sched: merge task_tcb_s and pthread_tcb_s into tcb to simplify the code. by anjiahao1 · Pull Request #17545 · apache/nuttx

anjiahao1 · 2025-12-17T12:27:50Z

Summary

Both task_tcb_s and pthread_tcb_s have been merged into tcb to simplify the code.
The current Nuttx code contains a large number of TCB type casts. Let's optimize it to remove them and simplify the code implementation.

Impact

nothing，just remove tcb cast

Testing

ostest

qemu-system-arm -M mps3-an547 -m 2G  -device loader,file=nuttx.hex -gdb tcp::1131 -nographic
ERROR: Failed to mount romfs at /mnt: -22

NuttShell (NSH) NuttX-12.7.2-vela
nsh>
nsh>
nsh> ostest
stdio_test: write fd=1
stdio_test: Standard I/O Check: printf
stdio_test: write fd=2
ostest_main: putenv(Variable1=BadValue3)
ostest_main: setenv(Variable1, GoodValue1, TRUE)
ostest_main: setenv(Variable2, BadValue1, FALSE)
ostest_main: setenv(Variable2, GoodValue2, TRUE)
ostest_main: setenv(Variable3, GoodValue3, FALSE)
ostest_main: setenv(Variable3, BadValue2, FALSE)
show_variable: Variable=Variable1 has value=GoodValue1
show_variable: Variable=Variable2 has value=GoodValue2
show_variable: Variable=Variable3 has value=GoodValue3
ostest_main: Started user_main at PID=4

user_main: Begin argument test
user_main: Started with argc=5
user_main: argv[0]="ostest"
user_main: argv[1]="Arg1"
user_main: argv[2]="Arg2"
user_main: argv[3]="Arg3"
user_main: argv[4]="Arg4"

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena    801fb970 801fb970
ordblks         2        2
mxordblk 7ffffff0 7ffffff0
uordblks     6418     6418
fordblks 801f5558 801f5558

user_main: getopt() test
getopt():  Simple test
getopt():  Invalid argument
getopt():  Missing optional argument
getopt_long():  Simple test
getopt_long():  No short options
getopt_long():  Argument for --option=argument
getopt_long():  Invalid long option
getopt_long():  Mixed long and short options
getopt_long():  Invalid short option
getopt_long():  Missing optional arguments
getopt_long_only():  Mixed long and short options
getopt_long_only():  Single hyphen long options

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena    801fb970 801fb970
ordblks         2        2
mxordblk 7ffffff0 7ffffff0
uordblks     6418     6418
fordblks 801f5558 801f5558

user_main: libc tests

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena    801fb970 801fb970
ordblks         2        2
mxordblk 7ffffff0 7ffffff0
uordblks     6418     6418
fordblks 801f5558 801f5558
show_variable: Variable=Variable1 has value=GoodValue1
show_variable: Variable=Variable2 has value=GoodValue2
show_variable: Variable=Variable3 has value=GoodValue3
show_variable: Variable=Variable1 has no value
show_variable: Variable=Variable2 has value=GoodValue2
show_variable: Variable=Variable3 has value=GoodValue3

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena    801fb970 801fb970
ordblks         2        3
mxordblk 7ffffff0 7ffffff0
uordblks     6418     63f8
fordblks 801f5558 801f5578
show_variable: Variable=Variable1 has no value
show_variable: Variable=Variable2 has no value
show_variable: Variable=Variable3 has no value

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena    801fb970 801fb970
ordblks         3        3
mxordblk 7ffffff0 7ffffff0
uordblks     63f8     6380
fordblks 801f5578 801f55f0

user_main: setvbuf test
setvbuf_test: Test NO buffering
setvbuf_test: Using NO buffering
setvbuf_test: Test default FULL buffering
setvbuf_test: Using default FULL buffering
setvbuf_test: Test FULL buffering, buffer size 64
setvbuf_test: Using FULL buffering, buffer size 64
setvbuf_test: Test FULL buffering, pre-allocated buffer
setvbuf_test: Using FULL buffering, pre-allocated buffer
setvbuf_test: Test LINE buffering, buffer size 64
setvbuf_test: Using LINE buffering, buffer size 64
setvbuf_test: Test FULL buffering, pre-allocated buffer
setvbuf_test: Using FULL buffering, pre-allocated buffer

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena    801fb970 801fb970
ordblks         3        3
mxordblk 7ffffff0 7ffffff0
uordblks     6380     6380
fordblks 801f55f0 801f55f0

user_main: /dev/null test
dev_null: Read 0 bytes from /dev/null
dev_null: Wrote 1024 bytes to /dev/null

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena    801fb970 801fb970
ordblks         3        3
mxordblk 7ffffff0 7ffffff0
uordblks     6380     6380
fordblks 801f55f0 801f55f0

user_main: FPU test
Starting task FPU#1
fpu_test: Started task FPU#1 at PID=5
FPU#1: pass 1
Starting task FPU#2
fpu_test: Started task FPU#2 at PID=6
FPU#2: pass 1
FPU#1: pass 2
FPU#2: pass 2
FPU#1: pass 3
FPU#2: pass 3
FPU#1: pass 4
FPU#2: pass 4
FPU#1: pass 5
FPU#2: pass 5
FPU#1: pass 6
FPU#2: pass 6
FPU#1: pass 7
FPU#2: pass 7
FPU#1: pass 8
FPU#2: pass 8
FPU#1: pass 9
FPU#2: pass 9
FPU#1: pass 10
FPU#2: pass 10
FPU#1: pass 11
FPU#2: pass 11
FPU#1: pass 12
FPU#2: pass 12
FPU#1: pass 13
FPU#2: pass 13
FPU#1: pass 14
FPU#2: pass 14
FPU#1: pass 15
FPU#2: pass 15
FPU#1: pass 16
FPU#2: pass 16
FPU#1: Succeeded
FPU#2: Succeeded
fpu_test: Returning

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena    801fb970 801fb970
ordblks         3        5
mxordblk 7ffffff0 7ffffff0
uordblks     6380     8390
fordblks 801f55f0 801f35e0

user_main: task_restart test

Test task_restart()
restart_main: setenv(VarName, VarValue, TRUE)
restart_main: Started restart_main at PID=7
restart_main: Started with argc=4
restart_main: argv[0]="ostest"
restart_main: argv[1]="This is argument 1"
restart_main: argv[2]="Argument 2 here"
restart_main: argv[3]="Lastly, the 3rd argument"
restart_main: Variable=VarName has value=VarValue
restart_main: I am still here
restart_main: I am still here
restart_main: Started restart_main at PID=7
restart_main: Started with argc=4
restart_main: argv[0]="ostest"
restart_main: argv[1]="This is argument 1"
restart_main: argv[2]="Argument 2 here"
restart_main: argv[3]="Lastly, the 3rd argument"
restart_main: Variable=VarName has value=VarValue
restart_main: Started with argc=4
restart_main: argv[0]="ostest"
restart_main: argv[1]="This is argument 1"
restart_main: argv[2]="Argument 2 here"
restart_main: argv[3]="Lastly, the 3rd argument"
restart_main: Variable=VarName has value=VarValue
restart_main: Exiting

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena    801fb970 801fb970
ordblks         5        3
mxordblk 7ffffff0 7ffffff0
uordblks     8390     8740
fordblks 801f35e0 801f3230

user_main: waitpid test

Test waitpid()
waitpid_start_child: Started waitpid_main at PID=8
waitpid_start_child: Started waitpid_main at PID=9
waitpid_start_child: Started waitpid_main at PID=10
waitpid_test: Waiting for PID=8 with waitpid()
waitpid_main: PID 8 Started
waitpid_main: PID 9 Started
waitpid_main: PID 10 Started
waitpid_main: PID 8 exitting with result=14
waitpid_main: PID 9 exitting with result=14
waitpid_main: PID 10 exitting with result=14
waitpid_test: PID 8 waitpid succeeded with stat_loc=0e00
waitpid_last: Waiting for PID=10 with waitpid()
waitpid_last: PASS: PID 10 waitpid failed with ECHILD.  That may be
              acceptable because child status is disabled on this thread.

