* [PATCH 1/3] [POC] test implementaion of rt-signals
@ 2023-09-08 10:50 Johannes Kirchmair
2023-09-08 10:50 ` [PATCH 2/3] [POC] Add rt_signal test Johannes Kirchmair
` (3 more replies)
0 siblings, 4 replies; 7+ messages in thread
From: Johannes Kirchmair @ 2023-09-08 10:50 UTC (permalink / raw)
To: xenomai; +Cc: Johannes Kirchmair
We implement rt signals to handle exceptions in rt stage.
This is done using dovetail specific functions for setting up the signal
frame.
This can be used to handle fpe exceptions on the fly, like fixing
division by zero. An other use case are breakpoints, implemented using the
illegal opcode exception. The real time handling of the breakpoints would
be handy for conditional breakpoints or also for stopping watchdogs and
other tasks in time.
Signed-off-by: Johannes Kirchmair <johannes.kirchmair@sigmatek.at>
---
include/cobalt/kernel/ppd.h | 3 ++
include/cobalt/kernel/thread.h | 2 +
include/cobalt/signal.h | 2 +
include/cobalt/uapi/syscall.h | 2 +
kernel/cobalt/arch/x86/Makefile | 2 +-
.../arch/x86/include/asm/xenomai/thread.h | 3 ++
kernel/cobalt/arch/x86/signal.c | 51 +++++++++++++++++++
kernel/cobalt/dovetail/kevents.c | 3 ++
kernel/cobalt/posix/syscall.c | 32 ++++++++++++
kernel/cobalt/thread.c | 38 ++++++++++++++
kernel/cobalt/trace/cobalt-posix.h | 4 +-
lib/cobalt/arch/x86/Makefile.am | 2 +-
lib/cobalt/arch/x86/sigreturn.c | 36 +++++++++++++
lib/cobalt/internal.h | 2 +
lib/cobalt/signal.c | 13 +++++
15 files changed, 192 insertions(+), 3 deletions(-)
create mode 100644 kernel/cobalt/arch/x86/signal.c
create mode 100644 lib/cobalt/arch/x86/sigreturn.c
diff --git a/include/cobalt/kernel/ppd.h b/include/cobalt/kernel/ppd.h
index f0079fe6e..fb2f682da 100644
--- a/include/cobalt/kernel/ppd.h
+++ b/include/cobalt/kernel/ppd.h
@@ -22,6 +22,7 @@
#include <linux/types.h>
#include <linux/atomic.h>
#include <linux/rbtree.h>
+#include <linux/signal.h>
#include <cobalt/kernel/heap.h>
struct cobalt_umm {
@@ -32,6 +33,8 @@ struct cobalt_umm {
struct cobalt_ppd {
struct cobalt_umm umm;
+ void __user *sighand[_NSIG];
+ void __user *sigrestorer;
atomic_t refcnt;
char *exe_path;
struct rb_root fds;
diff --git a/include/cobalt/kernel/thread.h b/include/cobalt/kernel/thread.h
index b79cb8429..33d468419 100644
--- a/include/cobalt/kernel/thread.h
+++ b/include/cobalt/kernel/thread.h
@@ -574,6 +574,8 @@ static inline void xnthread_propagate_schedparam(struct xnthread *curr)
__xnthread_propagate_schedparam(curr);
}
+int xnthread_handle_rt_signals(unsigned int trapnr, struct pt_regs *regs);
+
extern struct xnthread_personality xenomai_personality;
/** @} */
diff --git a/include/cobalt/signal.h b/include/cobalt/signal.h
index 62694f93a..3d6540aff 100644
--- a/include/cobalt/signal.h
+++ b/include/cobalt/signal.h
@@ -54,6 +54,8 @@ COBALT_DECL(int, kill(pid_t pid, int sig));
COBALT_DECL(int, sigqueue(pid_t pid, int sig,
const union sigval value));
+int cobalt_rt_signal(int sig, void (*handler)(int, siginfo_t *, void *));
+
#ifdef __cplusplus
}
#endif
diff --git a/include/cobalt/uapi/syscall.h b/include/cobalt/uapi/syscall.h
index 3e65efaab..3913cc610 100644
--- a/include/cobalt/uapi/syscall.h
+++ b/include/cobalt/uapi/syscall.h
@@ -141,6 +141,8 @@
#define sc_cobalt_timerfd_settime64 118
#define sc_cobalt_timerfd_gettime64 119
#define sc_cobalt_pselect64 120
+#define sc_cobalt_sigreturn 121
+#define sc_cobalt_sigaction 122
#define __NR_COBALT_SYSCALLS 128 /* Power of 2 */
diff --git a/kernel/cobalt/arch/x86/Makefile b/kernel/cobalt/arch/x86/Makefile
index 93929b645..e3d8eb476 100644
--- a/kernel/cobalt/arch/x86/Makefile
+++ b/kernel/cobalt/arch/x86/Makefile
@@ -1,5 +1,5 @@
obj-$(CONFIG_XENOMAI) += xenomai.o
-xenomai-y := machine.o smi.o c1e.o
+xenomai-y := machine.o smi.o c1e.o signal.o
ccflags-y := -I$(srctree)/arch/x86/xenomai/include -I$(srctree)/include/xenomai
diff --git a/kernel/cobalt/arch/x86/include/asm/xenomai/thread.h b/kernel/cobalt/arch/x86/include/asm/xenomai/thread.h
index 745c32467..70f3df2f1 100644
--- a/kernel/cobalt/arch/x86/include/asm/xenomai/thread.h
+++ b/kernel/cobalt/arch/x86/include/asm/xenomai/thread.h
@@ -28,5 +28,8 @@
#define xnarch_fault_bp_p(__nr) ((current->ptrace & PT_PTRACED) && \
((__nr) == X86_TRAP_DB || (__nr) == X86_TRAP_BP))
#define xnarch_fault_notify(__nr) (!xnarch_fault_bp_p(__nr))
+#define xnarch_fault_code(__regs) ((__regs)->orig_ax)
+int xnarch_setup_trap_info(unsigned int vector, struct pt_regs *regs,
+ long errcode, int *sig, struct kernel_siginfo *info);
#endif /* !_COBALT_X86_ASM_THREAD_H */
diff --git a/kernel/cobalt/arch/x86/signal.c b/kernel/cobalt/arch/x86/signal.c
new file mode 100644
index 000000000..2e8fdc571
--- /dev/null
+++ b/kernel/cobalt/arch/x86/signal.c
@@ -0,0 +1,51 @@
+// SPDX-License-Identifier: GPL-2.0
+
+#include <linux/signal.h>
+#include <linux/uaccess.h>
+#include <cobalt/kernel/thread.h>
+
+#include <asm/sigframe.h>
+#include <asm/sighandling.h>
+#include <asm/fpu/signal.h>
+#include <asm/trapnr.h>
+
+int xnarch_setup_trap_info(unsigned int vector, struct pt_regs *regs,
+ long errcode, int *sig, struct kernel_siginfo *info)
+{
+ switch (vector) {
+ case X86_TRAP_DE: /* divide_error */
+ *sig = SIGFPE;
+ info->si_signo = *sig;
+ info->si_errno = 0;
+ info->si_code = FPE_INTDIV;
+ info->si_addr = (void __user *)regs->ip;
+ return 0;
+ case X86_TRAP_UD: /* invalid_op */
+ *sig = SIGILL;
+ info->si_signo = *sig;
+ info->si_errno = 0;
+ info->si_code = ILL_ILLOPN;
+ info->si_addr = (void __user *)regs->ip;
+ return 0;
+ case X86_TRAP_MF:
+ *sig = SIGFPE;
+
+ info->si_signo = *sig;
+ info->si_errno = 0;
+ info->si_code = 0;
+ info->si_addr = (void __user *)regs->ip;
+ return 0;
+ case X86_TRAP_PF:
+ *sig = SIGSEGV;
+ info->si_signo = *sig;
+ info->si_errno = errcode;
+ info->si_code = 0;
+ info->si_addr = 0;
+ return 0;
+ default:
+ break;
+ }
+
+ return -ENOSYS;
+}
+
diff --git a/kernel/cobalt/dovetail/kevents.c b/kernel/cobalt/dovetail/kevents.c
index 4da4f51b7..09eb12acb 100644
--- a/kernel/cobalt/dovetail/kevents.c
+++ b/kernel/cobalt/dovetail/kevents.c
@@ -57,6 +57,9 @@ void handle_oob_trap_entry(unsigned int trapnr, struct pt_regs *regs)
xnsched_run();
}
+ if (xnthread_handle_rt_signals(trapnr, regs) == 0)
+ return;
+
/*
* If we experienced a trap on behalf of a shadow thread
* running in primary mode, move it to the Linux domain,
diff --git a/kernel/cobalt/posix/syscall.c b/kernel/cobalt/posix/syscall.c
index 46c4998e4..d570bd595 100644
--- a/kernel/cobalt/posix/syscall.c
+++ b/kernel/cobalt/posix/syscall.c
@@ -277,6 +277,38 @@ static COBALT_SYSCALL(serialdbg, current,
return 0;
}
+static COBALT_SYSCALL(sigreturn, current, (void))
+{
+ struct pt_regs *regs = task_pt_regs(current);
+ int ret;
+
+ ret = dovetail_restore_rt_signal_frame(regs);
+ if (ret < 0)
+ goto badframe;
+
+ return __xn_reg_rval(regs);
+
+badframe:
+ xnthread_signal(xnthread_current(), SIGSEGV, 0);
+ return -1;
+}
+
+static COBALT_SYSCALL(sigaction, current, (int sig, void __user *handler,
+ void __user *restorer))
+{
+ struct cobalt_ppd *sys_ppd = cobalt_ppd_get(0);
+
+ if (sig < 0 || sig >= _NSIG)
+ return -EINVAL;
+
+ sys_ppd->sighand[sig] = handler;
+
+ if (!sys_ppd->sigrestorer)
+ sys_ppd->sigrestorer = restorer;
+
+ return 0;
+}
+
static void stringify_feature_set(unsigned long fset, char *buf, int size)
{
unsigned long feature;
diff --git a/kernel/cobalt/thread.c b/kernel/cobalt/thread.c
index 41804b24f..ae8fa5c88 100644
--- a/kernel/cobalt/thread.c
+++ b/kernel/cobalt/thread.c
@@ -25,6 +25,7 @@
#include <linux/signal.h>
#include <linux/pid.h>
#include <linux/sched.h>
+#include <asm/sighandling.h>
#include <uapi/linux/sched/types.h>
#include <cobalt/kernel/sched.h>
#include <cobalt/kernel/timer.h>
@@ -43,6 +44,7 @@
#include <pipeline/inband_work.h>
#include <pipeline/sched.h>
#include <trace/events/cobalt-core.h>
+#include "posix/process.h"
#include "debug.h"
static DECLARE_WAIT_QUEUE_HEAD(join_all);
@@ -2520,6 +2522,42 @@ int xnthread_killall(int grace, int mask)
}
EXPORT_SYMBOL_GPL(xnthread_killall);
+int xnthread_handle_rt_signals(unsigned int trapnr, struct pt_regs *regs)
+{
+ unsigned int code = xnarch_fault_code(regs);
+ unsigned int vector = trapnr;
+ struct cobalt_ppd *sys_ppd;
+ struct kernel_siginfo si;
+ struct ksignal ksig;
+ int sig, ret = 0;
+
+ code = xnarch_fault_code(regs);
+ ret = xnarch_setup_trap_info(vector, regs, code, &sig, &si);
+ if (ret || sig == 0)
+ return 1;
+
+ sys_ppd = cobalt_ppd_get(0);
+ if (sig >= _NSIG ||
+ sys_ppd->sighand[sig] == NULL ||
+ sys_ppd->sighand[sig] == SIG_DFL)
+ return 1;
+
+ if (sys_ppd->sigrestorer == NULL)
+ return 1;
+
+ ksig.sig = sig;
+ memcpy(&ksig.info, &si, sizeof(si));
+ ksig.ka.sa.sa_flags = SA_SIGINFO | SA_RESTORER;
+ ksig.ka.sa.sa_restorer = sys_ppd->sigrestorer;
