posix: options: add XSI_REALTIME_THREADS

doc/services/portability/posix/conformance/index.rst

@@ -96,7 +96,7 @@ POSIX System Interfaces
     _POSIX_TYPED_MEMORY_OBJECTS, -1,
     _XOPEN_CRYPT, -1,
     :ref:`_XOPEN_REALTIME <posix_option_group_xsi_realtime>`, 700, :kconfig:option:`CONFIG_XSI_REALTIME`
-    _XOPEN_REALTIME_THREADS, -1,
+    :ref:`_XOPEN_REALTIME <posix_option_group_xsi_realtime_threads>`, 700, :kconfig:option:`CONFIG_XSI_REALTIME_THREADS`
     :ref:`_XOPEN_STREAMS<posix_option_xopen_streams>`, 200809L, :kconfig:option:`CONFIG_XOPEN_STREAMS`
     _XOPEN_UNIX, -1,
 

doc/services/portability/posix/option_groups/index.rst

@@ -706,6 +706,24 @@ Enable this option group with :kconfig:option:`CONFIG_XSI_REALTIME`.
 When this option group is enabled, the ``_XOPEN_REALTIME`` feature test macro will be defined to a
 value other than -1.
 
+.. _posix_option_group_xsi_realtime_threads:
+
+XSI_REALTIME_THREADS
+++++++++++++++++++++
+
+The ``XSI_REALTIME_THREADS`` option group indicates that the
+:ref:`_POSIX_THREAD_PRIO_INHERIT<posix_option_thread_prio_inherit>`,
+:ref:`_POSIX_THREAD_PRIO_PROTECT<posix_option_thread_prio_protect>`,
+:ref:`_POSIX_THREAD_PRIORITY_SCHEDULING<posix_option_thread_priority_scheduling>`,
+:ref:`_POSIX_THREAD_ROBUST_PRIO_INHERIT<posix_option_thread_robust_prio_inherit>`, and
+:ref:`_POSIX_THREAD_ROBUST_PRIO_PROTECT<posix_option_thread_robust_prio_protect>` options are
+enabled.
+
+Enable this option group with :kconfig:option:`CONFIG_XSI_REALTIME_THREADS`.
+
+When this option group is enabled, the ``_XOPEN_REALTIME_THREADS`` feature test macro will be defined to a
+value other than -1.
+
 .. _posix_option_group_xsi_single_process:
 
 XSI_SINGLE_PROCESS
@@ -1051,6 +1069,10 @@ Enable this option with :kconfig:option:`CONFIG_POSIX_THREAD_PRIORITY_SCHEDULING
     pthread_setschedparam(),yes
     pthread_setschedprio(),yes
 
+.. _posix_option_thread_robust_prio_inherit:
+
+.. _posix_option_thread_robust_prio_protect:
+
 .. _posix_option_thread_safe_functions:
 
 _POSIX_THREAD_SAFE_FUNCTIONS

include/zephyr/posix/posix_features.h

@@ -132,21 +132,7 @@
 #define _POSIX_THREAD_CPUTIME _POSIX_VERSION
 #endif
 
-#ifdef CONFIG_POSIX_THREAD_PRIO_INHERIT
-#define _POSIX_THREAD_PRIO_INHERIT _POSIX_VERSION
-#endif
-
-#ifdef CONFIG_POSIX_THREAD_PRIO_PROTECT
-#define _POSIX_THREAD_PRIO_PROTECT _POSIX_VERSION
-#endif
-
-#ifdef CONFIG_POSIX_THREAD_PRIORITY_SCHEDULING
-#define _POSIX_THREAD_PRIORITY_SCHEDULING _POSIX_VERSION
-#endif
-
 /* #define _POSIX_THREAD_PROCESS_SHARED (-1L) */
-/* #define _POSIX_THREAD_ROBUST_PRIO_INHERIT (-1L) */
-/* #define _POSIX_THREAD_ROBUST_PRIO_PROTECT (-1L) */
 
 /* #define _POSIX_THREAD_SPORADIC_SERVER (-1L) */
 
@@ -214,7 +200,7 @@
 	 defined(CONFIG_POSIX_SHARED_MEMORY_OBJECTS) && defined(CONFIG_POSIX_SYNCHRONIZED_IO))
 #define _XOPEN_REALTIME _XOPEN_VERSION
 #endif
-/* #define _XOPEN_REALTIME_THREADS (-1L) */
+
 /* #define _XOPEN_SHM (-1L) */
 
