sched: replace sync pause with async pause for nxtask_restart
reason: In the kernel, we are planning to remove all occurrences of up_cpu_pause as one of the steps to simplify the implementation of critical sections. The goal is to enable spin_lock_irqsave to encapsulate critical sections, thereby facilitating the replacement of critical sections(big lock) with smaller spin_lock_irqsave(small lock) Configuring NuttX and compile: $ ./tools/configure.sh -l qemu-armv8a:nsh_smp $ make Running with qemu $ qemu-system-aarch64 -cpu cortex-a53 -smp 4 -nographic -machine virt,virtualization=on,gic-version=3 -net none -chardev stdio,id=con,mux=on -serial chardev:con -mon chardev=con,mode=readline -kernel ./nuttx Signed-off-by: hujun5 <hujun5@xiaomi.com>
This commit is contained in:
hujun5
Xiang Xiao
parent
b1932c668d
commit
f51c5452b2
@ -38,10 +38,127 @@
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#include "signal/signal.h"
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#include "task/task.h"
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#ifndef CONFIG_BUILD_KERNEL
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/****************************************************************************
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* Private Type Declarations
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****************************************************************************/
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#ifdef CONFIG_SMP
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struct restart_arg_s
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{
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pid_t pid;
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cpu_set_t saved_affinity;
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uint16_t saved_flags;
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bool need_restore;
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};
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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static int restart_handler(FAR void *cookie)
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{
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FAR struct restart_arg_s *arg = cookie;
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FAR struct tcb_s *tcb;
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irqstate_t flags;
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flags = enter_critical_section();
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/* tcb that we want restart */
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tcb = nxsched_get_tcb(arg->pid);
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if (!tcb || tcb->task_state == TSTATE_TASK_INVALID ||
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(tcb->flags & TCB_FLAG_EXIT_PROCESSING) != 0)
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{
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/* There is no TCB with this pid or, if there is, it is not a task. */
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leave_critical_section(flags);
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return -ESRCH;
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}
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if (arg->need_restore)
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{
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tcb->affinity = arg->saved_affinity;
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tcb->flags = arg->saved_flags;
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}
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nxsched_remove_readytorun(tcb, false);
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leave_critical_section(flags);
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return OK;
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}
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#endif
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/****************************************************************************
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* Name: nxtask_reset_task
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*
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* Description:
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* We use this function to reset tcb
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*
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****************************************************************************/
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static void nxtask_reset_task(FAR struct tcb_s *tcb, bool remove)
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{
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/* Try to recover from any bad states */
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nxtask_recover(tcb);
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/* Kill any children of this thread */
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#ifdef HAVE_GROUP_MEMBERS
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group_kill_children(tcb);
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#endif
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/* Remove the TCB from whatever list it is in. After this point, the TCB
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* should no longer be accessible to the system
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*/
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if (remove)
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{
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nxsched_remove_readytorun(tcb, false);
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}
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/* Deallocate anything left in the TCB's signal queues */
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nxsig_cleanup(tcb); /* Deallocate Signal lists */
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sigemptyset(&tcb->sigprocmask); /* Reset sigprocmask */
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/* Reset the current task priority */
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tcb->sched_priority = tcb->init_priority;
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/* The task should restart with pre-emption disabled and not in a critical
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* section.
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*/
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tcb->lockcount = 0;
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#ifdef CONFIG_SMP
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tcb->irqcount = 0;
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#endif
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/* Reset the base task priority and the number of pending
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* reprioritizations.
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*/
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#ifdef CONFIG_PRIORITY_INHERITANCE
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tcb->base_priority = tcb->init_priority;
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tcb->boost_priority = 0;
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#endif
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/* Re-initialize the processor-specific portion of the TCB. This will
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* reset the entry point and the start-up parameters
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*/
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up_initial_state(tcb);
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/* Add the task to the inactive task list */
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dq_addfirst((FAR dq_entry_t *)tcb, list_inactivetasks());
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tcb->task_state = TSTATE_TASK_INACTIVE;
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}
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/****************************************************************************
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* Name: nxtask_restart
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*
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@ -64,28 +181,12 @@
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*
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****************************************************************************/
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#ifndef CONFIG_BUILD_KERNEL
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static int nxtask_restart(pid_t pid)
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{
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FAR struct tcb_s *rtcb;
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FAR struct task_tcb_s *tcb;
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FAR dq_queue_t *tasklist;
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FAR struct tcb_s *tcb;
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irqstate_t flags;
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int ret;
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#ifdef CONFIG_SMP
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int cpu;
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#endif
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/* Check if the task to restart is the calling task */
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rtcb = this_task();
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if ((pid == 0) || (pid == rtcb->pid))
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{
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/* Not implemented */
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ret = -ENOSYS;
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goto errout;
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}
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/* We are restarting some other task than ourselves. Make sure that the
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* task does not change its state while we are executing. In the single
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@ -96,11 +197,22 @@ static int nxtask_restart(pid_t pid)
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flags = enter_critical_section();
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/* Check if the task to restart is the calling task */
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rtcb = this_task();
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if (pid == 0 || pid == rtcb->pid)
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{
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/* Not implemented */
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ret = -ENOSYS;
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goto errout_with_lock;
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}
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/* Find for the TCB associated with matching pid */
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tcb = (FAR struct task_tcb_s *)nxsched_get_tcb(pid);
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tcb = nxsched_get_tcb(pid);
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#ifndef CONFIG_DISABLE_PTHREAD
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if (!tcb || (tcb->cmn.flags & TCB_FLAG_TTYPE_MASK) ==
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if (!tcb || (tcb->flags & TCB_FLAG_TTYPE_MASK) ==
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TCB_FLAG_TTYPE_PTHREAD)
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#else
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if (!tcb)
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@ -113,106 +225,59 @@ static int nxtask_restart(pid_t pid)
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}
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#ifdef CONFIG_SMP
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/* If the task is running on another CPU, then pause that CPU. We can
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* then manipulate the TCB of the restarted task and when we resume the
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* that CPU, the restart take effect.