+ ksig.ka.sa.sa_handler = sys_ppd->sighand[sig];
+
+ ret = dovetail_setup_rt_signal_frame(&ksig, regs);
+ if (ret)
+ return 1;
+
+ return 0;
+}
+
/* Xenomai's generic personality. */
struct xnthread_personality xenomai_personality = {
.name = "core",
diff --git a/kernel/cobalt/trace/cobalt-posix.h b/kernel/cobalt/trace/cobalt-posix.h
index 47dc77e1c..8eda3bb27 100644
--- a/kernel/cobalt/trace/cobalt-posix.h
+++ b/kernel/cobalt/trace/cobalt-posix.h
@@ -173,7 +173,9 @@
__cobalt_symbolic_syscall(timer_gettime64), \
__cobalt_symbolic_syscall(timerfd_settime64), \
__cobalt_symbolic_syscall(timerfd_gettime64), \
- __cobalt_symbolic_syscall(pselect64))
+ __cobalt_symbolic_syscall(pselect64), \
+ __cobalt_symbolic_syscall(sigreturn), \
+ __cobalt_symbolic_syscall(sigaction))
DECLARE_EVENT_CLASS(cobalt_syscall_entry,
TP_PROTO(unsigned int nr),
diff --git a/lib/cobalt/arch/x86/Makefile.am b/lib/cobalt/arch/x86/Makefile.am
index a5095be3d..14f5eff97 100644
--- a/lib/cobalt/arch/x86/Makefile.am
+++ b/lib/cobalt/arch/x86/Makefile.am
@@ -2,7 +2,7 @@ noinst_LTLIBRARIES = libarch.la
libarch_la_LDFLAGS = @XENO_LIB_LDFLAGS@
-libarch_la_SOURCES = features.c
+libarch_la_SOURCES = features.c sigreturn.c
libarch_la_CPPFLAGS = \
@XENO_COBALT_CFLAGS@ \
diff --git a/lib/cobalt/arch/x86/sigreturn.c b/lib/cobalt/arch/x86/sigreturn.c
new file mode 100644
index 000000000..df961469e
--- /dev/null
+++ b/lib/cobalt/arch/x86/sigreturn.c
@@ -0,0 +1,36 @@
+#include <cobalt/uapi/syscall.h>
+#include "internal.h"
+
+extern void cobalt_sigreturn (void) asm ("__cobalt_sigreturn") __attribute__ ((visibility ("hidden")));
+
+#define TO_STR(x) #x
+
+#ifdef __x86_64__
+#define build_restorer(syscall_bit, syscall) \
+ asm(".text\n" \
+ " .align 16\n" \
+ "__cobalt_sigreturn:\n" \
+ " movq $ " TO_STR(syscall_bit) ", %rax\n" \
+ " orq $ " TO_STR(syscall) ", %rax\n" \
+ " syscall")
+#endif
+
+#ifdef __i386__
+#define build_restorer(syscall_bit, syscall) \
+ asm(".text\n" \
+ " .align 16\n" \
+ "__cobalt_sigreturn:\n" \
+ " movl $ " TO_STR(syscall_bit) ", %eax\n" \
+ " orl $ " TO_STR(syscall) ", %eax\n" \
+ " int $0x80")
+#endif
+
+/*
+ * __COBALT_SYSCALL_BIT | sc_cobalt_sigreturn
+ */
+build_restorer(__COBALT_SYSCALL_BIT, sc_cobalt_sigreturn);
+
+void *cobalt_get_restorer(void)
+{
+ return &cobalt_sigreturn;
+}
diff --git a/lib/cobalt/internal.h b/lib/cobalt/internal.h
index acb3989f1..4782d154a 100644
--- a/lib/cobalt/internal.h
+++ b/lib/cobalt/internal.h
@@ -132,4 +132,6 @@ static inline bool cobalt_features_available(unsigned int feat_mask)
return (cobalt_features & feat_mask) == feat_mask;
}
+extern void *cobalt_get_restorer(void);
+
#endif /* _LIB_COBALT_INTERNAL_H */
diff --git a/lib/cobalt/signal.c b/lib/cobalt/signal.c
index 40d315ebb..af174d570 100644
--- a/lib/cobalt/signal.c
+++ b/lib/cobalt/signal.c
@@ -126,3 +126,16 @@ COBALT_IMPL(int, sigqueue, (pid_t pid, int sig, const union sigval value))
return 0;
}
+
+int cobalt_rt_signal(int sig, void (*handler)(int, siginfo_t *, void *))
+{
+ int ret;
+
+ ret = XENOMAI_SYSCALL3(sc_cobalt_sigaction, sig, handler, cobalt_get_restorer());
+ if (ret) {
+ errno = -ret;
+ return -1;
+ }
+
+ return 0;
+}
--
2.25.1
^ permalink raw reply related [flat|nested] 7+ messages in thread
* [PATCH 2/3] [POC] Add rt_signal test
2023-09-08 10:50 [PATCH 1/3] [POC] test implementaion of rt-signals Johannes Kirchmair
@ 2023-09-08 10:50 ` Johannes Kirchmair
2023-09-08 10:50 ` [PATCH 3/3] [POC] add a tool to measure rt_signal latency Johannes Kirchmair
` (2 subsequent siblings)
3 siblings, 0 replies; 7+ messages in thread
From: Johannes Kirchmair @ 2023-09-08 10:50 UTC (permalink / raw)
To: xenomai; +Cc: Johannes Kirchmair
This commit adds simple rt signal test for SIGFPE, SIGILL and SIGSEGV.
Signed-off-by: Johannes Kirchmair <johannes.kirchmair@sigmatek.at>
---
configure.ac | 1 +
testsuite/Makefile.am | 1 +
testsuite/rt-signal-tests/Makefile.am | 31 +++
testsuite/rt-signal-tests/rt_signal_test.c | 231 +++++++++++++++++++++
4 files changed, 264 insertions(+)
create mode 100644 testsuite/rt-signal-tests/Makefile.am
create mode 100644 testsuite/rt-signal-tests/rt_signal_test.c
diff --git a/configure.ac b/configure.ac
index 3ce34048e..3325482fc 100644
--- a/configure.ac
+++ b/configure.ac
@@ -1007,6 +1007,7 @@ AC_CONFIG_FILES([ \
testsuite/switchtest/Makefile \
testsuite/gpiotest/Makefile \
testsuite/gpiobench/Makefile \
+ testsuite/rt-signal-tests/Makefile \
testsuite/spitest/Makefile \
testsuite/smokey/Makefile \
testsuite/smokey/arith/Makefile \
diff --git a/testsuite/Makefile.am b/testsuite/Makefile.am
index 4932f6d33..59f36967a 100644
--- a/testsuite/Makefile.am
+++ b/testsuite/Makefile.am
@@ -5,6 +5,7 @@ if XENO_COBALT
SUBDIRS += \
clocktest \
gpiotest \
+ rt-signal-tests \
spitest \
switchtest \
xeno-test
diff --git a/testsuite/rt-signal-tests/Makefile.am b/testsuite/rt-signal-tests/Makefile.am
new file mode 100644
index 000000000..084347631
--- /dev/null
+++ b/testsuite/rt-signal-tests/Makefile.am
@@ -0,0 +1,31 @@
+testdir = @XENO_TEST_DIR@
+
+CCLD = $(top_srcdir)/scripts/wrap-link.sh $(CC)
+
+test_PROGRAMS = rt_signal_test_fpe rt_signal_test_segfault rt_signal_test_ill
+
+alchemycppflags = \
+ $(XENO_USER_CFLAGS) \
+ -I$(top_srcdir)/include
+
+alchemyldadd = \
+ @XENO_AUTOINIT_LDFLAGS@ \
+ $(XENO_POSIX_WRAPPERS) \
+ ../../lib/alchemy/libalchemy.la \
+ ../../lib/copperplate/libcopperplate.la \
+ @XENO_CORE_LDADD@ \
+ @XENO_USER_LDADD@ \
+ -lrt -lpthread -lm
+
+rt_signal_test_fpe_SOURCES = rt_signal_test.c
+rt_signal_test_fpe_CPPFLAGS = $(alchemycppflags) -DTEST_FPE=1
+rt_signal_test_fpe_LDADD = $(alchemyldadd)
+
+rt_signal_test_segfault_SOURCES = rt_signal_test.c
+rt_signal_test_segfault_CPPFLAGS = $(alchemycppflags) -DTEST_SEGFAULT=1
+rt_signal_test_segfault_LDADD = $(alchemyldadd)
+
+rt_signal_test_ill_SOURCES = rt_signal_test.c
+rt_signal_test_ill_CPPFLAGS = $(alchemycppflags)
+rt_signal_test_ill_LDADD = $(alchemyldadd)
+
diff --git a/testsuite/rt-signal-tests/rt_signal_test.c b/testsuite/rt-signal-tests/rt_signal_test.c
new file mode 100644
index 000000000..ef569b30d
--- /dev/null
+++ b/testsuite/rt-signal-tests/rt_signal_test.c
@@ -0,0 +1,231 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <sys/types.h>
+#include <copperplate/traceobj.h>
+#include <alchemy/task.h>
+#include <assert.h>
+#include <setjmp.h>
+#include <asm/ucontext.h>
+
+#ifdef TEST_SEGFAULT
+#define TEST_SIGNAL SIGSEGV
+#elif defined(TEST_FPE)
+#define TEST_SIGNAL SIGFPE
+#else
+#define TEST_SIGNAL SIGILL
+#endif
+
+#define BIT_FAULT_HANDLER_ENTERD 1
+#define BIT_FAULT_HANDLER_FINISHED 2
+#define BIT_FAULT_HANDLER_WRONG_TASK 4
+#define BIT_FAULT_HANDLER_WRONG_SIG 8
+#define BIT_DOMAIN_SWITCH 16
+
+static RT_TASK t1;
+static sig_atomic_t status = 0;
+static sig_atomic_t cause = 0;
+
+// #define JMP_CLEANUP
+#ifdef JMP_CLEANUP
+static jmp_buf jmpenv;
+#endif
+
+static int status_ok(void)
+{
+ return status ==
+ (BIT_FAULT_HANDLER_ENTERD | BIT_FAULT_HANDLER_FINISHED);
+}
+
+static const char *sigdebug_msg[] = {
+ [SIGDEBUG_UNDEFINED] = "latency: received SIGXCPU for unknown reason",
+ [SIGDEBUG_MIGRATE_SIGNAL] = "received signal",
+ [SIGDEBUG_MIGRATE_SYSCALL] = "invoked syscall",
+ [SIGDEBUG_MIGRATE_FAULT] = "triggered fault",
+ [SIGDEBUG_MIGRATE_PRIOINV] = "affected by priority inversion",
+ [SIGDEBUG_NOMLOCK] = "Xenomai: process memory not locked "
+ "(missing mlockall?)",
+ [SIGDEBUG_WATCHDOG] = "Xenomai: watchdog triggered "
+ "(period too short?)",
+};
+
+
+#ifndef JMP_CLEANUP
+static int get_step(void)
+{
+#ifdef TEST_SEGFAULT
+#if defined(__i386__) || defined(__x86_64__)
+ return 11;
+#else
+ return 4;
+#endif
+#elif defined(TEST_FPE)
+ return 2;
+#else
+#if defined(__i386__) || defined(__x86_64__)
+ return 2;
+#else
+ return 4;
+#endif
+#endif
+}
+
+static void do_cleanup(void *context)
+{
+ int step = 0;
+ struct ucontext *uc = context;
+
+ step = get_step();
+
+#if defined(__i386__)
+ uc->uc_mcontext.eip += step;
+#elif defined(__x86_64__)
+ uc->uc_mcontext.rip += step;
+#elif defined(__aarch64__)
+ uc->uc_mcontext.pc += step;
+#endif
+}
+#endif
+
+static void signal_handler(int sig, siginfo_t *info, void *context)
+{
+ RT_TASK *self;
+ (void)context;
+
+ if (sig == SIGDEBUG) {
+ cause = sigdebug_reason(info);
+
+ if (cause > SIGDEBUG_WATCHDOG)
+ cause = SIGDEBUG_UNDEFINED;
+
+ /* XXX: caused by rt_task_delete() */
+ if (!(status & BIT_FAULT_HANDLER_ENTERD) &&
+ cause == SIGDEBUG_MIGRATE_SYSCALL) {
+ return;
+ }
+
+ status |= BIT_DOMAIN_SWITCH;
+ } else {
+ status |= BIT_FAULT_HANDLER_ENTERD;
+ if (sig != TEST_SIGNAL) {
+ status |= BIT_FAULT_HANDLER_WRONG_SIG;
+ return;
+ }
+
+ self = rt_task_self();
+
+ if (self == NULL || !rt_task_same(self, &t1)) {
+ status |= BIT_FAULT_HANDLER_WRONG_TASK;
+ } else {
