POSIX Simulator: Assert if vPortYield called from a non-FreeRTOS thread

[johnboiles]

Assert if vPortYield called from a non-FreeRTOS thread

Description

As requested by @aggarg here I'm adding an assert to obviously crash if vPortYield gets called from a non-FreeRTOS thread. This avoids intermittent freezes depending on the state of pxCurrentTCB where FreeRTOS may suspend the non-FreeRTOS thread (and never un-suspend it). Instead, with this PR, the program crashes, making the underlying issue more easily findable & fixable.

Test Steps

Call xTaskCreate outside of a FreeRTOS thread after the scheduler is started. Sometimes this will lead to the calling thread getting suspended forever.

Checklist:

• I have tested my changes. No regression in existing tests.
• I have modified and/or added unit-tests to cover the code changes in this Pull Request.

Related Issue

#1237

[sonarqubecloud]

Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud

[aggarg]

Thank you for your contribution @johnboiles !

[johnboiles]

I've been running this in our CI today. It exposed one spot where we were inadvertently calling xTimerStop from outside of FreeRTOS! Otherwise it's been working fine!

[johnboiles]

I got a couple of Linux CI crashes related to this. But I'm not sure how this is possible. The trace clearly has prvWaitForStart which always calls prvMarkAsFreeRTOSThread.

#20 0x000055acfefe09a3 in Catch::handleSignal (sig=6) at /home/runner/work/embedded-app/embedded-app/lib/Catch2/catch_amalgamated.cpp:4205
#21 <signal handler called>
#22 __pthread_kill_implementation (no_tid=0, signo=6, threadid=<optimized out>) at ./nptl/pthread_kill.c:44
#23 __pthread_kill_internal (signo=6, threadid=<optimized out>) at ./nptl/pthread_kill.c:78
#24 __GI___pthread_kill (threadid=<optimized out>, signo=signo@entry=6) at ./nptl/pthread_kill.c:89
#25 0x00007f5233e4527e in __GI_raise (sig=6) at ../sysdeps/posix/raise.c:26
#26 0x000055acff12eb65 in vAssertCalled (pcFileName=0x55acff21a158 "/home/runner/work/embedded-app/embedded-app/lib/Simulator/stubs/freertos-posix/src/Source/portable/ThirdParty/GCC/Posix/port.c", ulLine=399) at /home/runner/work/embedded-app/embedded-app/lib/Simulator/stubs/freertos-posix/src/libfreertos.c:128
#27 0x000055acff126802 in vPortYield () at /home/runner/work/embedded-app/embedded-app/lib/Simulator/stubs/freertos-posix/src/Source/portable/ThirdParty/GCC/Posix/port.c:399
#28 0x000055acff12a759 in xTaskResumeAll () at /home/runner/work/embedded-app/embedded-app/lib/Simulator/stubs/freertos-posix/src/Source/tasks.c:2267
#29 0x000055acff12c014 in prvIdleTask (pvParameters=0x0) at /home/runner/work/embedded-app/embedded-app/lib/Simulator/stubs/freertos-posix/src/Source/tasks.c:3526
#30 0x000055acff126b32 in prvWaitForStart (pvParams=0x7f522c048168) at /home/runner/work/embedded-app/embedded-app/lib/Simulator/stubs/freertos-posix/src/Source/portable/ThirdParty/GCC/Posix/port.c:564
#31 0x00007f5233e9caa4 in start_thread (arg=<optimized out>) at ./nptl/pthread_create.c:447
#32 0x00007f5233f29c3c in clone3 () at ../sysdeps/unix/sysv/linux/x86_64/clone3.S:78