git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@8950 35acf78f-673a-0410-8e92-d51de3d6d3f4

2 files changed, 31 insertions, 12 deletions

diff --git a/os/common/abstractions/nasa_osal/src/osapi.c b/os/common/abstractions/nasa_osal/src/osapi.c
index a367c339b..0a805a99a 100644
--- a/os/common/abstractions/nasa_osal/src/osapi.c
+++ b/os/common/abstractions/nasa_osal/src/osapi.c
@@ -1311,7 +1311,8 @@ int32 OS_TaskCreate(uint32 *task_id,
   /* Checking if this working area is already in use by some thread, the

      error code is not very appropriate but this case seems to not be

      coveded by the specification.*/

-  if ((tp = chRegFindThreadByWorkingArea((stkalign_t *)stack_pointer)) != NULL) {

+  tp = chRegFindThreadByWorkingArea((stkalign_t *)stack_pointer);

+  if (tp != NULL) {

     /* Releasing the thread reference.*/

     chThdRelease(tp);

     return OS_ERR_NO_FREE_IDS;

@@ -1339,8 +1340,10 @@ int32 OS_TaskCreate(uint32 *task_id,
     NULL

   };

 

-  /* Creating the task.*/

+  /* Creating the task and detaching it, other APIs will have to gain a

+     reference using the registry API.*/

   tp = chThdCreate(&td);

+  chThdRelease(tp);

 

   /* Storing the task id.*/

   *task_id = (uint32)tp;

@@ -1377,8 +1380,9 @@ int32 OS_TaskInstallDeleteHandler(void *function_pointer) {
  */

 int32 OS_TaskDelete(uint32 task_id) {

   thread_t *tp = (thread_t *)task_id;

+  funcptr_t fp;

 

-  /* Check for thread validity.*/

+  /* Check for thread validity, getting a reference.*/

   if (chRegFindThreadByPointer(tp) == NULL) {

     return OS_ERR_INVALID_ID;

   }

@@ -1386,17 +1390,17 @@ int32 OS_TaskDelete(uint32 task_id) {
   /* Asking for thread termination.*/

   chThdTerminate(tp);

 

-  /* Waiting for termination.*/

+  /* Getting the delete handler while the thread is still referenced.*/

+  fp = (funcptr_t)tp->osal_delete_handler;

+

+  /* Waiting for termination, releasing the reference.*/

   chThdWait(tp);

 

   /* Calling the delete handler, if defined.*/

-  if (tp->osal_delete_handler != NULL) {

-    ((funcptr_t)(tp->osal_delete_handler))();

+  if (fp != NULL) {

+    fp();

   }

 

-  /* Releasing the thread reference.*/

-  chThdRelease(tp);

-

   return OS_SUCCESS;

 }

 

diff --git a/os/rt/src/chthreads.c b/os/rt/src/chthreads.c
index e809fbb13..943ca7d7c 100644
--- a/os/rt/src/chthreads.c
+++ b/os/rt/src/chthreads.c
@@ -462,9 +462,9 @@ void chThdExit(msg_t msg) {
  * @details The thread goes in the @p CH_STATE_FINAL state holding the

  *          specified exit status code, other threads can retrieve the

  *          exit status code by invoking the function @p chThdWait().

- * @post    Exiting a thread that does not have references (detached)

- *          causes the thread to remain in the registry. It can only

- *          be removed by performing a registry scan operation.

+ * @post    Exiting a non-static thread that does not have references

+ *          (detached) causes the thread to remain in the registry.

+ *          It can only be removed by performing a registry scan operation.

  * @post    Eventual code after this function will never be executed,

  *          this function never returns. The compiler has no way to

  *          know this so do not assume that the compiler would remove

@@ -490,6 +490,21 @@ void chThdExitS(msg_t msg) {
   }

 #endif

 

+#if CH_CFG_USE_REGISTRY == TRUE

+  /* Static threads with no references are immediately removed from the

+     registry because there is no memory to recover.*/

+#if CH_CFG_USE_DYNAMIC == TRUE

+  if ((tp->refs == (trefs_t)0) &&

+      (tp->flags & CH_FLAG_MODE_MASK) == CH_FLAG_MODE_STATIC) {

+    REG_REMOVE(tp);

+  }

+#else

+  if (tp->refs == (trefs_t)0) {

+    REG_REMOVE(tp);

+  }

+#endif

+#endif

+

   /* Going into final state.*/

   chSchGoSleepS(CH_STATE_FINAL);