update

git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@182 42af7a65-404d-4744-a932-0658087f49c3

ChangeLog

@@ -89,8 +89,28 @@
 	* Added directories to hold board-specific header files
 	* Added directories to hold board-specific drivers
 
-0.2.3 2007-xx-xx Gregory Nutt <spudmonkey@racsa.co.cr>
+0.2.3 2007-03-29 Gregory Nutt <spudmonkey@racsa.co.cr>
+
+	* mq_receive and mq_send now return errno's appropriately
+	* mq_receive and mq_send are now correctly awakened by signals.
+	* Fixed an unmatched sched_lock/unlock pair in task_delete().
+	* sched_lock must be called in _exit() because operation of
+	  task_delete() can cause pending tasks to be merged and a
+	  context switch to occur.
+	* Added mq_timedreceive() and mq_timedsend()
+	* signal mask is now inherited by both child tasks and threads.
+	* Improved sharebility of stdout among pthreads (only).  Nothing
+	  was broken, but by moving the mutual exclusion logic to a
+	  higher level, the printf output is more readable.
+	* Fixed a bug in file system cleanup:  A list was being deleted
+	  before the buffers contained in the list.
+	* Fixed a bug in the wait-for-message-queue-not-empty logic.
+	* Added a test of timed mqueue operations; detected and corrected
+	  some mqueue errors.
+	* Identified and corrected a race condition associated with
+	  pthread_join.  In the failure condition, memory was being
+	  deallocated while still in use.
+
+0.2.4 2007-xx-xx Gregory Nutt <spudmonkey@racsa.co.cr>
 
 	* Started m68322
-
-

Documentation/NuttX.html

@@ -8,7 +8,7 @@
   <tr align="center" bgcolor="#e4e4e4">
     <td>
       <h1><big><font color="#3c34ec"><i>NuttX RTOS</i></font></big></h1>
-      <p>Last Updated: March 21, 2007</p>
+      <p>Last Updated: March 28, 2007</p>
     </td>
   </tr>
 </table>
@@ -180,7 +180,7 @@
 </table>
 
 <p>
-   The fifth release of NuttX (nuttx-0.2.2) is avalable for download
+   The sixth release of NuttX (nuttx-0.2.3) is available for download
    from the <a href="http://sourceforge.net/project/showfiles.php?group_id=189573">SourceForge</a>
    website.
 </p>
@@ -450,7 +450,29 @@ Other memory:
 	* Added directories to hold board-specific header files
 	* Added directories to hold board-specific drivers
 
-0.2.3 2007-xx-xx Gregory Nutt <spudmonkey@racsa.co.cr>
+0.2.3 2007-03-29 Gregory Nutt <spudmonkey@racsa.co.cr>
+
+	* mq_receive and mq_send now return errno's appropriately
+	* mq_receive and mq_send are now correctly awakened by signals.
+	* Fixed an unmatched sched_lock/unlock pair in task_delete().
+	* sched_lock must be called in _exit() because operation of
+	  task_delete() can cause pending tasks to be merged and a
+	  context switch to occur.
+	* Added mq_timedreceive() and mq_timedsend()
+	* signal mask is now inherited by both child tasks and threads.
+	* Improved sharebility of stdout among pthreads (only).  Nothing
+	  was broken, but by moving the mutual exclusion logic to a
+	  higher level, the printf output is more readable.
+	* Fixed a bug in file system cleanup:  A list was being deleted
+	  before the buffers contained in the list.
+	* Fixed a bug in the wait-for-message-queue-not-empty logic.
+	* Added a test of timed mqueue operations; detected and corrected
+	  some mqueue errors.
+	* Identified and corrected a race condition associated with
+	  pthread_join.  In the failure condition, memory was being
+	  deallocated while still in use.
+
+0.2.4 2007-xx-xx Gregory Nutt <spudmonkey@racsa.co.cr>
 
 	* Started m68322
 </pre></ul>

Documentation/NuttxPortingGuide.html

@@ -16,7 +16,7 @@
   </b></big>
   <p><small>by</small></p>
   <p>Gregory Nutt</p>
-  <p><small>Last Update: March 22, 2007</small></p>
+  <p><small>Last Update: March 26, 2007</small></p>
 </center>
 
 <center><h1>Table of Contents</h1></center>
@@ -34,8 +34,11 @@
   <ul>
     <li><a href="#configsdirectorystructure">2.3.1 Subdirectory Structure</a></li>
     <li><a href="#summaryofconfigfiles">2.3.2 Summary of Files</a></li>
+    <ul>
+      <li><a href="#boardlogic">2.3.2.1 Board Specific Logic</a></li>
+      <li><a href="#boardconfigfiles">2.3.2.2 Board Specific Configuration Files</a></li>
+    </ul>
     <li><a href="#supportedboards">2.3.3 Supported Boards</a></li>
-    <li><a href="#configuringnuttx">2.3.4 Configuring NuttX</a></li>
   </ul>
   <li>2.4 <a href="#DirStructDrivers">drivers</a></li>
   <li>2.5 <a href="#DirStructExamples">examples</a></li>
@@ -45,8 +48,13 @@
   <li>2.9 <a href="#DirStructMm">mm</a></li>
   <li>2.10 <a href="#DirStructSched">sched</a></li>
   <li>2.11 <a href="#DirStructTools">tools</a></li>
+  <li>2.12 <a href="#topmakefile">Makefile</a></li>
+</ul>
+<li>3.0 <a href="#configandbuild">Configuring and Building</a></li>
+<ul>
+  <li><a href="#configuringnuttx">3.1 Configuring NuttX</a></li>
+  <li><a href="#buildingnuttx">3.2 Building NuttX</a></li>
 </ul>
-<li>3.0 <a href="#DirectoryConfiAndBuild">Configuring and Building</a></li>
 <li>4.0 <a href="#ArchAPIs">Architecture APIs</a></li>
 <ul>
   <li><a href="#imports">4.1 APIs Exported by Architecture-Specific Logic to NuttX</a></li>
@@ -88,7 +96,7 @@
   into the build.
 </p>
 <p>
-  See also arch/README.txt.
+  See also <code>arch/README.txt</code> and <code>configs/README.txt</code>.
 </p>
 
 <p><b>General Philosophy</b>.
@@ -96,53 +104,66 @@
 <hr>
 <h1>2.0 <a name="DirectoryStructure">Directory Structure</a></h1>
 
-<p>The general directly layout for NuttX is very similar to the directory structure
-of the Linux kernel -- at least at the most superficial layers.
-At the top level is the main makefile and a series of sub-directories identified
-below and discussed in the following paragraphs:</p>
- 
+<p>
+  <b>Directory Structure</b>.
+  The general directly layout for NuttX is very similar to the directory structure
+  of the Linux kernel -- at least at the most superficial layers.
+  At the top level is the main makefile and a series of sub-directories identified
+  below and discussed in the following paragraphs:
+</p>
 <ul><pre>
 .
-|-- Makefile
+|-- <a href="#topmakefile">Makefile</a>
 |-- <a href="#DirStructDocumentation">Documentation</a>
-|   `-- <i>(documentation files)</i>
-|-- <a href="#DirStructArch">arch</a>
-|   |-- <i>&lt;arch-name&gt;</i>
-|   |   |-- include
-|   |   `-- src
-|   `-- <i>&lt:;other-architectures&gt;</i>
-|-- <a href="#DirStructConfigs">configs</a>
-|   |-- <i>&lt;board-name&gt;</i>
-|   |   |-- Make.defs
-|   |   |-- defconfig
-|   |   `-- setenv.sh
-|   `-- <i>&lt:;other-architectures&gt;</i>
+|   `-- <i>(documentation files)</i>/
+|-- <a href="#DirStructArch">arch</a>/
+|   |-- <i>&lt;arch-name&gt;</i>/
+|   |   |-- include/
+|   |   |   |--<i>&lt;chip-name&gt;</i>/
+|   |   |   |  `-- <i>(chip-specific header files)</i>
+|   |   |   |--<i>&lt;other-chips&gt;</i>/
+|   |   |   `-- <i>(architecture-specific header files)</i>
+|   |   `-- src/
+|   |       |--<i>&lt;chip-name&gt;</i>/
+|   |       |  `-- <i>(chip-specific source files)</i>
+|   |       |--<i>&lt;other-chips&gt;</i>/
+|   |       `-- <i>(architecture-specific source files)</i>
+|   `-- <i>&lt;other-architectures&gt;</i>/
+|-- <a href="#DirStructConfigs">configs</a>/
+|   |-- <i>&lt;board-name&gt;</i>/
+|   |   |-- include/
+|   |   |   `-- <i>(board-specific header files)</i>
+|   |   |-- src/
+|   |   |   |-- Makefile
+|   |   |  `-- <i>(board-specific source files)</i>
+|   |   `-- <i>(board-specific configuration files)</i>
+|   `-- <i>&lt;other-boards&gt;</i>/
 |-- <a href="#DirStructDrivers">drivers</a>
-|   |-- Makefile
-|   `-- <i>(driver source files)</i>
-|-- <a href="#DirStructExamples">examples</a>
-|   `-- <i>(example)</i>
+|   |-- Makefile/
+|   `-- <i>(common driver source files)</i>
+|-- <a href="#DirStructExamples">examples</a>/
+|   `-- <i>(example)</i>/
 |       |-- Makefile
 |       `-- <i>(example source files)</i>
-|-- <a href="#DirStructFs">fs</a>
+|-- <a href="#DirStructFs">fs</a>/
 |   |-- Makefile
 |   `-- <i>(fs source files)</i>
-|-- <a href="#DirStructInclude">include</a>
+|-- <a href="#DirStructInclude">include</a>/
 |   |-- <i>(standard header files)</i>
-|   |-- nuttx
+|   |-- nuttx/
 |   |   `-- <i>(nuttx specific header files)</i>
-|   `- sys
+|   `- sys/
 |   |   `-- <i>(more standard header files)</i>
-|-- <a href="#DirStructLib">lib</a>
+|-- <a href="#DirStructLib">lib</a>/
 |   |-- Makefile
 |   `-- <i>(lib source files)</i>
-|-- <a href="#DirStructMm">mm</a>
+|-- <a href="#DirStructMm">mm</a>/
 |   |-- Makefile
 |   `-- <i>(mm source files)</i>
-|-- <a href="#DirStructSched">sched</a>
+|-- <a href="#DirStructSched">sched</a>/
 |   |-- Makefile
 |   `-- <i>(sched source files)</i>
-`-- <a href="#DirStructDrivers">tools</a>
+`-- <a href="#DirStructDrivers">tools</a>/
     |-- Makefile.mkconfig
     |-- configure.sh
     |-- mkconfig.c
@@ -150,6 +171,40 @@ below and discussed in the following paragraphs:</p>
     `-- zipme
 </pre></ul>
 
+<p>
+  <b>Configuration Files</b>.
+  The NuttX configuration consists of:
+</p>
+<ul>
+  <li>
+    <i>Processor architecture specific files</i>.
+    These are the files contained in the <code>arch/</code><i>&lt;arch-name&gt;</i><code>/</code> directory
+    and are discussed in a paragraph <a href="#archdirectorystructure">below</a>.
+  </li>
+  <li>
+    <i>Chip/SoC specific files</i>.
+    Each processor processor architecture is embedded in chip or <i>System-on-a-Chip</i> (SoC) architecture.
+    The full chip architecture includes the processor architecture plus chip-specific interrupt logic,
+    clocking logic, general purpose I/O (GIO) logic, and specialized, internal peripherals (such as UARTs, USB, etc.).
+    <p>
+      These chip-specific files are contained within chip-specific sub-directories in the
+      <code>arch/</code><i>&lt;arch-name&gt;</i><code>/</code> directory and are selected via
+      the <code>CONFIG_ARCH_name</code> selection.
+    </p>
+  </li>
+  <li>
+    <i>Board specific files</i>.
+    In order to be usable, the chip must be contained in a board environment.
+    The board configuration defines additional properties of the board including such things as
+    peripheral LEDs, external peripherals (such as network, USB, etc.).
+    <p>
+      These board-specific configuration files can be found in the
+      <code>configs/</code><i>&lt;board-name&gt;</i><code>/</code> sub-directories and are discussed
+      in a a paragraph <a href="#configsdirectorystructure">below</a>.
+    </p>
+  </li>
+</ul>
+
 <h2>2.1 <a name="DirStructDocumentation">Documentation</a></h2>
 
 <p>
@@ -168,23 +223,33 @@ below and discussed in the following paragraphs:</p>
   The complete board port in is defined by the architecture-specific code in this
   directory (plus the board-specific configurations in the <code>config/</code>
   subdirectory).
-  Each architecture must provide a subdirectory, &lt;<i>arch-name</i>&gt;
+  Each architecture must provide a subdirectory, <i>&lt;arch-name&gt;</i>
   under <code>arch/</code> with the following characteristics:
 </p>
 <ul><pre>
-	&lt;<i>arch-name</i>&gt;
+	<i>&lt;arch-name&gt;</i>/
 	|-- include/
+	|   |--<i>&lt;chip-name&gt;</i>/
+	|   |  `-- <i>(chip-specific header files)</i>
+	|   |--<i>&lt;other-chips&gt;</i>/
 	|   |-- arch.h
 	|   |-- irq.h
 	|   |-- types.h
 	|   `-- limits.h
 	`-- src/
+	    |--<i>&lt;chip-name&gt;</i>/
+	    |  `-- <i>(chip-specific source files)</i>
+	    |--<i>&lt;other-chips&gt;</i>/
 	    |-- Makefile
 	    `-- <i>(architecture-specific source files)</i>
 </pre></ul>
 
 <h3><a name="summaryofarchfiles">2.2.2 Summary of Files</a></h3>
 <ul>
+  <li>
+    <code>include/</code><i>&lt;chip-name&gt;</i><code>/</code>
+    This sub-directory contains chip-specific header files.
+  </li>
   <li>
     <code>include/arch.h</code>:
     This is a hook for any architecture specific definitions that may
@@ -239,6 +304,10 @@ below and discussed in the following paragraphs:</p>
        by the board.
     </p>
   </li>
+  <li>
+    <code>src/</code><i>&lt;chip-name&gt;</i><code>/</code>
+    This sub-directory contains chip-specific source files.
+  </li>
   <li>
     <code>src/Makefile</code>:
     This makefile will be executed to build the targets <code>src/libup.a</code> and
@@ -251,7 +320,7 @@ below and discussed in the following paragraphs:</p>
     <i>(architecture-specific source files)</i>.
     The file <code>include/nuttx/arch.h</code> identifies all of the APIs that must
     be provided by the architecture specific logic.  (It also includes
-    <code>arch/&lt;arch-name&gt;/arch.h</code> as described above).
+    <code>arch/</code><i>&lt;arch-name&gt;</i><code>/arch.h</code> as described above).
   </li>
 </ul>
 
@@ -293,29 +362,32 @@ below and discussed in the following paragraphs:</p>
   provide a subdirectory &lt;board-name&gt; under <code>configs/</code> with the following characteristics:
 </p>
 <ul><pre>
-	&lt;<i>board-name</i>&gt;
+	<i>&lt;board-name&gt;</i>
 	|-- include/
+	|   `-- <i>(board-specific header files)</i>
 	|-- src/
-	|   `-- Makefile
+	|   |-- Makefile
+	|   `-- <i>(board-specific source files)</i>
 	|-- Make.defs
 	|-- defconfig
 	`-- setenv.sh
 </pre></ul>
 
-<h3><a name="#summaryofconfigfiles">2.3.2 Summary of Files</a></h3>
+<h3><a name="summaryofconfigfiles">2.3.2 Summary of Files</a></h3>
+<h4><a name="boardlogic">2.3.2.1 Board Specific Logic</a></h4>
 <ul>
   <li>
     <code>include/</code>:
     This directory contains board specific header files.
     This directory will be linked as <code>include/arch/board</code> at configuration time
     and can be included via <code>#include &lt;arch/board/header.h&gt;</code>.
-    These header file can only be included by files in <code>arch/&lt;arch-name&gt;/include/</code>
-    and <code>arch/&lt;arch-name&gt;/src/</code>.
+    These header file can only be included by files in <code>arch/</code><i>&lt;arch-name&gt;</i><code>/include/</code>
+    and <code>arch/</code><i>&lt;arch-name&gt;</i><code>/src/</code>.
   </li>
   <li>
     <code>src/</code>:
     This directory contains board specific drivers.
-    This directory will be linked as <config>arch/&lt;arch-name&gt;/src/board</config> at configuration
+    This directory will be linked as <config>arch/</code><i>&lt;arch-name&gt;</i><code>/src/board</config> at configuration
     time and will be integrated into the build system.
   </li>
   <li>
@@ -323,6 +395,15 @@ below and discussed in the following paragraphs:</p>
     This makefile will be invoked to build the board specific drivers.
     It must support the following targets:  <code>libext$(LIBEXT)</code>, <code>clean</code>, and <code>distclean</code>.
   </li>
+</ul>
+<h4><a name="boardconfigfiles">2.3.2.2 Board Specific Configuration Files</a></h4>
+<p>
+  The <code>configs/</code><i>&lt;board-name&gt;</i><code>/</code> sub-directory holds all of the
+  files that are necessary to configure Nuttx for the particular board.
+  The procedure for configuring NuttX is described <a href="#configuringnuttx">below</a>,
+  This paragraph will describe the contents of these configuration files.
+</p>
+<ul>
   <li>
     <code>Make.defs</code>: This makefile fragment provides architecture and
     tool-specific build options.  It will be included by all other
@@ -362,7 +443,12 @@ below and discussed in the following paragraphs:</p>
   </li>
 </ul>
 
-<h3><a name="#supportedboards">2.3.3 Supported Boards</a></h3>
+<h3><a name="supportedboards">2.3.3 Supported Boards</a></h3>
+<p>
+  All of the specific boards supported by NuttX are identified below.
+  These the the specific <i>&lt;board-name&gt;</i>'s that may be used to configure NuttX
+  as described <a href="#configuringnuttx">below</a>.
+</p>
 <ul>
   <li><code>configs/sim</code>:
     A user-mode port of NuttX to the x86 Linux platform is available.
@@ -399,24 +485,6 @@ below and discussed in the following paragraphs:</p>
   is available to build these toolchains.
 </blockquote></small></p>
 
-<h3><a name="configuringnuttx">2.3.4 Configuring NuttX</a></h3>
-<p>
-  Configuring NuttX requires only copying:
-</p>
-<ul>
-  <code>configs/&lt;<i>board-name</i>&gt;/Make.def</code> to <code>${TOPDIR}/Make.defs</code>,
-  <code>configs/&lt;<i>board-name</i>&gt;/setenv.sh</code> to <code>${TOPDIR}/setenv.sh</code>, and
-  <code>configs/&lt;<i>board-name</i>&gt;/defconfig</code> to ${TOPDIR}/.config</code>
-</ul>
-<p>
-  There is a script that automates these steps.  The following steps will
-  accomplish the same configuration:
-</p>
-<ul><pre>
-  cd tools
-  ./configure.sh &lt;<i>board-name</i>&gt;
-</pre></ul>
-
 <h2>2.4 <a name="DirStructDrivers">drivers</a></h2>
 
 <p>
@@ -453,33 +521,112 @@ below and discussed in the following paragraphs:</p>
 </ul>
 