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*/
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cpu = nxsched_pause_cpu(&tcb->cmn);
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#endif /* CONFIG_SMP */
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/* Try to recover from any bad states */
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nxtask_recover((FAR struct tcb_s *)tcb);
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/* Kill any children of this thread */
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#ifdef HAVE_GROUP_MEMBERS
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group_kill_children((FAR struct tcb_s *)tcb);
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#endif
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/* Remove the TCB from whatever list it is in. After this point, the TCB
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* should no longer be accessible to the system
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*/
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#ifdef CONFIG_SMP
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if ((FAR struct tcb_s *)tcb == g_delivertasks[tcb->cmn.cpu])
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if (tcb->task_state == TSTATE_TASK_RUNNING &&
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tcb->cpu != this_cpu())
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{
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g_delivertasks[tcb->cmn.cpu] = NULL;
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}
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else
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{
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tasklist = TLIST_HEAD(&tcb->cmn, tcb->cmn.cpu);
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dq_rem((FAR dq_entry_t *)tcb, tasklist);
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}
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#else
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tasklist = TLIST_HEAD(&tcb->cmn);
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dq_rem((FAR dq_entry_t *)tcb, tasklist);
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#endif
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struct restart_arg_s arg;
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tcb->cmn.task_state = TSTATE_TASK_INVALID;
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/* Deallocate anything left in the TCB's signal queues */
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nxsig_cleanup((FAR struct tcb_s *)tcb); /* Deallocate Signal lists */
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sigemptyset(&tcb->cmn.sigprocmask); /* Reset sigprocmask */
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/* Reset the current task priority */
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tcb->cmn.sched_priority = tcb->cmn.init_priority;
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/* The task should restart with pre-emption disabled and not in a critical
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* section.
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*/
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tcb->cmn.lockcount = 0;
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#ifdef CONFIG_SMP
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tcb->cmn.irqcount = 0;
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#endif
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/* Reset the base task priority and the number of pending
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* reprioritizations.
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*/
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#ifdef CONFIG_PRIORITY_INHERITANCE
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tcb->cmn.base_priority = tcb->cmn.init_priority;
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tcb->cmn.boost_priority = 0;
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#endif
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/* Re-initialize the processor-specific portion of the TCB. This will
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* reset the entry point and the start-up parameters
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*/
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up_initial_state((FAR struct tcb_s *)tcb);
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/* Add the task to the inactive task list */
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dq_addfirst((FAR dq_entry_t *)tcb, list_inactivetasks());
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tcb->cmn.task_state = TSTATE_TASK_INACTIVE;
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#ifdef CONFIG_SMP
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/* Resume the paused CPU (if any) */
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if (cpu >= 0)
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{
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ret = up_cpu_resume(cpu);
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if (ret < 0)
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if ((tcb->flags & TCB_FLAG_CPU_LOCKED) != 0)
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{
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arg.pid = tcb->pid;
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arg.need_restore = false;
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}
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else
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{
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arg.pid = tcb->pid;
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arg.saved_flags = tcb->flags;
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arg.saved_affinity = tcb->affinity;
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arg.need_restore = true;
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tcb->flags |= TCB_FLAG_CPU_LOCKED;
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CPU_SET(tcb->cpu, &tcb->affinity);
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}
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nxsched_smp_call_single(tcb->cpu, restart_handler, &arg, true);
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tcb = nxsched_get_tcb(pid);
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if (!tcb || tcb->task_state != TSTATE_TASK_INVALID ||
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(tcb->flags & TCB_FLAG_EXIT_PROCESSING) != 0)
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{
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ret = -ESRCH;
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goto errout_with_lock;
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}
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DEBUGASSERT(tcb->task_state != TSTATE_TASK_RUNNING);
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nxtask_reset_task(tcb, false);
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leave_critical_section(flags);
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/* Activate the task. */
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nxtask_activate(tcb);
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return OK;
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}
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#endif /* CONFIG_SMP */
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nxtask_reset_task(tcb, true);
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leave_critical_section(flags);
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/* Activate the task. */
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nxtask_activate((FAR struct tcb_s *)tcb);
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nxtask_activate(tcb);
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return OK;
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errout_with_lock:
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leave_critical_section(flags);
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errout:
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return ret;
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}
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