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena    801fb970 801fb970
ordblks         3        6
mxordblk 7ffffff0 7ffffff0
uordblks     8740     cad0
fordblks 801f3230 801eeea0

user_main: mutex test
Initializing mutex
Starting thread 1
Starting thread 2
                Thread1 Thread2
        Loops   32      32
        Errors  0       0

Testing moved mutex
Starting moved mutex thread 1
Starting moved mutex thread 2
                Thread1 Thread2
        Moved Loops     32      32
        Moved Errors    0       0

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena    801fb970 801fb970
ordblks         6        3
mxordblk 7ffffff0 7ffffff0
uordblks     cad0     8578
fordblks 801eeea0 801f33f8

user_main: timed mutex test
mutex_test: Initializing mutex
mutex_test: Starting thread
pthread:  Started
pthread:  Waiting for lock or timeout
mutex_test: Unlocking
pthread:  Got the lock
pthread:  Waiting for lock or timeout
pthread:  Got the timeout.  Terminating
mutex_test: PASSED

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena    801fb970 801fb970
ordblks         3        3
mxordblk 7ffffff0 7ffffff0
uordblks     8578     7498
fordblks 801f33f8 801f44d8

user_main: cancel test
cancel_test: Test 1a: Normal Cancellation
cancel_test: Starting thread
start_thread: Initializing mutex
start_thread: Initializing cond
start_thread: Starting thread
start_thread: Yielding
sem_waiter: Taking mutex
sem_waiter: Starting wait for condition
cancel_test: Canceling thread
cancel_test: Joining
cancel_test: waiter exited with result=0xffffffff
cancel_test: PASS thread terminated with PTHREAD_CANCELED
cancel_test: Test 2: Asynchronous Cancellation
... Skipped
cancel_test: Test 3: Cancellation of detached thread
cancel_test: Re-starting thread
restart_thread: Destroying cond
restart_thread: Destroying mutex
restart_thread: Re-starting thread
start_thread: Initializing mutex
start_thread: Initializing cond
start_thread: Starting thread
start_thread: Yielding
sem_waiter: Taking mutex
sem_waiter: Starting wait for condition
cancel_test: Canceling thread
cancel_test: Joining
cancel_test: PASS pthread_join failed with status=ESRCH
cancel_test: Test 5: Non-cancelable threads
cancel_test: Re-starting thread (non-cancelable)
restart_thread: Destroying cond
restart_thread: Destroying mutex
restart_thread: Re-starting thread
start_thread: Initializing mutex
start_thread: Initializing cond
start_thread: Starting thread
start_thread: Yielding
sem_waiter: Taking mutex
sem_waiter: Starting wait for condition
sem_waiter: Setting non-cancelable
cancel_test: Canceling thread
cancel_test: Joining
sem_waiter: Releasing mutex
sem_waiter: Setting cancelable
cancel_test: waiter exited with result=0xffffffff
cancel_test: PASS thread terminated with PTHREAD_CANCELED
cancel_test: Test 6: Cancel message queue wait
cancel_test: Starting thread (cancelable)
Skipped
cancel_test: Test 7: Cancel signal wait
cancel_test: Starting thread (cancelable)
Skipped

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena    801fb970 801fb970
ordblks         3        3
mxordblk 7ffffff0 7ffffff0
uordblks     7498     8498
fordblks 801f44d8 801f34d8

user_main: robust test
robust_test: Initializing mutex
robust_test: Starting thread
robust_waiter: Taking mutex
robust_waiter: Exiting with mutex
robust_test: Take the lock again
robust_test: Make the mutex consistent again.
robust_test: Take the lock again
robust_test: Joining
robust_test: waiter exited with result=0
robust_test: Test complete with nerrors=0

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena    801fb970 801fb970
ordblks         3        3
mxordblk 7ffffff0 7ffffff0
uordblks     8498     8498
fordblks 801f34d8 801f34d8

user_main: semaphore test
sem_test: Initializing semaphore to 0
sem_test: Starting waiter thread 1
sem_test: Set thread 1 priority to 191
waiter_func: Thread 1 Started
waiter_func: Thread 1 initial semaphore value = 0
waiter_func: Thread 1 waiting on semaphore
sem_test: Starting waiter thread 2
sem_test: Set thread 2 priority to 128
waiter_func: Thread 2 Started
waiter_func: Thread 2 initial semaphore value = -1
waiter_func: Thread 2 waiting on semaphore
sem_test: Starting poster thread 3
sem_test: Set thread 3 priority to 64
poster_func: Thread 3 started
poster_func: Thread 3 semaphore value = -2
poster_func: Thread 3 posting semaphore
waiter_func: Thread 1 awakened
waiter_func: Thread 1 new semaphore value = -1
waiter_func: Thread 1 done
poster_func: Thread 3 new semaphore value = -1
poster_func: Thread 3 semaphore value = -1
poster_func: Thread 3 posting semaphore
waiter_func: Thread 2 awakened
waiter_func: Thread 2 new semaphore value = 0
waiter_func: Thread 2 done
poster_func: Thread 3 new semaphore value = 0
poster_func: Thread 3 done

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena    801fb970 801fb970
ordblks         3        3
mxordblk 7ffffff0 7ffffff0
uordblks     8498     9658
fordblks 801f34d8 801f2318

user_main: timed semaphore test
semtimed_test: Initializing semaphore to 0
semtimed_test: Waiting for two second timeout
semtimed_test: PASS: first test returned timeout
BEFORE: (1682380844 sec, 664943000 nsec)
AFTER:  (1682380846 sec, 665931000 nsec)
semtimed_test: Starting poster thread
semtimed_test: Set thread 1 priority to 191
semtimed_test: Starting poster thread 3
semtimed_test: Set thread 3 priority to 64
semtimed_test: Waiting for two second timeout
poster_func: Waiting for 1 second
poster_func: Posting
semtimed_test: PASS: sem_timedwait succeeded
BEFORE: (1682380846 sec, 667116000 nsec)
AFTER:  (1682380847 sec, 668039000 nsec)

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena    801fb970 801fb970
ordblks         3        3
mxordblk 7ffffff0 7ffffff0
uordblks     9658     7498
fordblks 801f2318 801f44d8

user_main: condition variable test
cond_test: Initializing mutex
cond_test: Initializing cond
cond_test: Starting waiter
cond_test: Set thread 1 priority to 128
waiter_thread: Started
cond_test: Starting signaler
cond_test: Set thread 2 priority to 64
thread_signaler: Started
thread_signaler: Terminating
cond_test: signaler terminated, now cancel the waiter
cond_test:      Waiter  Signaler
cond_test: Loops        32      32
cond_test: Errors       0       0
cond_test:
cond_test: 0 times, waiter did not have to wait for data
cond_test: 0 times, data was already available when the signaler run
cond_test: 0 times, the waiter was in an unexpected state when the signaler ran

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena    801fb970 801fb970
ordblks         3        4
mxordblk 7ffffff0 7ffffff0
uordblks     7498     7498
fordblks 801f44d8 801f44d8

user_main: pthread_exit() test
pthread_exit_test: Started pthread_exit_main at PID=31
pthread_exit_main 31: Starting pthread_exit_thread
pthread_exit_main 31: Sleeping for 5 seconds
pthread_exit_thread 37: Sleeping for 10 second
pthread_exit_main 31: Calling pthread_exit()
pthread_exit_thread 37: Still running...

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena    801fb970 801fb970
ordblks         4        3
mxordblk 7ffffff0 7ffffff0
uordblks     7498     9578
fordblks 801f44d8 801f23f8

user_main: pthread_rwlock test
pthread_rwlock: Initializing rwlock
pthread_exit_thread 37: Exiting

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena    801fb970 801fb970
ordblks         3        4
mxordblk 7ffffff0 7ffffff0
uordblks     9578     74a8
fordblks 801f23f8 801f44c8

user_main: pthread_rwlock_cancel test
pthread_rwlock_cancel: Starting test

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena    801fb970 801fb970
ordblks         4        3
mxordblk 7ffffff0 7ffffff0
uordblks     74a8     63c8
fordblks 801f44c8 801f55a8

user_main: timed wait test
thread_waiter: Initializing mutex
timedwait_test: Initializing cond
timedwait_test: Starting waiter
timedwait_test: Set thread 2 priority to 177
thread_waiter: Taking mutex
thread_waiter: Starting 5 second wait for condition
timedwait_test: Joining
thread_waiter: pthread_cond_timedwait timed out
thread_waiter: Releasing mutex
thread_waiter: Exit with status 0x12345678
timedwait_test: waiter exited with result=0x12345678

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena    801fb970 801fb970
ordblks         3        3
mxordblk 7ffffff0 7ffffff0
uordblks     63c8     74a8
fordblks 801f55a8 801f44c8

user_main: message queue test
mqueue_test: Starting receiver
mqueue_test: Set receiver priority to 128
receiver_thread: Starting
mqueue_test: Starting sender
mqueue_test: Set sender thread priority to 64
mqueue_test: Waiting for sender to complete
sender_thread: Starting
receiver_thread: mq_receive succeeded on msg 0
sender_thread: mq_send succeeded on msg 0
receiver_thread: mq_receive succeeded on msg 1
sender_thread: mq_send succeeded on msg 1
receiver_thread: mq_receive succeeded on msg 2
sender_thread: mq_send succeeded on msg 2
receiver_thread: mq_receive succeeded on msg 3
sender_thread: mq_send succeeded on msg 3
receiver_thread: mq_receive succeeded on msg 4
sender_thread: mq_send succeeded on msg 4
receiver_thread: mq_receive succeeded on msg 5
sender_thread: mq_send succeeded on msg 5
receiver_thread: mq_receive succeeded on msg 6
sender_thread: mq_send succeeded on msg 6
receiver_thread: mq_receive succeeded on msg 7
sender_thread: mq_send succeeded on msg 7
receiver_thread: mq_receive succeeded on msg 8
sender_thread: mq_send succeeded on msg 8
receiver_thread: mq_receive succeeded on msg 9
sender_thread: mq_send succeeded on msg 9
sender_thread: returning nerrors=0
mqueue_test: Killing receiver
receiver_thread: mq_receive interrupted!
receiver_thread: returning nerrors=0
mqueue_test: Canceling receiver
mqueue_test: receiver has already terminated