+ status |= BIT_FAULT_HANDLER_FINISHED;
+ }
+
+#ifdef JMP_CLEANUP
+ longjmp(jmpenv, 1);
+#else
+ do_cleanup(context);
+#endif
+ }
+}
+
+static void do_div_by_0(void)
+{
+#if defined(__i386__) || defined (__x86_64__)
+ __asm__("xorl %eax, %eax\n\t"
+ "movl %eax, %ecx\n\t"
+ "cltd\n\t"
+ "idivl %ecx");
+#endif
+ //TODO find a cortex-A way to trigger an FPE
+}
+
+static void do_ill(void)
+{
+#if defined(__i386__) || defined (__x86_64__)
+ __asm__("ud2");
+#else
+ __asm__("udf #0xdead");
+#endif
+}
+
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Warray-bounds"
+static void do_segfault(void)
+{
+ *((int *)0x73) = 0xdecafbad;
+}
+#pragma GCC diagnostic pop
+
+static void task_proc(void *arg)
+{
+ int ret;
+ (void)arg;
+
+ ret = cobalt_rt_signal(TEST_SIGNAL, signal_handler);
+ assert(ret == 0);
+ (void)ret;
+
+#ifdef JMP_CLEANUP
+ if (setjmp(jmpenv) != 0)
+ return;
+#endif
+
+#ifdef TEST_SEGFAULT
+ do_segfault();
+#elif defined(TEST_FPE)
+ do_div_by_0();
+#else
+ do_ill();
+#endif
+
+ if (0) { // so we don't geht defined but not used errors
+ do_segfault();
+ do_div_by_0();
+ do_ill();
+ }
+}
+
+static int test_sucessfull(void)
+{
+ if (status_ok()) {
+ fputs("Test passed\n", stderr);
+ return 1;
+ }
+
+ if (!(status & BIT_FAULT_HANDLER_ENTERD))
+ fputs("Test failed: signal handler not invoked!\n", stderr);
+ if ((status & BIT_FAULT_HANDLER_WRONG_TASK))
+ fputs("Test failed: Signal handler in wrong task!\n", stderr);
+ if ((status & BIT_FAULT_HANDLER_WRONG_SIG))
+ fputs("Test failed: Signal handler of wrong signal!\n", stderr);
+ if ((status & BIT_DOMAIN_SWITCH)) {
+ fputs("Test failed: domain switch happened!\n", stderr);
+ fprintf(stderr, "Caused by: %s\n", sigdebug_msg[cause]);
+ }
+
+ return 0;
+}
+
+int main(void)
+{
+ struct sigaction sa;
+ int ret;
+
+ memset(&sa, 0, sizeof(sa));
+ sa.sa_sigaction = signal_handler;
+ sa.sa_flags = SA_SIGINFO | SA_NODEFER;
+ sigaction(TEST_SIGNAL, &sa, NULL);
+ sigaction(SIGDEBUG, &sa, NULL);
+
+ ret = rt_task_create(&t1, "rt-task", 0, 20, T_JOINABLE | T_WARNSW);
+ assert(ret == 0);
+
+ ret = rt_task_start(&t1, task_proc, NULL);
+ assert(ret == 0);
+
+ ret = rt_task_join(&t1);
+ assert(ret == 0);
+ (void)ret; // so the compiler does not complain about not checking ret
+
+ return test_sucessfull() ? EXIT_SUCCESS : EXIT_FAILURE;
+}
--
2.25.1
^ permalink raw reply related [flat|nested] 7+ messages in thread
* [PATCH 3/3] [POC] add a tool to measure rt_signal latency
2023-09-08 10:50 [PATCH 1/3] [POC] test implementaion of rt-signals Johannes Kirchmair
2023-09-08 10:50 ` [PATCH 2/3] [POC] Add rt_signal test Johannes Kirchmair
@ 2023-09-08 10:50 ` Johannes Kirchmair
2023-09-08 10:54 ` [PATCH 1/3] [POC] test implementaion of rt-signals Johannes Kirchmair
2023-09-09 11:35 ` Jan Kiszka
3 siblings, 0 replies; 7+ messages in thread
From: Johannes Kirchmair @ 2023-09-08 10:50 UTC (permalink / raw)
To: xenomai; +Cc: Johannes Kirchmair
Signed-off-by: Johannes Kirchmair <johannes.kirchmair@sigmatek.at>
---
configure.ac | 1 +
utils/Makefile.am | 2 +-
utils/rt_signal_hist/Makefile.am | 22 ++++
utils/rt_signal_hist/error.h | 14 +++
utils/rt_signal_hist/histo.c | 46 ++++++++
utils/rt_signal_hist/histo.h | 13 +++
utils/rt_signal_hist/result.c | 16 +++
utils/rt_signal_hist/result.h | 12 ++
utils/rt_signal_hist/rt_signal_hist.c | 158 ++++++++++++++++++++++++++
9 files changed, 283 insertions(+), 1 deletion(-)
create mode 100644 utils/rt_signal_hist/Makefile.am
create mode 100644 utils/rt_signal_hist/error.h
create mode 100644 utils/rt_signal_hist/histo.c
create mode 100644 utils/rt_signal_hist/histo.h
create mode 100644 utils/rt_signal_hist/result.c
create mode 100644 utils/rt_signal_hist/result.h
create mode 100644 utils/rt_signal_hist/rt_signal_hist.c
diff --git a/configure.ac b/configure.ac
index 3325482fc..fe4a3b3e0 100644
--- a/configure.ac
+++ b/configure.ac
@@ -1054,6 +1054,7 @@ AC_CONFIG_FILES([ \
utils/slackspot/Makefile \
utils/corectl/Makefile \
utils/autotune/Makefile \
+ utils/rt_signal_hist/Makefile \
utils/net/rtnet \
utils/net/rtnet.conf \
utils/net/Makefile \
diff --git a/utils/Makefile.am b/utils/Makefile.am
index 4de6434a9..79c39ac90 100644
--- a/utils/Makefile.am
+++ b/utils/Makefile.am
@@ -1,5 +1,5 @@
SUBDIRS = hdb
if XENO_COBALT
-SUBDIRS += analogy autotune can net ps slackspot corectl
+SUBDIRS += analogy autotune can net ps slackspot corectl rt_signal_hist
endif
SUBDIRS += chkkconf
diff --git a/utils/rt_signal_hist/Makefile.am b/utils/rt_signal_hist/Makefile.am
new file mode 100644
index 000000000..810a63bba
--- /dev/null
+++ b/utils/rt_signal_hist/Makefile.am
@@ -0,0 +1,22 @@
+testdir = @XENO_TEST_DIR@
+
+CCLD = $(top_srcdir)/scripts/wrap-link.sh $(CC)
+
+test_PROGRAMS = rt_signal_hist
+
+alchemycppflags = \
+ $(XENO_USER_CFLAGS) \
+ -I$(top_srcdir)/include
+
+alchemyldadd = \
+ @XENO_AUTOINIT_LDFLAGS@ \
+ $(XENO_POSIX_WRAPPERS) \
+ ../../lib/alchemy/libalchemy.la \
+ ../../lib/copperplate/libcopperplate.la \
+ @XENO_CORE_LDADD@ \
+ @XENO_USER_LDADD@ \
+ -lrt -lpthread -lm
+
+rt_signal_hist_SOURCES = rt_signal_hist.c histo.c result.c
+rt_signal_hist_CPPFLAGS = $(alchemycppflags)
+rt_signal_hist_LDADD = $(alchemyldadd)
diff --git a/utils/rt_signal_hist/error.h b/utils/rt_signal_hist/error.h
new file mode 100644
index 000000000..4aa50e70e
--- /dev/null
+++ b/utils/rt_signal_hist/error.h
@@ -0,0 +1,14 @@
+#ifndef ERROR_EXIT_H
+#define ERROR_EXIT_H
+
+#include <stdio.h>
+#include <stdlib.h>
+
+static int error(char *reason, int ret)
+{
+ printf("%s: err= %d\n", reason, ret);
+ exit(1);
+}
+
+#endif
+
diff --git a/utils/rt_signal_hist/histo.c b/utils/rt_signal_hist/histo.c
new file mode 100644
index 000000000..36e51201b
--- /dev/null
+++ b/utils/rt_signal_hist/histo.c
@@ -0,0 +1,46 @@
+#include <errno.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "histo.h"
+#include "error.h"
+
+void initHisto(struct histo **histo, unsigned long n)
+{
+ int i = 0;
+ *histo = malloc(sizeof(struct histo) + n * sizeof(unsigned long));
+ if (!histo)
+ return;
+
+ for (i = 0; i < n; ++i) {
+ (*histo)->data[i] = 0;
+ }
+ (*histo)->max_index = 0;
+ (*histo)->n = n;
+}
+
+void writeHisto(struct histo *histo)
+{
+ unsigned long i;
+ FILE *f = fopen("hist.txt", "w");
+ if (!f)
+ error("can't open \"hist.txt\n", errno);
+
+ for (i = 0; i <= histo->max_index; ++i) {
+ fprintf(f, "%lu %lu\n", i, histo->data[i]);
+ }
+
+ fclose(f);
+}
+
+void updateHisto(struct histo *histo, unsigned long curr)
+{
+ unsigned long index;
+
+ index = curr;
+ index = index >= histo->n ? histo->n - 1 : index;
+
+ histo->max_index = histo->max_index >= index ? histo->max_index : index;
+ histo->data[index]++;
+}
+
diff --git a/utils/rt_signal_hist/histo.h b/utils/rt_signal_hist/histo.h
new file mode 100644
index 000000000..63c92014a
--- /dev/null
+++ b/utils/rt_signal_hist/histo.h
@@ -0,0 +1,13 @@
+#ifndef HISTO_H
+#define HISTO_H
+
+struct histo {
+ unsigned long n;
+ unsigned long max_index;
+ unsigned long data[];
+};
+
+void initHisto(struct histo **histo, unsigned long n);
+void writeHisto(struct histo *histo);
+void updateHisto(struct histo *histo, unsigned long curr);
+#endif
diff --git a/utils/rt_signal_hist/result.c b/utils/rt_signal_hist/result.c
new file mode 100644
index 000000000..a863d7182
--- /dev/null
+++ b/utils/rt_signal_hist/result.c
@@ -0,0 +1,16 @@
+#include "result.h"
+
+void initResult(struct result *resu)
+{
+ resu->min = (unsigned long)-1l;
+ resu->max = 0ul;
+ resu->avr = 0ul;
+}
+
+void updateResult(struct result *resu, unsigned long curr, unsigned long ith_entry)
+{
+ resu->min = curr < resu->min ? curr: resu->min;
+ resu->max = curr > resu->max ? curr: resu->max;
+ resu->avr = (resu->avr *(ith_entry - 1) + curr) / ith_entry;
+}
+
diff --git a/utils/rt_signal_hist/result.h b/utils/rt_signal_hist/result.h
new file mode 100644
index 000000000..9895535ee
--- /dev/null
+++ b/utils/rt_signal_hist/result.h
@@ -0,0 +1,12 @@
+#ifndef RESULT_H
+#define RESULT_H
+
+struct result {
+ unsigned long min;
+ unsigned long max;
+ unsigned long avr;
+};
+
+void initResult(struct result *resu);
+void updateResult(struct result *resu, unsigned long curr, unsigned long ith_entry);
+#endif
diff --git a/utils/rt_signal_hist/rt_signal_hist.c b/utils/rt_signal_hist/rt_signal_hist.c
new file mode 100644
index 000000000..076084e9e
--- /dev/null
+++ b/utils/rt_signal_hist/rt_signal_hist.c
@@ -0,0 +1,158 @@
+#ifndef _GNU_SOURCE
+#define _GNU_SOURCE
+#endif
+
+#include <stdio.h>
+#include <signal.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <errno.h>
+
+#include <asm/ucontext.h>
+
+#include <alchemy/task.h>
+#include <cobalt/signal.h>
+#include <copperplate/clockobj.h>
+
+#include "histo.h"
+#include "result.h"
+#include "error.h"
+
+#define TEST_SIGNAL SIGILL
+#define USE_GETTIME 0
+#define USE_RT_SIGNALS 1
+
+static RT_TASK task;
+
+static void do_cleanup(void *context)
+{
+ struct ucontext *uc = context;
+
+#if defined(__i386__)
+ uc->uc_mcontext.eip += 2;
+#elif defined(__x86_64__)
+ uc->uc_mcontext.rip += 2;
+#else
+ uc->uc_mcontext.pc += 4;
+#endif
+}
+
+static void sighandler(int sig, siginfo_t *info, void *data)
+{
+ do_cleanup(data);
+}
+
+static void do_ill(void)
+{
+#if defined(__i386__) || defined (__x86_64__)
+ __asm__("ud2");
+#else
+ __asm__("udf #0xdead");
+#endif
+}
+
+static void registerSignal(void)
+{
+ int ret;
+
+ ret = cobalt_rt_signal(TEST_SIGNAL, sighandler);
+ if (ret)
+ error("cobalt_rt_signal", ret);
+}
+
+static void printPreRunInfo(void)
+{
+ if (USE_GETTIME) {
+ struct timespec time;
+ clock_getres(CLOCK_MONOTONIC_RAW, &time);
+ printf("res_sec = %ld res_nsec = %ld \n", time.tv_sec, time.tv_nsec);
+ } else {
+ printf("res_nsec = %lld\n", clockobj_tsc_to_ns(1));
+ }
+}
+
+static inline unsigned long ns_now(void)
+{
+ if (USE_GETTIME) {
+ struct timespec time;
+ clock_gettime(CLOCK_MONOTONIC_RAW, &time);
+ return time.tv_nsec;
+ } else {
+ ticks_t ticks;
+ ticks = clockobj_get_tsc();
+ return clockobj_tsc_to_ns(ticks);
+ }
+}
+
+static void task_func(void *cookie)
+{
+ struct histo *histo = (struct histo *)cookie;
+ struct result resu;
+
+ unsigned long start, stop, curr;
+ int i, j;
+
+ printPreRunInfo();
+
+ registerSignal();
+
+ initResult(&resu);
+
+ for (j = 0; j < 10000; ++j) {
+ for (i = 0; i < 1000; ++i) {
+
+ start = ns_now();
+ do_ill();
+ stop = ns_now();
+
+ if (stop <= start) { // dismiss on counter overrun
+ continue;
+ }
+
+ curr = stop - start;
+
+ updateResult(&resu, curr, i+1); // + 1 as we add with index i the (i+1)th entry
+
+ updateHisto(histo, curr);
+ }
+
+ printf("min = %lu max = %lu avr = %lu\n", resu.min, resu.max, resu.avr);
+ rt_task_sleep(1000000);
+ }
+}
+
+static const char *task_name = "signal_test_task";
+static const int prio = 80;
+
+int main(int argc, char **argv)
+{
+ int ret;
+ struct histo *histo;
+
+ struct sigaction sa;
+
+ memset(&sa, 0, sizeof(sa));
+ sa.sa_sigaction = sighandler;
+ sa.sa_flags = SA_SIGINFO | SA_NODEFER;
+ sigaction(TEST_SIGNAL, &sa, NULL);
+
+ initHisto(&histo, 100000000);
+ if (!histo)
+ error("could not init histo", -ENOMEM);
+
+ ret = rt_task_create(&task, task_name, 0, prio, T_JOINABLE);
+ if (ret)
+ error("rt_task_create", ret);
+
+ ret = rt_task_start(&task, task_func, histo);
+ if (ret)
+ error("cant start task", ret);
+
+ rt_task_join(&task);
+ rt_task_delete(&task);
+
+ writeHisto(histo);
+
+ return 0;
+}
+
--
2.25.1
^ permalink raw reply related [flat|nested] 7+ messages in thread
* RE: [PATCH 1/3] [POC] test implementaion of rt-signals
2023-09-08 10:50 [PATCH 1/3] [POC] test implementaion of rt-signals Johannes Kirchmair
2023-09-08 10:50 ` [PATCH 2/3] [POC] Add rt_signal test Johannes Kirchmair
2023-09-08 10:50 ` [PATCH 3/3] [POC] add a tool to measure rt_signal latency Johannes Kirchmair
@ 2023-09-08 10:54 ` Johannes Kirchmair
2023-09-09 11:35 ` Jan Kiszka
3 siblings, 0 replies; 7+ messages in thread
From: Johannes Kirchmair @ 2023-09-08 10:54 UTC (permalink / raw)
To: xenomai; +Cc: Jan Kiszka
Changed the following things:
- replace magic numbers with X86_TRAP_*
- removed uneeded changes that slipped in (return in void function and move of #ifdef CONFIG_SMP)
- removed DB and BP code
- if sigreturn fails send SIGSEGV and not MAYDAY .... will have to write a test for this
- added sigreturn and sigaction to sysentery sysexit tracing
- removed specific sigaction compat code
- removed xnarch_rt_sigreturn_ia32/ia64 functions and call dovetail_restore_rt_signal_frame in generic code
- moved xnarch_setup_trap_info to signal.c to dont confuse people by having it in ia32 specific file
Freundliche Grüße
Johannes
> -----Original Message-----
> From: Johannes Kirchmair <johannes.kirchmair@sigmatek.at>
> Sent: Freitag, 8. September 2023 12:51
> To: xenomai@lists.linux.dev
> Cc: Johannes Kirchmair <johannes.kirchmair@sigmatek.at>
> Subject: [PATCH 1/3] [POC] test implementaion of rt-signals
>
> We implement rt signals to handle exceptions in rt stage.
>
> This is done using dovetail specific functions for setting up the signal
> frame.
>
> This can be used to handle fpe exceptions on the fly, like fixing
> division by zero. An other use case are breakpoints, implemented using the
> illegal opcode exception. The real time handling of the breakpoints would
> be handy for conditional breakpoints or also for stopping watchdogs and
> other tasks in time.
>
> Signed-off-by: Johannes Kirchmair <johannes.kirchmair@sigmatek.at>
> ---
> include/cobalt/kernel/ppd.h | 3 ++
> include/cobalt/kernel/thread.h | 2 +
> include/cobalt/signal.h | 2 +
> include/cobalt/uapi/syscall.h | 2 +
> kernel/cobalt/arch/x86/Makefile | 2 +-
> .../arch/x86/include/asm/xenomai/thread.h | 3 ++
> kernel/cobalt/arch/x86/signal.c | 51 +++++++++++++++++++
> kernel/cobalt/dovetail/kevents.c | 3 ++
> kernel/cobalt/posix/syscall.c | 32 ++++++++++++
> kernel/cobalt/thread.c | 38 ++++++++++++++
> kernel/cobalt/trace/cobalt-posix.h | 4 +-
> lib/cobalt/arch/x86/Makefile.am | 2 +-
> lib/cobalt/arch/x86/sigreturn.c | 36 +++++++++++++
> lib/cobalt/internal.h | 2 +
> lib/cobalt/signal.c | 13 +++++
> 15 files changed, 192 insertions(+), 3 deletions(-)
> create mode 100644 kernel/cobalt/arch/x86/signal.c
> create mode 100644 lib/cobalt/arch/x86/sigreturn.c
>
> diff --git a/include/cobalt/kernel/ppd.h b/include/cobalt/kernel/ppd.h
> index f0079fe6e..fb2f682da 100644
> --- a/include/cobalt/kernel/ppd.h
> +++ b/include/cobalt/kernel/ppd.h
> @@ -22,6 +22,7 @@
> #include <linux/types.h>
> #include <linux/atomic.h>
> #include <linux/rbtree.h>
> +#include <linux/signal.h>
> #include <cobalt/kernel/heap.h>
>
> struct cobalt_umm {
> @@ -32,6 +33,8 @@ struct cobalt_umm {
>
> struct cobalt_ppd {
> struct cobalt_umm umm;
> + void __user *sighand[_NSIG];
> + void __user *sigrestorer;
> atomic_t refcnt;
> char *exe_path;
> struct rb_root fds;
> diff --git a/include/cobalt/kernel/thread.h b/include/cobalt/kernel/thread.h
> index b79cb8429..33d468419 100644
> --- a/include/cobalt/kernel/thread.h
> +++ b/include/cobalt/kernel/thread.h
> @@ -574,6 +574,8 @@ static inline void xnthread_propagate_schedparam(struct
> xnthread *curr)
> __xnthread_propagate_schedparam(curr);
> }
>
> +int xnthread_handle_rt_signals(unsigned int trapnr, struct pt_regs *regs);
> +
> extern struct xnthread_personality xenomai_personality;
>
> /** @} */
> diff --git a/include/cobalt/signal.h b/include/cobalt/signal.h
> index 62694f93a..3d6540aff 100644
> --- a/include/cobalt/signal.h
> +++ b/include/cobalt/signal.h
> @@ -54,6 +54,8 @@ COBALT_DECL(int, kill(pid_t pid, int sig));
> COBALT_DECL(int, sigqueue(pid_t pid, int sig,
> const union sigval value));
>
> +int cobalt_rt_signal(int sig, void (*handler)(int, siginfo_t *, void *));
> +
> #ifdef __cplusplus
> }
> #endif
> diff --git a/include/cobalt/uapi/syscall.h b/include/cobalt/uapi/syscall.h
> index 3e65efaab..3913cc610 100644
> --- a/include/cobalt/uapi/syscall.h
> +++ b/include/cobalt/uapi/syscall.h
> @@ -141,6 +141,8 @@
> #define sc_cobalt_timerfd_settime64 118
> #define sc_cobalt_timerfd_gettime64 119
> #define sc_cobalt_pselect64 120
> +#define sc_cobalt_sigreturn 121
> +#define sc_cobalt_sigaction 122
>
> #define __NR_COBALT_SYSCALLS 128 /* Power of 2 */
>
> diff --git a/kernel/cobalt/arch/x86/Makefile b/kernel/cobalt/arch/x86/Makefile
> index 93929b645..e3d8eb476 100644
> --- a/kernel/cobalt/arch/x86/Makefile
> +++ b/kernel/cobalt/arch/x86/Makefile
> @@ -1,5 +1,5 @@
>
> obj-$(CONFIG_XENOMAI) += xenomai.o
> -xenomai-y := machine.o smi.o c1e.o
> +xenomai-y := machine.o smi.o c1e.o signal.o
>
> ccflags-y := -I$(srctree)/arch/x86/xenomai/include -I$(srctree)/include/xenomai
> diff --git a/kernel/cobalt/arch/x86/include/asm/xenomai/thread.h
> b/kernel/cobalt/arch/x86/include/asm/xenomai/thread.h
> index 745c32467..70f3df2f1 100644
> --- a/kernel/cobalt/arch/x86/include/asm/xenomai/thread.h
> +++ b/kernel/cobalt/arch/x86/include/asm/xenomai/thread.h
> @@ -28,5 +28,8 @@
> #define xnarch_fault_bp_p(__nr) ((current->ptrace & PT_PTRACED)
> && \
> ((__nr) == X86_TRAP_DB || (__nr) ==
> X86_TRAP_BP))
> #define xnarch_fault_notify(__nr) (!xnarch_fault_bp_p(__nr))
> +#define xnarch_fault_code(__regs) ((__regs)->orig_ax)
> +int xnarch_setup_trap_info(unsigned int vector, struct pt_regs *regs,
> + long errcode, int *sig, struct kernel_siginfo *info);
>
> #endif /* !_COBALT_X86_ASM_THREAD_H */
> diff --git a/kernel/cobalt/arch/x86/signal.c b/kernel/cobalt/arch/x86/signal.c
> new file mode 100644
> index 000000000..2e8fdc571
> --- /dev/null
> +++ b/kernel/cobalt/arch/x86/signal.c
> @@ -0,0 +1,51 @@
> +// SPDX-License-Identifier: GPL-2.0
> +
> +#include <linux/signal.h>
> +#include <linux/uaccess.h>
> +#include <cobalt/kernel/thread.h>
> +
> +#include <asm/sigframe.h>
> +#include <asm/sighandling.h>
> +#include <asm/fpu/signal.h>
> +#include <asm/trapnr.h>
> +
> +int xnarch_setup_trap_info(unsigned int vector, struct pt_regs *regs,
> + long errcode, int *sig, struct kernel_siginfo *info)
> +{
> + switch (vector) {
> + case X86_TRAP_DE: /* divide_error */
> + *sig = SIGFPE;
> + info->si_signo = *sig;
> + info->si_errno = 0;
> + info->si_code = FPE_INTDIV;
> + info->si_addr = (void __user *)regs->ip;
> + return 0;
> + case X86_TRAP_UD: /* invalid_op */
> + *sig = SIGILL;
> + info->si_signo = *sig;
> + info->si_errno = 0;
> + info->si_code = ILL_ILLOPN;
> + info->si_addr = (void __user *)regs->ip;
> + return 0;
> + case X86_TRAP_MF:
> + *sig = SIGFPE;
> +
> + info->si_signo = *sig;
> + info->si_errno = 0;
> + info->si_code = 0;
> + info->si_addr = (void __user *)regs->ip;
> + return 0;
> + case X86_TRAP_PF:
> + *sig = SIGSEGV;
> + info->si_signo = *sig;
> + info->si_errno = errcode;
> + info->si_code = 0;
> + info->si_addr = 0;
> + return 0;
> + default:
> + break;
> + }
> +
> + return -ENOSYS;
> +}
> +
> diff --git a/kernel/cobalt/dovetail/kevents.c b/kernel/cobalt/dovetail/kevents.c
> index 4da4f51b7..09eb12acb 100644
> --- a/kernel/cobalt/dovetail/kevents.c
> +++ b/kernel/cobalt/dovetail/kevents.c
> @@ -57,6 +57,9 @@ void handle_oob_trap_entry(unsigned int trapnr, struct
> pt_regs *regs)
> xnsched_run();
> }
>
> + if (xnthread_handle_rt_signals(trapnr, regs) == 0)
> + return;
> +
> /*
> * If we experienced a trap on behalf of a shadow thread
> * running in primary mode, move it to the Linux domain,
> diff --git a/kernel/cobalt/posix/syscall.c b/kernel/cobalt/posix/syscall.c
> index 46c4998e4..d570bd595 100644
> --- a/kernel/cobalt/posix/syscall.c
> +++ b/kernel/cobalt/posix/syscall.c
> @@ -277,6 +277,38 @@ static COBALT_SYSCALL(serialdbg, current,
> return 0;
> }
>
> +static COBALT_SYSCALL(sigreturn, current, (void))
> +{
> + struct pt_regs *regs = task_pt_regs(current);
> + int ret;
> +
> + ret = dovetail_restore_rt_signal_frame(regs);
> + if (ret < 0)
> + goto badframe;
> +
> + return __xn_reg_rval(regs);
> +
> +badframe:
> + xnthread_signal(xnthread_current(), SIGSEGV, 0);
> + return -1;
> +}
> +
> +static COBALT_SYSCALL(sigaction, current, (int sig, void __user *handler,
> + void __user *restorer))
> +{
> + struct cobalt_ppd *sys_ppd = cobalt_ppd_get(0);
> +
> + if (sig < 0 || sig >= _NSIG)
> + return -EINVAL;
> +
> + sys_ppd->sighand[sig] = handler;
> +
> + if (!sys_ppd->sigrestorer)
> + sys_ppd->sigrestorer = restorer;
> +
> + return 0;
> +}
> +
> static void stringify_feature_set(unsigned long fset, char *buf, int size)
> {
> unsigned long feature;
> diff --git a/kernel/cobalt/thread.c b/kernel/cobalt/thread.c
> index 41804b24f..ae8fa5c88 100644
> --- a/kernel/cobalt/thread.c
> +++ b/kernel/cobalt/thread.c
> @@ -25,6 +25,7 @@
> #include <linux/signal.h>
> #include <linux/pid.h>
> #include <linux/sched.h>
> +#include <asm/sighandling.h>
> #include <uapi/linux/sched/types.h>
> #include <cobalt/kernel/sched.h>
> #include <cobalt/kernel/timer.h>
> @@ -43,6 +44,7 @@
> #include <pipeline/inband_work.h>
> #include <pipeline/sched.h>
> #include <trace/events/cobalt-core.h>
> +#include "posix/process.h"
> #include "debug.h"
>
> static DECLARE_WAIT_QUEUE_HEAD(join_all);
> @@ -2520,6 +2522,42 @@ int xnthread_killall(int grace, int mask)
> }
> EXPORT_SYMBOL_GPL(xnthread_killall);
>
> +int xnthread_handle_rt_signals(unsigned int trapnr, struct pt_regs *regs)
> +{
> + unsigned int code = xnarch_fault_code(regs);
> + unsigned int vector = trapnr;
> + struct cobalt_ppd *sys_ppd;
> + struct kernel_siginfo si;
> + struct ksignal ksig;
> + int sig, ret = 0;
> +
> + code = xnarch_fault_code(regs);
> + ret = xnarch_setup_trap_info(vector, regs, code, &sig, &si);
> + if (ret || sig == 0)
> + return 1;
> +
> + sys_ppd = cobalt_ppd_get(0);
> + if (sig >= _NSIG ||
> + sys_ppd->sighand[sig] == NULL ||
> + sys_ppd->sighand[sig] == SIG_DFL)
> + return 1;
> +
> + if (sys_ppd->sigrestorer == NULL)
> + return 1;
> +
> + ksig.sig = sig;
> + memcpy(&ksig.info, &si, sizeof(si));
> + ksig.ka.sa.sa_flags = SA_SIGINFO | SA_RESTORER;
> + ksig.ka.sa.sa_restorer = sys_ppd->sigrestorer;
> + ksig.ka.sa.sa_handler = sys_ppd->sighand[sig];
> +
> + ret = dovetail_setup_rt_signal_frame(&ksig, regs);
> + if (ret)
> + return 1;
> +
> + return 0;
> +}
> +
> /* Xenomai's generic personality. */
> struct xnthread_personality xenomai_personality = {
> .name = "core",
> diff --git a/kernel/cobalt/trace/cobalt-posix.h b/kernel/cobalt/trace/cobalt-posix.h
> index 47dc77e1c..8eda3bb27 100644
> --- a/kernel/cobalt/trace/cobalt-posix.h
> +++ b/kernel/cobalt/trace/cobalt-posix.h
> @@ -173,7 +173,9 @@
> __cobalt_symbolic_syscall(timer_gettime64), \
> __cobalt_symbolic_syscall(timerfd_settime64), \
> __cobalt_symbolic_syscall(timerfd_gettime64), \
> - __cobalt_symbolic_syscall(pselect64))
> + __cobalt_symbolic_syscall(pselect64), \
> + __cobalt_symbolic_syscall(sigreturn), \
> + __cobalt_symbolic_syscall(sigaction))
>
> DECLARE_EVENT_CLASS(cobalt_syscall_entry,
> TP_PROTO(unsigned int nr),
> diff --git a/lib/cobalt/arch/x86/Makefile.am b/lib/cobalt/arch/x86/Makefile.am
> index a5095be3d..14f5eff97 100644
> --- a/lib/cobalt/arch/x86/Makefile.am
> +++ b/lib/cobalt/arch/x86/Makefile.am
> @@ -2,7 +2,7 @@ noinst_LTLIBRARIES = libarch.la
>
> libarch_la_LDFLAGS = @XENO_LIB_LDFLAGS@
>
> -libarch_la_SOURCES = features.c
> +libarch_la_SOURCES = features.c sigreturn.c
>
> libarch_la_CPPFLAGS = \
> @XENO_COBALT_CFLAGS@ \
> diff --git a/lib/cobalt/arch/x86/sigreturn.c b/lib/cobalt/arch/x86/sigreturn.c
> new file mode 100644
> index 000000000..df961469e
> --- /dev/null
> +++ b/lib/cobalt/arch/x86/sigreturn.c
> @@ -0,0 +1,36 @@
> +#include <cobalt/uapi/syscall.h>
> +#include "internal.h"
> +
> +extern void cobalt_sigreturn (void) asm ("__cobalt_sigreturn") __attribute__
> ((visibility ("hidden")));
> +
> +#define TO_STR(x) #x
> +
> +#ifdef __x86_64__
> +#define build_restorer(syscall_bit, syscall) \
> + asm(".text\n" \
> + " .align 16\n" \
> + "__cobalt_sigreturn:\n" \
> + " movq $ " TO_STR(syscall_bit) ", %rax\n" \
> + " orq $ " TO_STR(syscall) ", %rax\n" \
> + " syscall")
> +#endif
> +
> +#ifdef __i386__
> +#define build_restorer(syscall_bit, syscall) \
> + asm(".text\n" \
> + " .align 16\n" \
> + "__cobalt_sigreturn:\n" \
> + " movl $ " TO_STR(syscall_bit) ", %eax\n" \
> + " orl $ " TO_STR(syscall) ", %eax\n" \
> + " int $0x80")
> +#endif
> +
> +/*
> + * __COBALT_SYSCALL_BIT | sc_cobalt_sigreturn
> + */
> +build_restorer(__COBALT_SYSCALL_BIT, sc_cobalt_sigreturn);
> +
> +void *cobalt_get_restorer(void)
> +{
> + return &cobalt_sigreturn;
> +}
> diff --git a/lib/cobalt/internal.h b/lib/cobalt/internal.h
> index acb3989f1..4782d154a 100644
> --- a/lib/cobalt/internal.h
> +++ b/lib/cobalt/internal.h
> @@ -132,4 +132,6 @@ static inline bool cobalt_features_available(unsigned int
> feat_mask)
> return (cobalt_features & feat_mask) == feat_mask;
> }
>
> +extern void *cobalt_get_restorer(void);
> +
> #endif /* _LIB_COBALT_INTERNAL_H */
> diff --git a/lib/cobalt/signal.c b/lib/cobalt/signal.c
> index 40d315ebb..af174d570 100644
> --- a/lib/cobalt/signal.c
> +++ b/lib/cobalt/signal.c
> @@ -126,3 +126,16 @@ COBALT_IMPL(int, sigqueue, (pid_t pid, int sig, const
> union sigval value))
>
> return 0;
> }
> +
> +int cobalt_rt_signal(int sig, void (*handler)(int, siginfo_t *, void *))
> +{
> + int ret;
> +
> + ret = XENOMAI_SYSCALL3(sc_cobalt_sigaction, sig, handler,
> cobalt_get_restorer());
> + if (ret) {
> + errno = -ret;
> + return -1;
> + }
> +
> + return 0;
> +}
> --
> 2.25.1
^ permalink raw reply [flat|nested] 7+ messages in thread
* Re: [PATCH 1/3] [POC] test implementaion of rt-signals
2023-09-08 10:50 [PATCH 1/3] [POC] test implementaion of rt-signals Johannes Kirchmair
` (2 preceding siblings ...)
2023-09-08 10:54 ` [PATCH 1/3] [POC] test implementaion of rt-signals Johannes Kirchmair
@ 2023-09-09 11:35 ` Jan Kiszka
3 siblings, 0 replies; 7+ messages in thread
From: Jan Kiszka @ 2023-09-09 11:35 UTC (permalink / raw)
To: Johannes Kirchmair, xenomai
On 08.09.23 12:50, Johannes Kirchmair wrote:
> We implement rt signals to handle exceptions in rt stage.
>
> This is done using dovetail specific functions for setting up the signal
> frame.
>
> This can be used to handle fpe exceptions on the fly, like fixing
> division by zero. An other use case are breakpoints, implemented using the
> illegal opcode exception. The real time handling of the breakpoints would
> be handy for conditional breakpoints or also for stopping watchdogs and
> other tasks in time.
