1) Thread detach functionality added

2) Recursive mutexes support
3) C++ test updated

components/pthread/pthread.c

@@ -34,19 +34,20 @@ const static char *TAG = "esp_pthread";
 #define PTHREAD_TASK_PRIO_DEFAULT		5
 #define PTHREAD_TASK_STACK_SZ_DEFAULT	(2048)//configMINIMAL_STACK_SIZE is not enough
 
-#define ESP_PTHREAD_STATE_RUN		0
+#define PTHREAD_TASK_STATE_RUN		0
-#define ESP_PTHREAD_STATE_EXIT		1
+#define PTHREAD_TASK_STATE_EXIT		1
-//#define ESP_PTHREAD_STATE_CANCEL	2
 
 typedef struct {
 	ListItem_t		list_item;
 	TaskHandle_t	join_task;
 	int				state;
+	bool			detached;
 } esp_pthread_t;
 
 typedef struct {
 	void *(*func)(void *);
 	void *arg;
+	esp_pthread_t *pthread;
 } esp_pthread_task_arg_t;
 
 typedef struct {
@@ -55,21 +56,18 @@ typedef struct {
 	int 				type;
 } esp_pthread_mutex_t;
 
+
 static SemaphoreHandle_t s_once_mux = NULL;
 static SemaphoreHandle_t s_threads_mux = NULL;
-//static SemaphoreHandle_t s_mutexes_mux = NULL;
 
 static List_t s_threads_list;
-//static List_t s_mutexes_list;
+
-//static List_t s_key_list;
 
 static int IRAM_ATTR pthread_mutex_lock_internal(esp_pthread_mutex_t *mux, TickType_t tmo);
 
 int esp_pthread_init(void)
 {
 	vListInitialise((List_t *)&s_threads_list);
-	// vListInitialise((List_t *)&s_mutexes_list);
-	// vListInitialise((List_t *)&s_key_list);
 	s_once_mux = xSemaphoreCreateMutex();
 	if (s_once_mux == NULL)
 		return ESP_FAIL;
@@ -78,12 +76,6 @@ int esp_pthread_init(void)
 		vSemaphoreDelete(s_once_mux);
 		return ESP_FAIL;
 	}
-	// s_mutexes_mux = xSemaphoreCreateMutex();
-	// if (s_mutexes_mux == NULL) {
-	// 	vSemaphoreDelete(s_threads_mux);
-	// 	vSemaphoreDelete(s_once_mux);
-	// 	return ESP_FAIL;
-	// }
 	return ESP_OK;
 }
 
@@ -115,42 +107,50 @@ static esp_pthread_t *pthread_find(TaskHandle_t task_handle)
 	return NULL;
 }
 
+static void pthread_delete(esp_pthread_t *pthread)
+{
+	uxListRemove(&pthread->list_item);
+	free(pthread);
+}
+
 static void pthread_task_func(void *arg)
 {
 	esp_pthread_task_arg_t *task_arg = (esp_pthread_task_arg_t *)arg;
 
-	ESP_PTHREAD_LOGV(TAG, "%s ENTER %p", __FUNCTION__, task_arg->func);
+	ESP_PTHREAD_LOGV(TAG, "%s ENTER %p", __FUNCTION__, task_arg->pthread);
 
 	// wait for start
 	xTaskNotifyWait(0, 0, NULL, portMAX_DELAY);
 
-	ESP_PTHREAD_LOGV(TAG, "%s START %p", __FUNCTION__, task_arg->func);
+	ESP_PTHREAD_LOGV(TAG, "%s START %p", __FUNCTION__, task_arg->pthread);
-
 	task_arg->func(task_arg->arg);
+	ESP_PTHREAD_LOGV(TAG, "%s END %p", __FUNCTION__, task_arg->pthread);
+	free(task_arg);
 