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena    801fb970 801fb970
ordblks         3        4
mxordblk 7ffffff0 7ffffff0
uordblks     74a8     a5f8
fordblks 801f44c8 801f1378

user_main: timed message queue test
timedmqueue_test: Starting sender
timedmqueue_test: Waiting for sender to complete
sender_thread: Starting
sender_thread: mq_timedsend succeeded on msg 0
sender_thread: mq_timedsend succeeded on msg 1
sender_thread: mq_timedsend succeeded on msg 2
sender_thread: mq_timedsend succeeded on msg 3
sender_thread: mq_timedsend succeeded on msg 4
sender_thread: mq_timedsend succeeded on msg 5
sender_thread: mq_timedsend succeeded on msg 6
sender_thread: mq_timedsend succeeded on msg 7
sender_thread: mq_timedsend succeeded on msg 8
sender_thread: mq_timedsend 9 timed out as expected
sender_thread: returning nerrors=0
timedmqueue_test: Starting receiver
timedmqueue_test: Waiting for receiver to complete
receiver_thread: Starting
receiver_thread: mq_timedreceive succeed on msg 0
receiver_thread: mq_timedreceive succeed on msg 1
receiver_thread: mq_timedreceive succeed on msg 2
receiver_thread: mq_timedreceive succeed on msg 3
receiver_thread: mq_timedreceive succeed on msg 4
receiver_thread: mq_timedreceive succeed on msg 5
receiver_thread: mq_timedreceive succeed on msg 6
receiver_thread: mq_timedreceive succeed on msg 7
receiver_thread: mq_timedreceive succeed on msg 8
receiver_thread: Receive 9 timed out as expected
receiver_thread: returning nerrors=0
timedmqueue_test: Test complete

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena    801fb970 801fb970
ordblks         4        3
mxordblk 7ffffff0 7ffffff0
uordblks     a5f8     8518
fordblks 801f1378 801f3458

user_main: sigprocmask test
sigprocmask_test: SUCCESS

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena    801fb970 801fb970
ordblks         3        3
mxordblk 7ffffff0 7ffffff0
uordblks     8518     8518
fordblks 801f3458 801f3458

user_main: signal handler test
sighand_test: Initializing semaphore to 0
sighand_test: Starting waiter task
sighand_test: Started waiter_main pid=54
waiter_main: Waiter started
waiter_main: Unmasking signal 32
waiter_main: Registering signal handler
waiter_main: oact.sigaction=0 oact.sa_flags=0 oact.sa_mask=0000000000000000
waiter_main: Waiting on semaphore
sighand_test: Signaling pid=54 with signo=32 sigvalue=42
waiter_main: sem_wait() successfully interrupted by signal
waiter_main: done
sighand_test: done

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena    801fb970 801fb970
ordblks         3        2
mxordblk 7ffffff0 7ffffff0
uordblks     8518     8530
fordblks 801f3458 801f3440

user_main: nested signal handler test
signest_test: Starting signal waiter task at priority 101
waiter_main: Waiter started
waiter_main: Setting signal mask
waiter_main: Registering signal handler
waiter_main: Waiting on semaphore
signest_test: Started waiter_main pid=55
signest_test: Starting interfering task at priority 102
interfere_main: Waiting on semaphore
signest_test: Started interfere_main pid=56
signest_test: Simple case:
  Total signalled 1240  Odd=620 Even=620
  Total handled   1240  Odd=620 Even=620
  Total nested    0    Odd=0   Even=0
signest_test: With task locking
  Total signalled 2480  Odd=1240 Even=1240
  Total handled   2480  Odd=1240 Even=1240
  Total nested    0    Odd=0   Even=0
signest_test: With intefering thread
  Total signalled 3720  Odd=1860 Even=1860
  Total handled   3720  Odd=1860 Even=1860
  Total nested    0    Odd=0   Even=0
signest_test: done

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena    801fb970 801fb970
ordblks         2        6
mxordblk 7ffffff0 7ffffff0
uordblks     8530     8590
fordblks 801f3440 801f33e0

user_main: wdog test
wdog_test start...
wdtest_once 0 ns
wdtest_once 0 ns
wdtest_once 0 ns
wdtest_once 0 ns
wdtest_once 1 ns
wdtest_once 1 ns
wdtest_once 1 ns
wdtest_once 1 ns
wdtest_once 10 ns
wdtest_once 10 ns
wdtest_once 10 ns
wdtest_once 10 ns
wdtest_once 100 ns
wdtest_once 100 ns
wdtest_once 100 ns
wdtest_once 100 ns
wdtest_once 1000 ns
wdtest_once 1000 ns
wdtest_once 1000 ns
wdtest_once 1000 ns
wdtest_once 10000 ns
wdtest_once 10000 ns
wdtest_once 10000 ns
wdtest_once 10000 ns
wdtest_once 100000 ns
wdtest_once 100000 ns
wdtest_once 100000 ns
wdtest_once 100000 ns
wdtest_once 1000000 ns
wdtest_once 1000000 ns
wdtest_once 1000000 ns
wdtest_once 1000000 ns
wd_start with maximum delay, cancel OK, rest 1073741820
wdtest_recursive 1000000ns
wd_start with maximum delay, cancel OK, rest 1073741820
wdtest_recursive 1000000ns
wd_start with maximum delay, cancel OK, rest 1073741820
wdtest_recursive 1000000ns
wd_start with maximum delay, cancel OK, rest 1073741820
wdtest_recursive 1000000ns
recursive wdog triggered 51 times, elapsed tick 102
wdtest_recursive 10000000ns
recursive wdog triggered 51 times, elapsed tick 102
wdtest_recursive 10000000ns
recursive wdog triggered 51 times, elapsed tick 102
wdtest_recursive 10000000ns
recursive wdog triggered 51 times, elapsed tick 102
wdtest_recursive 10000000ns
recursive wdog triggered 9 times, elapsed tick 99
recursive wdog triggered 9 times, elapsed tick 99
recursive wdog triggered 9 times, elapsed tick 99
recursive wdog triggered 9 times, elapsed tick 99
wdog_test end...

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena    801fb970 801fb970
ordblks         6        6
mxordblk 7ffffff0 7ffffff0
uordblks     8590     a830
fordblks 801f33e0 801f1140

user_main: POSIX timer test
timer_test: Initializing semaphore to 0
timer_test: Unmasking signal 32
timer_test: Registering signal handler
timer_test: oact.sigaction=0 oact.sa_flags=0 oact.sa_mask=0000000000000000
timer_test: Creating timer
timer_test: Starting timer
timer_test: Waiting on semaphore
timer_expiration: Received signal 32
timer_expiration: sival_int=42
timer_expiration: si_code=2 (SI_TIMER)
timer_expiration: ucontext=0
timer_test: sem_wait() successfully interrupted by signal
timer_test: g_nsigreceived=1
timer_test: Waiting on semaphore
timer_expiration: Received signal 32
timer_expiration: sival_int=42
timer_expiration: si_code=2 (SI_TIMER)
timer_expiration: ucontext=0
timer_test: sem_wait() successfully interrupted by signal
timer_test: g_nsigreceived=2
timer_test: Waiting on semaphore
timer_expiration: Received signal 32
timer_expiration: sival_int=42
timer_expiration: si_code=2 (SI_TIMER)
timer_expiration: ucontext=0
timer_test: sem_wait() successfully interrupted by signal
timer_test: g_nsigreceived=3
timer_test: Waiting on semaphore
timer_expiration: Received signal 32
timer_expiration: sival_int=42
timer_expiration: si_code=2 (SI_TIMER)
timer_expiration: ucontext=0
timer_test: sem_wait() successfully interrupted by signal
timer_test: g_nsigreceived=4
timer_test: Waiting on semaphore
timer_expiration: Received signal 32
timer_expiration: sival_int=42
timer_expiration: si_code=2 (SI_TIMER)
timer_expiration: ucontext=0
timer_test: sem_wait() successfully interrupted by signal
timer_test: g_nsigreceived=5
timer_test: Deleting timer
timer_test: done

