score: Use thread action for thread restart

The thread restart is now supported on SMP.  New test
smptests/smpthreadlife01.

5 files changed, 78 insertions, 36 deletions

diff --git a/cpukit/score/include/rtems/score/objectimpl.h b/cpukit/score/include/rtems/score/objectimpl.h
index 3764c664fd..119f11d829 100644
--- a/cpukit/score/include/rtems/score/objectimpl.h
+++ b/cpukit/score/include/rtems/score/objectimpl.h
@@ -880,23 +880,6 @@ RTEMS_INLINE_ROUTINE void _Objects_Put_without_thread_dispatch(
 }
 
 /**
- * @brief Puts back an object obtained with _Objects_Get().
- *
- * The thread dispatch disable level will remain unchanged.
- *
- * On SMP configurations the Giant lock will be released.
- */
-RTEMS_INLINE_ROUTINE void _Objects_Put_and_keep_thread_dispatch_disabled(
-  Objects_Control *the_object
-)
-{
-  (void) the_object;
-#if defined(RTEMS_SMP)
-  _Giant_Release();
-#endif
-}
-
-/**
  * @brief Puts back an object obtained with _Objects_Get_isr_disable().
  */
 RTEMS_INLINE_ROUTINE void _Objects_Put_for_get_isr_disable(
diff --git a/cpukit/score/include/rtems/score/thread.h b/cpukit/score/include/rtems/score/thread.h
index e5a1a55acd..d853aa035a 100644
--- a/cpukit/score/include/rtems/score/thread.h
+++ b/cpukit/score/include/rtems/score/thread.h
@@ -396,6 +396,10 @@ typedef struct {
   Chain_Control Chain;
 } Thread_Action_control;
 
+typedef struct {
+  Thread_Action      Action;
+} Thread_Life_control;
+
 /**
  *  This structure defines the Thread Control Block (TCB).
  */
@@ -543,6 +547,7 @@ struct Thread_Control_struct {
    */
   Chain_Control           Key_Chain;
 
+  Thread_Life_control                   Life;
 };
 
 #if (CPU_PROVIDES_IDLE_THREAD_BODY == FALSE)
diff --git a/cpukit/score/include/rtems/score/threadimpl.h b/cpukit/score/include/rtems/score/threadimpl.h
index bbaa10a2f0..b8647276a5 100644
--- a/cpukit/score/include/rtems/score/threadimpl.h
+++ b/cpukit/score/include/rtems/score/threadimpl.h
@@ -219,6 +219,13 @@ void _Thread_Reset(
   Thread_Entry_numeric_type  numeric_argument
 );
 
+void _Thread_Life_action_handler(
+  Thread_Control  *executing,
+  Thread_Action   *action,
+  Per_CPU_Control *cpu,
+  ISR_Level        level
+);
+
 /**
  *  @brief Frees all memory associated with the specified thread.
  *
@@ -501,21 +508,23 @@ RTEMS_INLINE_ROUTINE void _Thread_Unblock (
  * to that of its initial state.
  */
 
-RTEMS_INLINE_ROUTINE void _Thread_Restart_self( void )
+RTEMS_INLINE_ROUTINE void _Thread_Restart_self( Thread_Control *executing )
 {
 #if defined(RTEMS_SMP)
   ISR_Level level;
 
+  _Giant_Release();
+
   _Per_CPU_ISR_disable_and_acquire( _Per_CPU_Get(), level );
   ( void ) level;
 #endif
 
 #if ( CPU_HARDWARE_FP == TRUE ) || ( CPU_SOFTWARE_FP == TRUE )
-  if ( _Thread_Executing->fp_context != NULL )
-    _Context_Restore_fp( &_Thread_Executing->fp_context );
+  if ( executing->fp_context != NULL )
+    _Context_Restore_fp( &executing->fp_context );
 #endif
 
-  _CPU_Context_Restart_self( &_Thread_Executing->Registers );
+  _CPU_Context_Restart_self( &executing->Registers );
 }
 
