stdio hardening + new mutex API (#1224)

* * Harden stdio_usb and stdio in general against deadlocks which could otherwise result from doing printfs from within IRQs
* Add a test for the above
* Add mutex_try_enter_block_until API.
* Make best_effort_wfe_or_timeout not use alarms if called from within IRQ

src/common/pico_sync/include/pico/mutex.h

@@ -114,6 +114,20 @@ void recursive_mutex_enter_blocking(recursive_mutex_t *mtx);
  */
 bool mutex_try_enter(mutex_t *mtx, uint32_t *owner_out);
 
+/*! \brief Attempt to take ownership of a mutex until the specified time
+ *  \ingroup mutex
+ *
+ * If the mutex wasn't owned, this method will immediately claim the mutex for the caller and return true.
+ * If the mutex is owned by the caller, this method will immediately return false,
+ * If the mutex is owned by someone else, this method will try to claim it until the specified time, returning
+ * true if it succeeds, or false on timeout
+ *
+ * \param mtx Pointer to mutex structure
+ * \param until The time after which to return if the caller cannot be granted ownership of the mutex
+ * \return true if mutex now owned, false otherwise
+ */
+bool mutex_try_enter_block_until(mutex_t *mtx, absolute_time_t until);
+
 /*! \brief Attempt to take ownership of a recursive mutex
  *  \ingroup mutex
  *

src/common/pico_sync/mutex.c

@@ -80,6 +80,17 @@ bool __time_critical_func(mutex_try_enter)(mutex_t *mtx, uint32_t *owner_out) {
     return entered;
 }
 
+bool __time_critical_func(mutex_try_enter_block_until)(mutex_t *mtx, absolute_time_t until) {
+    // not using lock_owner_id_t to avoid backwards incompatibility change to mutex_try_enter API
+    static_assert(sizeof(lock_owner_id_t) <= 4, "");
+    uint32_t owner;
+    if (!mutex_try_enter(mtx, &owner)) {
+        if ((lock_owner_id_t)owner == lock_get_caller_owner_id()) return false; // deadlock, so we can never own it
+        return mutex_enter_block_until(mtx, until);
+    }
+    return true;
+}
+
 bool __time_critical_func(recursive_mutex_try_enter)(recursive_mutex_t *mtx, uint32_t *owner_out) {
     bool entered;
     lock_owner_id_t caller = lock_get_caller_owner_id();

src/common/pico_time/time.c

@@ -431,16 +431,21 @@ void sleep_ms(uint32_t ms) {
 
 bool best_effort_wfe_or_timeout(absolute_time_t timeout_timestamp) {
 #if !PICO_TIME_DEFAULT_ALARM_POOL_DISABLED
-    alarm_id_t id;
-    id = add_alarm_at(timeout_timestamp, sleep_until_callback, NULL, false);
-    if (id <= 0) {
+    if (__get_current_exception()) {
         tight_loop_contents();
         return time_reached(timeout_timestamp);
     } else {
-        __wfe();
-        // we need to clean up if it wasn't us that caused the wfe; if it was this will be a noop.
-        cancel_alarm(id);
-        return time_reached(timeout_timestamp);
+        alarm_id_t id;
+        id = add_alarm_at(timeout_timestamp, sleep_until_callback, NULL, false);
+        if (id <= 0) {
+            tight_loop_contents();
+            return time_reached(timeout_timestamp);
+        } else {
+            __wfe();
+            // we need to clean up if it wasn't us that caused the wfe; if it was this will be a noop.
+            cancel_alarm(id);
+            return time_reached(timeout_timestamp);
+        }
     }
 #else
     tight_loop_contents();

