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synced 2025-04-19 13:01:57 -04:00
Mark mutex as robust to prevent deadlocks (#1233)
Mark mutex as robust to prevent deadlocks Prevent application hangs that occur when a thread dies while holding a mutex, particularly during vTaskEndScheduler or exit calls. This is achieved by setting the PTHREAD_MUTEX_ROBUST attribute on the mutex. Fixes: - GitHub issue: FreeRTOS/FreeRTOS-Kernel#1217 - Forum thread: freertos.org/t/22287 Signed-off-by: Gaurav Aggarwal <aggarg@amazon.com>
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Gaurav-Aggarwal-AWS
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67
portable/ThirdParty/GCC/Posix/port.c
vendored
67
portable/ThirdParty/GCC/Posix/port.c
vendored
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@ -119,14 +119,20 @@ static void prvResumeThread( Thread_t * xThreadId );
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static void vPortSystemTickHandler( int sig );
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static void vPortStartFirstTask( void );
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static void prvPortYieldFromISR( void );
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static void prvThreadKeyDestructor( void * pvData );
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static void prvInitThreadKey( void );
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static void prvMarkAsFreeRTOSThread( void );
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static BaseType_t prvIsFreeRTOSThread( void );
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static void prvDestroyThreadKey( void );
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/*-----------------------------------------------------------*/
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void prvThreadKeyDestructor( void * data )
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static void prvThreadKeyDestructor( void * pvData )
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{
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free( data );
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free( pvData );
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}
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/*-----------------------------------------------------------*/
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static void prvInitThreadKey()
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static void prvInitThreadKey( void )
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{
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pthread_mutex_lock( &xThreadMutex );
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@ -137,24 +143,39 @@ static void prvInitThreadKey()
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pthread_mutex_unlock( &xThreadMutex );
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}
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/*-----------------------------------------------------------*/
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static void prvMarkAsFreeRTOSThread( pthread_t thread )
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static void prvMarkAsFreeRTOSThread( void )
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{
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uint8_t * pucThreadData = NULL;
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prvInitThreadKey();
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uint8_t * thread_data = malloc( 1 );
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configASSERT( thread_data != NULL );
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*thread_data = 1;
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pthread_setspecific( xThreadKey, thread_data );
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}
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static BaseType_t prvIsFreeRTOSThread( pthread_t thread )
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pucThreadData = malloc( 1 );
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configASSERT( pucThreadData != NULL );
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*pucThreadData = 1;
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pthread_setspecific( xThreadKey, pucThreadData );
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}
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/*-----------------------------------------------------------*/
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static BaseType_t prvIsFreeRTOSThread( void )
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{
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uint8_t * thread_data = ( uint8_t * ) pthread_getspecific( xThreadKey );
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uint8_t * pucThreadData = NULL;
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BaseType_t xRet = pdFALSE;
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return thread_data != NULL && *thread_data == 1;
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pucThreadData = ( uint8_t * ) pthread_getspecific( xThreadKey );
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if( ( pucThreadData != NULL ) && ( *pucThreadData == 1 ) )
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{
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xRet = pdTRUE;
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}
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return xRet;
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}
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/*-----------------------------------------------------------*/
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static void prvDestroyThreadKey()
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static void prvDestroyThreadKey( void )
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{
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pthread_key_delete( xThreadKey );
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}
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@ -309,7 +330,7 @@ void vPortEndScheduler( void )
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( void ) pthread_kill( hMainThread, SIG_RESUME );
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/* Waiting to be deleted here. */
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if( prvIsFreeRTOSThread( pthread_self() ) == pdTRUE )
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if( prvIsFreeRTOSThread() == pdTRUE )
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{
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pxCurrentThread = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
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event_wait( pxCurrentThread->ev );
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@ -369,7 +390,7 @@ void vPortYield( void )
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void vPortDisableInterrupts( void )
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{
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if( prvIsFreeRTOSThread( pthread_self() ) == pdTRUE )
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if( prvIsFreeRTOSThread() == pdTRUE )
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{
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pthread_sigmask(SIG_BLOCK, &xAllSignals, NULL);
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}
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@ -378,9 +399,9 @@ void vPortDisableInterrupts( void )
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void vPortEnableInterrupts( void )
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{
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if( prvIsFreeRTOSThread( pthread_self() ) == pdTRUE )
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if( prvIsFreeRTOSThread() == pdTRUE )
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{
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pthread_sigmask(SIG_UNBLOCK, &xAllSignals, NULL);
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pthread_sigmask( SIG_UNBLOCK, &xAllSignals, NULL );
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}
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}
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/*-----------------------------------------------------------*/
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@ -417,9 +438,9 @@ static void * prvTimerTickHandler( void * arg )
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{
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( void ) arg;
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prvMarkAsFreeRTOSThread( pthread_self() );
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prvMarkAsFreeRTOSThread();
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prvPortSetCurrentThreadName("Scheduler timer");
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prvPortSetCurrentThreadName( "Scheduler timer" );
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while( xTimerTickThreadShouldRun )
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{
