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Merged
merged 14 commits into from
Feb 22, 2018
Merged

Posix implementation layer #5667

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3f10d3d
kernel: POSIX: Fixing return value of POSIX APIs on error.
youvedeep-singh Feb 8, 2018
c29dd0d
kernel: POSIX: moving POSIX related typedef into sys/types.h file.
youvedeep-singh Jan 3, 2018
7f17666
kernel: POSIX: Compatibility layer for pthread APIs.
youvedeep-singh Dec 28, 2017
9f7747d
kernel: POSIX: Compatibility layer for scheduler APIs.
youvedeep-singh Jan 13, 2018
89e9f09
kernel: POSIX: Compatibility layer for POSIX sleep APIs.
youvedeep-singh Jan 13, 2018
b845895
kernel: POSIX: Compatibility layer for POSIX clock APIs.
youvedeep-singh Jan 17, 2018
347fc61
kernel: POSIX: removing unused elements from POSIX object attribute.
youvedeep-singh Feb 15, 2018
2261f14
tests: kernel: posix: pthread_join: Add pthread join test.
youvedeep-singh Feb 4, 2018
7181b09
tests: kernel: posix: clock: Add posix clock test.
youvedeep-singh Feb 4, 2018
cef171e
tests: kernel: posix: pthread: Add pthread test.
youvedeep-singh Feb 15, 2018
da5609c
tests: kernel: posix: pthread_cancel: POSIX thread cancel test.
youvedeep-singh Feb 16, 2018
4d8bad8
kernel: POSIX: Compatibility layer for POSIX timer APIs.
youvedeep-singh Feb 21, 2018
a4d00b5
tests: kernel: posix: timer: POSIX timer test.
youvedeep-singh Feb 21, 2018
9ae6024
arch: POSIX: Add guard into posix_cheats file.
youvedeep-singh Feb 21, 2018
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67 changes: 65 additions & 2 deletions arch/posix/include/posix_cheats.h
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Expand Up @@ -23,14 +23,23 @@
* some prefix, and we ensure this header is included
*/

#ifdef CONFIG_PTHREAD_IPC

#define timespec zap_timespec
#define pthread_mutex_t zap_pthread_mutex_t
#define pthread_mutexattr_t zap_pthread_mutexattr_t
#define pthread_cond_t zap_pthread_cond_t
#define pthread_condattr_t zap_pthread_condattr_t
#define pthread_barrier_t zap_pthread_barrier_t
#define pthread_barrierattr_t zap_pthread_barrierattr_t

#define pthread_attr_t zap_pthread_attr_t
#define clockid_t zap_clockid_t
#define sched_param zap_sched_param
#define itimerspe zap_sched_param
#define timer_t zap_timer_t
#define sigval zap_sigval
#define sigevent zap_sigevent
/* Condition variables */
#define pthread_cond_init(...) zap_pthread_cond_init(__VA_ARGS__)
#define pthread_cond_destroy(...) zap_pthread_cond_destroy(__VA_ARGS__)
#define pthread_cond_signal(...) zap_pthread_cond_signal(__VA_ARGS__)
Expand All @@ -39,6 +48,7 @@
#define pthread_cond_timedwait(...) zap_pthread_cond_timedwait(__VA_ARGS__)
#define pthread_condattr_init(...) zap_pthread_condattr_init(__VA_ARGS__)
#define pthread_condattr_destroy(...) zap_pthread_condattr_destroy(__VA_ARGS__)
/* Mutex */
#define pthread_mutex_init(...) zap_pthread_mutex_init(__VA_ARGS__)
#define pthread_mutex_destroy(...) zap_pthread_mutex_destroy(__VA_ARGS__)
#define pthread_mutex_lock(...) zap_pthread_mutex_lock(__VA_ARGS__)
Expand All @@ -48,13 +58,66 @@
#define pthread_mutexattr_init(...) zap_pthread_mutexattr_init(__VA_ARGS__)
#define pthread_mutexattr_destroy(...) \
zap_pthread_mutexattr_destroy(__VA_ARGS__)
/* Barrier */
#define pthread_barrier_wait(...) zap_pthread_barrier_wait(__VA_ARGS__)
#define pthread_barrier_init(...) zap_pthread_barrier_init(__VA_ARGS__)
#define pthread_barrier_destroy(...) zap_pthread_barrier_destroy(__VA_ARGS__)
#define pthread_barrierattr_init(...) zap_pthread_barrierattr_init(__VA_ARGS__)
#define pthread_barrierattr_destroy(...) \
zap_pthread_barrierattr_destroy(__VA_ARGS__)