 <h2>2.8 <a name="DirStructLib">lib</a></h2>
-
 <p>
   This directory holds a collection of standard libc-like functions with custom
   interfaces into Nuttx.
 </p>
 
 <h2>2.9 <a name="DirStructMm">mm</a></h2>
-
 <p>
   This is the NuttX memory manager.
 </p>
 
 <h2>2.10 <a name="DirStructSched">sched</a></h2>
-
 <p>
   The files forming core of the NuttX RTOS reside here.
 </p>
 
 <h2>2.11 <a name="DirStructTools">tools</a></h2>
-
 <p>
   This directory holds a collection of tools and scripts to simplify
   configuring and building NuttX.
 </p>
 
+<h2>2.12 <a name="topmakefile">Makefile</a></h2>
+<p>
+  The top-level <code>Makefile</code> in the <code>${TOPDIR}</code> directory contains all of the top-level control
+  logic to build NuttX.
+  Use of this <code>Makefile</code> to build NuttX is described <a href="#buildingnuttx">below</a>.
+</p>
+
 <hr>
-<h1>3.0 <a name="DirectoryConfiAndBuild">Configuring and Building</a></h1>
+<h1>3.0 <a name="configandbuild">Configuring and Building</a></h1>
+<h2><a name="configuringnuttx">3.1 Configuring NuttX</a></h2>
+<p>
+  <b>Manual Configuration</b>.
+  Configuring NuttX requires only copying the
+  <a href="#boardconfigfiles">board-specific configuration files</a> into the top level directory which appears in the make files as the make variable, <code>${TOPDIR}</code>.
+  This could be done manually as follows:
+</p>
+<ul>
+  <li>Copy <code>configs/</code><i>&lt;board-name&gt;</i></code>/Make.def</code> to <code>${TOPDIR}/Make.defs</code>,<li>
+  <li>Copy <code>configs/</code><i>&lt;board-name&gt;</i></code>/setenv.sh</code> to <code>${TOPDIR}/setenv.sh</code>, and</li>
+  <li>Copy <code>configs/</code><i>&lt;board-name&gt;</i></code>/defconfig</code> to <code>${TOPDIR}/.config</code></li>
+</ul>
+<p>
+  Where <i>&lt;board-name&gt;</i> is the name of one of the sub-directories of the
+  NuttX <a href="#DirStructConfigs"><code>configs/</code></a> directory.
+  This sub-directory name corresponds to one of the supported boards
+  identified <a href="#supportedboards">above</a>.
+</p>
+<p>
+  <b>Automated Configuration</b>.
+  There is a script that automates these steps.  The following steps will
+  accomplish the same configuration:
+</p>
+<ul><pre>
+  cd tools
+  ./configure.sh <i>&lt;board-name&gt;</i>
+</pre></ul>
+
+<p>
+  <b>Additional Configuration Steps</b>.
+  The remainder of configuration steps will be performed by <a href="#topmakefile"><code>${TOPDIR}/Makefile</code></a>
+  the first time the system is built as described below.
+</p>
+
+<h2><a name="buildingnuttx">3.2 Building NuttX</a></h2>
+<p>
+  <b>Building NuttX</b>.
+   Once NuttX has been configured as described <a href="#configuringnuttx">above</a>, it may be built as follows:
+</p>
+<ul><pre>
+cd ${TOPDIR}
+source ./setenv.sh
+make
+</pre></ul>
+<p>
+  The <code>${TOPDIR}</code> directory holds:
+</p>
+<ul>
+  <li>The top level <a href="#topmakefile"><code>Makefile</code></a> that controls the NuttX build.
+</ul>
+<p>
+  That directory also holds:
+</p>
+<ul>
+  <li>The makefile fragment <a href="#boardconfigfiles"><code>.config</code></a> that describes the current configuration.</li>
+  <li>The makefile fragment <a href="#boardconfigfiles"><code>Make.defs</code></a> that provides customized build targers, and</li>
+  <li>The shell script <a href="#boardconfigfiles"><code>setenv.sh</code></a> that sets up the configuration environment for the build.</li>
+</ul>
+<p>
+The <a href="#boardconfigfiles"><code>setenv.sh</code></a> contains Linux environmental settings that are needed for the build.
+The specific environmental definitions are unique for each board but should include, as a minimum, updates to the <code>PATH</code> variable to include the full path to the architecture-specific toolchain identified in <a href="#boardconfigfiles"><code>Make.defs</code></a>.
+The <a href="#boardconfigfiles"><code>setenv.sh</code></a> only needs to be source'ed at the beginning of a session.
+The system can be re-made subsequently by just typing <code>make</code>.
+</p>
+<p>
+  <b>First Time Make.</b>
+  Additional configuration actions will be taken the first time that system is built.
+  These additional steps include:
+</p>
+<ul>
+  <li>Auto-generating the file <code>include/nuttx/config.</code> using the <code>${TOPDIR}/.config</code> file.
+  <li>Creating a link to <code>${TOPDIR}/arch/</code><i>&lt;arch-name&gt;</i><code>/include</code> at <code>${TOPDIR}/include/arch</code>.
+  <li>Creating a link to <code>${TOPDIR}/configs/</code><i>&lt;board-name&gt;</i><code>/include</code> at <code>${TOPDIR}/include/arch/board</code>.
+  <li>Creating a link to <code>${TOPDIR}/configs/</code><i>&lt;board-name&gt;</i><code>/src</code> at <code>${TOPDIR}/arch/</code><i>&lt;arch-name&gt;</i><code>/src/board</code>
+  <li>Creating make dependencies.
+</ul>
 
 <h1>4.0 <a name="ArchAPIs">Architecture APIs</a></h1>
 

ReleaseNotes

@@ -1,18 +1,18 @@
-Nuttx-0.2.2
+nuttx-0.2.3
 ^^^^^^^^^^^^
 
-This is the fifth release of NuttX.  There is no major new
-functionality in this release.  This release adds support for
-new pthread barrier APIs, changes the directory structure,
-to better handle different board configuarations using the same
-processor architecture, and corrects a defect defects.
+This is the sixth release of NuttX.  This release is primarily
+a bugfix release.  Numerous problems were fixed as detailed
+in the change log.  New functionaliy includes support for
+timed messsage queues.
 
 See the ChangeLog for a complete list of changes.
 
-This release has been verified on the Linux user-mode platform and
-the Neuros OSD using the test program under examples/ostest.
-There are no known, critical defects but the project development
-status remains at 'beta' status pending further test and
-evaluation.
+This release has been verified on the Linux user-mode platform
+and the Neuros OSD using the test program under examples/ostest.
+The results of the testing is available in the source tree under
+configs/ntosd-dm320/doc/test-results. There are no known,
+critical defects but the project development status remains at
+'beta' status pending further test and evaluation.
 
-This tarball contains a complete CVS snapshot from March 26, 2007.
+This tarball contains a complete CVS snapshot from March 29, 2007.

TODO

@@ -1,9 +1,7 @@
 NuttX TODO List
 ^^^^^^^^^^^^^^^
 
-Task/Scheduler
-^^^^^^^^^^^^^^
-
+o Task/Scheduler
 - When a tasks exits, shouldn't all of its child pthreads also be terminated?
 - Should task_delete() cause atexit() function to be called?
 - Implement sys/mman.h and functions
@@ -27,16 +25,6 @@ o pthreads
 - pthread_cancel():  Should implemenent cancellation points and pthread_testcancel()
 
 o Libraries
-- There seems to be some kind of failure in the mutual exclusion logic on
-  buffered, "standard," IO.
-  - If two threads try fflush-ing at the same time, there is corruption
-    of the output.
-  - Yhere is a failure in the examples/ostest POSIX timer
-    test when CONFIG_DEBUG is enabled.  This is almost certainly yet
-    another case where printf (or its kin) are being called from a 
-    sensitive area in the OS.
-  - I am now seeing the same thing with the dm320 barrier test.
-    Apparently printf has some thread safety issues.
 
 o File system
 - Add some concept like mount points to handle mounted "real" filesystems.
@@ -44,8 +32,8 @@ o File system
 o Console Output
 
 o Documentation
-- Document fs & driver logic
-- Document filesystem, library
+- Document fs/ & driver/ logic
+- Document C-library APIs
 
 o Build system
 - Names under arch are incorrect.  These should hold processor architectures.
@@ -63,7 +51,7 @@ o C5471
 o DM320
 
 o pjrc-8052 / MCS51
-* Current status:
+- Current status:
   - Basic OS task management seems OK
   - Fails when interrupts enabled.  The stack pointer is around 0x6e
     before the failure occurs.  It looks like some issue when the

arch/README.txt

@@ -11,8 +11,33 @@ Table of Contents
 Architecture-Specific Code
 ^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-The file include/nuttx/arch.h identifies all of the APIs that must
-be provided by the architecture specific logic.  (It also includes
+The NuttX configuration consists of:
+
+o Processor architecture specific files.  These are the files contained
+  in the arch/<arch-name>/ directory discussed in this README.
+
+o Chip/SoC specific files.  Each processor processor architecture
+  is embedded in chip or System-on-a-Chip (SoC) architecture.  The
+  full chip architecture includes the processor architecture plus
+  chip-specific interrupt logic, general purpose I/O (GIO) logic, and
+  specialized, internal peripherals (such as UARTs, USB, etc.).
+
+  These chip-specific files are contained within chip-specific
+  sub-directories in the arch/<arch-name>/ directory and are selected
+  via the CONFIG_ARCH_name selection
+
+o Board specific files.  In order to be usable, the chip must be
+  contained in a board environment.  The board configuration defines
+  additional properties of the board including such things as
+  peripheral LEDs, external peripherals (such as network, USB, etc.).
+
+  These board-specific configuration files can be found in the
+  configs/<board-name>/ sub-directories.
+
+This README will address the processor architecture specific files
+that are contained in the arch/<arch-name>/ directory. The file
+include/nuttx/arch.h identifies all of the APIs that must
+be provided by this architecture specific logic.  (It also includes
 arch/<arch-name>/arch.h as described below).
 
 Directory Structure
@@ -25,18 +50,27 @@ subdirectory).  Each architecture must provide a subdirectory <arch-name>
 under arch/ with the following characteristics:
 
 
-	<arch-name>
-	|-- include
+	<arch-name>/
+	|-- include/
+	|   |--<chip-name>/
+	|   |  `-- (chip-specific header files)
+	|   |--<other-chips>/
 	|   |-- arch.h
 	|   |-- irq.h
 	|   `-- types.h
-	`-- src
+	`-- src/
+	    |--<chip-name>/
+	    |  `-- (chip-specific source files)
+	    |--<other-chips>/
 	    |-- Makefile
 	    `-- (architecture-specific source files)
 
 Summary of Files
 ^^^^^^^^^^^^^^^^
 
+include/<chip-name>/
+  This sub-directory contains chip-specific header files.
+
 include/arch.h
   This is a hook for any architecture specific definitions that may
   be needed by the system.  It is included by include/nuttx/arch.h
@@ -76,6 +110,9 @@ include/irq.h
   This file must also define NR_IRQS, the total number of IRQs supported
   by the board.
 
+src/<chip-name>/
+  This sub-directory contains chip-specific source files.
+
 src/Makefile
   This makefile will be executed to build the targets src/libup.a and
   src/up_head.o.  The up_head.o file holds the entry point into the system

arch/c5471/src/up_exit.c

@@ -145,6 +145,13 @@ void _exit(int status)
 
   (void)sched_removereadytorun(tcb);
 
+  /* We are not in a bad stack-- the head of the ready to run task list
+   * does not correspond to the thread that is running.  Disabling pre-
+   * emption on this TCB should be enough to keep things stable.
+   */
+
+  sched_lock();
+
   /* Move the TCB to the specified blocked task list and delete it */
 
   sched_addblocked(tcb, TSTATE_TASK_INACTIVE);
@@ -159,6 +166,10 @@ void _exit(int status)
       (void)sched_mergepending();
     }
 
+  /* Now calling sched_unlock() should have no effect */
+
+  sched_unlock();
+
   /* Now, perform the context switch to the new ready-to-run task at the
    * head of the list.
    */

arch/dm320/src/up_exit.c

@@ -149,6 +149,13 @@ void _exit(int status)
 
   (void)sched_removereadytorun(tcb);
 
+  /* We are not in a bad stack-- the head of the ready to run task list
+   * does not correspond to the thread that is running.  Disabling pre-
+   * emption on this TCB should be enough to keep things stable.
+   */
+
+  sched_lock();
+
   /* Move the TCB to the specified blocked task list and delete it */
 
   sched_addblocked(tcb, TSTATE_TASK_INACTIVE);
@@ -163,6 +170,10 @@ void _exit(int status)
       (void)sched_mergepending();
     }
 
+  /* Now calling sched_unlock() should have no effect */
+
+  sched_unlock();
+
   /* Now, perform the context switch to the new ready-to-run task at the
    * head of the list.
    */

arch/pjrc-8051/src/up_exit.c

@@ -90,6 +90,13 @@ void _exit(int status)
 
   (void)sched_removereadytorun(tcb);
 
+  /* We are not in a bad stack-- the head of the ready to run task list
+   * does not correspond to the thread that is running.  Disabling pre-
+   * emption on this TCB should be enough to keep things stable.
+   */
+
+  sched_lock();
+
   /* Move the TCB to the specified blocked task list and delete it */
 
   sched_addblocked(tcb, TSTATE_TASK_INACTIVE);
@@ -104,6 +111,10 @@ void _exit(int status)
       (void)sched_mergepending();
     }
 
+  /* Now calling sched_unlock() should have no effect */
+
+  sched_unlock();
+
   /* Now, perform the context switch to the new ready-to-run task at the
    * head of the list.
    */

arch/sim/src/up_exit.c

@@ -73,6 +73,7 @@
 void _exit(int status)
 {
   _TCB* tcb = (_TCB*)g_readytorun.head;
+  irqstate_t flags;
 
   dbg("TCB=%p exitting\n", tcb);
 
@@ -83,13 +84,20 @@ void _exit(int status)
 
   (void)sched_removereadytorun(tcb);
 
+  /* We are not in a bad stack-- the head of the ready to run task list
+   * does not correspond to the thread that is running.  Disabling pre-
+   * emption on this TCB should be enough to keep things stable.
+   */
+
+  sched_lock();
+
   /* Move the TCB to the specified blocked task list and delete it */
 
   sched_addblocked(tcb, TSTATE_TASK_INACTIVE);
   task_delete(tcb->pid);
 
   /* If there are any pending tasks, then add them to the g_readytorun
-   * task list now
+   * task list now.
    */
 
   if (g_pendingtasks.head)
@@ -97,6 +105,10 @@ void _exit(int status)
       (void)sched_mergepending();
     }
 
+  /* Now calling sched_unlock() should have no effect */
+
+  sched_unlock();
+
   /* Now, perform the context switch to the new ready-to-run task at the
    * head of the list.
    */

configs/README.txt

@@ -11,9 +11,33 @@ Table of Contents
 Board-Specific Configurations
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+The NuttX configuration consists of:
+
+o Processor architecture specific files.  These are the files contained
+  in the arch/<arch-name>/ directory.
+
+o Chip/SoC specific files.  Each processor processor architecture
+  is embedded in chip or System-on-a-Chip (SoC) architecture.  The
+  full chip architecture includes the processor architecture plus
+  chip-specific interrupt logic, general purpose I/O (GIO) logic, and
+  specialized, internal peripherals (such as UARTs, USB, etc.).
+
+  These chip-specific files are contained within chip-specific
+  sub-directories in the arch/<arch-name>/ directory and are selected
+  via the CONFIG_ARCH_name selection
+
+o Board specific files.  In order to be usable, the chip must be
+  contained in a board environment.  The board configuration defines
+  additional properties of the board including such things as
+  peripheral LEDs, external peripherals (such as network, USB, etc.).
+
+  These board-specific configuration files can be found in the
+  configs/<board-name>/ sub-directories and are discussed in this
+  README.
+
 The configs/ subdirectory contains configuration data for each board.  These
 board-specific configurations plus the architecture-specific configurations in
-the arch/ subdirectory complete define a customized port of NuttX.
+the arch/ subdirectory completely define a customized port of NuttX.
 
 Directory Structure
 ^^^^^^^^^^^^^^^^^^^
@@ -25,8 +49,10 @@ following characteristics:
 
 	<board-name>
 	|-- include/
+	|   `-- (board-specific header files)
 	|-- src/
-	|   `-- Makefile
+	|   |-- Makefile
+	|   `-- (board-specific source files)
 	|-- Make.defs
 	|-- defconfig
 	`-- setenv.sh

configs/ntosd-dm320/doc/test-result.txt

@@ -1,7 +1,17 @@
-This is the output from running examples/ostest on March 23, 2007
+This is the output from running examples/ostest on March 28, 2007
 =================================================================
 
-go 1008000
+Neuros Devboard >  tftpboot 10.0.0.1 nuttx.dm320
+Found DM9000 ID:90000a46 at address 60000300 !
+DM9000 work in 16 bus width
+[eth_init]MAC:0:18:11:80:10:6:
+TFTP from server 10.0.0.1; our IP address is 10.0.0.2
+Filename 'nuttx.dm320'.
+Load address: 0x10
+Loading: #############################
+done
+Bytes transferred = 146570 (23c8a hex)
+Neuros Devboard >  go 1008000
 ## Starting application at 0x01008000 ...
 stdio_test: write fd=1
 stdio_test: write fd=2
@@ -20,11 +30,11 @@ user_main: argv[4]="Arg4"
 End of test memory usage:
 VARIABLE  BEFORE   AFTER
 ======== ======== ========
-arena      fe1f10   fe1f10
+arena      fe0f10   fe0f10
 ordblks         2        2
-mxordblk   fda9b0   fda9b0
+mxordblk   fd99b0   fd99b0
 uordblks     53f0     53f0
-fordblks   fdcb20   fdcb20
+fordblks   fdbb20   fdbb20
 
 user_main: /dev/null test
 dev_null: Read 0 bytes from /dev/null
@@ -33,28 +43,28 @@ dev_null: Wrote 1024 bytes to /dev/null
 End of test memory usage:
 VARIABLE  BEFORE   AFTER
 ======== ======== ========
-arena      fe1f10   fe1f10
+arena      fe0f10   fe0f10
 ordblks         2        2
-mxordblk   fda9b0   fda9b0
+mxordblk   fd99b0   fd99b0
 uordblks     53f0     53f0
-fordblks   fdcb20   fdcb20
+fordblks   fdbb20   fdbb20
 
 user_main: mutex test
 Initializing mutex
 Starting thread 1
 Starting thread 2
-		Thread1	Thread2
-	Loops	32	32
-	Errors	0	0
+                Thread1 Thread2
+        Loops   32      32
+        Errors  0       0
 
