posix: pthread: correct race condition between pthread_create and pthread_join #57637

cfriedt · 2023-05-07T20:12:25Z

Recently, a race condition was discovered in pthread_create() and pthread_join() that would trigger an assertion in kernel/sched.c of the form below.

aborted _current back from dead

This required a few changes to address thoroughly, but all indications point to a significant improvement in determinism and stability.

revert 77e3e8961d1162a839665aaa244c5c47189b896d
ensure final pthread state is PTHREAD_TERMINATED
add z_thread_wake_joiners() (c/o @andyross)
fix create/join race in thread lifecycle (c/o @andyross)
add pthread create / join stress test

Fixes #56163

Andy's contributions brought in from #57721 (I hope that's ok). Thanks boss 👍

Compliance issue is a false positive

tests/posix/pthread_pressure/src/main.c

lib/posix/posix_internal.h

jgl-meta

I don't see anything obviously incorrect.

keith-packard · 2023-05-19T17:04:10Z

The state transition diagram is super helpful, thanks for figuring out how to get that into this thread (and, we hope, into the Zephyr docs too!).

However, when looking at it, I'm confused as to why you think you need a new state here -- work() takes ABORTING to either EXITED or TERMINATED, and EXITED only goes to TERMINATED, so it seems like you could merge ABORTING and TERMINATED.

Maybe the actions that cause the state transitions need some additional annotation so we can understand the difference between the arcs with the same operation coming from the same node? For instance, TERMINATED to DETACHED/JOINABLE might be labeled as create(DETACHED)/create(JOINABLE)? I'd like to know how the two transitions from ABORTING are different.

I'm hesitant to encourage a move from a spinlock/mutex to a semaphore as semaphores are harder to reason about.

In order to fully eliminate races, we need to add another state (ABORTING below) that actually does the k_thread_abort() with the lock held in a separate work queue thread since letting go of the lock would necessarily introduce races. Lastly, I think there only needs to be a single lock in struct posix_thread that synchronizes both state and cancel state. More than one lock seems like overkill.

Holding the lock across thread transitions is kinda icky. The "usual" way to manage things like this is to simply re-validate the state in the second thread and work from there, potentially re-trying the operation, potentially performing some other operation.

cfriedt · 2023-05-19T17:50:48Z

However, when looking at it, I'm confused as to why you think you need a new state here -- work() takes ABORTING to either EXITED or TERMINATED, and EXITED only goes to TERMINATED, so it seems like you could merge ABORTING and TERMINATED.

Yeah, I think a flag would be appropriate (e.g. abort_pending), because otherwise we would need to remember the previous state, which is not as fun. We can represent a separate "state" when that flag is set.

Maybe the actions that cause the state transitions need some additional annotation so we can understand the difference between the arcs with the same operation coming from the same node? For instance, TERMINATED to DETACHED/JOINABLE might be labeled as create(DETACHED)/create(JOINABLE)? I'd like to know how the two transitions from ABORTING are different.

The create parameter was there originally, but I just thought it was obvious. Will update. Same with transitions from ABORTING - a thread only goes to EXITED if the previous state was JOINABLE.

I'm hesitant to encourage a move from a spinlock/mutex to a semaphore as semaphores are harder to reason about.

Hopefully I can keep it simple.

Holding the lock across thread transitions is kinda icky. The "usual" way to manage things like this is to simply re-validate the state in the second thread and work from there, potentially re-trying the operation, potentially performing some other operation

I'm not convinced that is sufficient to avoid race conditions and so far, my experiments show that hypothesis to be true.

keith-packard · 2023-05-19T18:46:01Z

I'm not convinced that is sufficient to avoid race conditions and so far, my experiments show that hypothesis to be true.

Yeah, I suspect we'll have to see the implementation to get to ground truth here. Diagrams are all nice and everything, but they don't actually run on computers...

This reverts commit da0398d. Signed-off-by: Christopher Friedt <[email protected]>

Previously, we considered `PTHREAD_EXITED` as a valid state for reclaiming a thread. That was not the case. `PTHREAD_EXITED` requires that `pthread_join()` is called while the thread is in `PTHREAD_EXITED` state. With that the calling thread may retrieve the return value of the joining thread. Additionally, correct incorrectly aliased pointer argument to `k_thread_abort()`. Signed-off-by: Christopher Friedt <[email protected]>

