sched/sched: Correct some build issues introduced by last set of changes.
sched/sched: Add new internal OS function nxsched_setaffinity() that is identical to sched_isetaffinity() except that it does not modify the errno value. All usage of sched_setaffinity() within the OS is replaced with nxsched_setaffinity().
sched/sched: Internal functions sched_reprioritize() and sched_setpriority() no longer movidify the errno value. Also renamed to nxsched_reprioritize() and sched_setpriority().
sched/sched: Add new internal OS function nxsched_getscheduler() that is identical to sched_getscheduler() except that it does not modify the errno value. All usage of sched_getscheduler() within the OS is replaced with nxsched_getscheduler().
sched/sched: Add new internal OS function nxsched_setparam() that is identical to sched_setparam() except that it does not modify the errno value. All usage of sched_setparam() within the OS is replaced with nxsched_setparam().
sched/sched: Add new internal OS function nxsched_getparam() that is identical to sched_getparam() except that it does not modify the errno value (actually, the previous value erroneously neglected to set the errno value to begin with, but this fixes both issues). All usage of sched_getparam() within the OS is replaced with nxsched_getparam().
sched/mqueue: Rename all private static functions for use the nxmq_ vs. mq_ naming.
sched/mqueue: Rename all OS internal functions declared in sched/mqueue/mqueue.h to begin with nxmq_ vs. mq_. The mq_ prefix is reserved for standard application interfaces.
This commit backs out most of commit b4747286b1. That change was added because sem_wait() would sometimes cause cancellation points inappropriated. But with these recent changes, nxsem_wait() is used instead and it is not a cancellation point.
In the OS, all calls to sem_wait() changed to nxsem_wait(). nxsem_wait() does not return errors via errno so each place where nxsem_wait() is now called must not examine the errno variable.
In all OS functions (not libraries), change sem_wait() to nxsem_wait(). This will prevent the OS from creating bogus cancellation points and from modifying the per-task errno variable.
sched/semaphore: Add the function nxsem_wait(). This is a new internal OS interface. It is functionally equivalent to sem_wait() except that (1) it is not a cancellation point, and (2) it does not set the per-thread errno value on return.
libc/semaphore: Add nxsem_getvalue() which is identical to sem_getvalue() except that it never modifies the errno variable. Changed all references to sem_getvalue in the OS to nxsem_getvalue().
sched/semaphore: Rename all internal private functions from sem_xyz to nxsem_xyz. The sem_ prefix is (will be) reserved only for the application semaphore interfaces.
libc/semaphore: Add nxsem_init() which is identical to sem_init() except that it never modifies the errno variable. Changed all references to sem_init in the OS to nxsem_init().
sched/semaphore: Rename sem_tickwait() to nxsem_tickwait() so that it is clear this is an internal OS function.
sched/semaphoate: Rename sem_reset() to nxsem_reset() so that it is clear this is an internal OS function.
in the case of CONFIG_SEM_PREALLOCHOLDERS=0
The call to sem_restorebaseprio_task context switches in the
sem_foreachholder(sem, sem_restoreholderprioB, stcb); call
prior to releasing the holder. So the running task is left
as a holder as is the started task. Leaving both slots filled
Thus failing to perforem the boost/or restoration on the
correct tcb.
This PR fixes this by releasing the running task slot prior
to reprioritization that can lead to the context switch.
To faclitate this, the interface to sem_restorebaseprio
needed to take the tcb from the holder prior to the
holder being freed. In the failure case where sched_verifytcb
fails it added the overhead of looking up the holder.
There is also the adfitinal thunking on the foreach to
get from holer to holder->tcb.
An alternate approach could be to leve the interface the same
and allocate a holder on the stack of sem_restoreholderprioB
copy the sem's holder to it, free it as is done in this pr
and and then pass that address sem_restoreholderprio as the
holder. It could then get the holder's tcb but we would
keep the same sem_findholder in sched_verifytcb.
This caused a problem when the thread calling sem_wait() was very low priority. When it received the count, there may be higher priority threads "hogging" the CPU that prevent the lower priority task from running and, as a result, the sem_addholder() may be delayed indefinitely.
The fix was to have sem_post() call sem_addholder() just before restarting the thread waiting for the semaphore count.
This problem was noted by Benix Vincent who also suggested the solution.
