f92dba212d
1. Add internal scheduler functions should begin with nxsched_, not sched_ 2. Follow the consistent naming patter of https://cwiki.apache.org/confluence/display/NUTTX/Naming+of+OS+Internal+Functions
325 lines
9.3 KiB
C
325 lines
9.3 KiB
C
/****************************************************************************
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* sched/sched/sched_setscheduler.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <unistd.h>
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#include <sched.h>
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#include <assert.h>
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#include <errno.h>
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#include <nuttx/sched.h>
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#include <nuttx/irq.h>
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#include <nuttx/arch.h>
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#include "sched/sched.h"
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#include "clock/clock.h"
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: nxsched_set_scheduler
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*
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* Description:
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* nxsched_set_scheduler() sets both the scheduling policy and the priority
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* for the task identified by pid. If pid equals zero, the scheduler of
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* the calling task will be set. The parameter 'param' holds the priority
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* of the thread under the new policy.
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*
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* nxsched_set_scheduler() is identical to the function sched_getparam(),
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* differing only in its return value: This function does not modify the
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* errno variable.
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*
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* This is a non-standard, internal OS function and is not intended for
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* use by application logic. Applications should use the standard
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* sched_getparam().
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*
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* Input Parameters:
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* pid - the task ID of the task to modify. If pid is zero, the calling
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* task is modified.
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* policy - Scheduling policy requested (either SCHED_FIFO or SCHED_RR)
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* param - A structure whose member sched_priority is the new priority.
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* The range of valid priority numbers is from SCHED_PRIORITY_MIN
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* through SCHED_PRIORITY_MAX.
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*
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* Returned Value:
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* On success, nxsched_set_scheduler() returns OK (zero). On error, a
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* negated errno value is returned:
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*
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* EINVAL The scheduling policy is not one of the recognized policies.
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* ESRCH The task whose ID is pid could not be found.
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*
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****************************************************************************/
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int nxsched_set_scheduler(pid_t pid, int policy,
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FAR const struct sched_param *param)
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{
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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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/* Check for supported scheduling policy */
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if (policy != SCHED_FIFO
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#if CONFIG_RR_INTERVAL > 0
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&& policy != SCHED_RR
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#endif
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#ifdef CONFIG_SCHED_SPORADIC
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&& policy != SCHED_SPORADIC
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#endif
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)
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{
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return -EINVAL;
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}
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/* Check if the task to modify the calling task */
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if (pid == 0)
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{
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pid = getpid();
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}
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/* Verify that the pid corresponds to a real task */
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tcb = nxsched_get_tcb(pid);
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if (!tcb)
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{
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return -ESRCH;
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}
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/* Prohibit any context switches while we muck with priority and scheduler
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* settings.
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*/
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sched_lock();
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/* Further, disable timer interrupts while we set up scheduling policy. */
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flags = enter_critical_section();
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tcb->flags &= ~TCB_FLAG_POLICY_MASK;
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switch (policy)
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{
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default:
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DEBUGPANIC();
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break;
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case SCHED_FIFO:
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{
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#ifdef CONFIG_SCHED_SPORADIC
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/* Cancel any on-going sporadic scheduling */
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if ((tcb->flags & TCB_FLAG_POLICY_MASK) == TCB_FLAG_SCHED_SPORADIC)
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{
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DEBUGVERIFY(nxsched_stop_sporadic(tcb));
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}
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#endif
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/* Save the FIFO scheduling parameters */
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tcb->flags |= TCB_FLAG_SCHED_FIFO;
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#if CONFIG_RR_INTERVAL > 0 || defined(CONFIG_SCHED_SPORADIC)
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tcb->timeslice = 0;
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#endif
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}
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break;
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#if CONFIG_RR_INTERVAL > 0
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case SCHED_RR:
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{
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#ifdef CONFIG_SCHED_SPORADIC
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/* Cancel any on-going sporadic scheduling */
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if ((tcb->flags & TCB_FLAG_POLICY_MASK) == TCB_FLAG_SCHED_SPORADIC)
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{
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DEBUGVERIFY(nxsched_stop_sporadic(tcb));
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}
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#endif
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/* Save the round robin scheduling parameters */
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tcb->flags |= TCB_FLAG_SCHED_RR;
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tcb->timeslice = MSEC2TICK(CONFIG_RR_INTERVAL);
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}
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break;
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#endif
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#ifdef CONFIG_SCHED_SPORADIC
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case SCHED_SPORADIC:
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{
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FAR struct sporadic_s *sporadic;
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sclock_t repl_ticks;
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sclock_t budget_ticks;
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if (param->sched_ss_max_repl < 1 ||
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param->sched_ss_max_repl > CONFIG_SCHED_SPORADIC_MAXREPL)
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{
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ret = -EINVAL;
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goto errout_with_irq;
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}
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/* Convert timespec values to system clock ticks */
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clock_time2ticks(¶m->sched_ss_repl_period, &repl_ticks);
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clock_time2ticks(¶m->sched_ss_init_budget, &budget_ticks);
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/* Avoid zero/negative times */
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if (repl_ticks < 1)
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{
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repl_ticks = 1;
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}
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if (budget_ticks < 1)
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{
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budget_ticks = 1;
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}
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/* The replenishment period must be greater than or equal to the
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* budget period.
