From mboxrd@z Thu Jan  1 00:00:00 1970
From: Philippe Gerum <rpm@xenomai.org>
In-Reply-To: <4AFD6922.2040408@domain.hid>
References: <4AFD6922.2040408@domain.hid>
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Date: Fri, 13 Nov 2009 15:32:12 +0100
Message-ID: <1258122732.2348.65.camel@domain.hid>
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Subject: Re: [Xenomai-core] [Fwd: Re: [Xenomai-help] How to fix t_delete
 call in psos skin?]
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To: Alexandre Coffignal <alexandre.coffignal@domain.hid>
Cc: xenomai@xenomai.org, 'Fabrice Gasnier' <fabrice.gasnier@domain.hid>

On Fri, 2009-11-13 at 15:11 +0100, Alexandre Coffignal wrote:
> Hello,
>=20
> Please find attached a new patch that should take into account your=20
> latest remarks.
> This patch has been created using 'git diff -p' command and applies on=20
> 2.4.10 revision.
> I'm not sure I fully understand your remark on missing critical section=
.=20
> Indeed, this code is similar to __t_delete routine that doesn't seem to=
=20
> have critical section enforcement?
> Should a critical section be added to it as well ?

No, __t_delete() is safe because it does not directly dereference the
task pointer fetched from the registry, but simply passes it to the
actual t_delete() syscall, which will revalidate that pointer before
doing anything silly with it.

__t_get_pthread() on the other hand, does dereference the task pointer
to fetch the opaque handle, which is unsafe unless this is done within a
critical section.

> Anyway, I tried to replicate __t_ident mechanism as you mentioned.
>=20
> Please let me know your feeling about this.
>=20
> Fabrice
>=20
> > -------- Message original --------
> > Sujet: 	Re: [Xenomai-help] How to fix t_delete call in psos skin?
> > Date: 	Fri, 06 Nov 2009 12:28:33 +0100
> > De: 	Philippe Gerum <rpm@xenomai.org>
> > Organisation: 	Xenomai
> > Pour :: 	Alexandre Coffignal <alexandre.coffignal@domain.hid>
> > Copie =C3=A0 :: 	xenomai@xenomai.org
> > R=C3=A9f=C3=A9rences: 	<4AF1474C.7000701@domain.hid>
> > <1257331856.2210.85.camel@domain.hid>
> > <4AF2AEF9.2050207@domain.hid>
> >
> >
> >
> > On Thu, 2009-11-05 at 11:54 +0100, Alexandre Coffignal wrote:
> >
> >  =20
> >> Does this fix seem more suitable to you?
> >> Do you see someting else missing?
> >>
> >>    =20
> >
> > The logic is fine, but the implementation should get closer to what i=
s
> > being done in the -head branch.
> >
> > Preliminary remarks:
> >
> > - Please follow the kernel CodingStyle guidelines for anything that i=
s
> > Xenomai-related, including userland code. Keeping a single code style
> > throughout our code makes things easier for reviewing, and keeps visu=
al
> > pollution to the lowest possible level.
> >
> > - Please rebase your work on 2.4.10 for pushing those changes to Xeno=
mai
> > mainline. There is no point for us to consider changes to legacy
> > releases which are not being actively maintained anymore; you can alw=
ays
> > backport those changes to 2.4.7 locally if you really fancy dealing w=
ith
> > bugs solved between 2.4.7 and 2.4.10...
> >
> > - Please tell your CVS/SVN diff tool to use -p, when formatting patch=
es.
> > =20
> >  =20
> >> Please advice.
> >>    =20
> >
> >  =20
> >> plain text document attachment (patch_psos_t_delete)
> >> Index: xenomai-2.4.7_bugless/include/psos+/syscall.h
> >> =3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=
=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=
=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D
> >> --- xenomai-2.4.7_bugless.orig/include/psos+/syscall.h	2009-11-05 09=
:12:29.000000000 +0100
> >> +++ xenomai-2.4.7_bugless/include/psos+/syscall.h	2009-11-05 09:13:1=
4.000000000 +0100
> >> @@ -73,6 +73,7 @@
> >>  #define __psos_as_send      45
> >>  /* Xenomai extension: get raw count of jiffies */
> >>  #define __psos_tm_getc      46
> >> +#define __psos_t_get_pthread		47	/* get hidden pthread_t identifier=
. */
> >>    =20
> >
> > psos_t_getpth is enough. To be really, really pSOS-conformant when
> > introducing a routine, we should either use:
> >
> > 1) a preposterously long argument list
> >
> > or, at the very least:
> > =20
> > 2) an absolutely unpronounceable C identifier
> >
> > __psos_t_getpth happily qualifies for #2.