-	ESP_PTHREAD_LOGV(TAG, "%s END %p", __FUNCTION__, task_arg->func);
+    if (xSemaphoreTake(s_threads_mux, portMAX_DELAY) != pdTRUE) {
-
-    if (xSemaphoreTake(s_threads_mux, portMAX_DELAY) == pdTRUE) {
-		esp_pthread_t *pthread = pthread_find(xTaskGetCurrentTaskHandle());
-		if (pthread) {
-			pthread->state = ESP_PTHREAD_STATE_EXIT;
-			if (pthread->join_task) {
-				// notify join
-				xTaskNotify(pthread->join_task, 0, eNoAction);
-			}
-		} else {
-			assert(false && "Failed to find pthread for current task!");
-		}
-        xSemaphoreGive(s_threads_mux);
-    } else {
 		assert(false && "Failed to lock threads list!");
     }
-	// TODO: Remove from list???
+	esp_pthread_t *pthread = pthread_find(xTaskGetCurrentTaskHandle());
-	//free(task_arg->pthread);
+	if (!pthread) {
-	free(task_arg);
+		assert(false && "Failed to find pthread for current task!");
+    }
+	if (pthread->detached) {
+		// auto-free for detached threads
+		pthread_delete(pthread);
+	} else {
+		// Remove from list, it indicates that task has exited
+		if (pthread->join_task) {
+			// notify join
+			xTaskNotify(pthread->join_task, 0, eNoAction);
+		} else {
+			pthread->state = PTHREAD_TASK_STATE_EXIT;			
+		}
+	}
+    xSemaphoreGive(s_threads_mux);
+
 	vTaskDelete(NULL);
 
-	ESP_PTHREAD_LOGV(TAG, "%s EXIT %p", __FUNCTION__, task_arg->func);
+	ESP_PTHREAD_LOGV(TAG, "%s EXIT", __FUNCTION__);
 }
 
 int pthread_create(pthread_t *thread, const pthread_attr_t *attr,
@@ -205,7 +205,7 @@ int pthread_create(pthread_t *thread, const pthread_attr_t *attr,
 	memset(pthread, 0, sizeof(esp_pthread_t));
 	task_arg->func = start_routine;
 	task_arg->arg = arg;
-	//task_arg->pthread = pthread;
+	task_arg->pthread = pthread;
     BaseType_t res = xTaskCreate(&pthread_task_func, "pthread", PTHREAD_TASK_STACK_SZ_DEFAULT, task_arg, PTHREAD_TASK_PRIO_DEFAULT, &xHandle);
 	if(res != pdPASS) {
 		ESP_PTHREAD_LOGE(TAG, "Failed to create task!");
@@ -223,12 +223,12 @@ int pthread_create(pthread_t *thread, const pthread_attr_t *attr,
 	listSET_LIST_ITEM_OWNER((ListItem_t *)&pthread->list_item, pthread);
 	listSET_LIST_ITEM_VALUE((ListItem_t *)&pthread->list_item, (TickType_t)xHandle);
 
-    if (xSemaphoreTake(s_threads_mux, portMAX_DELAY) == pdTRUE) {
+    if (xSemaphoreTake(s_threads_mux, portMAX_DELAY) != pdTRUE) {
-		vListInsertEnd((List_t *)&s_threads_list, (ListItem_t *)&pthread->list_item);
-        xSemaphoreGive(s_threads_mux);
-    } else {
 		assert(false && "Failed to lock threads list!");
     }
+	vListInsertEnd((List_t *)&s_threads_list, (ListItem_t *)&pthread->list_item);
+    xSemaphoreGive(s_threads_mux);
+
 	// start task
 	xTaskNotify(xHandle, 0, eNoAction);
 
@@ -242,55 +242,74 @@ int pthread_create(pthread_t *thread, const pthread_attr_t *attr,
 int pthread_join(pthread_t thread, void **retval)
 {
 	esp_pthread_t *pthread = (esp_pthread_t *)thread;
-	bool wait = false;
 	int ret = 0;
 
-	ets_printf("%s\n", __FUNCTION__);
+	ESP_PTHREAD_LOGV(TAG, "%s %p", __FUNCTION__, pthread);
+
 	// find task
-    if (xSemaphoreTake(s_threads_mux, portMAX_DELAY) == pdTRUE) {
+    if (xSemaphoreTake(s_threads_mux, portMAX_DELAY) != pdTRUE) {
-		//uxBitsWaitedFor = listGET_LIST_ITEM_VALUE(list_item);
-		// TODO: check if task is joinable???
-	    // TODO: PTHREAD_CANCELED???
-	    TaskHandle_t handle = pthread_find_handle(thread);
-	    if (!handle) {
-			errno = ESRCH; // not found
-			ret = ESRCH;
-	    } else if (pthread->join_task) {
-			errno = EINVAL; // already have waiting task to join
-			ret = EINVAL;
-	    } else if (handle == xTaskGetCurrentTaskHandle()) {
-			errno = EDEADLK; // join to self or join to each other
-			ret = EDEADLK;
-	    } else {
-			esp_pthread_t *cur_pthread = pthread_find(xTaskGetCurrentTaskHandle());
-			if (cur_pthread && cur_pthread->join_task == handle) {
-				errno = EDEADLK; // join to each other
-				ret = EDEADLK;
-			} else {
-				if (pthread->state == ESP_PTHREAD_STATE_RUN) {
-					pthread->join_task = xTaskGetCurrentTaskHandle();
-					wait = true;
-				}
-			}
-	    }
-        xSemaphoreGive(s_threads_mux);
-    } else {
 		assert(false && "Failed to lock threads list!");
     }
-    if (wait) {
+    TaskHandle_t handle = pthread_find_handle(thread);
-	    // TODO: handle caller cancelation???
+    if (!handle) {
-		xTaskNotifyWait(0, 0, NULL, portMAX_DELAY);
+		errno = ESRCH; // not found
+		ret = ESRCH;
+    } else if (pthread->join_task) {
+		errno = EINVAL; // already have waiting task to join
+		ret = EINVAL;
+    } else if (handle == xTaskGetCurrentTaskHandle()) {
+		errno = EDEADLK; // join to self not allowed
+		ret = EDEADLK;
+    } else {
+		esp_pthread_t *cur_pthread = pthread_find(xTaskGetCurrentTaskHandle());
+		if (cur_pthread && cur_pthread->join_task == handle) {
+			errno = EDEADLK; // join to each other not allowed
+			ret = EDEADLK;
+		} else {
+			if (pthread->state == PTHREAD_TASK_STATE_RUN) {
+				pthread->join_task = xTaskGetCurrentTaskHandle();
+			} else {
+				pthread_delete(pthread);
+			}
+		}
     }
+    xSemaphoreGive(s_threads_mux);
+
+    if (ret == 0 && pthread->join_task) {
+		xTaskNotifyWait(0, 0, NULL, portMAX_DELAY);
+	    if (xSemaphoreTake(s_threads_mux, portMAX_DELAY) != pdTRUE) {
+			assert(false && "Failed to lock threads list!");
+	    }
+		pthread_delete(pthread);
+        xSemaphoreGive(s_threads_mux);
+    }
+
     if (retval) {
     	*retval = 0; // no exit code in FreeRTOS
     }
+
+	ESP_PTHREAD_LOGV(TAG, "%s %p EXIT %d", __FUNCTION__, pthread, ret);
 	return ret;
 }
 
 int pthread_detach(pthread_t thread)
 {
-	assert(false && "pthread_detach not supported!");
+	esp_pthread_t *pthread = (esp_pthread_t *)thread;
-	return -1;
+	int ret = 0;
+
+    if (xSemaphoreTake(s_threads_mux, portMAX_DELAY) != pdTRUE) {
+		assert(false && "Failed to lock threads list!");
+    }
+    TaskHandle_t handle = pthread_find_handle(thread);
+    if (!handle) {
+		errno = ESRCH; // not found
+		ret = ESRCH;
+	} else {
+		pthread->detached = true;
+	}
+    xSemaphoreGive(s_threads_mux);
+	ESP_PTHREAD_LOGV(TAG, "%s %p EXIT %d", __FUNCTION__, pthread, ret);
+	return ret;
 }
 
 int pthread_cancel(pthread_t thread)
@@ -307,10 +326,14 @@ int sched_yield( void )
 
 pthread_t pthread_self(void)
 {
+    if (xSemaphoreTake(s_threads_mux, portMAX_DELAY) != pdTRUE) {
+		assert(false && "Failed to lock threads list!");
+    }
 	esp_pthread_t *pthread = pthread_find(xTaskGetCurrentTaskHandle());
 	if (!pthread) {
 		assert(false && "Failed to find current thread ID!");
 	}
+    xSemaphoreGive(s_threads_mux);
 	return (pthread_t)pthread;
 }
 
@@ -324,30 +347,11 @@ int pthread_key_create(pthread_key_t *key, void (*destructor)(void*))
 {
 	static int s_created;
 
