Merge branch 'master' into usbh_construct

17 files changed, 107 insertions, 50 deletions

diff --git a/components/libc/pthreads/mqueue.c b/components/libc/pthreads/mqueue.c
index 003b49b9a0..6840164a68 100644
--- a/components/libc/pthreads/mqueue.c
+++ b/components/libc/pthreads/mqueue.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -8,6 +8,7 @@
  */
 
 #include <string.h>
+#include <sys/signal.h>
 #include "mqueue.h"
 #include "pthread_internal.h"
 
@@ -243,7 +244,7 @@ ssize_t mq_timedreceive(mqd_t                  mqdes,
         return -1;
     }
 
-    tick = clock_time_to_tick(abs_timeout);
+    tick = rt_timespec_to_tick(abs_timeout);
 
     result = rt_mq_recv(mqdes->mq, msg_ptr, msg_len, tick);
     if (result == RT_EOK)
diff --git a/components/libc/pthreads/mqueue.h b/components/libc/pthreads/mqueue.h
index 5cadde3ae8..5152bfad29 100644
--- a/components/libc/pthreads/mqueue.h
+++ b/components/libc/pthreads/mqueue.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
diff --git a/components/libc/pthreads/posix_types.h b/components/libc/pthreads/posix_types.h
index ca20464bb5..5838e8b370 100644
--- a/components/libc/pthreads/posix_types.h
+++ b/components/libc/pthreads/posix_types.h
@@ -1,11 +1,11 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
  * Change Logs:
  * Date           Author       Notes
- * 2013-12-23     Bernard      Add the checking for ESHUTDOWN 
+ * 2013-12-23     Bernard      Add the checking for ESHUTDOWN
  */
 
 #ifndef __POSIX_TYPES_H__
@@ -19,16 +19,9 @@
 
 #include <sys/types.h>
 #include <sys/time.h>
-
-/* errno for Keil MDK */
-#if defined(__CC_ARM) || defined(__IAR_SYSTEMS_ICC__)
-#include <sys/errno.h>
-#include <sys/unistd.h>
-#else
 #include <unistd.h>
-#include <errno.h>
+#include <sys/errno.h>
 #include <fcntl.h>
-#endif
 
 #endif
 
diff --git a/components/libc/pthreads/pthread.c b/components/libc/pthreads/pthread.c
index 7430510bf2..b0bf39dff6 100644
--- a/components/libc/pthreads/pthread.c
+++ b/components/libc/pthreads/pthread.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -90,9 +90,30 @@ void _pthread_data_destroy(pthread_t pth)
 {
     RT_DECLARE_SPINLOCK(pth_lock);
 
+    extern _pthread_key_data_t _thread_keys[PTHREAD_KEY_MAX];
     _pthread_data_t *ptd = _pthread_get_data(pth);
     if (ptd)
     {
+        /* destruct thread local key */
+        if (ptd->tls != RT_NULL)
+        {
+            void *data;
+            rt_uint32_t index;
+            for (index = 0; index < PTHREAD_KEY_MAX; index ++)
+            {
+                if (_thread_keys[index].is_used)
+                {
+                    data = ptd->tls[index];
+                    if (data && _thread_keys[index].destructor)
+                        _thread_keys[index].destructor(data);
+                }
+            }
+
+            /* release tls area */
+            rt_free(ptd->tls);
+            ptd->tls = RT_NULL;
+        }
+
         /* remove from pthread table */
         rt_hw_spin_lock(&pth_lock);
         pth_table[pth] = NULL;
@@ -103,13 +124,17 @@ void _pthread_data_destroy(pthread_t pth)
             rt_sem_delete(ptd->joinable_sem);
 
         /* release thread resource */
-        if (ptd->attr.stackaddr == RT_NULL && ptd->tid->stack_addr != RT_NULL)
+        if (ptd->attr.stackaddr == RT_NULL)
         {
             /* release thread allocated stack */
-            rt_free(ptd->tid->stack_addr);
+            if (ptd->tid)
+            {
+                rt_free(ptd->tid->stack_addr);
+            }
         }
         /* clean stack addr pointer */
-        ptd->tid->stack_addr = RT_NULL;
+        if (ptd->tid)
+            ptd->tid->stack_addr = RT_NULL;
 
         /*
         * if this thread create the local thread data,
@@ -201,7 +226,7 @@ int pthread_create(pthread_t            *pid,
 
