rt-thread/components/libc/pthreads/pthread.c

/*
 * File      : pthread.c
 * This file is part of RT-Thread RTOS
 * COPYRIGHT (C) 2012, RT-Thread Development Team
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program 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 General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License along
 *  with this program; if not, write to the Free Software Foundation, Inc.,
 *  51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
 *
 * Change Logs:
 * Date           Author       Notes
 */

#include <pthread.h>
#include <sched.h>
#include "pthread_internal.h"

int pthread_system_init(void)
{
    /* initialize clock and time */
    clock_time_system_init();

    /* initialize key area */
    pthread_key_system_init();
    /* initialize posix mqueue */
    posix_mq_system_init();
    /* initialize posix semaphore */
    posix_sem_system_init();

    return 0;
}
INIT_COMPONENT_EXPORT(pthread_system_init);

static void _pthread_cleanup(rt_thread_t tid)
{
    _pthread_data_t *ptd;
    ptd = _pthread_get_data(tid);

    /* clear cleanup function */
    tid->cleanup = RT_NULL;
    if (ptd->attr.detachstate == PTHREAD_CREATE_JOINABLE)
    {
        rt_sem_release(ptd->joinable_sem);
    }
    else
    {
        /* release pthread resource */
        pthread_detach(tid);
    }
}

static void pthread_entry_stub(void *parameter)
{
    _pthread_data_t *ptd;
    void *value;

    ptd = (_pthread_data_t*)parameter;

    /* execute pthread entry */
    value = ptd->thread_entry(ptd->thread_parameter);
    /* set value */
    ptd->return_value = value;
}

int pthread_create(pthread_t            *tid,
                   const pthread_attr_t *attr, 
                   void *(*start) (void *), void *parameter)
{
    int result;
    void *stack;
    char name[RT_NAME_MAX];
    static rt_uint16_t pthread_number = 0;
    _pthread_data_t *ptd;

    /* tid shall be provided */
    RT_ASSERT(tid != RT_NULL);

    /* allocate posix thread data */
    ptd = (_pthread_data_t*)rt_malloc(sizeof(_pthread_data_t));
    if (ptd == RT_NULL)
        return ENOMEM;
    /* clean posix thread data memory */
    rt_memset(ptd, 0, sizeof(_pthread_data_t));
    ptd->canceled = 0;
    ptd->cancelstate = PTHREAD_CANCEL_DISABLE;
    ptd->canceltype = PTHREAD_CANCEL_DEFERRED;
    ptd->magic = PTHREAD_MAGIC;

    if (attr != RT_NULL)
        ptd->attr = *attr;
    else 
    {
        /* use default attribute */
        pthread_attr_init(&ptd->attr);
    }

    rt_snprintf(name, sizeof(name), "pth%02d", pthread_number ++);
    if (ptd->attr.stack_base == 0)
    {
        stack = (void*)rt_malloc(ptd->attr.stack_size);
    }
    else
        stack = (void*)(ptd->attr.stack_base);

    if (stack == RT_NULL) 
    {
        rt_free(ptd);

        return ENOMEM;
    }

    /* pthread is a static thread object */
    ptd->tid = (rt_thread_t) rt_malloc(sizeof(struct rt_thread));
    if (ptd->tid == RT_NULL)
    {
        if (ptd->attr.stack_base == 0)
            rt_free(stack);
        rt_free(ptd);

        return ENOMEM;
    }

    if (ptd->attr.detachstate == PTHREAD_CREATE_JOINABLE)
    {
        ptd->joinable_sem = rt_sem_create(name, 0, RT_IPC_FLAG_FIFO);
        if (ptd->joinable_sem == RT_NULL)
        {
            if (ptd->attr.stack_base != 0)
                rt_free(stack);
            rt_free(ptd);

            return ENOMEM;
        }
    }
    else
        ptd->joinable_sem = RT_NULL;

    /* set parameter */
    ptd->thread_entry = start;
    ptd->thread_parameter = parameter;

    /* initial this pthread to system */
    if (rt_thread_init(ptd->tid, name, pthread_entry_stub, ptd, 
        stack, ptd->attr.stack_size, 
        ptd->attr.priority, 5) != RT_EOK)
    {
        if (ptd->attr.stack_base == 0)
            rt_free(stack);
        if (ptd->joinable_sem != RT_NULL)
            rt_sem_delete(ptd->joinable_sem);
        rt_free(ptd);

        return EINVAL;
    }

    /* set pthread id */
    *tid = ptd->tid;

    /* set pthread cleanup function and ptd data */
    (*tid)->cleanup = _pthread_cleanup;
    (*tid)->user_data = (rt_uint32_t)ptd;

    /* start thread */
    result = rt_thread_startup(*tid);
    if (result == RT_EOK)
        return 0;