> >
> >  =20
> >> =20
> >>  #ifdef __KERNEL__
> >> =20
> >> Index: xenomai-2.4.7_bugless/ksrc/skins/psos+/syscall.c
> >> =3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=
=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=
=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D
> >> --- xenomai-2.4.7_bugless.orig/ksrc/skins/psos+/syscall.c	2009-11-05=
 09:16:48.000000000 +0100
> >> +++ xenomai-2.4.7_bugless/ksrc/skins/psos+/syscall.c	2009-11-05 09:1=
6:57.000000000 +0100
> >> @@ -67,29 +67,37 @@
> >>  	xncompletion_t __user *u_completion;
> >>  	u_long prio, flags, tid, err;
> >>  	char name[XNOBJECT_NAME_LEN];
> >> +	struct arg_bulk5 bulk;
> >>    =20
> >
> > Please have a look at what is being done in the -head branch, for the
> > very same routine (in the absence of -p passed to diff, seems to be
> > __t_create). An arg bulk has been introduced there, so you just need =
to
> > backport this.
> >
> >  =20
> >>  	psostask_t *task;
> >> =20
> >> -	if (!__xn_access_ok(curr, VERIFY_READ, __xn_reg_arg1(regs), 4))
> >> +	if (!__xn_access_ok(curr, VERIFY_READ, __xn_reg_arg1(regs), sizeof=
(bulk)))
> >> +		return -EFAULT;
> >> +
> >> +	__xn_copy_from_user(curr, &bulk, (void __user *)__xn_reg_arg1(regs=
),
> >> +			    sizeof(bulk));
> >> +
> >> +	if (!__xn_access_ok(curr, VERIFY_READ, bulk.a1, sizeof(name))) {
> >>  		return -EFAULT;
> >> +	}
> >> =20
> >>  	/* Get task name. */
> >> -	__xn_strncpy_from_user(curr, name, (const char __user *)__xn_reg_a=
rg1(regs),
> >> +	__xn_strncpy_from_user(curr, name, (const char __user *)bulk.a1,
> >>  			       sizeof(name) - 1);
> >>  	name[sizeof(name) - 1] =3D '\0';
> >>  	strncpy(curr->comm, name, sizeof(curr->comm));
> >>  	curr->comm[sizeof(curr->comm) - 1] =3D '\0';
> >> =20
> >>  	if (!__xn_access_ok
> >> -	    (curr, VERIFY_WRITE, __xn_reg_arg4(regs), sizeof(tid)))
> >> +		(curr, VERIFY_WRITE, bulk.a4, sizeof(tid)))
> >>  		return -EFAULT;
> >> =20
> >>  	/* Task priority. */
> >> -	prio =3D __xn_reg_arg2(regs);
> >> +	prio =3D bulk.a2;
> >>  	/* Task flags. Force FPU support in user-space. This will lead
> >>  	   to a no-op if the platform does not support it. */
> >> -	flags =3D __xn_reg_arg3(regs) | T_SHADOW | T_FPU;
> >> +	flags =3D bulk.a3 | T_SHADOW | T_FPU;
> >>  	/* Completion descriptor our parent thread is pending on. */
> >> -	u_completion =3D (xncompletion_t __user *)__xn_reg_arg5(regs);
> >> +	u_completion =3D (xncompletion_t __user *)__xn_reg_arg2(regs);
> >> =20
> >>  	err =3D t_create(name, prio, 0, 0, flags, &tid);
> >> =20
> >> @@ -99,7 +107,8 @@
> >>  		 * about the new thread id, so we can manipulate its
> >>  		 * TCB pointer freely. */
> >>  		tid =3D xnthread_handle(&task->threadbase);
> >> -		__xn_copy_to_user(curr, (void __user *)__xn_reg_arg4(regs), &tid,