src/rp2_common/pico_stdio/include/pico/stdio.h

@@ -36,6 +36,11 @@
 #define PICO_STDIO_STACK_BUFFER_SIZE 128
 #endif
 
+// PICO_CONFIG: PICO_STDIO_DEADLOCK_TIMEOUT_MS, Time after which to assume stdio_usb is deadlocked by use in IRQ and give up, type=int, default=1000, group=pico_stdio
+#ifndef PICO_STDIO_DEADLOCK_TIMEOUT_MS
+#define PICO_STDIO_DEADLOCK_TIMEOUT_MS 1000
+#endif
+
 #ifdef __cplusplus
 extern "C" {
 #endif

src/rp2_common/pico_stdio/stdio.c

@@ -43,18 +43,7 @@ static stdio_driver_t *filter;
 auto_init_mutex(print_mutex);
 
 bool stdout_serialize_begin(void) {
-    lock_owner_id_t caller = lock_get_caller_owner_id();
-    // not using lock_owner_id_t to avoid backwards incompatibility change to mutex_try_enter API
-    static_assert(sizeof(lock_owner_id_t) <= 4, "");
-    uint32_t owner;
-    if (!mutex_try_enter(&print_mutex, &owner)) {
-        if (owner == (uint32_t)caller) {
-            return false;
-        }
-        // we are not a nested call, so lets wait
-        mutex_enter_blocking(&print_mutex);
-    }
-    return true;
+    return mutex_try_enter_block_until(&print_mutex, make_timeout_time_ms(PICO_STDIO_DEADLOCK_TIMEOUT_MS));
 }
 
 void stdout_serialize_end(void) {

src/rp2_common/pico_stdio_usb/stdio_usb.c

@@ -93,10 +93,8 @@ static void usb_irq(void) {
 
 static void stdio_usb_out_chars(const char *buf, int length) {
     static uint64_t last_avail_time;
-    uint32_t owner;
-    if (!mutex_try_enter(&stdio_usb_mutex, &owner)) {
-        if (owner == get_core_num()) return; // would deadlock otherwise
-        mutex_enter_blocking(&stdio_usb_mutex);
+    if (!mutex_try_enter_block_until(&stdio_usb_mutex, make_timeout_time_ms(PICO_STDIO_DEADLOCK_TIMEOUT_MS))) {
+        return;
     }
     if (stdio_usb_connected()) {
         for (int i = 0; i < length;) {
@@ -126,20 +124,28 @@ static void stdio_usb_out_chars(const char *buf, int length) {
 }
 
 int stdio_usb_in_chars(char *buf, int length) {
-    uint32_t owner;
-    if (!mutex_try_enter(&stdio_usb_mutex, &owner)) {
-        if (owner == get_core_num()) return PICO_ERROR_NO_DATA; // would deadlock otherwise
-        mutex_enter_blocking(&stdio_usb_mutex);
-    }
+    // note we perform this check outside the lock, to try and prevent possible deadlock conditions
+    // with printf in IRQs (which we will escape through timeouts elsewhere, but that would be less graceful).
+    //
+    // these are just checks of state, so we can call them while not holding the lock.
+    // they may be wrong, but only if we are in the middle of a tud_task call, in which case at worst
+    // we will mistakenly think we have data available when we do not (we will check again), or
+    // tud_task will complete running and we will check the right values the next time.
+    //
     int rc = PICO_ERROR_NO_DATA;
     if (stdio_usb_connected() && tud_cdc_available()) {
-        int count = (int) tud_cdc_read(buf, (uint32_t) length);
-        rc =  count ? count : PICO_ERROR_NO_DATA;
-    } else {
-        // because our mutex use may starve out the background task, run tud_task here (we own the mutex)
-        tud_task();
+        if (!mutex_try_enter_block_until(&stdio_usb_mutex, make_timeout_time_ms(PICO_STDIO_DEADLOCK_TIMEOUT_MS))) {
+            return PICO_ERROR_NO_DATA; // would deadlock otherwise
+        }
+        if (stdio_usb_connected() && tud_cdc_available()) {
+            int count = (int) tud_cdc_read(buf, (uint32_t) length);
+            rc = count ? count : PICO_ERROR_NO_DATA;
+        } else {
+            // because our mutex use may starve out the background task, run tud_task here (we own the mutex)
+            tud_task();
+        }
+        mutex_exit(&stdio_usb_mutex);
     }
-    mutex_exit(&stdio_usb_mutex);
     return rc;
 }
 