/* Pthread */
#define pthread_attr_init(...) zap_pthread_attr_init(__VA_ARGS__)
#define pthread_attr_destroy(...) zap_pthread_attr_destroy(__VA_ARGS__)
#define pthread_attr_getschedparam(...) \
zap_pthread_attr_getschedparam(__VA_ARGS__)
#define pthread_attr_getstack(...) zap_pthread_attr_getstack(__VA_ARGS__)
#define pthread_attr_getstacksize(...) \
zap_pthread_attr_getstacksize(__VA_ARGS__)
#define pthread_equal(...) zap_pthread_equal(__VA_ARGS__)
#define pthread_self(...) zap_pthread_self(__VA_ARGS__)
#define pthread_getschedparam(...) zap_pthread_getschedparam(__VA_ARGS__)
#define pthread_exit(...) zap_pthread_exit(__VA_ARGS__)
#define pthread_join(...) zap_pthread_join(__VA_ARGS__)
#define pthread_detach(...) zap_pthread_detach(__VA_ARGS__)
#define pthread_cancel(...) zap_pthread_cancel(__VA_ARGS__)
#define pthread_attr_getdetachstate(...) \
zap_pthread_attr_getdetachstate(__VA_ARGS__)
#define pthread_attr_setdetachstate(...) \
zap_pthread_attr_setdetachstate(__VA_ARGS__)
#define pthread_attr_setschedparam(...) \
zap_pthread_attr_setschedparam(__VA_ARGS__)
#define pthread_attr_setschedpolicy(...)\
zap_pthread_attr_setschedpolicy(__VA_ARGS__)
#define pthread_attr_getschedpolicy(...)\
zap_pthread_attr_getschedpolicy(__VA_ARGS__)

#define pthread_attr_setstack(...) zap_pthread_attr_setstack(__VA_ARGS__)
#define pthread_create(...) zap_pthread_create(__VA_ARGS__)
#define pthread_setcancelstate(...) zap_pthread_setcancelstate(__VA_ARGS__)
#define pthread_setschedparam(...) zap_pthread_setschedparam(__VA_ARGS__)

/* Scheduler */
#define sched_yield(...) zap_sched_yield(__VA_ARGS__)
#define sched_get_priority_min(...) zap_sched_get_priority_min(__VA_ARGS__)
#define sched_get_priority_max(...) zap_sched_get_priority_max(__VA_ARGS__)

/* Sleep */
#define sleep(...) zap_sleep(__VA_ARGS__)
#define usleep(...) zap_usleep(__VA_ARGS__)

/* Clock */
#define clock_gettime(...) zap_clock_gettime(__VA_ARGS__)
#define clock_settime(...) zap_clock_settime(__VA_ARGS__)

/* Timer */
#define timer_create(...) zap_timer_create(__VA_ARGS__)
#define timer_delete(...) zap_timer_delete(__VA_ARGS__)
#define timer_gettime(...) zap_timer_gettime(__VA_ARGS__)
#define timer_settime(...) zap_timer_settime(__VA_ARGS__)

#endif /* CONFIG_PTHREAD_IPC */

#endif /* CONFIG_ARCH_POSIX */

#endif
#endif /* _POSIX_CHEATS_H */
45 changes: 45 additions & 0 deletions include/posix/posix_sched.h
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@@ -0,0 +1,45 @@
/*
* Copyright (c) 2018 Intel Corporation
*
* SPDX-License-Identifier: Apache-2.0
*/
#ifndef __POSIX_SCHED_H__
#define __POSIX_SCHED_H__

#ifdef __cplusplus
extern "C" {
#endif

/* Cooperative scheduling policy */
#ifndef SCHED_FIFO
#define SCHED_FIFO 0
#endif /* SCHED_FIFO */