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@ -451,7 +472,7 @@ void prvSetupTimerInterrupt( void )
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static void vPortSystemTickHandler( int sig )
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{
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if( prvIsFreeRTOSThread( pthread_self() ) == pdTRUE )
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if( prvIsFreeRTOSThread() == pdTRUE )
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{
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Thread_t * pxThreadToSuspend;
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Thread_t * pxThreadToResume;
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@ -473,7 +494,9 @@ static void vPortSystemTickHandler( int sig )
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}
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uxCriticalNesting--;
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} else {
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}
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else
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{
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fprintf( stderr, "vPortSystemTickHandler called from non-FreeRTOS thread\n" );
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}
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}
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@ -508,7 +531,7 @@ static void * prvWaitForStart( void * pvParams )
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{
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Thread_t * pxThread = pvParams;
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prvMarkAsFreeRTOSThread( pthread_self() );
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prvMarkAsFreeRTOSThread();
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prvSuspendSelf( pxThread );
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@ -35,9 +35,11 @@
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struct event
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{
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pthread_mutex_t mutex;
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pthread_mutexattr_t mutexattr;
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pthread_cond_t cond;
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bool event_triggered;
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};
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/*-----------------------------------------------------------*/
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struct event * event_create( void )
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{
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@ -46,23 +48,36 @@ struct event * event_create( void )
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if( ev != NULL )
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{
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ev->event_triggered = false;
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pthread_mutex_init( &ev->mutex, NULL );
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pthread_mutexattr_init( &ev->mutexattr );
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#ifndef __APPLE__
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pthread_mutexattr_setrobust( &ev->mutexattr, PTHREAD_MUTEX_ROBUST );
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#endif
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pthread_mutex_init( &ev->mutex, &ev->mutexattr );
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pthread_cond_init( &ev->cond, NULL );
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}
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return ev;
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}
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/*-----------------------------------------------------------*/
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void event_delete( struct event * ev )
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{
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pthread_mutex_destroy( &ev->mutex );
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pthread_mutexattr_destroy( &ev->mutexattr );
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pthread_cond_destroy( &ev->cond );
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free( ev );
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}
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/*-----------------------------------------------------------*/
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bool event_wait( struct event * ev )
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{
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pthread_mutex_lock( &ev->mutex );
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if( pthread_mutex_lock( &ev->mutex ) == EOWNERDEAD )
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{
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#ifndef __APPLE__
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/* If the thread owning the mutex died, make the mutex consistent. */
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pthread_mutex_consistent( &ev->mutex );
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#endif
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}
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while( ev->event_triggered == false )
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{
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@ -73,6 +88,8 @@ bool event_wait( struct event * ev )
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pthread_mutex_unlock( &ev->mutex );
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return true;
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}
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/*-----------------------------------------------------------*/
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bool event_wait_timed( struct event * ev,
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time_t ms )
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{
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@ -82,7 +99,13 @@ bool event_wait_timed( struct event * ev,
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clock_gettime( CLOCK_REALTIME, &ts );
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ts.tv_sec += ms / 1000;
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ts.tv_nsec += ( ( ms % 1000 ) * 1000000 );
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pthread_mutex_lock( &ev->mutex );
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if( pthread_mutex_lock( &ev->mutex ) == EOWNERDEAD )
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{
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#ifndef __APPLE__
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/* If the thread owning the mutex died, make the mutex consistent. */
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pthread_mutex_consistent( &ev->mutex );
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#endif
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}
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while( ( ev->event_triggered == false ) && ( ret == 0 ) )
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{
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@ -98,11 +121,19 @@ bool event_wait_timed( struct event * ev,
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pthread_mutex_unlock( &ev->mutex );
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return true;
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}
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/*-----------------------------------------------------------*/
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void event_signal( struct event * ev )
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{
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pthread_mutex_lock( &ev->mutex );
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if( pthread_mutex_lock( &ev->mutex ) == EOWNERDEAD )
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{
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#ifndef __APPLE__
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/* If the thread owning the mutex died, make the mutex consistent. */
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pthread_mutex_consistent( &ev->mutex );
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#endif
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}
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ev->event_triggered = true;
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pthread_cond_signal( &ev->cond );
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pthread_mutex_unlock( &ev->mutex );
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}
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/*-----------------------------------------------------------*/
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