test/CMakeLists.txt

@@ -1,6 +1,7 @@
 add_subdirectory(pico_test)
 
 add_subdirectory(pico_stdlib_test)
+add_subdirectory(pico_stdio_test)
 add_subdirectory(pico_time_test)
 add_subdirectory(pico_divider_test)
 if (PICO_ON_DEVICE)

test/pico_stdio_test/CMakeLists.txt

@@ -0,0 +1,16 @@
+if (NOT PICO_TIME_NO_ALARM_SUPPORT)
+    add_executable(pico_stdio_test_uart pico_stdio_test.c)
+    target_link_libraries(pico_stdio_test_uart PRIVATE pico_stdlib pico_test pico_multicore)
+    pico_add_extra_outputs(pico_stdio_test_uart)
+    pico_enable_stdio_uart(pico_stdio_test_uart 1)
+    pico_enable_stdio_usb(pico_stdio_test_uart 0)
+
+    add_executable(pico_stdio_test_usb pico_stdio_test.c)
+    target_link_libraries(pico_stdio_test_usb PRIVATE pico_stdlib pico_test pico_multicore)
+    target_compile_definitions(pico_stdio_test_usb PRIVATE
+            PICO_STDIO_USB_CONNECT_WAIT_TIMEOUT_MS=-1) # wait for USB connect
+
+    pico_add_extra_outputs(pico_stdio_test_usb)
+    pico_enable_stdio_uart(pico_stdio_test_usb 0)
+    pico_enable_stdio_usb(pico_stdio_test_usb 1)
+endif()

test/pico_stdio_test/pico_stdio_test.c

@@ -0,0 +1,57 @@
+/**
+ * Copyright (c) 2023 Raspberry Pi (Trading) Ltd.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include <stdio.h>
+#include "pico/stdlib.h"
+#include "pico/multicore.h"
+#include "pico/test.h"
+
+PICOTEST_MODULE_NAME("pico_stdio_test", "pico_stdio test harness");
+
+static volatile bool deadlock_test_done;
+static void deadlock_test_core1(void) {
+    busy_wait_ms(250);
+    for(int i=0;i<1000;i++) {
+        if (deadlock_test_done) break;
+        printf("Hello from core 1 - %d\n", i);
+        busy_wait_ms(23);
+    }
+}
+
+static volatile bool deadlock_test_irq_called;
+
+static int64_t deadlock_test_alarm(alarm_id_t id, void *param) {
+    static int foo;
+    printf("Here is a printf from the IRQ %d\n", ++foo);
+    deadlock_test_irq_called = true;
+    return 100;
+}
+
+int main() {
+    stdio_init_all();
+
+    for(int i=0;i<10;i++) {
+        printf("Hello %d\n", i);
+    }
+    printf("pico_stdio_test begins\n");
+    PICOTEST_START();
+
+    // Check default config has valid data in it
+    PICOTEST_START_SECTION("STDIO deadlock test");
+    multicore_launch_core1(deadlock_test_core1);
+    alarm_id_t alarm_id = add_alarm_in_ms(500, deadlock_test_alarm, NULL, false);
+    PICOTEST_CHECK(getchar_timeout_us(2000000) < 0, "someone pressed a key!");
+
+    deadlock_test_done = true;
+    cancel_alarm(alarm_id);
+
+    sleep_ms(100);
+    PICOTEST_CHECK(deadlock_test_irq_called, "deadlock_test_irq was not called");
+    PICOTEST_END_SECTION();
+
+    PICOTEST_END_TEST();
+}
+