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Posted to commits@nuttx.apache.org by "yushuailong (via GitHub)" <gi...@apache.org> on 2026/10/02 09:26:47 UTC
[PR] sched/group: Fix task group lifecycle cleanup [nuttx]
yushuailong opened a new pull request, #20435:
URL: https://github.com/apache/nuttx/pull/20435
## Summary
This PR fixes two task-group lifecycle issues:
- `group_kill_children()` sets `GROUP_FLAG_EXITING`, but `task_restart()` reuses the existing task group. Clear the flag after the old child threads have been removed so that the restarted group returns to its normal state.
- Kernel threads share the statically allocated `g_kthread_group`. If initialization of the first kernel thread group fails, avoid passing this static object to `kmm_free()` and detach it from the failed TCB.
Without these fixes, a restarted task may retain a stale exiting state, causing later child cleanup to be skipped and changing cancellation behavior. A kernel-group initialization failure may also attempt to free static storage and corrupt the kernel heap.
## Impact
- Restores normal task-group and cancellation behavior after `task_restart()`.
- Ensures subsequent task shutdowns can still terminate child threads.
- Prevents an invalid free and possible kernel heap corruption on the kernel-thread group initialization error path.
- No public API, ABI, or configuration changes.
## Testing
Build host: macOS 26.6.2 ARM64, Apple Clang 21.0.0.
Target: sim:ostest.
Build: make completes successfully with LD: nuttx.
Static checks: nxstyle, checkpatch pass.
Runtime smoke test: ./nuttx starts and proceeds through enabled OSTest cases without an assertion in the observed run.
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Re: [PR] sched/group: Fix task group lifecycle cleanup [nuttx]
Posted by "xiaoxiang781216 (via GitHub)" <gi...@apache.org>.
xiaoxiang781216 merged PR #20435:
URL: https://github.com/apache/nuttx/pull/20435
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Re: [PR] sched/group: Fix task group lifecycle cleanup [nuttx]
Posted by "github-actions[bot] (via GitHub)" <gi...@apache.org>.
github-actions[bot] commented on PR #20435:
URL: https://github.com/apache/nuttx/pull/20435#issuecomment-5949499234
<!-- membrowse-pr-comment -->
## <img src="https://membrowse.com/membrowse-logo.svg" height="24" align="top"> MemBrowse Memory Report
### [arduino-mega2560](https://membrowse.com/public/apache/nuttx/target/arduino-mega2560/compare?head=67a89ea43b021210f4ddeba52b4cb97c1132dded&base=c046c337c179b55d0e400d7018e35f0528f65b0e)
- **flash**: .text +62 B (+0.1%, 65,396 B / 262,144 B, total: 25% used)
### [esp32-devkitc](https://membrowse.com/public/apache/nuttx/target/esp32-devkitc/compare?head=67a89ea43b021210f4ddeba52b4cb97c1132dded&base=c046c337c179b55d0e400d7018e35f0528f65b0e)
- **ROM**: .flash.text +16 B (+0.0%, 124,980 B / 4,194,272 B, total: 3% used)
- **irom0_0_seg**: .flash.text +16 B (+0.0%, 89,184 B / 3,342,304 B, total: 3% used)
### [mirtoo](https://membrowse.com/public/apache/nuttx/target/mirtoo/compare?head=67a89ea43b021210f4ddeba52b4cb97c1132dded&base=c046c337c179b55d0e400d7018e35f0528f65b0e)
- **kseg0_progmem**: .text +56 B (+0.1%, 67,940 B / 131,072 B, total: 52% used)
### [qemu-armv8a](https://membrowse.com/public/apache/nuttx/target/qemu-armv8a/compare?head=67a89ea43b021210f4ddeba52b4cb97c1132dded&base=c046c337c179b55d0e400d7018e35f0528f65b0e)
- **Code**: .text.group_allocate +32 B, .text.task_restart +16 B (+0.0%, 346,944 B)
### [qemu-intel64](https://membrowse.com/public/apache/nuttx/target/qemu-intel64/compare?head=67a89ea43b021210f4ddeba52b4cb97c1132dded&base=c046c337c179b55d0e400d7018e35f0528f65b0e)
- **Code**: .text +40 B (+0.0%, 8,661,979 B)
### [rx65n-rsk2mb](https://membrowse.com/public/apache/nuttx/target/rx65n-rsk2mb/compare?head=67a89ea43b021210f4ddeba52b4cb97c1132dded&base=c046c337c179b55d0e400d7018e35f0528f65b0e)
- **ROM**: .text +16 B (+0.0%, 86,896 B / 2,097,152 B, total: 4% used)
### [s698pm-dkit](https://membrowse.com/public/apache/nuttx/target/s698pm-dkit/compare?head=67a89ea43b021210f4ddeba52b4cb97c1132dded&base=c046c337c179b55d0e400d7018e35f0528f65b0e)
- **Code**: .text +32 B (+0.0%, 368,960 B)
### [stm32-nucleo-f103rb](https://membrowse.com/public/apache/nuttx/target/stm32-nucleo-f103rb/compare?head=67a89ea43b021210f4ddeba52b4cb97c1132dded&base=c046c337c179b55d0e400d7018e35f0528f65b0e)
- **flash**: .text +12 B (+0.0%, 34,640 B / 131,072 B, total: 26% used)
*No memory changes detected for:*
- [hifive1-revb](https://membrowse.com/public/apache/nuttx/target/hifive1-revb/compare?head=67a89ea43b021210f4ddeba52b4cb97c1132dded&base=c046c337c179b55d0e400d7018e35f0528f65b0e)
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Re: [PR] sched/group: Fix task group lifecycle cleanup [nuttx]
Posted by "acassis (via GitHub)" <gi...@apache.org>.
acassis commented on code in PR #20435:
URL: https://github.com/apache/nuttx/pull/20435#discussion_r4165780969
##########
sched/group/group_create.c:
##########
@@ -287,7 +287,12 @@ int group_allocate(FAR struct tcb_s *tcb, uint8_t ttype)
}
#endif
- kmm_free(group);
+ if (group != &g_kthread_group)
Review Comment:
Please include a comment here. Why the group cannot be from a kthread? Is it when a task depends on a kthread and this code could remove the kthread instead?
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