> >> +		task->opaque2 =3D bulk.a5; /* hidden pthread_t identifier. */
> >> +		__xn_copy_to_user(curr, (void __user *) bulk.a4, &tid,
> >>  				  sizeof(tid));
> >>  		err =3D xnshadow_map(&task->threadbase, u_completion); /* May be =
NULL */
> >>  	} else {
> >> @@ -1443,6 +1452,36 @@
> >>  	return as_send((u_long)task, signals);
> >>  }
> >> =20
> >> +
> >> +/*
> >> + * int __t_get_pthread(u_long tid, u_long *pthread)
> >> + */
> >> +static int __t_get_pthread(struct task_struct *curr, struct pt_regs=
 *regs)
> >> +{
> >> +	xnhandle_t handle;
> >> +	psostask_t *task;
> >> +	u_long pthread;
> >> +
> >> +	handle =3D __xn_reg_arg1(regs);
> >> +
> >> +	if (!__xn_access_ok(curr, VERIFY_READ, __xn_reg_arg2(regs), sizeof=
(u_long)))
> >> +		return -EFAULT;
> >> +
> >> +	if (handle)
> >> +		task =3D (psostask_t *)xnregistry_fetch(handle);
> >> +	else
> >> +		task =3D __psos_task_current(curr);
> >> +
> >> +	if (!task)
> >> +		return ERR_OBJID;
> >>    =20
> >
> > Critical section enforcement is missing. What if the caller gets
> > preempted after the handle is fetched, and the non-current tid gets
> > killed by a concurrent thread right after? See t_ident for an
> > illustration.
> >
> > If the deletion happens after the critical section, well, we would ju=
st
> > have to hope that pthread_cancel() does a good job at validating its
> > handle, but at least we would not have referred to stale memory on ou=
r
> > end.
> >
> >  =20
> >> +
> >> +	pthread =3D task->opaque2; /* hidden pthread_t identifier. */
> >> +
> >> +	__xn_copy_to_user(curr, (void __user *) __xn_reg_arg2(regs), &pthr=
ead, sizeof(u_long));
> >> +
> >> +	return SUCCESS;
> >> +}
> >> +
> >>  static void *psos_shadow_eventcb(int event, void *data)
> >>  {
> >>  	struct psos_resource_holder *rh;
> >> @@ -1524,6 +1563,7 @@
> >>  	[__psos_tm_signal] =3D {&__tm_signal, __xn_exec_primary},
> >>  	[__psos_as_send] =3D {&__as_send, __xn_exec_conforming},
> >>  	[__psos_tm_getc] =3D {&__tm_getc, __xn_exec_any},
> >> +	[__psos_t_get_pthread] =3D {&__t_get_pthread, __xn_exec_any},
> >>  };
> >> =20
> >>  extern xntbase_t *psos_tbase;
> >> Index: xenomai-2.4.7_bugless/src/skins/psos+/task.c
> >> =3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=
=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=
=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D
> >> --- xenomai-2.4.7_bugless.orig/src/skins/psos+/task.c	2009-11-05 09:=
17:31.000000000 +0100
> >> +++ xenomai-2.4.7_bugless/src/skins/psos+/task.c	2009-11-05 09:17:56=
.000000000 +0100
> >> @@ -26,6 +26,15 @@
> >>  #include <memory.h>
> >>  #include <psos+/psos.h>
> >> =20
> >> +struct arg_bulk5{
> >> +
> >> +    u_long a1;
> >> +    u_long a2;
> >> +    u_long a3;
> >> +    u_long a4;
> >> +    u_long a5;
> >> +};
> >>    =20
> >
> > Rather use psos_arg_bulk like in -head tree.
