cpukit: Add and use Watchdog_Discipline.

Clock disciplines may be WATCHDOG_RELATIVE, WATCHDOG_ABSOLUTE,
or WATCHDOG_NO_TIMEOUT. A discipline of WATCHDOG_RELATIVE with
a timeout of WATCHDOG_NO_TIMEOUT is equivalent to a discipline
of WATCHDOG_NO_TIMEOUT.

updates #2732

25 files changed, 180 insertions, 119 deletions

diff --git a/cpukit/score/include/rtems/score/corebarrierimpl.h b/cpukit/score/include/rtems/score/corebarrierimpl.h
index d2d9997d95..a7256b9d6d 100644
--- a/cpukit/score/include/rtems/score/corebarrierimpl.h
+++ b/cpukit/score/include/rtems/score/corebarrierimpl.h
@@ -87,10 +87,6 @@ RTEMS_INLINE_ROUTINE void _CORE_barrier_Release(
  *  @param[in] the_barrier is the barrier to wait for
  *  @param[in,out] executing The currently executing thread.
  *  @param[in] wait is true if the calling thread is willing to wait
- *  @param[in] timeout is the number of ticks the calling thread is willing
- *         to wait if @a wait is true.
- *  @param[in] mp_callout is the routine to invoke if the
- *         thread unblocked is remote
  *
  * @return The method status.
  */
@@ -98,7 +94,6 @@ Status_Control _CORE_barrier_Seize(
   CORE_barrier_Control *the_barrier,
   Thread_Control       *executing,
   bool                  wait,
-  Watchdog_Interval     timeout,
   Thread_queue_Context *queue_context
 );
 
diff --git a/cpukit/score/include/rtems/score/coremsgimpl.h b/cpukit/score/include/rtems/score/coremsgimpl.h
index d240c4a405..3b811c920d 100644
--- a/cpukit/score/include/rtems/score/coremsgimpl.h
+++ b/cpukit/score/include/rtems/score/coremsgimpl.h
@@ -194,8 +194,6 @@ Status_Control _CORE_message_queue_Broadcast(
  *         appended, or enqueued in priority order.
  *  @param[in] wait indicates whether the calling thread is willing to block
  *         if the message queue is full.
- *  @param[in] timeout is the maximum number of clock ticks that the calling
- *         thread is willing to block if the message queue is full.
  *  @param[in] queue_context The thread queue context used for
  *    _CORE_message_queue_Acquire() or _CORE_message_queue_Acquire_critical().
  *  @retval indication of the successful completion or reason for failure
@@ -207,7 +205,6 @@ Status_Control _CORE_message_queue_Submit(
   size_t                            size,
   CORE_message_queue_Submit_types   submit_type,
   bool                              wait,
-  Watchdog_Interval                 timeout,
   Thread_queue_Context             *queue_context
 );
 
@@ -230,8 +227,6 @@ Status_Control _CORE_message_queue_Submit(
  *         indicates the maximum size message that the caller can receive.
  *  @param[in] wait indicates whether the calling thread is willing to block
  *         if the message queue is empty.
- *  @param[in] timeout is the maximum number of clock ticks that the calling
- *         thread is willing to block if the message queue is empty.
  *  @param[in] queue_context The thread queue context used for
  *    _CORE_message_queue_Acquire() or _CORE_message_queue_Acquire_critical().
  *
@@ -251,7 +246,6 @@ Status_Control _CORE_message_queue_Seize(
   void                       *buffer,
   size_t                     *size_p,
   bool                        wait,
-  Watchdog_Interval           timeout,
   Thread_queue_Context       *queue_context
 );
 
@@ -281,7 +275,6 @@ RTEMS_INLINE_ROUTINE Status_Control _CORE_message_queue_Send(
   const void                       *buffer,
   size_t                            size,
   bool                              wait,
-  Watchdog_Interval                 timeout,
   Thread_queue_Context             *queue_context
 )
 {
@@ -292,7 +285,6 @@ RTEMS_INLINE_ROUTINE Status_Control _CORE_message_queue_Send(
     size,
     CORE_MESSAGE_QUEUE_SEND_REQUEST,
     wait,
-    timeout,
     queue_context
   );
 }
@@ -302,7 +294,6 @@ RTEMS_INLINE_ROUTINE Status_Control _CORE_message_queue_Urgent(
   const void                       *buffer,
   size_t                            size,
   bool                              wait,
-  Watchdog_Interval                 timeout,
   Thread_queue_Context             *queue_context
 )
 {
@@ -313,7 +304,6 @@ RTEMS_INLINE_ROUTINE Status_Control _CORE_message_queue_Urgent(
     size,
     CORE_MESSAGE_QUEUE_URGENT_REQUEST,
     wait,
-    timeout,
     queue_context
   );
 }
diff --git a/cpukit/score/include/rtems/score/coremuteximpl.h b/cpukit/score/include/rtems/score/coremuteximpl.h
index 3a5ae99a95..339834bc37 100644
--- a/cpukit/score/include/rtems/score/coremuteximpl.h
+++ b/cpukit/score/include/rtems/score/coremuteximpl.h
@@ -100,7 +100,6 @@ Status_Control _CORE_mutex_Seize_slow(
   Thread_Control       *executing,
   Thread_Control       *owner,
   bool                  wait,
-  Watchdog_Interval     timeout,
   Thread_queue_Context *queue_context
 );
 
