedparam_ex,
thread, policy, param);
-
- if (err == ESRCH) {
- err = __STD(pthread_getschedparam(thread, policy,
&short_param));
- if (err == 0)
+ if (ret == ESRCH) {
+ ret = __STD(pthread_getschedparam(thread, policy,
&short_param));
+ if (ret == 0)
param->sched_priority = short_param.sched_priority;
}
- return err;
+ return ret;
}
int __wrap_sched_yield(void)
{
- int err = -XENOMAI_SKINCALL0(__cobalt_muxid, __cobalt_sched_yield);
+ int ret;
- if (err == -1)
- err = __STD(sched_yield());
+ ret = -XENOMAI_SKINCALL0(__cobalt_muxid, __cobalt_sched_yield);
+ if (ret == -1)
+ ret = __STD(sched_yield());
- return err;
+ return ret;
}
int __wrap_sched_get_priority_min(int policy)
@@ -178,131 +177,161 @@ int __wrap_pthread_yield(void)
}
struct pthread_iargs {
- void *(*start) (void *);
- void *arg;
+ struct sched_param_ex param_ex;
int policy;
- int parent_prio, prio;
+ void *(*start)(void *);
+ void *arg;
+ int parent_prio;
sem_t sync;
int ret;
};
-static void *__pthread_trampoline(void *arg)
+static void *__pthread_trampoline(void *p)
{
- struct pthread_iargs *iargs = (struct pthread_iargs *)arg;
- /* Avoid smart versions of gcc to trashes the syscall
- registers (again, see later comment). */
+ /*
+ * Volatile is to prevent (too) smart gcc releases from
+ * trashing the syscall registers (see later comment).
+ */
volatile pthread_t tid = pthread_self();
- void *(*start) (void *), *cookie;
+ struct pthread_iargs *iargs = p;
+ struct sched_param_ex param_ex;
+ void *(*start)(void *), *arg;
unsigned long mode_offset;
- struct sched_param param;
- void *status = NULL;
int parent_prio, policy;
- long err;
+ long ret;
xeno_sigshadow_install_once();
- param.sched_priority = iargs->prio;
+ param_ex = iargs->param_ex;
policy = iargs->policy;
parent_prio = iargs->parent_prio;
-
- /* Do _not_ inline the call to pthread_self() in the syscall
- macro: this trashes the syscall regs on some archs. */
- err = XENOMAI_SKINCALL4(__cobalt_muxid, __cobalt_thread_create, tid,
- iargs->policy, iargs->prio, &mode_offset);
- iargs->ret = -err;
-
- /* We must save anything we'll need to use from *iargs on our own
- stack now before posting the sync sema4, since our released
- parent could unwind the stack space onto which the iargs struct
- is laid on before we actually get the CPU back. */
-
start = iargs->start;
- cookie = iargs->arg;
-
- if (!err) {
+ arg = iargs->arg;
+
+ /*
+ * Do _not_ inline the call to pthread_self() in the syscall
+ * macro: this trashes the syscall regs on some archs.
+ */
+ ret = XENOMAI_SKINCALL4(__cobalt_muxid, __cobalt_thread_create, tid,
+ policy, ¶m_ex, &mode_offset);
+ if (ret == 0) {
xeno_set_current();
xeno_set_current_mode(mode_offset);
}
+ /*
+ * We must access anything we'll need from *iargs before
+ * posting the sync semaphore, since our released parent could
+ * unwind the stack space onto which the iargs struct is laid
+ * on before we actually get the CPU back.
+ */
+ iargs->ret = -ret;
__STD(sem_post(&iargs->sync));
+ if (ret)
+ return (void *)-ret;
- if (!err) {
- /* If the thread running pthread_create runs with the same
- priority as us, we should leave it running, as if there never
- was a synchronization with a semaphore. */
- if (param.sched_priority == parent_prio)
- __wrap_sched_yield();
+ /*
+ * If the parent thread runs with the same priority as we do,
+ * then we should yield the CPU to it, to preserve the
+ * scheduling order.
+ */
+ if (param_ex.sched_priority == parent_prio)
+ __wrap_sched_yield();
- if (policy != SCHED_OTHER)
- XENOMAI_SYSCALL1(__xn_sys_migrate, XENOMAI_XENO_DOMAIN);
- status = start(cookie);
- } else
- status = (void *)-err;
+ if (policy != SCHED_OTHER)
+ XENOMAI_SYSCALL1(__xn_sys_migrate, XENOMAI_XENO_DOMAIN);
- return status;
+ return start(arg);
}
-int __wrap_pthread_create(pthread_t *tid,
- const pthread_attr_t * attr,
- void *(*start) (void *), void *arg)
+int pthread_create_ex(pthread_t *tid,
+ const pthread_attr_ex_t *attr_ex,
+ void *(*start) (void *), void *arg)
{
struct pthread_iargs iargs;
struct sched_param param;
- pthread_attr_t iattr;
- int inherit, err;
+ pthread_attr_t attr;
+ int inherit, ret;
pthread_t ltid;
size_t stksz;
- if (!attr)
- attr = &default_attr;
+ if (attr_ex == NULL)
+ attr_ex = &default_attr_ex;
+
+ pthread_getschedparam_ex(pthread_self(), &iargs.policy,
&iargs.param_ex);
+ iargs.parent_prio = iargs.param_ex.sched_priority;
+ memcpy(&attr, &attr_ex->std, sizeof(attr));
- pthread_attr_getinheritsched(attr, &inherit);
- __wrap_pthread_getschedparam(pthread_self(), &iargs.policy, ¶m);
- iargs.parent_prio = param.sched_priority;
+ pthread_attr_getinheritsched(&attr, &inherit);
if (inherit == PTHREAD_EXPLICIT_SCHED) {
- pthread_attr_getschedpolicy(attr, &iargs.policy);
- pthread_attr_getschedparam(attr, ¶m);
+ pthread_attr_getschedpolicy_ex(attr_ex, &iargs.policy);
+ pthread_attr_getschedparam_ex(attr_ex, &iargs.param_ex);
}
- iargs.prio = param.sched_priority;
- memcpy(&iattr, attr, sizeof(pthread_attr_t));
if (linuxthreads && geteuid()) {
- /* Work around linuxthreads shortcoming: it doesn't believe
- that it could have RT power as non-root and fails the
- thread creation overeagerly. */
- pthread_attr_setinheritsched(&iattr, PTHREAD_EXPLICIT_SCHED);
+ /*
+ * Work around linuxthreads shortcoming: it doesn't
+ * believe that it could have RT power as non-root and
+ * fails the thread creation overeagerly.
