Merge pull request #6523 from BernardXiong/nested_mutex

[Kernel] Add nested mutex feature

components/finsh/cmd.c

@@ -411,9 +411,9 @@ long list_mutex(void)
 
     maxlen = RT_NAME_MAX;
 
-    rt_kprintf("%-*.s   owner  hold suspend thread\n", maxlen, item_title);
+    rt_kprintf("%-*.s   owner  hold suspend thread priority\n", maxlen, item_title);
     object_split(maxlen);
-    rt_kprintf(" -------- ---- --------------\n");
+    rt_kprintf(" -------- ---- -------------- --------\n");
 
     do
     {
@@ -436,13 +436,14 @@ long list_mutex(void)
                 rt_hw_interrupt_enable(level);
 
                 m = (struct rt_mutex *)obj;
-                rt_kprintf("%-*.*s %-8.*s %04d %d\n",
+                rt_kprintf("%-*.*s %-8.*s %04d %d              %d\n",
                            maxlen, RT_NAME_MAX,
                            m->parent.parent.name,
                            RT_NAME_MAX,
                            m->owner->name,
                            m->hold,
-                           rt_list_len(&m->parent.suspend_thread));
+                           rt_list_len(&m->parent.suspend_thread),
+                           m->priority);
 
             }
         }

include/rtdef.h

@@ -673,12 +673,19 @@ struct rt_thread
 
     /* priority */
     rt_uint8_t  current_priority;                       /**< current priority */
+    rt_uint8_t  init_priority;                          /**< initialized priority */
 #if RT_THREAD_PRIORITY_MAX > 32
     rt_uint8_t  number;
     rt_uint8_t  high_mask;
 #endif /* RT_THREAD_PRIORITY_MAX > 32 */
     rt_uint32_t number_mask;
 
+#ifdef RT_USING_MUTEX
+    /* object for IPC */
+    rt_list_t taken_object_list;
+    rt_object_t pending_object;
+#endif
+
 #ifdef RT_USING_EVENT
     /* thread event */
     rt_uint32_t event_set;
@@ -772,12 +779,13 @@ struct rt_mutex
 {
     struct rt_ipc_object parent;                        /**< inherit from ipc_object */
 
-    rt_uint16_t          value;                         /**< value of mutex */
-
-    rt_uint8_t           original_priority;             /**< priority of last thread hold the mutex */
+    rt_uint8_t           ceiling_priority;              /**< the priority ceiling of mutexe */
+    rt_uint8_t           priority;                      /**< the maximal priority for pending thread */
     rt_uint8_t           hold;                          /**< numbers of thread hold the mutex */
+    rt_uint8_t           reserved;                      /**< reserved field */
 
     struct rt_thread    *owner;                         /**< current owner of mutex */
+    rt_list_t            taken_list;                    /**< the object list taken by thread */
 };
 typedef struct rt_mutex *rt_mutex_t;
 #endif /* RT_USING_MUTEX */

include/rtthread.h

@@ -368,6 +368,9 @@ rt_err_t rt_mutex_detach(rt_mutex_t mutex);
 rt_mutex_t rt_mutex_create(const char *name, rt_uint8_t flag);
 rt_err_t rt_mutex_delete(rt_mutex_t mutex);
 #endif
+void rt_mutex_drop_thread(rt_mutex_t mutex, rt_thread_t thread);
+rt_uint8_t rt_mutex_setprioceiling(rt_mutex_t mutex, rt_uint8_t priority);
+rt_uint8_t rt_mutex_getprioceiling(rt_mutex_t mutex);
 
 rt_err_t rt_mutex_take(rt_mutex_t mutex, rt_int32_t timeout);
 rt_err_t rt_mutex_trytake(rt_mutex_t mutex);

src/thread.c

@@ -31,6 +31,7 @@
  * 2021-12-27     Meco Man     remove .init_priority
  * 2022-01-07     Gabriel      Moving __on_rt_xxxxx_hook to thread.c
  * 2022-01-24     THEWON       let rt_thread_sleep return thread->error when using signal
+ * 2022-10-15     Bernard      add nested mutex feature
  */
 
 #include <rthw.h>
@@ -187,10 +188,16 @@ static rt_err_t _thread_init(struct rt_thread *thread,
 
     /* priority init */
     RT_ASSERT(priority < RT_THREAD_PRIORITY_MAX);
+    thread->init_priority    = priority;
     thread->current_priority = priority;
 
     thread->number_mask = 0;
 
+#ifdef RT_USING_MUTEX
+    rt_list_init(&thread->taken_object_list);
+    thread->pending_object = RT_NULL;
+#endif
+
 #ifdef RT_USING_EVENT
     thread->event_set = 0;
     thread->event_info = 0;
@@ -420,6 +427,16 @@ rt_err_t rt_thread_detach(rt_thread_t thread)
     /* change stat */
     thread->stat = RT_THREAD_CLOSE;
 
+#ifdef RT_USING_MUTEX
+    if ((thread->pending_object) &&
+        (rt_object_get_type(thread->pending_object) == RT_Object_Class_Mutex))
+    {
+        struct rt_mutex *mutex = (struct rt_mutex*)thread->pending_object;
+        rt_mutex_drop_thread(mutex, thread);
+        thread->pending_object = RT_NULL;
+    }
+#endif
+
     /* insert to defunct thread list */
     rt_thread_defunct_enqueue(thread);
 
@@ -523,6 +540,16 @@ rt_err_t rt_thread_delete(rt_thread_t thread)
     /* change stat */
     thread->stat = RT_THREAD_CLOSE;
 
+#ifdef RT_USING_MUTEX
+    if ((thread->pending_object) &&
+        (rt_object_get_type(thread->pending_object) == RT_Object_Class_Mutex))
+    {
+        struct rt_mutex *mutex = (struct rt_mutex*)thread->pending_object;
+        rt_mutex_drop_thread(mutex, thread);
+        thread->pending_object = RT_NULL;
+    }
+#endif
+
     /* insert to defunct thread list */
     rt_thread_defunct_enqueue(thread);