Add support for priority inheritance

git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@1581 42af7a65-404d-4744-a932-0658087f49c3

arch/arm/src/common/up_reprioritizertr.c

@@ -1,7 +1,7 @@
 /****************************************************************************
  *  arch/arm/src/common/up_reprioritizertr.c
  *
- *   Copyright (C) 2007, 2008 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2007-2009 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -85,14 +85,27 @@ void up_reprioritize_rtr(_TCB *tcb, ubyte priority)
 {
   /* Verify that the caller is sane */
 
-  if (tcb->task_state < FIRST_READY_TO_RUN_STATE ||
+#if CONFIG_DEBUG /* We only check parameters when debug is enabled */
-      tcb->task_state > LAST_READY_TO_RUN_STATE ||
+  if (priority < SCHED_PRIORITY_MIN || 
-      priority < SCHED_PRIORITY_MIN || 
       priority > SCHED_PRIORITY_MAX)
     {
        PANIC(OSERR_BADREPRIORITIZESTATE);
     }
   else
+#endif
+  if (tcb->task_state < FIRST_READY_TO_RUN_STATE ||
+           tcb->task_state > LAST_READY_TO_RUN_STATE)
+    {
+      /* This is a hack and needs to be fixed.. here some taks is reprioritizing
+       * another task that is not running.  Here we just set the priority of
+       * the task -- BUT some of the other states are also prioritized and the
+       * waiting task should also be re-ordered in the prioritized wiating list.
+       * As a consequence, the other task is still waiting at the lower priority.
+       */
+
+       tcb->sched_priority = priority;
+    }
+  else
     {
       _TCB *rtcb = (_TCB*)g_readytorun.head;
       boolean switch_needed;
@@ -109,6 +122,9 @@ void up_reprioritize_rtr(_TCB *tcb, ubyte priority)
       /* Setup up the new task priority */
 
       tcb->sched_priority = (ubyte)priority;
+#ifdef CONFIG_PRIORITY_INHERITANCE
+      tcb->base_priority = (ubyte)priority;
+#endif
 
       /* Return the task to the specified blocked task list.
        * sched_addreadytorun will return TRUE if the task was

arch/pjrc-8051/src/up_reprioritizertr.c

@@ -1,7 +1,7 @@
-/************************************************************
+/****************************************************************************
  * up_reprioritizertr.c
  *
- *   Copyright (C) 2007 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2007, 2009 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -14,7 +14,7 @@
  *    notice, this list of conditions and the following disclaimer in
  *    the documentation and/or other materials provided with the
  *    distribution.
- * 3. Neither the name Gregory Nutt nor the names of its contributors may be
+ * 3. Neither the name NuttX nor the names of its contributors may be
  *    used to endorse or promote products derived from this software
  *    without specific prior written permission.
  *
@@ -31,11 +31,11 @@
  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  * POSSIBILITY OF SUCH DAMAGE.
  *
- ************************************************************/
+ ****************************************************************************/
 
-/************************************************************
+/****************************************************************************
  * Included Files
- ************************************************************/
+ ****************************************************************************/
 
 #include <nuttx/config.h>
 #include <sys/types.h>
@@ -45,23 +45,23 @@
 #include "os_internal.h"
 #include "up_internal.h"
 
-/************************************************************
+/****************************************************************************
  * Private Definitions
- ************************************************************/
+ ****************************************************************************/
 
-/************************************************************
+/****************************************************************************
  * Private Data
- ************************************************************/
+ ****************************************************************************/
 
-/************************************************************
+/****************************************************************************
  * Private Funtions
- ************************************************************/
+ ****************************************************************************/
 
-/************************************************************
+/****************************************************************************
  * Public Funtions
- ************************************************************/
+ ****************************************************************************/
 
-/************************************************************
+/****************************************************************************
  * Name: up_reprioritize_rtr
  *
  * Description:
@@ -79,20 +79,33 @@
  *   tcb: The TCB of the task that has been reprioritized
  *   priority: The new task priority
  *
- ************************************************************/
+ ****************************************************************************/
 
 void up_reprioritize_rtr(FAR _TCB *tcb, ubyte priority)
 {
   /* Verify that the caller is sane */
 