 End of test memory usage:
 VARIABLE  BEFORE   AFTER
 ======== ======== ========
-arena      fe1f10   fe1f10
+arena      fe0f10   fe0f10
 ordblks         2        2
-mxordblk   fda9b0   fda9b0
+mxordblk   fd99b0   fd99b0
 uordblks     53f0     53f0
-fordblks   fdcb20   fdcb20
+fordblks   fdbb20   fdbb20
 
 user_main: cancel test
 cancel_test: Test 1: Normal Cancelation
@@ -105,11 +115,11 @@ cancel_test: PASS thread terminated with PTHREAD_CANCELED
 End of test memory usage:
 VARIABLE  BEFORE   AFTER
 ======== ======== ========
-arena      fe1f10   fe1f10
+arena      fe0f10   fe0f10
 ordblks         2        2
-mxordblk   fda9b0   fda9b0
+mxordblk   fd99b0   fd99b0
 uordblks     53f0     53f0
-fordblks   fdcb20   fdcb20
+fordblks   fdbb20   fdbb20
 
 user_main: semaphore test
 sem_test: Initializing semaphore to 0
@@ -117,8 +127,8 @@ sem_test: Starting waiter thread 1
 sem_test: Set thread 1 priority to 191
 waiter_func: Thread 1 Started
 waiter_func: Thread 1 initial semaphore value = 0
-waiter_func: sThread 1 aiting on semaphore
-em_test: Starting waiter thread 2
+waiter_func: Thread 1 aiting on semaphore
+sem_test: Starting waiter thread 2
 sem_test: Set thread 2 priority to 128
 waiter_func: Thread 2 Started
 waiter_func: Thread 2 initial semaphore value = -1
@@ -143,11 +153,11 @@ poster_func: Thread 3 done
 End of test memory usage:
 VARIABLE  BEFORE   AFTER
 ======== ======== ========
-arena      fe1f10   fe1f10
+arena      fe0f10   fe0f10
 ordblks         2        2
-mxordblk   fda9b0   fda9b0
+mxordblk   fd99b0   fd99b0
 uordblks     53f0     53f0
-fordblks   fdcb20   fdcb20
+fordblks   fdbb20   fdbb20
 
 user_main: condition variable test
 cond_test: Initializing mutex
@@ -160,10 +170,10 @@ cond_test: Set thread 2 priority to 64
 thread_signaler: Started
 thread_signaler: Terminating
 cond_test: signaler terminated, now cancel the waiter
-cond_test: 	Waiter	Signaler
-cond_test: Loops	32	32
-cond_test: Errors	0	0
-cond_test: 
+cond_test:      Waiter  Signaler
+cond_test: Loops        32      32
+cond_test: Errors       0       0
+cond_test:
 0 times, waiter did not have to wait for data
 cond_test: 0 times, data was already available when the signaler run
 cond_test: 0 times, the waiter was in an unexpected state when the signaler ran
@@ -171,11 +181,11 @@ cond_test: 0 times, the waiter was in an unexpected state when the signaler ran
 End of test memory usage:
 VARIABLE  BEFORE   AFTER
 ======== ======== ========
-arena      fe1f10   fe1f10
+arena      fe0f10   fe0f10
 ordblks         2        2
-mxordblk   fda9b0   fda9b0
+mxordblk   fd99b0   fd99b0
 uordblks     53f0     53f0
-fordblks   fdcb20   fdcb20
+fordblks   fdbb20   fdbb20
 
 user_main: timed wait test
 thread_waiter: Initializing mutex
@@ -193,11 +203,11 @@ timedwait_test: waiter exited with result=12345678
 End of test memory usage:
 VARIABLE  BEFORE   AFTER
 ======== ======== ========
-arena      fe1f10   fe1f10
+arena      fe0f10   fe0f10
 ordblks         2        2
-mxordblk   fda9b0   fda9b0
+mxordblk   fd99b0   fd99b0
 uordblks     53f0     53f0
-fordblks   fdcb20   fdcb20
+fordblks   fdbb20   fdbb20
 
 user_main: message queue test
 mqueue_test: Starting receiver
@@ -215,8 +225,8 @@ receiver_thread: mq_receive succeeded on msg 2
 sender_thread: mq_send succeeded on msg 2
 receiver_thread: mq_receive succeeded on msg 3
 sender_thread: mq_send succeeded on msg 3
-receivers_thread: mq_receive succeeded on msg 4
-ender_thread: mq_send succeeded on msg 4
+receiver_thread: mq_receive succeeded on msg 4
+sender_thread: mq_send succeeded on msg 4
 receiver_thread: mq_receive succeeded on msg 5
 sender_thread: mq_send succeeded on msg 5
 receiver_thread: mq_receive succeeded on msg 6
@@ -226,30 +236,73 @@ sender_thread: mq_send succeeded on msg 7
 receiver_thread: mq_receive succeeded on msg 8
 sender_thread: mq_send succeeded on msg 8
 receiver_thread: mq_receive succeeded on msg 9
-receiver_thread: returning nerrors=0
 sender_thread: mq_send succeeded on msg 9
 sender_thread: returning nerrors=0
+mqueue_test: Killing receiver
+receiver_thread: mq_receive interrupted!
+receiver_thread: returning nerrors=0
 mqueue_test: Canceling receiver
+mqueue_test: receiver has already terminated
 
 End of test memory usage:
 VARIABLE  BEFORE   AFTER
 ======== ======== ========
-arena      fe1f10   fe1f10
+arena      fe0f10   fe0f10
 ordblks         2        2
-mxordblk   fda9b0   fda9b0
+mxordblk   fd99b0   fd99b0
 uordblks     53f0     53f0
-fordblks   fdcb20   fdcb20
+fordblks   fdbb20   fdbb20
+
+user_main: timed message queue test
+timedmqueue_test: Starting sender
+sender_thread: Starting
+sender_thread: mq_timedsend succeeded on msg 0
+sender_thread: mq_timedsend succeeded on msg 1
+sender_thread: mq_timedsend succeeded on msg 2
+sender_thread: mq_timedsend succeeded on msg 3
+sender_thread: mq_timedsend succeeded on msg 4
+sender_thread: mq_timedsend succeeded on msg 5
+sender_thread: mq_timedsend succeeded on msg 6
+sender_thread: mq_timedsend succeeded on msg 7
+sender_thread: mq_timedsend succeeded on msg 8
+timedmqueue_test: Waiting for sender to complete
+sender_thread: mq_timedsend 9 timed out as expected
+sender_thread: returning nerrors=0
+timedmqueue_test: Starting receiver
+receiver_thread: Starting
+receiver_thread: mq_timedreceive succeeded on msg 0
+receiver_thread: mq_timedreceive succeeded on msg 1
+receiver_thread: mq_timedreceive succeeded on msg 2
+receiver_thread: mq_timedreceive succeeded on msg 3
+receiver_thread: mq_timedreceive succeeded on msg 4
+receiver_thread: mq_timedreceive succeeded on msg 5
+receiver_thread: mq_timedreceive succeeded on msg 6
+receiver_thread: mq_timedreceive succeeded on msg 7
+receiver_thread: mq_timedreceive succeeded on msg 8
+timedmqueue_test: Waiting for sender to complete
+receiver_thread: Receive 9 timed out as expected
+receiver_thread: returning nerrors=0
+timedmqueue_test: Test complete
+
+End of test memory usage:
+VARIABLE  BEFORE   AFTER
+======== ======== ========
+arena      fe0f10   fe0f10
+ordblks         2        2
+mxordblk   fd99b0   fd99b0
+uordblks     53f0     53f0
+fordblks   fdbb20   fdbb20
 
 user_main: signal handler test
 sighand_test: Initializing semaphore to 0
 sighand_test: Starting waiter task
-sighand_test: Started waiter_main pid=16
+sighand_test: Started waiter_main pid=18
 waiter_main: Waiter started
 waiter_main: Unmasking signal 17
 waiter_main: Registering signal handler
 waiter_main: oact.sigaction=0 oact.sa_flags=0 oact.sa_mask=0
 waiter_main: Waiting on semaphore
-sighand_test: Signaling pid=16 with signo=17 sigvalue=42
+sighand_test: Signaling pid=18 with signo=17 sigvalue=42
 wakeup_action: Received signal 17
 wakeup_action: sival_int=42
 wakeup_action: si_code=1
@@ -261,11 +314,11 @@ sighand_test: done
 End of test memory usage:
 VARIABLE  BEFORE   AFTER
 ======== ======== ========
-arena      fe1f10   fe1f10
+arena      fe0f10   fe0f10
 ordblks         2        2
-mxordblk   fda9b0   fda9b0
+mxordblk   fd99b0   fd99b0
 uordblks     53f0     53f0
-fordblks   fdcb20   fdcb20
+fordblks   fdbb20   fdbb20
 
 user_main: POSIX timer test
 timer_test: Initializing semaphore to 0
@@ -315,17 +368,17 @@ timer_test: done
 End of test memory usage:
 VARIABLE  BEFORE   AFTER
 ======== ======== ========
-arena      fe1f10   fe1f10
+arena      fe0f10   fe0f10
 ordblks         2        2
-mxordblk   fda9b0   fda9b0
+mxordblk   fd99b0   fd99b0
 uordblks     53f0     53f0
-fordblks   fdcb20   fdcb20
+fordblks   fdbb20   fdbb20
 
 user_main: round-robin scheduler test
-rr_test: Starting sieve1 thread 
+rr_test: Starting sieve1 thread
 rr_test: Set thread priority to 1
 rr_test: Set thread policty to SCHED_RR
-rr_test: Starting sieve1 thread 
+rr_test: Starting sieve1 thread
 sieve1 started
 sieve1 finished
 rr_test: Waiting for sieves to complete -- this should take awhile
@@ -338,18 +391,78 @@ rr_test: Done
 End of test memory usage:
 VARIABLE  BEFORE   AFTER
 ======== ======== ========
-arena      fe1f10   fe1f10
+arena      fe0f10   fe0f10
 ordblks         2        2
-mxordblk   fda9b0   fda9b0
+mxordblk   fd99b0   fd99b0
 uordblks     53f0     53f0
-fordblks   fdcb20   fdcb20
+fordblks   fdbb20   fdbb20
+
+user_main: barrier test
+barrier_test: Initializing barrier
+barrier_func: Thread 0 started
+barrier_test: Thread 0 created
+barrier_func: Thread 1 started
+barrier_test: Thread 1 created
+barrier_func: Thread 0 calling pthread_barrier_wait()
+barrier_func: Thread 1 calling pthread_barrier_wait()
+barrier_func: Thread 2 started
+barrier_test: Thread 2 created
+barrier_func: Thread 3 started
+barrier_test: Thread 3 created
+barrier_func: Thread 4 started
+barrier_test: Thread 4 created
+barrier_func: Thread 5 started
+barrier_func: Thread 2 calling pthread_barrier_wait()
+barrier_func: Thread 3 calling pthread_barrier_wait()
+barrier_func: Thread 4 calling pthread_barrier_wait()
+barrier_test: Thread 5 created
+barrier_func: Thread 6 started
+barrier_test: Thread 6 created
+barrier_func: Thread 7 started
+barrier_test: Thread 7 created
+barrier_func: Thread 5 calling pthread_barrier_wait()
+barrier_func: Thread 6 calling pthread_barrier_wait()
+barrier_func: Thread 7 calling pthread_barrier_wait()
+barrier_func: Thread 7, back with status=PTHREAD_BARRIER_SERIAL_THREAD (I AM SPECIAL)
+barrier_func: Thread 0, back with status=0 (I am not special)
+barrier_func: Thread 1, back with status=0 (I am not special)
+barrier_func: Thread 2, back with status=0 (I am not special)
+barrier_func: Thread 3, back with status=0 (I am not special)
+barrier_func: Thread 4, back with status=0 (I am not special)
+barrier_func: Thread 5, back with status=0 (I am not special)
+barrier_func: Thread 6, back with status=0 (I am not special)
+barrier_func: Thread 7 done
+barrier_func: Thread 0 done
+barrier_test: Thread 0 completed with result=0
+barrier_func: Thread 1 done
+barrier_func: Thread 2 done
+barrier_func: Thread 3 done
+barrier_func: Thread 4 done
+barrier_func: Thread 5 done
+barrier_func: Thread 6 done
+barrier_test: Thread 1 completed with result=0
+barrier_test: Thread 2 completed with result=0
+barrier_test: Thread 3 completed with result=0
+barrier_test: Thread 4 completed with result=0
+barrier_test: Thread 5 completed with result=0
+barrier_test: Thread 6 completed with result=0
+barrier_test: Thread 7 completed with result=0
+
+End of test memory usage:
+VARIABLE  BEFORE   AFTER
+======== ======== ========
+arena      fe0f10   fe0f10
+ordblks         2        2
+mxordblk   fd99b0   fd99b0
+uordblks     53f0     53f0
+fordblks   fdbb20   fdbb20
 
 Final memory usage:
 VARIABLE  BEFORE   AFTER
 ======== ======== ========
-arena      fe1f10   fe1f10
+arena      fe0f10   fe0f10
 ordblks         2        2
-mxordblk   fda9b0   fda9b0
+mxordblk   fd99b0   fd99b0
 uordblks     53f0     53f0
-fordblks   fdcb20   fdcb20
+fordblks   fdbb20   fdbb20
 user_main: Exitting

configs/ntosd-dm320/src/up_leds.c

@@ -45,15 +45,10 @@
  * Definitions
  ************************************************************/
 
-#define CS2  *(volatile uint32*)0xffff2e08
-#define LEDS *(volatile uint32*)0x01000000
-
 /************************************************************
  * Private Data
  ************************************************************/
 
-static uint32 g_ledstate;
-
 /************************************************************
  * Private Functions
  ************************************************************/

examples/ostest/Makefile

@@ -47,12 +47,17 @@ endif
 ifneq ($(CONFIG_DISABLE_SIGNALS),y)
 CSRCS	+= sighand.c
 ifneq ($(CONFIG_DISABLE_PTHREAD),y)
+ifneq ($(CONFIG_DISABLE_CLOCK),y)
 CSRCS	+= timedwait.c
 endif
 endif
+endif
 ifneq ($(CONFIG_DISABLE_MQUEUE),y)
 ifneq ($(CONFIG_DISABLE_PTHREAD),y)
 CSRCS	+= mqueue.c 
+ifneq ($(CONFIG_DISABLE_CLOCK),y)
+CSRCS	+= timedmqueue.c 
+endif
 endif
 endif
 ifneq ($(CONFIG_DISABLE_POSIX_TIMERS),y)

examples/ostest/main.c

@@ -237,7 +237,7 @@ static int user_main(int argc, char *argv[])
   check_test_memory_usage();
 #endif
 
-#if !defined(CONFIG_DISABLE_SIGNALS) && !defined(CONFIG_DISABLE_PTHREAD)
+#if !defined(CONFIG_DISABLE_SIGNALS) && !defined(CONFIG_DISABLE_PTHREAD) && !defined(CONFIG_DISABLE_CLOCK)
   /* Verify pthreads and condition variable timed waits */
 
   printf("\nuser_main: timed wait test\n");
@@ -253,6 +253,14 @@ static int user_main(int argc, char *argv[])
   check_test_memory_usage();
 #endif
 
+#if !defined(CONFIG_DISABLE_MQUEUE) && !defined(CONFIG_DISABLE_PTHREAD) && !defined(CONFIG_DISABLE_CLOCK)
+  /* Verify pthreads and message queues */
+
+  printf("\nuser_main: timed message queue test\n");
+  timedmqueue_test();
+  check_test_memory_usage();
+#endif
+
 #ifndef CONFIG_DISABLE_SIGNALS
   /* Verify signal handlers */
 

examples/ostest/mqueue.c

@@ -37,13 +37,17 @@
  * Included Files
  **************************************************************************/
 
+#include <nuttx/config.h>
+
 #include <stdio.h>
+#include <unistd.h>
 #include <string.h>
 #include <ctype.h>
 #include <fcntl.h>
 #include <pthread.h>
 #include <mqueue.h>
 #include <sched.h>
+#include <errno.h>
 
 #include "ostest.h"
 
@@ -51,11 +55,18 @@
  * Private Definitions
  **************************************************************************/
 
-#define TEST_MESSAGE "This is a test and only a test"
+#define TEST_MESSAGE        "This is a test and only a test"
 #ifdef SDCC
-#define TEST_MSGLEN  (31)
+#define TEST_MSGLEN         (31)
 #else
-#define TEST_MSGLEN  (strlen(TEST_MESSAGE)+1)
+#define TEST_MSGLEN         (strlen(TEST_MESSAGE)+1)
+#endif
+
+#define TEST_SEND_NMSGS     (10)
+#ifndef CONFIG_DISABLE_SIGNALS
+# define TEST_RECEIVE_NMSGS (11)
+#else
+# define TEST_RECEIVE_NMSGS (10)
 #endif
 
 /**************************************************************************
@@ -121,9 +132,9 @@ static void *sender_thread(void *arg)
 
   memcpy(msg_buffer, TEST_MESSAGE, TEST_MSGLEN);
 
-  /* Perform the send 10 times */
+  /* Perform the send TEST_SEND_NMSGS times */
 
-  for (i = 0; i < 10; i++)
+  for (i = 0; i < TEST_SEND_NMSGS; i++)
     {
       status = mq_send(mqfd, msg_buffer, TEST_MSGLEN, 42);
       if (status < 0)
@@ -183,16 +194,27 @@ static void *receiver_thread(void *arg)
        pthread_exit((pthread_addr_t)1);
      }
 
-   /* Perform the receive 10 times */
+   /* Perform the receive TEST_RECEIVE_NMSGS times */
 
-   for (i = 0; i < 10; i++)
+   for (i = 0; i < TEST_RECEIVE_NMSGS; i++)
     {
       memset(msg_buffer, 0xaa, TEST_MSGLEN);
       nbytes = mq_receive(mqfd, msg_buffer, TEST_MSGLEN, 0);
       if (nbytes < 0)
         {
-          printf("receiver_thread: ERROR mq_receive failure on msg %d\n", i);
-          nerrors++;
+          /* mq_receive failed.  If the error is because of EINTR then
+           * it is not a failure.
+           */
+
+          if (*get_errno_ptr() != EINTR)
+            {
+              printf("receiver_thread: ERROR mq_receive failure on msg %d, errno=%d\n", i, *get_errno_ptr());
+              nerrors++;
+            }
+          else
+            {
+              printf("receiver_thread: mq_receive interrupted!\n", i);
+            }
         }
       else if (nbytes != TEST_MSGLEN)
         {
@@ -336,8 +358,26 @@ void mqueue_test(void)
       printf("mqueue_test: ERROR sender thread exited with %d errors\n", (int)result);
     }
 
+#ifndef CONFIG_DISABLE_SIGNALS
+  /* Wake up the receiver thread with a signal */
+
+  printf("mqueue_test: Killing receiver\n");
+  pthread_kill(receiver, 9);
+#endif
+
+  /* Wait a bit to see if the thread exits on its own */
+
+  usleep(500*1000);
+
+  /* Then cancel the thread and see if it did */
+
   printf("mqueue_test: Canceling receiver\n");
-  pthread_cancel(receiver);
+  status = pthread_cancel(receiver);
+  if (status == ESRCH)
+    {
+      printf("mqueue_test: receiver has already terminated\n");
+    }
+
   pthread_join(receiver, &result);
   if (result != (void*)0)
     {

examples/ostest/ostest.h

@@ -76,10 +76,14 @@ extern void sem_test(void);
 
 extern void cond_test(void);
 
-/* queue.c **************************************************/
+/* mqueue.c *************************************************/
 
 extern void mqueue_test(void);
 
