fix regression in pthread_cond_wait with cancellation disabled

due to a logic error in the use of masked cancellation mode,
pthread_cond_wait did not honor PTHREAD_CANCEL_DISABLE but instead
failed with ECANCELED when cancellation was pending.

make all objects used with atomic operations volatile

the memory model we use internally for atomics permits plain loads of
values which may be subject to concurrent modification without
requiring that a special load function be used. since a compiler is
free to make transformations that alter the number of loads or the way
in which loads are performed, the compiler is theoretically free to
break this usage. the most obvious concern is with atomic cas
constructs: something of the form tmp=*p;a_cas(p,tmp,f(tmp)); could be
transformed to a_cas(p,*p,f(*p)); where the latter is intended to show
multiple loads of *p whose resulting values might fail to be equal;
this would break the atomicity of the whole operation. but even more
fundamental breakage is possible.

with the changes being made now, objects that may be modified by
atomics are modeled as volatile, and the atomic operations performed
on them by other threads are modeled as asynchronous stores by
hardware which happens to be acting on the request of another thread.
such modeling of course does not itself address memory synchronization
between cores/cpus, but that aspect was already handled. this all
seems less than ideal, but it's the best we can do without mandating a
C11 compiler and using the C11 model for atomics.

in the case of pthread_once_t, the ABI type of the underlying object
is not volatile-qualified. so we are assuming that accessing the
object through a volatile-qualified lvalue via casts yields volatile
access semantics. the language of the C standard is somewhat unclear
on this matter, but this is an assumption the linux kernel also makes,
and seems to be the correct interpretation of the standard.

factor cancellation cleanup push/pop out of futex __timedwait function

previously, the __timedwait function was optionally a cancellation
point depending on whether it was passed a pointer to a cleaup
function and context to register. as of now, only one caller actually
used such a cleanup function (and it may face removal soon); most
callers either passed a null pointer to disable cancellation or a
dummy cleanup function.

now, __timedwait is never a cancellation point, and __timedwait_cp is
the cancellable version. this makes the intent of the calling code
more obvious and avoids ugly dummy functions and long argument lists.

fix breakage in pthread_cond_wait due to typo

due to accidental use of = instead of ==, the error code was always
set to zero in the signaled wake case for non-shared cv waits.
suppressing ETIMEDOUT (the only possible wait error) is harmless and
actually permitted in this case, but suppressing mutex errors could
give the caller false information about the state of the mutex.

commit 8741ffe625363a553e8f509dc3ca7b071bdbab47 introduced this
regression and commit d9da1fb8c592469431c764732d09f7756340190e
preserved it when reorganizing the code.

simplify cond var code now that cleanup handler is not needed

fix pthread_cond_wait cancellation race

it's possible that signaling a waiter races with cancellation of that
same waiter. previously, cancellation was acted upon, causing the
signal to be consumed with no waiter returning. by using the new
masked cancellation state, it's possible to refuse to act on the
cancellation request and instead leave it pending.

to ease review and understanding of the changes made, this commit
leaves the unwait function, which was previously the cancellation
cleanup handler, in place. additional simplifications could be made by
removing it.

use weak symbols for the POSIX functions that will be used by C threads

The intent of this is to avoid name space pollution of the C threads
implementation.

This has two sides to it. First we have to provide symbols that wouldn't
pollute the name space for the C threads implementation. Second we have
to clean up some internal uses of POSIX functions such that they don't
implicitly drag in such symbols.

fix fallback checks for kernels without private futex support

for unknown syscall commands, the kernel produces ENOSYS, not EINVAL.

further simplify and optimize new cond var

the main idea of the changes made is to have waiters wait directly on
the "barrier" lock that was used to prevent them from making forward
progress too early rather than first waiting on the atomic state value
and then attempting to lock the barrier.

in addition, adjustments to the mutex waiter count are optimized.
previously, each waking waiter decremented the count (unless it was
the first) then immediately incremented it again for the next waiter
(unless it was the last). this was a roundabout was of achieving the
equivalent of incrementing it once for the first waiter and
decrementing it once for the last.

simplify and improve new cond var implementation

previously, wake order could be unpredictable: if a waiter happened to
leave its futex wait on the state early, e.g. due to EAGAIN while
restarting after a signal handler, it could acquire the mutex out of
turn. handling this required ugly O(n) list walking in the unwait
function and accounting to remove waiters that already woke from the
list.

with the new changes, the "barrier" locks in each waiter node are only
unlocked in turn. in addition to simplifying the code, this seems to
improve performance slightly, probably by reducing the number of
accesses threads make to each other's stacks.

as an additional benefit, unrecoverable mutex re-locking errors
(mainly ENOTRECOVERABLE for robust mutexes) no longer need to be
handled with deadlock; they can be reported to the caller, since the
unlocking sequence makes it unnecessary to rely on the mutex to
synchronize access to the waiter list.

redesign cond var implementation to fix multiple issues

the immediate issue that was reported by Jens Gustedt and needed to be
fixed was corruption of the cv/mutex waiter states when switching to
using a new mutex with the cv after all waiters were unblocked but
before they finished returning from the wait function.