POSIX has a somewhat odd behavior that when you call pthread_detach()[1], it is supposed to synchronously wake up anyone currently joining the thread. That isn't a Zephyr kernel behavior[2], so it needs to be exposed. The implementation is as simple as it sounds. This is minimal: we don't try to keep any state around to inform the k_thread_join() call whether the thread actually exited or if this new function was used. That has to be provided by the outer layers (pthreads already do this). [1] Which tells the OS/platform that it can clean the thread up as soon as it exits and doesn't have to keep it around as a zombie until someone calls pthread_join() on it. [2] Because... why!? Not needing to keep a thread around for joiners isn't the same thing as disallowing joins! Signed-off-by: Andy Ross <[email protected]>

The pthread_join() implementation was done using a condition variable and not k_thread_join(), and that's actually fatal. It's not possible in Zephyr to guarantee a thread has exited in a race-free way without calling either k_thread_abort() or k_thread_join(). This opened a hole where an app could call pthread_join(), which would go to sleep waiting on the condition variable, which would be signaled from the exit path of the thread, and then return to call pthread_create() (and thus k_thread_create()) on the same pthread_t object (and thus the same struct k_thread) BEFORE THE EARLIER THREAD HAD ACTUALLY EXITED. This makes the scheduler blow up, at least on SMP (I wasn't personally able to make it happen on uniprocessor configs, though the race is present always). Rework to call k_thread_join(). There's no other correct way to do this. Fixes zephyrproject-rtos#56163 Signed-off-by: Andy Ross <[email protected]>

cfriedt · 2023-05-21T12:33:50Z

@keith-packard , @andyross - some good / bad news. I improved my testsuite to also test raciness between k_thread_create() and k_thread_join().

The good news, is that pthreads are not alone in that they are racey 😀

The bad news, is that the same race exists today with k_threads 😞

Currently, testing pthreads is disabled by default. I also reduced the test duration from 60s to 10s (I think we actually have a bug in twister in terms of the timeout).

Any failures below in the pthread_pressure suite are exclusively with k_threads.

I was really hoping to get this fixed for v3.4.0 (and also v2.7.5) - but I'm a bit exhausted at the moment.

Sadly, the "aborted _current back from dead" issue exists with all libcs in various configurations and on multiple architectures.

