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px4-firmware/nuttx/sched/task_exithook.c

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/****************************************************************************
* sched/task_exithook.c
*
* Copyright (C) 2011-2013 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdlib.h>
#include <unistd.h>
#include <signal.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/sched.h>
#include <nuttx/fs/fs.h>
#include "os_internal.h"
#include "group_internal.h"
#include "sig_internal.h"
/****************************************************************************
* Definitions
****************************************************************************/
/****************************************************************************
* Private Type Declarations
****************************************************************************/
/****************************************************************************
* Global Variables
****************************************************************************/
/****************************************************************************
* Private Variables
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: task_atexit
*
* Description:
* Call any registerd atexit function(s)
*
****************************************************************************/
#if defined(CONFIG_SCHED_ATEXIT) && !defined(CONFIG_SCHED_ONEXIT)
static inline void task_atexit(FAR _TCB *tcb)
{
#if defined(CONFIG_SCHED_ATEXIT_MAX) && CONFIG_SCHED_ATEXIT_MAX > 1
int index;
/* Call each atexit function in reverse order of registration atexit()
* functions are registered from lower to higher arry indices; they must
* be called in the reverse order of registration when task exists, i.e.,
* from higher to lower indices.
*/
for (index = CONFIG_SCHED_ATEXIT_MAX-1; index >= 0; index--)
{
if (tcb->atexitfunc[index])
{
/* Call the atexit function */
(*tcb->atexitfunc[index])();
/* Nullify the atexit function to prevent its reuse. */
tcb->atexitfunc[index] = NULL;
}
}
#else
if (tcb->atexitfunc)
{
/* Call the atexit function */
(*tcb->atexitfunc)();
/* Nullify the atexit function to prevent its reuse. */
tcb->atexitfunc = NULL;
}
#endif
}
#else
# define task_atexit(tcb)
#endif
/****************************************************************************
* Name: task_onexit
*
* Description:
* Call any registerd on)exit function(s)
*
****************************************************************************/
#ifdef CONFIG_SCHED_ONEXIT
static inline void task_onexit(FAR _TCB *tcb, int status)
{
#if defined(CONFIG_SCHED_ONEXIT_MAX) && CONFIG_SCHED_ONEXIT_MAX > 1
int index;
/* Call each on_exit function in reverse order of registration. on_exit()
* functions are registered from lower to higher arry indices; they must
* be called in the reverse order of registration when task exists, i.e.,
* from higher to lower indices.
*/
for (index = CONFIG_SCHED_ONEXIT_MAX-1; index >= 0; index--)
{
if (tcb->onexitfunc[index])
{
/* Call the on_exit function */
(*tcb->onexitfunc[index])(status, tcb->onexitarg[index]);
/* Nullify the on_exit function to prevent its reuse. */
tcb->onexitfunc[index] = NULL;
}
}
#else
if (tcb->onexitfunc)
{
/* Call the on_exit function */
(*tcb->onexitfunc)(status, tcb->onexitarg);
/* Nullify the on_exit function to prevent its reuse. */
tcb->onexitfunc = NULL;
}
#endif
}
#else
# define task_onexit(tcb,status)
#endif
/****************************************************************************
* Name: task_exitstatus
*
* Description:
* Report exit status when main task of a task group exits
*
****************************************************************************/
#ifdef CONFIG_SCHED_CHILD_STATUS
static inline void task_exitstatus(FAR struct task_group_s *group, int status)
{
FAR struct child_status_s *child;
/* Check if the parent task group has suppressed retention of
* child exit status information.
*/
if ((group->tg_flags & GROUP_FLAG_NOCLDWAIT) == 0)
{
/* No.. Find the exit status entry for this task in the parent TCB */
child = group_findchild(group, getpid());
DEBUGASSERT(child);
if (child)
{
#ifndef HAVE_GROUP_MEMBERS
/* No group members? Save the exit status */
child->ch_status = status;
#endif
/* Save the exit status.. For the case of HAVE_GROUP_MEMBERS,
* the child status will be as exited until the last member
* of the task group exits.
*/
child->ch_status = status;
}
}
}
#else
# define task_exitstatus(group,status)
#endif /* CONFIG_SCHED_CHILD_STATUS */
/****************************************************************************
* Name: task_groupexit
*
* Description:
* Mark that the final thread of a child task group as exited.