@@ -109,7 +108,6 @@ Status_Control _CORE_mutex_Seize_no_protocol_slow(
   const Thread_queue_Operations *operations,
   Thread_Control                *executing,
   bool                           wait,
-  Watchdog_Interval              timeout,
   Thread_queue_Context          *queue_context
 );
 
@@ -183,7 +181,6 @@ RTEMS_INLINE_ROUTINE Status_Control _CORE_recursive_mutex_Seize(
   CORE_recursive_mutex_Control  *the_mutex,
   Thread_Control                *executing,
   bool                           wait,
-  Watchdog_Interval              timeout,
   Status_Control              ( *nested )( CORE_recursive_mutex_Control * ),
   Thread_queue_Context          *queue_context
 )
@@ -214,7 +211,6 @@ RTEMS_INLINE_ROUTINE Status_Control _CORE_recursive_mutex_Seize(
     executing,
     owner,
     wait,
-    timeout,
     queue_context
   );
 }
@@ -277,7 +273,6 @@ RTEMS_INLINE_ROUTINE Status_Control _CORE_recursive_mutex_Seize_no_protocol(
   const Thread_queue_Operations *operations,
   Thread_Control                *executing,
   bool                           wait,
-  Watchdog_Interval              timeout,
   Status_Control              ( *nested )( CORE_recursive_mutex_Control * ),
   Thread_queue_Context          *queue_context
 )
@@ -307,7 +302,6 @@ RTEMS_INLINE_ROUTINE Status_Control _CORE_recursive_mutex_Seize_no_protocol(
     operations,
     executing,
     wait,
-    timeout,
     queue_context
   );
 }
@@ -434,7 +428,6 @@ RTEMS_INLINE_ROUTINE Status_Control _CORE_ceiling_mutex_Seize(
   CORE_ceiling_mutex_Control    *the_mutex,
   Thread_Control                *executing,
   bool                           wait,
-  Watchdog_Interval              timeout,
   Status_Control              ( *nested )( CORE_recursive_mutex_Control * ),
   Thread_queue_Context          *queue_context
 )
@@ -476,7 +469,6 @@ RTEMS_INLINE_ROUTINE Status_Control _CORE_ceiling_mutex_Seize(
     CORE_MUTEX_TQ_OPERATIONS,
     executing,
     wait,
-    timeout,
     queue_context
   );
 }
diff --git a/cpukit/score/include/rtems/score/corerwlockimpl.h b/cpukit/score/include/rtems/score/corerwlockimpl.h
index e80ab0ef0c..ff881fa186 100644
--- a/cpukit/score/include/rtems/score/corerwlockimpl.h
+++ b/cpukit/score/include/rtems/score/corerwlockimpl.h
@@ -95,15 +95,12 @@ RTEMS_INLINE_ROUTINE void _CORE_RWLock_Release(
  *
  *  @param[in] the_rwlock is the RWLock to wait for
  *  @param[in] wait is true if the calling thread is willing to wait
- *  @param[in] timeout is the number of ticks the calling thread is willing
- *         to wait if @a wait is true.
  */
 
 Status_Control _CORE_RWLock_Seize_for_reading(
   CORE_RWLock_Control  *the_rwlock,
   Thread_Control       *executing,
   bool                  wait,
-  Watchdog_Interval     timeout,
   Thread_queue_Context *queue_context
 );
 
