pthread/realtime: export interfaces about pthread ceiling priority

pthread_mutex_setprioceiling and pthread_mutex_getprioceiling refers
https://pubs.opengroup.org/onlinepubs/9699919799/functions/pthread_mutex_setprioceiling.html
Signed-off-by: makejian <makejian@xiaomi.com>

include/pthread.h

@@ -279,9 +279,12 @@ typedef struct pthread_cond_s pthread_cond_t;
 struct pthread_mutexattr_s
 {
   uint8_t pshared : 1;  /* PTHREAD_PROCESS_PRIVATE or PTHREAD_PROCESS_SHARED */
-#ifdef CONFIG_PRIORITY_INHERITANCE
+#if defined(CONFIG_PRIORITY_INHERITANCE) || defined(CONFIG_PRIORITY_PROTECT)
   uint8_t proto   : 2;  /* See PTHREAD_PRIO_* definitions */
 #endif
+#ifdef CONFIG_PRIORITY_PROTECT
+  uint8_t ceiling;      /* Priority ceiling */
+#endif
 #ifdef CONFIG_PTHREAD_MUTEX_TYPES
   uint8_t type    : 2;  /* Type of the mutex.  See PTHREAD_MUTEX_* definitions */
 #endif
@@ -612,6 +615,14 @@ int pthread_mutexattr_getrobust(FAR const pthread_mutexattr_t *attr,
                                 FAR int *robust);
 int pthread_mutexattr_setrobust(FAR pthread_mutexattr_t *attr,
                                 int robust);
+int pthread_mutexattr_getprioceiling(FAR const pthread_mutexattr_t *attr,
+                                     FAR int *prioceiling);
+int pthread_mutexattr_setprioceiling(FAR pthread_mutexattr_t *attr,
+                                     int prioceiling);
+int pthread_mutex_getprioceiling(FAR const pthread_mutex_t *mutex,
+                                 FAR int *prioceiling);
+int pthread_mutex_setprioceiling(FAR pthread_mutex_t *mutex,
+                                 int prioceiling, FAR int *old_ceiling);
 
 /* The following routines create, delete, lock and unlock mutexes. */
 

libs/libc/libc.csv

@@ -217,11 +217,15 @@
 "pthread_gettid_np","pthread.h","!defined(CONFIG_DISABLE_PTHREAD)","pid_t","pthread_t"
 "pthread_key_create","pthread.h","!defined(CONFIG_DISABLE_PTHREAD) && CONFIG_TLS_NELEM > 0","int","FAR pthread_key_t *","FAR void (*) (void *)|FAR void *"
 "pthread_key_delete","pthread.h","!defined(CONFIG_DISABLE_PTHREAD) && CONFIG_TLS_NELEM > 0","int","pthread_key_t"
+"pthread_mutex_getprioceiling","pthread.h","!defined(CONFIG_DISABLE_PTHREAD) && defined(CONFIG_PRIORITY_PROTECT)","int","FAR const pthread_mutex_t *","FAR int *"
 "pthread_mutex_lock","pthread.h","!defined(CONFIG_DISABLE_PTHREAD)","int","FAR pthread_mutex_t *"
+"pthread_mutex_setprioceiling","pthread.h","!defined(CONFIG_DISABLE_PTHREAD) && defined(CONFIG_PRIORITY_PROTECT)","int","FAR pthread_mutex_t *","int","FAR int *"
 "pthread_mutexattr_destroy","pthread.h","!defined(CONFIG_DISABLE_PTHREAD)","int","FAR pthread_mutexattr_t *"
+"pthread_mutexattr_getprioceiling","pthread.h","!defined(CONFIG_DISABLE_PTHREAD) && defined(CONFIG_PRIORITY_PROTECT)","int","FAR pthread_mutexattr_t *","FAR int *"
 "pthread_mutexattr_getpshared","pthread.h","!defined(CONFIG_DISABLE_PTHREAD)","int","FAR pthread_mutexattr_t *","FAR int *"
 "pthread_mutexattr_gettype","pthread.h","!defined(CONFIG_DISABLE_PTHREAD) && defined(CONFIG_PTHREAD_MUTEX_TYPES)","int","FAR const pthread_mutexattr_t *","FAR int *"
 "pthread_mutexattr_init","pthread.h","!defined(CONFIG_DISABLE_PTHREAD)","int","FAR pthread_mutexattr_t *"
+"pthread_mutexattr_setprioceiling","pthread.h","!defined(CONFIG_DISABLE_PTHREAD) && defined(CONFIG_PRIORITY_PROTECT)","int","FAR pthread_mutexattr_t *","int"
 "pthread_mutexattr_setpshared","pthread.h","!defined(CONFIG_DISABLE_PTHREAD)","int","FAR pthread_mutexattr_t *","int "
 "pthread_mutexattr_settype","pthread.h","!defined(CONFIG_DISABLE_PTHREAD) && defined(CONFIG_PTHREAD_MUTEX_TYPES)","int","FAR pthread_mutexattr_t *","int"
 "pthread_once","pthread.h","!defined(CONFIG_DISABLE_PTHREAD)","int","FAR pthread_once_t*","CODE void (*)(void)"

