Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Mark mutex as robust to prevent deadlocks #1233

Merged
merged 4 commits into from
Jan 29, 2025
Merged

Mark mutex as robust to prevent deadlocks #1233

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
42135c1
Mark mutex as robust to prevent deadlocks
aggarg Jan 25, 2025
2e38eb5
Address warnings introduced in PR #1223
aggarg Jan 25, 2025
92be5d4
Mutex robust APIs are not available on Mac
aggarg Jan 25, 2025
1a0f0cd
Merge branch 'main' into posix_port
aggarg Jan 28, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
65 changes: 44 additions & 21 deletions portable/ThirdParty/GCC/Posix/port.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -119,14 +119,20 @@ static void prvResumeThread( Thread_t * xThreadId );
static void vPortSystemTickHandler( int sig );
static void vPortStartFirstTask( void );
static void prvPortYieldFromISR( void );
static void prvThreadKeyDestructor( void * pvData );
static void prvInitThreadKey( void );
static void prvMarkAsFreeRTOSThread( void );
static BaseType_t prvIsFreeRTOSThread( void );
static void prvDestroyThreadKey( void );
/*-----------------------------------------------------------*/

void prvThreadKeyDestructor( void * data )
static void prvThreadKeyDestructor( void * pvData )
{
free( data );
free( pvData );
}
/*-----------------------------------------------------------*/

static void prvInitThreadKey()
static void prvInitThreadKey( void )
{
pthread_mutex_lock( &xThreadMutex );

Expand All @@ -137,24 +143,39 @@ static void prvInitThreadKey()

pthread_mutex_unlock( &xThreadMutex );
}
/*-----------------------------------------------------------*/

static void prvMarkAsFreeRTOSThread( pthread_t thread )
static void prvMarkAsFreeRTOSThread( void )
{
uint8_t * pucThreadData = NULL;

prvInitThreadKey();
uint8_t * thread_data = malloc( 1 );
configASSERT( thread_data != NULL );
*thread_data = 1;
pthread_setspecific( xThreadKey, thread_data );

pucThreadData = malloc( 1 );
configASSERT( pucThreadData != NULL );

*pucThreadData = 1;

pthread_setspecific( xThreadKey, pucThreadData );
}
/*-----------------------------------------------------------*/

static BaseType_t prvIsFreeRTOSThread( pthread_t thread )
static BaseType_t prvIsFreeRTOSThread( void )
{
uint8_t * thread_data = ( uint8_t * ) pthread_getspecific( xThreadKey );
uint8_t * pucThreadData = NULL;
BaseType_t xRet = pdFALSE;

return thread_data != NULL && *thread_data == 1;
pucThreadData = ( uint8_t * ) pthread_getspecific( xThreadKey );
if( ( pucThreadData != NULL ) && ( *pucThreadData == 1 ) )
{
xRet = pdTRUE;
}

return xRet;
}
/*-----------------------------------------------------------*/

static void prvDestroyThreadKey()
static void prvDestroyThreadKey( void )
{
pthread_key_delete( xThreadKey );
}
Expand Down Expand Up @@ -309,7 +330,7 @@ void vPortEndScheduler( void )
( void ) pthread_kill( hMainThread, SIG_RESUME );

/* Waiting to be deleted here. */
if( prvIsFreeRTOSThread( pthread_self() ) == pdTRUE )
if( prvIsFreeRTOSThread() == pdTRUE )
{
pxCurrentThread = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
event_wait( pxCurrentThread->ev );
Expand Down Expand Up @@ -369,7 +390,7 @@ void vPortYield( void )

void vPortDisableInterrupts( void )
{
if( prvIsFreeRTOSThread( pthread_self() ) == pdTRUE )
if( prvIsFreeRTOSThread() == pdTRUE )
{
pthread_sigmask(SIG_BLOCK, &xAllSignals, NULL);
}
Expand All @@ -378,9 +399,9 @@ void vPortDisableInterrupts( void )

void vPortEnableInterrupts( void )
{
if( prvIsFreeRTOSThread( pthread_self() ) == pdTRUE )
if( prvIsFreeRTOSThread() == pdTRUE )
{
pthread_sigmask(SIG_UNBLOCK, &xAllSignals, NULL);
pthread_sigmask( SIG_UNBLOCK, &xAllSignals, NULL );
}
}
/*-----------------------------------------------------------*/
Expand Down Expand Up @@ -417,9 +438,9 @@ static void * prvTimerTickHandler( void * arg )
{
( void ) arg;