+ */
+ pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
param.sched_priority = 0;
- pthread_attr_setschedpolicy(&iattr, SCHED_OTHER);
- pthread_attr_setschedparam(&iattr, ¶m);
+ pthread_attr_setschedpolicy(&attr, SCHED_OTHER);
+ pthread_attr_setschedparam(&attr, ¶m);
} else
- /* Get the created thread to temporarily inherit pthread_create
- caller priority */
- pthread_attr_setinheritsched(&iattr, PTHREAD_INHERIT_SCHED);
- pthread_attr_getstacksize(&iattr, &stksz);
- pthread_attr_setstacksize(&iattr, xeno_stacksize(stksz));
- attr = &iattr;
-
- /* First start a native POSIX thread, then associate a Xenomai shadow to
- it. */
-
+ /*
+ * Get the created thread to temporarily inherit the
+ * caller priority (we mean linux/libc priority here,
+ * as we use a libc call to create the thread).
+ */
+ pthread_attr_setinheritsched(&attr, PTHREAD_INHERIT_SCHED);
+
+ pthread_attr_getstacksize(&attr, &stksz);
+ pthread_attr_setstacksize(&attr, xeno_stacksize(stksz));
+
+ /*
+ * First start a native POSIX thread, then mate a Xenomai
+ * shadow to it.
+ */
iargs.start = start;
iargs.arg = arg;
iargs.ret = EAGAIN;
__STD(sem_init(&iargs.sync, 0, 0));
- err = __STD(pthread_create(<id, attr,
- &__pthread_trampoline, &iargs));
+ ret = __STD(pthread_create(<id, &attr, &__pthread_trampoline,
&iargs));
+ if (ret)
+ goto fail;
+
+ while (__STD(sem_wait(&iargs.sync)) && errno == EINTR)
+ ;
- if (!err)
- while (__STD(sem_wait(&iargs.sync)) && errno == EINTR) ;
+ ret = iargs.ret;
+ if (ret == 0)
+ *tid = ltid;
+fail:
__STD(sem_destroy(&iargs.sync));
- err = err ?: iargs.ret;
+ return ret;
+}
- if (!err)
- *tid = ltid;
+int __wrap_pthread_create(pthread_t *tid,
+ const pthread_attr_t *attr,
+ void *(*start) (void *), void *arg)
+{
+ pthread_attr_ex_t attr_ex;
+ struct sched_param param;
+ int policy;
+
+ if (attr == NULL)
+ attr = &default_attr_ex.std;
+
+ memcpy(&attr_ex.std, attr, sizeof(*attr));
+ pthread_attr_getschedpolicy(attr, &policy);
+ attr_ex.nonstd.sched_policy = policy;
+ pthread_attr_getschedparam(attr, ¶m);
+ attr_ex.nonstd.sched_param.sched_priority = param.sched_priority;
- return err;
+ return pthread_create_ex(tid, &attr_ex, start, arg);
}
int pthread_make_periodic_np(pthread_t thread,
@@ -317,16 +346,16 @@ int pthread_make_periodic_np(pthread_t thread,
int pthread_wait_np(unsigned long *overruns_r)
{
- int err, oldtype;
+ int ret, oldtype;
pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, &oldtype);
- err = -XENOMAI_SKINCALL1(__cobalt_muxid,
+ ret = -XENOMAI_SKINCALL1(__cobalt_muxid,
__cobalt_thread_wait, overruns_r);
pthread_setcanceltype(oldtype, NULL);
- return err;
+ return ret;
}
int pthread_set_mode_np(int clrmask, int setmask, int *mode_r)
@@ -350,19 +379,19 @@ int pthread_probe_np(pid_t tid)
int __wrap_pthread_kill(pthread_t thread, int sig)
{
- int err;
- err = -XENOMAI_SKINCALL2(__cobalt_muxid,
- __cobalt_thread_kill, thread, sig);
+ int ret;
- if (err == ESRCH)
+ ret = -XENOMAI_SKINCALL2(__cobalt_muxid,
+ __cobalt_thread_kill, thread, sig);
+ if (ret == ESRCH)
return __STD(pthread_kill(thread, sig));
- return err;
+ return ret;
}
static __attribute__((constructor)) void cobalt_thread_init(void)
{
- pthread_attr_init(&default_attr);
+ pthread_attr_init_ex(&default_attr_ex);
#ifdef _CS_GNU_LIBPTHREAD_VERSION
{
char vers[128];
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