libs/libc/pthread/CMakeLists.txt

@@ -79,7 +79,11 @@ if(NOT CONFIG_DISABLE_PTHREAD)
     pthread_mutexattr_gettype.c
     pthread_mutexattr_setrobust.c
     pthread_mutexattr_getrobust.c
+    pthread_mutexattr_setprioceiling.c
+    pthread_mutexattr_getprioceiling.c
     pthread_mutex_lock.c
+    pthread_mutex_setprioceiling.c
+    pthread_mutex_getprioceiling.c
     pthread_once.c
     pthread_yield.c
     pthread_atfork.c

libs/libc/pthread/Make.defs

@@ -51,7 +51,9 @@ CSRCS += pthread_mutexattr_getpshared.c pthread_mutexattr_setpshared.c
 CSRCS += pthread_mutexattr_setprotocol.c pthread_mutexattr_getprotocol.c
 CSRCS += pthread_mutexattr_settype.c pthread_mutexattr_gettype.c
 CSRCS += pthread_mutexattr_setrobust.c pthread_mutexattr_getrobust.c
+CSRCS += pthread_mutexattr_setprioceiling.c pthread_mutexattr_getprioceiling.c
 CSRCS += pthread_mutex_lock.c
+CSRCS += pthread_mutex_setprioceiling.c pthread_mutex_getprioceiling.c
 CSRCS += pthread_once.c pthread_yield.c pthread_atfork.c
 CSRCS += pthread_rwlockattr_init.c pthread_rwlockattr_destroy.c
 CSRCS += pthread_rwlockattr_getpshared.c pthread_rwlockattr_setpshared.c

libs/libc/pthread/pthread_mutex_getprioceiling.c

@@ -0,0 +1,64 @@
+/****************************************************************************
+ * libs/libc/pthread/pthread_mutex_getprioceiling.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/mutex.h>
+
+#include <pthread.h>
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: pthread_mutex_getprioceiling
+ *
+ * Description:
+ *   Return the mutex priority ceiling from the mutex.
+ *
+ * Input Parameters:
+ *   mutex - The mutex to query
+ *   prioceiling - Location to return the mutex priority ceiling
+ *
+ * Returned Value:
+ *   0, if the mutex type was successfully return in 'prioceiling', or
+ *   EINVAL, if any NULL pointers provided.
+ *
+ * Assumptions:
+ *
+ ****************************************************************************/
+
+int pthread_mutex_getprioceiling(FAR const pthread_mutex_t *mutex,
+                                 FAR int *prioceiling)
+{
+#ifdef CONFIG_PRIORITY_PROTECT
+#  ifdef CONFIG_PTHREAD_MUTEX_TYPES
+  return -nxrmutex_getprioceiling(&mutex->mutex, prioceiling);
+#  else
+  return -nxmutex_getprioceiling(&mutex->mutex, prioceiling);
+#  endif
+#else
+  return EINVAL;
+#endif
+}

libs/libc/pthread/pthread_mutex_setprioceiling.c

@@ -0,0 +1,74 @@
+/****************************************************************************
+ * libs/libc/pthread/pthread_mutex_setprioceiling.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/mutex.h>
+
+#include <pthread.h>
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: pthread_mutex_setprioceiling
+ *
+ * Description:
+ *   Set the priority ceiling of a mutex.
+ *
+ * Input Parameters:
+ *   mutex - The mutex in which to set the mutex priority ceiling.
+ *   prioceiling - The mutex priority ceiling value to set.
+ *   old_ceiling - Location to return the mutex ceiling priority set before.
+ *
+ * Returned Value:
+ *   0, indicating the mutex priority ceiling was successfully set, or
+ *   EINVAL, indicating 'mutex' or 'old_ceiling' is NULL, or 'prioceiling'
+ *   is out of range.
+ *
+ * Assumptions:
+ *
+ ****************************************************************************/
+
+int pthread_mutex_setprioceiling(FAR pthread_mutex_t *mutex,
+                                 int prioceiling, FAR int *old_ceiling)
+{
+  int ret = EINVAL;
+
+#ifdef CONFIG_PRIORITY_PROTECT
+  ret = pthread_mutex_lock(mutex);
+  if (ret != OK)
+    {
+      return ret;
+    }
+
+#  ifdef CONFIG_PTHREAD_MUTEX_TYPES
+  ret = -nxrmutex_setprioceiling(&mutex->mutex, prioceiling, old_ceiling);
+#  else
+  ret = -nxmutex_setprioceiling(&mutex->mutex, prioceiling, old_ceiling);
+#  endif
+  pthread_mutex_unlock(mutex);
+#endif
+  return ret;
+}