twister -T tests/posix/pthread_pressure/
Renaming output directory to /home/cfriedt/zephyrproject/zephyr/twister-out.3
INFO    - Using Ninja..
INFO    - Zephyr version: zephyr-v3.3.0-4131-g1767a0844e0a
INFO    - Using 'zephyr' toolchain.
INFO    - Selecting default platforms per test case
INFO    - Building initial testsuite list...
INFO    - Writing JSON report /home/cfriedt/zephyrproject/zephyr/twister-out/testplan.json
INFO    - JOBS: 32
INFO    - Adding tasks to the queue...
INFO    - Added initial list of jobs to queue
ERROR   - qemu_x86_64               tests/posix/pthread_pressure/portability.posix.pthread_pressure.tls.newlib  FAILED : unexpected eof
ERROR   - see: /home/cfriedt/zephyrproject/zephyr/twister-out/qemu_x86_64/tests/posix/pthread_pressure/portability.posix.pthread_pressure.tls.newlib/handler.log
ERROR   - qemu_x86_64               tests/posix/pthread_pressure/portability.posix.pthread_pressure.picolibc  FAILED : unexpected eof
ERROR   - see: /home/cfriedt/zephyrproject/zephyr/twister-out/qemu_x86_64/tests/posix/pthread_pressure/portability.posix.pthread_pressure.picolibc/handler.log
ERROR   - qemu_cortex_a53_smp       tests/posix/pthread_pressure/portability.posix.pthread_pressure.picolibc  FAILED : unexpected eof
ERROR   - see: /home/cfriedt/zephyrproject/zephyr/twister-out/qemu_cortex_a53_smp/tests/posix/pthread_pressure/portability.posix.pthread_pressure.picolibc/handler.log
ERROR   - qemu_cortex_a53_smp       tests/posix/pthread_pressure/portability.posix.pthread_pressure.tls.newlib  FAILED : unexpected eof
ERROR   - see: /home/cfriedt/zephyrproject/zephyr/twister-out/qemu_cortex_a53_smp/tests/posix/pthread_pressure/portability.posix.pthread_pressure.tls.newlib/handler.log
ERROR   - qemu_riscv64_smp          tests/posix/pthread_pressure/portability.posix.pthread_pressure.tls.newlib  FAILED : Timeout
ERROR   - see: /home/cfriedt/zephyrproject/zephyr/twister-out/qemu_riscv64_smp/tests/posix/pthread_pressure/portability.posix.pthread_pressure.tls.newlib/handler.log
ERROR   - qemu_riscv32_smp          tests/posix/pthread_pressure/portability.posix.pthread_pressure.tls.newlib  FAILED : Timeout
ERROR   - see: /home/cfriedt/zephyrproject/zephyr/twister-out/qemu_riscv32_smp/tests/posix/pthread_pressure/portability.posix.pthread_pressure.tls.newlib/handler.log
ERROR   - qemu_cortex_a53_smp       tests/posix/pthread_pressure/portability.posix.pthread_pressure.tls  FAILED : unexpected eof
ERROR   - see: /home/cfriedt/zephyrproject/zephyr/twister-out/qemu_cortex_a53_smp/tests/posix/pthread_pressure/portability.posix.pthread_pressure.tls/handler.log
ERROR   - qemu_cortex_a53_smp       tests/posix/pthread_pressure/portability.posix.pthread_pressure.newlib  FAILED : unexpected eof
ERROR   - see: /home/cfriedt/zephyrproject/zephyr/twister-out/qemu_cortex_a53_smp/tests/posix/pthread_pressure/portability.posix.pthread_pressure.newlib/handler.log
ERROR   - qemu_x86_64               tests/posix/pthread_pressure/portability.posix.pthread_pressure  FAILED : unexpected eof
ERROR   - see: /home/cfriedt/zephyrproject/zephyr/twister-out/qemu_x86_64/tests/posix/pthread_pressure/portability.posix.pthread_pressure/handler.log
ERROR   - qemu_cortex_a53_smp       tests/posix/pthread_pressure/portability.posix.pthread_pressure  FAILED : unexpected eof
ERROR   - see: /home/cfriedt/zephyrproject/zephyr/twister-out/qemu_cortex_a53_smp/tests/posix/pthread_pressure/portability.posix.pthread_pressure/handler.log
ERROR   - qemu_riscv64_smp          tests/posix/pthread_pressure/portability.posix.pthread_pressure.picolibc  FAILED : Timeout
ERROR   - see: /home/cfriedt/zephyrproject/zephyr/twister-out/qemu_riscv64_smp/tests/posix/pthread_pressure/portability.posix.pthread_pressure.picolibc/handler.log
ERROR   - qemu_riscv32_smp          tests/posix/pthread_pressure/portability.posix.pthread_pressure.tls  FAILED : Timeout
ERROR   - see: /home/cfriedt/zephyrproject/zephyr/twister-out/qemu_riscv32_smp/tests/posix/pthread_pressure/portability.posix.pthread_pressure.tls/handler.log
ERROR   - qemu_riscv64_smp          tests/posix/pthread_pressure/portability.posix.pthread_pressure.newlib  FAILED : Timeout
ERROR   - see: /home/cfriedt/zephyrproject/zephyr/twister-out/qemu_riscv64_smp/tests/posix/pthread_pressure/portability.posix.pthread_pressure.newlib/handler.log
ERROR   - qemu_riscv32_smp          tests/posix/pthread_pressure/portability.posix.pthread_pressure  FAILED : Timeout
ERROR   - see: /home/cfriedt/zephyrproject/zephyr/twister-out/qemu_riscv32_smp/tests/posix/pthread_pressure/portability.posix.pthread_pressure/handler.log
ERROR   - qemu_riscv64_smp          tests/posix/pthread_pressure/portability.posix.pthread_pressure  FAILED : Timeout
ERROR   - see: /home/cfriedt/zephyrproject/zephyr/twister-out/qemu_riscv64_smp/tests/posix/pthread_pressure/portability.posix.pthread_pressure/handler.log
INFO    - Total complete:  275/ 275  100%  skipped:  171, failed:   15, error:    0
INFO    - 9 test scenarios (275 test instances) selected, 171 configurations skipped (163 by static filter, 8 at runtime).
INFO    - 89 of 275 test configurations passed (85.58%), 15 failed, 0 errored, 171 skipped with 0 warnings in 157.44 seconds
INFO    - In total 121 test cases were executed, 429 skipped on 40 out of total 571 platforms (7.01%)
INFO    - 102 test configurations executed on platforms, 2 test configurations were only built.
INFO    - Saving reports...
INFO    - Writing JSON report /home/cfriedt/zephyrproject/zephyr/twister-out/twister.json
INFO    - Writing xunit report /home/cfriedt/zephyrproject/zephyr/twister-out/twister.xml...
INFO    - Writing xunit report /home/cfriedt/zephyrproject/zephyr/twister-out/twister_report.xml...
INFO    - -+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
INFO    - The following issues were found (showing the top 10 items):
INFO    - 1) tests/posix/pthread_pressure/portability.posix.pthread_pressure on qemu_cortex_a53_smp failed (unexpected eof)
INFO    - 2) tests/posix/pthread_pressure/portability.posix.pthread_pressure on qemu_riscv64_smp failed (Timeout)
INFO    - 3) tests/posix/pthread_pressure/portability.posix.pthread_pressure on qemu_riscv32_smp failed (Timeout)
INFO    - 4) tests/posix/pthread_pressure/portability.posix.pthread_pressure on qemu_x86_64 failed (unexpected eof)
INFO    - 5) tests/posix/pthread_pressure/portability.posix.pthread_pressure.newlib on qemu_cortex_a53_smp failed (unexpected eof)
INFO    - 6) tests/posix/pthread_pressure/portability.posix.pthread_pressure.newlib on qemu_riscv64_smp failed (Timeout)
INFO    - 7) tests/posix/pthread_pressure/portability.posix.pthread_pressure.tls on qemu_cortex_a53_smp failed (unexpected eof)
INFO    - 8) tests/posix/pthread_pressure/portability.posix.pthread_pressure.tls on qemu_riscv32_smp failed (Timeout)
INFO    - 9) tests/posix/pthread_pressure/portability.posix.pthread_pressure.tls.newlib on qemu_cortex_a53_smp failed (unexpected eof)
INFO    - 10) tests/posix/pthread_pressure/portability.posix.pthread_pressure.tls.newlib on qemu_riscv64_smp failed (Timeout)
INFO    - 
INFO    - To rerun the tests, call twister using the following commandline:
INFO    - west twister -p <PLATFORM> -s <TEST ID>, for example:
INFO    - 
INFO    - west twister -p qemu_riscv64_smp -s tests/posix/pthread_pressure/portability.posix.pthread_pressure.tls.newlib
INFO    - or with west:
INFO    - west build -p -b qemu_riscv64_smp -T tests/posix/pthread_pressure/portability.posix.pthread_pressure.tls.newlib
INFO    - -+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
INFO    - Run completed

