Module: xenomai-forge
Branch: master
Commit: 1a0e255016ab5af2ab3ce5101fb84aa80aa9f13a
URL:
http://git.xenomai.org/?p=xenomai-forge.git;a=commit;h=1a0e255016ab5af2ab3ce5101fb84aa80aa9f13a
Author: Philippe Gerum <r...@xenomai.org>
Date: Wed Jul 31 11:59:30 2013 +0200
cobalt/sched: drop delayed thread cleanup via zombie state transition
Since Xenomai thread deletion now always involves a self-exit from
secondary mode, possibly after a pending cancellation request is
noticed, there is no way a thread could self-delete from primary mode
anymore.
For this reason, delaying resource cleanup until the exiting thread
schedules out from xnpod_schedule() becomes pointless, since it must
have done so earlier, when leaving primary mode prior to running
do_exit() and the taskexit handler. At this point, the exiting thread
runs in mere linux context, and may release any Xenomai-specific
resource.
We drop the mechanism for delaying thread finalization upon
self-deletion, removing all zombie state hooks in the same move.
---
include/cobalt/kernel/sched.h | 68 +++++++++++++++++++++-------------------
kernel/cobalt/lock.c | 2 +-
kernel/cobalt/pod.c | 26 ++++-----------
kernel/cobalt/sched.c | 44 +--------------------------
kernel/cobalt/shadow.c | 1 -
5 files changed, 45 insertions(+), 96 deletions(-)
diff --git a/include/cobalt/kernel/sched.h b/include/cobalt/kernel/sched.h
index be3f2c5..402c385 100644
--- a/include/cobalt/kernel/sched.h
+++ b/include/cobalt/kernel/sched.h
@@ -55,51 +55,65 @@ struct xnsched_rt {
* \brief Scheduling information structure.
*/
-typedef struct xnsched {
-
- unsigned long status; /*!< Scheduler specific status bitmask.
*/
- unsigned long lflags; /*!< Scheduler specific local flags
bitmask. */
- struct xnthread *curr; /*!< Current thread. */
+struct xnsched {
+ /*!< Scheduler specific status bitmask. */
+ unsigned long status;
+ /*!< Scheduler specific local flags bitmask. */
+ unsigned long lflags;
+ /*!< Current thread. */
+ struct xnthread *curr;
#ifdef CONFIG_SMP
+ /*!< Owner CPU id. */
int cpu;
- cpumask_t resched; /*!< Mask of CPUs needing rescheduling.
*/
+ /*!< Mask of CPUs needing rescheduling. */
+ cpumask_t resched;
#endif
- struct xnsched_rt rt; /*!< Context of built-in real-time
class. */
+ /*!< Context of built-in real-time class. */
+ struct xnsched_rt rt;
#ifdef CONFIG_XENO_OPT_SCHED_WEAK
- struct xnsched_weak weak; /*!< Context of weak scheduling class.
*/
+ /*!< Context of weak scheduling class. */
+ struct xnsched_weak weak;
#endif
#ifdef CONFIG_XENO_OPT_SCHED_TP
- struct xnsched_tp tp; /*!< Context of TP class. */
+ /*!< Context of TP class. */
+ struct xnsched_tp tp;
#endif
#ifdef CONFIG_XENO_OPT_SCHED_SPORADIC
- struct xnsched_sporadic pss; /*!< Context of sporadic scheduling
class. */
+ /*!< Context of sporadic scheduling class. */
+ struct xnsched_sporadic pss;
#endif
- volatile unsigned inesting; /*!< Interrupt nesting level. */
- struct xntimer htimer; /*!< Host timer. */
- struct xnthread *zombie;
- struct xnthread rootcb; /*!< Root thread control block. */
+ /*!< Interrupt nesting level. */
+ volatile unsigned inesting;
+ /*!< Host timer. */
+ struct xntimer htimer;
+ /*!< Root thread control block. */
+ struct xnthread rootcb;
#ifdef CONFIG_XENO_HW_UNLOCKED_SWITCH
struct xnthread *last;
#endif
#ifdef CONFIG_XENO_HW_FPU
- struct xnthread *fpuholder; /*!< Thread owning the current FPU
context. */
+ /*!< Thread owning the current FPU context. */
+ struct xnthread *fpuholder;
#endif
#ifdef CONFIG_XENO_OPT_WATCHDOG
- struct xntimer wdtimer; /*!< Watchdog timer object. */
- int wdcount; /*!< Watchdog tick count. */
+ /*!< Watchdog timer object. */
+ struct xntimer wdtimer;
+ /*!< Watchdog tick count. */
+ int wdcount;
#endif
#ifdef CONFIG_XENO_OPT_STATS
- xnticks_t last_account_switch; /*!< Last account switch date (ticks).