    /* start thread failed */
    rt_thread_detach(ptd->tid);
    if (ptd->attr.stack_base == 0)
        rt_free(stack);
    if (ptd->joinable_sem != RT_NULL)
        rt_sem_delete(ptd->joinable_sem);

    rt_free(ptd);

    return EINVAL;
}
RTM_EXPORT(pthread_create);

int pthread_detach(pthread_t thread)
{
    _pthread_data_t* ptd;

    ptd = _pthread_get_data(thread);

    if (thread->stat == RT_THREAD_CLOSE)
    {
        /* delete joinable semaphore */
        if (ptd->joinable_sem != RT_NULL)
            rt_sem_delete(ptd->joinable_sem);
        /* detach thread object */
        rt_thread_detach(ptd->tid);

        /* release thread resource */
        if (ptd->attr.stack_base == RT_NULL)
        {
            /* release thread allocated stack */
            rt_free(ptd->tid->stack_addr);
        }

        /*
         * if this thread create the local thread data,
         * delete it
         */
        if (ptd->tls != RT_NULL)
            rt_free(ptd->tls);
        rt_free(ptd->tid);
        rt_free(ptd);
    }
    else
    {
        rt_enter_critical();
        /* change to detach state */
        ptd->attr.detachstate = PTHREAD_CREATE_DETACHED;

        /* detach joinable semaphore */
        rt_sem_delete(ptd->joinable_sem);
        ptd->joinable_sem = RT_NULL;
        rt_exit_critical();
    }

    return 0;
}
RTM_EXPORT(pthread_detach);

int pthread_join (pthread_t thread, void **value_ptr)
{
    _pthread_data_t* ptd;
    rt_err_t result;

    if (thread == rt_thread_self())
    {
        /* join self */
        return EDEADLK;
    }

    ptd = _pthread_get_data(thread);
    if (ptd->attr.detachstate == PTHREAD_CREATE_DETACHED)
        return EINVAL; /* join on a detached pthread */

    result = rt_sem_take(ptd->joinable_sem, RT_WAITING_FOREVER);
    if (result == RT_EOK)
    {
        /* get return value */
        if (value_ptr != RT_NULL)
            *value_ptr = ptd->return_value;

        /* release resource */
        pthread_detach(thread);
    }
    else
        return ESRCH;
    
    return 0;
}
RTM_EXPORT(pthread_join);

void pthread_exit (void *value)
{
    _pthread_data_t *ptd;
    _pthread_cleanup_t *cleanup;
    extern _pthread_key_data_t _thread_keys[PTHREAD_KEY_MAX];

    ptd = _pthread_get_data(rt_thread_self());

    rt_enter_critical();
    /* disable cancel */
    ptd->cancelstate = PTHREAD_CANCEL_DISABLE;
    /* set return value */
    ptd->return_value = value;
    rt_exit_critical();

    /* invoke pushed cleanup */
    while (ptd->cleanup != RT_NULL)
    {
        cleanup = ptd->cleanup;
        ptd->cleanup = cleanup->next;

        cleanup->cleanup_func(cleanup->parameter);
        /* release this cleanup function */
        rt_free(cleanup);
    }

    /* destruct thread local key */
    if (ptd->tls != RT_NULL)
    {
        void *data;
        rt_uint32_t index;
        
        for (index = 0; index < PTHREAD_KEY_MAX; index ++)
        {
            if (_thread_keys[index].is_used)
            {
                data = ptd->tls[index];
                if (data)
                    _thread_keys[index].destructor(data);
            }
        }

        /* release tls area */
        rt_free(ptd->tls);
        ptd->tls = RT_NULL;
    }

    if (ptd->attr.detachstate == PTHREAD_CREATE_JOINABLE)
    {
        /* release the joinable pthread */
        rt_sem_release(ptd->joinable_sem);
    }

    /* detach thread */
    rt_thread_detach(ptd->tid);
    /* reschedule thread */
    rt_schedule();
}
RTM_EXPORT(pthread_exit);

int pthread_once(pthread_once_t *once_control, void (*init_routine) (void))
{
    RT_ASSERT(once_control != RT_NULL);
    RT_ASSERT(init_routine != RT_NULL);

    rt_enter_critical();
    if (!(*once_control))
    {
        /* call routine once */
        *once_control = 1;
        rt_exit_critical();

        init_routine();
    }
    rt_exit_critical();

    return 0;
}
RTM_EXPORT(pthread_once);

int pthread_atfork(void (*prepare)(void), void (*parent)(void), void (*child)(void))
{
    return EOPNOTSUPP;
}
RTM_EXPORT(pthread_atfork);

int pthread_kill(pthread_t thread, int sig)
{
    return EOPNOTSUPP;
}
RTM_EXPORT(pthread_kill);

void pthread_cleanup_pop(int execute)
{
    _pthread_data_t *ptd;
    _pthread_cleanup_t *cleanup;