*
****************************************************************************/
#ifdef CONFIG_SCHED_CHILD_STATUS
static inline void task_groupexit(FAR struct task_group_s *group)
{
FAR struct child_status_s *child;
/* Check if the parent task group has suppressed retention of child exit
* status information.
*/
if ((group->tg_flags & GROUP_FLAG_NOCLDWAIT) == 0)
{
/* No.. Find the exit status entry for this task in the parent TCB */
child = group_findchild(group, getpid());
DEBUGASSERT(child);
if (child)
{
/* Mark that all members of the child task group has exit'ed */
child->ch_flags |= CHILD_FLAG_EXITED;
}
}
}
#else
# define task_groupexit(group)
#endif /* CONFIG_SCHED_CHILD_STATUS */
/****************************************************************************
* Name: task_sigchild
*
* Description:
* Send the SIGCHILD signal to the parent thread
*
****************************************************************************/
#ifdef CONFIG_SCHED_HAVE_PARENT
#ifdef HAVE_GROUP_MEMBERS
static inline void task_sigchild(gid_t pgid, FAR _TCB *ctcb, int status)
{
FAR struct task_group_s *chgrp = ctcb->group;
FAR struct task_group_s *pgrp;
siginfo_t info;
DEBUGASSERT(chgrp);
/* Get the parent task group. It is possible that all of the members of
* the parent task group have exited. This would not be an error. In
* this case, the child task group has been orphaned.
*/
pgrp = group_find(chgrp->tg_pgid);
if (!pgrp)
{
/* Set the task group ID to an invalid group ID. The dead parent
* task group ID could get reused some time in the future.
*/
chgrp->tg_pgid = INVALID_GROUP_ID;
return;
}
/* Save the exit status now if this is the main thread of the task group
* that is exiting. Only the exiting main task of a task group carries
* interpretable exit Check if this is the main task that is exiting.
*/
if ((ctcb->flags & TCB_FLAG_TTYPE_MASK) == TCB_FLAG_TTYPE_TASK)
{
task_exitstatus(pgrp, status);
}
/* But only the final exiting thread in a task group, whatever it is,
* should generate SIGCHLD.
*/
if (chgrp->tg_nmembers == 1)
{
/* Mark that all of the threads in the task group have exited */
task_groupexit(pgrp);
/* Create the siginfo structure. We don't actually know the cause.
* That is a bug. Let's just say that the child task just exit-ted
* for now.
*/
info.si_signo = SIGCHLD;
info.si_code = CLD_EXITED;
info.si_value.sival_ptr = NULL;
info.si_pid = ctcb->pid;
info.si_status = status;
/* Send the signal. We need to use this internal interface so that we
* can provide the correct si_code value with the signal.
*/
(void)group_signal(pgrp, &info);
}
}
#else /* HAVE_GROUP_MEMBERS */
static inline void task_sigchild(FAR _TCB *ptcb, FAR _TCB *ctcb, int status)
{
siginfo_t info;
/* If task groups are not supported then we will report SIGCHLD when the
* task exits. Unfortunately, there could still be threads in the group
* that are still running.
*/
if ((ctcb->flags & TCB_FLAG_TTYPE_MASK) == TCB_FLAG_TTYPE_TASK)
{
#ifdef CONFIG_SCHED_CHILD_STATUS
/* Save the exit status now of the main thread */
task_exitstatus(ptcb->group, status);
#else /* CONFIG_SCHED_CHILD_STATUS */
/* Decrement the number of children from this parent */
DEBUGASSERT(ptcb->nchildren > 0);
ptcb->nchildren--;
#endif /* CONFIG_SCHED_CHILD_STATUS */
/* Create the siginfo structure. We don't actually know the cause.
* That is a bug. Let's just say that the child task just exit-ted
* for now.
*/
info.si_signo = SIGCHLD;
info.si_code = CLD_EXITED;
info.si_value.sival_ptr = NULL;
info.si_pid = ctcb->pid;
info.si_status = status;
/* Send the signal. We need to use this internal interface so that we
* can provide the correct si_code value with the signal.