@@ -114,14 +111,11 @@ Status_Control _CORE_RWLock_Seize_for_reading(
  *
  *  @param[in] the_rwlock is the RWLock to wait for
  *  @param[in] wait is true if the calling thread is willing to wait
- *  @param[in] timeout is the number of ticks the calling thread is willing
- *         to wait if @a wait is true.
  */
 Status_Control _CORE_RWLock_Seize_for_writing(
   CORE_RWLock_Control  *the_rwlock,
   Thread_Control       *executing,
   bool                  wait,
-  Watchdog_Interval     timeout,
   Thread_queue_Context *queue_context
 );
 
diff --git a/cpukit/score/include/rtems/score/coresemimpl.h b/cpukit/score/include/rtems/score/coresemimpl.h
index 487a91b3c7..5a287263aa 100644
--- a/cpukit/score/include/rtems/score/coresemimpl.h
+++ b/cpukit/score/include/rtems/score/coresemimpl.h
@@ -165,7 +165,6 @@ RTEMS_INLINE_ROUTINE uint32_t  _CORE_semaphore_Get_count(
  * @param[in] operations The thread queue operations.
  * @param[in] executing The currently executing thread.
  * @param[in] wait is true if the thread is willing to wait
- * @param[in] timeout is the maximum number of ticks to block
  * @param[in] queue_context is a temporary variable used to contain the ISR
  *        disable level cookie
  */
@@ -174,7 +173,6 @@ RTEMS_INLINE_ROUTINE Status_Control _CORE_semaphore_Seize(
   const Thread_queue_Operations *operations,
   Thread_Control                *executing,
   bool                           wait,
-  Watchdog_Interval              timeout,
   Thread_queue_Context          *queue_context
 )
 {
@@ -198,7 +196,6 @@ RTEMS_INLINE_ROUTINE Status_Control _CORE_semaphore_Seize(
     operations,
     executing,
     STATES_WAITING_FOR_SEMAPHORE,
-    timeout,
     queue_context
   );
   return _Thread_Wait_get_status( executing );
diff --git a/cpukit/score/include/rtems/score/mrspimpl.h b/cpukit/score/include/rtems/score/mrspimpl.h
index 66f5cc6640..c136a2037c 100644
--- a/cpukit/score/include/rtems/score/mrspimpl.h
+++ b/cpukit/score/include/rtems/score/mrspimpl.h
@@ -240,7 +240,6 @@ RTEMS_INLINE_ROUTINE Status_Control _MRSP_Wait_for_ownership(
   Thread_Control       *executing,
   Priority_Control      initial_priority,
   Priority_Control      ceiling_priority,
-  Watchdog_Interval     timeout,
   Thread_queue_Context *queue_context
 )
 {
@@ -250,6 +249,8 @@ RTEMS_INLINE_ROUTINE Status_Control _MRSP_Wait_for_ownership(
   Per_CPU_Control *cpu_self;
   ISR_lock_Context giant_lock_context;
   ISR_Level level;
+  Watchdog_Interval timeout = queue_context->timeout;
+  _Assert( queue_context->timeout_discipline == WATCHDOG_RELATIVE );
 
   rival.thread = executing;
   rival.resource = mrsp;
@@ -317,7 +318,6 @@ RTEMS_INLINE_ROUTINE Status_Control _MRSP_Seize(
   MRSP_Control         *mrsp,
   Thread_Control       *executing,
   bool                  wait,
-  Watchdog_Interval     timeout,
   Thread_queue_Context *queue_context
 )
 {
@@ -357,7 +357,6 @@ RTEMS_INLINE_ROUTINE Status_Control _MRSP_Seize(
       executing,
       initial_priority,
       ceiling_priority,
-      timeout,
       queue_context
     );
   } else {
diff --git a/cpukit/score/include/rtems/score/threadimpl.h b/cpukit/score/include/rtems/score/threadimpl.h
index 448f38d6fc..478ab3a334 100644
--- a/cpukit/score/include/rtems/score/threadimpl.h
+++ b/cpukit/score/include/rtems/score/threadimpl.h
@@ -1511,7 +1511,7 @@ RTEMS_INLINE_ROUTINE void _Thread_Timer_insert_relative(
 
   _ISR_lock_ISR_disable_and_acquire( &the_thread->Timer.Lock, &lock_context );
 
-  the_thread->Timer.header = &cpu->Watchdog.Header[ PER_CPU_WATCHDOG_RELATIVE ];
+  the_thread->Timer.header = &cpu->Watchdog.Header[PER_CPU_WATCHDOG_RELATIVE];
   the_thread->Timer.Watchdog.routine = routine;
   _Watchdog_Per_CPU_insert_relative( &the_thread->Timer.Watchdog, cpu, ticks );
 
@@ -1522,20 +1522,23 @@ RTEMS_INLINE_ROUTINE void _Thread_Timer_insert_absolute(
   Thread_Control                 *the_thread,
   Per_CPU_Control                *cpu,
   Watchdog_Service_routine_entry  routine,
-  uint64_t                        expire
+  uint64_t                        ticks
 )
 {
   ISR_lock_Context lock_context;
 
