Add POSIX task and thread restart examples.

A POSIX thread must be detached to be able to restart it.

9 files changed, 283 insertions, 0 deletions

diff --git a/posix_api/psx_task_restart/Makefile b/posix_api/psx_task_restart/Makefile
new file mode 100644
index 0000000..6aa1fed
--- /dev/null
+++ b/posix_api/psx_task_restart/Makefile
@@ -0,0 +1,20 @@
+#
+#  RTEMS_MAKEFILE_PATH is typically set in an environment variable
+#
+
+PGM=${ARCH}/psx_task_restart.exe
+
+# C source names
+CSRCS = psx_task_restart.c rtems_config.c
+COBJS = $(CSRCS:%.c=${ARCH}/%.o)
+
+include $(RTEMS_MAKEFILE_PATH)/Makefile.inc
+include $(RTEMS_CUSTOM)
+include $(PROJECT_ROOT)/make/leaf.cfg
+
+OBJS= $(COBJS) $(CXXOBJS) $(ASOBJS)
+
+all:    ${ARCH} $(PGM) $(PT_PGM)
+
+$(PGM): $(OBJS)
+	$(make-exe)
diff --git a/posix_api/psx_task_restart/psx_task_restart.c b/posix_api/psx_task_restart/psx_task_restart.c
new file mode 100644
index 0000000..35bfa4a
--- /dev/null
+++ b/posix_api/psx_task_restart/psx_task_restart.c
@@ -0,0 +1,158 @@
+/*
+ *  Program to test restarting a POSIX thread
+ */
+
+/*
+ * Copyright 2021 Joel Sherrill (joel@rtems.org)
+ *
+ * This file's license is 2-clause BSD as in this distribution's LICENSE.2 file.
+ */
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <inttypes.h>
+#include <pthread.h>
+#include <assert.h>
+
+#include <rtems.h>
+#include <rtems/bspIo.h>
+
+#define HEALTH_EVENT 1
+
+pthread_t Health_thread_id;
+pthread_t Faulting_thread_id;
+
+void print_priority(const char *name)
+{
+  rtems_status_code    status;
+  rtems_task_priority  current;
+
+  status = rtems_task_set_priority(RTEMS_SELF, RTEMS_CURRENT_PRIORITY, &current);
+  assert(status == RTEMS_SUCCESSFUL);
+  
+  printk("%s priority --> %d\n", name, current);
+}
+
+rtems_task Health_Thread(rtems_task_argument arg)
+{
+  rtems_status_code status;
+  rtems_event_set   events;
+
+  (void) arg;
+
+  printk("Health Thread entered\n");
+  print_priority("Health thread"); 
+
+  while (1) {
+    status = rtems_event_receive(
+      HEALTH_EVENT,
+      RTEMS_DEFAULT_OPTIONS,  /* block forever */
+      RTEMS_NO_TIMEOUT,
+      &events
+    );
+    assert(status == RTEMS_SUCCESSFUL);
+
+    printk("Health Thread restarting Faulting thread\n");
+    status = rtems_task_restart(Faulting_thread_id, 1);
+    assert(status == RTEMS_SUCCESSFUL);
+  }
+
+  printk("Health Thread exiting\n");
+}
+
+void *Faulting_thread(void *arg)
+{
+  rtems_status_code status;
+
+  printk("Faulting thread entered: %p\n", arg);
+  print_priority("Faulting thread"); 
+
+#if USE_PTHREADS
+  int rc;
+  rc = pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
+  assert(rc ==  0);
+#endif
+  if (arg == (void *) 1) {
+    printk( "Faulting thread Successfully restarted\n");
+    puts( "*** END OF POSIX Thread Restart ***" );
+    exit( 0 );
+  } else {
+    printk( "Faulting thread sending health event\n");
+    status = rtems_event_send(Health_thread_id, HEALTH_EVENT);
+    assert(status == RTEMS_SUCCESSFUL);
+
+    printk( "Faulting thread should not be here\n");
+    /* Do we get restarted or return to here? */
+    while (1) { }
+  };
+  return NULL;
+}
+
+void start_health_thread(void)
+{
+  rtems_status_code     status;
+
+  /* Does not matter is Health thread is higher or lower priority */
+  status = rtems_task_create(
+    rtems_build_name('H','L','T','H'),
+    0,
+    16 * 1024,
+    RTEMS_DEFAULT_MODES,
+    RTEMS_SYSTEM_TASK,
+    &Health_thread_id
+  );
+  assert(status == RTEMS_SUCCESSFUL);
+
+  status = rtems_task_start(Health_thread_id, Health_Thread, 0);
+  assert(status == RTEMS_SUCCESSFUL);
+}
+
+void start_faulting_thread(void)
+{
+  rtems_status_code     status;
+
+#if USE_PTHREADS
+  int                  rc;
+  rtems_task_priority  old;
+  
+  printk("Main: pthread_create faulting ... \n");
+  rc = pthread_create(&Faulting_thread_id, NULL, Faulting_thread, NULL);
+  assert(rc == 0);
+
+  status = rtems_task_set_priority(Faulting_thread_id, 2, &old);
+  assert(status == RTEMS_SUCCESSFUL);
+
+#else
+  printk("Main: rtems_task_create faulting ... \n");
+
+  status = rtems_task_create(
+    rtems_build_name('F','A','L','T'),
+    1,
+    16 * 1024,
+    RTEMS_DEFAULT_MODES,
+    RTEMS_DEFAULT_ATTRIBUTES,
+    &Faulting_thread_id
+  );
+  assert(status == RTEMS_SUCCESSFUL);
+
+  status = rtems_task_start(Faulting_thread_id, (rtems_task_entry)Faulting_thread, 0);