/* Priority based preemptive scheduling policy */
#ifndef SCHED_RR
#define SCHED_RR 1
#endif /* SCHED_RR */

struct sched_param {
int priority;
};

/**
* @brief Yield the processor
*
* See IEEE 1003.1
*/
static inline int sched_yield(void)
{
k_yield();
return 0;
}

int sched_get_priority_min(int policy);
int sched_get_priority_max(int policy);

#ifdef __cplusplus
}
#endif

#endif /* __POSIX_SCHED_H__ */
127 changes: 91 additions & 36 deletions include/posix/pthread.h
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Expand Up @@ -7,38 +7,50 @@
#ifndef __PTHREAD_H__
#define __PTHREAD_H__

#ifdef CONFIG_NEWLIB_LIBC
#include <kernel.h>
#include <time.h>
#else
/* This should probably live somewhere else but Zephyr doesn't
* currently have a stdc layer to provide it
*/
struct timespec {
s32_t tv_sec;
s32_t tv_nsec;
#include "sys/types.h"
#include "posix_sched.h"
#include "unistd.h"

enum pthread_state {
/* The thread is running and joinable. */
PTHREAD_JOINABLE = 0,
/* The thread is running and detached. */
PTHREAD_DETACHED,
/* A joinable thread exited and its return code is available. */
PTHREAD_EXITED,
/* The thread structure is unallocated and available for reuse. */
PTHREAD_TERMINATED
};
#endif

static inline s32_t _ts_to_ms(const struct timespec *to)
{
return (to->tv_sec * 1000) + (to->tv_nsec / 1000000);
}
struct posix_thread {
struct k_thread thread;

typedef struct pthread_mutex {
struct k_sem *sem;
} pthread_mutex_t;
/* Exit status */
void *retval;

typedef struct pthread_mutexattr {
int unused;
} pthread_mutexattr_t;
/* Pthread cancellation */
int cancel_state;
int cancel_pending;
struct k_sem cancel_lock_sem;
pthread_mutex_t cancel_lock;
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Why do we have a semaphore and a pthread_mutex?

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pthread_mutex_t just contains a pointer to a semphore.
So we need a semaphore to for this.

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A user using these APIs will have to define a k_sem as well?

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pthread mutex was implemented by @andyross in last zephyr release.

As per my understanding, there are 2 ways to achieve this :-

  1. Application need to define it statically something like : "PTHREAD_MUTEX_DEFINE(lock);" (something shown in same application tests/kernel/pthread)
  2. Application need to define a "k_sem" and then use ptherad_mutex_init to initialize it. (approach I have taken for my implementation for achieving cancel_lock and state_lock).

I think we need to modify this later, as it does not seem intuitive to a app developer.

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Can we make it work for both cases (by statically initializing it with that macro or calling pthread_init()) if pthread_mutex_t were embedding a k_sem rather than pointing to it?

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I think we need to modify this later

I think we need to fix this now.

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Yes @andrewboie we need to fix this now. But it will need changes in almost all mutex related APIs. At this stage I am avoiding this because merge window is approaching and this will gate all POSIX patches. I will put a FIXME: Comment here and will take this up after 1.11.


typedef struct pthread_cond {
_wait_q_t wait_q;
} pthread_cond_t;
/* Pthread State */
enum pthread_state state;
pthread_mutex_t state_lock;
struct k_sem state_lock_sem;
pthread_cond_t state_cond;
};

typedef struct pthread_condattr {
int unused;
} pthread_condattr_t;
/* Pthread detach/joinable */
#define PTHREAD_CREATE_JOINABLE 0
#define PTHREAD_CREATE_DETACHED 1

/* Pthread cancellation */
#define _PTHREAD_CANCEL_POS 0
#define PTHREAD_CANCEL_ENABLE (0 << _PTHREAD_CANCEL_POS)
#define PTHREAD_CANCEL_DISABLE (1 << _PTHREAD_CANCEL_POS)

