apache · raiden00pl · Oct 17, 2024 · Oct 16, 2024 · Sep 30, 2024 · Aug 16, 2024
diff --git a/arch/arm/src/common/arm_exit.c b/arch/arm/src/common/arm_exit.c
@@ -56,12 +56,6 @@ void up_exit(int status)
 {
   struct tcb_s *tcb = this_task();
 
-  /* Make sure that we are in a critical section with local interrupts.
-   * The IRQ state will be restored when the next task is started.
-   */
-
-  enter_critical_section();
-
   /* Destroy the task at the head of the ready to run list. */
 
   nxtask_exit();

diff --git a/arch/arm64/src/common/arm64_exit.c b/arch/arm64/src/common/arm64_exit.c
@@ -60,12 +60,6 @@ void up_exit(int status)
   struct tcb_s *tcb = this_task();
   UNUSED(status);
 
-  /* Make sure that we are in a critical section with local interrupts.
-   * The IRQ state will be restored when the next task is started.
-   */
-
-  enter_critical_section();
-
   /* Destroy the task at the head of the ready to run list. */
 
   nxtask_exit();

diff --git a/arch/avr/src/common/avr_exit.c b/arch/avr/src/common/avr_exit.c
@@ -55,12 +55,6 @@ void up_exit(int status)
 {
   struct tcb_s *tcb = this_task();
 
-  /* Make sure that we are in a critical section with local interrupts.
-   * The IRQ state will be restored when the next task is started.
-   */
-
-  enter_critical_section();
-
   /* Destroy the task at the head of the ready to run list. */
 
   nxtask_exit();

diff --git a/arch/hc/src/common/hc_exit.c b/arch/hc/src/common/hc_exit.c
@@ -54,12 +54,6 @@ void up_exit(int status)
 {
   struct tcb_s *tcb = this_task();
 
-  /* Make sure that we are in a critical section with local interrupts.
-   * The IRQ state will be restored when the next task is started.
-   */
-
-  enter_critical_section();
-
   /* Destroy the task at the head of the ready to run list. */
 
   nxtask_exit();

diff --git a/arch/mips/src/common/mips_exit.c b/arch/mips/src/common/mips_exit.c
@@ -56,12 +56,6 @@ void up_exit(int status)
 {
   struct tcb_s *tcb = this_task();
 
-  /* Make sure that we are in a critical section with local interrupts.
-   * The IRQ state will be restored when the next task is started.
-   */
-
-  enter_critical_section();
-
   /* Destroy the task at the head of the ready to run list. */
 
   nxtask_exit();

diff --git a/arch/misoc/src/lm32/lm32_exit.c b/arch/misoc/src/lm32/lm32_exit.c
@@ -56,12 +56,6 @@ void up_exit(int status)
 {
   struct tcb_s *tcb = this_task();
 
-  /* Make sure that we are in a critical section with local interrupts.
-   * The IRQ state will be restored when the next task is started.
-   */
-
-  enter_critical_section();
-
   /* Destroy the task at the head of the ready to run list. */
 
   nxtask_exit();

diff --git a/arch/misoc/src/minerva/minerva_exit.c b/arch/misoc/src/minerva/minerva_exit.c
@@ -56,12 +56,6 @@ void up_exit(int status)
 {
   struct tcb_s *tcb = this_task();
 
-  /* Make sure that we are in a critical section with local interrupts.  The
-   * IRQ state will be restored when the next task is started.
-   */
-
-  enter_critical_section();
-
   /* Destroy the task at the head of the ready to run list. */
 
   nxtask_exit();

diff --git a/arch/or1k/src/common/or1k_exit.c b/arch/or1k/src/common/or1k_exit.c
@@ -56,12 +56,6 @@ void up_exit(int status)
 {
   struct tcb_s *tcb = this_task();
 
-  /* Make sure that we are in a critical section with local interrupts.
-   * The IRQ state will be restored when the next task is started.
-   */
-
-  enter_critical_section();
-
   /* Destroy the task at the head of the ready to run list. */
 
   nxtask_exit();

diff --git a/arch/renesas/src/common/renesas_exit.c b/arch/renesas/src/common/renesas_exit.c
@@ -54,12 +54,6 @@ void up_exit(int status)
 {
   struct tcb_s *tcb = this_task();
 
-  /* Make sure that we are in a critical section with local interrupts.
-   * The IRQ state will be restored when the next task is started.
-   */
-
-  enter_critical_section();
-
   /* Destroy the task at the head of the ready to run list. */
 
   nxtask_exit();

diff --git a/arch/risc-v/src/common/riscv_exit.c b/arch/risc-v/src/common/riscv_exit.c
@@ -56,12 +56,6 @@ void up_exit(int status)
 {
   struct tcb_s *tcb = this_task();
 