+/* timedmqueue.c ********************************************/
+
+extern void timedmqueue_test(void);
+
 /* cancel.c *************************************************/
 
 extern void cancel_test(void);

examples/ostest/timedmqueue.c

@@ -0,0 +1,384 @@
+/**************************************************************************
+ * mqueue.c
+ *
+ *   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * 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 Gregory Nutt 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 <stdio.h>
+#include <unistd.h>
+#include <string.h>
+#include <ctype.h>
+#include <fcntl.h>
+#include <pthread.h>
+#include <mqueue.h>
+#include <sched.h>
+#include <errno.h>
+
+#include "ostest.h"
+
+/**************************************************************************
+ * Private Definitions
+ **************************************************************************/
+
+#define TEST_MESSAGE        "This is a test and only a test"
+
+#ifdef SDCC
+#define TEST_MSGLEN         (31)
+#else
+#define TEST_MSGLEN         (strlen(TEST_MESSAGE)+1)
+#endif
+
+#define TEST_SEND_NMSGS     (10)
+#define TEST_RECEIVE_NMSGS  (10)
+
+/**************************************************************************
+ * Private Types
+ **************************************************************************/
+
+/**************************************************************************
+ * Private Function Prototypes
+ **************************************************************************/
+
+/**************************************************************************
+ * Global Variables
+ **************************************************************************/
+
+/**************************************************************************
+ * Private Variables
+ **************************************************************************/
+
+/**************************************************************************
+ * Private Functions
+ **************************************************************************/
+
+/**************************************************************************
+ * Public Functions
+ **************************************************************************/
+
+static void *sender_thread(void *arg)
+{
+  mqd_t mqfd;
+  char msg_buffer[TEST_MSGLEN];
+  struct mq_attr attr;
+  int status = 0;
+  int nerrors = 0;
+  int i;
+
+  printf("sender_thread: Starting\n");
+
+  /* Fill in attributes for message queue */
+
+  attr.mq_maxmsg  = TEST_SEND_NMSGS-1;
+  attr.mq_msgsize = TEST_MSGLEN;
+  attr.mq_flags   = 0;
+
+  /* Set the flags for the open of the queue.
+   * Make it a blocking open on the queue, meaning it will block if
+   * this process tries to send to the queue and the queue is full.
+   *
+   *   O_CREAT - the queue will get created if it does not already exist.
+   *   O_WRONLY - we are only planning to write to the queue.
+   *
+   * Open the queue, and create it if the receiving process hasn't
+   * already created it.
+   */
+
+  mqfd = mq_open("testmq", O_WRONLY|O_CREAT, 0666, &attr);
+  if (mqfd < 0)
+    {
+        printf("sender_thread: ERROR mq_open failed\n");
+        pthread_exit((pthread_addr_t)1);
+    }
+
+  /* Fill in a test message buffer to send */
+
+  memcpy(msg_buffer, TEST_MESSAGE, TEST_MSGLEN);
+
+  /* Perform the send TEST_SEND_NMSGS times */
+
+  for (i = 0; i < TEST_SEND_NMSGS; i++)
+    {
+       struct timespec time;
+       status = clock_gettime(CLOCK_REALTIME, &time);
+       if (status != 0)
+         {
+           printf("sender_thread: ERROR clock_gettime failed\n");
+         }
+       time.tv_sec += 5;
+
+      /* The first TEST_SEND_NMSGS-1 send should succeed.  The last
+       * one should fail with errno == ETIMEDOUT
+       */
+
+      status = mq_timedsend(mqfd, msg_buffer, TEST_MSGLEN, 42, &time);
+      if (status < 0)
+        {
+          if (i == TEST_SEND_NMSGS-1 && *get_errno_ptr() == ETIMEDOUT)
+            {
+              printf("sender_thread: mq_timedsend %d timed out as expected\n", i);
+            }
+          else
+            {
+              printf("sender_thread: ERROR mq_timedsend failure=%d on msg %d\n", *get_errno_ptr(), i);
+              nerrors++;
+            }
+        }
+      else
+        {
+          if (i == TEST_SEND_NMSGS-1)
+            {
+              printf("sender_thread: ERROR mq_timedsend of msg %d succeeded\n", i);
+              nerrors++;
+            }
+          else
+            {
+              printf("sender_thread: mq_timedsend succeeded on msg %d\n", i);
+            }
+        }
+    }
+
+  /* Close the queue and return success */
+
+  if (mq_close(mqfd) < 0)
+    {
+      printf("sender_thread: ERROR mq_close failed\n");
+    }
+
+  printf("sender_thread: returning nerrors=%d\n", nerrors);
+  fflush(stdout);
+  return (pthread_addr_t)nerrors;
+}
+
+static void *receiver_thread(void *arg)
+{
+  mqd_t mqfd;
+  char msg_buffer[TEST_MSGLEN];
+  struct mq_attr attr;
+  int nbytes;
+  int nerrors = 0;
+  int i;
+
+  printf("receiver_thread: Starting\n");
+
+  /* Fill in attributes for message queue */
+
+  attr.mq_maxmsg  = TEST_SEND_NMSGS-1;
+  attr.mq_msgsize = TEST_MSGLEN;
+  attr.mq_flags   = 0;
+
+  /* Set the flags for the open of the queue.
+   * Make it a blocking open on the queue, meaning it will block if
+   * this process tries to* send to the queue and the queue is full.
+   *
+   *   O_CREAT - the queue will get created if it does not already exist.
+   *   O_RDONLY - we are only planning to write to the queue.
+   *
+   * Open the queue, and create it if the sending process hasn't
+   * already created it.
+   */
+
+   mqfd = mq_open("testmq", O_RDONLY|O_CREAT, 0666, &attr);
+   if (mqfd < 0)
+     {
+       printf("receiver_thread: ERROR mq_open failed\n");
+       pthread_exit((pthread_addr_t)1);
+     }
+
+   /* Perform the receive TEST_RECEIVE_NMSGS times */
+
+   for (i = 0; i < TEST_RECEIVE_NMSGS; i++)
+    {
+       struct timespec time;
+       int status = clock_gettime(CLOCK_REALTIME, &time);
+       if (status != 0)
+         {
+           printf("sender_thread: ERROR clock_gettime failed\n");
+         }
+       time.tv_sec += 5;
+
+      /* The first TEST_SEND_NMSGS-1 send should succeed.  The last
+       * one should fail with errno == ETIMEDOUT
+       */
+
+      memset(msg_buffer, 0xaa, TEST_MSGLEN);
+      nbytes = mq_timedreceive(mqfd, msg_buffer, TEST_MSGLEN, 0, &time);
+      if (nbytes < 0)
+        {
+          if (i == TEST_SEND_NMSGS-1 && *get_errno_ptr() == ETIMEDOUT)
+            {
+              printf("receiver_thread: Receive %d timed out as expected\n", i);
+            }
+          else
+            {
+              printf("receiver_thread: ERROR mq_timedreceive failure=%d on msg %d\n", *get_errno_ptr(), i);
+              nerrors++;
+            }
+        }
+      else if (nbytes != TEST_MSGLEN)
+        {
+          printf("receiver_thread: mq_timedreceive return bad size %d on msg %d\n", nbytes, i);
+          nerrors++;
+        }
+      else if (memcmp(TEST_MESSAGE, msg_buffer, nbytes) != 0)
+        {
+          int j;
+
+          printf("receiver_thread: mq_timedreceive returned corrupt message on msg %d\n", i);
+          printf("receiver_thread:                  i  Expected Received\n");
+
+          for (j = 0; j < TEST_MSGLEN-1; j++)
+            {
+              if (isprint(msg_buffer[j]))
+                {
+                 printf("receiver_thread:                  %2d %02x (%c) %02x (%c)\n",
+                         j, TEST_MESSAGE[j], TEST_MESSAGE[j], msg_buffer[j], msg_buffer[j]);
+                }
+              else
+                {
+                  printf("receiver_thread:                  %2d %02x (%c) %02x\n",
+                         j, TEST_MESSAGE[j], TEST_MESSAGE[j], msg_buffer[j]);
+                }
+            }
+          printf("receiver_thread:                  %2d 00      %02x\n",
+                  j, msg_buffer[j]);
+        }
+      else if (i == TEST_SEND_NMSGS-1)
+        {
+          printf("receiver_thread: ERROR mq_timedreceive of msg %d succeeded\n", i);
+          nerrors++;
+        }
+      else
+        {
+          printf("receiver_thread: mq_timedreceive succeeded on msg %d\n", i);
+        }
+    }
+
+  /* Close the queue and return success */
+
+  if (mq_close(mqfd) < 0)
+    {
+      printf("receiver_thread: ERROR mq_close failed\n");
+      nerrors++;
+    }
+
+  /* Destroy the queue */
+
+  if (mq_unlink("testmq") < 0)
+    {
+      printf("receiver_thread: ERROR mq_close failed\n");
+      nerrors++;
+    }
+
+  printf("receiver_thread: returning nerrors=%d\n", nerrors);
+  fflush(stdout);
+  pthread_exit((pthread_addr_t)nerrors);
+  return (pthread_addr_t)nerrors;
+}
+
+void timedmqueue_test(void)
+{
+  pthread_t sender;
+  pthread_t receiver;
+  void *result;
+  pthread_attr_t attr;
+  int status;
+
+  /* Start the sending thread at the default priority */
+
+  printf("timedmqueue_test: Starting sender\n");
+  status = pthread_attr_init(&attr);
+  if (status != 0)
+    {
+      printf("timedmqueue_test: pthread_attr_init failed, status=%d\n", status);
+    }
+
+  status = pthread_attr_setstacksize(&attr, 16384);
+  if (status != 0)
+    {
+      printf("timedmqueue_test: pthread_attr_setstacksize failed, status=%d\n", status);
+    }
+
+  status = pthread_create(&sender, &attr, sender_thread, NULL);
+  if (status != 0)
+    {
+      printf("timedmqueue_test: pthread_create failed, status=%d\n", status);
+    }
+
+  /* Wait for the sending thread to complete */
+
+  printf("timedmqueue_test: Waiting for sender to complete\n");
+  pthread_join(sender, &result);
+  if (result != (void*)0)
+    {
+      printf("timedmqueue_test: ERROR sender thread exited with %d errors\n", (int)result);
+    }
+
+  /* Start the receiving thread at the default priority */
+
+  printf("timedmqueue_test: Starting receiver\n");
+  status = pthread_attr_init(&attr);
+  if (status != 0)
+    {
+      printf("timedmqueue_test: pthread_attr_init failed, status=%d\n", status);
+    }
+
+  status = pthread_attr_setstacksize(&attr, 16384);
+  if (status != 0)
+    {
+      printf("timedmqueue_test: pthread_attr_setstacksize failed, status=%d\n", status);
+    }
+
+  status = pthread_create(&receiver, &attr, receiver_thread, NULL);
+  if (status != 0)
+    {
+      printf("timedmqueue_test: pthread_create failed, status=%d\n", status);
+    }
+
+  /* Wait for the receiving thread to complete */
+
+  printf("timedmqueue_test: Waiting for sender to complete\n");
+  pthread_join(receiver, &result);
+  if (result != (void*)0)
+    {
+      printf("timedmqueue_test: ERROR receiver thread exited with %d errors\n", (int)result);
+    }
+
+  printf("timedmqueue_test: Test complete\n");
+}
+
+

fs/fs_ioctl.c

@@ -43,6 +43,7 @@
 
 #include <nuttx/config.h>
 #include <sys/types.h>
+#include <sched.h>
 #include <errno.h>
 #include <sys/ioctl.h>
 #include "fs_internal.h"

include/mqueue.h

@@ -87,12 +87,16 @@ extern "C" {
 #define EXTERN extern
 #endif
 
-EXTERN mqd_t   mq_open(const char *mq_name, int oflags, ... );
+EXTERN mqd_t   mq_open(const char *mq_name, int oflags, ...);
 EXTERN int     mq_close(mqd_t mqdes );
-EXTERN int     mq_unlink(const char *mq_name );
-EXTERN int     mq_send(mqd_t mqdes, const void *msg, size_t msglen, int prio );
-EXTERN int     mq_receive(mqd_t mqdes, void *msg, size_t msglen, int *prio );
-EXTERN int     mq_notify(mqd_t mqdes, const struct sigevent *notification );
+EXTERN int     mq_unlink(const char *mq_name);
+EXTERN int     mq_send(mqd_t mqdes, const void *msg, size_t msglen, int prio);
+EXTERN int     mq_timedsend(mqd_t mqdes, const char *msg, size_t msglen, int prio,
+                            const struct timespec *abstime);
+EXTERN ssize_t mq_receive(mqd_t mqdes, void *msg, size_t msglen, int *prio);
+EXTERN ssize_t mq_timedreceive(mqd_t mqdes, void *msg, size_t msglen,
+                               int *prio, const struct timespec *abstime);
+EXTERN int     mq_notify(mqd_t mqdes, const struct sigevent *notification);
 EXTERN int     mq_setattr(mqd_t mqdes, const struct mq_attr *mq_stat,
                   struct mq_attr *oldstat);
 EXTERN int     mq_getattr(mqd_t mqdes, struct mq_attr *mq_stat);

lib/lib_init.c

@@ -173,9 +173,9 @@ void lib_releaselist(FAR struct streamlist *list)
             /* Destroy the semaphore and release the filelist */
 
             (void)sem_destroy(&list->sl_sem);
-            sched_free(list);
 
-            /* Initialize each FILE structure */
+            /* Release each stream in the list */
+
 #if CONFIG_STDIO_BUFFER_SIZE > 0
             for (i = 0; i < CONFIG_NFILE_STREAMS; i++)
              {
@@ -190,6 +190,9 @@ void lib_releaselist(FAR struct streamlist *list)
                  }
              }
 #endif
+           /* Finally, release the list itself */
+
+            sched_free(list);
          }
      }
 }

lib/lib_vfprintf.c

@@ -87,7 +87,15 @@ int vfprintf(FILE *stream, const char *fmt, va_list ap)
        */
 
       lib_stdstream(&stdstream, stream);
+
+      /* Hold the stream semaphore throughout the lib_vsprintf
+       * call so that this thread can get its entire message out
+       * before being pre-empted by the next thread.
+       */
+
+      lib_take_semaphore(stream);
       n = lib_vsprintf(&stdstream.public, fmt, ap);
+      lib_give_semaphore(stream);
     }
   return n;
 }

sched/Makefile

@@ -69,9 +69,11 @@ SIGNAL_SRCS	= sig_initialize.c \
                   sig_unmaskpendingsignal.c sig_removependingsignal.c \
 		  sig_releasependingsignal.c sig_lowest.c sig_mqnotempty.c \
 		  sig_cleanup.c sig_received.c sig_deliver.c
-MQUEUE_SRCS	= mq_open.c mq_close.c mq_unlink.c mq_send.c mq_receive.c \
+MQUEUE_SRCS	= mq_open.c mq_close.c mq_unlink.c \
+		  mq_send.c mq_timedsend.c mq_sndinternal.c \
+		  mq_receive.c mq_timedreceive.c mq_rcvinternal.c \
 		  mq_setattr.c mq_getattr.c mq_initialize.c mq_descreate.c \
-		  mq_findnamed.c mq_msgfree.c mq_msgqfree.c
+		  mq_findnamed.c mq_msgfree.c mq_msgqfree.c mq_waitirq.c
 ifneq ($(CONFIG_DISABLE_SIGNALS),y)
 MQUEUE_SRCS	+= mq_notify.c
 endif

sched/mq_internal.h

@@ -1,4 +1,4 @@
-/************************************************************
+/****************************************************************************
  * mq_internal.h
  *
  *   Copyright (C) 2007 Gregory Nutt. All rights reserved.
@@ -31,14 +31,14 @@
  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  * POSSIBILITY OF SUCH DAMAGE.
  *
- ************************************************************/
+ ****************************************************************************/
 
 #ifndef __MQ_INTERNAL_H
 #define __MQ_INTERNAL_H
 
-/************************************************************
+/****************************************************************************
  * Included Files
- ************************************************************/
+ ****************************************************************************/
 
 #include <sys/types.h>
 #include <limits.h>
@@ -47,16 +47,15 @@
 #include <signal.h>
 #include <nuttx/compiler.h>
 
-/************************************************************
+/****************************************************************************
  * Compilations Switches
- ************************************************************/
+ ****************************************************************************/
 
-/************************************************************
+/****************************************************************************
  * Definitions
- ************************************************************/
+ ****************************************************************************/
 
 #define MQ_MAX_BYTES   CONFIG_MQ_MAXMSGSIZE
-#define MQ_MAX_HWORDS  ((MQ_MAX_BYTES + sizeof(uint16) - 1) / sizeof(uint16))
 #define MQ_MAX_MSGS    16
 #define MQ_PRIO_MAX    _POSIX_MQ_PRIO_MAX
 
@@ -72,9 +71,9 @@
 
 #define NUM_INTERRUPT_MSGS   8
 
-/************************************************************
+/****************************************************************************
  * Global Type Declarations
- ************************************************************/
+ ****************************************************************************/
 
 enum mqalloc_e
 {
@@ -85,23 +84,18 @@ enum mqalloc_e
 typedef enum mqalloc_e mqalloc_t;
 
 /* This structure describes one buffered POSIX message. */
-/* NOTE:  This structure is allocated from the same pool as MQ_type.
- * Therefore, (1) it must have a fixed "mail" size, and (2) must
- * exactly match MQ_type in size.
- */
 
 struct mqmsg
 {
-  /* The position of the following two field must exactly match
-   * MQ_type.
-   */
-
   FAR struct mqmsg  *next;    /* Forward link to next message */
   ubyte        type;          /* (Used to manage allocations) */
-
   ubyte        priority;      /* priority of message          */
+#if MQ_MAX_BYTES < 256
   ubyte        msglen;        /* Message data length          */
-  uint16       mail[MQ_MAX_HWORDS]; /* Message data           */
+#else
+  uint16       msglen;        /* Message data length          */
+#endif
+  ubyte        mail[MQ_MAX_BYTES]; /* Message data            */
 };
 typedef struct mqmsg mqmsg_t;
 
@@ -142,9 +136,9 @@ struct mq_des
   int          oflags;        /* Flags set when message queue was opened */
 };
 
-/************************************************************
+/****************************************************************************
  * Global Variables
- ************************************************************/
+ ****************************************************************************/
 
 /* This is a list of all opened message queues */
 
@@ -170,9 +164,9 @@ extern sq_queue_t  g_msgfreeirq;
 
 extern sq_queue_t  g_desfree;
 
-/************************************************************
+/****************************************************************************
  * Global Function Prototypes
- ************************************************************/
+ ****************************************************************************/
 
 #ifdef __cplusplus
 #define EXTERN extern "C"
@@ -181,15 +175,35 @@ extern "C" {
 #define EXTERN extern
 #endif
 
-/* Functions defined in mq_initialized.c *******************/
+/* Functions defined in mq_initialize.c ************************************/
 
 EXTERN void weak_function mq_initialize(void);
-EXTERN void        mq_desblockalloc(void);
+EXTERN void         mq_desblockalloc(void);
 