 /**
@@ -603,6 +612,26 @@ RTEMS_INLINE_ROUTINE Thread_Control *_Thread_Internal_allocate( void )
   return (Thread_Control *) _Objects_Allocate( &_Thread_Internal_information );
 }
 
+RTEMS_INLINE_ROUTINE void _Thread_Request_dispatch_if_executing(
+  Thread_Control *thread
+)
+{
+#if defined(RTEMS_SMP)
+  if ( thread->is_executing ) {
+    const Per_CPU_Control *cpu_of_executing = _Per_CPU_Get();
+    Per_CPU_Control *cpu_of_thread = _Thread_Get_CPU( thread );
+
+    cpu_of_thread->dispatch_necessary = true;
+
+    if ( cpu_of_executing != cpu_of_thread ) {
+      _Per_CPU_Send_interrupt( cpu_of_thread );
+    }
+  }
+#else
+  (void) thread;
+#endif
+}
+
 RTEMS_INLINE_ROUTINE void _Thread_Signal_notification( Thread_Control *thread )
 {
   if ( _ISR_Is_in_progress() && _Thread_Is_executing( thread ) ) {
diff --git a/cpukit/score/src/threadinitialize.c b/cpukit/score/src/threadinitialize.c
index 315156e52a..c851320936 100644
--- a/cpukit/score/src/threadinitialize.c
+++ b/cpukit/score/src/threadinitialize.c
@@ -240,6 +240,11 @@ bool _Thread_Initialize(
 
   _Thread_Action_control_initialize( &the_thread->Post_switch_actions );
 
+  _Thread_Action_initialize(
+    &the_thread->Life.Action,
+    _Thread_Life_action_handler
+  );
+
   /*
    *  Open the object
    */
diff --git a/cpukit/score/src/threadrestart.c b/cpukit/score/src/threadrestart.c
index b9a7dd56ae..d982f720e7 100644
--- a/cpukit/score/src/threadrestart.c
+++ b/cpukit/score/src/threadrestart.c
@@ -20,32 +20,52 @@
 
 #include <rtems/score/threadimpl.h>
 #include <rtems/score/userextimpl.h>
-#include <rtems/config.h>
 
-bool _Thread_Restart(
+void _Thread_Life_action_handler(
+  Thread_Control  *executing,
+  Thread_Action   *action,
+  Per_CPU_Control *cpu,
+  ISR_Level        level
+)
+{
+  (void) action;
+  _Thread_Action_release_and_ISR_enable( cpu, level );
+
+  _Thread_Disable_dispatch();
+
+  _Thread_Load_environment( executing );
+  _Thread_Restart_self( executing );
+}
+
+static void _Thread_Request_life_change(
   Thread_Control            *the_thread,
   void                      *pointer_argument,
   Thread_Entry_numeric_type  numeric_argument
 )
 {
-#if defined( RTEMS_SMP )
-  if (
-    rtems_configuration_is_smp_enabled()
-      && !_Thread_Is_executing( the_thread )
-  ) {
-    return false;
-  }
-#endif
+  _Thread_Set_transient( the_thread );
 
-  if ( !_States_Is_dormant( the_thread->current_state ) ) {
+  _Thread_Reset( the_thread, pointer_argument, numeric_argument );
 
-    _Thread_Set_transient( the_thread );
+  _Thread_Add_post_switch_action( the_thread, &the_thread->Life.Action );
 
-    _Thread_Reset( the_thread, pointer_argument, numeric_argument );
+  _Thread_Ready( the_thread );
 
-    _Thread_Load_environment( the_thread );
+  _Thread_Request_dispatch_if_executing( the_thread );
+}
 
-    _Thread_Ready( the_thread );
+bool _Thread_Restart(
+  Thread_Control            *the_thread,
+  void                      *pointer_argument,
+  Thread_Entry_numeric_type  numeric_argument
+)
+{
+  if ( !_States_Is_dormant( the_thread->current_state ) ) {
+    _Thread_Request_life_change(
+      the_thread,
+      pointer_argument,
+      numeric_argument
+    );
 
     _User_extensions_Thread_restart( the_thread );