     /* allocate posix thread data */
     pth_id = _pthread_data_create();
-    if (pth_id == PTHREAD_NUM_MAX) 
+    if (pth_id == PTHREAD_NUM_MAX)
     {
         ret = ENOMEM;
         goto __exit;
@@ -209,6 +234,8 @@ int pthread_create(pthread_t            *pid,
     /* get pthread data */
     ptd = _pthread_get_data(pth_id);
 
+    RT_ASSERT(ptd != RT_NULL);
+
     if (attr != RT_NULL)
     {
         ptd->attr = *attr;
@@ -219,6 +246,12 @@ int pthread_create(pthread_t            *pid,
         pthread_attr_init(&ptd->attr);
     }
 
+    if (ptd->attr.stacksize == 0)
+    {
+        ret = EINVAL;
+        goto __exit;
+    }
+
     rt_snprintf(name, sizeof(name), "pth%02d", pthread_number ++);
 
     /* pthread is a static thread object */
@@ -267,7 +300,7 @@ int pthread_create(pthread_t            *pid,
     /* initial this pthread to system */
     if (rt_thread_init(ptd->tid, name, pthread_entry_stub, ptd,
                        stack, ptd->attr.stacksize,
-                       ptd->attr.schedparam.sched_priority, 5) != RT_EOK)
+                       ptd->attr.schedparam.sched_priority, 20) != RT_EOK)
     {
         ret = EINVAL;
         goto __exit;
@@ -299,6 +332,12 @@ int pthread_detach(pthread_t thread)
 {
     int ret = 0;
     _pthread_data_t *ptd = _pthread_get_data(thread);
+    if (ptd == RT_NULL)
+    {
+        /* invalid pthread id */
+        ret = EINVAL;
+        goto __exit;
+    }
 
     rt_enter_critical();
     if (ptd->attr.detachstate == PTHREAD_CREATE_DETACHED)
@@ -360,6 +399,12 @@ int pthread_join(pthread_t thread, void **value_ptr)
     rt_err_t result;
 
     ptd = _pthread_get_data(thread);
+
+    if (ptd == RT_NULL)
+    {
+        return EINVAL; /* invalid pthread id */
+    }
+
     if (ptd && ptd->tid == rt_thread_self())
     {
         /* join self */
@@ -367,7 +412,9 @@ int pthread_join(pthread_t thread, void **value_ptr)
     }
 
     if (ptd->attr.detachstate == PTHREAD_CREATE_DETACHED)
+    {
         return EINVAL; /* join on a detached pthread */
+    }
 
     result = rt_sem_take(ptd->joinable_sem, RT_WAITING_FOREVER);
     if (result == RT_EOK)
@@ -444,7 +491,7 @@ void pthread_exit(void *value)
             if (_thread_keys[index].is_used)
             {
                 data = ptd->tls[index];
-                if (data)
+                if (data && _thread_keys[index].destructor)
                     _thread_keys[index].destructor(data);
             }
         }
@@ -491,14 +538,21 @@ int pthread_kill(pthread_t thread, int sig)
 {
 #ifdef RT_USING_SIGNALS
     _pthread_data_t *ptd;
+    int ret;
 
     ptd = _pthread_get_data(thread);
     if (ptd)
     {
-        return rt_thread_kill(ptd->tid, sig);
+        ret = rt_thread_kill(ptd->tid, sig);
+        if (ret == -RT_EINVAL)
+        {
+            return EINVAL;
+        }
+
+        return ret;
     }
 
-    return EINVAL;
+    return ESRCH;
 #else
     return ENOSYS;
 #endif
@@ -662,7 +716,10 @@ int pthread_cancel(pthread_t thread)
 
     /* get posix thread data */
     ptd = _pthread_get_data(thread);
-    RT_ASSERT(ptd != RT_NULL);
+    if (ptd == RT_NULL)
+    {
+        return EINVAL;
+    }
 
