score: Rework thread priority management

Add priority nodes which contribute to the overall thread priority.

The actual priority of a thread is now an aggregation of priority nodes.
The thread priority aggregation for the home scheduler instance of a
thread consists of at least one priority node, which is normally the
real priority of the thread.  The locking protocols (e.g. priority
ceiling and priority inheritance), rate-monotonic period objects and the
POSIX sporadic server add, change and remove priority nodes.

A thread changes its priority now immediately, e.g. priority changes are
not deferred until the thread releases its last resource.

Replace the _Thread_Change_priority() function with

 * _Thread_Priority_perform_actions(),
 * _Thread_Priority_add(),
 * _Thread_Priority_remove(),
 * _Thread_Priority_change(), and
 * _Thread_Priority_update().

Update #2412.
Update #2556.

1 files changed, 12 insertions, 7 deletions

diff --git a/cpukit/score/include/rtems/score/schedulernodeimpl.h b/cpukit/score/include/rtems/score/schedulernodeimpl.h
index ecb61c239a..b0f7d77bbe 100644
--- a/cpukit/score/include/rtems/score/schedulernodeimpl.h
+++ b/cpukit/score/include/rtems/score/schedulernodeimpl.h
@@ -17,20 +17,23 @@
 
 #include <rtems/score/schedulernode.h>
 
+struct Scheduler_Control;
+
 #ifdef __cplusplus
 extern "C" {
 #endif /* __cplusplus */
 
-#define SCHEDULER_NODE_OF_WAIT_CHAIN_NODE( node ) \
-  RTEMS_CONTAINER_OF( node, Scheduler_Node, Wait.Node.Chain )
+#define SCHEDULER_NODE_OF_WAIT_PRIORITY_NODE( node ) \
+  RTEMS_CONTAINER_OF( node, Scheduler_Node, Wait.Priority.Node.Node.Chain )
 
-#define SCHEDULER_NODE_OF_WAIT_RBTREE_NODE( node ) \
-  RTEMS_CONTAINER_OF( node, Scheduler_Node, Wait.Node.RBTree )
+#define SCHEDULER_NODE_OF_WAIT_PRIORITY( node ) \
+  RTEMS_CONTAINER_OF( node, Scheduler_Node, Wait.Priority )
 
 RTEMS_INLINE_ROUTINE void _Scheduler_Node_do_initialize(
-  Scheduler_Node   *node,
-  Thread_Control   *the_thread,
-  Priority_Control  priority
+  const struct Scheduler_Control *scheduler,
+  Scheduler_Node                 *node,
+  Thread_Control                 *the_thread,
+  Priority_Control                priority
 )
 {
   node->owner = the_thread;
@@ -39,12 +42,14 @@ RTEMS_INLINE_ROUTINE void _Scheduler_Node_do_initialize(
   node->Priority.prepend_it = false;
 
 #if defined(RTEMS_SMP)
+  node->Wait.Priority.scheduler = scheduler;
   node->user = the_thread;
   node->help_state = SCHEDULER_HELP_YOURSELF;
   node->idle = NULL;
   node->accepts_help = the_thread;
   _SMP_sequence_lock_Initialize( &node->Priority.Lock );
 #else
+  (void) scheduler;
   (void) the_thread;
 #endif
 }