 #ifdef CONFIG_XOPEN_STREAMS

include/zephyr/posix/pthread.h

@@ -33,21 +33,21 @@
 #define PTHREAD_PROCESS_SHARED  1
 
 /* Pthread cancellation */
-#define PTHREAD_CANCELED       ((void *)-1)
-#define PTHREAD_CANCEL_ENABLE  0
-#define PTHREAD_CANCEL_DISABLE 1
+#define PTHREAD_CANCELED            ((void *)-1)
+#define PTHREAD_CANCEL_ENABLE       0
+#define PTHREAD_CANCEL_DISABLE      1
 #define PTHREAD_CANCEL_DEFERRED     0
 #define PTHREAD_CANCEL_ASYNCHRONOUS 1
 
 /* Pthread scope */
 #undef PTHREAD_SCOPE_PROCESS
-#define PTHREAD_SCOPE_PROCESS    1
+#define PTHREAD_SCOPE_PROCESS 1
 #undef PTHREAD_SCOPE_SYSTEM
-#define PTHREAD_SCOPE_SYSTEM     0
+#define PTHREAD_SCOPE_SYSTEM 0
 
 /* Pthread inherit scheduler */
 #undef PTHREAD_INHERIT_SCHED
-#define PTHREAD_INHERIT_SCHED  0
+#define PTHREAD_INHERIT_SCHED 0
 #undef PTHREAD_EXPLICIT_SCHED
 #define PTHREAD_EXPLICIT_SCHED 1
 
@@ -130,7 +130,7 @@
  *
  */
 int pthread_condattr_getclock(const pthread_condattr_t *ZRESTRICT att,
-		clockid_t *ZRESTRICT clock_id);
+			      clockid_t *ZRESTRICT clock_id);
 
 /**
  * @brief POSIX threading compatibility API
@@ -165,10 +165,10 @@
  *      error is returned.
  *
  */
-#define PTHREAD_MUTEX_NORMAL        0
-#define PTHREAD_MUTEX_RECURSIVE     1
-#define PTHREAD_MUTEX_ERRORCHECK    2
-#define PTHREAD_MUTEX_DEFAULT       PTHREAD_MUTEX_NORMAL
+#define PTHREAD_MUTEX_NORMAL     0
+#define PTHREAD_MUTEX_RECURSIVE  1
+#define PTHREAD_MUTEX_ERRORCHECK 2
+#define PTHREAD_MUTEX_DEFAULT    PTHREAD_MUTEX_NORMAL
 
 /*
  *  Mutex attributes - protocol
@@ -182,9 +182,9 @@
  *      any of these mutexes).
  *  FIXME: Only PRIO_NONE is supported. Implement other protocols.
  */
-#define PTHREAD_PRIO_NONE           0
-#define PTHREAD_PRIO_INHERIT        1
-#define PTHREAD_PRIO_PROTECT        2
+#define PTHREAD_PRIO_NONE    0
+#define PTHREAD_PRIO_INHERIT 1
+#define PTHREAD_PRIO_PROTECT 2
 
 /**
  * @brief POSIX threading compatibility API
@@ -213,8 +213,7 @@
  * See IEEE 1003.1
  */
 
-int pthread_mutex_timedlock(pthread_mutex_t *m,
-			    const struct timespec *abstime);
+int pthread_mutex_timedlock(pthread_mutex_t *m, const struct timespec *abstime);
 
 /**
  * @brief POSIX threading compatibility API
@@ -228,15 +227,7 @@
  *
  * See IEEE 1003.1
  */
-int pthread_mutex_init(pthread_mutex_t *m,
-				     const pthread_mutexattr_t *att);
-
-/**
- * @brief POSIX threading compatibility API
- *
- * See IEEE 1003.1
- */
-int pthread_mutexattr_setprotocol(pthread_mutexattr_t *attr, int protocol);
+int pthread_mutex_init(pthread_mutex_t *m, const pthread_mutexattr_t *att);
 