> >
> >  =20
> >> +
> >>  extern int __psos_muxid;
> >> =20
> >>  struct psos_task_iargs {
> >> @@ -73,6 +82,7 @@
> >>  	struct sched_param param;
> >>  	int policy;
> >>  	long err;
> >> +	struct arg_bulk5 bulk;
> >> =20
> >>  	policy =3D psos_task_set_posix_priority(iargs->prio, &param);
> >>  	pthread_setschedparam(pthread_self(), policy, &param);
> >> @@ -81,10 +91,14 @@
> >> =20
> >>  	old_sigharden_handler =3D signal(SIGHARDEN, &psos_task_sigharden);
> >> =20
> >> -	err =3D XENOMAI_SKINCALL5(__psos_muxid,
> >> -				__psos_t_create,
> >> -				iargs->name, iargs->prio, iargs->flags,
> >> -				iargs->tid_r, iargs->completionp);
> >> +	bulk.a1 =3D (u_long)iargs->name;
> >> +	bulk.a2 =3D (u_long)iargs->prio;
> >> +	bulk.a3 =3D (u_long)iargs->flags;
> >> +	bulk.a4 =3D (u_long)iargs->tid_r;
> >> +	bulk.a5 =3D (u_long)pthread_self();
> >> +
> >> +	err =3D XENOMAI_SKINCALL2(__psos_muxid, __psos_t_create, &bulk, ia=
rgs->completionp);
> >> +
> >>  	if (err)
> >>  		goto fail;
> >> =20
> >> @@ -172,14 +186,19 @@
> >>  		u_long flags,
> >>  		u_long *tid_r)
> >>  {
> >> +	struct arg_bulk5 bulk;
> >> +
> >>  	pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
> >> =20
> >>  	old_sigharden_handler =3D signal(SIGHARDEN, &psos_task_sigharden);
> >> =20
> >> -	return XENOMAI_SKINCALL5(__psos_muxid,
> >> -				 __psos_t_create,
> >> -				 name, prio, flags,
> >> -				 tid_r, NULL);
> >> +	bulk.a1 =3D (u_long)name;
> >> +	bulk.a2 =3D (u_long)prio;
> >> +	bulk.a3 =3D (u_long)flags;
> >> +	bulk.a4 =3D (u_long)tid_r;
> >> +	bulk.a5 =3D (u_long)pthread_self();
> >> +
> >> +	return XENOMAI_SKINCALL2(__psos_muxid, __psos_t_create, &bulk, NUL=
L);
> >>  }
> >> =20
> >>  u_long t_start(u_long tid,
> >> @@ -196,6 +215,18 @@
> >> =20
> >>  u_long t_delete(u_long tid)
> >>  {
> >> +	long err;
> >> +	u_long pthread;
> >> +
> >> +	if(tid)
> >> +	{
> >> +		err =3D XENOMAI_SKINCALL2(__psos_muxid, __psos_t_get_pthread, tid=
, &pthread);
> >> +		if (err)
> >> +			return err;
> >> +		err =3D pthread_cancel((pthread_t)pthread);
> >> +		if (err)
> >> +			return err;
> >> +	}
> >>    =20
> >
> > We should handle the self-deletion case specifically:
> >
> > +	else {
> > +		/* Silently migrate to avoid raising SIGXCPU. */
> > +		XENOMAI_SYSCALL1(__xn_sys_migrate, XENOMAI_LINUX_DOMAIN);
> > +		pthread_exit(NULL);
> > +	}
> >
> > Actually, we should also test for the case when a non-zero tid ends u=
p
> > pointing at the current thread as well, e.g.
> >
> > 		if (tid =3D=3D 0)
> > 			goto self_delete;
> >
> > 		err =3D XENOMAI_SKINCALL2(__psos_muxid, __psos_t_getpth, tid, &ptid=
);
> > 		if (err)
> > 			return err;
> >
> > 		if ((pthread_t)ptid =3D=3D pthread_self())
> > 			goto self_delete;
> >
> > 		err =3D pthread_cancel((pthread_t)ptid);
> > 		if (err)
> > 			return -err; /* differentiate from pSOS codes */
> >
> > 		return XENOMAI_SKINCALL1(__psos_muxid, __psos_t_delete, tid);
> > self_delete:
> > 		 /* Silently migrate to avoid raising SIGXCPU. */=20
> > 		XENOMAI_SYSCALL1(__xn_sys_migrate, XENOMAI_LINUX_DOMAIN);
> > 		pthread_exit(NULL);
> >
> > 		return SUCCESS; /* not reached */
> >
> >  =20
> >>  	return XENOMAI_SKINCALL1(__psos_muxid, __psos_t_delete, tid);
> >>  }
> >> =20
> >> Index: xenomai-2.4.7_bugless/include/psos+/task.h
> >> =3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=
=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=
=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D
> >> --- xenomai-2.4.7_bugless.orig/include/psos+/task.h	2009-11-05 09:19=
:49.000000000 +0100
> >> +++ xenomai-2.4.7_bugless/include/psos+/task.h	2009-11-05 09:19:58.0=
00000000 +0100
> >> @@ -26,6 +26,16 @@
> >> =20
> >>  #define PSOS_TASK_MAGIC 0x81810101
> >> =20
> >> +struct arg_bulk5{
> >> +
> >> +    u_long a1;
> >> +    u_long a2;
> >> +    u_long a3;
> >> +    u_long a4;
> >> +    u_long a5;
> >> +};
> >> +
> >> +
> >>  typedef struct psostask {
> >> =20
> >>      unsigned magic;   /* Magic code - must be first */
> >> @@ -64,6 +74,8 @@
> >> =20
> >>      } waitargs;
> >> =20
> >> +    u_long opaque2; /* hidden pthread_t identifier. */
> >>    =20
> >
> > No need to make this more opaque than required to the reviewer; besid=
es,
> > we only need this field when user-space support is compiled in.