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena    801fb970 801fb970
ordblks         6        6
mxordblk 7ffffff0 7ffffff0
uordblks     a830     a830
fordblks 801f1140 801f1140

user_main: round-robin scheduler test
rr_test: Set thread priority to 1
rr_test: Set thread policy to SCHED_RR
rr_test: Starting first get_primes_thread
         First get_primes_thread: 61
rr_test: Starting second get_primes_thread
         Second get_primes_thread: 62
rr_test: Waiting for threads to complete -- this should take awhile
         If RR scheduling is working, they should start and complete at
         about the same time
get_primes_thread id=1 started, looking for primes < 30000, doing 10 run(s)
get_primes_thread id=2 started, looking for primes < 30000, doing 10 run(s)
get_primes_thread id=2 finished, found 3246 primes, last one was 29989
get_primes_thread id=1 finished, found 3246 primes, last one was 29989
rr_test: Done

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena    801fb970 801fb970
ordblks         6        6
mxordblk 7ffffff0 7ffffff0
uordblks     a830     8670
fordblks 801f1140 801f3300

user_main: barrier test
barrier_test: Initializing barrier
barrier_test: Thread 0 created
barrier_test: Thread 1 created
barrier_test: Thread 2 created
barrier_test: Thread 3 created
barrier_test: Thread 4 created
barrier_test: Thread 5 created
barrier_test: Thread 6 created
barrier_test: Thread 7 created
barrier_func: Thread 0 started
barrier_func: Thread 1 started
barrier_func: Thread 2 started
barrier_func: Thread 3 started
barrier_func: Thread 4 started
barrier_func: Thread 5 started
barrier_func: Thread 6 started
barrier_func: Thread 7 started
barrier_func: Thread 0 calling pthread_barrier_wait()
barrier_func: Thread 1 calling pthread_barrier_wait()
barrier_func: Thread 2 calling pthread_barrier_wait()
barrier_func: Thread 3 calling pthread_barrier_wait()
barrier_func: Thread 4 calling pthread_barrier_wait()
barrier_func: Thread 5 calling pthread_barrier_wait()
barrier_func: Thread 6 calling pthread_barrier_wait()
barrier_func: Thread 7 calling pthread_barrier_wait()
barrier_func: Thread 7, back with status=PTHREAD_BARRIER_SERIAL_THREAD (I AM SPECIAL)
barrier_func: Thread 0, back with status=0 (I am not special)
barrier_func: Thread 1, back with status=0 (I am not special)
barrier_func: Thread 2, back with status=0 (I am not special)
barrier_func: Thread 3, back with status=0 (I am not special)
barrier_func: Thread 4, back with status=0 (I am not special)
barrier_func: Thread 5, back with status=0 (I am not special)
barrier_func: Thread 6, back with status=0 (I am not special)
barrier_func: Thread 7 done
barrier_func: Thread 0 done
barrier_func: Thread 1 done
barrier_func: Thread 2 done
barrier_func: Thread 3 done
barrier_test: Thread 0 completed with result=0
barrier_test: Thread 1 completed with result=0
barrier_test: Thread 2 completed with result=0
barrier_test: Thread 3 completed with result=0
barrier_func: Thread 4 done
barrier_func: Thread 5 done
barrier_func: Thread 6 done
barrier_test: Thread 4 completed with result=0
barrier_test: Thread 5 completed with result=0
barrier_test: Thread 6 completed with result=0
barrier_test: Thread 7 completed with result=0

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena    801fb970 801fb970
ordblks         6        8
mxordblk 7ffffff0 7ffffff0
uordblks     8670     7590
fordblks 801f3300 801f43e0

user_main: scheduler lock test
sched_lock: Starting lowpri_thread at 97
sched_lock: Set lowpri_thread priority to 97
sched_lock: Starting highpri_thread at 98
sched_lock: Set highpri_thread priority to 98
sched_lock: Waiting...
sched_lock: PASSED No pre-emption occurred while scheduler was locked.
sched_lock: Starting lowpri_thread at 97
sched_lock: Set lowpri_thread priority to 97
sched_lock: Starting highpri_thread at 98
sched_lock: Set highpri_thread priority to 98
sched_lock: Waiting...
sched_lock: PASSED No pre-emption occurred while scheduler was locked.
sched_lock: Finished

End of test memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena    801fb970 801fb970
ordblks         8        7
mxordblk 7ffffff0 7ffffff0
uordblks     7590     7590
fordblks 801f43e0 801f43e0

user_main: vfork() test
vfork_test: Child 85 ran successfully

Final memory usage:
VARIABLE  BEFORE   AFTER
======== ======== ========
arena    801fb970 801fb970
ordblks         2        6
mxordblk 7ffffff0 7ffffff0
uordblks     6418     84b8
fordblks 801f5558 801f34b8
user_main: Exiting
ostest_main: Exiting with status 0
stdio_test: Standard I/O Check: fprintf to stderr
nsh> uname -a
NuttX 12.7.2-vela 5993084826c Dec 18 2025 14:46:30 arm mps3-an547
nsh>

mutex pref:
before the pr

➜ qemu-system-arm -M mps3-an547 -m 2G  -device loader,file=nuttx.hex -gdb tcp::1133 -nographic
ERROR: Failed to mount romfs at /mnt: -22

NuttShell (NSH) NuttX-12.7.2-vela
nsh>
nsh>
nsh> pmutexp
1: diff = 0.439459000 s | avg = 0.439459000 s
2: diff = 0.440715000 s | avg = 0.440087000 s
3: diff = 0.449228000 s | avg = 0.443134000 s
4: diff = 0.435610000 s | avg = 0.441253000 s
5: diff = 0.429398000 s | avg = 0.438882000 s
6: diff = 0.429453000 s | avg = 0.437310500 s
7: diff = 0.437387000 s | avg = 0.437321428 s
8: diff = 0.457095000 s | avg = 0.439793125 s
9: diff = 0.443135000 s | avg = 0.440164444 s
10: diff = 0.437166000 s | avg = 0.439864600 s

===== result =====
count: 10
total: 4.398646000 s
avg: 0.439864600 s
nsh> uname -a
NuttX 12.7.2-vela 2b092adf480 Dec 18 2025 14:57:59 arm mps3-an547
nsh>

➜ qemu-system-riscv32 -semihosting -M virt,aclint=on -cpu rv32 -smp 1 -bios none -kernel nuttx -nographic
ABC
NuttShell (NSH) NuttX-12.7.2-vela
nsh>
nsh>
nsh> ostest
stdio_test: write fd=1
stdio_test: Standard I/O Check: printf
stdio_test: write fd=2
stdio_test: Standard I/O Check: fprintf to stderr
ostest_main: putenv(Variable1=BadValue3)
ostest_main: setenv(Variable1, GoodValue1, TRUE)
ostest_main: setenv(Variable2, BadValue1, FALSE)
ostest_main: setenv(Variable2, GoodValue2, TRUE)
ostest_main: setenv(Variable3, GoodValue3, FALSE)
ostest_main: setenv(Variable3, BadValue2, FALSE)
show_variable: Variable=Variable1 has value=GoodValue1
show_variable: Variable=Variable2 has value=GoodValue2
show_variable: Variable=Variable3 has value=GoodValue3
ostest_main: Started user_main at PID=3

user_main: Begin argument test
user_main: Started with argc=5
user_main: argv[0]="ostest"
user_main: argv[1]="Arg1"
user_main: argv[2]="Arg2"
user_main: argv[3]="Arg3"
user_main: argv[4]="Arg4"

End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fcefbc 1fcefbc
ordblks 1 1
mxordblk 1fcad20 1fcad20
uordblks 429c 429c
fordblks 1fcad20 1fcad20

user_main: getopt() test
getopt(): Simple test
getopt(): Invalid argument
getopt(): Missing optional argument
getopt_long(): Simple test
getopt_long(): No short options
getopt_long(): Argument for --option=argument
getopt_long(): Invalid long option
getopt_long(): Mixed long and short options
getopt_long(): Invalid short option
getopt_long(): Missing optional arguments
getopt_long_only(): Mixed long and short options
getopt_long_only(): Single hyphen long options

End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fcefbc 1fcefbc
ordblks 1 1
mxordblk 1fcad20 1fcad20
uordblks 429c 429c
fordblks 1fcad20 1fcad20

user_main: libc tests

End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fcefbc 1fcefbc
ordblks 1 1
mxordblk 1fcad20 1fcad20
uordblks 429c 429c
fordblks 1fcad20 1fcad20
show_variable: Variable=Variable1 has value=GoodValue1
show_variable: Variable=Variable2 has value=GoodValue2
show_variable: Variable=Variable3 has value=GoodValue3
show_variable: Variable=Variable1 has no value
show_variable: Variable=Variable2 has value=GoodValue2
show_variable: Variable=Variable3 has value=GoodValue3