$ grep "back from dead" $(find twister-out/ -name handler.log)
twister-out/qemu_riscv32_smp/tests/posix/pthread_pressure/portability.posix.pthread_pressure.tls.newlib/handler.log:    aborted _current back from dead
twister-out/qemu_riscv32_smp/tests/posix/pthread_pressure/portability.posix.pthread_pressure/handler.log:       aborted _current back from dead
twister-out/qemu_x86_64/tests/posix/pthread_pressure/portability.posix.pthread_pressure.picolibc/handler.log:   aborted _current back from dead
twister-out/qemu_cortex_a53_smp/tests/posix/pthread_pressure/portability.posix.pthread_pressure/handler.log:    aborted _current back from dead
twister-out/qemu_riscv64_smp/tests/posix/pthread_pressure/portability.posix.pthread_pressure.tls.newlib/handler.log:    aborted _current back from dead
twister-out/qemu_riscv64_smp/tests/posix/pthread_pressure/portability.posix.pthread_pressure.picolibc/handler.log:      aborted _current back from dead

keith-packard · 2023-05-21T16:58:29Z

A serious bummer. Sounds like we need to address the k_thread races before you can even begin to fix the pthreads issues (if any remain).

lib/posix/pthread.c

keith-packard · 2023-05-22T20:38:15Z

lib/posix/pthread.c

yeah, there's no protection here for using a thread index which is stale; checking only for one possible stale state (TERMINATED) provides a false sense of security. Makes me wonder if there should be some kind of validating mode for the API where a generation number is encoded in the upper bits of the thread ID that are validated against a current generation number stored in the thread?

I like the thought and it would at least replicate some of the other validation schemes in e.g. pthread_mutex.c.

To be honest, I think I should be able to transition pthreads to use <zephyr/sys/bitarray.h> as well.

Let me give it another spin.

Also, thanks @andyross and @npitre for validating the issue on aarch64. Will likely use an arch_exclude there if I am able to.

Will push in a moment.

keith-packard · 2023-05-22T20:43:27Z

lib/posix/pthread.c

Hrm. Is pthread_t at least as large as size_t and unisigned? Otherwise, I think to_posix_thread() needs some better bounds checking to avoid possible wrap issues (imagine a 32-bit pthread_t on a 64-bit size_t system, it's possible that a large address difference will wrap around back into range).

pthread_t is a uint32_t in Zephyr, so should be safe.

that makes it unsafe -- on 64 bit targets, size_t is 64 bits, so you will get aliasing when converting from size_t to pthread_t. Probably need to fix pthread_self to bounds check the computed pointer before converting to an array index with the subtraction.