*/
- xnstat_exectime_t *current_account; /*!< Currently active account */
+ /*!< Last account switch date (ticks). */
+ xnticks_t last_account_switch;
+ /*!< Currently active account */
+ xnstat_exectime_t *current_account;
#endif
-} xnsched_t;
+};
DECLARE_PER_CPU(struct xnsched, nksched);
union xnsched_policy_param;
struct xnsched_class {
-
void (*sched_init)(struct xnsched *sched);
void (*sched_enqueue)(struct xnthread *thread);
void (*sched_dequeue)(struct xnthread *thread);
@@ -156,7 +170,7 @@ static inline int xnsched_resched_p(struct xnsched *sched)
/* Set resched flag for the given scheduler. */
#ifdef CONFIG_SMP
#define xnsched_set_resched(__sched__) do { \
- xnsched_t *current_sched = xnpod_current_sched(); \
+ struct xnsched *current_sched = xnpod_current_sched(); \
if (current_sched == (__sched__)) \
current_sched->status |= XNRESCHED; \
else if (!xnsched_resched_p(__sched__)) { \
@@ -169,16 +183,6 @@ static inline int xnsched_resched_p(struct xnsched *sched)
#define xnsched_set_resched xnsched_set_self_resched
#endif /* !CONFIG_SMP */
-void xnsched_zombie_hooks(struct xnthread *thread);
-
-void __xnsched_finalize_zombie(struct xnsched *sched);
-
-static inline void xnsched_finalize_zombie(struct xnsched *sched)
-{
- if (sched->zombie)
- __xnsched_finalize_zombie(sched);
-}
-
#ifdef CONFIG_XENO_HW_UNLOCKED_SWITCH
struct xnsched *xnsched_finish_unlocked_switch(struct xnsched *sched);
diff --git a/kernel/cobalt/lock.c b/kernel/cobalt/lock.c
index bc9077e..71e8860 100644
--- a/kernel/cobalt/lock.c
+++ b/kernel/cobalt/lock.c
@@ -56,7 +56,7 @@ EXPORT_SYMBOL_GPL(__xnlock_spin);
#if XENO_DEBUG(XNLOCK)
DEFINE_PER_CPU(struct xnlockinfo, xnlock_stats);
-EXPORT_PER_CPU_SYMBOL(xnlock_stats);
+EXPORT_PER_CPU_SYMBOL_GPL(xnlock_stats);
#endif
/*@}*/
diff --git a/kernel/cobalt/pod.c b/kernel/cobalt/pod.c
index 0b35cb9..89ba956 100644
--- a/kernel/cobalt/pod.c
+++ b/kernel/cobalt/pod.c
@@ -111,7 +111,7 @@ static inline void __xnpod_switch_fpu(struct xnsched *sched)
/* xnpod_switch_fpu() -- Switches to the current thread's FPU context,
saving the previous one as needed. */
-void xnpod_switch_fpu(xnsched_t *sched)
+void xnpod_switch_fpu(struct xnsched *sched)
{
__xnpod_switch_fpu(sched);
}
@@ -1511,7 +1511,7 @@ int xnpod_migrate_thread(int cpu)
}
EXPORT_SYMBOL_GPL(xnpod_migrate_thread);
-static inline void xnpod_switch_to(xnsched_t *sched,
+static inline void xnpod_switch_to(struct xnsched *sched,
xnthread_t *prev, xnthread_t *next)
{
#ifdef CONFIG_XENO_HW_UNLOCKED_SWITCH
@@ -1637,8 +1637,8 @@ static inline void leave_root(struct xnthread *root)
void __xnpod_schedule(struct xnsched *sched)
{
- int zombie, switched, need_resched, shadow;
struct xnthread *prev, *next, *curr;
+ int switched, need_resched, shadow;
spl_t s;
if (xnarch_escalate())
@@ -1657,8 +1657,6 @@ reschedule:
if (!need_resched)
goto signal_unlock_and_exit;
#endif /* !XENO_DEBUG(NUCLEUS) */
- zombie = xnthread_test_state(curr, XNZOMBIE);
-
next = xnsched_pick_next(sched);
if (next == curr) {
if (unlikely(xnthread_test_state(next, XNROOT))) {
@@ -1685,9 +1683,6 @@ reschedule:
xnfreesync();
}
- if (zombie)
- xnsched_zombie_hooks(prev);
-
sched->curr = next;
shadow = 1;
@@ -1728,15 +1723,8 @@ reschedule:
* because of relaxed/hardened transitions.