End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fcefbc 1fcefbc
ordblks 1 2
mxordblk 1fcad20 1fcad20
uordblks 429c 427c
fordblks 1fcad20 1fcad40
show_variable: Variable=Variable1 has no value
show_variable: Variable=Variable2 has no value
show_variable: Variable=Variable3 has no value

End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fcefbc 1fcefbc
ordblks 2 2
mxordblk 1fcad20 1fcad20
uordblks 427c 41e4
fordblks 1fcad40 1fcadd8

user_main: setvbuf test
setvbuf_test: Test NO buffering
setvbuf_test: Using NO buffering
setvbuf_test: Test default FULL buffering
setvbuf_test: Using default FULL buffering
setvbuf_test: Test FULL buffering, buffer size 64
setvbuf_test: Using FULL buffering, buffer size 64
setvbuf_test: Test FULL buffering, pre-allocated buffer
setvbuf_test: Using FULL buffering, pre-allocated buffer
setvbuf_test: Test LINE buffering, buffer size 64
setvbuf_test: Using LINE buffering, buffer size 64
setvbuf_test: Test FULL buffering, pre-allocated buffer
setvbuf_test: Using FULL buffering, pre-allocated buffer

End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fcefbc 1fcefbc
ordblks 2 2
mxordblk 1fcad20 1fcad20
uordblks 41e4 41e4
fordblks 1fcadd8 1fcadd8

user_main: /dev/null test
dev_null: Read 0 bytes from /dev/null
dev_null: Wrote 1024 bytes to /dev/null

End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fcefbc 1fcefbc
ordblks 2 2
mxordblk 1fcad20 1fcad20
uordblks 41e4 41e4
fordblks 1fcadd8 1fcadd8

user_main: FPU test
Starting task FPU#1
fpu_test: Started task FPU#1 at PID=4
FPU#1: pass 1
Starting task FPU#2
fpu_test: Started task FPU#2 at PID=5
FPU#2: pass 1
FPU#1: pass 2
FPU#2: pass 2
FPU#1: pass 3
FPU#2: pass 3
FPU#1: pass 4
FPU#2: pass 4
FPU#1: pass 5
FPU#2: pass 5
FPU#1: pass 6
FPU#2: pass 6
FPU#1: pass 7
FPU#2: pass 7
FPU#1: pass 8
FPU#2: pass 8
FPU#1: pass 9
FPU#2: pass 9
FPU#1: pass 10
FPU#2: pass 10
FPU#1: pass 11
FPU#2: pass 11
FPU#1: pass 12
FPU#2: pass 12
FPU#1: pass 13
FPU#2: pass 13
FPU#1: pass 14
FPU#2: pass 14
FPU#1: pass 15
FPU#2: pass 15
FPU#1: pass 16
FPU#2: pass 16
FPU#1: Succeeded
FPU#2: Succeeded
fpu_test: Returning

End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fcefbc 1fcefbc
ordblks 2 3
mxordblk 1fcad20 1fc9630
uordblks 41e4 5564
fordblks 1fcadd8 1fc9a58

user_main: task_restart test

Test task_restart()
restart_main: setenv(VarName, VarValue, TRUE)
restart_main: Started restart_main at PID=6
restart_main: Started with argc=4
restart_main: argv[0]="ostest"
restart_main: argv[1]="This is argument 1"
restart_main: argv[2]="Argument 2 here"
restart_main: argv[3]="Lastly, the 3rd argument"
restart_main: Variable=VarName has value=VarValue
restart_main: I am still here
restart_main: I am still here
restart_main: Started restart_main at PID=6
restart_main: Started with argc=4
restart_main: argv[0]="ostest"
restart_main: argv[1]="This is argument 1"
restart_main: argv[2]="Argument 2 here"
restart_main: argv[3]="Lastly, the 3rd argument"
restart_main: Variable=VarName has value=VarValue
restart_main: Started with argc=4
restart_main: argv[0]="ostest"
restart_main: argv[1]="This is argument 1"
restart_main: argv[2]="Argument 2 here"
restart_main: argv[3]="Lastly, the 3rd argument"
restart_main: Variable=VarName has value=VarValue
restart_main: Exiting

End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fcefbc 1fcefbc
ordblks 3 2
mxordblk 1fc9630 1fc89a8
uordblks 5564 6594
fordblks 1fc9a58 1fc8a28

user_main: waitpid test

Test waitpid()
waitpid_start_child: Started waitpid_main at PID=7
waitpid_start_child: Started waitpid_main at PID=8
waitpid_start_child: Started waitpid_main at PID=9
waitpid_test: Waiting for PID=7 with waitpid()
waitpid_main: PID 7 Started
waitpid_main: PID 8 Started
waitpid_main: PID 9 Started
waitpid_main: PID 7 exitting with result=14
waitpid_main: PID 8 exitting with result=14
waitpid_main: PID 9 exitting with result=14
waitpid_test: PID 7 waitpid succeeded with stat_loc=0e00
waitpid_last: Waiting for PID=9 with waitpid()
waitpid_last: PASS: PID 9 waitpid failed with ECHILD. That may be
acceptable because child status is disabled on this thread.

End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fcefbc 1fcefbc
ordblks 2 4
mxordblk 1fc89a8 1fc4280
uordblks 6594 a914
fordblks 1fc8a28 1fc46a8

user_main: mutex test
Initializing mutex
Starting thread 1
Starting thread 2
Thread1 Thread2
Loops 32 32
Errors 0 0

Testing moved mutex
Starting moved mutex thread 1
Starting moved mutex thread 2
Thread1 Thread2
Moved Loops 32 32
Moved Errors 0 0

End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fcefbc 1fcefbc
ordblks 4 2
mxordblk 1fc4280 1fc9b60
uordblks a914 53dc
fordblks 1fc46a8 1fc9be0

user_main: timed mutex test
mutex_test: Initializing mutex
mutex_test: Starting thread
pthread: Started
pthread: Waiting for lock or timeout
mutex_test: Unlocking
pthread: Got the lock
pthread: Waiting for lock or timeout
pthread: Got the timeout. Terminating
mutex_test: PASSED

End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fcefbc 1fcefbc
ordblks 2 2
mxordblk 1fc9b60 1fca440
uordblks 53dc 4afc
fordblks 1fc9be0 1fca4c0

user_main: cancel test
cancel_test: Test 1a: Normal Cancellation
cancel_test: Starting thread
start_thread: Initializing mutex
start_thread: Initializing cond
start_thread: Starting thread
start_thread: Yielding
sem_waiter: Taking mutex
sem_waiter: Starting wait for condition
cancel_test: Canceling thread
cancel_test: Joining
cancel_test: waiter exited with result=0xffffffff
cancel_test: PASS thread terminated with PTHREAD_CANCELED
cancel_test: Test 2: Asynchronous Cancellation
... Skipped
cancel_test: Test 3: Cancellation of detached thread
cancel_test: Re-starting thread
restart_thread: Destroying cond
restart_thread: Destroying mutex
restart_thread: Re-starting thread
start_thread: Initializing mutex
start_thread: Initializing cond
start_thread: Starting thread
start_thread: Yielding
sem_waiter: Taking mutex
sem_waiter: Starting wait for condition
cancel_test: Canceling thread
cancel_test: Joining
cancel_test: PASS pthread_join failed with status=ESRCH
cancel_test: Test 5: Non-cancelable threads
cancel_test: Re-starting thread (non-cancelable)
restart_thread: Destroying cond
restart_thread: Destroying mutex
restart_thread: Re-starting thread
start_thread: Initializing mutex
start_thread: Initializing cond
start_thread: Starting thread
start_thread: Yielding
sem_waiter: Taking mutex
sem_waiter: Starting wait for condition
sem_waiter: Setting non-cancelable
cancel_test: Canceling thread
cancel_test: Joining
sem_waiter: Releasing mutex
sem_waiter: Setting cancelable
cancel_test: waiter exited with result=0xffffffff
cancel_test: PASS thread terminated with PTHREAD_CANCELED
cancel_test: Test 6: Cancel message queue wait
cancel_test: Starting thread (cancelable)
Skipped
cancel_test: Test 7: Cancel signal wait
cancel_test: Starting thread (cancelable)
Skipped

End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fcefbc 1fcefbc
ordblks 2 2
mxordblk 1fca440 1fc8c40
uordblks 4afc 62fc
fordblks 1fca4c0 1fc8cc0

user_main: robust test
robust_test: Initializing mutex
robust_test: Starting thread
robust_waiter: Taking mutex
robust_waiter: Exiting with mutex
robust_test: Take the lock again
robust_test: Make the mutex consistent again.
robust_test: Take the lock again
robust_test: Joining
robust_test: waiter exited with result=0
robust_test: Test complete with nerrors=0