-EXTERN mqd_t       mq_descreate(FAR _TCB* mtcb, FAR msgq_t* msgq, int oflags);
-EXTERN FAR msgq_t *mq_findnamed(const char *mq_name);
-EXTERN void        mq_msgfree(FAR mqmsg_t *mqmsg);
-EXTERN void        mq_msgqfree(FAR msgq_t *msgq);
+EXTERN mqd_t        mq_descreate(FAR _TCB* mtcb, FAR msgq_t* msgq, int oflags);
+EXTERN FAR msgq_t  *mq_findnamed(const char *mq_name);
+EXTERN void         mq_msgfree(FAR mqmsg_t *mqmsg);
+EXTERN void         mq_msgqfree(FAR msgq_t *msgq);
+
+/* mq_waitirq.c ************************************************************/
+
+EXTERN void         mq_waitirq(FAR _TCB *wtcb);
+
+/* mq_rcvinternal.c ********************************************************/
+
+EXTERN int          mq_verifyreceive(mqd_t mqdes, void *msg, size_t msglen);
+EXTERN FAR mqmsg_t *mq_waitreceive(mqd_t mqdes);
+EXTERN ssize_t      mq_doreceive(mqd_t mqdes, mqmsg_t *mqmsg, void *ubuffer,
+                                 int *prio);
+
+/* mq_sndinternal.c ********************************************************/
+
+EXTERN int          mq_verifysend(mqd_t mqdes, const void *msg, size_t msglen,
+                                  int prio);
+EXTERN FAR mqmsg_t *mq_msgalloc(void);
+EXTERN int          mq_waitsend(mqd_t mqdes);
+EXTERN int          mq_dosend(mqd_t mqdes, FAR mqmsg_t *mqmsg, const void *msg,
+                              size_t msglen, int prio);
 
 #undef EXTERN
 #ifdef __cplusplus

sched/mq_rcvinternal.c

@@ -0,0 +1,314 @@
+/************************************************************
+ * mq_rcvinternal.c
+ *
+ *   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * 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 Gregory Nutt 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 <sys/types.h>
+#include <fcntl.h>          /* O_NONBLOCK */
+#include <string.h>
+#include <assert.h>
+#include <errno.h>
+#include <mqueue.h>
+#include <sched.h>
+#include <debug.h>
+#include <nuttx/arch.h>
+#include <nuttx/os_external.h>
+#include "os_internal.h"
+#include "mq_internal.h"
+
+/************************************************************
+ * Definitions
+ ************************************************************/
+
+/************************************************************
+ * Private Type Declarations
+ ************************************************************/
+
+/************************************************************
+ * Global Variables
+ ************************************************************/
+
+/************************************************************
+ * Private Variables
+ ************************************************************/
+
+/************************************************************
+ * Private Functions
+ ************************************************************/
+
+/************************************************************
+ * Public Functions
+ ************************************************************/
+
+/************************************************************
+ * Name: mq_verifyreceive
+ *
+ * Description:
+ *   This is internal, common logic shared by both mq_receive
+ *   and mq_timedreceive.  This function verifies the
+ *   input parameters that are common to both functions.
+ *
+ * Parameters:
+ *   mqdes - Message Queue Descriptor
+ *   msg - Buffer to receive the message
+ *   msglen - Size of the buffer in bytes
+ *
+ * Return Value:
+ *   One success, 0 (OK) is returned. On failure, -1 (ERROR) is
+ *   returned and the errno is set appropriately:
+ *
+ *   EPERM    Message queue opened not opened for reading.
+ *   EMSGSIZE 'msglen' was less than the maxmsgsize attribute of the
+ *            message queue.
+ *   EINVAL   Invalid 'msg' or 'mqdes'
+ *
+ * Assumptions:
+ *
+ ************************************************************/
+
+int mq_verifyreceive(mqd_t mqdes, void *msg, size_t msglen)
+{
+  /* Verify the input parameters */
+
+  if (!msg || !mqdes)
+    {
+      *get_errno_ptr() = EINVAL;
+      return ERROR;
+    }
+
+  if ((mqdes->oflags & O_RDOK) == 0)
+    {
+      *get_errno_ptr() = EPERM;
+      return ERROR;
+    }
+
+  if (msglen < (size_t)mqdes->msgq->maxmsgsize)
+    {
+      *get_errno_ptr() = EMSGSIZE;
+      return ERROR;
+    }
+
+  return OK;
+}
+
+/************************************************************
+ * Function:  mq_waitreceive
+ *
+ * Description:
+ *   This is internal, common logic shared by both mq_receive
+ *   and mq_timedreceive.  This function waits for a message to
+ *   be received on the specified message queue, removes the
+ *   message from the queue, and returns it.
+ *
+ * Parameters:
+ *   mqdes - Message queue descriptor
+ *
+ * Return Value:
+ *   On success, a reference to the received message.  If the
+ *   wait was interrupted by a signal or a timeout, then the
+ *   errno will be set appropriately and NULL will be returned.
+ *
+ * Assumptions:
+ * - The caller has provided all validity checking of the
+ *   input parameters using mq_verifyreceive.
+ * - Interrupts should be disabled throughout this call.  This
+ *   is necessary because messages can be sent from interrupt
+ *   level processing.
+ * - For mq_timedreceive, setting of the timer and this wait
+ *   must be atomic.
+ *
+ ************************************************************/
+
+FAR mqmsg_t *mq_waitreceive(mqd_t mqdes)
+{
+  FAR _TCB    *rtcb;
+  FAR msgq_t  *msgq;
+  FAR mqmsg_t *rcvmsg;
+
+  /* Get a pointer to the message queue */
+
+  msgq = mqdes->msgq;
+
+  /* Get the message from the head of the queue */
+
+  while ((rcvmsg = (FAR mqmsg_t*)sq_remfirst(&msgq->msglist)) == NULL)
+    {
+      /* Should we block until there the above condition has been
+       * satisfied?
+       */
+
+      if (!(mqdes->oflags & O_NONBLOCK))
+        {
+          /* Block and try again */
+
+          rtcb = (FAR _TCB*)g_readytorun.head;
+          rtcb->msgwaitq = msgq;
+          msgq->nwaitnotempty++;
+
+          *get_errno_ptr() = OK;
+          up_block_task(rtcb, TSTATE_WAIT_MQNOTEMPTY);
+
+          /* When we resume at this point, either (1) the message queue
+           * is no longer empty, or (2) the wait has been interrupted by
+           * a signal.  We can detect the latter case be examining the
+           * errno value (should be either EINTR or ETIMEDOUT).
+           */
+
+          if (*get_errno_ptr() != OK)
+            {
+              break;
+            }
+        }
+      else
+        {
+          /* The queue was empty, and the O_NONBLOCK flag was set for the
+           * message queue description referred to by 'mqdes'.
+           */
+
+         *get_errno_ptr() = EAGAIN;
+          break;
+        }
+    }
+
+  /* If we got message, then decrement the number of messages in
+   * the queue while we are still in the critical section
+   */
+
+  if (rcvmsg)
+    {
+      msgq->nmsgs--;
+    }
+  return rcvmsg;
+}
+
+/************************************************************
+ * Function:  mq_doreceive
+ *
+ * Description:
+ *   This is internal, common logic shared by both mq_receive
+ *   and mq_timedreceive.  This function accepts the message
+ *   obtained by mq_waitmsg, provides the message content to
+ *   the user, notifies any threads that were waiting for
+ *   the message queue to become non-full, and disposes of the
+ *   message structure
+ *
+ * Parameters:
+ *   mqdes - Message queue descriptor
+ *   mqmsg   - The message obtained by mq_waitmsg()
+ *   ubuffer - The address of the user provided buffer to
+ *             receive the message
+ *   prio    - The user-provided location to return the
+ *             message priority.
+ *
+ * Return Value:
+ *   Returns the length of the received message.  This
+ *   function does not fail.
+ *
+ * Assumptions:
+ * - The caller has provided all validity checking of the
+ *   input parameters using mq_verifyreceive.
+ * - The user buffer, ubuffer, is known to be large enough
+ *   to accept the largest message that an be sent on this
+ *   message queue
+ * - Pre-emption should be disabled throughout this call.
+ *
+ ************************************************************/
+
+ssize_t mq_doreceive(mqd_t mqdes, mqmsg_t *mqmsg, void *ubuffer, int *prio)
+{
+  FAR _TCB   *btcb;
+  irqstate_t  saved_state;
+  FAR msgq_t *msgq;
+  ssize_t     rcvmsglen;
+
+  /* Get the length of the message (also the return value) */
+
+  rcvmsglen = mqmsg->msglen;
+
+  /* Copy the message into the caller's buffer */
+
+  memcpy(ubuffer, (const void*)mqmsg->mail, rcvmsglen);
+
+  /* Copy the message priority as well (if a buffer is provided) */
+
+  if (prio)
+    {
+      *prio = mqmsg->priority;
+    }
+
+  /* We are done with the message.  Deallocate it now. */
+
+  mq_msgfree(mqmsg);
+
+  /* Check if any tasks are waiting for the MQ not full event. */
+
+  msgq = mqdes->msgq;
+  if (msgq->nwaitnotfull > 0)
+    {
+      /* Find the highest priority task that is waiting for
+       * this queue to be not-full in g_waitingformqnotfull list.
+       * This must be performed in a critical section because
+       * messages can be sent from interrupt handlers.
+       */
+
+      saved_state = irqsave();
+      for (btcb = (FAR _TCB*)g_waitingformqnotfull.head;
+           btcb && btcb->msgwaitq != msgq;
+           btcb = btcb->flink);
+
+      /* If one was found, unblock it.  NOTE:  There is a race
+       * condition here:  the queue might be full again by the
+       * time the task is unblocked
+       */
+
+      if (!btcb)
+        {
+          PANIC(OSERR_MQNOTFULLCOUNT);
+        }
+      else
+        {
+          btcb->msgwaitq = NULL;
+          msgq->nwaitnotfull--;
+          up_unblock_task(btcb);
+        }
+      irqrestore(saved_state);
+    }
+
+  /* Return the length of the message transferred to the user buffer */
+
+  return rcvmsglen;
+}

sched/mq_receive.c

@@ -37,20 +37,12 @@
  * Included Files
  ************************************************************/
 
-#include <sys/types.h>      /* uint32, etc. */
-#include <stdarg.h>         /* va_list */
-#include <unistd.h>
-#include <fcntl.h>          /* O_NONBLOCK */
-#include <string.h>
-#include <assert.h>
+#include <nuttx/config.h>
+#include <sys/types.h>
+#include <errno.h>
 #include <mqueue.h>
-#include <sched.h>
 #include <debug.h>
-#include <nuttx/kmalloc.h>
 #include <nuttx/arch.h>
-#include <nuttx/os_external.h>
-#include "os_internal.h"
-#include "sig_internal.h"
 #include "mq_internal.h"
 
 /************************************************************
@@ -86,7 +78,7 @@
  *   "mqdes."  If the size of the buffer in bytes (msglen) is
  *   less than the "mq_msgsize" attribute of the message
  *   queue, mq_receive will return an error.  Otherwise, the
- *   select message is removed from the queue and copied to
+ *   selected message is removed from the queue and copied to
  *   "msg."
  *
  *   If the message queue is empty and O_NONBLOCK was not
@@ -102,134 +94,72 @@
  *   mqdes - Message Queue Descriptor
  *   msg - Buffer to receive the message
  *   msglen - Size of the buffer in bytes
- *   prio - If not NULL, the location to store message
- *      priority.
+ *   prio - If not NULL, the location to store message priority.
  *
  * Return Value:
- *   Length of the selected message in bytes, otherwise -1
- *   (ERROR).
+ *   One success, the length of the selected message in bytes.is
+ *   returned.  On failure, -1 (ERROR) is returned and the errno
+ *   is set appropriately:
+ *
+ *   EAGAIN   The queue was empty, and the O_NONBLOCK flag was set
+ *            for the message queue description referred to by 'mqdes'.
+ *   EPERM    Message queue opened not opened for reading.
+ *   EMSGSIZE 'msglen' was less than the maxmsgsize attribute of the
+ *            message queue.
+ *   EINTR    The call was interrupted by a signal handler.
+ *   EINVAL   Invalid 'msg' or 'mqdes'
  *
  * Assumptions:
  *
  ************************************************************/
 
-int mq_receive(mqd_t mqdes, void *msg, size_t msglen, int *prio)
+ssize_t mq_receive(mqd_t mqdes, void *msg, size_t msglen, int *prio)
 {
-  FAR _TCB    *rtcb;
-  FAR _TCB    *btcb;
-  FAR msgq_t  *msgq;
-  FAR mqmsg_t *curr;
+  FAR mqmsg_t *mqmsg;
   irqstate_t   saved_state;
-  ubyte        rcvmsglen;
-  int          ret = ERROR;
+  ssize_t      ret = ERROR;
 
-  /* Verify the input parameters */
+  DEBUGASSERT(!up_interrupt_context());
+
+  /* Verify the input parameters and, in case of an error, set
+   * errno appropriately.
+   */
+
+  if (mq_verifyreceive(mqdes, msg, msglen) != OK)
+    {
+      return ERROR;
+    }
+
+  /* Get the next mesage from the message queue.  We will disable
+   * pre-emption until we have completed the message received.  This
+   * is not too bad because if the receipt takes a long time, it will
+   * be because we are blocked waiting for a message and pre-emption
+   * will be re-enabled while we are blocked
+   */
 
   sched_lock();
-  if (msg && mqdes && (mqdes->oflags & O_RDOK) != 0 &&
-      msglen >= (size_t)mqdes->msgq->maxmsgsize)
+
+  /* Furthermore, mq_waitreceive() expects to have interrupts disabled
+   * because messages can be sent from interrupt level.
+   */
+
+  saved_state = irqsave();
+
+  /* Get the message from the message queue */
+
+  mqmsg = mq_waitreceive(mqdes);
+  irqrestore(saved_state);
+
+  /* Check if we got a message from the message queue.  We might
+   * not have a message if:
+   *
+   * - The message queue is empty and O_NONBLOCK is set in the mqdes
+   * - The wait was interrupted by a signal
+   */
+
+  if (mqmsg)
     {
-      /* Get a pointer to the message queue */
-
-      msgq = mqdes->msgq;
-
-      /* Several operations must be performed below:  We must determine if
-       * a message is pending and, if not, wait for the message.  Since
-       * messages can be sent from the interrupt level, there is a race
-       * condition that can only be eliminated by disabling interrupts!
-       */
-
-      saved_state = irqsave();
-
-      /* Get the message from the head of the queue */
-
-      while ((curr = (FAR mqmsg_t*)sq_remfirst(&msgq->msglist)) == NULL)
-        {
-          /* Should we block until there the above condition has been
-           * satisfied?
-           */
-
-          if (!(mqdes->oflags & O_NONBLOCK))
-            {
-              /* Block and try again */
-
-              rtcb = (FAR _TCB*)g_readytorun.head;
-              rtcb->msgwaitq = msgq;
-              msgq->nwaitnotempty++;
-              up_block_task(rtcb, TSTATE_WAIT_MQNOTEMPTY);
-            }
-          else
-            {
-              break;
-            }
-        }
-
-      /* If we got message, then decrement the number of messages in
-       * the queue while we are still in the critical section
-       */
-
-      if (curr)
-        {
-          msgq->nmsgs--;
-        }
-      irqrestore(saved_state);
-
-      /* Check (again) if we got a message from the message queue*/
-
-      if (curr)
-        {
-          /* Get the length of the message (also the return value) */
-
-          ret = rcvmsglen = curr->msglen;
-
-          /* Copy the message into the caller's buffer */
-
-          memcpy(msg, (const void*)curr->mail, rcvmsglen);
-
-          /* Copy the message priority as well (if a buffer is provided) */
-
-          if (prio)
-            {
-              *prio = curr->priority;
-            }
-
-          /* We are done with the message.  Deallocate it now. */
-
-          mq_msgfree(curr);
-
-          /* Check if any tasks are waiting for the MQ not full event. */
-
-          if (msgq->nwaitnotfull > 0)
-            {
-              /* Find the highest priority task that is waiting for
-               * this queue to be not-full in g_waitingformqnotfull list.
-               * This must be performed in a critical section because
-               * messages can be sent from interrupt handlers.
-               */
-
-              saved_state = irqsave();
-              for (btcb = (FAR _TCB*)g_waitingformqnotfull.head;
-                   btcb && btcb->msgwaitq != msgq;
-                   btcb = btcb->flink);
-
-              /* If one was found, unblock it.  NOTE:  There is a race
-               * condition here:  the queue might be full again by the
-               * time the task is unblocked
-               */
-
-              if (!btcb)
-                {
-                  PANIC(OSERR_MQNOTFULLCOUNT);
-                }
-              else
-                {
-                  btcb->msgwaitq = NULL;
-                  msgq->nwaitnotfull--;
-                  up_unblock_task(btcb);
-                }
-              irqrestore(saved_state);
-            }
-        }
+      ret = mq_doreceive(mqdes, mqmsg, msg, prio);
     }
 
   sched_unlock();

sched/mq_send.c

@@ -1,4 +1,4 @@
-/************************************************************
+/****************************************************************************
  * mq_send.c
  *
  *   Copyright (C) 2007 Gregory Nutt. All rights reserved.
@@ -31,164 +31,65 @@
  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  * POSSIBILITY OF SUCH DAMAGE.
  *
- ************************************************************/
+ ****************************************************************************/
 
-/************************************************************
+/****************************************************************************
  * Included Files
- ************************************************************/
+ ****************************************************************************/
 
-#include  <nuttx/compiler.h>
-#include  <nuttx/kmalloc.h>
-#include  <sys/types.h>      /* uint32, etc. */
-#include  <fcntl.h>
+#include  <nuttx/config.h>
+#include  <sys/types.h>
 #include  <mqueue.h>
-#include  <string.h>
-#include  <sched.h>
+#include  <errno.h>
 #include  <debug.h>
 #include  <nuttx/arch.h>
 #include  "os_internal.h"
-#ifndef CONFIG_DISABLE_SIGNALS
-# include "sig_internal.h"
-#endif
 #include  "mq_internal.h"
 
-/************************************************************
+/****************************************************************************
  * Definitions
- ************************************************************/
+ ****************************************************************************/
 
-/************************************************************
+/****************************************************************************
  * Private Type Declarations
- ************************************************************/
+ ****************************************************************************/
 
-/************************************************************
+/****************************************************************************
  * Global Variables
- ************************************************************/
+ ****************************************************************************/
 
-/************************************************************
+/****************************************************************************
  * Private Variables
- ************************************************************/
+ ****************************************************************************/
 
