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uspace: non-rt: Enable error-checking mode of mutexes #916

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jepler wants to merge 2 commits into from
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uspace: non-rt: Enable error-checking mode of mutexes #916

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0bb14db
uspace_rtapi_app: Ensure string is NUL-terminated
jepler Aug 3, 2020
2886e77
uspace_rtapi_app: error-check use of pthread mutexes
jepler Aug 3, 2020
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44 changes: 35 additions & 9 deletions src/rtapi/uspace_rtapi_app.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -493,7 +493,7 @@ static int
get_fifo_path(char *buf, size_t bufsize) {
const char *s = get_fifo_path();
if(!s) return -1;
strncpy(buf, s, bufsize);
snprintf(buf, bufsize, "%s", s);
return 0;
}

Expand Down Expand Up @@ -600,8 +600,12 @@ struct Posix : RtapiApp
{
Posix(int policy = SCHED_FIFO) : RtapiApp(policy), do_thread_lock(policy != SCHED_FIFO) {
pthread_once(&key_once, init_key);
if(do_thread_lock)
pthread_mutex_init(&thread_lock, 0);
if(do_thread_lock) {
pthread_mutexattr_t attr;
pthread_mutexattr_init(&attr);
pthread_mutexattr_settype(&attr, PTHREAD_MUTEX_ERRORCHECK);
pthread_mutex_init(&thread_lock, &attr);
}
}
int task_delete(int id);
int task_start(int task_id, unsigned long period_nsec);
Expand Down Expand Up @@ -1042,9 +1046,21 @@ void *Posix::wrapper(void *arg)
pthread_setspecific(key, arg);

Posix &papp = reinterpret_cast<Posix&>(App());
if(papp.do_thread_lock)
pthread_mutex_lock(&papp.thread_lock);
if(papp.do_thread_lock) {
int r = pthread_mutex_lock(&papp.thread_lock);
if(r != 0) {
printf("pthread_mutex_lock failed with status %d\n", r);
abort();
}
}

if(papp.do_thread_lock && getenv("RTAPI_LOCK_FAIL")) {
int r = pthread_mutex_lock(&papp.thread_lock);
if(r != 0) {
printf("pthread_mutex_lock failed with status %d\n", r);
abort();
}
}
struct timespec now;
clock_gettime(RTAPI_CLOCK, &now);
rtapi_timespec_advance(task->nextstart, now, task->period + task->pll_correction);
Expand Down Expand Up @@ -1086,8 +1102,13 @@ int Posix::task_self() {
}

void Posix::wait() {
if(do_thread_lock)
pthread_mutex_unlock(&thread_lock);
if(do_thread_lock) {
int r = pthread_mutex_unlock(&thread_lock);
if(r != 0) {
printf("pthread_mutex_unlock failed with status %d\n", r);
abort();
}
}
pthread_testcancel();
struct rtapi_task *task = reinterpret_cast<rtapi_task*>(pthread_getspecific(key));
rtapi_timespec_advance(task->nextstart, task->nextstart, task->period + task->pll_correction);
Expand All @@ -1103,8 +1124,13 @@ void Posix::wait() {
int res = rtapi_clock_nanosleep(RTAPI_CLOCK, TIMER_ABSTIME, &task->nextstart, nullptr, &now);
if(res < 0) perror("clock_nanosleep");
}
if(do_thread_lock)
pthread_mutex_lock(&thread_lock);
if(do_thread_lock) {
int r = pthread_mutex_lock(&thread_lock);
if(r != 0) {
printf("pthread_mutex_lock failed with status %d\n", r);
abort();
}
}
}

unsigned char Posix::do_inb(unsigned int port)
Expand Down