End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fcefbc 1fcefbc
ordblks 2 2
mxordblk 1fc8c40 1fc8c40
uordblks 62fc 62fc
fordblks 1fc8cc0 1fc8cc0

user_main: semaphore test
sem_test: Initializing semaphore to 0
sem_test: Starting waiter thread 1
sem_test: Set thread 1 priority to 191
waiter_func: Thread 1 Started
waiter_func: Thread 1 initial semaphore value = 0
waiter_func: Thread 1 waiting on semaphore
sem_test: Starting waiter thread 2
sem_test: Set thread 2 priority to 128
waiter_func: Thread 2 Started
waiter_func: Thread 2 initial semaphore value = -1
waiter_func: Thread 2 waiting on semaphore
sem_test: Starting poster thread 3
sem_test: Set thread 3 priority to 64
poster_func: Thread 3 started
poster_func: Thread 3 semaphore value = -2
poster_func: Thread 3 posting semaphore
waiter_func: Thread 1 awakened
waiter_func: Thread 1 new semaphore value = -1
waiter_func: Thread 1 done
poster_func: Thread 3 new semaphore value = -1
poster_func: Thread 3 semaphore value = -1
poster_func: Thread 3 posting semaphore
waiter_func: Thread 2 awakened
waiter_func: Thread 2 new semaphore value = 0
waiter_func: Thread 2 done
poster_func: Thread 3 new semaphore value = 0
poster_func: Thread 3 done

End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fcefbc 1fcefbc
ordblks 2 2
mxordblk 1fc8c40 1fc9280
uordblks 62fc 5cbc
fordblks 1fc8cc0 1fc9300

user_main: timed semaphore test
semtimed_test: Initializing semaphore to 0
semtimed_test: Waiting for two second timeout
semtimed_test: PASS: first test returned timeout
BEFORE: (1638316845 sec, 70950300 nsec)
AFTER: (1638316847 sec, 71403600 nsec)
semtimed_test: Starting poster thread
semtimed_test: Set thread 1 priority to 191
semtimed_test: Starting poster thread 3
semtimed_test: Set thread 3 priority to 64
semtimed_test: Waiting for two second timeout
poster_func: Waiting for 1 second
poster_func: Posting
semtimed_test: PASS: sem_timedwait succeeded
BEFORE: (1638316847 sec, 72074800 nsec)
AFTER: (1638316848 sec, 73457100 nsec)

End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fcefbc 1fcefbc
ordblks 2 2
mxordblk 1fc9280 1fca440
uordblks 5cbc 4afc
fordblks 1fc9300 1fca4c0

user_main: condition variable test
cond_test: Initializing mutex
cond_test: Initializing cond
cond_test: Starting waiter
cond_test: Set thread 1 priority to 128
waiter_thread: Started
cond_test: Starting signaler
cond_test: Set thread 2 priority to 64
thread_signaler: Started
thread_signaler: Terminating
cond_test: signaler terminated, now cancel the waiter
cond_test: Waiter Signaler
cond_test: Loops 32 32
cond_test: Errors 0 0
cond_test:
cond_test: 0 times, waiter did not have to wait for data
cond_test: 0 times, data was already available when the signaler run
cond_test: 0 times, the waiter was in an unexpected state when the signaler ran

End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fcefbc 1fcefbc
ordblks 2 3
mxordblk 1fca440 1fc9b60
uordblks 4afc 4afc
fordblks 1fca4c0 1fca4c0

user_main: pthread_exit() test
pthread_exit_test: Started pthread_exit_main at PID=29
pthread_exit_main 29: Starting pthread_exit_thread
pthread_exit_main 29: Sleeping for 5 seconds
pthread_exit_thread 30: Sleeping for 10 second
pthread_exit_main 29: Calling pthread_exit()
pthread_exit_thread 30: Still running...

End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fcefbc 1fcefbc
ordblks 3 2
mxordblk 1fc9b60 1fc8360
uordblks 4afc 6bdc
fordblks 1fca4c0 1fc83e0

user_main: pthread_rwlock test
pthread_rwlock: Initializing rwlock
pthread_exit_thread 30: Exiting

End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fcefbc 1fcefbc
ordblks 2 3
mxordblk 1fc8360 1fc8360
uordblks 6bdc 4b0c
fordblks 1fc83e0 1fca4b0

user_main: pthread_rwlock_cancel test
pthread_rwlock_cancel: Starting test

End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fcefbc 1fcefbc
ordblks 3 2
mxordblk 1fc8360 1fcad20
uordblks 4b0c 422c
fordblks 1fca4b0 1fcad90

user_main: timed wait test
thread_waiter: Initializing mutex
timedwait_test: Initializing cond
timedwait_test: Starting waiter
timedwait_test: Set thread 2 priority to 177
thread_waiter: Taking mutex
thread_waiter: Starting 5 second wait for condition
timedwait_test: Joining
thread_waiter: pthread_cond_timedwait timed out
thread_waiter: Releasing mutex
thread_waiter: Exit with status 0x12345678
timedwait_test: waiter exited with result=0x12345678

End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fcefbc 1fcefbc
ordblks 2 2
mxordblk 1fcad20 1fca440
uordblks 422c 4b0c
fordblks 1fcad90 1fca4b0

user_main: message queue test
mqueue_test: Starting receiver
mqueue_test: Set receiver priority to 128
receiver_thread: Starting
mqueue_test: Starting sender
mqueue_test: Set sender thread priority to 64
mqueue_test: Waiting for sender to complete
sender_thread: Starting
receiver_thread: mq_receive succeeded on msg 0
sender_thread: mq_send succeeded on msg 0
receiver_thread: mq_receive succeeded on msg 1
sender_thread: mq_send succeeded on msg 1
receiver_thread: mq_receive succeeded on msg 2
sender_thread: mq_send succeeded on msg 2
receiver_thread: mq_receive succeeded on msg 3
sender_thread: mq_send succeeded on msg 3
receiver_thread: mq_receive succeeded on msg 4
sender_thread: mq_send succeeded on msg 4
receiver_thread: mq_receive succeeded on msg 5
sender_thread: mq_send succeeded on msg 5
receiver_thread: mq_receive succeeded on msg 6
sender_thread: mq_send succeeded on msg 6
receiver_thread: mq_receive succeeded on msg 7
sender_thread: mq_send succeeded on msg 7
receiver_thread: mq_receive succeeded on msg 8
sender_thread: mq_send succeeded on msg 8
receiver_thread: mq_receive succeeded on msg 9
sender_thread: mq_send succeeded on msg 9
sender_thread: returning nerrors=0
mqueue_test: Killing receiver
receiver_thread: mq_receive interrupted!
receiver_thread: returning nerrors=0
mqueue_test: Canceling receiver
mqueue_test: receiver has already terminated

End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fcefbc 1fcefbc
ordblks 2 4
mxordblk 1fca440 1fc6a88
uordblks 4b0c 8454
fordblks 1fca4b0 1fc6b68

user_main: timed message queue test
timedmqueue_test: Starting sender
timedmqueue_test: Waiting for sender to complete
sender_thread: Starting
sender_thread: mq_timedsend succeeded on msg 0
sender_thread: mq_timedsend succeeded on msg 1
sender_thread: mq_timedsend succeeded on msg 2
sender_thread: mq_timedsend succeeded on msg 3
sender_thread: mq_timedsend succeeded on msg 4
sender_thread: mq_timedsend succeeded on msg 5
sender_thread: mq_timedsend succeeded on msg 6
sender_thread: mq_timedsend succeeded on msg 7
sender_thread: mq_timedsend succeeded on msg 8
sender_thread: mq_timedsend 9 timed out as expected
sender_thread: returning nerrors=0
timedmqueue_test: Starting receiver
timedmqueue_test: Waiting for receiver to complete
receiver_thread: Starting
receiver_thread: mq_timedreceive succeed on msg 0
receiver_thread: mq_timedreceive succeed on msg 1
receiver_thread: mq_timedreceive succeed on msg 2
receiver_thread: mq_timedreceive succeed on msg 3
receiver_thread: mq_timedreceive succeed on msg 4
receiver_thread: mq_timedreceive succeed on msg 5
receiver_thread: mq_timedreceive succeed on msg 6
receiver_thread: mq_timedreceive succeed on msg 7
receiver_thread: mq_timedreceive succeed on msg 8
receiver_thread: Receive 9 timed out as expected
receiver_thread: returning nerrors=0
timedmqueue_test: Test complete