prvMarkAsFreeRTOSThread( pthread_self() );
prvMarkAsFreeRTOSThread();

prvPortSetCurrentThreadName("Scheduler timer");
prvPortSetCurrentThreadName( "Scheduler timer" );

while( xTimerTickThreadShouldRun )
{
Expand Down Expand Up @@ -451,7 +472,7 @@ void prvSetupTimerInterrupt( void )

static void vPortSystemTickHandler( int sig )
{
if( prvIsFreeRTOSThread( pthread_self() ) == pdTRUE )
if( prvIsFreeRTOSThread() == pdTRUE )
{
Thread_t * pxThreadToSuspend;
Thread_t * pxThreadToResume;
Expand All @@ -473,7 +494,9 @@ static void vPortSystemTickHandler( int sig )
}

uxCriticalNesting--;
} else {
}
else
{
fprintf( stderr, "vPortSystemTickHandler called from non-FreeRTOS thread\n" );
}
}
Expand Down Expand Up @@ -508,7 +531,7 @@ static void * prvWaitForStart( void * pvParams )
{
Thread_t * pxThread = pvParams;

prvMarkAsFreeRTOSThread( pthread_self() );
prvMarkAsFreeRTOSThread();

prvSuspendSelf( pxThread );

Expand Down
39 changes: 35 additions & 4 deletions portable/ThirdParty/GCC/Posix/utils/wait_for_event.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -35,9 +35,11 @@
struct event
{
pthread_mutex_t mutex;
pthread_mutexattr_t mutexattr;
pthread_cond_t cond;
bool event_triggered;
};
/*-----------------------------------------------------------*/

struct event * event_create( void )
{
Expand All @@ -46,23 +48,36 @@ struct event * event_create( void )
if( ev != NULL )
{
ev->event_triggered = false;
pthread_mutex_init( &ev->mutex, NULL );
pthread_mutexattr_init( &ev->mutexattr );
#ifndef __APPLE__
Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

I wonder how we can get similar benefits on macOS/iOS

pthread_mutexattr_setrobust( &ev->mutexattr, PTHREAD_MUTEX_ROBUST );
#endif
pthread_mutex_init( &ev->mutex, &ev->mutexattr );
pthread_cond_init( &ev->cond, NULL );
}

return ev;
}
/*-----------------------------------------------------------*/

void event_delete( struct event * ev )
{
pthread_mutex_destroy( &ev->mutex );
pthread_mutexattr_destroy( &ev->mutexattr );
pthread_cond_destroy( &ev->cond );
free( ev );
}
/*-----------------------------------------------------------*/

bool event_wait( struct event * ev )
{
pthread_mutex_lock( &ev->mutex );
if( pthread_mutex_lock( &ev->mutex ) == EOWNERDEAD )
{
#ifndef __APPLE__
/* If the thread owning the mutex died, make the mutex consistent. */
pthread_mutex_consistent( &ev->mutex );
#endif
}

while( ev->event_triggered == false )
{
Expand All @@ -73,6 +88,8 @@ bool event_wait( struct event * ev )
pthread_mutex_unlock( &ev->mutex );
return true;
}
/*-----------------------------------------------------------*/

bool event_wait_timed( struct event * ev,
time_t ms )
{
Expand All @@ -82,7 +99,13 @@ bool event_wait_timed( struct event * ev,
clock_gettime( CLOCK_REALTIME, &ts );
ts.tv_sec += ms / 1000;
ts.tv_nsec += ( ( ms % 1000 ) * 1000000 );
pthread_mutex_lock( &ev->mutex );
if( pthread_mutex_lock( &ev->mutex ) == EOWNERDEAD )
{
#ifndef __APPLE__
/* If the thread owning the mutex died, make the mutex consistent. */
pthread_mutex_consistent( &ev->mutex );
#endif
}

while( ( ev->event_triggered == false ) && ( ret == 0 ) )
{
Expand All @@ -98,11 +121,19 @@ bool event_wait_timed( struct event * ev,
pthread_mutex_unlock( &ev->mutex );
return true;
}
/*-----------------------------------------------------------*/

void event_signal( struct event * ev )
{
pthread_mutex_lock( &ev->mutex );
if( pthread_mutex_lock( &ev->mutex ) == EOWNERDEAD )
{
#ifndef __APPLE__
/* If the thread owning the mutex died, make the mutex consistent. */
pthread_mutex_consistent( &ev->mutex );
#endif
}
ev->event_triggered = true;
pthread_cond_signal( &ev->cond );
pthread_mutex_unlock( &ev->mutex );
}
/*-----------------------------------------------------------*/