freertos: prvCheckTasksWaitingTermination bugfix

Bugfix to prevent a self deleting no affinity task's memory from being freed by the
idle task of the other core before the self deleting no affinity task is able to context
switch out.  prvCheckTasksWaitingTermination now checks if the task is still on
pxCurrentTCB before freeing task memory.

diff --git a/components/freertos/tasks.c b/components/freertos/tasks.c
index ff5c46bb4034df9522856b8f60e00cb9053e915f..e95a8b04bc6bfeee23e567d61487ba501efb5431 100644 (file)
--- a/components/freertos/tasks.c
+++ b/components/freertos/tasks.c
@@ -3643,10 +3643,15 @@ static void prvCheckTasksWaitingTermination( void )
                                        /* We only want to kill tasks that ran on this core because e.g. _xt_coproc_release needs to
                                        be called on the core the process is pinned on, if any */
                                        ListItem_t *target = listGET_HEAD_ENTRY(&xTasksWaitingTermination);
-                                       for( ; target != listGET_END_MARKER(&xTasksWaitingTermination); target = listGET_NEXT(target) ){
-                                               int coreid = (( TCB_t * )listGET_LIST_ITEM_OWNER(target))->xCoreID;
-                                               if(coreid == core || coreid == tskNO_AFFINITY){         //Find first item not pinned to other core
-                                                       pxTCB = ( TCB_t * )listGET_LIST_ITEM_OWNER(target);
+                                       for( ; target != listGET_END_MARKER(&xTasksWaitingTermination); target = listGET_NEXT(target) ){        //Walk the list
+                                               TCB_t *tgt_tcb = ( TCB_t * )listGET_LIST_ITEM_OWNER(target);
+                                               int affinity = tgt_tcb->xCoreID;
+                                               //Self deleting tasks are added to Termination List before they switch context. Ensure they aren't still currently running
+                                               if( pxCurrentTCB[core] == tgt_tcb || (portNUM_PROCESSORS > 1 && pxCurrentTCB[!core] == tgt_tcb) ){
+                                                       continue;       //Can't free memory of task that is still running
+                                               }
+                                               if(affinity == core || affinity == tskNO_AFFINITY){             //Find first item not pinned to other core
+                                                       pxTCB = tgt_tcb;
                                                        break;
                                                }
                                        }

diff --git a/components/freertos/test/test_freertos_task_delete.c b/components/freertos/test/test_freertos_task_delete.c
index 72f5cc85adc870b30602e1d59739b0e4ac86e85b..7c3394cbe6b91a811453b062b581e8cd63518c82 100644 (file)
--- a/components/freertos/test/test_freertos_task_delete.c
+++ b/components/freertos/test/test_freertos_task_delete.c
@@ -17,6 +17,7 @@
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 #include "esp_heap_caps.h"
+#include "rom/ets_sys.h"
 
 #include "unity.h"
 
@@ -24,6 +25,8 @@
 #define DELAY_TICKS 2
 #define HEAP_CAPS   (MALLOC_CAP_INTERNAL|MALLOC_CAP_DEFAULT)
 
+#define DELAY_US_ITERATIONS    1000
+
 
 static void tsk_self_del(void *param)
 {
@@ -35,6 +38,13 @@ static void tsk_extern_del(void *param)
     vTaskDelay(portMAX_DELAY);  //Await external deletion
 }
 
+static void tsk_self_del_us_delay(void *param)
+{
+    uint32_t delay = (uint32_t)param;
+    ets_delay_us(delay);
+    vTaskDelete(NULL);
+}
+
 TEST_CASE("FreeRTOS Delete Tasks", "[freertos]")
 {
 /* -------------- Test vTaskDelete() on currently running tasks ----------------*/
@@ -63,4 +73,11 @@ TEST_CASE("FreeRTOS Delete Tasks", "[freertos]")
     }
     TEST_ASSERT_EQUAL(before_heap, heap_caps_get_free_size(HEAP_CAPS));
 
+/* Test self deleting no affinity task is not removed by idle task of other core before context switch */
+    for(int i = 0; i < DELAY_US_ITERATIONS; i+= 10){
+        vTaskDelay(1);                          //Sync to next tick interrupt
+        xTaskCreatePinnedToCore(tsk_self_del_us_delay, "delay", 1024, (void *)i, UNITY_FREERTOS_PRIORITY - 1, NULL, tskNO_AFFINITY);
+        ets_delay_us(10);                       //Busy wait to ensure no affinity task runs on opposite core
+    }
+
 }