    /* get posix thread data */
    ptd = _pthread_get_data(rt_thread_self());
    RT_ASSERT(ptd != RT_NULL);

    if (execute)
    {
        rt_enter_critical();
        cleanup = ptd->cleanup;
        if (cleanup)
            ptd->cleanup = cleanup->next;
        rt_exit_critical();

        if (cleanup)
        {
            cleanup->cleanup_func(cleanup->parameter);

            rt_free(cleanup);
        }
    }
}
RTM_EXPORT(pthread_cleanup_pop);

void pthread_cleanup_push(void (*routine)(void*), void *arg)
{
    _pthread_data_t *ptd;
    _pthread_cleanup_t *cleanup;

    /* get posix thread data */
    ptd = _pthread_get_data(rt_thread_self());
    RT_ASSERT(ptd != RT_NULL);

    cleanup = (_pthread_cleanup_t *)rt_malloc(sizeof(_pthread_cleanup_t));
    if (cleanup != RT_NULL)
    {
        cleanup->cleanup_func = routine;
        cleanup->parameter = arg;

        rt_enter_critical();
        cleanup->next = ptd->cleanup;
        ptd->cleanup = cleanup;
        rt_exit_critical();
    }
}
RTM_EXPORT(pthread_cleanup_push);

/*
 * According to IEEE Std 1003.1, 2004 Edition , following pthreads
 * interface support cancellation point:
 * mq_receive()
 * mq_send()
 * mq_timedreceive()
 * mq_timedsend()
 * msgrcv()
 * msgsnd()
 * msync()
 * pthread_cond_timedwait()
 * pthread_cond_wait()
 * pthread_join()
 * pthread_testcancel()
 * sem_timedwait()
 * sem_wait()
 *
 * A cancellation point may also occur when a thread is
 * executing the following functions:
 * pthread_rwlock_rdlock()
 * pthread_rwlock_timedrdlock()
 * pthread_rwlock_timedwrlock()
 * pthread_rwlock_wrlock()
 *
 * The pthread_cancel(), pthread_setcancelstate(), and pthread_setcanceltype()
 * functions are defined to be async-cancel safe.
 */

int pthread_setcancelstate(int state, int *oldstate)
{
    _pthread_data_t *ptd;

    /* get posix thread data */
    ptd = _pthread_get_data(rt_thread_self());
    RT_ASSERT(ptd != RT_NULL);

    if ((state == PTHREAD_CANCEL_ENABLE) || (state == PTHREAD_CANCEL_DISABLE))
    {
        if (oldstate)
            *oldstate = ptd->cancelstate;
        ptd->cancelstate = state;

        return 0;
    }

    return EINVAL;
}
RTM_EXPORT(pthread_setcancelstate);

int pthread_setcanceltype(int type, int *oldtype)
{
    _pthread_data_t *ptd;

    /* get posix thread data */
    ptd = _pthread_get_data(rt_thread_self());
    RT_ASSERT(ptd != RT_NULL);

    if ((type != PTHREAD_CANCEL_DEFERRED) && (type != PTHREAD_CANCEL_ASYNCHRONOUS)) 
        return EINVAL;

    if (oldtype)
        *oldtype = ptd->canceltype;
    ptd->canceltype = type;

    return 0;
}
RTM_EXPORT(pthread_setcanceltype);

void pthread_testcancel(void)
{
    int cancel=0;
    _pthread_data_t* ptd;

    /* get posix thread data */
    ptd = _pthread_get_data(rt_thread_self());
    RT_ASSERT(ptd != RT_NULL);

    if (ptd->cancelstate == PTHREAD_CANCEL_ENABLE)
        cancel = ptd->canceled;
    if (cancel)
        pthread_exit((void*)PTHREAD_CANCELED);
}
RTM_EXPORT(pthread_testcancel);

int pthread_cancel(pthread_t thread)
{
    _pthread_data_t *ptd;

    /* cancel self */
    if (thread == rt_thread_self())
        return 0;

    /* get posix thread data */
    ptd = _pthread_get_data(thread);
    RT_ASSERT(ptd != RT_NULL);

    /* set canceled */
    if (ptd->cancelstate == PTHREAD_CANCEL_ENABLE)
    {
        ptd->canceled = 1;
        if (ptd->canceltype == PTHREAD_CANCEL_ASYNCHRONOUS)
        {
            /*
             * to detach thread.
             * this thread will be removed from scheduler list
             * and because there is a cleanup function in the
             * thread (pthread_cleanup), it will move to defunct
             * thread list and wait for handling in idle thread.
             */
            rt_thread_detach(thread);
        }
    }

    return 0;
}
RTM_EXPORT(pthread_cancel);