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[DRAFT] Backport semaphore fixes #188

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[DRAFT] Backport semaphore fixes #188

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29196db
Revert "[DIVERGED] sem_holder:Bug fix:Not restoring base priority"
ThomasDebrunner Jun 9, 2022
403f5fb
semphore: release all semphores' holder that the task held when exit
zhaoxiu-zeng Feb 8, 2022
b3e8851
semaphore: Cleanup, merge public code.
zhaoxiu-zeng Feb 8, 2022
4d0ae69
semaphore: Improve the nxsem_release_holder function.
zhaoxiu-zeng Feb 8, 2022
efc2e5d
sched/semaphore: fix priority boost restoration for priority inheritance
pkarashchenko May 23, 2022
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2 changes: 1 addition & 1 deletion include/nuttx/sched.h
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Original file line number Diff line number Diff line change
Expand Up @@ -605,11 +605,11 @@ struct tcb_s

#ifdef CONFIG_PRIORITY_INHERITANCE
#if CONFIG_SEM_NNESTPRIO > 0
uint8_t nsem_held; /* used to condition priority restore */
uint8_t npend_reprio; /* Number of nested reprioritizations */
uint8_t pend_reprios[CONFIG_SEM_NNESTPRIO];
#endif
uint8_t base_priority; /* "Normal" priority of the thread */
FAR struct semholder_s *holdsem; /* List of held semaphores */
#endif

uint8_t task_state; /* Current state of the thread */
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15 changes: 15 additions & 0 deletions include/nuttx/semaphore.h
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Expand Up @@ -36,6 +36,21 @@
* Pre-processor Definitions
****************************************************************************/

/* Initializers */

#ifdef CONFIG_PRIORITY_INHERITANCE
# if CONFIG_SEM_PREALLOCHOLDERS > 0
# define NXSEM_INITIALIZER(c, f) \
{(c), (f), NULL} /* semcount, flags, hhead */
# else
# define NXSEM_INITIALIZER(c, f) \
{(c), (f), {SEMHOLDER_INITIALIZER, SEMHOLDER_INITIALIZER}} /* semcount, flags, holder[2] */
# endif
#else /* CONFIG_PRIORITY_INHERITANCE */
# define NXSEM_INITIALIZER(c, f) \
{(c)} /* semcount, flags */
#endif /* CONFIG_PRIORITY_INHERITANCE */

/* Most internal nxsem_* interfaces are not available in the user space in
* PROTECTED and KERNEL builds. In that context, the application semaphore
* interfaces must be used. The differences between the two sets of
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29 changes: 24 additions & 5 deletions include/semaphore.h
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Expand Up @@ -58,19 +58,38 @@

#ifdef CONFIG_PRIORITY_INHERITANCE
struct tcb_s; /* Forward reference */
struct sem_s;

struct semholder_s
{
#if CONFIG_SEM_PREALLOCHOLDERS > 0
struct semholder_s *flink; /* Implements singly linked list */
FAR struct semholder_s *flink; /* List of semaphore's holder */
#endif
FAR struct tcb_s *htcb; /* Holder TCB */
int16_t counts; /* Number of counts owned by this holder */
FAR struct semholder_s *tlink; /* List of task held semaphores */
FAR struct sem_s *sem; /* Ths corresponding semaphore */
FAR struct tcb_s *htcb; /* Ths corresponding TCB */
int16_t counts; /* Number of counts owned by this holder */
};

#if CONFIG_SEM_PREALLOCHOLDERS > 0
# define SEMHOLDER_INITIALIZER {NULL, NULL, 0}
# define SEMHOLDER_INITIALIZER {NULL, NULL, NULL, NULL, 0}
# define INITIALIZE_SEMHOLDER(h) \
do { \
(h)->flink = NULL; \
(h)->tlink = NULL; \
(h)->sem = NULL; \
(h)->htcb = NULL; \
(h)->counts = 0; \
} while (0)
#else
# define SEMHOLDER_INITIALIZER {NULL, 0}
# define SEMHOLDER_INITIALIZER {NULL, NULL, NULL, 0}
# define INITIALIZE_SEMHOLDER(h) \
do { \
(h)->tlink = NULL; \
(h)->sem = NULL; \
(h)->htcb = NULL; \
(h)->counts = 0; \
} while (0)
#endif
#endif /* CONFIG_PRIORITY_INHERITANCE */

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6 changes: 2 additions & 4 deletions libs/libc/semaphore/sem_init.c
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Expand Up @@ -78,10 +78,8 @@ int nxsem_init(FAR sem_t *sem, int pshared, unsigned int value)
# if CONFIG_SEM_PREALLOCHOLDERS > 0
sem->hhead = NULL;
# else
sem->holder[0].htcb = NULL;
sem->holder[0].counts = 0;
sem->holder[1].htcb = NULL;
sem->holder[1].counts = 0;
INITIALIZE_SEMHOLDER(&sem->holder[0]);
INITIALIZE_SEMHOLDER(&sem->holder[1]);
# endif
#endif
return OK;
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