*/
curr = sched->curr;
- xntrace_pid(xnthread_host_pid(curr), xnthread_current_priority(curr));
-
- if (zombie)
- xnpod_fatal("zombie thread %s (%p) would not die...",
- prev->name, prev);
-
- xnsched_finalize_zombie(sched);
-
__xnpod_switch_fpu(sched);
+ xntrace_pid(xnthread_host_pid(curr), xnthread_current_priority(curr));
signal_unlock_and_exit:
@@ -1777,7 +1765,7 @@ shadow_epilogue:
}
EXPORT_SYMBOL_GPL(__xnpod_schedule);
-void ___xnpod_lock_sched(xnsched_t *sched)
+void ___xnpod_lock_sched(struct xnsched *sched)
{
struct xnthread *curr = sched->curr;
@@ -1788,7 +1776,7 @@ void ___xnpod_lock_sched(xnsched_t *sched)
}
EXPORT_SYMBOL_GPL(___xnpod_lock_sched);
-void ___xnpod_unlock_sched(xnsched_t *sched)
+void ___xnpod_unlock_sched(struct xnsched *sched)
{
struct xnthread *curr = sched->curr;
XENO_ASSERT(NUCLEUS, xnthread_lock_count(curr) > 0,
@@ -1913,7 +1901,7 @@ EXPORT_SYMBOL_GPL(xnpod_handle_exception);
int xnpod_enable_timesource(void)
{
int err, htickval, cpu;
- xnsched_t *sched;
+ struct xnsched *sched;
spl_t s;
xnlock_get_irqsave(&nklock, s);
diff --git a/kernel/cobalt/sched.c b/kernel/cobalt/sched.c
index 342fd00..b0f643a 100644
--- a/kernel/cobalt/sched.c
+++ b/kernel/cobalt/sched.c
@@ -31,7 +31,7 @@
#include <asm/xenomai/thread.h>
DEFINE_PER_CPU(struct xnsched, nksched);
-EXPORT_PER_CPU_SYMBOL(nksched);
+EXPORT_PER_CPU_SYMBOL_GPL(nksched);
static struct xnsched_class *xnsched_class_highest;
@@ -151,7 +151,6 @@ void xnsched_init(struct xnsched *sched, int cpu)
xntimer_set_priority(&sched->htimer, XNTIMER_LOPRIO);
xntimer_set_name(&sched->htimer, htimer_name);
xntimer_set_sched(&sched->htimer, sched);
- sched->zombie = NULL;
attr.flags = XNROOT | XNFPU;
attr.name = root_name;
@@ -241,33 +240,6 @@ struct xnthread *xnsched_pick_next(struct xnsched *sched)
#endif /* CONFIG_XENO_OPT_SCHED_CLASSES */
}
-/* Must be called with nklock locked, interrupts off. */
-void xnsched_zombie_hooks(struct xnthread *thread)
-{
- XENO_BUGON(NUCLEUS, thread->sched->zombie != NULL);
-
- thread->sched->zombie = thread;
-
- trace_mark(xn_nucleus, sched_finalize,
- "thread_out %p thread_out_name %s",
- thread, xnthread_name(thread));
-
- xnsched_forget(thread);
- xnshadow_unmap(thread);
-}
-
-void __xnsched_finalize_zombie(struct xnsched *sched)
-{
- struct xnthread *thread = sched->zombie;
-
- xnthread_cleanup(thread);
-
- if (xnthread_test_state(sched->curr, XNROOT))
- xnfreesync();
-
- sched->zombie = NULL;
-}
-
#ifdef CONFIG_XENO_HW_UNLOCKED_SWITCH
struct xnsched *xnsched_finish_unlocked_switch(struct xnsched *sched)
@@ -291,20 +263,6 @@ struct xnsched *xnsched_finish_unlocked_switch(struct
xnsched *sched)
xnthread_clear_state(last, XNMIGRATE);
}
- if (xnthread_test_state(last, XNZOMBIE)) {
- /*
- * There are two cases where sched->last has the zombie
- * bit:
- * - either it had it before the context switch, the
- * cleanup has be done and sched->zombie is last;
- * - or it has been killed while the nklocked was unlocked
- * during the context switch, in which case we must run the
- * cleanup code, and we do it now.
- */
- if (sched->zombie != last)
- xnsched_zombie_hooks(last);
- }
-
return sched;
}
diff --git a/kernel/cobalt/shadow.c b/kernel/cobalt/shadow.c
index 9efd929..06512e6 100644
--- a/kernel/cobalt/shadow.c
+++ b/kernel/cobalt/shadow.c
@@ -448,7 +448,6 @@ int xnshadow_harden(void)
/* "current" is now running into the Xenomai domain. */
sched = xnsched_finish_unlocked_switch(thread->sched);
- xnsched_finalize_zombie(sched);
xnpod_switch_fpu(sched);
xnlock_clear_irqon(&nklock);
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