self-synchronized destruction was also handled poorly and may have had
race conditions. and the use of sequence numbers for waking waiters
admitted a theoretical missed-wakeup if the sequence number wrapped
through the full 32-bit space.

the new implementation is largely documented in the comments in the
source. the basic principle is to use linked lists initially attached
to the cv object, but detachable on signal/broadcast, made up of nodes
residing in automatic storage (stack) on the threads that are waiting.
this eliminates the need for waiters to access the cv object after
they are signaled, and allows us to limit wakeup to one waiter at a
time during broadcasts even when futex requeue cannot be used.

performance is also greatly improved, roughly double some tests.

basically nothing is changed in the process-shared cond var case,
where this implementation does not work, since processes do not have
access to one another's local storage.

make futex operations use private-futex mode when possible

private-futex uses the virtual address of the futex int directly as
the hash key rather than requiring the kernel to resolve the address
to an underlying backing for the mapping in which it lies. for certain
usage patterns it improves performance significantly.

in many places, the code using futex __wake and __wait operations was
already passing a correct fixed zero or nonzero flag for the priv
argument, so no change was needed at the site of the call, only in the
__wake and __wait functions themselves. in other places, especially
where the process-shared attribute for a synchronization object was
not previously tracked, additional new code is needed. for mutexes,
the only place to store the flag is in the type field, so additional
bit masking logic is needed for accessing the type.

for non-process-shared condition variable broadcasts, the futex
requeue operation is unable to requeue from a private futex to a
process-shared one in the mutex structure, so requeue is simply
disabled in this case by waking all waiters.

for robust mutexes, the kernel always performs a non-private wake when
the owner dies. in order not to introduce a behavioral regression in
non-process-shared robust mutexes (when the owning thread dies), they
are simply forced to be treated as process-shared for now, giving
correct behavior at the expense of performance. this can be fixed by
adding explicit code to pthread_exit to do the right thing for
non-shared robust mutexes in userspace rather than relying on the
kernel to do it, and will be fixed in this way later.

since not all supported kernels have private futex support, the new
code detects EINVAL from the futex syscall and falls back to making
the call without the private flag. no attempt to cache the result is
made; caching it and using the cached value efficiently is somewhat
difficult, and not worth the complexity when the benefits would be
seen only on ancient kernels which have numerous other limitations and
bugs anyway.

replace all remaining internal uses of pthread_self with __pthread_self

prior to version 1.1.0, the difference between pthread_self (the
public function) and __pthread_self (the internal macro or inline
function) was that the former would lazily initialize the thread
pointer if it was not already initialized, whereas the latter would
crash in this case. since lazy initialization is no longer supported,
use of pthread_self no longer makes sense; it simply generates larger,
slower code.

use restrict everywhere it's required by c99 and/or posix 2008

to deal with the fact that the public headers may be used with pre-c99
compilers, __restrict is used in place of restrict, and defined
appropriately for any supported compiler. we also avoid the form
[restrict] since older versions of gcc rejected it due to a bug in the
original c99 standard, and instead use the form *restrict.

synchronize cond var destruction with exiting waits

fix crash in pthread_cond_wait mutex-locked check

it was assuming the result of the condition it was supposed to be
checking for, i.e. that the thread ptr had already been initialized by
pthread_mutex_lock. use the slower call to be safe.

improve/debloat mutex unlock error checking in pthread_cond_wait

we're not required to check this except for error-checking mutexes,
but it doesn't hurt. the new test is actually simpler/lighter, and it
also eliminates the need to later check that pthread_mutex_unlock
succeeds.

check mutex owner in pthread_cond_wait

when used with error-checking mutexes, pthread_cond_wait is required
to fail with EPERM if the mutex is not locked by the caller.
previously we relied on pthread_mutex_unlock to generate the error,
but this is not valid, since in the case of such invalid usage the
internal state of the cond variable has already been potentially
corrupted (due to access outside the control of the mutex). thus, we
have to check first.

another cond var fix: requeue count race condition

lock out new waiters during the broadcast. otherwise the wait count
added to the mutex might be lower than the actual number of waiters
moved, and wakeups may be lost.

this issue could also be solved by temporarily setting the mutex
waiter count higher than any possible real count, then relying on the
kernel to tell us how many waiters were requeued, and updating the
counts afterwards. however the logic is more complex, and i don't
really trust the kernel. the solution here is also nice in that it
replaces some atomic cas loops with simple non-atomic ops under lock.

fix lost signals in cond vars

due to moving waiters from the cond var to the mutex in bcast, these
waiters upon wakeup would steal slots in the count from newer waiters
that had not yet been signaled, preventing the signal function from
taking any action.

to solve the problem, we simply use two separate waiter counts, and so
that the original "total" waiters count is undisturbed by broadcast
and still available for signal.

