mutex: Use panic() after ISR lock release

Using panic() with interrupts disabled could lead to an additional error
(INTERNAL_ERROR_BAD_THREAD_DISPATCH_ENVIRONMENT) due to a potentially
blocking output.

rtemsbsd/include/machine/rtems-bsd-muteximpl.h

@@ -8,7 +8,7 @@
  */
 
 /*
- * Copyright (c) 2014, 2017 embedded brains GmbH.  All rights reserved.
+ * Copyright (c) 2014, 2018 embedded brains GmbH.  All rights reserved.
  *
  *  embedded brains GmbH
  *  Dornierstr. 4
@@ -46,6 +46,9 @@
 
 #include <sys/types.h>
 #include <sys/lock.h>
+#include <sys/systm.h>
+
+#include <inttypes.h>
 
 #include <rtems/score/threadimpl.h>
 #include <rtems/score/threadqimpl.h>
@@ -160,7 +163,12 @@ rtems_bsd_mutex_trylock(struct lock_object *lock, rtems_bsd_mutex *m)
 		_Thread_Resource_count_increment(executing);
 		success = 1;
 	} else if (owner == executing) {
-		BSD_ASSERT(lock->lo_flags & LO_RECURSABLE);
+		if ((lock->lo_flags & LO_RECURSABLE) == 0) {
+			rtems_bsd_mutex_release(m, isr_level, &queue_context);
+			panic("mutex trylock: %s: not LO_RECURSABLE\n",
+			    m->queue.Queue.name);
+		}
+
 		++m->nest_level;
 		success = 1;
 	} else {
@@ -178,6 +186,7 @@ rtems_bsd_mutex_unlock(rtems_bsd_mutex *m)
 	ISR_Level isr_level;
 	Thread_queue_Context queue_context;
 	Thread_Control *owner;
+	Thread_Control *executing;
 	int nest_level;
 
 	_Thread_queue_Context_initialize(&queue_context);
@@ -186,8 +195,14 @@ rtems_bsd_mutex_unlock(rtems_bsd_mutex *m)
 
 	nest_level = m->nest_level;
 	owner = m->queue.Queue.owner;
+	executing = _Thread_Executing;
 
-	BSD_ASSERT(owner == _Thread_Executing);
+	if (__predict_false(owner != executing)) {
+		rtems_bsd_mutex_release(m, isr_level, &queue_context);
+		panic("mutex unlock: %s: owner 0x%08" PRIx32
+		    " != executing 0x%08" PRIx32 "\n", m->queue.Queue.name,
+		    owner->Object.id, executing->Object.id);
+	}
 
 	if (__predict_true(nest_level == 0)) {
 		Thread_queue_Heads *heads;

rtemsbsd/rtems/rtems-kernel-muteximpl.c

@@ -7,7 +7,7 @@
  */
 
 /*
- * Copyright (c) 2014, 2016 embedded brains GmbH.  All rights reserved.
+ * Copyright (c) 2014, 2018 embedded brains GmbH.  All rights reserved.
  *
  *  embedded brains GmbH
  *  Dornierstr. 4
@@ -48,9 +48,13 @@ rtems_bsd_mutex_lock_more(struct lock_object *lock, rtems_bsd_mutex *m,
     Thread_queue_Context *queue_context)
 {
 	if (owner == executing) {
-		BSD_ASSERT(lock->lo_flags & LO_RECURSABLE);
+		if ((lock->lo_flags & LO_RECURSABLE) == 0) {
-		++m->nest_level;
+			_Thread_queue_Release(&m->queue, queue_context);
+			panic("mutex lock: %s: not LO_RECURSABLE\n",
+			    m->queue.Queue.name);
+		}
 
+		++m->nest_level;
 		_Thread_queue_Release(&m->queue, queue_context);
 	} else {
 		_Thread_queue_Context_set_thread_state(queue_context,

testsuite/mutex01/test_main.c

@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2014 embedded brains GmbH.  All rights reserved.
+ * Copyright (c) 2014, 2018 embedded brains GmbH.  All rights reserved.
  *
  *  embedded brains GmbH
  *  Dornierstr. 4
@@ -66,6 +66,7 @@ typedef struct {
 	int timo;
 	rtems_id worker_task[WORKER_COUNT];
 	bool done[WORKER_COUNT];
+	rtems_id panic_task;
 } test_context;
 
 static test_context test_instance;
@@ -478,6 +479,102 @@ test_mtx_sleep_timeout(test_context *ctx)
 	assert(!mtx_initialized(mtx));
 }
 