 /**
  * @brief POSIX threading compatibility API
@@ -245,14 +236,6 @@
  */
 int pthread_mutexattr_settype(pthread_mutexattr_t *attr, int type);
 
-/**
- * @brief POSIX threading compatibility API
- *
- * See IEEE 1003.1
- */
-int pthread_mutexattr_getprotocol(const pthread_mutexattr_t *attr,
-				  int *protocol);
-
 /**
  * @brief POSIX threading compatibility API
  *
@@ -283,8 +266,8 @@
 /*
  *  Barrier attributes - type
  */
-#define PTHREAD_PROCESS_PRIVATE		0
-#define PTHREAD_PROCESS_PUBLIC		1
+#define PTHREAD_PROCESS_PRIVATE 0
+#define PTHREAD_PROCESS_PUBLIC  1
 
 /**
  * @brief POSIX threading compatibility API
@@ -356,16 +339,6 @@
 int pthread_mutexattr_setrobust(pthread_mutexattr_t *, int);
 */
 
-#ifdef CONFIG_POSIX_THREAD_PRIO_PROTECT
-int pthread_mutex_getprioceiling(const pthread_mutex_t *ZRESTRICT mutex,
-				 int *ZRESTRICT prioceiling);
-int pthread_mutex_setprioceiling(pthread_mutex_t *ZRESTRICT mutex, int prioceiling,
-				 int *ZRESTRICT old_ceiling);
-int pthread_mutexattr_getprioceiling(const pthread_mutexattr_t *ZRESTRICT attr,
-				     int *ZRESTRICT prioceiling);
-int pthread_mutexattr_setprioceiling(pthread_mutexattr_t *attr, int prioceiling);
-#endif /* CONFIG_POSIX_THREAD_PRIO_PROTECT */
-
 /* Base Pthread related APIs */
 
