andy motten wrote:
>> Jan Kiszka wrote:
>> Index: xenomai-2.3.x/ChangeLog
>> ===================================================================
>> --- xenomai-2.3.x/ChangeLog     (Revision 2954)
>> +++ xenomai-2.3.x/ChangeLog     (Arbeitskopie)
>> @@ -1,3 +1,8 @@
>> +2007-08-29  Jan Kiszka  <jan.kiszka@domain.hid>
>> +
>> +       * ksrc/nucleus/shadow.c: Postpone module_put() to the lo-stage
>> +       APC handler (back-ported from 2.4).
>> +
>> 2007-08-24  Wolfgang Grandegger  <wg@domain.hid>
>>
>>         * ksrc/drivers/can/rtcan_socket.c: protect the list of RTCAN
>> Index: xenomai-2.3.x/ksrc/nucleus/shadow.c
>> ===================================================================
>> --- xenomai-2.3.x/ksrc/nucleus/shadow.c (Revision 2954)
>> +++ xenomai-2.3.x/ksrc/nucleus/shadow.c (Arbeitskopie)
>> @@ -99,6 +99,7 @@ static struct __lostagerq {
>> #define LO_RENICE_REQ 2
>> #define LO_SIGGRP_REQ 3
>> #define LO_SIGTHR_REQ 4
>> +#define LO_UNMAP_REQ  5
>>                 int type;
>>                 struct task_struct *task;
>>                 int arg;
>> @@ -753,6 +754,28 @@ void xnshadow_reset_shield(void)
>>
>> #endif /* CONFIG_XENO_OPT_ISHIELD */
>>
>> +static void xnshadow_dereference_skin(unsigned magic)
>> +{
>> +       unsigned muxid;
>> +
>> +       for (muxid = 0; muxid < XENOMAI_MUX_NR; muxid++) {
>> +               if (muxtable[muxid].magic == magic) {
>> +                       if
>> (xnarch_atomic_dec_and_test(&muxtable[0].refcnt))
>> +                               xnarch_atomic_dec(&muxtable[0].refcnt);
>> +                       if
>> (xnarch_atomic_dec_and_test(&muxtable[muxid].refcnt))
>> +
>> +                               /* We were the last thread, decrement the
>> counter,
>> +                                  since it was incremented by the
>> xn_sys_bind
>> +                                  operation. */
>> +
>> xnarch_atomic_dec(&muxtable[muxid].refcnt);
>> +                       if (muxtable[muxid].module)
>> +                               module_put(muxtable[muxid].module);
>> +
>> +                       break;
>> +               }
>> +       }
>> +}
>> +
>> static void lostage_handler(void *cookie)
>> {
>>         int cpuid = smp_processor_id(), reqnum, sig;
>> @@ -777,6 +800,12 @@ static void lostage_handler(void *cookie
>>
>>                         goto do_wakeup;
>>
>> +               case LO_UNMAP_REQ:
>> +
>> +                       xnshadow_dereference_skin(
>> +                               (unsigned)rq->req[reqnum].arg);
>> +
>> +               /* fall through */
>>                 case LO_WAKEUP_REQ:
>>
>>                         /* We need to downgrade the root thread
>> @@ -1256,7 +1285,6 @@ int xnshadow_map(xnthread_t *thread, xnc
>> void xnshadow_unmap(xnthread_t *thread)
>> {
>>         struct task_struct *p;
>> -       unsigned muxid, magic;
>>
>>         if (XENO_DEBUG(NUCLEUS) &&
>>             !testbits(xnpod_current_sched()->status, XNKCOUT))
>> @@ -1264,25 +1292,6 @@ void xnshadow_unmap(xnthread_t *thread)
>>
>>         p = xnthread_archtcb(thread)->user_task;
>>
>> -       magic = xnthread_get_magic(thread);
>> -
>> -       for (muxid = 0; muxid < XENOMAI_MUX_NR; muxid++) {
>> -               if (muxtable[muxid].magic == magic) {
>> -                       if
>> (xnarch_atomic_dec_and_test(&muxtable[0].refcnt))
>> -                               xnarch_atomic_dec(&muxtable[0].refcnt);
>> -                       if
>> (xnarch_atomic_dec_and_test(&muxtable[muxid].refcnt))
>> -
>> -                               /* We were the last thread, decrement the
>> counter,
>> -                                  since it was incremented by the
>> xn_sys_bind
>> -                                  operation. */
>> -
>> xnarch_atomic_dec(&muxtable[muxid].refcnt);
>> -                       if (muxtable[muxid].module)
>> -                               module_put(muxtable[muxid].module);
>> -
>> -                       break;
>> -               }
>> -       }
>> -
>>         xnthread_clear_state(thread, XNMAPPED);
>>         rpi_pop(thread);
>>
>> @@ -1298,13 +1307,7 @@ void xnshadow_unmap(xnthread_t *thread)
>>
>>         xnshadow_thrptd(p) = NULL;
>>
>> -       if (p->state != TASK_RUNNING)
>> -               /* If the shadow is being unmapped in primary mode or
>> blocked
>> -                  in secondary mode, the associated Linux task should
>> also
>> -                  die. In the former case, the zombie Linux side
>> returning to
>> -                  user-space will be trapped and exited inside the pod's
>> -                  rescheduling routines. */
>> -               schedule_linux_call(LO_WAKEUP_REQ, p, 0);
>> +       schedule_linux_call(LO_UNMAP_REQ, p, xnthread_get_magic(thread));
>> }
>>
>> int xnshadow_wait_barrier(struct pt_regs *regs)
>> @@ -2010,6 +2013,7 @@ RTHAL_DECLARE_EVENT(losyscall_event);
>> static inline void do_taskexit_event(struct task_struct *p)
>> {
>>         xnthread_t *thread = xnshadow_thread(p); /* p == current */
>> +       unsigned magic;
>>         spl_t s;
>>
>>         if (!thread)
>> @@ -2018,6 +2022,8 @@ static inline void do_taskexit_event(str
>>         if (xnpod_shadow_p())
>>                 xnshadow_relax(0);
>>
>> +       magic = xnthread_get_magic(thread);
>> +
>>         xnlock_get_irqsave(&nklock, s);
>>         /* Prevent wakeup call from xnshadow_unmap(). */
>>         xnshadow_thrptd(p) = NULL;
>> @@ -2028,6 +2034,7 @@ static inline void do_taskexit_event(str
>>         xnlock_put_irqrestore(&nklock, s);
>>         xnpod_schedule();
>>
>> +       xnshadow_dereference_skin(magic);
>>         xnltt_log_event(xeno_ev_shadowexit, thread->name);
>> }
> 
> 
> This  patch is working with linux kernel 2.6.20.9 and ipipe 1.8-08.

Means the OROCOS test now runs fine against Xenomai 2.3.x at least?

Philippe, can we merge the patch?

Jan