True - for some reason I was thinking it was 32-bit. I'll add a bounds check in this rev

andyross · 2023-05-23T15:33:31Z

Repeating the comment from elsewhere, regarding the kernel bug tracked in #58116 : FWIW: it seems not to be a kernel race in thread lifecycle, more like a arm64-specific race in context handling (and maybe x86_64, but with 1000x lower frequency).

FWIW: I'd treat this as two separate issues and merge the pthread fixes. If you need to tune the test[1] on arm64 for CI, that seems acceptable as long as we have a bug tracking the instability.

[1] SMP tests are already retried in CI because of unavoidable timer skew problems with scheduling "CPUs" onto host threads that can be preempted for 10ms+ in busy CI runs. (Which isn't what we're seeing here -- no timer interaction in this test!). The frequency I'm seeing probably wouldn't even show up above the noise floor.

Previously, the pthread implementation used a `pthread_mutex_t` to synchronize thread state. This was required because a `pthread_cond_t` was used to notify other pthreads that were attempting to join or exit the same pthread. With the previous removal of the `pthread_cond_t` from `struct posix_thread`, and the addition of the `z_thread_wake_joiners()` utility, there is no longer a need to utilize a `pthread_mutex_t` to synchronize state. Instead, use a `struct k_spinlock` for synchronization and `z_thread_wake_joiners()` for notification. Additionally, use a `bitarray` instead of the the `pthread_pool_lock`, which makes `pthread.c` resource allocation more like that of the other pthread objects. Signed-off-by: Christopher Friedt <[email protected]>

This reverts commit 7c17bda. Signed-off-by: Christopher Friedt <[email protected]>

Technically speaking, there should be a synchronization to ensure that a spawned thread has started before `pthread_join()` is called. However, since we're recycling an existing no-op thread, just add a small delay. A separate test will be used to demonstrate stressing `pthread_create()` and `pthread_join()` which will use a synchronization primitive. Signed-off-by: Christopher Friedt <[email protected]>

Recently, a race condition was discovered in `pthread_create()` and `pthread_join()` that would trigger an assertion in `kernel/sched.c` of the form below. ``` aborted _current back from dead ``` Add a test that stresses the pthread implementation in order to more easily reproduce the failure. Signed-off-by: Christopher Friedt <[email protected]>

cfriedt · 2023-05-24T04:11:13Z

I'm going to close this PR, as somehow pthreads are less reliable than before in terms of passing Twister test runs, but I'll make a separate PR for the pthread_pressure test and pthread_descriptor_leak tests.

cfriedt force-pushed the issues/56163/posix-common-derived-test-fails-on-some-qemu-platforms-when-the-CONFIG-TICKLESS-KERNEL-n-is-added branch 2 times, most recently from b196df9 to fdfcc7b Compare May 7, 2023 20:21

This was referenced May 7, 2023

tests: posix: pthread: init pthread_attr_t on each iteration #57403

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posix: pthread: race condition between pthread_create() and pthread_join() #56163

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andyross mentioned this pull request May 9, 2023

lib/pthread: Fix create/join race in thread lifecycle #57721

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cfriedt changed the title ~~tests: posix: stress test for pthread_create and pthread_join~~ posix: pthread: correct race condition between pthread_create and pthread_join May 11, 2023

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cfriedt force-pushed the issues/56163/posix-common-derived-test-fails-on-some-qemu-platforms-when-the-CONFIG-TICKLESS-KERNEL-n-is-added branch from b6e6752 to 5d61510 Compare May 12, 2023 02:06

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Christopher Friedt and others added 4 commits May 20, 2023 20:03

Revert "posix: pthread: consider PTHREAD_EXITED state in pthread_create"

cd264e5

This reverts commit da0398d. Signed-off-by: Christopher Friedt <[email protected]>

cfriedt dismissed andyross’s stale review via 00d9170 May 21, 2023 12:09

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cfriedt mentioned this pull request May 22, 2023

kernel: thread: race condition between create and join #58116

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Christopher Friedt added 4 commits May 23, 2023 23:47

Revert "tests: posix: pthread: init pthread_attr_t on each iteration"

0231ff5

This reverts commit 7c17bda. Signed-off-by: Christopher Friedt <[email protected]>

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tests: posix: stress test for pthread_create and pthread_join #58218

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posix: pthread: correct race condition between pthread_create and pthread_join #57637

posix: pthread: correct race condition between pthread_create and pthread_join #57637

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cfriedt May 23, 2023

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keith-packard May 23, 2023

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cfriedt May 23, 2023

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andyross commented May 23, 2023

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cfriedt commented May 7, 2023 •

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keith-packard commented May 19, 2023 •

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cfriedt commented May 21, 2023 •

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cfriedt May 23, 2023 •

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cfriedt commented May 24, 2023 •

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