[kernel][mutex] fix bug of thread exit without releasing mutex & add error check log

bsp/apm32/apm32f030r8-miniboard/rtconfig.py

@@ -28,7 +28,7 @@
 if os.getenv('RTT_EXEC_PATH'):
  EXEC_PATH = os.getenv('RTT_EXEC_PATH')
 
-BUILD = 'debug'
+BUILD = 'release'
 
 if PLATFORM == 'gcc':
  # toolchains

bsp/apm32/apm32f051r8-evalboard/rtconfig.py

@@ -28,7 +28,7 @@
 if os.getenv('RTT_EXEC_PATH'):
  EXEC_PATH = os.getenv('RTT_EXEC_PATH')
 
-BUILD = 'debug'
+BUILD = 'release'
 
 if PLATFORM == 'gcc':
  # toolchains

src/ipc.c

@@ -1349,7 +1349,7 @@ static rt_err_t _rt_mutex_take(rt_mutex_t mutex, rt_int32_t timeout, int suspend
 
  if (mutex->owner == thread)
  {
- if(mutex->hold < RT_MUTEX_HOLD_MAX)
+ if (mutex->hold < RT_MUTEX_HOLD_MAX)
  {
  /* it's the same thread */
  mutex->hold ++;

src/thread.c

@@ -76,6 +76,44 @@ void rt_thread_resume_sethook(void (*hook)(rt_thread_t thread))
 RT_OBJECT_HOOKLIST_DEFINE(rt_thread_inited);
 #endif /* defined(RT_USING_HOOK) && defined(RT_HOOK_USING_FUNC_PTR) */
 
+#ifdef RT_USING_MUTEX
+static void _thread_detach_from_mutex(rt_thread_t thread)
+{
+ rt_list_t *node;
+ rt_list_t *tmp_list;
+ struct rt_mutex *mutex;
+ rt_base_t level;
+
+ level = rt_spin_lock_irqsave(&thread->spinlock);
+
+ /* check if thread is waiting on a mutex */
+ if ((thread->pending_object) &&
+ (rt_object_get_type(thread->pending_object) == RT_Object_Class_Mutex))
+ {
+ /* remove it from its waiting list */
+ struct rt_mutex *mutex = (struct rt_mutex*)thread->pending_object;
+ rt_mutex_drop_thread(mutex, thread);
+ thread->pending_object = RT_NULL;
+ }
+
+ /* free taken mutex after detaching from waiting, so we don't lost mutex just got */
+ rt_list_for_each_safe(node, tmp_list, &(thread->taken_object_list))
+ {
+ mutex = rt_list_entry(node, struct rt_mutex, taken_list);
+ LOG_D("Thread [%s] exits while holding mutex [%s].\n", thread->parent.name, mutex->parent.parent.name);
+ /* recursively take */
+ mutex->hold = 1;
+ rt_mutex_release(mutex);
+ }
+
+ rt_spin_unlock_irqrestore(&thread->spinlock, level);
+}
+
+#else
+
+static void _thread_detach_from_mutex(rt_thread_t thread) {}
+#endif
+
 static void _thread_exit(void)
 {
  struct rt_thread *thread;
@@ -88,6 +126,8 @@ static void _thread_exit(void)
 
  rt_thread_close(thread);
 
+ _thread_detach_from_mutex(thread);
+
  /* insert to defunct thread list */
  rt_thread_defunct_enqueue(thread);
 
@@ -133,41 +173,6 @@ static void _thread_timeout(void *parameter)
  rt_sched_unlock_n_resched(slvl);
 }
 
-#ifdef RT_USING_MUTEX
-static void _thread_detach_from_mutex(rt_thread_t thread)
-{
- rt_list_t *node;
- rt_list_t *tmp_list;
- struct rt_mutex *mutex;
- rt_base_t level;
-
- level = rt_spin_lock_irqsave(&thread->spinlock);
-
- /* check if thread is waiting on a mutex */
- if ((thread->pending_object) &&
- (rt_object_get_type(thread->pending_object) == RT_Object_Class_Mutex))
- {
- /* remove it from its waiting list */
- struct rt_mutex *mutex = (struct rt_mutex*)thread->pending_object;
- rt_mutex_drop_thread(mutex, thread);
- thread->pending_object = RT_NULL;
- }
-
- /* free taken mutex after detaching from waiting, so we don't lost mutex just got */
- rt_list_for_each_safe(node, tmp_list, &(thread->taken_object_list))
- {
- mutex = rt_list_entry(node, struct rt_mutex, taken_list);
- rt_mutex_release(mutex);
- }
-
- rt_spin_unlock_irqrestore(&thread->spinlock, level);
-}
-
-#else
-
-static void _thread_detach_from_mutex(rt_thread_t thread) {}
-#endif
-
 static rt_err_t _thread_init(struct rt_thread *thread,
  const char *name,
  void (*entry)(void *parameter),