[mutex] 跨线程 rt_thread_delete 被删线程持有的mutex也一并释放

- 增加单元测试

Clarified mutex release conditions and added exception handling for closed owner threads.

src/ipc.c

@@ -1613,13 +1613,30 @@ rt_err_t rt_mutex_release(rt_mutex_t mutex)
 
     RT_OBJECT_HOOK_CALL(rt_object_put_hook, (&(mutex->parent.parent)));
 
-    /* mutex only can be released by owner */
+    /*
+     * Mutex can only be released by its owner.
+     * Exception: if the owner thread is already closed, allow other threads
+     * to release so the orphaned mutex can be cleaned up (e.g. cross-thread
+     * rt_thread_delete path in _thread_detach_from_mutex).
+     */
     if (thread != mutex->owner)
     {
-        thread->error = -RT_ERROR;
-        rt_spin_unlock(&(mutex->spinlock));
+        rt_bool_t owner_closed = RT_FALSE;
 
-        return -RT_ERROR;
+        if (mutex->owner != RT_NULL)
+        {
+            rt_sched_lock(&slvl);
+            owner_closed =
+                (rt_sched_thread_get_stat(mutex->owner) == RT_THREAD_CLOSE);
+            rt_sched_unlock(slvl);
+        }
+
+        if (!owner_closed)
+        {
+            thread->error = -RT_ERROR;
+            rt_spin_unlock(&(mutex->spinlock));
+            return -RT_ERROR;
+        }
     }
 
     /* decrease hold */
@@ -1627,13 +1644,16 @@ rt_err_t rt_mutex_release(rt_mutex_t mutex)
     /* if no hold */
     if (mutex->hold == 0)
     {
+        /* always restore priority of the owner, not the caller */
+        struct rt_thread *owner = mutex->owner;
+
         rt_sched_lock(&slvl);
 
         /* remove mutex from thread's taken list */
         rt_list_remove(&mutex->taken_list);
 
         /* whether change the thread priority */
-        need_schedule = _check_and_update_prio(thread, mutex);
+        need_schedule = _check_and_update_prio(owner, mutex);
 
         /* wakeup suspended thread */
         if (!rt_list_isempty(&mutex->parent.suspend_thread))

src/utest/mutex_tc.c

@@ -7,6 +7,7 @@
  * Date           Author       Notes
  * 2021-09.01     luckyzjq     the first version
  * 2023-09-15     xqyjlj       change stack size in cpu64
+ * 2026-07-15     meng-plus    add cross-thread delete owner regression (#11619)
  */
 
 /**
@@ -22,6 +23,7 @@
  * - Priority inheritance when high-priority threads are blocked by lower-priority holders
  * - Behavior differences between static and dynamic mutexes
  * - Mutex release error handling, invalid release, and cleanup
+ * - Cross-thread delete of a mutex owner must release the lock and wake waiters
  * Verification Metrics:
  * - Correct return codes for all mutex operations (RT_EOK, timeouts, error states)
  * - Proper priority inheritance and restoration during contention
@@ -790,6 +792,118 @@ static void test_recurse_lock(void)
     uassert_true(result == RT_EOK);
 }
 
+#ifdef RT_USING_HEAP
+/*
+ * Issue #11619: deleting a thread that still holds a mutex must not leave an
+ * orphan lock; waiters blocked on that mutex must be woken and acquire ownership.
+ */
+static volatile int _holder_ready;
+static volatile int _waiter_got;
+
+static void orphan_mutex_holder_entry(void *param)
+{
+    rt_mutex_t mutex = (rt_mutex_t)param;
+
+    if (rt_mutex_take(mutex, RT_WAITING_FOREVER) != RT_EOK)
+    {
+        uassert_true(RT_FALSE);
+        return;
+    }
+
+    _holder_ready = 1;
+
+    /* Hold forever until deleted by another thread */
+    while (1)
+    {
+        rt_thread_mdelay(1000);
+    }
+}
+
+static void orphan_mutex_waiter_entry(void *param)
+{
+    rt_err_t result;
+    rt_mutex_t mutex = (rt_mutex_t)param;
+
+    result = rt_mutex_take(mutex, RT_WAITING_FOREVER);
+    uassert_true(result == RT_EOK);
+
+    result = rt_mutex_release(mutex);
+    uassert_true(result == RT_EOK);
+
+    /* Signal after release so the main thread can take without racing */
+    _waiter_got = 1;
+}
+
+static void test_cross_thread_delete_mutex_owner(void)
+{
+    rt_err_t result;
+    rt_thread_t holder;
+    rt_thread_t waiter;
+    int timeout;
+
+    _holder_ready = 0;
+    _waiter_got = 0;
+
+    result = rt_mutex_init(&static_mutex, "orphan_mtx", RT_IPC_FLAG_PRIO);
+    uassert_true(result == RT_EOK);
+
+    /* Lower priority holder takes the mutex and keeps it */
+    holder = rt_thread_create("mtx_hold",
+                              orphan_mutex_holder_entry,
+                              &static_mutex,
+                              THREAD_STACKSIZE,
+                              12,
+                              10);
+    uassert_true(holder != RT_NULL);
+    rt_thread_startup(holder);
+
+    timeout = 100;
+    while ((_holder_ready == 0) && (timeout-- > 0))
+    {
+        rt_thread_mdelay(10);
+    }
+    uassert_true(_holder_ready == 1);
+
+    /* Higher priority waiter blocks on the held mutex */
+    waiter = rt_thread_create("mtx_wait",
+                              orphan_mutex_waiter_entry,
+                              &static_mutex,
+                              THREAD_STACKSIZE,
+                              10,
+                              10);
+    uassert_true(waiter != RT_NULL);
+    rt_thread_startup(waiter);
+
+    /* Ensure waiter is pending before cross-thread delete */
+    rt_thread_mdelay(50);
+    uassert_true(_waiter_got == 0);
+
+    result = rt_thread_delete(holder);
+    uassert_true(result == RT_EOK);
+
+    timeout = 100;
+    while ((_waiter_got == 0) && (timeout-- > 0))
+    {
+        rt_thread_mdelay(10);
+    }
+    uassert_true(_waiter_got == 1);
+
+    /* After waiter releases, mutex must be acquirable again */
+    result = rt_mutex_take(&static_mutex, rt_tick_from_millisecond(500));
+    uassert_true(result == RT_EOK);
+    uassert_true(rt_mutex_get_hold(&static_mutex) == 1);
+
+    result = rt_mutex_release(&static_mutex);
+    uassert_true(result == RT_EOK);
+
+    result = rt_mutex_detach(&static_mutex);
+    uassert_true(result == RT_EOK);
+
+    /* Let waiter thread exit cleanly */
+    rt_thread_mdelay(50);
+}
+#endif /* RT_USING_HEAP */
+
 static rt_err_t utest_tc_init(void)
 {
 #ifdef RT_USING_HEAP
@@ -821,6 +935,7 @@ static void testcase(void)
     UTEST_UNIT_RUN(test_dynamic_mutex_release);
     UTEST_UNIT_RUN(test_dynamic_mutex_trytake);
     UTEST_UNIT_RUN(test_dynamic_pri_reverse);
+    UTEST_UNIT_RUN(test_cross_thread_delete_mutex_owner);
 #endif
     UTEST_UNIT_RUN(test_recurse_lock);
 }