-  if (tcb->task_state < FIRST_READY_TO_RUN_STATE ||
+#if CONFIG_DEBUG /* We only check parameters when debug is enabled */
-      tcb->task_state > LAST_READY_TO_RUN_STATE ||
+  if (priority < SCHED_PRIORITY_MIN || 
-      priority < SCHED_PRIORITY_MIN || 
       priority > SCHED_PRIORITY_MAX)
     {
        PANIC(OSERR_BADREPRIORITIZESTATE);
     }
   else
+#endif
+  if (tcb->task_state < FIRST_READY_TO_RUN_STATE ||
+           tcb->task_state > LAST_READY_TO_RUN_STATE)
+    {
+      /* This is a hack and needs to be fixed.. here some taks is reprioritizing
+       * another task that is not running.  Here we just set the priority of
+       * the task -- BUT some of the other states are also prioritized and the
+       * waiting task should also be re-ordered in the prioritized wiating list.
+       * As a consequence, the other task is still waiting at the lower priority.
+       */
+
+       tcb->sched_priority = priority;
+    }
+  else
     {
       FAR _TCB *rtcb = (FAR _TCB*)g_readytorun.head;
       boolean switch_needed;
@@ -109,6 +122,9 @@ void up_reprioritize_rtr(FAR _TCB *tcb, ubyte priority)
       /* Setup up the new task priority */
 
       tcb->sched_priority = (ubyte)priority;
+#ifdef CONFIG_PRIORITY_INHERITANCE
+      tcb->base_priority = (ubyte)priority;
+#endif
 
       /* Return the task to the specified blocked task list.
        * sched_addreadytorun will return TRUE if the task was

arch/sh/src/common/up_reprioritizertr.c

@@ -1,7 +1,7 @@
 /****************************************************************************
  *  arch/sh/src/common/up_reprioritizertr.c
  *
- *   Copyright (C) 2008 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2008-2009 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -85,14 +85,27 @@ void up_reprioritize_rtr(_TCB *tcb, ubyte priority)
 {
   /* Verify that the caller is sane */
 
-  if (tcb->task_state < FIRST_READY_TO_RUN_STATE ||
+#if CONFIG_DEBUG /* We only check parameters when debug is enabled */
-      tcb->task_state > LAST_READY_TO_RUN_STATE ||
+  if (priority < SCHED_PRIORITY_MIN || 
-      priority < SCHED_PRIORITY_MIN || 
       priority > SCHED_PRIORITY_MAX)
     {
        PANIC(OSERR_BADREPRIORITIZESTATE);
     }
   else
+#endif
+  if (tcb->task_state < FIRST_READY_TO_RUN_STATE ||
+           tcb->task_state > LAST_READY_TO_RUN_STATE)
+    {
+      /* This is a hack and needs to be fixed.. here some taks is reprioritizing
+       * another task that is not running.  Here we just set the priority of
+       * the task -- BUT some of the other states are also prioritized and the
+       * waiting task should also be re-ordered in the prioritized wiating list.
+       * As a consequence, the other task is still waiting at the lower priority.
+       */
+
+       tcb->sched_priority = priority;
+    }
+  else
     {
       _TCB *rtcb = (_TCB*)g_readytorun.head;
       boolean switch_needed;
@@ -109,6 +122,9 @@ void up_reprioritize_rtr(_TCB *tcb, ubyte priority)
       /* Setup up the new task priority */
 
       tcb->sched_priority = (ubyte)priority;
+#ifdef CONFIG_PRIORITY_INHERITANCE
+      tcb->base_priority = (ubyte)priority;
+#endif
 
       /* Return the task to the specified blocked task list.
        * sched_addreadytorun will return TRUE if the task was

arch/sim/src/up_reprioritizertr.c

@@ -1,7 +1,7 @@
 /****************************************************************************
  * up_reprioritizertr.c
  *
- *   Copyright (C) 2007, 2008 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2007-2009 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -85,14 +85,27 @@ void up_reprioritize_rtr(_TCB *tcb, ubyte priority)
 {
   /* Verify that the caller is sane */
 
-  if (tcb->task_state < FIRST_READY_TO_RUN_STATE ||
+#if CONFIG_DEBUG /* We only check parameters when debug is enabled */
-      tcb->task_state > LAST_READY_TO_RUN_STATE ||
+  if (priority < SCHED_PRIORITY_MIN || 
-      priority < SCHED_PRIORITY_MIN || 
       priority > SCHED_PRIORITY_MAX)
     {
        PANIC(OSERR_BADREPRIORITIZESTATE);
     }
   else
+#endif
+  if (tcb->task_state < FIRST_READY_TO_RUN_STATE ||
+           tcb->task_state > LAST_READY_TO_RUN_STATE)
+    {
+      /* This is a hack and needs to be fixed.. here some taks is reprioritizing
+       * another task that is not running.  Here we just set the priority of
+       * the task -- BUT some of the other states are also prioritized and the
+       * waiting task should also be re-ordered in the prioritized wiating list.
+       * As a consequence, the other task is still waiting at the lower priority.
+       */
+
+       tcb->sched_priority = priority;
+    }
+  else
     {
       _TCB *rtcb = (_TCB*)g_readytorun.head;
       boolean switch_needed;
@@ -109,6 +122,9 @@ void up_reprioritize_rtr(_TCB *tcb, ubyte priority)
       /* Setup up the new task priority */
 
       tcb->sched_priority = (ubyte)priority;
+#ifdef CONFIG_PRIORITY_INHERITANCE
+      tcb->base_priority = (ubyte)priority;
+#endif
 