-/************************************************************
- * Function: mq_msgalloc
- *
- * Description:
- *   The mq_msgalloc function will get a free message for use
- *   by the operating system.  The message will be allocated
- *   from the g_msgfree list.
- *
- *   If the list is empty AND the message is NOT being
- *   allocated from the interrupt level, then the message
- *   will be allocated.  If a message cannot be obtained,
- *   the operating system is dead and therefore cannot
- *   continue.
- *
- *   If the list is empty AND the message IS being allocated
- *   from the interrupt level.  This function will attempt to
- *   get a message from the g_msgfreeirq list.  If this is
- *   unsuccessful, the calling interrupt handler will be
- *   notified.
- *
- * Inputs:
- *   None
- *
- * Return Value:
- *   A reference to the allocated msg structure
- *
- ************************************************************/
-
-FAR mqmsg_t *mq_msgalloc(void)
-{
-  FAR mqmsg_t *mqmsg;
-  irqstate_t   saved_state;
-
-  /* If we were called from an interrupt handler, then try to
-   * get the message from generally available list of messages.
-   * If this fails, then try the list of messages reserved for
-   * interrupt handlers
-   */
-
-  if (up_interrupt_context())
-    {
-      /* Try the general free list */
-
-      mqmsg = (FAR mqmsg_t*)sq_remfirst(&g_msgfree);
-      if (!mqmsg)
-        {
-          /* Try the free list reserved for interrupt handlers */
-
-          mqmsg = (FAR mqmsg_t*)sq_remfirst(&g_msgfreeirq);
-        }
-    }
-
-  /* We were not called from an interrupt handler. */
-
-  else
-    {
-      /* Try to get the message from the generally available free list.
-       * Disable interrupts -- we might be called from an interrupt handler.
-       */
-
-      saved_state = irqsave();
-      mqmsg = (FAR mqmsg_t*)sq_remfirst(&g_msgfree);
-      irqrestore(saved_state);
-
-      /* If we cannot a message from the free list, then we will have to allocate one. */
-
-      if (!mqmsg)
-        {
-          mqmsg = (FAR mqmsg_t *)kmalloc((sizeof (mqmsg_t)));
-
-          /* Check if we got an allocated message */
-
-          if (mqmsg)
-            {
-              mqmsg->type = MQ_ALLOC_DYN;
-            }
-
-          /* No?  We are dead */
-
-          else
-            {
-              dbg("Out of messages\n");
-              PANIC((uint32)OSERR_OUTOFMESSAGES);
-            }
-        }
-    }
-
-  return(mqmsg);
-}
-
-/************************************************************
+/****************************************************************************
  * Private Functions
- ************************************************************/
+ ****************************************************************************/
 
-/************************************************************
+/****************************************************************************
  * Public Functions
- ************************************************************/
+ ****************************************************************************/
 
-/************************************************************
+/****************************************************************************
  * Function:  mq_send
  *
  * Description:
- *   This function adds the specificied message (msg) to the
- *   message queue (mqdes).  The "msglen" parameter specifies
- *   the length of the message in bytes pointed to by "msg."
- *   This length must not exceed the maximum message length
- *   from the mq_getattr().
+ *   This function adds the specificied message (msg) to the message queue
+ *   (mqdes).  The "msglen" parameter specifies the length of the message
+ *   in bytes pointed to by "msg."  This length must not exceed the maximum
+ *   message length from the mq_getattr().
  *
- *   If the message queue is not full, mq_send() will in the
- *   message in the message queue at the position indicated
- *   by the "prio" argrument.  Messages with higher priority
- *   will be inserted before lower priority messages.  The
- *   value of "prio" must not exceed MQ_PRIO_MAX.
+ *   If the message queue is not full, mq_send() place the message in the
+ *   message queue at the position indicated by the "prio" argrument.
+ *   Messages with higher priority will be inserted before lower priority
+ *   messages.  The value of "prio" must not exceed MQ_PRIO_MAX.
  *
- *   If the specified message queue is full and O_NONBLOCK
- *   is not set in the message queue, then mq_send() will
- *   block until space becomes available to the queue the
- *   message.
+ *   If the specified message queue is full and O_NONBLOCK is not set in the
+ *   message queue, then mq_send() will block until space becomes available
+ *   to the queue the message.
  *
- *   If the message queue is full and O_NONBLOCK is set,
- *   the message is not queued and ERROR is returned.
+ *   If the message queue is full and O_NONBLOCK is set, the message is not
+ *   queued and ERROR is returned.
  * 
  * Parameters:
  *   mqdes - Message queue descriptor
@@ -197,214 +98,84 @@ FAR mqmsg_t *mq_msgalloc(void)
  *   prio - The priority of the message
  *
  * Return Value:
- *   None
+ *   On success, mq_send() returns 0 (OK); on error, -1 (ERROR)
+ *   is returned, with errno set to indicate the error:
+ *
+ *   EAGAIN   The queue was empty, and the O_NONBLOCK flag was set for the
+ *            message queue description referred to by mqdes.
+ *   EINVAL   Either msg or mqdes is NULL or the value of prio is invalid.
+ *   EPERM    Message queue opened not opened for writing.
+ *   EMSGSIZE 'msglen' was greater than the maxmsgsize attribute of the
+ *            message queue.
+ *   EINTR    The call was interrupted by a signal handler.
  *
  * Assumptions/restrictions:
  *
- ************************************************************/
+ ****************************************************************************/
 
 int mq_send(mqd_t mqdes, const void *msg, size_t msglen, int prio)
 {
-  FAR _TCB    *rtcb;
-  FAR _TCB    *btcb;
   FAR msgq_t  *msgq;
-  FAR mqmsg_t *curr;
-  FAR mqmsg_t *next;
-  FAR mqmsg_t *prev;
+  FAR mqmsg_t *mqmsg = NULL;
   irqstate_t   saved_state;
   int          ret = ERROR;
 
-  /* Verify the input parameters */
+  /* Verify the input parameters -- setting errno appropriately
+   * on any failures to verify.
+   */
+
+  if (mq_verifysend(mqdes, msg, msglen, prio) != OK)
+    {
+      return ERROR;
+    }
+
+  /* Get a pointer to the message queue */
 
   sched_lock();
-  if (msg && mqdes && (mqdes->oflags & O_WROK) != 0 &&
-      msglen > 0 && msglen <= (size_t)mqdes->msgq->maxmsgsize &&
-      prio >= 0 && prio <= MQ_PRIO_MAX)
+  msgq = mqdes->msgq;
+
+  /* Allocate a message structure:
+   * - Immediately if we are called from an interrupt handler.
+   * - Immediately if the message queue is not full, or
+   * - After successfully waiting for the message queue to become
+   *   non-FULL.  This would fail with EAGAIN, EINTR, or ETIMEOUT.
+   */
+
+  saved_state = irqsave();
+  if (up_interrupt_context()      || /* In an interrupt handler */
+      msgq->nmsgs < msgq->maxmsgs || /* OR Message queue not full */
+      mq_waitsend(mqdes) == OK)      /* OR Successfully waited for mq not full */
     {
-      /* Get a pointer to the message queue */
+      /* Allocate the message */
 
-      msgq = mqdes->msgq;
-
-      /* If we are sending a message from an interrupt handler, then
-       * try to get message structure unconditionally.
-       */
-
-      saved_state = irqsave();
-      if (up_interrupt_context())
-        {
-          curr = mq_msgalloc();
-        }
-
-      /* Otherwise, arbitrarily limit the number of messages in the
-       * queue to the value determined when the message queue was opened.
-       * This makes us more POSIX-like as well as prohibits one slow
-       * responding task from consuming all available memory.
-       */
-
-      else if (msgq->nmsgs >= msgq->maxmsgs)
-        {
-          /* Should we block until there is sufficient space in the
-           * message queue?
-           */
-
-          if ((mqdes->oflags & O_NONBLOCK) != 0)
-            {
-              /* No... We will return an error to the caller. */
-
-              curr = NULL;
-            }
-
-          /* Yes... We will not return control until the message queue is
-           * available.
-           */
-
-          else
-            {
-              /* Loop until there are fewer than max allowable messages in the 
-               * receiving message queue
-               */
-
-              while (msgq->nmsgs >= msgq->maxmsgs)
-                {
-                  /* Block until the message queue is no longer full.
-                   * When we are unblocked, we will try again
-                   */
-
-                  rtcb = (FAR _TCB*)g_readytorun.head;
-                  rtcb->msgwaitq = msgq;
-                  (msgq->nwaitnotfull)++;
-                  up_block_task(rtcb, TSTATE_WAIT_MQNOTFULL);
-                }
-
-              /* It should be okay to get add a message to the receiving
-               * message queue now.
-               */
-
-              curr = mq_msgalloc();
-            }
-        }
-
-      /* We are not in an interrupt handler and the receiving message queue
-       * is not full
-       */
-
-      else
-        {
-          /* Just allocate a message */
-
-          curr = mq_msgalloc();
-        }
       irqrestore(saved_state);
+      mqmsg = mq_msgalloc();
+    }
+  else
+    {
+      /* We cannot send the message (and didn't even try to allocate it)
+       * because:
+       * - We are not in an interrupt handler AND
+       * - The message queue is full AND
+       * - When we tried waiting, the wait was unsuccessful.
+       */
 
-      /* Check if we were able to get a message structure */
+      irqrestore(saved_state);
+    }
 
-      if (curr)
-        {
-          /* Construct the current message header info */
+  /* Check if we were able to get a message structure -- this can fail
+   * either because we cannot send the message (and didn't bother trying
+   * to allocate it) or because the allocation failed.
+   */
 
-          curr->priority = (ubyte)prio;
-          curr->msglen   = (ubyte)msglen;
+  if (mqmsg)
+    {
+      /* Yes, peforrm the message send. */
 
-          /* Copy the message data into the message */
-
-          memcpy((void*)curr->mail, (const void*)msg, msglen);
-
-          /* Insert the new message in the message queue */
-
-          saved_state = irqsave();
-
-          /* Search the message list to find the location to insert the new
-           * message. Each is list is maintained in ascending priority order.
-           */
-
-          for (prev = NULL, next = (FAR mqmsg_t*)msgq->msglist.head;
-               next && prio <= next->priority;
-               prev = next, next = next->next);
-
-          /* Add the message at the right place */
-
-          if (prev)
-            {
-              sq_addafter((FAR sq_entry_t*)prev, (FAR sq_entry_t*)curr,
-                          &msgq->msglist);
-            }
-          else
-            {
-              sq_addfirst((FAR sq_entry_t*)curr, &msgq->msglist);
-            }
-
-          /* Increment the count of message in the queue */
-
-          msgq->nmsgs++;
-          irqrestore(saved_state);
-
-          /* Check if we need to notify any tasks that are attached to the
-           * message queue
-           */
-
-#ifndef CONFIG_DISABLE_SIGNALS
-          if (msgq->ntmqdes)
-            {
-              /* Remove the message notification data from the message queue. */
-
-#ifdef CONFIG_CAN_PASS_STRUCTS
-              union sigval value      = msgq->ntvalue;
-#else
-              void *sival_ptr         = msgq->ntvalue.sival_ptr;
-#endif
-              int signo               = msgq->ntsigno;
-              int pid                 = msgq->ntpid;
-
-              /* Detach the notification */
-
-              msgq->ntpid             = INVALID_PROCESS_ID;
-              msgq->ntsigno           = 0;
-              msgq->ntvalue.sival_int = 0;
-              msgq->ntmqdes           = NULL;
-
-              /* Queue the signal -- What if this returns an error? */
-
-#ifdef CONFIG_CAN_PASS_STRUCTS
-              sig_mqnotempty(pid, signo, value);
-#else
-              sig_mqnotempty(pid, signo, sival_ptr);
-#endif
-            }
-#endif
-          /* Check if any tasks are waiting for the MQ not empty event. */
-
-          saved_state = irqsave();
-          if (msgq->nwaitnotempty > 0)
-            {
-              /* Find the highest priority task that is waiting for
-               * this queue to be non-empty in g_waitingformqnotempty
-               * list. sched_lock() should give us sufficent protection since
-               * interrupts should never cause a change in this list
-               */
-
-              for (btcb = (FAR _TCB*)g_waitingformqnotempty.head;
-                   btcb && btcb->msgwaitq != msgq;
-                   btcb = btcb->flink);
-
-              /* If one was found, unblock it */
-
-              if (!btcb)
-                {
-                  PANIC(OSERR_MQNONEMPTYCOUNT);
-                }
-              else
-                {
-                  btcb->msgwaitq = NULL;
-                  msgq->nwaitnotempty--;
-                  up_unblock_task(btcb);
-                }
-            }
-          irqrestore(saved_state);
-          ret = OK;
-        }
+      ret = mq_dosend(mqdes, mqmsg, msg, msglen, prio);
     }
 
   sched_unlock();
-  return(ret);
+  return ret;
 }
 

sched/mq_sndinternal.c

@@ -0,0 +1,448 @@
+/****************************************************************************
+ * mq_send.c
+ *
+ *   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * 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 Gregory Nutt 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  <nuttx/kmalloc.h>
+#include  <sys/types.h>
+#include  <fcntl.h>
+#include  <mqueue.h>
+#include  <string.h>
+#include  <errno.h>
+#include  <sched.h>
+#include  <debug.h>
+#include  <nuttx/arch.h>
+#include  "os_internal.h"
+#ifndef CONFIG_DISABLE_SIGNALS
+# include "sig_internal.h"
+#endif
+#include  "mq_internal.h"
+
+/****************************************************************************
+ * Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Type Declarations
+ ****************************************************************************/
+
+/****************************************************************************
+ * Global Variables
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Variables
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: mq_verifysend
+ *
+ * Description:
+ *   This is internal, common logic shared by both mq_send and mq_timesend.
+ *   This function verifies the input parameters that are common to both 
+ *   functions.
+ *
+ * Parameters:
+ *   mqdes - Message queue descriptor
+ *   msg - Message to send
+ *   msglen - The length of the message in bytes
+ *   prio - The priority of the message
+ *
+ * Return Value:
+ *   One success, 0 (OK) is returned. On failure, -1 (ERROR) is returned and
+ *   the errno is set appropriately:
+ *
+ *   EINVAL   Either msg or mqdes is NULL or the value of prio is invalid.
+ *   EPERM    Message queue opened not opened for writing.
+ *   EMSGSIZE 'msglen' was greater than the maxmsgsize attribute of the
+ *             message queue.
+ *
+ * Assumptions:
+ *
+ ****************************************************************************/
+
+int mq_verifysend(mqd_t mqdes, const void *msg, size_t msglen, int prio)
+{
+  /* Verify the input parameters */
+
+  if (!msg || !mqdes || prio < 0 || prio > MQ_PRIO_MAX)
+    {
+      *get_errno_ptr() = EINVAL;
+      return ERROR;
+    }
+
+  if ((mqdes->oflags & O_WROK) == 0)
+    {
+      *get_errno_ptr() = EPERM;
+      return ERROR;
+    }
+
+  if (msglen < 0 || msglen > (size_t)mqdes->msgq->maxmsgsize)
+    {
+      *get_errno_ptr() = EMSGSIZE;
+      return ERROR;
+    }
+
+  return OK;
+}
+
+/****************************************************************************
+ * Function: mq_msgalloc
+ *
+ * Description:
+ *   The mq_msgalloc function will get a free message for use by the
+ *   operating system.  The message will be allocated from the g_msgfree list.
+ *
+ *   If the list is empty AND the message is NOT being allocated from the
+ *   interrupt level, then the message will be allocated.  If a message
+ *   cannot be obtained, the operating system is dead and therefore cannot
+ *   continue.
+ *
+ *   If the list is empty AND the message IS being allocated from the
+ *   interrupt level.  This function will attempt to get a message from 
+ *   the g_msgfreeirq list.  If this is unsuccessful, the calling interrupt
+ *   handler will be notified.
+ *
+ * Inputs:
+ *   None
+ *
+ * Return Value:
+ *   A reference to the allocated msg structure.  On a failure to allocate,
+ *   this function PANICs.
+ *
+ ****************************************************************************/
+
+FAR mqmsg_t *mq_msgalloc(void)
+{
+  FAR mqmsg_t *mqmsg;
+  irqstate_t   saved_state;
+
+  /* If we were called from an interrupt handler, then try to get the message
+   * from generally available list of messages. If this fails, then try the
+   * list of messages reserved for interrupt handlers
+   */
+
+  if (up_interrupt_context())
+    {
+      /* Try the general free list */
+
+      mqmsg = (FAR mqmsg_t*)sq_remfirst(&g_msgfree);
+      if (!mqmsg)
+        {
+          /* Try the free list reserved for interrupt handlers */
+
+          mqmsg = (FAR mqmsg_t*)sq_remfirst(&g_msgfreeirq);
+        }
+    }
+
+  /* We were not called from an interrupt handler. */
+
+  else
+    {
+      /* Try to get the message from the generally available free list.
+       * Disable interrupts -- we might be called from an interrupt handler.
+       */
+
+      saved_state = irqsave();
+      mqmsg = (FAR mqmsg_t*)sq_remfirst(&g_msgfree);
+      irqrestore(saved_state);
+
+      /* If we cannot a message from the free list, then we will have to allocate one. */
+
+      if (!mqmsg)
+        {
+          mqmsg = (FAR mqmsg_t *)kmalloc((sizeof (mqmsg_t)));
+
+          /* Check if we got an allocated message */
+
+          if (mqmsg)
+            {
+              mqmsg->type = MQ_ALLOC_DYN;
+            }
+
+          /* No?  We are dead */
+
+          else
+            {
+              dbg("Out of messages\n");
+              PANIC((uint32)OSERR_OUTOFMESSAGES);
+            }
+        }
+    }
+
+  return mqmsg;
+}
+
+/****************************************************************************
+ * Function:  mq_waitsend
+ *
+ * Description:
+ *   This is internal, common logic shared by both mq_send and mq_timesend.
+ *   This function waits until the message queue is not full.
+ *
+ * Parameters:
+ *   mqdes - Message queue descriptor
+ *
+ * Return Value:
+ *   On success, mq_send() returns 0 (OK); on error, -1 (ERROR) is
+ *   returned, with errno set to indicate the error:
+ *
+ *   EAGAIN   The queue was empty, and the O_NONBLOCK flag was set for the
+ *            message queue description referred to by mqdes.
+ *   EINTR    The call was interrupted by a signal handler.
+ *   ETIMEOUT A timeout expired before the message queue became non-full
+ *            (mq_timedsend only).
+ *
+ * Assumptions/restrictions:
+ * - The caller has verified the input parameters using mq_verifysend().
+ * - Interrupts are disabled.
+ *
+ ****************************************************************************/
+
+int mq_waitsend(mqd_t mqdes)
+{
+  FAR _TCB    *rtcb;
+  FAR msgq_t  *msgq;
+
+  /* Get a pointer to the message queue */
+
+  msgq = mqdes->msgq;
+
+  /* Verify that the queue is indeed full as the caller thinks */
+
+  if (msgq->nmsgs >= msgq->maxmsgs)
+    {
+      /* Should we block until there is sufficient space in the
+       * message queue?
+       */
+
+      if ((mqdes->oflags & O_NONBLOCK) != 0)
+        {
+          /* No... We will return an error to the caller. */
+
+          *get_errno_ptr() = EAGAIN;
+          return ERROR;
+        }
+
+      /* Yes... We will not return control until the message queue is
+       * available or we receive a signal or at timout occurs.
+       */
+
+      else
+        {
+          /* Loop until there are fewer than max allowable messages in the 
+           * receiving message queue
+           */
+
+          while (msgq->nmsgs >= msgq->maxmsgs)
+            {
+              /* Block until the message queue is no longer full.
+               * When we are unblocked, we will try again
+               */
+
+              rtcb = (FAR _TCB*)g_readytorun.head;
+              rtcb->msgwaitq = msgq;
+              (msgq->nwaitnotempty)++;
+
+              *get_errno_ptr() = OK;
+              up_block_task(rtcb, TSTATE_WAIT_MQNOTFULL);
+
+              /* When we resume at this point, either (1) the message queue
+               * is no longer empty, or (2) the wait has been interrupted by
+               * a signal.  We can detect the latter case be examining the
+               * errno value (should be EINTR or ETIMEOUT).
+               */
+
+              if (*get_errno_ptr() != OK)
+                {
+                   return ERROR;
+                }
+            }
+        }
+    }
+  return OK;
+}
+
+/****************************************************************************
+ * Function:  mq_dosend
+ *
+ * Description:
+ *   This is internal, common logic shared by both mq_send and mq_timesend.
+ *   This function adds the specificied message (msg) to the message queue
+ *   (mqdes).  Then it notifies any tasks that were waiting for message
+ *   queue notifications setup by mq_notify.  And, finally, it awakens any
+ *   tasks that were waiting for the message not empty event.
+ * 
+ * Parameters:
+ *   mqdes - Message queue descriptor
+ *   msg - Message to send
+ *   msglen - The length of the message in bytes
+ *   prio - The priority of the message
+ *
+ * Return Value:
+ *   This function always returns OK.
+ *
+ * Assumptions/restrictions:
+ *
+ ****************************************************************************/
+
+int mq_dosend(mqd_t mqdes, FAR mqmsg_t *mqmsg, const void *msg, size_t msglen, int prio)
+{
+  FAR _TCB    *btcb;
+  FAR msgq_t  *msgq;
+  FAR mqmsg_t *next;
+  FAR mqmsg_t *prev;
+  irqstate_t   saved_state;
+
+  /* Get a pointer to the message queue */
+
+  sched_lock();
+  msgq = mqdes->msgq;
+
+  /* Construct the message header info */
+
+  mqmsg->priority = prio;
+  mqmsg->msglen   = msglen;
+
+  /* Copy the message data into the message */
+
+  memcpy((void*)mqmsg->mail, (const void*)msg, msglen);
+
+  /* Insert the new message in the message queue */
+
+  saved_state = irqsave();
+
+  /* Search the message list to find the location to insert the new
+   * message. Each is list is maintained in ascending priority order.
+   */
+
+  for (prev = NULL, next = (FAR mqmsg_t*)msgq->msglist.head;
+       next && prio <= next->priority;
+       prev = next, next = next->next);
+
+  /* Add the message at the right place */
+
+  if (prev)
+    {
+      sq_addafter((FAR sq_entry_t*)prev, (FAR sq_entry_t*)mqmsg,
+                  &msgq->msglist);
+    }
+  else
+    {
+      sq_addfirst((FAR sq_entry_t*)mqmsg, &msgq->msglist);
+    }
+
+  /* Increment the count of messages in the queue */
+
+  msgq->nmsgs++;
+  irqrestore(saved_state);
+
+  /* Check if we need to notify any tasks that are attached to the
+   * message queue
+   */
+
+#ifndef CONFIG_DISABLE_SIGNALS
+  if (msgq->ntmqdes)
+    {
+      /* Remove the message notification data from the message queue. */
+
+#ifdef CONFIG_CAN_PASS_STRUCTS
+      union sigval value      = msgq->ntvalue;
+#else
+      void *sival_ptr         = msgq->ntvalue.sival_ptr;
+#endif
+      int signo               = msgq->ntsigno;
+      int pid                 = msgq->ntpid;
+
+      /* Detach the notification */
+
+      msgq->ntpid             = INVALID_PROCESS_ID;
+      msgq->ntsigno           = 0;
+      msgq->ntvalue.sival_int = 0;
+      msgq->ntmqdes           = NULL;
+
+      /* Queue the signal -- What if this returns an error? */
+
+#ifdef CONFIG_CAN_PASS_STRUCTS
+      sig_mqnotempty(pid, signo, value);
+#else
+      sig_mqnotempty(pid, signo, sival_ptr);
+#endif
+    }
+#endif
+  /* Check if any tasks are waiting for the MQ not empty event. */
+
+  saved_state = irqsave();
+  if (msgq->nwaitnotempty > 0)
+    {
+      /* Find the highest priority task that is waiting for
+       * this queue to be non-empty in g_waitingformqnotempty
+       * list. sched_lock() should give us sufficent protection since
+       * interrupts should never cause a change in this list
+       */
+
+      for (btcb = (FAR _TCB*)g_waitingformqnotempty.head;
+           btcb && btcb->msgwaitq != msgq;
+           btcb = btcb->flink);
+
+      /* If one was found, unblock it */
+
+      if (!btcb)
+        {
+          PANIC(OSERR_MQNONEMPTYCOUNT);
+        }
+      else
+        {
+          btcb->msgwaitq = NULL;
+          msgq->nwaitnotempty--;
+          up_unblock_task(btcb);
+        }
+    }
+  irqrestore(saved_state);
+  sched_unlock();
+  return OK;
+}
+