libs/libc/pthread/pthread_mutexattr_getprioceiling.c

@@ -0,0 +1,63 @@
+/****************************************************************************
+ * libs/libc/pthread/pthread_mutexattr_getprioceiling.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <pthread.h>
+#include <errno.h>
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: pthread_mutexattr_getprioceiling
+ *
+ * Description:
+ *   Return the mutex ceiling priority from the mutex attributes.
+ *
+ * Input Parameters:
+ *   attr - The mutex attributes to query
+ *   prioceiling - Location to return the mutex ceiling priority
+ *
+ * Returned Value:
+ *   0, if the mutex type was successfully return in 'prioceiling', or
+ *   EINVAL, if any NULL pointers provided.
+ *
+ * Assumptions:
+ *
+ ****************************************************************************/
+
+int pthread_mutexattr_getprioceiling(FAR const pthread_mutexattr_t *attr,
+                                     FAR int *prioceiling)
+{
+#ifdef CONFIG_PRIORITY_PROTECT
+  if (attr != NULL && prioceiling != NULL)
+    {
+      *prioceiling = attr->ceiling;
+      return OK;
+    }
+#endif
+
+  return EINVAL;
+}

libs/libc/pthread/pthread_mutexattr_getprotocol.c

@@ -53,13 +53,13 @@ int pthread_mutexattr_getprotocol(FAR const pthread_mutexattr_t *attr,
 {
   DEBUGASSERT(attr != NULL && protocol != NULL);
 
-#ifdef CONFIG_PRIORITY_INHERITANCE
+#if defined(CONFIG_PRIORITY_INHERITANCE) || defined(CONFIG_PRIORITY_PROTECT)
   linfo("Returning %d\n", attr->proto);
   *protocol = attr->proto;
 #else
   linfo("Returning %d\n", PTHREAD_PRIO_NONE);
   *protocol = PTHREAD_PRIO_NONE;
-#endif /* CONFIG_PRIORITY_INHERITANCE */
+#endif /* CONFIG_PRIORITY_INHERITANCE || CONFIG_PRIORITY_PROTECT */
 
   return 0;
 }

libs/libc/pthread/pthread_mutexattr_init.c

@@ -27,6 +27,7 @@
 #include <pthread.h>
 #include <errno.h>
 #include <debug.h>
+#include <sched.h>
 
 /****************************************************************************
  * Public Functions
@@ -60,6 +61,11 @@ int pthread_mutexattr_init(FAR pthread_mutexattr_t *attr)
     {
       attr->pshared = 0;
 
+#ifdef CONFIG_PRIORITY_PROTECT
+      attr->proto   = PTHREAD_PRIO_NONE;
+      attr->ceiling = sched_get_priority_min(SCHED_FIFO);
+#endif
+
 #ifdef CONFIG_PRIORITY_INHERITANCE
 #  ifdef CONFIG_PTHREAD_MUTEX_DEFAULT_PRIO_INHERIT
       attr->proto   = PTHREAD_PRIO_INHERIT;

libs/libc/pthread/pthread_mutexattr_setprioceiling.c

@@ -0,0 +1,65 @@
+/****************************************************************************
+ * libs/libc/pthread/pthread_mutexattr_setprioceiling.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <pthread.h>
+#include <errno.h>
+#include <sched.h>
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: pthread_mutexattr_setprioceiling
+ *
+ * Description:
+ *   Set the mutex ceiling priority in the mutex attributes.
+ *
+ * Input Parameters:
+ *   attr - The mutex attributes in which to set the mutex type.
+ *   prioceiling - The mutex ceiling priority value to set.
+ *
+ * Returned Value:
+ *   0, if the mutex type was successfully set in 'attr', or
+ *   EINVAL, if 'attr' is NULL or 'prioceiling' out of range.
+ *
+ * Assumptions:
+ *
+ ****************************************************************************/
+
+int pthread_mutexattr_setprioceiling(FAR pthread_mutexattr_t *attr,
+                                     int prioceiling)
+{
+#ifdef CONFIG_PRIORITY_PROTECT
+  if (attr && prioceiling >= sched_get_priority_min(SCHED_FIFO) &&
+      prioceiling <= sched_get_priority_max(SCHED_FIFO))
+    {
+      attr->ceiling = prioceiling;
+      return OK;
+    }
+#endif
+
+  return EINVAL;
+}

