Handle thread shutdown gracefully and test (#1448)

---------

Co-authored-by: Dan Jordan <daniel.d.jordan@nasa.gov>

include/trick/DataRecordDispatcher.hh

@@ -13,7 +13,7 @@ PROGRAMMERS:
 
 #include "trick/Scheduler.hh"
 #include "trick/DataRecordGroup.hh"
-#include "trick/ThreadBase.hh"
+#include "trick/SysThread.hh"
 
 namespace Trick {
 
@@ -32,7 +32,7 @@ namespace Trick {
             bool cancelled;
     } ;
 
-    class DRDWriterThread : public Trick::ThreadBase {
+    class DRDWriterThread : public Trick::SysThread {
         public:
             DRDWriterThread(Trick::DRDMutexes & in_mutexes, std::vector <Trick::DataRecordGroup *> & in_groups) ;
 

include/trick/MessageTCDevice.hh

@@ -7,14 +7,14 @@
 #include <vector>
 
 #include "trick/MessageSubscriber.hh"
-#include "trick/ThreadBase.hh"
+#include "trick/SysThread.hh"
 #include "trick/tc.h"
 
 namespace Trick {
 
     class MessageTCDevice ;
 
-    class MessageTCDeviceListenThread : public Trick::ThreadBase {
+    class MessageTCDeviceListenThread : public Trick::SysThread {
 
         public:
             MessageTCDeviceListenThread(MessageTCDevice * in_mtcd) ;

include/trick/MessageThreadedCout.hh

@@ -7,7 +7,7 @@
 #define MESSAGETHREADEDCOUT_HH
 
 #include <iostream>
-#include "trick/ThreadBase.hh"
+#include "trick/SysThread.hh"
 #include "trick/MessageSubscriber.hh"
 
 namespace Trick {
@@ -16,7 +16,7 @@ namespace Trick {
 	 * This MessageThreadedCout is a class that inherits from MessageSubscriber.
 	 * It defines a type of MessageSubscriber with its received message sending to the standard output stream.
 	 */
-    class MessageThreadedCout : public MessageSubscriber , public Trick::ThreadBase {
+    class MessageThreadedCout : public MessageSubscriber , public Trick::SysThread {
 
         public:
 

include/trick/SysThread.hh

@@ -0,0 +1,56 @@
+/*
+    PURPOSE:
+        (Trick Sys Threads implementation)
+*/
+
+#ifndef SYSTHREAD_HH
+#define SYSTHREAD_HH
+
+#include <stdio.h>
+#include <pthread.h>
+#include <iostream>
+#include <string>
+#include <vector>
+#if __linux
+#include <sys/types.h>
+#endif
+#include <unistd.h>
+#include <sched.h>
+#include "trick/ThreadBase.hh"
+
+
+namespace Trick {
+
+    /**
+     * The purpose of this class is to ensure safe shutdown for Trick system threads, since user threads are handled separately in
+     * the Trick::Threads and Executive classes.
+     * 
+     * This class was implemented as a solution to issue https://github.com/nasa/trick/issues/1445
+     *
+     * @author Jackie Deans
+     *
+     *      
+     **/
+    class SysThread : public Trick::ThreadBase {
+        public:
+            SysThread(std::string in_name, bool self_deleting = false);
+            ~SysThread();
+
+            static int ensureAllShutdown();
+
+        private: 
+            // Had to use Construct On First Use here to avoid the static initialziation fiasco
+            static pthread_mutex_t& list_mutex();
+            static pthread_cond_t& list_empty_cv();                 
+
+            static std::vector <SysThread *>& all_sys_threads();
+
+            static bool shutdown_finished;
+
+            bool self_deleting;
+    } ;
+
+}
+
+#endif
+

include/trick/ThreadBase.hh

@@ -130,6 +130,12 @@ namespace Trick {
              */
             virtual int cancel_thread() ;
 
+            /**
+             * Cancels thread.
+             * @return always 0
+             */
+            virtual int join_thread() ;
+
             /**
              * The thread body.
              * @return always 0

include/trick/VariableServer.hh

@@ -18,7 +18,7 @@
 #include "trick/variable_server_sync_types.h"
 #include "trick/VariableServerThread.hh"
 #include "trick/VariableServerListenThread.hh"
-#include "trick/ThreadBase.hh"
+#include "trick/SysThread.hh"
 
 namespace Trick {
 

include/trick/VariableServerListenThread.hh

@@ -9,7 +9,7 @@
 #include <string>
 #include <iostream>
 #include "trick/tc.h"
-#include "trick/ThreadBase.hh"
+#include "trick/SysThread.hh"
 
 namespace Trick {
 
@@ -17,7 +17,7 @@ namespace Trick {
   This class runs the variable server listen loop.
   @author Alex Lin
  */
-    class VariableServerListenThread : public Trick::ThreadBase {
+    class VariableServerListenThread : public Trick::SysThread {
 
         public:
             VariableServerListenThread() ;