 /**
@@ -413,18 +386,30 @@
 int pthread_attr_getdetachstate(const pthread_attr_t *attr, int *detachstate);
 int pthread_attr_init(pthread_attr_t *attr);
 int pthread_attr_destroy(pthread_attr_t *attr);
-int pthread_attr_getschedparam(const pthread_attr_t *attr,
-			       struct sched_param *schedparam);
-int pthread_getschedparam(pthread_t pthread, int *policy,
-			  struct sched_param *param);
-int pthread_attr_getstack(const pthread_attr_t *attr,
-			  void **stackaddr, size_t *stacksize);
-int pthread_attr_setstack(pthread_attr_t *attr, void *stackaddr,
-			  size_t stacksize);
-int pthread_attr_getscope(const pthread_attr_t *attr, int *contentionscope);
+int pthread_attr_getschedparam(const pthread_attr_t *attr, struct sched_param *schedparam);
+int pthread_attr_getstack(const pthread_attr_t *attr, void **stackaddr, size_t *stacksize);
+int pthread_attr_setstack(pthread_attr_t *attr, void *stackaddr, size_t stacksize);
+
+#if defined(CONFIG_XSI_REALTIME_THREADS)
+int pthread_attr_getscope(const pthread_attr_t *ZRESTRICT attr, int *ZRESTRICT contentionscope);
 int pthread_attr_setscope(pthread_attr_t *attr, int contentionscope);
-int pthread_attr_getinheritsched(const pthread_attr_t *attr, int *inheritsched);
+int pthread_attr_getinheritsched(const pthread_attr_t *ZRESTRICT attr, int *ZRESTRICT inheritsched);
 int pthread_attr_setinheritsched(pthread_attr_t *attr, int inheritsched);
+int pthread_attr_getschedpolicy(const pthread_attr_t *ZRESTRICT attr, int *ZRESTRICT policy);
+int pthread_attr_setschedpolicy(pthread_attr_t *attr, int policy);
+int pthread_getschedparam(pthread_t thread, int *ZRESTRICT policy,
+			  struct sched_param *ZRESTRICT param);
+int pthread_setschedparam(pthread_t pthread, int policy, const struct sched_param *param);
+int pthread_setschedprio(pthread_t thread, int prio);
+int pthread_mutexattr_getprotocol(const pthread_mutexattr_t *attr, int *protocol);
+int pthread_mutexattr_setprotocol(pthread_mutexattr_t *attr, int protocol);
+int pthread_mutex_getprioceiling(const pthread_mutex_t *mutex, int *prioceiling);
+int pthread_mutex_setprioceiling(pthread_mutex_t *mutex, int prioceiling, int *old_ceiling);
+int pthread_mutexattr_getprioceiling(const pthread_mutexattr_t *ZRESTRICT attr,
+				     int *ZRESTRICT prioceiling);
+int pthread_mutexattr_setprioceiling(pthread_mutexattr_t *attr, int prioceiling);
+#endif
+
 #ifdef CONFIG_POSIX_THREADS
 int pthread_once(pthread_once_t *once, void (*initFunc)(void));
 #endif
@@ -434,30 +419,22 @@
 int pthread_join(pthread_t thread, void **status);
 int pthread_cancel(pthread_t pthread);
 int pthread_detach(pthread_t thread);
-int pthread_create(pthread_t *newthread, const pthread_attr_t *attr,
-		   void *(*threadroutine)(void *), void *arg);
+int pthread_create(pthread_t *newthread, const pthread_attr_t *attr, void *(*threadroutine)(void *),
+		   void *arg);
 int pthread_setcancelstate(int state, int *oldstate);
 int pthread_setcanceltype(int type, int *oldtype);
 void pthread_testcancel(void);
-int pthread_attr_setschedparam(pthread_attr_t *attr,
-			       const struct sched_param *schedparam);
-int pthread_setschedparam(pthread_t pthread, int policy,
-			  const struct sched_param *param);
-int pthread_setschedprio(pthread_t thread, int prio);
+int pthread_attr_setschedparam(pthread_attr_t *attr, const struct sched_param *schedparam);
 int pthread_rwlock_destroy(pthread_rwlock_t *rwlock);
-int pthread_rwlock_init(pthread_rwlock_t *rwlock,
-			const pthread_rwlockattr_t *attr);
+int pthread_rwlock_init(pthread_rwlock_t *rwlock, const pthread_rwlockattr_t *attr);
 int pthread_rwlock_rdlock(pthread_rwlock_t *rwlock);
-int pthread_rwlock_timedrdlock(pthread_rwlock_t *rwlock,
-			       const struct timespec *abstime);
-int pthread_rwlock_timedwrlock(pthread_rwlock_t *rwlock,
-			       const struct timespec *abstime);
+int pthread_rwlock_timedrdlock(pthread_rwlock_t *rwlock, const struct timespec *abstime);
+int pthread_rwlock_timedwrlock(pthread_rwlock_t *rwlock, const struct timespec *abstime);
 int pthread_rwlock_tryrdlock(pthread_rwlock_t *rwlock);
 int pthread_rwlock_trywrlock(pthread_rwlock_t *rwlock);
 int pthread_rwlock_unlock(pthread_rwlock_t *rwlock);
 int pthread_rwlock_wrlock(pthread_rwlock_t *rwlock);
-int pthread_key_create(pthread_key_t *key,
-		void (*destructor)(void *));
+int pthread_key_create(pthread_key_t *key, void (*destructor)(void *));
 int pthread_key_delete(pthread_key_t key);
 int pthread_setspecific(pthread_key_t key, const void *value);
 void *pthread_getspecific(pthread_key_t key);
@@ -471,11 +448,12 @@
 #define pthread_cleanup_push(_rtn, _arg)                                                           \
 	do /* enforce '{'-like behaviour */ {                                                      \
 		void *_z_pthread_cleanup[3];                                                       \
-		__z_pthread_cleanup_push(_z_pthread_cleanup, _rtn, _arg)
+	__z_pthread_cleanup_push(_z_pthread_cleanup, _rtn, _arg)
 
 #define pthread_cleanup_pop(_ex)                                                                   \
-		__z_pthread_cleanup_pop(_ex);                                                      \
-	} /* enforce '}'-like behaviour */ while (0)
+	__z_pthread_cleanup_pop(_ex);                                                              \
+	} /* enforce '}'-like behaviour */                                                         \
+	while (0)
 
 /* Glibc / Oracle Extension Functions */
 

lib/posix/Kconfig.toolchain

@@ -213,6 +213,9 @@ config TC_PROVIDES_XSI_MULTI_PROCESS
 config TC_PROVIDES_XSI_REALTIME
 	bool
 