End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fcefbc 1fcefbc
ordblks 4 3
mxordblk 1fc6a88 1fc8c08
uordblks 8454 6374
fordblks 1fc6b68 1fc8c48

user_main: sigprocmask test
sigprocmask_test: SUCCESS

End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fcefbc 1fcefbc
ordblks 3 3
mxordblk 1fc8c08 1fc8c08
uordblks 6374 6374
fordblks 1fc8c48 1fc8c48

user_main: signal handler test
sighand_test: Initializing semaphore to 0
sighand_test: Starting waiter task
sighand_test: Started waiter_main pid=46
waiter_main: Waiter started
waiter_main: Unmasking signal 32
waiter_main: Registering signal handler
waiter_main: oact.sigaction=0 oact.sa_flags=0 oact.sa_mask=0000000000000000
waiter_main: Waiting on semaphore
sighand_test: Signaling pid=46 with signo=32 sigvalue=42
waiter_main: sem_wait() successfully interrupted by signal
waiter_main: done
sighand_test: done

End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fcefbc 1fcefbc
ordblks 3 2
mxordblk 1fc8c08 1fc8c08
uordblks 6374 638c
fordblks 1fc8c48 1fc8c30

user_main: nested signal handler test
signest_test: Starting signal waiter task at priority 101
waiter_main: Waiter started
waiter_main: Setting signal mask
waiter_main: Registering signal handler
waiter_main: Waiting on semaphore
signest_test: Started waiter_main pid=47
signest_test: Starting interfering task at priority 102
interfere_main: Waiting on semaphore
signest_test: Started interfere_main pid=52
signest_test: Simple case:
Total signalled 1240 Odd=620 Even=620
Total handled 1240 Odd=620 Even=620
Total nested 0 Odd=0 Even=0
signest_test: With task locking
Total signalled 2480 Odd=1240 Even=1240
Total handled 2480 Odd=1240 Even=1240
Total nested 0 Odd=0 Even=0
signest_test: With intefering thread
Total signalled 3720 Odd=1860 Even=1860
Total handled 3720 Odd=1860 Even=1860
Total nested 0 Odd=0 Even=0
signest_test: done

End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fcefbc 1fcefbc
ordblks 2 6
mxordblk 1fc8c08 1fc63d8
uordblks 638c 63ec
fordblks 1fc8c30 1fc8bd0

user_main: wdog test
wdog_test start...
wdtest_once 0 ns
wdtest_once 1 ns
wdtest_once 0 ns
wdtest_once 0 ns
wdtest_once 0 ns
wdtest_once 10 ns
wdtest_once 1 ns
wdtest_once 1 ns
wdtest_once 1 ns
wdtest_once 100 ns
wdtest_once 10 ns
wdtest_once 10 ns
wdtest_once 10 ns
wdtest_once 1000 ns
wdtest_once 100 ns
wdtest_once 100 ns
wdtest_once 100 ns
wdtest_once 10000 ns
wdtest_once 1000 ns
wdtest_once 1000 ns
wdtest_once 1000 ns
wdtest_once 100000 ns
wdtest_once 10000 ns
wdtest_once 10000 ns
wdtest_once 10000 ns
wdtest_once 1000000 ns
wdtest_once 100000 ns
wdtest_once 100000 ns
wdtest_once 100000 ns
wdtest_once 1000000 ns
wdtest_once 1000000 ns
wdtest_once 1000000 ns
wd_start with maximum delay, cancel OK, rest 1073741820
wdtest_recursive 1000000ns
wd_start with maximum delay, cancel OK, rest 1073741820
wdtest_recursive 1000000ns
wd_start with maximum delay, cancel OK, rest 1073741820
wdtest_recursive 1000000ns
wd_start with maximum delay, cancel OK, rest 1073741820
wdtest_recursive 1000000ns
recursive wdog triggered 51 times, elapsed tick 102
wdtest_recursive 10000000ns
recursive wdog triggered 51 times, elapsed tick 102
wdtest_recursive 10000000ns
recursive wdog triggered 51 times, elapsed tick 102
wdtest_recursive 10000000ns
recursive wdog triggered 51 times, elapsed tick 102
wdtest_recursive 10000000ns
recursive wdog triggered 9 times, elapsed tick 99
recursive wdog triggered 9 times, elapsed tick 99
recursive wdog triggered 9 times, elapsed tick 99
recursive wdog triggered 9 times, elapsed tick 99
wdog_test end...

End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fcefbc 1fcefbc
ordblks 6 6
mxordblk 1fc63d8 1fc63d8
uordblks 63ec 668c
fordblks 1fc8bd0 1fc8930

user_main: POSIX timer test
timer_test: Initializing semaphore to 0
timer_test: Unmasking signal 32
timer_test: Registering signal handler
timer_test: oact.sigaction=0 oact.sa_flags=0 oact.sa_mask=0000000000000000
timer_test: Creating timer
timer_test: Starting timer
timer_test: Waiting on semaphore
timer_expiration: Received signal 32
timer_expiration: sival_int=42
timer_expiration: si_code=2 (SI_TIMER)
timer_expiration: ucontext=0
timer_test: sem_wait() successfully interrupted by signal
timer_test: g_nsigreceived=1
timer_test: Waiting on semaphore
timer_expiration: Received signal 32
timer_expiration: sival_int=42
timer_expiration: si_code=2 (SI_TIMER)
timer_expiration: ucontext=0
timer_test: sem_wait() successfully interrupted by signal
timer_test: g_nsigreceived=2
timer_test: Waiting on semaphore
timer_expiration: Received signal 32
timer_expiration: sival_int=42
timer_expiration: si_code=2 (SI_TIMER)
timer_expiration: ucontext=0
timer_test: sem_wait() successfully interrupted by signal
timer_test: g_nsigreceived=3
timer_test: Waiting on semaphore
timer_expiration: Received signal 32
timer_expiration: sival_int=42
timer_expiration: si_code=2 (SI_TIMER)
timer_expiration: ucontext=0
timer_test: sem_wait() successfully interrupted by signal
timer_test: g_nsigreceived=4
timer_test: Waiting on semaphore
timer_expiration: Received signal 32
timer_expiration: sival_int=42
timer_expiration: si_code=2 (SI_TIMER)
timer_expiration: ucontext=0
timer_test: sem_wait() successfully interrupted by signal
timer_test: g_nsigreceived=5
timer_test: Deleting timer
timer_test: done

End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fcefbc 1fcefbc
ordblks 6 6
mxordblk 1fc63d8 1fc63d8
uordblks 668c 668c
fordblks 1fc8930 1fc8930

user_main: round-robin scheduler test
rr_test: Set thread priority to 1
rr_test: Set thread policy to SCHED_RR
rr_test: Starting first get_primes_thread
First get_primes_thread: 57
rr_test: Starting second get_primes_thread
Second get_primes_thread: 58
rr_test: Waiting for threads to complete -- this should take awhile
If RR scheduling is working, they should start and complete at
about the same time
get_primes_thread id=1 started, looking for primes < 30000, doing 10 run(s)
get_primes_thread id=2 started, looking for primes < 30000, doing 10 run(s)
get_primes_thread id=1 finished, found 3246 primes, last one was 29989
get_primes_thread id=2 finished, found 3246 primes, last one was 29989
rr_test: Done

End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fcefbc 1fcefbc
ordblks 6 6
mxordblk 1fc63d8 1fc63d8
uordblks 668c 54cc
fordblks 1fc8930 1fc9af0

user_main: barrier test
barrier_test: Initializing barrier
barrier_test: Thread 0 created
barrier_test: Thread 1 created
barrier_test: Thread 2 created
barrier_test: Thread 3 created
barrier_test: Thread 4 created
barrier_test: Thread 5 created
barrier_test: Thread 6 created
barrier_test: Thread 7 created
barrier_func: Thread 0 started
barrier_func: Thread 1 started
barrier_func: Thread 2 started
barrier_func: Thread 3 started
barrier_func: Thread 4 started
barrier_func: Thread 5 started
barrier_func: Thread 6 started
barrier_func: Thread 7 started
barrier_func: Thread 0 calling pthread_barrier_wait()
barrier_func: Thread 1 calling pthread_barrier_wait()
barrier_func: Thread 2 calling pthread_barrier_wait()
barrier_func: Thread 3 calling pthread_barrier_wait()
barrier_func: Thread 4 calling pthread_barrier_wait()
barrier_func: Thread 5 calling pthread_barrier_wait()
barrier_func: Thread 6 calling pthread_barrier_wait()
barrier_func: Thread 7 calling pthread_barrier_wait()
barrier_func: Thread 7, back with status=PTHREAD_BARRIER_SERIAL_THREAD (I AM SPECIAL)
barrier_func: Thread 0, back with status=0 (I am not special)
barrier_func: Thread 1, back with status=0 (I am not special)
barrier_func: Thread 2, back with status=0 (I am not special)
barrier_func: Thread 3, back with status=0 (I am not special)
barrier_func: Thread 4, back with status=0 (I am not special)
barrier_func: Thread 5, back with status=0 (I am not special)
barrier_func: Thread 6, back with status=0 (I am not special)
barrier_func: Thread 7 done
barrier_func: Thread 0 done
barrier_func: Thread 1 done
barrier_func: Thread 2 done
barrier_func: Thread 3 done
barrier_func: Thread 4 done
barrier_test: Thread 0 completed with result=0
barrier_test: Thread 1 completed with result=0
barrier_test: Thread 2 completed with result=0
barrier_test: Thread 3 completed with result=0
barrier_test: Thread 4 completed with result=0
barrier_func: Thread 5 done
barrier_func: Thread 6 done
barrier_test: Thread 5 completed with result=0
barrier_test: Thread 6 completed with result=0
barrier_test: Thread 7 completed with result=0

