1 files changed, 158 insertions, 0 deletions
diff --git a/posix_api/psx_task_restart/psx_task_restart.c b/posix_api/psx_task_restart/psx_task_restart.c
new file mode 100644
index 0000000..35bfa4a
--- /dev/null
+++ b/posix_api/psx_task_restart/psx_task_restart.c
@@ -0,0 +1,158 @@
+/*
+ *  Program to test restarting a POSIX thread
+ */
+
+/*
+ * Copyright 2021 Joel Sherrill (joel@rtems.org)
+ *
+ * This file's license is 2-clause BSD as in this distribution's LICENSE.2 file.
+ */
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <inttypes.h>
+#include <pthread.h>
+#include <assert.h>
+
+#include <rtems.h>
+#include <rtems/bspIo.h>
+
+#define HEALTH_EVENT 1
+
+pthread_t Health_thread_id;
+pthread_t Faulting_thread_id;
+
+void print_priority(const char *name)
+{
+  rtems_status_code    status;
+  rtems_task_priority  current;
+
+  status = rtems_task_set_priority(RTEMS_SELF, RTEMS_CURRENT_PRIORITY, &current);
+  assert(status == RTEMS_SUCCESSFUL);
+  
+  printk("%s priority --> %d\n", name, current);
+}
+
+rtems_task Health_Thread(rtems_task_argument arg)
+{
+  rtems_status_code status;
+  rtems_event_set   events;
+
+  (void) arg;
+
+  printk("Health Thread entered\n");
+  print_priority("Health thread"); 
+
+  while (1) {
+    status = rtems_event_receive(
+      HEALTH_EVENT,
+      RTEMS_DEFAULT_OPTIONS,  /* block forever */
+      RTEMS_NO_TIMEOUT,
+      &events
+    );
+    assert(status == RTEMS_SUCCESSFUL);
+
+    printk("Health Thread restarting Faulting thread\n");
+    status = rtems_task_restart(Faulting_thread_id, 1);
+    assert(status == RTEMS_SUCCESSFUL);
+  }
+
+  printk("Health Thread exiting\n");
+}
+
+void *Faulting_thread(void *arg)
+{
+  rtems_status_code status;
+
+  printk("Faulting thread entered: %p\n", arg);
+  print_priority("Faulting thread"); 
+
+#if USE_PTHREADS
+  int rc;
+  rc = pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
+  assert(rc ==  0);
+#endif
+  if (arg == (void *) 1) {
+    printk( "Faulting thread Successfully restarted\n");
+    puts( "*** END OF POSIX Thread Restart ***" );
+    exit( 0 );
+  } else {
+    printk( "Faulting thread sending health event\n");
+    status = rtems_event_send(Health_thread_id, HEALTH_EVENT);
+    assert(status == RTEMS_SUCCESSFUL);
+
+    printk( "Faulting thread should not be here\n");
+    /* Do we get restarted or return to here? */
+    while (1) { }
+  };
+  return NULL;
+}
+
+void start_health_thread(void)
+{
+  rtems_status_code     status;
+
+  /* Does not matter is Health thread is higher or lower priority */
+  status = rtems_task_create(
+    rtems_build_name('H','L','T','H'),
+    0,
+    16 * 1024,
+    RTEMS_DEFAULT_MODES,
+    RTEMS_SYSTEM_TASK,
+    &Health_thread_id
+  );
+  assert(status == RTEMS_SUCCESSFUL);
+
+  status = rtems_task_start(Health_thread_id, Health_Thread, 0);
+  assert(status == RTEMS_SUCCESSFUL);
+}
+
+void start_faulting_thread(void)
+{
+  rtems_status_code     status;
+
+#if USE_PTHREADS
+  int                  rc;
+  rtems_task_priority  old;
+  
+  printk("Main: pthread_create faulting ... \n");
+  rc = pthread_create(&Faulting_thread_id, NULL, Faulting_thread, NULL);
+  assert(rc == 0);
+
+  status = rtems_task_set_priority(Faulting_thread_id, 2, &old);
+  assert(status == RTEMS_SUCCESSFUL);
+
+#else
+  printk("Main: rtems_task_create faulting ... \n");
+
+  status = rtems_task_create(
+    rtems_build_name('F','A','L','T'),
+    1,
+    16 * 1024,
+    RTEMS_DEFAULT_MODES,
+    RTEMS_DEFAULT_ATTRIBUTES,
+    &Faulting_thread_id
+  );
+  assert(status == RTEMS_SUCCESSFUL);
+
+  status = rtems_task_start(Faulting_thread_id, (rtems_task_entry)Faulting_thread, 0);
+  assert(status == RTEMS_SUCCESSFUL);
+
+#endif
+}
+
+int main()
+{
+  puts( "*** POSIX Thread Restart ***" );
+
+  print_priority("main");
+
+  start_health_thread();
+
+  start_faulting_thread();
+
+  sleep(5);
+
+  printk("main() - Should not get here");
+  assert(0);
+}