include/trick/VariableServerThread.hh

@@ -11,7 +11,7 @@
 #include <iostream>
 #include <pthread.h>
 #include "trick/tc.h"
-#include "trick/ThreadBase.hh"
+#include "trick/SysThread.hh"
 #include "trick/VariableServerReference.hh"
 #include "trick/variable_server_sync_types.h"
 #include "trick/variable_server_message_types.h"
@@ -25,7 +25,7 @@ namespace Trick {
   This class provides variable server command processing on a separate thread for each client.
   @author Alex Lin
  */
-    class VariableServerThread : public Trick::ThreadBase {
+    class VariableServerThread : public Trick::SysThread {
 
         public:
             enum ConnectionType { TCP, UDP, MCAST } ;

test/SIM_earlyterm/RUN_test/input.py

@@ -0,0 +1 @@
+#Nothing

test/SIM_earlyterm/S_define

@@ -0,0 +1,31 @@
+/*****************************************************************************
+PURPOSE: Provide test of simulation early termination. Ensures threads
+ come down appropriately for unit-test-like cases
+PROGRAMMERS:
+  (((Dan Jordan) (NASA) (Jan 2023) (Deal with it)))
+*****************************************************************************/
+#include "sim_objects/default_trick_sys.sm"
+##include "trick/exec_proto.h"
+
+class EarlyTerminationSimObject : public Trick::SimObject
+{
+ public:
+  double x;
+
+  EarlyTerminationSimObject()
+    :
+    x(0)
+  {
+    ("initialization") early_term();
+  };
+
+  void early_term() {
+    std::string message = "Terminating with exit code 0";
+    exec_terminate_with_return(0, "S_define", 24, message.c_str());
+  }
+ private:
+  EarlyTerminationSimObject( const EarlyTerminationSimObject&);
+  EarlyTerminationSimObject & operator= ( const EarlyTerminationSimObject&);
+
+};
+EarlyTerminationSimObject test;

test_sims.yml

@@ -189,6 +189,13 @@ SIM_sun:
   runs:
     RUN_test/unit_test.py:
       returns: 0
+SIM_earlyterm:
+  path: test/SIM_earlyterm
+  build_command: "trick-CP -t"
+  binary: "T_main_{cpu}_test.exe"
+  runs:
+    RUN_test/input.py:
+      returns: 0
 
 # Special cases
 

trick_source/sim_services/DataRecord/DataRecordDispatcher.cpp

@@ -33,7 +33,7 @@ Trick::DRDMutexes::DRDMutexes() {
 }
 
 Trick::DRDWriterThread::DRDWriterThread(DRDMutexes & in_mutexes, std::vector <Trick::DataRecordGroup *> & in_groups) :
- ThreadBase("DR_Writer"),
+ SysThread("DR_Writer"),
  drd_mutexes(in_mutexes) ,
  groups(in_groups) {}
 

trick_source/sim_services/Executive/Executive_shutdown.cpp

@@ -17,6 +17,7 @@
 #include "trick/message_proto.h"
 #include "trick/message_type.h"
 #include "trick/release.h"
+#include "trick/SysThread.hh"
 
 /**
 @design
@@ -75,6 +76,8 @@ int Trick::Executive::shutdown() {
         except_message += std::string(" then exception Message: ") + ex.message ;
     }
 
+    Trick::SysThread::ensureAllShutdown();
+
     getrusage(RUSAGE_SELF, &cpu_usage_buf);
     cpu_time = ((double) cpu_usage_buf.ru_utime.tv_sec) + ((double) cpu_usage_buf.ru_utime.tv_usec / 1000000.0);
 

trick_source/sim_services/Message/MessageTCDevice.cpp

@@ -8,7 +8,7 @@
 #include "trick/tc_proto.h"
 
 Trick::MessageTCDeviceListenThread::MessageTCDeviceListenThread(MessageTCDevice * in_mtcd) :
- Trick::ThreadBase("MessageListen"),
+ Trick::SysThread("MessageListen"),
  mtcd(in_mtcd) ,
  listen_dev() {
     /* And a TCDevice for message server @e listen_device is configured. */
@@ -25,6 +25,7 @@ Trick::MessageTCDeviceListenThread::MessageTCDeviceListenThread(MessageTCDevice
 
 Trick::MessageTCDeviceListenThread::~MessageTCDeviceListenThread() {
     free(listen_dev.error_handler) ;
+    listen_dev.error_handler = NULL;
     if ( listen_dev.hostname ) {
        free((char*)listen_dev.hostname) ;
     }

trick_source/sim_services/Message/MessageThreadedCout.cpp

@@ -10,10 +10,10 @@ Trick::MessageThreadedCout::MessageThreadedCout() :
  max_buffer_size(4000) ,
  print_immediate(false) ,
  copy_ptr(NULL),
- write_ptr(NULL) {
+ write_ptr(NULL),
+ SysThread("threadedcout") {
     /** By default, this subscriber is enabled when it is created. */
     Trick::MessageSubscriber::name = "threadedcout" ;
-    Trick::ThreadBase::name = "threadedcout" ;
     color_code.reserve(6) ;
     StringNode * temp = new StringNode(max_buffer_size) ;
     write_ptr = copy_ptr = temp ;

trick_source/sim_services/ThreadBase/Makefile

@@ -1,3 +1,4 @@
 include $(dir $(lastword $(MAKEFILE_LIST)))../../../share/trick/makefiles/Makefile.common
 include ${TRICK_HOME}/share/trick/makefiles/Makefile.tricklib
 -include Makefile_deps
+TRICK_CXXFLAGS += -std=c++11

trick_source/sim_services/ThreadBase/SysThread.cpp

@@ -0,0 +1,77 @@
+
+#include <iostream>
+#include <sstream>
+#include <stdio.h>
+#if __linux
+#include <sys/syscall.h>
+#include <sys/types.h>
+#include <sched.h>
+#endif
+#include <signal.h>
+#include <algorithm>
+
+#include "trick/SysThread.hh"
+
+bool Trick::SysThread::shutdown_finished = false;
+
+// Construct On First Use to avoid the Static Initialization Fiasco
+pthread_mutex_t& Trick::SysThread::list_mutex() {
+    static pthread_mutex_t list_mutex = PTHREAD_MUTEX_INITIALIZER;
+    return list_mutex;
+} 
+
+pthread_cond_t& Trick::SysThread::list_empty_cv() {
+    static pthread_cond_t list_empty_cv = PTHREAD_COND_INITIALIZER;
+    return list_empty_cv;
+} 
+
+std::vector<Trick::SysThread *>& Trick::SysThread::all_sys_threads() {
+    static std::vector<SysThread *> all_sys_threads;
+    return all_sys_threads;
+}
+
+Trick::SysThread::SysThread(std::string in_name, bool sd) : self_deleting(sd), ThreadBase(in_name) {
+    pthread_mutex_lock(&(list_mutex()));
+    all_sys_threads().push_back(this);
+    pthread_mutex_unlock(&(list_mutex()));
+}
+
+
+Trick::SysThread::~SysThread() {
+    pthread_mutex_lock(&(list_mutex()));
+    if (!shutdown_finished) {
+        all_sys_threads().erase(std::remove(all_sys_threads().begin(), all_sys_threads().end(), this), all_sys_threads().end());
+        if (all_sys_threads().size() == 0) {
+            pthread_cond_signal(&(list_empty_cv()));
+        }
+    }
+    pthread_mutex_unlock(&(list_mutex()));
+}
+
+int Trick::SysThread::ensureAllShutdown() {
+    pthread_mutex_lock(&(list_mutex()));
+
+    for (SysThread * thread : all_sys_threads()) {
+        thread->cancel_thread();
+    }
+
+    auto it = all_sys_threads().begin();
+    while (it != all_sys_threads().end()){
+        SysThread * thread = *it;
+        if (!(thread->self_deleting)) {
+            thread->join_thread();
+            it = all_sys_threads().erase(it);
+        } else {
+            ++it;
+        }
+    }
+
+    while (all_sys_threads().size() != 0) {
+        pthread_cond_wait(&(list_empty_cv()), &(list_mutex()));
+    }
+
+    shutdown_finished = true;
+    pthread_mutex_unlock(&(list_mutex()));
+
+    return 0;
+}

trick_source/sim_services/ThreadBase/ThreadBase.cpp

@@ -300,6 +300,13 @@ int Trick::ThreadBase::cancel_thread() {
     return(0) ;
 }
 
+int Trick::ThreadBase::join_thread() {
+    if ( pthread_id != 0 ) {
+        pthread_join(pthread_id, NULL) ;
+    }
+    return(0) ;
+}
+
 void * Trick::ThreadBase::thread_helper( void * context ) {
 
     sigset_t sigs;

trick_source/sim_services/VariableServer/VariableServerListenThread.cpp

@@ -11,7 +11,7 @@
 #include "trick/message_type.h"
 
 Trick::VariableServerListenThread::VariableServerListenThread() :
- Trick::ThreadBase("VarServListen"),
+ Trick::SysThread("VarServListen"),
  port(0),
  user_port_requested(false),
  broadcast(true),

trick_source/sim_services/VariableServer/VariableServerThread.cpp

@@ -8,7 +8,7 @@
 Trick::VariableServer * Trick::VariableServerThread::vs = NULL ;
 
 Trick::VariableServerThread::VariableServerThread(TCDevice * in_listen_dev) :
- Trick::ThreadBase("VarServer") ,
+ Trick::SysThread("VarServer", true) ,
  listen_dev(in_listen_dev) {
 
     debug = 0 ;

trick_source/trick_utils/var_binary_parser/Makefile

@@ -42,8 +42,11 @@ ${LIBDIR}:
 ${TRICK_LIB}: ${LIBDIR}/${LIBNAME}
 	cp ${LIBDIR}/${LIBNAME} $(TRICK_LIB)
 
+real_clean: clean
+
 clean:
-	${RM} -r ${OBJDIR}
+	${RM} -rf ${OBJDIR}
+	${RM} -rf ${LIBDIR}
 	${MAKE} -C test clean
 
 spotless: