pthreads: Add pthread_cleanup_push() and pthread_cleanup_pop()

include/nuttx/sched.h

@@ -322,6 +322,18 @@ struct child_status_s
 };
 #endif
 
+/* struct pthread_cleanup_s ******************************************************/
+
+#ifdef CONFIG_PTHREAD_CLEANUP
+/* This structure describes one element of the pthread cleanup stack */
+
+struct pthread_cleanup_s
+{
+   pthread_cleanup_t pc_cleaner;    /* Cleanup callback address */
+   FAR void *pc_arg;                /* Argument that accompanies the callback */
+};
+#endif
+
 /* struct dspace_s ***************************************************************/
 /* This structure describes a reference counted D-Space region.  This must be a
  * separately allocated "break-away" structure that can be owned by a task and
@@ -682,6 +694,17 @@ struct pthread_tcb_s
   pthread_addr_t arg;                    /* Startup argument                    */
   FAR void *joininfo;                    /* Detach-able info to support join    */
 
+  /* Clean-up stack *************************************************************/
+
+#ifdef CONFIG_PTHREAD_CLEANUP
+  /* tos   - The index to the next avaiable entry at the top of the stack.
+   * stack - The pre-allocated clean-up stack memory.
+   */
+
+  uint8_t tos;
+  struct pthread_cleanup_s stack[CONFIG_PTHREAD_CLEANUP_STACKSIZE];
+#endif
+
   /* POSIX Thread Specific Data *************************************************/
 
 #if CONFIG_NPTHREAD_KEYS > 0

include/pthread.h

@@ -265,6 +265,12 @@ typedef struct pthread_barrier_s pthread_barrier_t;
 typedef bool pthread_once_t;
 #define __PTHREAD_ONCE_T_DEFINED 1
 
+#ifdef CONFIG_PTHREAD_CLEANUP
+/* This type describes the pthread cleanup callback (non-standard) */
+
+typedef CODE void (*pthread_cleanup_t)(FAR void *arg);
+#endif
+
 /* Forward references */
 
 struct sched_param; /* Defined in sched.h */
@@ -336,6 +342,15 @@ int  pthread_cancel(pthread_t thread);
 int  pthread_setcancelstate(int state, FAR int *oldstate);
 void pthread_testcancel(void);
 
+/* A thread may set up cleanup functions to execut when the thread exits or
+ * is canceled.
+ */
+
+#ifdef CONFIG_PTHREAD_CLEANUP
+void pthread_cleanup_pop(int execute);
+void pthread_cleanup_push(pthread_cleanup_t routine, FAR void *arg);
+#endif
+
 /* A thread can await termination of another thread and retrieve the return
  * value of the thread.
  */

include/sys/syscall.h

@@ -406,7 +406,7 @@
 #  define SYS_pthread_setspecific      (__SYS_pthread+26)
 #  define SYS_pthread_yield            (__SYS_pthread+27)
 
-#  ifndef CONFIG_SMP
+#  ifdef CONFIG_SMP
 #    define SYS_pthread_setaffinity_np (__SYS_pthread+28)
 #    define SYS_pthread_getaffinity_np (__SYS_pthread+29)
 #    define __SYS_pthread_signals      (__SYS_pthread+30)
@@ -418,9 +418,17 @@
 #    define SYS_pthread_cond_timedwait (__SYS_pthread_signals+0)
 #    define SYS_pthread_kill           (__SYS_pthread_signals+1)
 #    define SYS_pthread_sigmask        (__SYS_pthread_signals+2)
-#    define __SYS_mqueue               (__SYS_pthread_signals+3)
+#    define __SYS_pthread_cleanup      (__SYS_pthread_signals+3)
 #  else
-#    define __SYS_mqueue               __SYS_pthread_signals
+#    define __SYS_pthread_cleanup      __SYS_pthread_signals
+#  endif
+
+#  ifdef CONFIG_PTHREAD_CLEANUP
+#    define __SYS_pthread_cleanup_push (__SYS_pthread_cleanup+0)
+#    define __SYS_pthread_cleanup_pop  (__SYS_pthread_cleanup+1)
+#    define __SYS_mqueue               (__SYS_pthread_cleanup+2)
+#  else
+#    define __SYS_mqueue               __SYS_pthread_cleanup
 #  endif
 
 #else