>
> Signed-off-by: Johannes Kirchmair <johannes.kirchmair@sigmatek.at>
> ---
> include/cobalt/kernel/ppd.h | 3 ++
> include/cobalt/kernel/thread.h | 2 +
> include/cobalt/signal.h | 2 +
> include/cobalt/uapi/syscall.h | 2 +
> kernel/cobalt/arch/x86/Makefile | 2 +-
> .../arch/x86/include/asm/xenomai/thread.h | 3 ++
> kernel/cobalt/arch/x86/signal.c | 51 +++++++++++++++++++
> kernel/cobalt/dovetail/kevents.c | 3 ++
> kernel/cobalt/posix/syscall.c | 32 ++++++++++++
> kernel/cobalt/thread.c | 38 ++++++++++++++
> kernel/cobalt/trace/cobalt-posix.h | 4 +-
> lib/cobalt/arch/x86/Makefile.am | 2 +-
> lib/cobalt/arch/x86/sigreturn.c | 36 +++++++++++++
> lib/cobalt/internal.h | 2 +
> lib/cobalt/signal.c | 13 +++++
> 15 files changed, 192 insertions(+), 3 deletions(-)
> create mode 100644 kernel/cobalt/arch/x86/signal.c
> create mode 100644 lib/cobalt/arch/x86/sigreturn.c
>
> diff --git a/include/cobalt/kernel/ppd.h b/include/cobalt/kernel/ppd.h
> index f0079fe6e..fb2f682da 100644
> --- a/include/cobalt/kernel/ppd.h
> +++ b/include/cobalt/kernel/ppd.h
> @@ -22,6 +22,7 @@
> #include <linux/types.h>
> #include <linux/atomic.h>
> #include <linux/rbtree.h>
> +#include <linux/signal.h>
> #include <cobalt/kernel/heap.h>
>
> struct cobalt_umm {
> @@ -32,6 +33,8 @@ struct cobalt_umm {
>
> struct cobalt_ppd {
> struct cobalt_umm umm;
> + void __user *sighand[_NSIG];
> + void __user *sigrestorer;
> atomic_t refcnt;
> char *exe_path;
> struct rb_root fds;
> diff --git a/include/cobalt/kernel/thread.h b/include/cobalt/kernel/thread.h
> index b79cb8429..33d468419 100644
> --- a/include/cobalt/kernel/thread.h
> +++ b/include/cobalt/kernel/thread.h
> @@ -574,6 +574,8 @@ static inline void xnthread_propagate_schedparam(struct xnthread *curr)
> __xnthread_propagate_schedparam(curr);
> }
>
> +int xnthread_handle_rt_signals(unsigned int trapnr, struct pt_regs *regs);
> +
> extern struct xnthread_personality xenomai_personality;
>
> /** @} */
> diff --git a/include/cobalt/signal.h b/include/cobalt/signal.h
> index 62694f93a..3d6540aff 100644
> --- a/include/cobalt/signal.h
> +++ b/include/cobalt/signal.h
> @@ -54,6 +54,8 @@ COBALT_DECL(int, kill(pid_t pid, int sig));
> COBALT_DECL(int, sigqueue(pid_t pid, int sig,
> const union sigval value));
>
> +int cobalt_rt_signal(int sig, void (*handler)(int, siginfo_t *, void *));
> +
> #ifdef __cplusplus
> }
> #endif
> diff --git a/include/cobalt/uapi/syscall.h b/include/cobalt/uapi/syscall.h
> index 3e65efaab..3913cc610 100644
> --- a/include/cobalt/uapi/syscall.h
> +++ b/include/cobalt/uapi/syscall.h
> @@ -141,6 +141,8 @@
> #define sc_cobalt_timerfd_settime64 118
> #define sc_cobalt_timerfd_gettime64 119
> #define sc_cobalt_pselect64 120
> +#define sc_cobalt_sigreturn 121
> +#define sc_cobalt_sigaction 122
>
> #define __NR_COBALT_SYSCALLS 128 /* Power of 2 */
>
> diff --git a/kernel/cobalt/arch/x86/Makefile b/kernel/cobalt/arch/x86/Makefile
> index 93929b645..e3d8eb476 100644
> --- a/kernel/cobalt/arch/x86/Makefile
> +++ b/kernel/cobalt/arch/x86/Makefile
> @@ -1,5 +1,5 @@
>
> obj-$(CONFIG_XENOMAI) += xenomai.o
> -xenomai-y := machine.o smi.o c1e.o
> +xenomai-y := machine.o smi.o c1e.o signal.o
>
> ccflags-y := -I$(srctree)/arch/x86/xenomai/include -I$(srctree)/include/xenomai
> diff --git a/kernel/cobalt/arch/x86/include/asm/xenomai/thread.h b/kernel/cobalt/arch/x86/include/asm/xenomai/thread.h
> index 745c32467..70f3df2f1 100644
> --- a/kernel/cobalt/arch/x86/include/asm/xenomai/thread.h
> +++ b/kernel/cobalt/arch/x86/include/asm/xenomai/thread.h
> @@ -28,5 +28,8 @@
> #define xnarch_fault_bp_p(__nr) ((current->ptrace & PT_PTRACED) && \
> ((__nr) == X86_TRAP_DB || (__nr) == X86_TRAP_BP))
> #define xnarch_fault_notify(__nr) (!xnarch_fault_bp_p(__nr))
> +#define xnarch_fault_code(__regs) ((__regs)->orig_ax)
> +int xnarch_setup_trap_info(unsigned int vector, struct pt_regs *regs,
> + long errcode, int *sig, struct kernel_siginfo *info);
>
> #endif /* !_COBALT_X86_ASM_THREAD_H */
> diff --git a/kernel/cobalt/arch/x86/signal.c b/kernel/cobalt/arch/x86/signal.c
> new file mode 100644
> index 000000000..2e8fdc571
> --- /dev/null
> +++ b/kernel/cobalt/arch/x86/signal.c
> @@ -0,0 +1,51 @@
> +// SPDX-License-Identifier: GPL-2.0
> +
> +#include <linux/signal.h>
> +#include <linux/uaccess.h>
> +#include <cobalt/kernel/thread.h>
> +
> +#include <asm/sigframe.h>
> +#include <asm/sighandling.h>
> +#include <asm/fpu/signal.h>
> +#include <asm/trapnr.h>
> +
> +int xnarch_setup_trap_info(unsigned int vector, struct pt_regs *regs,
> + long errcode, int *sig, struct kernel_siginfo *info)
> +{
> + switch (vector) {
> + case X86_TRAP_DE: /* divide_error */
> + *sig = SIGFPE;
> + info->si_signo = *sig;
> + info->si_errno = 0;
> + info->si_code = FPE_INTDIV;
> + info->si_addr = (void __user *)regs->ip;
> + return 0;
> + case X86_TRAP_UD: /* invalid_op */
> + *sig = SIGILL;
> + info->si_signo = *sig;
> + info->si_errno = 0;
> + info->si_code = ILL_ILLOPN;
> + info->si_addr = (void __user *)regs->ip;
> + return 0;
> + case X86_TRAP_MF:
> + *sig = SIGFPE;
> +
> + info->si_signo = *sig;
> + info->si_errno = 0;
> + info->si_code = 0;
> + info->si_addr = (void __user *)regs->ip;
> + return 0;
> + case X86_TRAP_PF:
> + *sig = SIGSEGV;
> + info->si_signo = *sig;
> + info->si_errno = errcode;
> + info->si_code = 0;
> + info->si_addr = 0;
> + return 0;
Indention got damaged.
> + default:
> + break;
> + }
> +
> + return -ENOSYS;
> +}
> +
> diff --git a/kernel/cobalt/dovetail/kevents.c b/kernel/cobalt/dovetail/kevents.c
> index 4da4f51b7..09eb12acb 100644
> --- a/kernel/cobalt/dovetail/kevents.c
> +++ b/kernel/cobalt/dovetail/kevents.c
> @@ -57,6 +57,9 @@ void handle_oob_trap_entry(unsigned int trapnr, struct pt_regs *regs)
> xnsched_run();
> }
>
> + if (xnthread_handle_rt_signals(trapnr, regs) == 0)
> + return;
> +
> /*
> * If we experienced a trap on behalf of a shadow thread
> * running in primary mode, move it to the Linux domain,
> diff --git a/kernel/cobalt/posix/syscall.c b/kernel/cobalt/posix/syscall.c
> index 46c4998e4..d570bd595 100644
> --- a/kernel/cobalt/posix/syscall.c
> +++ b/kernel/cobalt/posix/syscall.c
> @@ -277,6 +277,38 @@ static COBALT_SYSCALL(serialdbg, current,
> return 0;
> }
>
> +static COBALT_SYSCALL(sigreturn, current, (void))
> +{
> + struct pt_regs *regs = task_pt_regs(current);
> + int ret;
> +
> + ret = dovetail_restore_rt_signal_frame(regs);
> + if (ret < 0)
> + goto badframe;
> +
> + return __xn_reg_rval(regs);
> +
> +badframe:
> + xnthread_signal(xnthread_current(), SIGSEGV, 0);
> + return -1;
> +}
> +
> +static COBALT_SYSCALL(sigaction, current, (int sig, void __user *handler,
> + void __user *restorer))
> +{
> + struct cobalt_ppd *sys_ppd = cobalt_ppd_get(0);
> +
> + if (sig < 0 || sig >= _NSIG)
> + return -EINVAL;
> +
> + sys_ppd->sighand[sig] = handler;
> +
> + if (!sys_ppd->sigrestorer)
> + sys_ppd->sigrestorer = restorer;
Checked if we can do better during binding or thread mapping but,
indeed, none of those calls provide a convenient channel to carry this
information.
But then let's avoid the "optimization" and simply always deliver this
from userspace (what you already do) and always assign here in kernel space.
> +
> + return 0;
> +}
> +
> static void stringify_feature_set(unsigned long fset, char *buf, int size)
> {
> unsigned long feature;
> diff --git a/kernel/cobalt/thread.c b/kernel/cobalt/thread.c
> index 41804b24f..ae8fa5c88 100644
> --- a/kernel/cobalt/thread.c
> +++ b/kernel/cobalt/thread.c
> @@ -25,6 +25,7 @@
> #include <linux/signal.h>
> #include <linux/pid.h>
> #include <linux/sched.h>
> +#include <asm/sighandling.h>
> #include <uapi/linux/sched/types.h>
> #include <cobalt/kernel/sched.h>
> #include <cobalt/kernel/timer.h>
> @@ -43,6 +44,7 @@
> #include <pipeline/inband_work.h>
> #include <pipeline/sched.h>
> #include <trace/events/cobalt-core.h>
> +#include "posix/process.h"
> #include "debug.h"
>
> static DECLARE_WAIT_QUEUE_HEAD(join_all);
> @@ -2520,6 +2522,42 @@ int xnthread_killall(int grace, int mask)
> }
> EXPORT_SYMBOL_GPL(xnthread_killall);
>
> +int xnthread_handle_rt_signals(unsigned int trapnr, struct pt_regs *regs)
> +{
> + unsigned int code = xnarch_fault_code(regs);
> + unsigned int vector = trapnr;
> + struct cobalt_ppd *sys_ppd;
> + struct kernel_siginfo si;
> + struct ksignal ksig;
> + int sig, ret = 0;
> +
> + code = xnarch_fault_code(regs);
Duplicate assignment. But actually I see no value in asking the arch
first for this fault code, only to deliver it to an arch-specific call,
and only to it. Just let xnarch_setup_trap_info retrieve the fault code
itself.
> + ret = xnarch_setup_trap_info(vector, regs, code, &sig, &si);
> + if (ret || sig == 0)
> + return 1;
> +
> + sys_ppd = cobalt_ppd_get(0);
> + if (sig >= _NSIG ||
> + sys_ppd->sighand[sig] == NULL ||
> + sys_ppd->sighand[sig] == SIG_DFL)
> + return 1;
> +
> + if (sys_ppd->sigrestorer == NULL)
> + return 1;
> +
> + ksig.sig = sig;
> + memcpy(&ksig.info, &si, sizeof(si));
> + ksig.ka.sa.sa_flags = SA_SIGINFO | SA_RESTORER;
> + ksig.ka.sa.sa_restorer = sys_ppd->sigrestorer;
> + ksig.ka.sa.sa_handler = sys_ppd->sighand[sig];
> +
> + ret = dovetail_setup_rt_signal_frame(&ksig, regs);
> + if (ret)
> + return 1;
> +
> + return 0;
> +}
> +
> /* Xenomai's generic personality. */
> struct xnthread_personality xenomai_personality = {
> .name = "core",
> diff --git a/kernel/cobalt/trace/cobalt-posix.h b/kernel/cobalt/trace/cobalt-posix.h
> index 47dc77e1c..8eda3bb27 100644
> --- a/kernel/cobalt/trace/cobalt-posix.h
> +++ b/kernel/cobalt/trace/cobalt-posix.h
> @@ -173,7 +173,9 @@
> __cobalt_symbolic_syscall(timer_gettime64), \
> __cobalt_symbolic_syscall(timerfd_settime64), \
> __cobalt_symbolic_syscall(timerfd_gettime64), \
> - __cobalt_symbolic_syscall(pselect64))
> + __cobalt_symbolic_syscall(pselect64), \
> + __cobalt_symbolic_syscall(sigreturn), \
> + __cobalt_symbolic_syscall(sigaction))
>
> DECLARE_EVENT_CLASS(cobalt_syscall_entry,
> TP_PROTO(unsigned int nr),
> diff --git a/lib/cobalt/arch/x86/Makefile.am b/lib/cobalt/arch/x86/Makefile.am
> index a5095be3d..14f5eff97 100644
> --- a/lib/cobalt/arch/x86/Makefile.am
> +++ b/lib/cobalt/arch/x86/Makefile.am
> @@ -2,7 +2,7 @@ noinst_LTLIBRARIES = libarch.la
>
> libarch_la_LDFLAGS = @XENO_LIB_LDFLAGS@
>
> -libarch_la_SOURCES = features.c
> +libarch_la_SOURCES = features.c sigreturn.c
>
> libarch_la_CPPFLAGS = \
> @XENO_COBALT_CFLAGS@ \
> diff --git a/lib/cobalt/arch/x86/sigreturn.c b/lib/cobalt/arch/x86/sigreturn.c
> new file mode 100644
> index 000000000..df961469e
> --- /dev/null
> +++ b/lib/cobalt/arch/x86/sigreturn.c
> @@ -0,0 +1,36 @@
> +#include <cobalt/uapi/syscall.h>
> +#include "internal.h"
> +
> +extern void cobalt_sigreturn (void) asm ("__cobalt_sigreturn") __attribute__ ((visibility ("hidden")));
> +
> +#define TO_STR(x) #x
> +
> +#ifdef __x86_64__
> +#define build_restorer(syscall_bit, syscall) \
> + asm(".text\n" \
> + " .align 16\n" \
> + "__cobalt_sigreturn:\n" \
> + " movq $ " TO_STR(syscall_bit) ", %rax\n" \
> + " orq $ " TO_STR(syscall) ", %rax\n" \
> + " syscall")
> +#endif
> +
> +#ifdef __i386__
> +#define build_restorer(syscall_bit, syscall) \
> + asm(".text\n" \
> + " .align 16\n" \
> + "__cobalt_sigreturn:\n" \
> + " movl $ " TO_STR(syscall_bit) ", %eax\n" \
> + " orl $ " TO_STR(syscall) ", %eax\n" \
> + " int $0x80")
> +#endif
I still need to play with those two in order to see if we can do it more
elegantly, ie. without assembly.