sched/mq_timedreceive.c

@@ -0,0 +1,308 @@
+/****************************************************************************
+ * mq_timedreceive.c
+ *
+ *   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * 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 Gregory Nutt 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 <sys/types.h>
+#include <unistd.h>
+#include <errno.h>
+#include <mqueue.h>
+#include <wdog.h>
+#include <debug.h>
+#include <nuttx/arch.h>
+#include "os_internal.h"
+#include "clock_internal.h"
+#include "mq_internal.h"
+
+/****************************************************************************
+ * Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Type Declarations
+ ****************************************************************************/
+
+/****************************************************************************
+ * Global Variables
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Variables
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Function:  mq_rcvtimeout
+ *
+ * Description:
+ *   This function is called if the timeout elapses before the message queue
+ *   becomes non-empty.
+ *
+ * Parameters:
+ *   argc  - the number of arguments (should be 1)
+ *   pid   - the task ID of the task to wakeup
+ *
+ * Return Value:
+ *   None
+ *
+ * Assumptions:
+ *
+ ****************************************************************************/
+
+static void mq_rcvtimeout(int argc, uint32 pid, ...)
+{
+  FAR _TCB *wtcb;
+  irqstate_t saved_state;
+
+  /* Disable interrupts.  This is necessary because an
+   * interrupt handler may attempt to send a message while we are
+   * doing this.
+   */
+
+  saved_state = irqsave();
+
+  /* Get the TCB associated with this pid.  It is possible that
+   * task may no longer be active when this watchdog goes off.
+   */
+
+  wtcb = sched_gettcb((pid_t)pid);
+
+  /* It is also possible that an interrupt/context switch beat us to the
+   * punch and already changed the task's state.
+   */
+
+  if (wtcb && wtcb->task_state == TSTATE_WAIT_MQNOTEMPTY)
+    {
+      /* Mark the errno value for the thread. */
+
+      wtcb->errno = ETIMEDOUT;
+
+      /* Restart the the task. */
+
+      up_unblock_task(wtcb);
+    }
+
+  /* Interrupts may now be enabled. */
+
+  irqrestore(saved_state);
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Function:  mq_timedreceive
+ *
+ * Description:
+ *   This function receives the oldest of the highest
+ *   priority messages from the message queue specified by
+ *   "mqdes."  If the size of the buffer in bytes (msglen) is
+ *   less than the "mq_msgsize" attribute of the message
+ *   queue, mq_timedreceive will return an error.  Otherwise, the
+ *   selected message is removed from the queue and copied to
+ *   "msg."
+ *
+ *   If the message queue is empty and O_NONBLOCK was not
+ *   set, mq_timedreceive() will block until a message is added
+ *   to the message queue (or until a timeout occurs).  If more
+ *   than one task is waiting  to receive a message, only the
+ *   task with the highest priority that has waited the longest
+ *   will be unblocked.
+ *
+ *   mq_timedreceive() behaves just like mq_receive(), except
+ *   that if the queue is empty and the O_NONBLOCK flag is not
+ *   enabled for the message queue description, then abstime
+ *   points to a structure which specifies a ceiling on the time
+ *   for which the call will block.  This ceiling is an absolute
+ *   timeout in seconds and nanoseconds since the Epoch (midnight
+ *   on the morning of 1 January 1970).
+ *
+ *   If no message is available, and the timeout has already
+ *   expired by the time of the call, mq_timedreceive() returns
+ *   immediately.
+ *
+ * Parameters:
+ *   mqdes - Message Queue Descriptor
+ *   msg - Buffer to receive the message
+ *   msglen - Size of the buffer in bytes
+ *   prio - If not NULL, the location to store message priority.
+ *   abstime - the absolute time to wait until a timeout is declared.
+ *
+ * Return Value:
+ *   One success, the length of the selected message in bytes.is
+ *   returned.  On failure, -1 (ERROR) is returned and the errno
+ *   is set appropriately:
+ *
+ *   EAGAIN    The queue was empty, and the O_NONBLOCK flag was set
+ *             for the message queue description referred to by 'mqdes'.
+ *   EPERM     Message queue opened not opened for reading.
+ *   EMSGSIZE  'msglen' was less than the maxmsgsize attribute of the
+ *             message queue.
+ *   EINTR     The call was interrupted by a signal handler.
+ *   EINVAL    Invalid 'msg' or 'mqdes' or 'abstime'
+ *   ETIMEDOUT The call timed out before a message could be transferred.
+ *
+ * Assumptions:
+ *
+ ****************************************************************************/
+
+ssize_t mq_timedreceive(mqd_t mqdes, void *msg, size_t msglen,
+                        int *prio, const struct timespec *abstime)
+{
+  WDOG_ID      wdog;
+  FAR mqmsg_t *mqmsg;
+  irqstate_t   saved_state;
+  int          ret = ERROR;
+
+  DEBUGASSERT(!up_interrupt_context());
+
+  /* Verify the input parameters and, in case of an error, set
+   * errno appropriately.
+   */
+
+  if (mq_verifyreceive(mqdes, msg, msglen) != OK)
+    {
+      return ERROR;
+    }
+
+  if (!abstime || abstime->tv_sec < 0 || abstime->tv_nsec > 1000000000)
+    {
+      *get_errno_ptr() = EINVAL;
+      return ERROR;
+    }
+
+  /* Create a watchdog.  We will not actually need this watchdog
+   * unless the queue is not empty, but we will reserve it up front
+   * before we enter the following critical section.
+   */
+
+  wdog = wd_create();
+  if (!wdog)
+    {
+      *get_errno_ptr() = EINVAL;
+      return ERROR;
+    }
+
+  /* Get the next mesage from the message queue.  We will disable
+   * pre-emption until we have completed the message received.  This
+   * is not too bad because if the receipt takes a long time, it will
+   * be because we are blocked waiting for a message and pre-emption
+   * will be re-enabled while we are blocked
+   */
+
+  sched_lock();
+
+  /* Furthermore, mq_waitreceive() expects to have interrupts disabled
+   * because messages can be sent from interrupt level.
+   */
+
+  saved_state = irqsave();
+
+  /* Check if the message queue is empty.  If it is NOT empty, then we
+   * will not need to start timer.
+   */
+
+  if (mqdes->msgq->msglist.head == NULL)
+    {
+      sint32 ticks;
+
+      /* Convert the timespec to clock ticks.  We must have interrupts
+       * disabled here so that this time stays valid until the wait begins.
+       */
+
+      int result = clock_abstime2ticks(CLOCK_REALTIME, abstime, &ticks);
+
+      /* If the time has already expired and the message queue is empty,
+       * return immediately.
+       */
+
+      if (result == OK && ticks <= 0)
+        {
+          result = ETIMEDOUT;
+        }
+
+      /* Handle any time-related errors */
+
+      if (result != OK)
+        {
+          *get_errno_ptr() = result;
+          irqrestore(saved_state);
+          sched_unlock();
+          wd_delete(wdog);
+          return ERROR;
+        }
+
+      /* Start the watchdog */
+
+      wd_start(wdog, ticks, (wdentry_t)mq_rcvtimeout, 1, getpid());
+    }
+
+  /* Get the message from the message queue */
+
+  mqmsg = mq_waitreceive(mqdes);
+
+  /* Stop the watchdog timer (this is not harmful in the case where
+   * it was never started)
+   */
+
+  wd_cancel(wdog);
+
+  /* We can now restore interrupts */
+
+  irqrestore(saved_state);
+
+  /* Check if we got a message from the message queue.  We might
+   * not have a message if:
+   *
+   * - The message queue is empty and O_NONBLOCK is set in the mqdes
+   * - The wait was interrupted by a signal
+   * - The watchdog timeout expired
+   */
+
+  if (mqmsg)
+    {
+      ret = mq_doreceive(mqdes, mqmsg, msg, prio);
+    }
+
+  sched_unlock();
+  wd_delete(wdog);
+  return ret;
+}

sched/mq_timedsend.c

@@ -0,0 +1,320 @@
+/****************************************************************************
+ * mq_timedsend.c
+ *
+ *   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * 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 Gregory Nutt 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 <unistd.h>
+#include <mqueue.h>
+#include <wdog.h>
+#include <errno.h>
+#include <debug.h>
+#include <nuttx/arch.h>
+#include "clock_internal.h"
+#include "os_internal.h"
+#include "mq_internal.h"
+
+/****************************************************************************
+ * Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Type Declarations
+ ****************************************************************************/
+
+/****************************************************************************
+ * Global Variables
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Variables
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Function:  mq_sndtimeout
+ *
+ * Description:
+ *   This function is called if the timeout elapses before the message queue
+ *   becomes non-full.
+ *
+ * Parameters:
+ *   argc  - the number of arguments (should be 1)
+ *   pid   - the task ID of the task to wakeup
+ *
+ * Return Value:
+ *   None
+ *
+ * Assumptions:
+ *
+ ****************************************************************************/
+
+static void mq_sndtimeout(int argc, uint32 pid, ...)
+{
+  FAR _TCB *wtcb;
+  irqstate_t saved_state;
+
+  /* Disable interrupts.  This is necessary because an
+   * interrupt handler may attempt to send a message while we are
+   * doing this.
+   */
+
+  saved_state = irqsave();
+
+  /* Get the TCB associated with this pid.  It is possible that
+   * task may no longer be active when this watchdog goes off.
+   */
+
+  wtcb = sched_gettcb((pid_t)pid);
+
+  /* It is also possible that an interrupt/context switch beat us to the
+   * punch and already changed the task's state.
+   */
+
+  if (wtcb && wtcb->task_state == TSTATE_WAIT_MQNOTFULL)
+    {
+      /* Mark the errno value for the thread. */
+
+      wtcb->errno = ETIMEDOUT;
+
+      /* Restart the the task. */
+
+      up_unblock_task(wtcb);
+    }
+
+  /* Interrupts may now be enabled. */
+
+  irqrestore(saved_state);
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Function:  mq_send
+ *
+ * Description:
+ *   This function adds the specificied message (msg) to the message queue
+ *   (mqdes).  The "msglen" parameter specifies the length of the message
+ *   in bytes pointed to by "msg."  This length must not exceed the maximum
+ *   message length from the mq_getattr().
+ *
+ *   If the message queue is not full, mq_timedsend() place the message in the
+ *   message queue at the position indicated by the "prio" argrument.
+ *   Messages with higher priority will be inserted before lower priority
+ *   messages.  The value of "prio" must not exceed MQ_PRIO_MAX.
+ *
+ *   If the specified message queue is full and O_NONBLOCK is not set in the
+ *   message queue, then mq_timedsend() will block until space becomes available
+ *   to the queue the message or a timeout occurs.
+ *
+ *   mq_timedsend() behaves just like mq_send(), except that if the queue
+ *   is full and the O_NONBLOCK flag is not enabled for the message queue
+ *   description, then abstime points to a structure which specifies a
+ *   ceiling on the time for which the call will block.  This ceiling is an
+ *   absolute timeout in seconds and nanoseconds since the Epoch (midnight
+ *   on the morning of 1 January 1970).
+ *
+ *   If the message queue is full, and the timeout has already expired by
+ *   the time of the call, mq_timedsend() returns immediately.
+ * 
+ * Parameters:
+ *   mqdes - Message queue descriptor
+ *   msg - Message to send
+ *   msglen - The length of the message in bytes
+ *   prio - The priority of the message
+ *   abstime - the absolute time to wait until a timeout is decleared
+ *
+ * Return Value:
+ *   On success, mq_send() returns 0 (OK); on error, -1 (ERROR)
+ *   is returned, with errno set to indicate the error:
+ *
+ *   EAGAIN   The queue was empty, and the O_NONBLOCK flag was set for the
+ *            message queue description referred to by mqdes.
+ *   EINVAL   Either msg or mqdes is NULL or the value of prio is invalid.
+ *   EPERM    Message queue opened not opened for writing.
+ *   EMSGSIZE 'msglen' was greater than the maxmsgsize attribute of the
+ *            message queue.
+ *   EINTR    The call was interrupted by a signal handler.
+ *
+ * Assumptions/restrictions:
+ *
+ ****************************************************************************/
+
+int mq_timedsend(mqd_t mqdes, const char *msg, size_t msglen, int prio,
+                 const struct timespec *abstime)
+{
+  WDOG_ID      wdog;
+  FAR msgq_t  *msgq;
+  FAR mqmsg_t *mqmsg = NULL;
+  irqstate_t   saved_state;
+  int          ret = ERROR;
+
+  DEBUGASSERT(!up_interrupt_context());
+
+  /* Verify the input parameters -- setting errno appropriately
+   * on any failures to verify.
+   */
+
+  if (mq_verifysend(mqdes, msg, msglen, prio) != OK)
+    {
+      return ERROR;
+    }
+
+  if (!abstime || abstime->tv_sec < 0 || abstime->tv_nsec > 1000000000)
+    {
+      *get_errno_ptr() = EINVAL;
+      return ERROR;
+    }
+
+  /* Get a pointer to the message queue */
+
+  msgq = mqdes->msgq;
+
+  /* Create a watchdog.  We will not actually need this watchdog
+   * unless the queue is full, but we will reserve it up front
+   * before we enter the following critical section.
+   */
+
+  wdog = wd_create();
+  if (!wdog)
+    {
+      *get_errno_ptr() = EINVAL;
+      return ERROR;
+    }
+
+  /* Allocate a message structure:
+   * - If we are called from an interrupt handler, or
+   * - If the message queue is not full, or
+   */
+
+  sched_lock();
+  saved_state = irqsave();
+  if (up_interrupt_context()      || /* In an interrupt handler */
+      msgq->nmsgs < msgq->maxmsgs)   /* OR Message queue not full */
+    {
+      /* Allocate the message */
+
+      irqrestore(saved_state);
+      mqmsg = mq_msgalloc();
+    }
+  else
+    {
+      sint32 ticks;
+
+      /* We are not in an interupt handler and the message queue is full.
+       * set up a timed wait for the message queue to become non-full.
+       *
+       * Convert the timespec to clock ticks.  We must have interrupts
+       * disabled here so that this time stays valid until the wait begins.
+       */
+
+      int result = clock_abstime2ticks(CLOCK_REALTIME, abstime, &ticks);
+
+      /* If the time has already expired and the message queue is empty,
+       * return immediately.
+       */
+
+      if (result == OK && ticks <= 0)
+        {
+          result = ETIMEDOUT;
+        }
+
+      /* Handle any time-related errors */
+
+      if (result != OK)
+        {
+         *get_errno_ptr() = result;
+          ret = ERROR;
+        }
+
+      /* Start the watchdog and begin the wait for MQ not full */
+
+      if (result == OK)
+        {
+          /* Start the watchdog */
+
+          wd_start(wdog, ticks, (wdentry_t)mq_sndtimeout, 1, getpid());
+
+          /* And wait for the message queue to be non-empty */
+
+          ret = mq_waitsend(mqdes);
+
+          /* This may return with an error and errno set to either EINTR
+           * or ETIMEOUT.  Cancel the watchdog timer in any event.
+           */
+
+          wd_cancel(wdog);
+        }
+
+      /* That is the end of the atomic operations */
+
+      irqrestore(saved_state);
+
+      /* If any of the above failed, set the errno.  Otherwise, there should
+       * be space for another message in the message queue.  NOW we can allocate
+       * the message structure.
+       */
+
+      if (ret == OK)
+        {
+          mqmsg = mq_msgalloc();
+        }
+    }
+
+  /* Check if we were able to get a message structure -- this can fail
+   * either because we cannot send the message (and didn't bother trying
+   * to allocate it) or because the allocation failed.
+   */
+
+  if (mqmsg)
+    {
+      /* Yes, peform the message send. */
+
+      ret = mq_dosend(mqdes, mqmsg, msg, msglen, prio);
+    }
+
+  sched_unlock();
+  wd_delete(wdog);
+  return ret;
+}
+

