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POSIX Simulator: Handle pthreads not created by FreeRTOS differently (#1223)

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John Boiles 2025-01-24 16:56:59 -08:00 committed by GitHub
parent 72bb476bf3
commit 2b35979a1a
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1 changed files with 82 additions and 20 deletions
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102
portable/ThirdParty/GCC/Posix/port.c vendored
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@ -105,6 +105,8 @@ static BaseType_t xSchedulerEnd = pdFALSE;
static pthread_t hTimerTickThread;
static bool xTimerTickThreadShouldRun;
static uint64_t prvStartTimeNs;
static pthread_mutex_t xThreadMutex = PTHREAD_MUTEX_INITIALIZER;
static pthread_key_t xThreadKey = 0;
/*-----------------------------------------------------------*/
static void prvSetupSignalsAndSchedulerPolicy( void );
@ -119,6 +121,45 @@ static void vPortStartFirstTask( void );
static void prvPortYieldFromISR( void );
/*-----------------------------------------------------------*/
void prvThreadKeyDestructor( void * data )
{
free( data );
}
static void prvInitThreadKey()
{
pthread_mutex_lock( &xThreadMutex );
if( xThreadKey == 0 )
{
pthread_key_create( &xThreadKey, prvThreadKeyDestructor );
}
pthread_mutex_unlock( &xThreadMutex );
}
static void prvMarkAsFreeRTOSThread( pthread_t thread )
{
prvInitThreadKey();
uint8_t * thread_data = malloc( 1 );
configASSERT( thread_data != NULL );
*thread_data = 1;
pthread_setspecific( xThreadKey, thread_data );
}
static BaseType_t prvIsFreeRTOSThread( pthread_t thread )
{
uint8_t * thread_data = ( uint8_t * ) pthread_getspecific( xThreadKey );
return thread_data != NULL && *thread_data == 1;
}
static void prvDestroyThreadKey()
{
pthread_key_delete( xThreadKey );
}
/*-----------------------------------------------------------*/
static void prvFatalError( const char * pcCall,
int iErrno ) __attribute__( ( __noreturn__ ) );
@ -249,6 +290,8 @@ BaseType_t xPortStartScheduler( void )
/* Restore original signal mask. */
( void ) pthread_sigmask( SIG_SETMASK, &xSchedulerOriginalSignalMask, NULL );
prvDestroyThreadKey();
return 0;
}
/*-----------------------------------------------------------*/
@ -266,8 +309,12 @@ void vPortEndScheduler( void )
( void ) pthread_kill( hMainThread, SIG_RESUME );
/* Waiting to be deleted here. */
pxCurrentThread = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
event_wait( pxCurrentThread->ev );
if( prvIsFreeRTOSThread( pthread_self() ) == pdTRUE )
{
pxCurrentThread = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
event_wait( pxCurrentThread->ev );
}
pthread_testcancel();
}
/*-----------------------------------------------------------*/
@ -322,13 +369,19 @@ void vPortYield( void )
void vPortDisableInterrupts( void )
{
pthread_sigmask( SIG_BLOCK, &xAllSignals, NULL );
if( prvIsFreeRTOSThread( pthread_self() ) == pdTRUE )
{
pthread_sigmask(SIG_BLOCK, &xAllSignals, NULL);
}
}
/*-----------------------------------------------------------*/
void vPortEnableInterrupts( void )
{
pthread_sigmask( SIG_UNBLOCK, &xAllSignals, NULL );
if( prvIsFreeRTOSThread( pthread_self() ) == pdTRUE )
{
pthread_sigmask(SIG_UNBLOCK, &xAllSignals, NULL);
}
}
/*-----------------------------------------------------------*/
@ -364,6 +417,8 @@ static void * prvTimerTickHandler( void * arg )
{
( void ) arg;
prvMarkAsFreeRTOSThread( pthread_self() );
prvPortSetCurrentThreadName("Scheduler timer");
while( xTimerTickThreadShouldRun )
@ -396,26 +451,31 @@ void prvSetupTimerInterrupt( void )
static void vPortSystemTickHandler( int sig )
{
Thread_t * pxThreadToSuspend;
Thread_t * pxThreadToResume;
( void ) sig;
uxCriticalNesting++; /* Signals are blocked in this signal handler. */
pxThreadToSuspend = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
if( xTaskIncrementTick() != pdFALSE )
if( prvIsFreeRTOSThread( pthread_self() ) == pdTRUE )
{
/* Select Next Task. */
vTaskSwitchContext();
Thread_t * pxThreadToSuspend;
Thread_t * pxThreadToResume;
pxThreadToResume = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
( void ) sig;
prvSwitchThread( pxThreadToResume, pxThreadToSuspend );
uxCriticalNesting++; /* Signals are blocked in this signal handler. */
pxThreadToSuspend = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
if( xTaskIncrementTick() != pdFALSE )
{
/* Select Next Task. */
vTaskSwitchContext();
pxThreadToResume = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
prvSwitchThread( pxThreadToResume, pxThreadToSuspend );
}
uxCriticalNesting--;
} else {
fprintf( stderr, "vPortSystemTickHandler called from non-FreeRTOS thread\n" );
}
uxCriticalNesting--;
}
/*-----------------------------------------------------------*/
@ -448,6 +508,8 @@ static void * prvWaitForStart( void * pvParams )
{
Thread_t * pxThread = pvParams;
prvMarkAsFreeRTOSThread( pthread_self() );
prvSuspendSelf( pxThread );
/* Resumed for the first time, unblocks all signals. */