/**
* @brief Declare a pthread condition variable
Expand Down Expand Up @@ -193,7 +205,7 @@ static inline int pthread_mutex_timedlock(pthread_mutex_t *m,
{
int ret = k_sem_take(m->sem, _ts_to_ms(to));

return ret == -EAGAIN ? -ETIMEDOUT : ret;
return ret == 0 ? ret : ETIMEDOUT;
}

/**
Expand Down Expand Up @@ -260,16 +272,6 @@ static inline int pthread_mutexattr_destroy(pthread_mutexattr_t *m)
/* #define PTHREAD_MUTEX_INITIALIZER */
/* #define PTHREAD_COND_INITIALIZER */

typedef struct pthread_barrier {
_wait_q_t wait_q;
int max;
int count;
} pthread_barrier_t;

typedef struct pthread_barrierattr {
int unused;
} pthread_barrierattr_t;

/**
* @brief Declare a pthread barrier
*
Expand Down Expand Up @@ -383,4 +385,57 @@ int pthread_barrierattr_getpshared(const pthread_barrierattr_t *, int *);
int pthread_barrierattr_setpshared(pthread_barrierattr_t *, int);
*/

/* Base Pthread related APIs */

/**
* @brief Obtain ID of the calling thread.
*
* The results of calling this API from threads not created with
* pthread_create() are undefined.
*
* See IEEE 1003.1
*/
static inline pthread_t pthread_self(void)
{
return (pthread_t)k_current_get();
}


/**
* @brief Compare thread IDs.
*
* See IEEE 1003.1
*/
static inline int pthread_equal(pthread_t pt1, pthread_t pt2)
{
return (pt1 == pt2);
}

int pthread_attr_getstacksize(const pthread_attr_t *attr, size_t *stacksize);
int pthread_attr_setschedpolicy(pthread_attr_t *attr, int policy);
int pthread_attr_getschedpolicy(const pthread_attr_t *attr, int *policy);
int pthread_attr_setdetachstate(pthread_attr_t *attr, int detachstate);
int pthread_attr_getdetachstate(const pthread_attr_t *attr, int *detachstate);
int pthread_attr_init(pthread_attr_t *attr);
int pthread_attr_destroy(pthread_attr_t *attr);
int pthread_attr_getschedparam(const pthread_attr_t *attr,
struct sched_param *schedparam);
int pthread_getschedparam(pthread_t pthread, int *policy,
struct sched_param *param);
int pthread_attr_getstack(const pthread_attr_t *attr,
void **stackaddr, size_t *stacksize);
int pthread_attr_setstack(pthread_attr_t *attr, void *stackaddr,
size_t stacksize);
void pthread_exit(void *retval);
int pthread_join(pthread_t thread, void **status);
int pthread_cancel(pthread_t pthread);
int pthread_detach(pthread_t thread);
int pthread_create(pthread_t *newthread, const pthread_attr_t *attr,
void *(*threadroutine)(void *), void *arg);
int pthread_setcancelstate(int state, int *oldstate);
int pthread_attr_setschedparam(pthread_attr_t *attr,
const struct sched_param *schedparam);
int pthread_setschedparam(pthread_t pthread, int policy,
const struct sched_param *param);

#endif /* __PTHREAD_H__ */
44 changes: 44 additions & 0 deletions include/posix/signal.h
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@@ -0,0 +1,44 @@
/*
* Copyright (c) 2018 Intel Corporation
*
* SPDX-License-Identifier: Apache-2.0
*/
#ifndef __POSIX_SIGNAL_H__
#define __POSIX_SIGNAL_H__

#ifdef __cplusplus
extern "C" {
#endif

#include "sys/types.h"

#ifndef SIGEV_NONE
#define SIGEV_NONE 1
#endif

#ifndef SIGEV_SIGNAL
#define SIGEV_SIGNAL 2
#endif

#ifndef SIGEV_THREAD
#define SIGEV_THREAD 3
#endif

typedef union sigval {
int sival_int;
void *sival_ptr;
} sigval;

typedef struct sigevent {
int sigev_notify;
int sigev_signo;
sigval sigev_value;
void (*sigev_notify_function)(sigval val);
pthread_attr_t *sigev_notify_attributes;
} sigevent;

#ifdef __cplusplus
}
#endif

#endif /* __POSIX_TIME_H__ */
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