       /* Return the task to the specified blocked task list.
        * sched_addreadytorun will return TRUE if the task was

arch/z16/src/common/up_reprioritizertr.c

@@ -1,7 +1,7 @@
 /****************************************************************************
  * common/up_reprioritizertr.c
  *
- *   Copyright (C) 2008 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2008-2009 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -89,14 +89,27 @@ void up_reprioritize_rtr(FAR _TCB *tcb, ubyte priority)
 {
   /* Verify that the caller is sane */
 
-  if (tcb->task_state < FIRST_READY_TO_RUN_STATE ||
+#if CONFIG_DEBUG /* We only check parameters when debug is enabled */
-      tcb->task_state > LAST_READY_TO_RUN_STATE ||
+  if (priority < SCHED_PRIORITY_MIN || 
-      priority < SCHED_PRIORITY_MIN || 
       priority > SCHED_PRIORITY_MAX)
     {
        PANIC(OSERR_BADREPRIORITIZESTATE);
     }
   else
+#endif
+  if (tcb->task_state < FIRST_READY_TO_RUN_STATE ||
+           tcb->task_state > LAST_READY_TO_RUN_STATE)
+    {
+      /* This is a hack and needs to be fixed.. here some taks is reprioritizing
+       * another task that is not running.  Here we just set the priority of
+       * the task -- BUT some of the other states are also prioritized and the
+       * waiting task should also be re-ordered in the prioritized wiating list.
+       * As a consequence, the other task is still waiting at the lower priority.
+       */
+
+       tcb->sched_priority = priority;
+    }
+  else
     {
       FAR _TCB *rtcb = (FAR _TCB*)g_readytorun.head;
       boolean switch_needed;
@@ -113,6 +126,9 @@ void up_reprioritize_rtr(FAR _TCB *tcb, ubyte priority)
       /* Setup up the new task priority */
 
       tcb->sched_priority = (ubyte)priority;
+#ifdef CONFIG_PRIORITY_INHERITANCE
+      tcb->base_priority = (ubyte)priority;
+#endif
 
       /* Return the task to the specified blocked task list.
        * sched_addreadytorun will return TRUE if the task was

arch/z80/src/common/up_reprioritizertr.c

@@ -1,7 +1,7 @@
 /****************************************************************************
  * arch/z80/src/common/up_reprioritizertr.c
  *
- *   Copyright (C) 2007, 2008 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2007-2009 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -90,14 +90,27 @@ void up_reprioritize_rtr(FAR _TCB *tcb, ubyte priority)
 {
   /* Verify that the caller is sane */
 
-  if (tcb->task_state < FIRST_READY_TO_RUN_STATE ||
+#if CONFIG_DEBUG /* We only check parameters when debug is enabled */
-      tcb->task_state > LAST_READY_TO_RUN_STATE ||
+  if (priority < SCHED_PRIORITY_MIN || 
-      priority < SCHED_PRIORITY_MIN || 
       priority > SCHED_PRIORITY_MAX)
     {
        PANIC(OSERR_BADREPRIORITIZESTATE);
     }
   else
+#endif
+  if (tcb->task_state < FIRST_READY_TO_RUN_STATE ||
+           tcb->task_state > LAST_READY_TO_RUN_STATE)
+    {
+      /* This is a hack and needs to be fixed.. here some taks is reprioritizing
+       * another task that is not running.  Here we just set the priority of
+       * the task -- BUT some of the other states are also prioritized and the
+       * waiting task should also be re-ordered in the prioritized wiating list.
+       * As a consequence, the other task is still waiting at the lower priority.
+       */
+
+       tcb->sched_priority = priority;
+    }
+  else
     {
       FAR _TCB *rtcb = (FAR _TCB*)g_readytorun.head;
       boolean switch_needed;
@@ -114,6 +127,9 @@ void up_reprioritize_rtr(FAR _TCB *tcb, ubyte priority)
       /* Setup up the new task priority */
 
       tcb->sched_priority = (ubyte)priority;
+#ifdef CONFIG_PRIORITY_INHERITANCE
+      tcb->base_priority = (ubyte)priority;
+#endif
 
       /* Return the task to the specified blocked task list.
        * sched_addreadytorun will return TRUE if the task was