     /* cancel self */
     if (ptd->tid == rt_thread_self())
@@ -688,3 +745,4 @@ int pthread_cancel(pthread_t thread)
     return 0;
 }
 RTM_EXPORT(pthread_cancel);
+
diff --git a/components/libc/pthreads/pthread.h b/components/libc/pthreads/pthread.h
index 7bb72b726c..177b2539c5 100644
--- a/components/libc/pthreads/pthread.h
+++ b/components/libc/pthreads/pthread.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -161,7 +161,7 @@ int pthread_attr_getguardsize(pthread_attr_t const *attr, size_t *guard_size);
 int pthread_attr_setscope(pthread_attr_t *attr, int scope);
 int pthread_attr_getscope(pthread_attr_t const *attr);
 int pthread_system_init(void);
-int pthread_create (pthread_t *tid, const pthread_attr_t *attr, 
+int pthread_create (pthread_t *tid, const pthread_attr_t *attr,
     void *(*start) (void *), void *arg);
 
 int pthread_detach (pthread_t thread);
@@ -265,6 +265,11 @@ int pthread_barrier_init(pthread_barrier_t           *barrier,
 
 int pthread_barrier_wait(pthread_barrier_t *barrier);
 
+int pthread_setspecific(pthread_key_t key, const void *value);
+void *pthread_getspecific(pthread_key_t key);
+int pthread_key_create(pthread_key_t *key, void (*destructor)(void *));
+int pthread_key_delete(pthread_key_t key);
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/components/libc/pthreads/pthread_attr.c b/components/libc/pthreads/pthread_attr.c
index 2294599bf3..4aedf5a90d 100644
--- a/components/libc/pthreads/pthread_attr.c
+++ b/components/libc/pthreads/pthread_attr.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -16,7 +16,7 @@
 #define DEFAULT_STACK_SIZE  2048
 #define DEFAULT_PRIORITY    (RT_THREAD_PRIORITY_MAX/2 + RT_THREAD_PRIORITY_MAX/4)
 
-const pthread_attr_t pthread_default_attr = 
+const pthread_attr_t pthread_default_attr =
 {
     0,                          /* stack base */
     DEFAULT_STACK_SIZE,         /* stack size */
diff --git a/components/libc/pthreads/pthread_barrier.c b/components/libc/pthreads/pthread_barrier.c
index d76fe7f13f..1a5b7fa3f9 100644
--- a/components/libc/pthreads/pthread_barrier.c
+++ b/components/libc/pthreads/pthread_barrier.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
diff --git a/components/libc/pthreads/pthread_cond.c b/components/libc/pthreads/pthread_cond.c
index 38dc697469..9bf49704ed 100644
--- a/components/libc/pthreads/pthread_cond.c
+++ b/components/libc/pthreads/pthread_cond.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -84,10 +84,10 @@ int pthread_cond_init(pthread_cond_t *cond, const pthread_condattr_t *attr)
 
     rt_snprintf(cond_name, sizeof(cond_name), "cond%02d", cond_num++);
 
-	if (attr == RT_NULL) /* use default value */
-		cond->attr = PTHREAD_PROCESS_PRIVATE;
-	else 
-	    cond->attr = *attr;
+    if (attr == RT_NULL) /* use default value */
+        cond->attr = PTHREAD_PROCESS_PRIVATE;
+    else
+        cond->attr = *attr;
 
     result = rt_sem_init(&cond->sem, cond_name, 0, RT_IPC_FLAG_FIFO);
     if (result != RT_EOK)
@@ -222,7 +222,7 @@ int pthread_cond_timedwait(pthread_cond_t        *cond,
     int timeout;
     rt_err_t result;
 