*/
(void)sig_received(ptcb, &info);
}
}
#endif /* HAVE_GROUP_MEMBERS */
#else /* CONFIG_SCHED_HAVE_PARENT */
# define task_sigchild(x,ctcb,status)
#endif /* CONFIG_SCHED_HAVE_PARENT */
/****************************************************************************
* Name: task_leavegroup
*
* Description:
* Send the SIGCHILD signal to the parent thread
*
****************************************************************************/
#ifdef CONFIG_SCHED_HAVE_PARENT
static inline void task_leavegroup(FAR _TCB *ctcb, int status)
{
#ifdef HAVE_GROUP_MEMBERS
DEBUGASSERT(ctcb && ctcb->group);
/* Keep things stationary throughout the following */
sched_lock();
/* Send SIGCHLD to all members of the parent's task group */
task_sigchild(ctcb->group->tg_pgid, ctcb, status);
sched_unlock();
#else
FAR _TCB *ptcb;
/* Keep things stationary throughout the following */
sched_lock();
/* Get the TCB of the receiving, parent task. We do this early to
* handle multiple calls to task_leavegroup. ctcb->ppid is set to an
* invalid value below and the following call will fail if we are
* called again.
*/
ptcb = sched_gettcb(ctcb->ppid);
if (!ptcb)
{
/* The parent no longer exists... bail */
sched_unlock();
return;
}
/* Send SIGCHLD to all members of the parent's task group */
task_sigchild(ptcb, ctcb, status);
/* Forget who our parent was */
ctcb->ppid = INVALID_PROCESS_ID;
sched_unlock();
#endif
}
#else
# define task_leavegroup(ctcb,status)
#endif
/****************************************************************************
* Name: task_exitwakeup
*
* Description:
* Wakeup any tasks waiting for this task to exit
*
****************************************************************************/
#if defined(CONFIG_SCHED_WAITPID) && !defined(CONFIG_SCHED_HAVE_PARENT)
static inline void task_exitwakeup(FAR _TCB *tcb, int status)
{
/* Wakeup any tasks waiting for this task to exit */
while (tcb->exitsem.semcount < 0)
{
/* "If more than one thread is suspended in waitpid() awaiting
* termination of the same process, exactly one thread will return
* the process status at the time of the target process termination."
* Hmmm.. what do we return to the others?
*/
if (tcb->stat_loc)
{
*tcb->stat_loc = status << 8;
tcb->stat_loc = NULL;
}
/* Wake up the thread */
sem_post(&tcb->exitsem);
}
}
#else
# define task_exitwakeup(tcb, status)
#endif
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: task_hook
*
* Description:
* This function implements some of the internal logic of exit() and
* task_delete(). This function performs some cleanup and other actions
* required when a task exists:
*
* - All open streams are flushed and closed.
* - All functions registered with atexit() and on_exit() are called, in
* the reverse order of their registration.
*
* When called from exit(), the tcb still resides at the head of the ready-
* to-run list. The following logic is safe because we will not be
* returning from the exit() call.
*
* When called from task_delete() we are operating on a different thread;
* on the thread that called task_delete(). In this case, task_delete
* will have already removed the tcb from the ready-to-run list to prevent
* any further action on this task.
*
****************************************************************************/
void task_exithook(FAR _TCB *tcb, int status)
{
/* Under certain conditions, task_exithook() can be called multiple times.
* A bit in the TCB was set the first time this function was called. If
* that bit is set, then just ext doing nothing more..
*/
if ((tcb->flags & TCB_FLAG_EXIT_PROCESSING) != 0)
{
return;
}
/* If exit function(s) were registered, call them now before we do any un-
* initialization. NOTE: In the case of task_delete(), the exit function
* will *not* be called on the thread execution of the task being deleted!
*/
task_atexit(tcb);
/* Call any registered on_exit function(s) */
task_onexit(tcb, status);
/* Leave the task group */
task_leavegroup(tcb, status);
/* Wakeup any tasks waiting for this task to exit */
task_exitwakeup(tcb, status);
/* Flush all streams (File descriptors will be closed when
* the TCB is deallocated).
*/
#if CONFIG_NFILE_STREAMS > 0
(void)lib_flushall(&tcb->group->tg_streamlist);
#endif
/* Leave the task group. Perhaps discarding any un-reaped child
* status (no zombies here!)
*/
#ifdef HAVE_TASK_GROUP
group_leave(tcb);
#endif
/* Deallocate anything left in the TCB's queues */
#ifndef CONFIG_DISABLE_SIGNALS
sig_cleanup(tcb); /* Deallocate Signal lists */
#endif
/* This function can be re-entered in certain cases. Set a flag
* bit in the TCB to not that we have already completed this exit
* processing.
*/
tcb->flags |= TCB_FLAG_EXIT_PROCESSING;
}
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