+config TC_PROVIDES_XSI_REALTIME_THREADS
+	bool
+
 config TC_PROVIDES_XSI_SIGNALS
 	bool
 

lib/posix/options/CMakeLists.txt

@@ -165,6 +165,21 @@ if(NOT CONFIG_TC_PROVIDES_XSI_REALTIME)
   zephyr_library_sources_ifdef(CONFIG_POSIX_SHARED_MEMORY_OBJECTS shm.c)
 endif()
 
+if(NOT CONFIG_TC_PROVIDES_XSI_REALTIME_THREADS)
+  zephyr_library_sources_ifdef(CONFIG_XSI_REALTIME_THREADS
+    xsi_realtime_threads.c
+  )
+endif()
+
+if(CONFIG_XSI_REALTIME_THREADS)
+  zephyr_compile_definitions(-D_XOPEN_REALTIME_THREADS=${XOPEN_VERSION})
+  zephyr_compile_definitions(-D_POSIX_THREAD_PRIORITY_SCHEDULING=${POSIX_VERSION})
+  zephyr_compile_definitions(-D_POSIX_THREAD_PRIO_INHERIT=${POSIX_VERSION})
+  zephyr_compile_definitions(-D_POSIX_THREAD_PRIO_PROTECT=${POSIX_VERSION})
+  zephyr_compile_definitions(-D_POSIX_THREAD_ROBUST_PRIO_INHERIT=${POSIX_VERSION})
+  zephyr_compile_definitions(-D_POSIX_THREAD_ROBUST_PRIO_PROTECT=${POSIX_VERSION})
+endif()
+
 zephyr_library_sources_ifdef(CONFIG_XOPEN_STREAMS stropts.c)
 
 if (NOT CONFIG_TC_PROVIDES_XSI_SINGLE_PROCESS)

lib/posix/options/Kconfig

@@ -30,6 +30,7 @@ menu "X/Open system interfaces"
 
 # zephyr-keep-sorted-start
 rsource "Kconfig.xsi_realtime"
+rsource "Kconfig.xsi_realtime_threads"
 rsource "Kconfig.xsi_single_process"
 rsource "Kconfig.xsi_streams"
 rsource "Kconfig.xsi_system_logging"

lib/posix/options/Kconfig.pthread

@@ -99,15 +99,7 @@ config POSIX_THREADS_EXT
 
 config POSIX_THREAD_PRIORITY_SCHEDULING
 	bool "Run POSIX threads with different priorities and schedulers"
-	help
-	  Enabling this option allows the application to configure different priorities and
-	  scheduling algorithms for different threads via functions such as pthread_setschedparam()
-	  and pthread_setschedprio(). This is required for Realtime Threads and Advanced Realtime
-	  Threads.
-
-	  For more information, please see
-	  https://pubs.opengroup.org/onlinepubs/9699919799/basedefs/V1_chap02.html#tag_02_01_06
-	  https://man7.org/linux/man-pages/man7/posixoptions.7.html
+	select DEPRECATED
 
 config POSIX_PTHREAD_ATTR_STACKSIZE_BITS
 	int "Significant bits for pthread_attr_t stacksize"
@@ -143,19 +135,11 @@ config POSIX_PTHREAD_ATTR_GUARDSIZE_DEFAULT
 
 config POSIX_THREAD_PRIO_INHERIT
 	bool "POSIX mutex priority inheritance"
-	help
-	  Select 'y' here to enable POSIX mutex priority inheritance.
-
-	  For more information, please see
-	  https://pubs.opengroup.org/onlinepubs/9699919799/functions/pthread_mutexattr_getprotocol.html
+	select DEPRECATED
 
 config POSIX_THREAD_PRIO_PROTECT
 	bool "POSIX mutex priority protection"
-	help
-	  Select 'y' here to enable POSIX mutex priority protection.
-
-	  For more information, please see
-	  https://pubs.opengroup.org/onlinepubs/9699919799/functions/pthread_mutexattr_getprotocol.html
+	select DEPRECATED
 
 config POSIX_THREAD_SAFE_FUNCTIONS
 	bool "POSIX thread-safe functions"