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*/
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#if 1
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/* REVISIT: In the current implementation, the budget cannot
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* exceed half the duty.
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*/
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if (repl_ticks < (2 * budget_ticks))
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#else
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if (repl_ticks < budget_ticks)
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#endif
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{
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ret = -EINVAL;
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goto errout_with_irq;
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}
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/* Initialize/reset current sporadic scheduling */
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if ((tcb->flags & TCB_FLAG_POLICY_MASK) == TCB_FLAG_SCHED_SPORADIC)
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{
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ret = nxsched_reset_sporadic(tcb);
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}
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else
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{
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ret = nxsched_initialize_sporadic(tcb);
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}
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/* Save the sporadic scheduling parameters. */
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if (ret >= 0)
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{
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tcb->flags |= TCB_FLAG_SCHED_SPORADIC;
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tcb->timeslice = budget_ticks;
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sporadic = tcb->sporadic;
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DEBUGASSERT(sporadic != NULL);
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sporadic->hi_priority = param->sched_priority;
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sporadic->low_priority = param->sched_ss_low_priority;
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sporadic->max_repl = param->sched_ss_max_repl;
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sporadic->repl_period = repl_ticks;
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sporadic->budget = budget_ticks;
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/* And restart at the next replenishment interval */
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ret = nxsched_start_sporadic(tcb);
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}
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/* Handle errors */
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if (ret < 0)
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{
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goto errout_with_irq;
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}
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}
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break;
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#endif
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#if 0 /* Not supported */
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case SCHED_OTHER:
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tcb->flags |= TCB_FLAG_SCHED_OTHER;
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break;
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#endif
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}
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leave_critical_section(flags);
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/* Set the new priority */
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ret = nxsched_reprioritize(tcb, param->sched_priority);
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sched_unlock();
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return ret;
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#ifdef CONFIG_SCHED_SPORADIC
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errout_with_irq:
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leave_critical_section(flags);
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sched_unlock();
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return ret;
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#endif
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}
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/****************************************************************************
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* Name: sched_setscheduler
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*
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* Description:
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* sched_setscheduler() sets both the scheduling policy and the priority
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* for the task identified by pid. If pid equals zero, the scheduler of
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* the calling task will be set. The parameter 'param' holds the priority
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* of the thread under the new policy.
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*
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* This function is a simply wrapper around nxsched_get_param() that
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* sets the errno value in the event of an error.
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*
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* Input Parameters:
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* pid - the task ID of the task to modify. If pid is zero, the calling
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* task is modified.
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* policy - Scheduling policy requested (either SCHED_FIFO or SCHED_RR)
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* param - A structure whose member sched_priority is the new priority.
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* The range of valid priority numbers is from SCHED_PRIORITY_MIN
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* through SCHED_PRIORITY_MAX.
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*
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* Returned Value:
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* On success, sched_setscheduler() returns OK (zero). On error, ERROR
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* (-1) is returned, and errno is set appropriately:
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*
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* EINVAL The scheduling policy is not one of the recognized policies.
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* ESRCH The task whose ID is pid could not be found.
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*
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****************************************************************************/
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int sched_setscheduler(pid_t pid, int policy,
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FAR const struct sched_param *param)
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{
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int ret = nxsched_set_scheduler(pid, policy, param);
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if (ret < 0)
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{
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set_errno(-ret);
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ret = ERROR;
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}
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return ret;
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}
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