sched/mq_waitirq.c

@@ -0,0 +1,125 @@
+/************************************************************
+ * mq_waitirq.c
+ *
+ *   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * 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 Gregory Nutt 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 <sys/types.h>
+#include <sched.h>
+#include <errno.h>
+#include <nuttx/arch.h>
+#include "sem_internal.h"
+
+/************************************************************
+ * Compilation Switches
+ ************************************************************/
+
+/************************************************************
+ * Definitions
+ ************************************************************/
+
+/************************************************************
+ * Private Type Declarations
+ ************************************************************/
+
+/************************************************************
+ * Global Variables
+ ************************************************************/
+
+/************************************************************
+ * Private Variables
+ ************************************************************/
+
+/************************************************************
+ * Private Functions
+ ************************************************************/
+
+/************************************************************
+ * Public Functions
+ ************************************************************/
+
+/************************************************************
+ * Function:  sem_waitirq
+ *
+ * Description:
+ *   This function is called when a signal is received by a
+ *   task that is waiting on a message queue -- either for a
+ *   queue to becoming not full (on mq_send) or not empty
+ *   (on mq_receive).
+ *
+ * Parameters:
+ *   wtcb - A pointer to the TCB of the task that is waiting
+ *      on a message queue, but has received a signal instead.
+ *
+ * Return Value:
+ *   None
+ *
+ * Assumptions:
+ *
+ ************************************************************/
+
+void mq_waitirq(FAR _TCB *wtcb)
+{
+  irqstate_t saved_state;
+
+  /* Disable interrupts.  This is necessary because an
+   * interrupt handler may attempt to send a message while we are
+   * doing this.
+   */
+
+  saved_state = irqsave();
+
+  /* It is possible that an interrupt/context switch beat us to the
+   * punch and already changed the task's state.
+   */
+
+  if (wtcb->task_state == TSTATE_WAIT_MQNOTEMPTY ||
+      wtcb->task_state == TSTATE_WAIT_MQNOTFULL)
+    {
+      /* Mark the errno value for the thread. */
+
+      wtcb->errno = EINTR;
+
+      /* Restart the the task. */
+
+      up_unblock_task(wtcb);
+    }
+
+  /* Interrupts may now be enabled. */
+
+  irqrestore(saved_state);
+}
+

sched/pthread_completejoin.c

@@ -65,16 +65,16 @@
  ************************************************************/
 
 /************************************************************
- * Function:  pthread_destroyjoininfo
+ * Function:  pthread_notifywaiters
  *
  * Description:
- *   Destroy a join_t structure.  This must
- *   be done by the child thread at child thread destruction
- *   time.
+ *   Notify all other threads waiting in phread join for this
+ *   thread's exit data.  This must  be done by the child
+ *   at child thread destruction time.
  *
  ************************************************************/
 
-static void pthread_destroyjoininfo(FAR join_t *pjoin)
+static boolean pthread_notifywaiters(FAR join_t *pjoin)
 {
   int ntasks_waiting;
   int status;
@@ -111,14 +111,9 @@ static void pthread_destroyjoininfo(FAR join_t *pjoin)
        */
 
       (void)pthread_takesemaphore(&pjoin->data_sem);
-      (void)sem_destroy(&pjoin->data_sem);
+      return TRUE;
     }
-
-  /* All of the joined threads have had received the exit value.
-   * Now we can destroy this thread's exit semaphore
-   */
-
-  (void)sem_destroy(&pjoin->exit_sem);
+  return FALSE;
 }
 
 /************************************************************
@@ -148,7 +143,6 @@ static void pthread_destroyjoininfo(FAR join_t *pjoin)
 int pthread_completejoin(pid_t pid, FAR void *exit_value)
 {
   FAR join_t *pjoin;
-  boolean detached = FALSE;
 
   dbg("process_id=%d exit_value=%p\n", pid, exit_value);
 
@@ -164,48 +158,72 @@ int pthread_completejoin(pid_t pid, FAR void *exit_value)
     }
   else
     {
-      /* Has the thread been marked as detached? */
+      boolean waiters;
+
+      /* Save the return exit value in the thread structure. */
 
       pjoin->terminated = TRUE;
-      detached = pjoin->detached;
-      if (detached)
+      pjoin->exit_value = exit_value;
+
+      /* Notify waiters of the availability of the exit value */
+
+      waiters = pthread_notifywaiters(pjoin);
+
+      /* If there are no waiters and if the thread is marked as detached.
+       * then discard the join information now.  Otherwise, the pthread
+       * join logic will call pthread_destroyjoin() when all of the threads
+       * have sampled the exit value.
+       */
+
+      if (!waiters && pjoin->detached)
         {
-          dbg("Detaching\n");
-
-          /* If so, then remove the thread's structure from the private
-           * data set. After this point, no other thread can perform a join
-           * operation.
-           */
-
-          (void)pthread_removejoininfo(pid);
-          (void)pthread_givesemaphore(&g_join_semaphore);
-
-          /* Destroy this thread data structure. */
-
-          pthread_destroyjoininfo(pjoin);
-
-          /* Deallocate the join entry if it was detached. */
-
-          sched_free((FAR void*)pjoin);
+           pthread_destroyjoin(pjoin);
         }
 
-     /* No, then we can assume that some other thread is waiting for the join info */
+      /* Giving the following semaphore will allow the waiters
+       * to call pthread_destroyjoin.
+       */
 
-      else
-        {
-          /* Save the return exit value in the thread structure. */
-
-          pjoin->exit_value = exit_value;
-
-          /* Destroy this thread data structure. */
-
-          pthread_destroyjoininfo(pjoin);
-
-          /* pthread_join may now access the thread entry structure. */
-
-          (void)pthread_givesemaphore(&g_join_semaphore);
-        }
+      (void)pthread_givesemaphore(&g_join_semaphore);
     }
 
   return OK;
 }
+
+/************************************************************
+ * Function:  pthread_destroyjoin
+ *
+ * Description:
+ *   This is called from pthread_completejoin if the join
+ *   info was detached or from pthread_join when the last
+ *   waiting thread has received the thread exit info.
+ *
+ *   Or it may never be called if the join info was never
+ *   detached or if no thread ever calls pthread_join.  In
+ *   case, there is a memory leak!
+ *
+ * Assumptions:
+ *   The caller holds g_join_semaphore
+ *
+ ************************************************************/
+
+void pthread_destroyjoin(FAR join_t *pjoin)
+{
+  int status;
+
+  dbg("pjoin=0x%p\n", pjoin);
+
+  /* Remove the join info from the set of joins */
+
+  (void)pthread_removejoininfo((pid_t)pjoin->thread);
+
+  /* Destroy its semaphores */
+
+  (void)sem_destroy(&pjoin->data_sem);
+  (void)sem_destroy(&pjoin->exit_sem);
+
+  /* And deallocate the pjoin structure */
+
+  sched_free(pjoin);
+}
+

sched/pthread_condtimedwait.c

@@ -79,7 +79,7 @@
  *
  * Parameters:
  *   argc  - the number of arguments (should be 2)
- *   pid   - the task ID of the task to wateup
+ *   pid   - the task ID of the task to wakeup
  *   signo - The signal to use to wake up the task
  *
  * Return Value:

sched/pthread_detach.c

@@ -109,9 +109,7 @@ int pthread_detach(pthread_t thread)
         {
           /* YES.. just remove the thread entry. */
 
-          (void)pthread_removejoininfo((pid_t)thread);
-          sched_free(pjoin);
-          pjoin = NULL;
+          pthread_destroyjoin(pjoin);
         }
       else
         {

sched/pthread_exit.c

@@ -40,6 +40,7 @@
 #include <sys/types.h>
 #include <stdlib.h>
 #include <unistd.h>
+#include <signal.h>
 #include <pthread.h>
 #include <errno.h>
 #include <debug.h>
@@ -93,6 +94,17 @@ void pthread_exit(FAR void *exit_value)
 
   dbg("exit_value=%p\n", exit_value);
 
+  /* Block any signal actions that would awaken us while were
+   * are performing the JOIN handshake.
+   */
+
+#ifndef CONFIG_DISABLE_SIGNALS
+  {
+    sigset_t set = ALL_SIGNAL_SET;
+    (void)sigprocmask(SIG_SETMASK, &set, NULL);
+  }
+#endif
+
   /* Complete pending join operations */
 
   status = pthread_completejoin(getpid(), exit_value);

sched/pthread_internal.h

@@ -64,6 +64,7 @@
 struct join_s 
 {
   FAR struct join_s *next;       /* Implements link list */
+  ubyte          crefs;          /* Reference count */
   boolean        started;        /* TRUE: pthread started. */
   boolean        detached;       /* TRUE: pthread_detached'ed */
   boolean        terminated;     /* TRUE: detach'ed+exit'ed */
@@ -115,6 +116,7 @@ extern "C" {
 
 EXTERN void weak_function pthread_initialize(void);
 EXTERN int                pthread_completejoin(pid_t pid, FAR void *exit_value);
+EXTERN void               pthread_destroyjoin(FAR join_t *pjoin);
 EXTERN FAR join_t        *pthread_findjoininfo(pid_t pid);
 EXTERN int                pthread_givesemaphore(sem_t *sem);
 EXTERN FAR join_t        *pthread_removejoininfo(pid_t pid);

sched/pthread_join.c

@@ -82,12 +82,13 @@
  *
  * Return Value:
  *   0 if successful.  Otherwise, one of the following error codes:
- *       EINVAL  The value specified by thread does not refer to a
- *               joinable thread.
- *       ESRCH   No thread could be found corresponding to that
- *               specified by the given thread ID.
- *       EDEADLK A deadlock was detected or the value of thread
- *               specifies the calling thread.
+ *
+ *   EINVAL  The value specified by thread does not refer to a
+ *           joinable thread.
+ *   ESRCH   No thread could be found corresponding to that
+ *           specified by the given thread ID.
+ *   EDEADLK A deadlock was detected or the value of thread
+ *           specifies the calling thread.
  *
  * Assumptions:
  *
@@ -144,74 +145,99 @@ int pthread_join(pthread_t thread, pthread_addr_t *pexit_value)
        * case, it must be a task and not a pthread.
        */
 
-      else /* if ((tcb->flags & EDEADLK) == 0) */
+      else
         {
           ret = EINVAL;
         }
 
       (void)pthread_givesemaphore(&g_join_semaphore);
     }
-  else if (pjoin->terminated)
-    {
-      dbg("Thread has terminated\n");
-
-      /* Get the thread exit value from the terminated thread. */
-
-      if (pexit_value)
-        {
-          dbg("exit_value=0x%p\n", pjoin->exit_value);
-          *pexit_value = pjoin->exit_value;
-        }
-
-      /* Then remove and deallocate the thread entry. */
-
-      (void)pthread_removejoininfo((pid_t)thread);
-      (void)pthread_givesemaphore(&g_join_semaphore);
-      sched_free(pjoin);
-      ret = OK;
-    }
   else
     {
-      dbg("Thread is still running\n");
-
-      /* Relinquish the data set semaphore, making certain that
-       * no task has the opportunity to run between the time
-       * we relinquish the data set semaphore and the time that
-       * we wait on the join semaphore.
+      /* We found the join info structure.  Increment for the reference
+       * to the join structure that we have.  This will keep things
+       * stable for we have to do
        */
 
       sched_lock();
-      (void)pthread_givesemaphore(&g_join_semaphore);
+      pjoin->crefs++;
 
-      /* Take the thread's join semaphore */
-
-      (void)pthread_takesemaphore(&pjoin->exit_sem);
-
-      /* Get the thread exit value */
-
-      if (pexit_value)
-        {
-          *pexit_value = pjoin->exit_value;
-          dbg("exit_value=0x%p\n", pjoin->exit_value);
-        }
-
-      /* Then remove the thread entry. */
-
-      (void)pthread_removejoininfo((pid_t)thread);
-
-      /* Post the thread's join semaphore so that exitting thread
-       * will know that we have received the data.
+      /* Check if the thread is still running.  If not, then things are
+       * simpler.  There are still race conditions to be concerned with.
+       * For example, there could be multiple threads executing in the
+       * 'else' block below when we enter!
        */
 
-      (void)pthread_givesemaphore(&pjoin->data_sem);
+      if (pjoin->terminated)
+        {
+          dbg("Thread has terminated\n");
 
-      /* Pre-emption is okay now. */
+          /* Get the thread exit value from the terminated thread. */
+
+          if (pexit_value)
+            {
+              dbg("exit_value=0x%p\n", pjoin->exit_value);
+              *pexit_value = pjoin->exit_value;
+            }
+        }
+      else
+        {
+          dbg("Thread is still running\n");
+
+          /* Relinquish the data set semaphore.  Since pre-emption is
+           * disabled, we can be certain that no task has the
+           * opportunity to run between the time we relinquish the
+           * join semaphore and the time that we wait on the thread exit
+           * semaphore.
+           */
+
+          (void)pthread_givesemaphore(&g_join_semaphore);
+
+          /* Take the thread's thread exit semaphore.  We will sleep here
+           * until the thread exits.  We need to exercise caution because
+           * there could be multiple threads waiting here for the same
+           * pthread to exit.
+           */
+
+          (void)pthread_takesemaphore(&pjoin->exit_sem);
+
+          /* The thread has exited! Get the thread exit value */
+
+          if (pexit_value)
+            {
+             *pexit_value = pjoin->exit_value;
+              dbg("exit_value=0x%p\n", pjoin->exit_value);
+            }
+
+          /* Post the thread's data semaphore so that the exitting thread
+           * will know that we have received the data.
+           */
+
+          (void)pthread_givesemaphore(&pjoin->data_sem);
+
+          /* Retake the join semaphore, we need to hold this when
+           * pthread_destroyjoin is called.
+           */
+
+          (void)pthread_takesemaphore(&g_join_semaphore);
+        }
+
+      /* Pre-emption is okay now. The logic still cannot be re-entered
+       * because we hold the join semaphore
+       */
 
       sched_unlock();
 
-      /* Deallocate the thread entry */
+      /* Release our reference to the join structure and, if the reference
+       * count decrements to zero, deallocate the join structure.
+       */
+
+      if (--pjoin->crefs <= 0)
+        {
+          (void)pthread_destroyjoin(pjoin);
+        }
+      (void)pthread_givesemaphore(&g_join_semaphore);
 
-      sched_free(pjoin);
       ret = OK;
     }
 

sched/sem_wait.c

@@ -156,11 +156,13 @@ int sem_wait(sem_t *sem)
 
           /* Add the TCB to the prioritized semaphore wait queue */
 
+          *get_errno_ptr() = 0;
           up_block_task(rtcb, TSTATE_WAIT_SEM);
 
           /* When we resume at this point, either (1) the semaphore has been
            * assigned to this thread of execution, or (2) the semaphore wait
-           * has been interrupted by a signal.
+           * has been interrupted by a signal.  We can detect the latter case
+           * be examining the errno value.
            */
 
           if (*get_errno_ptr() != EINTR)

sched/sig_received.c

@@ -47,6 +47,7 @@
 #include "os_internal.h"
 #include "sem_internal.h"
 #include "sig_internal.h"
+#include "mq_internal.h"
 
 /************************************************************
  * Definitions
@@ -288,8 +289,8 @@ int sig_received(FAR _TCB *stcb, siginfo_t *info)
   irqstate_t saved_state;
   int        ret = ERROR;
 
-  dbg("sig_received: TCB=0x%08x signo=%d code=%d value=%d\n",
-      stcb, info->si_signo, info->si_code, info->si_value.sival_int);
+  dbg("sig_received: TCB=0x%08x signo=%d code=%d value=%d mask=%08x\n",
+      stcb, info->si_signo, info->si_code, info->si_value.sival_int, stcb->sigprocmask);
 
   if (stcb && info)
     {
@@ -362,25 +363,32 @@ int sig_received(FAR _TCB *stcb, siginfo_t *info)
 
           /* If the task neither was waiting for the signal nor had a signal
            * handler attached to the signal, then the default action is
-           * simply to ignore the signal */
-        }
+           * simply to ignore the signal
+           */
 
-      /****** OTHER SIGNAL HANDLING ******/
+          /****** OTHER SIGNAL HANDLING ******/
 
-      /* If the task is blocked waiting for a semaphore, then that
-       * task must be unblocked when a signal is received.
-       */
+         /* If the task is blocked waiting for a semaphore, then that
+          * task must be unblocked when a signal is received.
+          */
 
-      if (stcb->task_state == TSTATE_WAIT_SEM)
-        {
-          sem_waitirq(stcb);
-        }
+         if (stcb->task_state == TSTATE_WAIT_SEM)
+           {
+             sem_waitirq(stcb);
+           }
 
-      /* If the task is blocked waiting on a message queue, then that
-       * task must be unblocked when a signal is received.
-       */
+         /* If the task is blocked waiting on a message queue, then that
+          * task must be unblocked when a signal is received.
+          */
 
-      /* NOT YET IMPLEMENTED. */
+#ifndef CONFIG_DISABLE_MQUEUE
+        if (stcb->task_state == TSTATE_WAIT_MQNOTEMPTY ||
+            stcb->task_state == TSTATE_WAIT_MQNOTFULL)
+           {
+             mq_waitirq(stcb);
+           }
+#endif
+       }
    }
 
   return ret;

sched/task_delete.c

@@ -118,10 +118,12 @@ STATUS task_delete(pid_t pid)
   /* Make sure the task does not become ready-to-run while
    * we are futzing with its TCB by locking ourselves as the
    * executing task.
-   *
-   * Frist, find for the TCB associated with matching pid 
    */
 
+  sched_lock();
+
+  /* Find for the TCB associated with matching pid */
+
    dtcb = sched_gettcb(pid);
    if (!dtcb)
      {

sched/task_setup.c

@@ -187,11 +187,18 @@ STATUS task_schedsetup(FAR _TCB *tcb, int priority,
       tcb->start          = start;
       tcb->entry.main     = main;
 
-      /* Initialize other (non-zero) elements of the TCB */
+      /* exec() and pthread_create() inherit the signal mask of the
+       * parent thread.  I suppose that task_create() should as well.
+       */
 
 #ifndef CONFIG_DISABLE_SIGNALS
-      tcb->sigprocmask  = ALL_SIGNAL_SET;
+      (void)sigprocmask(SIG_SETMASK, NULL, &tcb->sigprocmask);
 #endif
+
+      /* Initialize the task state.  It does not get a valid state
+       * until it is activated.
+       */
+
       tcb->task_state   = TSTATE_TASK_INVALID;
 
       /* Initialize the processor-specific portion of the TCB */