+#define PANIC_DO_LOCK 0
+
+#define PANIC_DO_TRYLOCK 1
+
+#define PANIC_DO_UNLOCK 2
+
+static void
+panic_task(rtems_task_argument arg)
+{
+	test_context *ctx = &test_instance;
+	struct mtx *mtx = &ctx->mtx;
+
+	switch (arg) {
+	case PANIC_DO_LOCK:
+		mtx_lock(mtx);
+		mtx_lock(mtx);
+		break;
+	case PANIC_DO_TRYLOCK:
+		mtx_lock(mtx);
+		mtx_trylock(mtx);
+		break;
+	case PANIC_DO_UNLOCK:
+		mtx_unlock(mtx);
+		break;
+	default:
+		assert(0);
+		break;
+	}
+
+	rtems_task_suspend(RTEMS_SELF);
+}
+
+static void
+test_mtx_panic(test_context *ctx)
+{
+	struct mtx *mtx = &ctx->mtx;
+	rtems_status_code sc;
+
+	puts("test mtx panic");
+
+	sc = rtems_task_create(rtems_build_name('P', 'A', 'N', 'I'),
+	    get_self_prio(), RTEMS_MINIMUM_STACK_SIZE, RTEMS_DEFAULT_MODES,
+	    RTEMS_FLOATING_POINT, &ctx->panic_task);
+	assert(sc == RTEMS_SUCCESSFUL);
+
+	assert(!mtx_initialized(mtx));
+	mtx_init(mtx, "test", NULL, MTX_DEF);
+	assert(mtx_initialized(mtx));
+
+	/* Lock recursive panic */
+
+	sc = rtems_task_start(ctx->panic_task, panic_task, PANIC_DO_LOCK);
+	assert(sc == RTEMS_SUCCESSFUL);
+
+	sc = rtems_task_wake_after(RTEMS_YIELD_PROCESSOR);
+	assert(sc == RTEMS_SUCCESSFUL);
+
+	sc = rtems_task_restart(ctx->panic_task, PANIC_DO_UNLOCK);
+	assert(sc == RTEMS_SUCCESSFUL);
+
+	sc = rtems_task_wake_after(RTEMS_YIELD_PROCESSOR);
+	assert(sc == RTEMS_SUCCESSFUL);
+
+	/* Try lock recursive panic */
+
+	sc = rtems_task_restart(ctx->panic_task, PANIC_DO_TRYLOCK);
+	assert(sc == RTEMS_SUCCESSFUL);
+
+	sc = rtems_task_wake_after(RTEMS_YIELD_PROCESSOR);
+	assert(sc == RTEMS_SUCCESSFUL);
+
+	sc = rtems_task_restart(ctx->panic_task, PANIC_DO_UNLOCK);
+	assert(sc == RTEMS_SUCCESSFUL);
+
+	sc = rtems_task_wake_after(RTEMS_YIELD_PROCESSOR);
+	assert(sc == RTEMS_SUCCESSFUL);
+
+	/* Unlock not owner panic */
+
+	mtx_lock(mtx);
+
+	sc = rtems_task_restart(ctx->panic_task, PANIC_DO_UNLOCK);
+	assert(sc == RTEMS_SUCCESSFUL);
+
+	sc = rtems_task_wake_after(RTEMS_YIELD_PROCESSOR);
+	assert(sc == RTEMS_SUCCESSFUL);
+
+	mtx_unlock(mtx);
+
+	mtx_destroy(mtx);
+	assert(!mtx_initialized(mtx));
+
+	sc = rtems_task_delete(ctx->panic_task);
+	assert(sc == RTEMS_SUCCESSFUL);
+}
+
 static void
 alloc_basic_resources(void)
 {
@@ -504,6 +601,7 @@ test_main(void)
 	test_mtx_recursive(ctx);
 	test_mtx_trylock(ctx);
 	test_mtx_lock(ctx);
+	test_mtx_panic(ctx);
 
 	assert(rtems_resource_snapshot_check(&snapshot_1));