-  /* Make sure that we are in a critical section with local interrupts.
-   * The IRQ state will be restored when the next task is started.
-   */
-
-  enter_critical_section();
-
   /* Destroy the task at the head of the ready to run list. */
 
   nxtask_exit();

diff --git a/arch/sim/src/nuttx-names.in b/arch/sim/src/nuttx-names.in
@@ -99,6 +99,7 @@ NXSYMBOLS(pthread_cond_init)
 NXSYMBOLS(pthread_cond_signal)
 NXSYMBOLS(pthread_cond_wait)
 NXSYMBOLS(pthread_create)
+NXSYMBOLS(pthread_gettid_np)
 #if defined(CONFIG_TLS_NELEM) && CONFIG_TLS_NELEM > 0
 NXSYMBOLS(pthread_getspecific)
 NXSYMBOLS(pthread_key_create)
@@ -111,6 +112,7 @@ NXSYMBOLS(pthread_mutex_unlock)
 #if defined(CONFIG_TLS_NELEM) && CONFIG_TLS_NELEM > 0
 NXSYMBOLS(pthread_setspecific)
 #endif
+NXSYMBOLS(pthread_self)
 NXSYMBOLS(pthread_sigmask)
 NXSYMBOLS(puts)
 NXSYMBOLS(read)

diff --git a/arch/sim/src/sim/sim_exit.c b/arch/sim/src/sim/sim_exit.c
@@ -52,12 +52,6 @@ void up_exit(int status)
 {
   struct tcb_s *tcb;
 
-  /* Make sure that we are in a critical section with local interrupts.
-   * The IRQ state will be restored when the next task is started.
-   */
-
-  enter_critical_section();
-
   /* Destroy the task at the head of the ready to run list. */
 
   nxtask_exit();

diff --git a/arch/sim/src/sim/sim_idle.c b/arch/sim/src/sim/sim_idle.c
@@ -57,15 +57,13 @@ void up_idle(void)
 #ifdef CONFIG_PM
   static enum pm_state_e state = PM_NORMAL;
   enum pm_state_e newstate;
-#endif
   irqstate_t flags;
 
+  /* Fake some power management stuff for testing purposes */
+
   flags = enter_critical_section();
   sched_lock();
 
-#ifdef CONFIG_PM
-  /* Fake some power management stuff for testing purposes */
-
   newstate = pm_checkstate(PM_IDLE_DOMAIN);
   if (newstate != state)
     {
@@ -85,8 +83,8 @@ void up_idle(void)
 
 #ifdef CONFIG_PM
   pm_changestate(PM_IDLE_DOMAIN, PM_RESTORE);
-#endif
 
   sched_unlock();
   leave_critical_section(flags);
+#endif
 }
diff --git a/arch/sparc/src/common/sparc_exit.c b/arch/sparc/src/common/sparc_exit.c
@@ -56,12 +56,6 @@ void up_exit(int status)
 {
   struct tcb_s *tcb = this_task();
 
-  /* Make sure that we are in a critical section with local interrupts.
-   * The IRQ state will be restored when the next task is started.
-   */
-
-  (void)enter_critical_section();
-
   /* Update scheduler parameters */
 
   nxsched_suspend_scheduler(tcb);

diff --git a/arch/tricore/src/common/tricore_exit.c b/arch/tricore/src/common/tricore_exit.c
@@ -56,12 +56,6 @@ void up_exit(int status)
 {
   struct tcb_s *tcb = this_task();
 
-  /* Make sure that we are in a critical section with local interrupts.
-   * The IRQ state will be restored when the next task is started.
-   */
-
-  enter_critical_section();
-
   /* Destroy the task at the head of the ready to run list. */
 
   nxtask_exit();

diff --git a/arch/x86/src/common/x86_exit.c b/arch/x86/src/common/x86_exit.c
@@ -55,12 +55,6 @@ void up_exit(int status)
 {
   struct tcb_s *tcb = this_task();
 
-  /* Make sure that we are in a critical section with local interrupts.
-   * The IRQ state will be restored when the next task is started.
-   */
-
-  enter_critical_section();
-
   /* Destroy the task at the head of the ready to run list. */
 
   nxtask_exit();

diff --git a/arch/x86_64/src/common/x86_64_exit.c b/arch/x86_64/src/common/x86_64_exit.c
@@ -54,12 +54,6 @@ void up_exit(int status)
 {
   struct tcb_s *tcb;
 
-  /* Make sure that we are in a critical section with local interrupts.
-   * The IRQ state will be restored when the next task is started.
-   */
-
-  enter_critical_section();
-
   /* Destroy the task at the head of the ready to run list. */
 
   nxtask_exit();

diff --git a/arch/xtensa/src/common/xtensa_exit.c b/arch/xtensa/src/common/xtensa_exit.c
@@ -56,12 +56,6 @@ void up_exit(int status)
 {
   struct tcb_s *tcb = this_task();
 