> >
> > -	u_long opaque2; /* hidden pthread_t identifier. */
> >
> > +	#ifdef CONFIG_XENO_OPT_PERVASIVE
> > +		u_long pthread;
> > +	#endif
> >
> >  =20
> >> +
> >>  } psostask_t;
> >> =20
> >>  static inline psostask_t *thread2psostask (xnthread_t *t)
> >>    =20
> >
> >
> >  =20
>=20
>=20
> plain text document attachment (patch_psos_t_delete)
> diff --git a/include/psos+/syscall.h b/include/psos+/syscall.h
> index 55ee8a0..25c0a2d 100644
> --- a/include/psos+/syscall.h
> +++ b/include/psos+/syscall.h
> @@ -73,6 +73,16 @@
>  #define __psos_as_send      45
>  /* Xenomai extension: get raw count of jiffies */
>  #define __psos_tm_getc      46
> +#define __psos_t_getpth		47	/* get hidden pthread_t identifier. */
> +
> +struct psos_arg_bulk{
> +
> +    u_long a1;
> +    u_long a2;
> +    u_long a3;
> +    u_long a4;
> +    u_long a5;
> +};
> =20
>  #ifdef __KERNEL__
> =20
> diff --git a/include/psos+/task.h b/include/psos+/task.h
> index ca01573..7294f0a 100644
> --- a/include/psos+/task.h
> +++ b/include/psos+/task.h
> @@ -64,6 +64,10 @@ typedef struct psostask {
> =20
>      } waitargs;
> =20
> +	#ifdef CONFIG_XENO_OPT_PERVASIVE
> +    u_long pthread; /* hidden pthread_t identifier. */
> +	#endif
> +
>  } psostask_t;
> =20
>  static inline psostask_t *thread2psostask (xnthread_t *t)
> diff --git a/ksrc/skins/psos+/syscall.c b/ksrc/skins/psos+/syscall.c
> index 1753901..a16cec5 100644
> --- a/ksrc/skins/psos+/syscall.c
> +++ b/ksrc/skins/psos+/syscall.c
> @@ -67,29 +67,37 @@ static int __t_create(struct task_struct *curr, str=
uct pt_regs *regs)
>  	xncompletion_t __user *u_completion;
>  	u_long prio, flags, tid, err;
>  	char name[XNOBJECT_NAME_LEN];
> +	struct psos_arg_bulk bulk;
>  	psostask_t *task;
> =20
> -	if (!__xn_access_ok(curr, VERIFY_READ, __xn_reg_arg1(regs), 4))
> +	if (!__xn_access_ok(curr, VERIFY_READ, __xn_reg_arg1(regs), sizeof(bu=
lk)))
>  		return -EFAULT;
> =20
> +	__xn_copy_from_user(curr, &bulk, (void __user *)__xn_reg_arg1(regs),
> +			    sizeof(bulk));
> +
> +	if (!__xn_access_ok(curr, VERIFY_READ, bulk.a1, sizeof(name))) {
> +		return -EFAULT;
> +	}
> +
>  	/* Get task name. */
> -	__xn_strncpy_from_user(curr, name, (const char __user *)__xn_reg_arg1=
(regs),
> +	__xn_strncpy_from_user(curr, name, (const char __user *)bulk.a1,
>  			       sizeof(name) - 1);
>  	name[sizeof(name) - 1] =3D '\0';
>  	strncpy(curr->comm, name, sizeof(curr->comm));
>  	curr->comm[sizeof(curr->comm) - 1] =3D '\0';
> =20
>  	if (!__xn_access_ok
> -	    (curr, VERIFY_WRITE, __xn_reg_arg4(regs), sizeof(tid)))
> +		(curr, VERIFY_WRITE, bulk.a4, sizeof(tid)))
>  		return -EFAULT;
> =20
>  	/* Task priority. */
> -	prio =3D __xn_reg_arg2(regs);
