kernel BUG at kernel/rtmutex_common.h:75

[Yimin Deng <yimin11.deng@gmail.com>]

I encountered “kernel BUG” which was reported in the
rt_mutex_top_waiter() at kernel/rtmutex_common.h:75.

Linux version: 3.12.37-rt51; CONFIG_PREEMPT_RT_FULL is disabled.
Architecture: PowerPC

We ported an application from pSOS RTOS to Linux using the
Xenomai-Mercury (=library to map pSOS task to POSIX threads). And We
have several threads running in the real-time priority domain.
ThreadA: running at prio -59. pthread_mutex_lock() +
pthread_cond_timedwait() + pthread_mutex_unlock()
ThreadB: running at prio -84. pthread_mutex_lock() +
pthread_cond_signal() + pthread_mutex_unlock()

ThreadA:
------ ------
futex_wait_requeue_pi()
    futex_wait_queue_me()
    <timed out>

    raw_spin_lock_irq(&current->pi_lock);
    if (current->pi_blocked_on) {
        raw_spin_unlock_irq(&current->pi_lock);
    } else {
        current->pi_blocked_on = PI_WAKEUP_INPROGRESS;
        raw_spin_unlock_irq(&current->pi_lock);
            <-- ThreadA was interrupted and preempted!
        spin_lock(&hb->lock);


ThreadB:
------ ------
rt_mutex_start_proxy_lock();
    task_blocks_on_rt_mutex();  <-- return "-EAGAIN" due to
"task->pi_blocked_on == PI_WAKEUP_INPROGRESS"
    ...
    if (unlikely(ret))
        remove_waiter(lock, waiter);
            int first = (waiter == rt_mutex_top_waiter(lock));  <--
BUG_ON(w->lock != lock);

It seems that the purpose to call the remove_waiter() is to remove the
waiter added by “plist_add(&waiter->list_entry, &lock->wait_list);” in
the task_blocks_on_rt_mutex(). But in the scenario above there's no
waiter on the lock yet and
the waiter has not been added into the wait list of the lock in the
task_blocks_on_rt_mutex() due to the failure “-EAGAIN”. So it reported
kernel BUG in the rt_mutex_top_waiter().

I modified it as below and the issue seems disappear.
- if (unlikely(ret))
+ if (unlikely(ret && (-EAGAIN != ret)))
       remove_waiter(lock, waiter);

Could the scenario above be possible? If so, how to resolve this issue?
Thanks!

B.R.
Yimin Deng
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