-  /* Make sure that we are in a critical section with local interrupts.
-   * The IRQ state will be restored when the next task is started.
-   */
-
-  enter_critical_section();
-
   /* Destroy the task at the head of the ready to run list. */
 
   nxtask_exit();

diff --git a/arch/z16/src/common/z16_exit.c b/arch/z16/src/common/z16_exit.c
@@ -54,12 +54,6 @@ void up_exit(int status)
 {
   FAR struct tcb_s *tcb = this_task();
 
-  /* Make sure that we are in a critical section with local interrupts.
-   * The IRQ state will be restored when the next task is started.
-   */
-
-  enter_critical_section();
-
   /* Destroy the task at the head of the ready to run list. */
 
   nxtask_exit();

diff --git a/arch/z80/src/common/z80_exit.c b/arch/z80/src/common/z80_exit.c
@@ -56,12 +56,6 @@ void up_exit(int status)
 {
   FAR struct tcb_s *tcb = this_task();
 
-  /* Make sure that we are in a critical section with local interrupts.
-   * The IRQ state will be restored when the next task is started.
-   */
-
-  enter_critical_section();
-
   /* Destroy the task at the head of the ready to run list. */
 
   nxtask_exit();

diff --git a/sched/pthread/pthread_exit.c b/sched/pthread/pthread_exit.c
@@ -91,6 +91,12 @@ void nx_pthread_exit(FAR void *exit_value)
       _exit(EXIT_FAILURE);
     }
 
+  /* Make sure that we are in a critical section with local interrupts.
+   * The IRQ state will be restored when the next task is started.
+   */
+
+  enter_critical_section();
+
   /* Perform common task termination logic.  This will get called again later
    * through logic kicked off by up_exit().
    *
@@ -103,6 +109,8 @@ void nx_pthread_exit(FAR void *exit_value)
    * once, or does something very naughty.
    */
 
+  tcb->flags |= TCB_FLAG_EXIT_PROCESSING;
+
   nxtask_exithook(tcb, status);
 
   up_exit(EXIT_SUCCESS);

diff --git a/sched/sched/sched_setpriority.c b/sched/sched/sched_setpriority.c
@@ -37,10 +37,58 @@
 #include "irq/irq.h"
 #include "sched/sched.h"
 
+/****************************************************************************
+ * Private Type Declarations
+ ****************************************************************************/
+
+#ifdef CONFIG_SMP
+struct reprioritize_arg_s
+{
+  pid_t pid;
+  cpu_set_t saved_affinity;
+  uint16_t saved_flags;
+  int  sched_priority;
+  bool need_restore;
+};
+
 /****************************************************************************
  * Private Functions
  ****************************************************************************/
 
+static int reprioritize_handler(FAR void *cookie)
+{
+  FAR struct reprioritize_arg_s *arg = cookie;
+  FAR struct tcb_s *rtcb = this_task();
+  FAR struct tcb_s *tcb;
+  irqstate_t flags;
+
+  flags = enter_critical_section();
+
+  tcb = nxsched_get_tcb(arg->pid);
+
+  if (!tcb || tcb->task_state == TSTATE_TASK_INVALID ||
+      (tcb->flags & TCB_FLAG_EXIT_PROCESSING) != 0)
+    {
+      leave_critical_section(flags);
+      return OK;
+    }
+
+  if (arg->need_restore)
+    {
+      tcb->affinity = arg->saved_affinity;
+      tcb->flags = arg->saved_flags;
+    }
+
+  if (nxsched_reprioritize_rtr(tcb, arg->sched_priority))
+    {
+      up_switch_context(this_task(), rtcb);
+    }
+
+  leave_critical_section(flags);
+  return OK;
+}
+#endif
+
 /****************************************************************************
  * Name: nxsched_nexttcb
  *
@@ -175,6 +223,34 @@ static inline void nxsched_running_setpriority(FAR struct tcb_s *tcb,
         {
           /* A context switch will occur. */
 
+#ifdef CONFIG_SMP
+          if (tcb->cpu != this_cpu() &&
+              tcb->task_state == TSTATE_TASK_RUNNING)
+            {
+              struct reprioritize_arg_s arg;
+
+              if ((tcb->flags & TCB_FLAG_CPU_LOCKED) != 0)
+                {
+                  arg.pid = tcb->pid;
+                  arg.need_restore = false;
+                }
+              else
+                {
+                  arg.pid = tcb->pid;
+                  arg.saved_flags = tcb->flags;
+                  arg.saved_affinity = tcb->affinity;
+                  arg.need_restore = true;
+
+                  tcb->flags |= TCB_FLAG_CPU_LOCKED;
+                  CPU_SET(tcb->cpu, &tcb->affinity);
+                }
+
+              arg.sched_priority = sched_priority;
+              nxsched_smp_call_single(tcb->cpu, reprioritize_handler,
+                                      &arg, true);
+            }
+          else
+#endif
           if (nxsched_reprioritize_rtr(tcb, sched_priority))
             {
               up_switch_context(this_task(), rtcb);