End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fcefbc 1fcefbc
ordblks 6 8
mxordblk 1fc63d8 1fc63d8
uordblks 54cc 4bec
fordblks 1fc9af0 1fca3d0

user_main: scheduler lock test
sched_lock: Starting lowpri_thread at 97
sched_lock: Set lowpri_thread priority to 97
sched_lock: Starting highpri_thread at 98
sched_lock: Set highpri_thread priority to 98
sched_lock: Waiting...
sched_lock: PASSED No pre-emption occurred while scheduler was locked.
sched_lock: Starting lowpri_thread at 97
sched_lock: Set lowpri_thread priority to 97
sched_lock: Starting highpri_thread at 98
sched_lock: Set highpri_thread priority to 98
sched_lock: Waiting...
sched_lock: PASSED No pre-emption occurred while scheduler was locked.
sched_lock: Finished

End of test memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fcefbc 1fcefbc
ordblks 8 7
mxordblk 1fc63d8 1fc63d8
uordblks 4bec 4bec
fordblks 1fca3d0 1fca3d0

user_main: vfork() test
vfork_test: Child 75 ran successfully

Final memory usage:
VARIABLE BEFORE AFTER
======== ======== ========
arena 1fcefbc 1fcefbc
ordblks 1 6
mxordblk 1fcad20 1fc63d8
uordblks 429c 630c
fordblks 1fcad20 1fc8cb0
user_main: Exiting
ostest_main: Exiting with status 0
nsh>

after the pr

➜ qemu-system-arm -M mps3-an547 -m 2G  -device loader,file=nuttx.hex -gdb tcp::1133 -nographic
ERROR: Failed to mount romfs at /mnt: -22

NuttShell (NSH) NuttX-12.7.2-vela
nsh>
nsh>
nsh> pmutexp
1: diff = 0.440165000 s | avg = 0.440165000 s
2: diff = 0.432803000 s | avg = 0.436484000 s
3: diff = 0.451396000 s | avg = 0.441454666 s
4: diff = 0.438636000 s | avg = 0.440750000 s
5: diff = 0.432074000 s | avg = 0.439014800 s
6: diff = 0.439348000 s | avg = 0.439070333 s
7: diff = 0.439419000 s | avg = 0.439120142 s
8: diff = 0.447442000 s | avg = 0.440160375 s
9: diff = 0.435502000 s | avg = 0.439642777 s
10: diff = 0.437679000 s | avg = 0.439446400 s

===== result =====
count: 10
total: 4.394464000 s
avg: 0.439446400 s
nsh> uname -a
NuttX 12.7.2-vela 5993084826c Dec 18 2025 14:56:59 arm mps3-an547
nsh> QEMU: Terminated

acassis · 2025-12-17T12:37:07Z

@anjiahao1 please include real testing results showing the code size impact before and after this change.

Please also run the pmutexp (https://github.com/apache/nuttx-apps/tree/master/testing/sched/pthread_mutex_perf) before and after this modification to see if it improved the execution time or made it worst.

anjiahao1 · 2025-12-18T07:02:27Z

Hi， @acassis I've added the test results to the PR information; please help review the code.

acassis · 2025-12-18T12:07:20Z

@anjiahao1 I added need more tests because normally modification on sched can break other arch(es), so we need to test in different arches: arm, riscv, avr, etc

anjiahao1 · 2025-12-19T02:06:56Z

@acassis Okay, I've added the correct rsicv QEMU test.

xiaoxiang781216 · 2025-12-20T02:43:07Z

@anjiahao1 please remove the cast from:

====================================================================================
Configuration/Tool: esp32-devkitc/ble
2025-12-19 13:25:09
------------------------------------------------------------------------------------
  Cleaning...
  Configuring...
  Building NuttX...
common/espressif/esp_spiflash.c: In function 'spiflash_init_spi_flash_op_block_task':
Error: common/espressif/esp_spiflash.c:592:21: error: passing argument 1 of 'nxtask_init' from incompatible pointer type [-Wincompatible-pointer-types]
  592 |   ret = nxtask_init((FAR struct task_tcb_s *)tcb, "spiflash_op",
      |                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
      |                     |
      |                     struct task_tcb_s *
In file included from /github/workspace/sources/nuttx/include/nuttx/arch.h:89,
                 from common/espressif/esp_spiflash.c:28:
/github/workspace/sources/nuttx/include/nuttx/sched.h:989:35: note: expected 'struct tcb_s *' but argument is of type 'struct task_tcb_s *'
  989 | int nxtask_init(FAR struct tcb_s *tcb, const char *name, int priority,
      |                     ~~~~~~~~~~~~~~^~~

GUIDINGLI

LGTM

xiaoxiang781216 · 2025-12-22T03:34:38Z

@anjiahao1 please rebase your change.

Simplify the code and remove different tcb Signed-off-by: anjiahao <anjiahao@xiaomi.com>

Just remove cast Signed-off-by: anjiahao <anjiahao@xiaomi.com>

GUIDINGLI

LGTM

anjiahao1 requested review from Donny9, GUIDINGLI, anchao, davids5, jerpelea, masayuki2009, pussuw, xiaoxiang781216 and yf13 as code owners December 17, 2025 12:27

jerpelea changed the title ~~Both task_tcb_s and pthread_tcb_s have been merged into tcb to simplify the code.~~ sched: merge task_tcb_s and pthread_tcb_s into tcb to simplify the code. Dec 18, 2025

jerpelea previously approved these changes Dec 18, 2025

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anjiahao1 dismissed jerpelea’s stale review via 5993084 December 18, 2025 07:01

anjiahao1 force-pushed the 20251217_tcb_cast branch from 3fcb567 to 5993084 Compare December 18, 2025 07:01

acassis previously approved these changes Dec 18, 2025

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acassis added the State: Needs more testing label Dec 18, 2025

anchao mentioned this pull request Dec 18, 2025

[BUG] Premature exit of a process will cause the group to be released ahead of schedule. #17418

Closed

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anjiahao1 force-pushed the 20251217_tcb_cast branch from 5993084 to deac854 Compare December 19, 2025 02:05

xiaoxiang781216 previously approved these changes Dec 19, 2025

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anjiahao1 dismissed stale reviews from xiaoxiang781216 and acassis via b7580fb December 21, 2025 09:48

anjiahao1 force-pushed the 20251217_tcb_cast branch from deac854 to b7580fb Compare December 21, 2025 09:48

anjiahao1 requested review from Ouss4, fdcavalcanti, gustavonihei and tmedicci as code owners December 21, 2025 09:48

github-actions Bot added the Arch: xtensa Issues related to the Xtensa architecture label Dec 21, 2025

GUIDINGLI previously approved these changes Dec 22, 2025

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GUIDINGLI mentioned this pull request Dec 22, 2025

sched/task: Relocate the group ahead of the tcb to ensure the group drop logic #17578

Open

anjiahao1 added 4 commits December 22, 2025 13:07

sched:use tcb_s inside of task_tcb_s , remove all cast

563e0d5

Simplify the code and remove different tcb Signed-off-by: anjiahao <anjiahao@xiaomi.com>

sched:use tcb inside of pthread_tcb_s, remove all cast

b6b3e0d

Simplify the code and remove different tcb Signed-off-by: anjiahao <anjiahao@xiaomi.com>

arch:remove struct tcb_s cast

ca51be6

Just remove cast Signed-off-by: anjiahao <anjiahao@xiaomi.com>

pynuttx:remove pthread_tcb_s cast

8ea7e0c

Just remove cast Signed-off-by: anjiahao <anjiahao@xiaomi.com>

anjiahao1 dismissed GUIDINGLI’s stale review via 8ea7e0c December 22, 2025 05:14

anjiahao1 force-pushed the 20251217_tcb_cast branch from b7580fb to 8ea7e0c Compare December 22, 2025 05:14

xiaoxiang781216 approved these changes Dec 22, 2025

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GUIDINGLI approved these changes Dec 22, 2025

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GUIDINGLI merged commit 0e92053 into apache:master Dec 22, 2025
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sched: merge task_tcb_s and pthread_tcb_s into tcb to simplify the code.#17545

sched: merge task_tcb_s and pthread_tcb_s into tcb to simplify the code.#17545
GUIDINGLI merged 4 commits into
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anjiahao1 commented Dec 17, 2025 •

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