> +
> +/*
> + * __COBALT_SYSCALL_BIT | sc_cobalt_sigreturn
> + */
> +build_restorer(__COBALT_SYSCALL_BIT, sc_cobalt_sigreturn);
> +
> +void *cobalt_get_restorer(void)
> +{
> + return &cobalt_sigreturn;
> +}
Not sure if we need that getter, definitely not as non-inline function
unless you make cobalt_sigreturn static.
> diff --git a/lib/cobalt/internal.h b/lib/cobalt/internal.h
> index acb3989f1..4782d154a 100644
> --- a/lib/cobalt/internal.h
> +++ b/lib/cobalt/internal.h
> @@ -132,4 +132,6 @@ static inline bool cobalt_features_available(unsigned int feat_mask)
> return (cobalt_features & feat_mask) == feat_mask;
> }
>
> +extern void *cobalt_get_restorer(void);
> +
> #endif /* _LIB_COBALT_INTERNAL_H */
> diff --git a/lib/cobalt/signal.c b/lib/cobalt/signal.c
> index 40d315ebb..af174d570 100644
> --- a/lib/cobalt/signal.c
> +++ b/lib/cobalt/signal.c
> @@ -126,3 +126,16 @@ COBALT_IMPL(int, sigqueue, (pid_t pid, int sig, const union sigval value))
>
> return 0;
> }
> +
> +int cobalt_rt_signal(int sig, void (*handler)(int, siginfo_t *, void *))
> +{
> + int ret;
> +
> + ret = XENOMAI_SYSCALL3(sc_cobalt_sigaction, sig, handler, cobalt_get_restorer());
> + if (ret) {
> + errno = -ret;
> + return -1;
> + }
> +
> + return 0;
> +}
Thanks,
Jan
--
Siemens AG, Technology
Linux Expert Center
^ permalink raw reply [flat|nested] 7+ messages in thread
* [PATCH 2/3] [POC] Add rt_signal test
2023-08-16 10:18 Johannes Kirchmair
@ 2023-08-16 10:18 ` Johannes Kirchmair
0 siblings, 0 replies; 7+ messages in thread
From: Johannes Kirchmair @ 2023-08-16 10:18 UTC (permalink / raw)
To: xenomai; +Cc: Johannes Kirchmair
This commit adds simple rt signal test for SIGFPE, SIGILL and SIGSEGV.
---
configure.ac | 1 +
testsuite/Makefile.am | 1 +
testsuite/rt-signal-tests/Makefile.am | 31 +++
testsuite/rt-signal-tests/rt_signal_test.c | 231 +++++++++++++++++++++
4 files changed, 264 insertions(+)
create mode 100644 testsuite/rt-signal-tests/Makefile.am
create mode 100644 testsuite/rt-signal-tests/rt_signal_test.c
diff --git a/configure.ac b/configure.ac
index 3ce34048e..3325482fc 100644
--- a/configure.ac
+++ b/configure.ac
@@ -1007,6 +1007,7 @@ AC_CONFIG_FILES([ \
testsuite/switchtest/Makefile \
testsuite/gpiotest/Makefile \
testsuite/gpiobench/Makefile \
+ testsuite/rt-signal-tests/Makefile \
testsuite/spitest/Makefile \
testsuite/smokey/Makefile \
testsuite/smokey/arith/Makefile \
diff --git a/testsuite/Makefile.am b/testsuite/Makefile.am
index 4932f6d33..59f36967a 100644
--- a/testsuite/Makefile.am
+++ b/testsuite/Makefile.am
@@ -5,6 +5,7 @@ if XENO_COBALT
SUBDIRS += \
clocktest \
gpiotest \
+ rt-signal-tests \
spitest \
switchtest \
xeno-test
diff --git a/testsuite/rt-signal-tests/Makefile.am b/testsuite/rt-signal-tests/Makefile.am
new file mode 100644
index 000000000..084347631
--- /dev/null
+++ b/testsuite/rt-signal-tests/Makefile.am
@@ -0,0 +1,31 @@
+testdir = @XENO_TEST_DIR@
+
+CCLD = $(top_srcdir)/scripts/wrap-link.sh $(CC)
+
+test_PROGRAMS = rt_signal_test_fpe rt_signal_test_segfault rt_signal_test_ill
+
+alchemycppflags = \
+ $(XENO_USER_CFLAGS) \
+ -I$(top_srcdir)/include
+
+alchemyldadd = \
+ @XENO_AUTOINIT_LDFLAGS@ \
+ $(XENO_POSIX_WRAPPERS) \
+ ../../lib/alchemy/libalchemy.la \
+ ../../lib/copperplate/libcopperplate.la \
+ @XENO_CORE_LDADD@ \
+ @XENO_USER_LDADD@ \
+ -lrt -lpthread -lm
+
+rt_signal_test_fpe_SOURCES = rt_signal_test.c
+rt_signal_test_fpe_CPPFLAGS = $(alchemycppflags) -DTEST_FPE=1
+rt_signal_test_fpe_LDADD = $(alchemyldadd)
+
+rt_signal_test_segfault_SOURCES = rt_signal_test.c
+rt_signal_test_segfault_CPPFLAGS = $(alchemycppflags) -DTEST_SEGFAULT=1
+rt_signal_test_segfault_LDADD = $(alchemyldadd)
+
+rt_signal_test_ill_SOURCES = rt_signal_test.c
+rt_signal_test_ill_CPPFLAGS = $(alchemycppflags)
+rt_signal_test_ill_LDADD = $(alchemyldadd)
+
diff --git a/testsuite/rt-signal-tests/rt_signal_test.c b/testsuite/rt-signal-tests/rt_signal_test.c
new file mode 100644
index 000000000..ef569b30d
--- /dev/null
+++ b/testsuite/rt-signal-tests/rt_signal_test.c
@@ -0,0 +1,231 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <sys/types.h>
+#include <copperplate/traceobj.h>
+#include <alchemy/task.h>
+#include <assert.h>
+#include <setjmp.h>
+#include <asm/ucontext.h>
+
+#ifdef TEST_SEGFAULT
+#define TEST_SIGNAL SIGSEGV
+#elif defined(TEST_FPE)
+#define TEST_SIGNAL SIGFPE
+#else
+#define TEST_SIGNAL SIGILL
+#endif
+
+#define BIT_FAULT_HANDLER_ENTERD 1
+#define BIT_FAULT_HANDLER_FINISHED 2
+#define BIT_FAULT_HANDLER_WRONG_TASK 4
+#define BIT_FAULT_HANDLER_WRONG_SIG 8
+#define BIT_DOMAIN_SWITCH 16
+
+static RT_TASK t1;
+static sig_atomic_t status = 0;
+static sig_atomic_t cause = 0;
+
+// #define JMP_CLEANUP
+#ifdef JMP_CLEANUP
+static jmp_buf jmpenv;
+#endif
+
+static int status_ok(void)
+{
+ return status ==
+ (BIT_FAULT_HANDLER_ENTERD | BIT_FAULT_HANDLER_FINISHED);
+}
+
+static const char *sigdebug_msg[] = {
+ [SIGDEBUG_UNDEFINED] = "latency: received SIGXCPU for unknown reason",
+ [SIGDEBUG_MIGRATE_SIGNAL] = "received signal",
+ [SIGDEBUG_MIGRATE_SYSCALL] = "invoked syscall",
+ [SIGDEBUG_MIGRATE_FAULT] = "triggered fault",
+ [SIGDEBUG_MIGRATE_PRIOINV] = "affected by priority inversion",
+ [SIGDEBUG_NOMLOCK] = "Xenomai: process memory not locked "
+ "(missing mlockall?)",
+ [SIGDEBUG_WATCHDOG] = "Xenomai: watchdog triggered "
+ "(period too short?)",
+};
+
+
+#ifndef JMP_CLEANUP
+static int get_step(void)
+{
+#ifdef TEST_SEGFAULT
+#if defined(__i386__) || defined(__x86_64__)
+ return 11;
+#else
+ return 4;
+#endif
+#elif defined(TEST_FPE)
+ return 2;
+#else
+#if defined(__i386__) || defined(__x86_64__)
+ return 2;
+#else
+ return 4;
+#endif
+#endif
+}
+
+static void do_cleanup(void *context)
+{
+ int step = 0;
+ struct ucontext *uc = context;
+
+ step = get_step();
+
+#if defined(__i386__)
+ uc->uc_mcontext.eip += step;
+#elif defined(__x86_64__)
+ uc->uc_mcontext.rip += step;
+#elif defined(__aarch64__)
+ uc->uc_mcontext.pc += step;
+#endif
+}
+#endif
+
+static void signal_handler(int sig, siginfo_t *info, void *context)
+{
+ RT_TASK *self;
+ (void)context;
+
+ if (sig == SIGDEBUG) {
+ cause = sigdebug_reason(info);
+
+ if (cause > SIGDEBUG_WATCHDOG)
+ cause = SIGDEBUG_UNDEFINED;
+
+ /* XXX: caused by rt_task_delete() */
+ if (!(status & BIT_FAULT_HANDLER_ENTERD) &&
+ cause == SIGDEBUG_MIGRATE_SYSCALL) {
+ return;
+ }
+
+ status |= BIT_DOMAIN_SWITCH;
+ } else {
+ status |= BIT_FAULT_HANDLER_ENTERD;
+ if (sig != TEST_SIGNAL) {
+ status |= BIT_FAULT_HANDLER_WRONG_SIG;
+ return;
+ }
+
+ self = rt_task_self();
+
+ if (self == NULL || !rt_task_same(self, &t1)) {
+ status |= BIT_FAULT_HANDLER_WRONG_TASK;
+ } else {
+ status |= BIT_FAULT_HANDLER_FINISHED;
+ }
+
+#ifdef JMP_CLEANUP
+ longjmp(jmpenv, 1);
+#else
+ do_cleanup(context);
+#endif
+ }
+}
+
+static void do_div_by_0(void)
+{
+#if defined(__i386__) || defined (__x86_64__)
+ __asm__("xorl %eax, %eax\n\t"
+ "movl %eax, %ecx\n\t"
+ "cltd\n\t"
+ "idivl %ecx");
+#endif
+ //TODO find a cortex-A way to trigger an FPE
+}
+
+static void do_ill(void)
+{
+#if defined(__i386__) || defined (__x86_64__)
+ __asm__("ud2");
+#else
+ __asm__("udf #0xdead");
+#endif
+}
+
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Warray-bounds"
+static void do_segfault(void)
+{
+ *((int *)0x73) = 0xdecafbad;
+}
+#pragma GCC diagnostic pop
+
+static void task_proc(void *arg)
+{
+ int ret;
+ (void)arg;
+
+ ret = cobalt_rt_signal(TEST_SIGNAL, signal_handler);
+ assert(ret == 0);
+ (void)ret;
+
+#ifdef JMP_CLEANUP
+ if (setjmp(jmpenv) != 0)
+ return;
+#endif
+
+#ifdef TEST_SEGFAULT
+ do_segfault();
+#elif defined(TEST_FPE)
+ do_div_by_0();
+#else
+ do_ill();
+#endif
+
+ if (0) { // so we don't geht defined but not used errors
+ do_segfault();
+ do_div_by_0();
+ do_ill();
+ }
+}
+
+static int test_sucessfull(void)
+{
+ if (status_ok()) {
+ fputs("Test passed\n", stderr);
+ return 1;
+ }
+
+ if (!(status & BIT_FAULT_HANDLER_ENTERD))
+ fputs("Test failed: signal handler not invoked!\n", stderr);
+ if ((status & BIT_FAULT_HANDLER_WRONG_TASK))
+ fputs("Test failed: Signal handler in wrong task!\n", stderr);
+ if ((status & BIT_FAULT_HANDLER_WRONG_SIG))
+ fputs("Test failed: Signal handler of wrong signal!\n", stderr);
+ if ((status & BIT_DOMAIN_SWITCH)) {
+ fputs("Test failed: domain switch happened!\n", stderr);
+ fprintf(stderr, "Caused by: %s\n", sigdebug_msg[cause]);
+ }
+
+ return 0;
+}
+
+int main(void)
+{
+ struct sigaction sa;
+ int ret;
+
+ memset(&sa, 0, sizeof(sa));
+ sa.sa_sigaction = signal_handler;
+ sa.sa_flags = SA_SIGINFO | SA_NODEFER;
+ sigaction(TEST_SIGNAL, &sa, NULL);
+ sigaction(SIGDEBUG, &sa, NULL);
+
+ ret = rt_task_create(&t1, "rt-task", 0, 20, T_JOINABLE | T_WARNSW);
+ assert(ret == 0);
+
+ ret = rt_task_start(&t1, task_proc, NULL);
+ assert(ret == 0);
+
+ ret = rt_task_join(&t1);
+ assert(ret == 0);
+ (void)ret; // so the compiler does not complain about not checking ret
+
+ return test_sucessfull() ? EXIT_SUCCESS : EXIT_FAILURE;
+}
--
2.25.1
^ permalink raw reply related [flat|nested] 7+ messages in thread
* [PATCH 2/3] [POC] Add rt_signal test
2023-05-09 13:13 [PATCH 1/3] [POC] test implementaion of rt-signals Johannes Kirchmair
@ 2023-05-09 13:13 ` Johannes Kirchmair
0 siblings, 0 replies; 7+ messages in thread
From: Johannes Kirchmair @ 2023-05-09 13:13 UTC (permalink / raw)
To: xenomai; +Cc: johannes.kirchmair
This commit adds simple rt signal test for SIGFPE, SIGILL and SIGSEGV.