+  assert(status == RTEMS_SUCCESSFUL);
+
+#endif
+}
+
+int main()
+{
+  puts( "*** POSIX Thread Restart ***" );
+
+  print_priority("main");
+
+  start_health_thread();
+
+  start_faulting_thread();
+
+  sleep(5);
+
+  printk("main() - Should not get here");
+  assert(0);
+}
diff --git a/posix_api/psx_task_restart/rtems_config.c b/posix_api/psx_task_restart/rtems_config.c
new file mode 100644
index 0000000..9ae24cb
--- /dev/null
+++ b/posix_api/psx_task_restart/rtems_config.c
@@ -0,0 +1,48 @@
+/*
+ * This file contains the RTEMS Configuration for this example.
+ */
+
+/*
+ * Copyright 2018 Joel Sherrill (joel@rtems.org)
+ *
+ * This file's license is 2-clause BSD as in this distribution's LICENSE.2 file.
+ */
+
+#include <stdlib.h>
+
+int main(int argc, char **argv);
+
+static char *argv_list[] = {
+  "restart",
+  ""
+};
+static void *POSIX_Init(void *arg)
+{
+  (void) arg;  /* deliberately ignored */
+
+  /*
+   * Initialize optional services
+   */
+
+  /*
+   * Could get arguments from command line or have a static set.
+   */
+  (void) main(1, argv_list);
+
+  return NULL;
+}
+
+#include <bsp.h> /* for device driver prototypes */
+
+/* NOTICE: the clock driver is explicitly disabled */
+#define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
+#define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
+
+#define CONFIGURE_POSIX_INIT_THREAD_TABLE
+
+#define CONFIGURE_UNLIMITED_OBJECTS
+#define CONFIGURE_UNIFIED_WORK_AREAS
+#define CONFIGURE_MINIMUM_TASK_STACK_SIZE (64 * 1024)
+
+#define CONFIGURE_INIT
+#include <rtems/confdefs.h>
diff --git a/posix_api/psx_task_restart/wscript b/posix_api/psx_task_restart/wscript
new file mode 100644
index 0000000..2a9dcd8
--- /dev/null
+++ b/posix_api/psx_task_restart/wscript
@@ -0,0 +1,15 @@
+# Copyright 2013 Gedare Bloom (gedare@rtems.org)
+#
+# This file's license is 2-clause BSD as in this distribution's LICENSE.2 file.
+#
+
+import rtems_waf.rtems as rtems
+
+def build(bld):
+    rtems.build(bld)
+
+    bld(features = 'c cprogram',
+        target = 'psx_task_restart.exe',
+        source = ['psx_task_restart.c','rtems_config.c'],
+        lib = ['c'])
+
diff --git a/posix_api/psx_thread_restart/Makefile b/posix_api/psx_thread_restart/Makefile
new file mode 100644
index 0000000..81765ad
--- /dev/null
+++ b/posix_api/psx_thread_restart/Makefile
@@ -0,0 +1,20 @@
+#
+#  RTEMS_MAKEFILE_PATH is typically set in an environment variable
+#
+
+PGM=${ARCH}/psx_thread_restart.exe
+
+# C source names
+CSRCS = psx_thread_restart.c rtems_config.c
+COBJS = $(CSRCS:%.c=${ARCH}/%.o)
+
+include $(RTEMS_MAKEFILE_PATH)/Makefile.inc
+include $(RTEMS_CUSTOM)
+include $(PROJECT_ROOT)/make/leaf.cfg
+
+OBJS= $(COBJS) $(CXXOBJS) $(ASOBJS)
+
+all:    ${ARCH} $(PGM) $(PT_PGM)
+
+$(PGM): $(OBJS)
+	$(make-exe)
diff --git a/posix_api/psx_thread_restart/psx_thread_restart.c b/posix_api/psx_thread_restart/psx_thread_restart.c
new file mode 100644
index 0000000..471a359
--- /dev/null
+++ b/posix_api/psx_thread_restart/psx_thread_restart.c
@@ -0,0 +1,3 @@
+#define USE_PTHREADS 1
+
+#include "../psx_task_restart/psx_task_restart.c"
diff --git a/posix_api/psx_thread_restart/rtems_config.c b/posix_api/psx_thread_restart/rtems_config.c
new file mode 100644
index 0000000..7d39c1b
--- /dev/null
+++ b/posix_api/psx_thread_restart/rtems_config.c
@@ -0,0 +1,2 @@
+
+#include "../psx_task_restart/rtems_config.c"
diff --git a/posix_api/psx_thread_restart/wscript b/posix_api/psx_thread_restart/wscript
new file mode 100644
index 0000000..8384b02
--- /dev/null
+++ b/posix_api/psx_thread_restart/wscript
@@ -0,0 +1,15 @@
+# Copyright 2013 Gedare Bloom (gedare@rtems.org)
+#
+# This file's license is 2-clause BSD as in this distribution's LICENSE.2 file.
+#
+
+import rtems_waf.rtems as rtems
+
+def build(bld):
+    rtems.build(bld)
+
+    bld(features = 'c cprogram',
+        target = 'psx_task_restart.exe',
+        source = ['psx_thread_restart.c','rtems_config.c'],
+        lib = ['c'])
+
diff --git a/posix_api/wscript b/posix_api/wscript
index 19b6e3e..214b441 100644
--- a/posix_api/wscript
+++ b/posix_api/wscript
@@ -18,4 +18,6 @@ def build(bld):
         bld.recurse('psx_rwlock_report')
         bld.recurse('psx_sched_report')
         bld.recurse('psx_sigint')
+        bld.recurse('psx_task_restart')
+        bld.recurse('psx_thread_restart')
         bld.recurse('livermore')