-    timeout = clock_time_to_tick(abstime);
+    timeout = rt_timespec_to_tick(abstime);
     result = _pthread_cond_timedwait(cond, mutex, timeout);
     if (result == RT_EOK)
         return 0;
diff --git a/components/libc/pthreads/pthread_internal.h b/components/libc/pthreads/pthread_internal.h
index 240741e21a..1fce29f636 100644
--- a/components/libc/pthreads/pthread_internal.h
+++ b/components/libc/pthreads/pthread_internal.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
diff --git a/components/libc/pthreads/pthread_mutex.c b/components/libc/pthreads/pthread_mutex.c
index 8f96531782..a681380b11 100644
--- a/components/libc/pthreads/pthread_mutex.c
+++ b/components/libc/pthreads/pthread_mutex.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -211,7 +211,7 @@ int pthread_mutex_unlock(pthread_mutex_t *mutex)
     result = rt_mutex_release(&(mutex->lock));
     if (result == RT_EOK)
         return 0;
-    
+
     return EINVAL;
 }
 RTM_EXPORT(pthread_mutex_unlock);
diff --git a/components/libc/pthreads/pthread_rwlock.c b/components/libc/pthreads/pthread_rwlock.c
index 64a0e221b4..1c2fe19f5f 100644
--- a/components/libc/pthreads/pthread_rwlock.c
+++ b/components/libc/pthreads/pthread_rwlock.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -60,7 +60,7 @@ int pthread_rwlock_init(pthread_rwlock_t           *rwlock,
     pthread_mutex_init(&(rwlock->rw_mutex), NULL);
     pthread_cond_init(&(rwlock->rw_condreaders), NULL);
     pthread_cond_init(&(rwlock->rw_condwriters), NULL);
-    
+
     rwlock->rw_nwaitwriters = 0;
     rwlock->rw_nwaitreaders = 0;
     rwlock->rw_refcount = 0;
@@ -117,7 +117,7 @@ int pthread_rwlock_destroy (pthread_rwlock_t *rwlock)
     pthread_mutex_unlock(&rwlock->rw_mutex);
     if (result == 0)
         pthread_mutex_destroy(&rwlock->rw_mutex);
-    
+
     return result;
 }
 RTM_EXPORT(pthread_rwlock_destroy);
@@ -234,7 +234,7 @@ int pthread_rwlock_timedwrlock(pthread_rwlock_t      *rwlock,
         result = pthread_cond_timedwait(&rwlock->rw_condwriters, &rwlock->rw_mutex, abstime);
         /* rw_mutex should have been taken again when returned from waiting */
         rwlock->rw_nwaitwriters--;
-        
+
         if (result != 0)
             break;
     }
@@ -324,7 +324,7 @@ int pthread_rwlock_wrlock(pthread_rwlock_t *rwlock)
         result = pthread_cond_wait(&rwlock->rw_condwriters, &rwlock->rw_mutex);
         /* rw_mutex should have been taken again when returned from waiting */
         rwlock->rw_nwaitwriters--;
-        
+
         if (result != 0)
             break;
     }
diff --git a/components/libc/pthreads/pthread_spin.c b/components/libc/pthreads/pthread_spin.c
index b31f4f6393..3f3dc1593c 100644
--- a/components/libc/pthreads/pthread_spin.c
+++ b/components/libc/pthreads/pthread_spin.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
diff --git a/components/libc/pthreads/pthread_tls.c b/components/libc/pthreads/pthread_tls.c
index 4b97d796d9..d48df7f2dd 100644
--- a/components/libc/pthreads/pthread_tls.c
+++ b/components/libc/pthreads/pthread_tls.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
diff --git a/components/libc/pthreads/sched.c b/components/libc/pthreads/sched.c
index a1bf50985e..5f2a53c01f 100644
--- a/components/libc/pthreads/sched.c
+++ b/components/libc/pthreads/sched.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
diff --git a/components/libc/pthreads/sched.h b/components/libc/pthreads/sched.h
index dbaf66edc2..07e2c0c6a8 100644
--- a/components/libc/pthreads/sched.h
+++ b/components/libc/pthreads/sched.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
diff --git a/components/libc/pthreads/semaphore.c b/components/libc/pthreads/semaphore.c
index 2ed93e99b6..5e59ae850f 100644
--- a/components/libc/pthreads/semaphore.c
+++ b/components/libc/pthreads/semaphore.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -186,7 +186,7 @@ int sem_init(sem_t *sem, int pshared, unsigned int value)
 
     rt_snprintf(name, sizeof(name), "psem%02d", psem_number++);
     sem->sem = rt_sem_create(name, value, RT_IPC_FLAG_FIFO);
-    if (sem == RT_NULL)
+    if (sem->sem == RT_NULL)
     {
         rt_set_errno(ENOMEM);
 
@@ -319,7 +319,7 @@ int sem_timedwait(sem_t *sem, const struct timespec *abs_timeout)
         return EINVAL;
 
     /* calculate os tick */
-    tick = clock_time_to_tick(abs_timeout);
+    tick = rt_timespec_to_tick(abs_timeout);
 
     result = rt_sem_take(sem->sem, tick);
     if (result == -RT_ETIMEOUT)
diff --git a/components/libc/pthreads/semaphore.h b/components/libc/pthreads/semaphore.h
index d135ae9261..872226e385 100644
--- a/components/libc/pthreads/semaphore.h
+++ b/components/libc/pthreads/semaphore.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *