px4_autopilot/nuttx/sched/sched_releasetcb.c

/************************************************************************
 * sched/sched_releasetcb.c
 *
 *   Copyright (C) 2007, 2009, 2012-2013 Gregory Nutt. All rights reserved.
 *   Author: Gregory Nutt <gnutt@nuttx.org>
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name NuttX nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ************************************************************************/

/************************************************************************
 * Included Files
 ************************************************************************/

#include <nuttx/config.h>

#include <sys/types.h>
#include <sched.h>
#include <errno.h>
#include <nuttx/arch.h>

#include "os_internal.h"
#include "group_internal.h"
#include "timer_internal.h"

/************************************************************************
 * Private Functions
 ************************************************************************/

/************************************************************************
 * Name:  sched_releasepid
 *
 * Description:  When a task is destroyed, this function must
 * be called to make its process ID available for re-use.
 ************************************************************************/

static void sched_releasepid(pid_t pid)
{
  int hash_ndx = PIDHASH(pid);

  /* Make any pid associated with this hash available.  Note: 
   * no special precautions need be taken here because the
   * following action is atomic
   */

  g_pidhash[hash_ndx].tcb = NULL;
  g_pidhash[hash_ndx].pid = INVALID_PROCESS_ID;
}

/************************************************************************
 * Public Functions
 ************************************************************************/

/************************************************************************
 * Name: sched_releasetcb
 *
 * Description:
 *   Free all resources contained in a TCB
 *
 * Parameters:
 *   None
 *
 * Return Value:
 *   OK on success; ERROR on failure
 *
 * Assumptions:
 *   Interrupts are disabled.
 *
 ************************************************************************/

int sched_releasetcb(FAR _TCB *tcb)
{
  int ret = OK;
  int i;

  if (tcb)
    {
      /* Relase any timers that the task might hold.  We do this
       * before release the PID because it may still be trying to
       * deliver signals (although interrupts are should be
       * disabled here).
       */

#ifndef CONFIG_DISABLE_POSIX_TIMERS
#ifdef CONFIG_HAVE_WEAKFUNCTIONS
     if (timer_deleteall != NULL)
#endif
        {
          timer_deleteall(tcb->pid);
        }
#endif

      /* Release the task's process ID if one was assigned.  PID
       * zero is reserved for the IDLE task.  The TCB of the IDLE
       * task is never release so a value of zero simply means that
       * the process ID was never allocated to this TCB.
       */

      if (tcb->pid)
        {
          sched_releasepid(tcb->pid);
        }

      /* Delete the thread's stack if one has been allocated */

#ifndef CONFIG_CUSTOM_STACK
      if (tcb->stack_alloc_ptr)
        {
          up_release_stack(tcb);
        }
#endif

      /* Delete the tasks's allocated DSpace region (external modules only) */

#ifdef CONFIG_PIC
      if (tcb->dspace)
        {
          if (tcb->dspace->crefs <= 1)
            {
              sched_free(tcb->dspace);
            }
          else
            {
              tcb->dspace->crefs--;
            }
        }
#endif

      /* Release command line arguments that were allocated for task
       * start/re-start.
       */

      if ((tcb->flags & TCB_FLAG_TTYPE_MASK) == TCB_FLAG_TTYPE_TASK)
        {
          for (i = 1; i < CONFIG_MAX_TASK_ARGS+1 && tcb->argv[i]; i++)
            {
              sched_free((FAR void*)tcb->argv[i]);
            }
        }

      /* Release this thread's reference to the address environment */

#ifdef CONFIG_ADDRENV
      ret = up_addrenv_release(tcb);
#endif

      /* Leave the group (if we did not already leady in task_exithook.c) */

#ifdef HAVE_TASK_GROUP
      group_leave(tcb);
#endif
      /* And, finally, release the TCB itself */

      sched_free(tcb);
    }

  return ret;
}