-	ESP_PTHREAD_LOGV(TAG, "%s", __FUNCTION__);
+	//TODO: Key destructors not suppoted!
-
 	if (s_created) {
-		assert(false && "CREATED!");
+		// key API supports just one key necessary by libstdcxx threading implementation
 		return ENOMEM;
 	}
-
-// 	key = (struct pthread_key *)malloc(sizeof(struct pthread_key));
-//     if (!key) {
-//         errno = ENOMEM;
-//         return ENOMEM;
-//     }
-//     key->destructor = destructor;
-
-//     list_init(&key->specific,1);
-
-// 	vListInsert((List_t *)s_key_list, (ListItem_t *)&);
-//     // Add key to key list
-//     res = list_add(&key_list, key, k);
-//     if (res) {
-//         free(key);
-//         errno = res;
-//         return res;
-// }
 	*key = 1;
 	s_created = 1;
 	return 0;
@@ -355,22 +359,19 @@ int pthread_key_create(pthread_key_t *key, void (*destructor)(void*))
 
 int pthread_key_delete(pthread_key_t key)
 {
-	ESP_PTHREAD_LOGV(TAG, "%s", __FUNCTION__);
+	assert(false && "pthread_key_delete not supported!");
-	assert(false && "NOT IMPLEMENTED!");
 	return -1;
 }
 
 void *pthread_getspecific(pthread_key_t key)
 {
-	ESP_PTHREAD_LOGV(TAG, "%s", __FUNCTION__);
+	assert(false && "pthread_getspecific not supported!");
-	assert(false && "NOT IMPLEMENTED!");
 	return NULL;
 }
 
 int pthread_setspecific(pthread_key_t key, const void *value)
 {
-	ESP_PTHREAD_LOGV(TAG, "%s", __FUNCTION__);
+	assert(false && "pthread_setspecific not supported!");
-	assert(false && "NOT IMPLEMENTED!");
 	return -1;
 }
 
@@ -405,26 +406,36 @@ int pthread_once(pthread_once_t *once_control, void (*init_routine)(void))
 }
 
 /***************** MUTEX ******************/
+static int mutexattr_check(const pthread_mutexattr_t *attr)
+{
+	if (attr->type < PTHREAD_MUTEX_NORMAL || attr->type > PTHREAD_MUTEX_RECURSIVE) {
+		return EINVAL;
+	}
+	return 0;
+}
+
 int pthread_mutex_init(pthread_mutex_t *mutex, const pthread_mutexattr_t *attr)
 {
 	int type = PTHREAD_MUTEX_NORMAL;
 
-	ESP_PTHREAD_LOGV(TAG, "%s %p", __FUNCTION__, mutex);
-
 	if (!mutex) {
 		errno = EINVAL;
 		return EINVAL;
 	}
 
-	if (attr && attr->is_initialized) {
+	if (attr) {
+		if (!attr->is_initialized) {
+			errno = EINVAL;
+			return EINVAL;
+		}
+		int res = mutexattr_check(attr);
+		if (res) {
+			errno = res;
+			return res;
+		}
 		type = attr->type;
 	}
 
-	if (type < PTHREAD_MUTEX_NORMAL || type > PTHREAD_MUTEX_DEFAULT) {
-		errno = EINVAL;
-		return EINVAL;
-	}
-
 	esp_pthread_mutex_t *mux = (esp_pthread_mutex_t *)malloc(sizeof(esp_pthread_mutex_t));
     if (!mux) {
         errno = ENOMEM;
@@ -443,17 +454,6 @@ int pthread_mutex_init(pthread_mutex_t *mutex, const pthread_mutexattr_t *attr)
         return EAGAIN;
 	}
 
-	// vListInitialiseItem((ListItem_t *)&mux->list_item);
-	// listSET_LIST_ITEM_OWNER((ListItem_t *)&mux->list_item, mux);
-	// //listSET_LIST_ITEM_VALUE((ListItem_t *)&pthread->list_item, (TickType_t)xHandle);
-
- //    if (xSemaphoreTake(s_mutexes_mux, portMAX_DELAY) == pdTRUE) {
-	// 	vListInsertEnd((List_t *)&s_mutexes_list, (ListItem_t *)&mux->list_item);
- //        xSemaphoreGive(s_mutexes_mux);
- //    } else {
-	// 	assert(false && "Failed to lock mutexes list!");
- //    }
-
 	*mutex = (pthread_mutex_t)mux; // pointer value fit into pthread_mutex_t (uint32_t)
 
 	return 0;
@@ -537,6 +537,50 @@ int IRAM_ATTR pthread_mutex_unlock(pthread_mutex_t *mutex)
 	return 0;
 }
 