redo cond vars again, use sequence numbers

testing revealed that the old implementation, while correct, was
giving way too many spurious wakeups due to races changing the value
of the condition futex. in a test program with 5 threads receiving
broadcast signals, the number of returns from pthread_cond_wait was
roughly 3 times what it should have been (2 spurious wakeups for every
legitimate wakeup). moreover, the magnitude of this effect seems to
grow with the number of threads.

the old implementation may also have had some nasty race conditions
with reuse of the cond var with a new mutex.

the new implementation is based on incrementing a sequence number with
each signal event. this sequence number has nothing to do with the
number of threads intended to be woken; it's only used to provide a
value for the futex wait to avoid deadlock. in theory there is a
danger of race conditions due to the value wrapping around after 2^32
signals. it would be nice to eliminate that, if there's a way.

testing showed no spurious wakeups (though they are of course
possible) with the new implementation, as well as slightly improved
performance.

new futex-requeue-based pthread_cond_broadcast implementation

this avoids the "stampede effect" where pthread_cond_broadcast would
result in all waiters waking up simultaneously, only to immediately
contend for the mutex and go back to sleep.

fix ABA race in cond vars, improve them overall

previously, a waiter could miss the 1->0 transition of block if
another thread set block to 1 again after the signal function set
block to 0. we now use the caller's thread id as a unique token to
store in block, which no other thread will ever write there. this
ensures that if block still contains the tid, no signal has occurred.
spurious wakeups will of course occur whenever there is a spurious
return from the futex wait and another thread has begun waiting on the
cond var. this should be a rare occurrence except perhaps in the
presence of interrupting signal handlers.

signal/bcast operations have been improved by noting that they need
not avoid inspecting the cond var's memory after changing the futex
value. because the standard allows spurious wakeups, there is no way
for an application to distinguish between a spurious wakeup just
before another thread called signal/bcast, and the deliberate wakeup
resulting from the signal/bcast call. thus the woken thread must
assume that the signalling thread may still be waiting to act on the
cond var, and therefore it cannot destroy/unmap the cond var.

fix deadlock in condition wait whenever there are multiple waiters

it's amazing none of the conformance tests i've run even bothered to
check whether something so basic works...

unify and overhaul timed futex waits

new features:

- FUTEX_WAIT_BITSET op will be used for timed waits if available. this
saves a call to clock_gettime.

- error checking for the timespec struct is now inside __timedwait so
it doesn't need to be duplicated everywhere. cond_timedwait still
needs to duplicate it to avoid unlocking the mutex, though.

- pushing and popping the cancellation handler is delegated to
__timedwait, and cancellable/non-cancellable waits are unified.

overhaul pthread cancellation

this patch improves the correctness, simplicity, and size of
cancellation-related code. modulo any small errors, it should now be
completely conformant, safe, and resource-leak free.

the notion of entering and exiting cancellation-point context has been
completely eliminated and replaced with alternative syscall assembly
code for cancellable syscalls. the assembly is responsible for setting
up execution context information (stack pointer and address of the
syscall instruction) which the cancellation signal handler can use to
determine whether the interrupted code was in a cancellable state.

these changes eliminate race conditions in the previous generation of
cancellation handling code (whereby a cancellation request received
just prior to the syscall would not be processed, leaving the syscall
to block, potentially indefinitely), and remedy an issue where
non-cancellable syscalls made from signal handlers became cancellable
if the signal handler interrupted a cancellation point.

x86_64 asm is untested and may need a second try to get it right.

major semaphore improvements (performance and correctness)

1. make sem_[timed]wait interruptible by signals, per POSIX
2. keep a waiter count in order to avoid unnecessary futex wake syscalls

overhaul cancellation to fix resource leaks and dangerous behavior with signals

this commit addresses two issues:

1. a race condition, whereby a cancellation request occurring after a
syscall returned from kernelspace but before the subsequent
CANCELPT_END would cause cancellable resource-allocating syscalls
(like open) to leak resources.

2. signal handlers invoked while the thread was blocked at a
cancellation point behaved as if asynchronous cancellation mode wer in
effect, resulting in potentially dangerous state corruption if a
cancellation request occurs.

the glibc/nptl implementation of threads shares both of these issues.

with this commit, both are fixed. however, cancellation points
encountered in a signal handler will not be acted upon if the signal
was received while the thread was already at a cancellation point.
they will of course be acted upon after the signal handler returns, so
in real-world usage where signal handlers quickly return, it should
not be a problem. it's possible to solve this problem too by having
sigaction() wrap all signal handlers with a function that uses a
pthread_cleanup handler to catch cancellation, patch up the saved
context, and return into the cancellable function that will catch and
act upon the cancellation. however that would be a lot of complexity
for minimal if any benefit...

use the selected clock from the condattr for pthread_cond_timedwait

reorganize pthread data structures and move the definitions to alltypes.h

this allows sys/types.h to provide the pthread types, as required by
POSIX. this design also facilitates forcing ABI-compatible sizes in
the arch-specific alltypes.h, while eliminating the need for
developers changing the internals of the pthread types to poke around
with arch-specific headers they may not be able to test.

initial check-in, version 0.5.0