> +	prio =3D bulk.a2;
>  	/* Task flags. Force FPU support in user-space. This will lead
>  	   to a no-op if the platform does not support it. */
> -	flags =3D __xn_reg_arg3(regs) | T_SHADOW | T_FPU;
> +	flags =3D bulk.a3 | T_SHADOW | T_FPU;
>  	/* Completion descriptor our parent thread is pending on. */
> -	u_completion =3D (xncompletion_t __user *)__xn_reg_arg5(regs);
> +	u_completion =3D (xncompletion_t __user *)__xn_reg_arg2(regs);
> =20
>  	err =3D t_create(name, prio, 0, 0, flags, &tid);
> =20
> @@ -99,7 +107,10 @@ static int __t_create(struct task_struct *curr, str=
uct pt_regs *regs)
>  		 * about the new thread id, so we can manipulate its
>  		 * TCB pointer freely. */
>  		tid =3D xnthread_handle(&task->threadbase);
> -		__xn_copy_to_user(curr, (void __user *)__xn_reg_arg4(regs), &tid,
> +		#ifdef CONFIG_XENO_OPT_PERVASIVE
> +		task->pthread =3D bulk.a5; /* hidden pthread_t identifier. */
> +		#endif
> +		__xn_copy_to_user(curr, (void __user *) bulk.a4, &tid,
>  				  sizeof(tid));
>  		err =3D xnshadow_map(&task->threadbase, u_completion); /* May be NUL=
L */
>  	} else {
> @@ -1443,6 +1454,47 @@ static int __as_send(struct task_struct *curr, s=
truct pt_regs *regs)
>  	return as_send((u_long)task, signals);
>  }
> =20
> +
> +/*
> + * int __t_getpth(u_long tid, u_long *pthread)
> + */
> +static int __t_getpth(struct task_struct *curr, struct pt_regs *regs)
> +{
> +	xnhandle_t handle;
> +	psostask_t *task;
> +	spl_t s;
> +	u_long err =3D SUCCESS;
> +	u_long pthread;
> +
> +	handle =3D __xn_reg_arg1(regs);
> +
> +	if (!__xn_access_ok(curr, VERIFY_READ, __xn_reg_arg2(regs), sizeof(u_=
long)))
> +		return -EFAULT;
> +
> +	xnlock_get_irqsave(&nklock, s);
> +
> +	if (handle)
> +		task =3D (psostask_t *)xnregistry_fetch(handle);
> +	else
> +		task =3D __psos_task_current(curr);
> +
> +	if (!task)
> +		err =3D ERR_OBJID;
> +	else
> +	{
> +		#ifdef CONFIG_XENO_OPT_PERVASIVE
> +		pthread =3D task->pthread; /* hidden pthread_t identifier. */
> +		#endif
> +	}
> +
> +	xnlock_put_irqrestore(&nklock, s);
> +
> +	if(err =3D=3D SUCCESS)
> +		__xn_copy_to_user(curr, (void __user *) __xn_reg_arg2(regs), &pthrea=
d, sizeof(u_long));
> +
> +	return err;
> +}
> +
>  static void *psos_shadow_eventcb(int event, void *data)
>  {
>  	struct psos_resource_holder *rh;
> @@ -1524,6 +1576,7 @@ static xnsysent_t __systab[] =3D {
>  	[__psos_tm_signal] =3D {&__tm_signal, __xn_exec_primary},
>  	[__psos_as_send] =3D {&__as_send, __xn_exec_conforming},
>  	[__psos_tm_getc] =3D {&__tm_getc, __xn_exec_any},
> +	[__psos_t_getpth] =3D {&__t_getpth, __xn_exec_any},
>  };
> =20
>  extern xntbase_t *psos_tbase;
> diff --git a/src/skins/psos+/task.c b/src/skins/psos+/task.c