---
configure.ac | 1 +
testsuite/Makefile.am | 1 +
testsuite/rt-signal-tests/Makefile.am | 31 +++
testsuite/rt-signal-tests/rt_signal_test.c | 228 +++++++++++++++++++++
4 files changed, 261 insertions(+)
create mode 100644 testsuite/rt-signal-tests/Makefile.am
create mode 100644 testsuite/rt-signal-tests/rt_signal_test.c
diff --git a/configure.ac b/configure.ac
index 3ce34048e..3325482fc 100644
--- a/configure.ac
+++ b/configure.ac
@@ -1007,6 +1007,7 @@ AC_CONFIG_FILES([ \
testsuite/switchtest/Makefile \
testsuite/gpiotest/Makefile \
testsuite/gpiobench/Makefile \
+ testsuite/rt-signal-tests/Makefile \
testsuite/spitest/Makefile \
testsuite/smokey/Makefile \
testsuite/smokey/arith/Makefile \
diff --git a/testsuite/Makefile.am b/testsuite/Makefile.am
index 4932f6d33..59f36967a 100644
--- a/testsuite/Makefile.am
+++ b/testsuite/Makefile.am
@@ -5,6 +5,7 @@ if XENO_COBALT
SUBDIRS += \
clocktest \
gpiotest \
+ rt-signal-tests \
spitest \
switchtest \
xeno-test
diff --git a/testsuite/rt-signal-tests/Makefile.am b/testsuite/rt-signal-tests/Makefile.am
new file mode 100644
index 000000000..084347631
--- /dev/null
+++ b/testsuite/rt-signal-tests/Makefile.am
@@ -0,0 +1,31 @@
+testdir = @XENO_TEST_DIR@
+
+CCLD = $(top_srcdir)/scripts/wrap-link.sh $(CC)
+
+test_PROGRAMS = rt_signal_test_fpe rt_signal_test_segfault rt_signal_test_ill
+
+alchemycppflags = \
+ $(XENO_USER_CFLAGS) \
+ -I$(top_srcdir)/include
+
+alchemyldadd = \
+ @XENO_AUTOINIT_LDFLAGS@ \
+ $(XENO_POSIX_WRAPPERS) \
+ ../../lib/alchemy/libalchemy.la \
+ ../../lib/copperplate/libcopperplate.la \
+ @XENO_CORE_LDADD@ \
+ @XENO_USER_LDADD@ \
+ -lrt -lpthread -lm
+
+rt_signal_test_fpe_SOURCES = rt_signal_test.c
+rt_signal_test_fpe_CPPFLAGS = $(alchemycppflags) -DTEST_FPE=1
+rt_signal_test_fpe_LDADD = $(alchemyldadd)
+
+rt_signal_test_segfault_SOURCES = rt_signal_test.c
+rt_signal_test_segfault_CPPFLAGS = $(alchemycppflags) -DTEST_SEGFAULT=1
+rt_signal_test_segfault_LDADD = $(alchemyldadd)
+
+rt_signal_test_ill_SOURCES = rt_signal_test.c
+rt_signal_test_ill_CPPFLAGS = $(alchemycppflags)
+rt_signal_test_ill_LDADD = $(alchemyldadd)
+
diff --git a/testsuite/rt-signal-tests/rt_signal_test.c b/testsuite/rt-signal-tests/rt_signal_test.c
new file mode 100644
index 000000000..0d43ac8da
--- /dev/null
+++ b/testsuite/rt-signal-tests/rt_signal_test.c
@@ -0,0 +1,228 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <sys/types.h>
+#include <copperplate/traceobj.h>
+#include <alchemy/task.h>
+#include <assert.h>
+#include <setjmp.h>
+#include <asm/ucontext.h>
+
+#ifdef TEST_SEGFAULT
+#define TEST_SIGNAL SIGSEGV
+#elif defined(TEST_FPE)
+#define TEST_SIGNAL SIGFPE
+#else
+#define TEST_SIGNAL SIGILL
+#endif
+
+#define BIT_FAULT_HANDLER_ENTERD 1
+#define BIT_FAULT_HANDLER_FINISHED 2
+#define BIT_FAULT_HANDLER_WRONG_TASK 4
+#define BIT_FAULT_HANDLER_WRONG_SIG 8
+#define BIT_DOMAIN_SWITCH 16
+
+static RT_TASK t1;
+static sig_atomic_t status = 0;
+static sig_atomic_t cause = 0;
+
+// #define JMP_CLEANUP
+#ifdef JMP_CLEANUP
+static jmp_buf jmpenv;
+#endif
+
+static int status_ok(void)
+{
+ return status ==
+ (BIT_FAULT_HANDLER_ENTERD | BIT_FAULT_HANDLER_FINISHED);
+}
+
+static const char *sigdebug_msg[] = {
+ [SIGDEBUG_UNDEFINED] = "latency: received SIGXCPU for unknown reason",
+ [SIGDEBUG_MIGRATE_SIGNAL] = "received signal",
+ [SIGDEBUG_MIGRATE_SYSCALL] = "invoked syscall",
+ [SIGDEBUG_MIGRATE_FAULT] = "triggered fault",
+ [SIGDEBUG_MIGRATE_PRIOINV] = "affected by priority inversion",
+ [SIGDEBUG_NOMLOCK] = "Xenomai: process memory not locked "
+ "(missing mlockall?)",
+ [SIGDEBUG_WATCHDOG] = "Xenomai: watchdog triggered "
+ "(period too short?)",
+};
+
+
+#ifndef JMP_CLEANUP
+static int get_step(void)
+{
+#ifdef TEST_SEGFAULT
+#if defined(__i386__) || defined(__x86_64__)
+ return 11;
+#else
+ return 4;
+#endif
+#elif defined(TEST_FPE)
+ return 2;
+#else
+#if defined(__i386__) || defined(__x86_64__)
+ return 2;
+#else
+ return 4;
+#endif
+#endif
+}
+
+static void do_cleanup(void *context)
+{
+ int step = 0;
+ struct ucontext *uc = context;
+
+ step = get_step();
+
+#if defined(__i386__)
+ uc->uc_mcontext.eip += step;
+#elif defined(__x86_64__)
+ uc->uc_mcontext.rip += step;
+#elif defined(__aarch64__)
+ uc->uc_mcontext.pc += step;
+#endif
+}
+#endif
+
+static void signal_handler(int sig, siginfo_t *info, void *context)
+{
+ RT_TASK *self;
+ (void)context;
+
+ if (sig == SIGDEBUG) {
+ cause = sigdebug_reason(info);
+
+ if (cause > SIGDEBUG_WATCHDOG)
+ cause = SIGDEBUG_UNDEFINED;
+
+ /* XXX: caused by rt_task_delete() */
+ if (!(status & BIT_FAULT_HANDLER_ENTERD) &&
+ cause == SIGDEBUG_MIGRATE_SYSCALL) {
+ return;
+ }
+
+ status |= BIT_DOMAIN_SWITCH;
+ } else {
+ status |= BIT_FAULT_HANDLER_ENTERD;
+ if (sig != TEST_SIGNAL) {
+ status |= BIT_FAULT_HANDLER_WRONG_SIG;
+ return;
+ }
+
+ self = rt_task_self();
+
+ if (self == NULL || !rt_task_same(self, &t1)) {
+ status |= BIT_FAULT_HANDLER_WRONG_TASK;
+ } else {
+ status |= BIT_FAULT_HANDLER_FINISHED;
+ }
+
+#ifdef JMP_CLEANUP
+ longjmp(jmpenv, 1);
+#else
+ do_cleanup(context);
+#endif
+ }
+}
+
+static void do_div_by_0(void)
+{
+#if defined(__i386__) || defined (__x86_64__)
+ __asm__("xorl %eax, %eax\n\t"
+ "movl %eax, %ecx\n\t"
+ "cltd\n\t"
+ "idivl %ecx");
+#endif
+ //TODO find a cortex-A way to trigger an FPE
+}
+
+static void do_ill(void)
+{
+#if defined(__i386__) || defined (__x86_64__)
+ __asm__("ud2");
+#else
+ __asm__("udf #0xdead");
+#endif
+}
+
+static void do_segfault(void)
+{
+ *((int *)0x73) = 0xdecafbad;
+}
+
+static void task_proc(void *arg)
+{
+ int ret;
+ (void)arg;
+
+ ret = cobalt_rt_signal(TEST_SIGNAL, signal_handler);
+ assert(ret == 0);
+ (void)ret;
+
+#ifdef JMP_CLEANUP
+ if (setjmp(jmpenv) != 0)
+ return;
+#endif
+
+#ifdef TEST_SEGFAULT
+ do_segfault();
+#elif defined(TEST_FPE)
+ do_div_by_0();
+#else
+ do_ill();
+#endif
+
+ if (0) { // so we don't geht defined but not used errors
+ do_segfault();
+ do_div_by_0();
+ do_ill();
+ }
+}
+
+static int test_sucessfull(void)
+{
+ if (status_ok()) {
+ fputs("Test passed\n", stderr);
+ return 1;
+ }
+
+ if (!(status & BIT_FAULT_HANDLER_ENTERD))
+ fputs("Test failed: signal handler not invoked!\n", stderr);
+ if ((status & BIT_FAULT_HANDLER_WRONG_TASK))
+ fputs("Test failed: Signal handler in wrong task!\n", stderr);
+ if ((status & BIT_FAULT_HANDLER_WRONG_SIG))
+ fputs("Test failed: Signal handler of wrong signal!\n", stderr);
+ if ((status & BIT_DOMAIN_SWITCH)) {
+ fputs("Test failed: domain switch happened!\n", stderr);
+ fprintf(stderr, "Caused by: %s\n", sigdebug_msg[cause]);
+ }
+
+ return 0;
+}
+
+int main(void)
+{
+ struct sigaction sa;
+ int ret;
+
+ memset(&sa, 0, sizeof(sa));
+ sa.sa_sigaction = signal_handler;
+ sa.sa_flags = SA_SIGINFO | SA_NODEFER;
+ sigaction(TEST_SIGNAL, &sa, NULL);
+ sigaction(SIGDEBUG, &sa, NULL);
+
+ ret = rt_task_create(&t1, "rt-task", 0, 20, T_JOINABLE | T_WARNSW);
+ assert(ret == 0);
+
+ ret = rt_task_start(&t1, task_proc, NULL);
+ assert(ret == 0);
+
+ ret = rt_task_join(&t1);
+ assert(ret == 0);
+ (void)ret; // so the compiler does not complain about not checking ret
+
+ return test_sucessfull() ? EXIT_SUCCESS : EXIT_FAILURE;
+}
--
2.25.1
^ permalink raw reply related [flat|nested] 7+ messages in thread
end of thread, other threads:[~2023-09-09 11:35 UTC | newest]
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2023-09-08 10:50 [PATCH 1/3] [POC] test implementaion of rt-signals Johannes Kirchmair
2023-09-08 10:50 ` [PATCH 2/3] [POC] Add rt_signal test Johannes Kirchmair
2023-09-08 10:50 ` [PATCH 3/3] [POC] add a tool to measure rt_signal latency Johannes Kirchmair
2023-09-08 10:54 ` [PATCH 1/3] [POC] test implementaion of rt-signals Johannes Kirchmair
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2023-08-16 10:18 Johannes Kirchmair
2023-08-16 10:18 ` [PATCH 2/3] [POC] Add rt_signal test Johannes Kirchmair
2023-05-09 13:13 [PATCH 1/3] [POC] test implementaion of rt-signals Johannes Kirchmair
2023-05-09 13:13 ` [PATCH 2/3] [POC] Add rt_signal test Johannes Kirchmair
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