+int pthread_mutexattr_init(pthread_mutexattr_t *attr)
+{
+	if (!attr) {
+		errno = EINVAL;
+		return EINVAL;
+	}
+	attr->type = PTHREAD_MUTEX_NORMAL;
+	attr->is_initialized = 1;
+	return 0;
+}
+
+int pthread_mutexattr_destroy(pthread_mutexattr_t *attr)
+{
+	if (!attr) {
+		errno = EINVAL;
+		return EINVAL;
+	}
+	attr->is_initialized = 0;
+	return 0;
+}
+
+int pthread_mutexattr_gettype(const pthread_mutexattr_t *attr, int *type)
+{
+	assert(false && "pthread_mutexattr_gettype not supported!");
+	return -1;
+}
+
+int pthread_mutexattr_settype(pthread_mutexattr_t *attr, int type)
+{
+	if (!attr) {
+		errno = EINVAL;
+		return EINVAL;
+	}
+	pthread_mutexattr_t tmp_attr = {.type = type};
+	int res = mutexattr_check(&tmp_attr);
+	if (res) {
+		errno = res;
+	} else {
+		attr->type = type;
+	}
+	return res;
+}
+
+/***************** AUX ******************/
 // TODO: move to newlib/time.c????
 // needed for std::this_thread::sleep_for
 unsigned int sleep(unsigned int seconds)

components/pthread/test/test_pthread_cxx.cpp

@@ -4,46 +4,76 @@
 #include "unity.h"
 
 std::shared_ptr<int> global_sp;
-std::mutex mtx;
+std::mutex           mtx;
+std::recursive_mutex recur_mtx;
 
-static void thread_main() {
+static void thread_do_nothing() {}
+
+static void thread_main()
+{
     int i = 0;
     std::cout << "thread_main CXX " << std::hex <<  std::this_thread::get_id() << std::endl;
 
-    while (i < 10) {
+    while (i < 3) {
+        int old_val, new_val;
+
 	    // mux test
 	    mtx.lock();
-		// yield test
+        old_val = *global_sp;
 		std::this_thread::yield();
 	    (*global_sp)++;
+        std::this_thread::yield();
+        new_val = *global_sp;
 	    mtx.unlock();
         std::cout << "thread " << std::hex << std::this_thread::get_id() << ": " << i++ << " val= " << *global_sp << std::endl;
-	    // sleep_for test
+        TEST_ASSERT_TRUE(new_val == old_val + 1);
+
+        // sleep_for test
         std::chrono::milliseconds dur(300);
 		std::this_thread::sleep_for(dur);
-	    // sleep_until test
+
+        // recursive mux test
+        recur_mtx.lock();
+        recur_mtx.lock();
+        old_val = *global_sp;
+        std::this_thread::yield();
+        (*global_sp)++;
+        std::this_thread::yield();
+        new_val = *global_sp;
+        recur_mtx.unlock();
+        recur_mtx.unlock();
+        std::cout << "thread " << std::hex << std::this_thread::get_id() << ": " << i++ << " val= " << *global_sp << std::endl;
+        TEST_ASSERT_TRUE(new_val == old_val + 1);
+
+        // sleep_until test
 		using std::chrono::system_clock;
   		std::time_t tt = system_clock::to_time_t(system_clock::now());
 	    struct std::tm *ptm = std::localtime(&tt);
-		ptm->tm_sec = 1;
+		ptm->tm_sec++;
 		std::this_thread::sleep_until(system_clock::from_time_t (mktime(ptm)));
     }
 }
 
 TEST_CASE("pthread CXX test 1", "[pthread]")
 {
-    std::cout << "TEST START!" << std::endl;
-
     global_sp.reset(new int(1));
-    std::thread t1(thread_main);
+
+    std::thread t1(thread_do_nothing);
+    t1.join();
+
     std::thread t2(thread_main);
-    if (t1.joinable()) {
+    std::cout << "Detach thread " << std::hex << t2.get_id() << std::endl;
-    	std::cout << "Join thread " << std::hex << t1.get_id() << std::endl;
+    t2.detach();
-    	t1.join();
+    TEST_ASSERT_FALSE(t2.joinable());
+
+    std::thread t3(thread_main);
+    std::thread t4(thread_main);
+    if (t3.joinable()) {
+    	std::cout << "Join thread " << std::hex << t3.get_id() << std::endl;
+    	t3.join();
     }
-    if (t2.joinable()) {
+    if (t4.joinable()) {
-    	std::cout << "Join thread " << std::hex << t2.get_id() << std::endl;
+    	std::cout << "Join thread " << std::hex << t4.get_id() << std::endl;
-    	t2.join();
+    	t4.join();
     }
-    std::cout << "TEST END!" << std::endl;
 }