> index 9358ea8..62e2419 100644
> --- a/src/skins/psos+/task.c
> +++ b/src/skins/psos+/task.c
> @@ -73,6 +73,7 @@ static void *psos_task_trampoline(void *cookie)
>  	struct sched_param param;
>  	int policy;
>  	long err;
> +	struct psos_arg_bulk bulk;
> =20
>  	policy =3D psos_task_set_posix_priority(iargs->prio, &param);
>  	pthread_setschedparam(pthread_self(), policy, &param);
> @@ -81,10 +82,14 @@ static void *psos_task_trampoline(void *cookie)
> =20
>  	old_sigharden_handler =3D signal(SIGHARDEN, &psos_task_sigharden);
> =20
> -	err =3D XENOMAI_SKINCALL5(__psos_muxid,
> -				__psos_t_create,
> -				iargs->name, iargs->prio, iargs->flags,
> -				iargs->tid_r, iargs->completionp);
> +	bulk.a1 =3D (u_long)iargs->name;
> +	bulk.a2 =3D (u_long)iargs->prio;
> +	bulk.a3 =3D (u_long)iargs->flags;
> +	bulk.a4 =3D (u_long)iargs->tid_r;
> +	bulk.a5 =3D (u_long)pthread_self();
> +
> +	err =3D XENOMAI_SKINCALL2(__psos_muxid, __psos_t_create, &bulk, iargs=
->completionp);
> +
>  	if (err)
>  		goto fail;
> =20
> @@ -172,14 +177,19 @@ u_long t_shadow(const char *name, /* Xenomai exte=
nsion. */
>  		u_long flags,
>  		u_long *tid_r)
>  {
> +	struct psos_arg_bulk bulk;
> +
>  	pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
> =20
>  	old_sigharden_handler =3D signal(SIGHARDEN, &psos_task_sigharden);
> =20
> -	return XENOMAI_SKINCALL5(__psos_muxid,
> -				 __psos_t_create,
> -				 name, prio, flags,
> -				 tid_r, NULL);
> +	bulk.a1 =3D (u_long)name;
> +	bulk.a2 =3D (u_long)prio;
> +	bulk.a3 =3D (u_long)flags;
> +	bulk.a4 =3D (u_long)tid_r;
> +	bulk.a5 =3D (u_long)pthread_self();
> +
> +	return XENOMAI_SKINCALL2(__psos_muxid, __psos_t_create, &bulk, NULL);
>  }
> =20
>  u_long t_start(u_long tid,
> @@ -196,7 +206,32 @@ u_long t_start(u_long tid,
> =20
>  u_long t_delete(u_long tid)
>  {
> +	long err;
> +	u_long ptid;
> +
> +	if (tid =3D=3D 0)
> +		goto self_delete;
> +
> +	err =3D XENOMAI_SKINCALL2(__psos_muxid, __psos_t_getpth, tid, &ptid);
> +	if (err)
> +		return err;
> +
> +	if ((pthread_t)ptid =3D=3D pthread_self())
> +		goto self_delete;
> +
> +	err =3D pthread_cancel((pthread_t)ptid);
> +	if (err)
> +		return -err; /* differentiate from pSOS codes */
> +
>  	return XENOMAI_SKINCALL1(__psos_muxid, __psos_t_delete, tid);
> +
> +self_delete:
> +
> +	 /* Silently migrate to avoid raising SIGXCPU. */
> +	XENOMAI_SYSCALL1(__xn_sys_migrate, XENOMAI_LINUX_DOMAIN);
> +	pthread_exit(NULL);
> +
> +	return SUCCESS; /* not reached */
>  }
> =20
>  u_long t_suspend(u_long tid)
> _______________________________________________
> Xenomai-core mailing list
> Xenomai-core@domain.hid
> https://mail.gna.org/listinfo/xenomai-core


--=20
Philippe.