libs/libc/pthread/pthread_mutexattr_setprotocol.c

@@ -59,15 +59,32 @@ int pthread_mutexattr_setprotocol(FAR pthread_mutexattr_t *attr,
       switch (protocol)
         {
           case PTHREAD_PRIO_NONE:
-#ifdef CONFIG_PRIORITY_INHERITANCE
+#if defined(CONFIG_PRIORITY_INHERITANCE) || defined(CONFIG_PRIORITY_PROTECT)
+            attr->proto = PTHREAD_PRIO_INHERIT;
+#endif
+            break;
+
           case PTHREAD_PRIO_INHERIT:
-            attr->proto = protocol;
+#ifdef CONFIG_PRIORITY_INHERITANCE
+            attr->proto = PTHREAD_PRIO_INHERIT;
+            break;
+#else
+            return ENOTSUP;
 #endif /* CONFIG_PRIORITY_INHERITANCE */
-            return OK;
+
+          case PTHREAD_PRIO_PROTECT:
+#ifdef CONFIG_PRIORITY_PROTECT
+            attr->proto = PTHREAD_PRIO_PROTECT;
+            break;
+#else
+            return ENOTSUP;
+#endif /* CONFIG_PRIORITY_PROTECT */
 
           default:
             return ENOTSUP;
         }
+
+      return OK;
     }
 
   return EINVAL;

sched/pthread/pthread_mutexinit.c

@@ -55,62 +55,61 @@
 int pthread_mutex_init(FAR pthread_mutex_t *mutex,
                        FAR const pthread_mutexattr_t *attr)
 {
-#ifdef CONFIG_PTHREAD_MUTEX_TYPES
-  uint8_t type = PTHREAD_MUTEX_DEFAULT;
-#endif
-#ifndef CONFIG_PTHREAD_MUTEX_UNSAFE
-#ifdef CONFIG_PTHREAD_MUTEX_DEFAULT_UNSAFE
-  uint8_t flags = 0;
-#else
-  uint8_t flags = _PTHREAD_MFLAGS_ROBUST;
-#endif
-#endif
-  int ret = OK;
   int status;
 
   sinfo("mutex=%p attr=%p\n", mutex, attr);
 
   if (!mutex)
     {
-      ret = EINVAL;
+      return EINVAL;
     }
-  else
+
+  /* Initialize the mutex like a semaphore with initial count = 1 */
+
+  status = mutex_init(&mutex->mutex);
+  if (status < 0)
     {
-      /* Were attributes specified?  If so, use them */
+      return -status;
+    }
+
+  /* Were attributes specified?  If so, use them */
 
-      if (attr)
-        {
 #ifdef CONFIG_PTHREAD_MUTEX_TYPES
-          type    = attr->type;
+      mutex->type  = attr ? attr->type : PTHREAD_MUTEX_DEFAULT;
 #endif
-#ifdef CONFIG_PTHREAD_MUTEX_BOTH
-          flags  = attr->robust == PTHREAD_MUTEX_ROBUST ?
-                   _PTHREAD_MFLAGS_ROBUST : 0;
+#ifndef CONFIG_PTHREAD_MUTEX_UNSAFE
+      mutex->flink = NULL;
+#  ifdef CONFIG_PTHREAD_MUTEX_BOTH
+      mutex->flags = attr && attr->robust == PTHREAD_MUTEX_ROBUST ?
+                     _PTHREAD_MFLAGS_ROBUST : 0;
+#  else
+      mutex->flags = 0;
+#  endif
 #endif
-        }
 
-      /* Initialize the mutex like a semaphore with initial count = 1 */
-
-      status = mutex_init(&mutex->mutex);
+#if defined(CONFIG_PRIORITY_INHERITANCE) || defined(CONFIG_PRIORITY_PROTECT)
+  if (attr)
+    {
+      status = mutex_set_protocol(&mutex->mutex, attr->proto);
       if (status < 0)
         {
-          ret = -status;
+          mutex_destroy(&mutex->mutex);
+          return -status;
         }
 
-#ifndef CONFIG_PTHREAD_MUTEX_UNSAFE
-      /* Initial internal fields of the mutex */
-
-      mutex->flink = NULL;
-      mutex->flags = flags;
-#endif
-
-#ifdef CONFIG_PTHREAD_MUTEX_TYPES
-      /* Set up attributes unique to the mutex type */
-
-      mutex->type  = type;
-#endif
+#  ifdef CONFIG_PRIORITY_PROTECT
+      if (attr->proto == PTHREAD_PRIO_PROTECT)
+        {
+          status = mutex_setprioceiling(&mutex->mutex, attr->ceiling, NULL);
+          if (status < 0)
+            {
+              mutex_destroy(&mutex->mutex);
+              return -status;
+            }
+        }
+#  endif
     }
+#endif
 
-  sinfo("Returning %d\n", ret);
-  return ret;
+  return 0;
 }