   _ISR_lock_ISR_disable_and_acquire( &the_thread->Timer.Lock, &lock_context );
 
-  the_thread->Timer.header = &cpu->Watchdog.Header[ PER_CPU_WATCHDOG_ABSOLUTE ];
+  the_thread->Timer.header = &cpu->Watchdog.Header[PER_CPU_WATCHDOG_ABSOLUTE];
   the_thread->Timer.Watchdog.routine = routine;
-  _Watchdog_Per_CPU_insert_absolute( &the_thread->Timer.Watchdog, cpu, expire );
+  _Watchdog_Per_CPU_insert_absolute( &the_thread->Timer.Watchdog, cpu, ticks );
 
   _ISR_lock_Release_and_ISR_enable( &the_thread->Timer.Lock, &lock_context );
 }
 
+
+
+
 RTEMS_INLINE_ROUTINE void _Thread_Timer_remove( Thread_Control *the_thread )
 {
   ISR_lock_Context lock_context;
diff --git a/cpukit/score/include/rtems/score/threadq.h b/cpukit/score/include/rtems/score/threadq.h
index a4e5292f34..b3b8fec980 100644
--- a/cpukit/score/include/rtems/score/threadq.h
+++ b/cpukit/score/include/rtems/score/threadq.h
@@ -24,6 +24,7 @@
 #include <rtems/score/object.h>
 #include <rtems/score/priority.h>
 #include <rtems/score/rbtree.h>
+#include <rtems/score/watchdog.h>
 
 #ifdef __cplusplus
 extern "C" {
@@ -79,6 +80,17 @@ typedef struct {
   uint32_t expected_thread_dispatch_disable_level;
 
   /**
+   * @brief The clock discipline for the interval timeout.
+   * Use WATCHDOG_NO_TIMEOUT to block indefinitely.
+   */
+  Watchdog_Discipline timeout_discipline;
+
+  /**
+   * @brief Interval to wait.
+   */
+  uint64_t timeout;
+
+  /**
    * @brief Callout to unblock the thread in case it is actually a thread
    * proxy.
    *
diff --git a/cpukit/score/include/rtems/score/threadqimpl.h b/cpukit/score/include/rtems/score/threadqimpl.h
index 986edc3482..2d396cb7ed 100644
--- a/cpukit/score/include/rtems/score/threadqimpl.h
+++ b/cpukit/score/include/rtems/score/threadqimpl.h
@@ -91,6 +91,58 @@ _Thread_queue_Context_set_expected_level(
 }
 
 /**
+ * @brief Sets an indefinite timeout interval in the thread queue context.
+ *
+ * @param queue_context The thread queue context.
+ * @param timeout The new timeout.
+ *
+ * @see _Thread_queue_Enqueue_critical().
+ */
+RTEMS_INLINE_ROUTINE void
+_Thread_queue_Context_set_no_timeout(
+  Thread_queue_Context *queue_context
+)
+{
+  queue_context->timeout_discipline = WATCHDOG_NO_TIMEOUT;
+}
+
+/**
+ * @brief Sets a relative timeout in the thread queue context.
+ *
+ * @param queue_context The thread queue context.
+ * @param discipline The clock discipline to use for the timeout.
+ *
+ * @see _Thread_queue_Enqueue_critical().
+ */
+RTEMS_INLINE_ROUTINE void
+_Thread_queue_Context_set_relative_timeout(
+  Thread_queue_Context *queue_context,
+  Watchdog_Interval     timeout
+)
+{
+  queue_context->timeout_discipline = WATCHDOG_RELATIVE;
+  queue_context->timeout = timeout;
+}
+
+/**
+ * @brief Sets an absolute timeout in the thread queue context.
+ *
+ * @param queue_context The thread queue context.
+ * @param discipline The clock discipline to use for the timeout.
+ *
+ * @see _Thread_queue_Enqueue_critical().
+ */
+RTEMS_INLINE_ROUTINE void
+_Thread_queue_Context_set_absolute_timeout(
+  Thread_queue_Context *queue_context,
+  uint64_t              timeout
+)
+{
+  queue_context->timeout_discipline = WATCHDOG_ABSOLUTE;
+  queue_context->timeout = timeout;
+}
+
+/**
  * @brief Sets the MP callout in the thread queue context.
  *
  * @param queue_context The thread queue context.
@@ -307,8 +359,8 @@ Thread_Control *_Thread_queue_Do_dequeue(
  * @brief Blocks the thread and places it on the thread queue.
  *
  * This enqueues the thread on the thread queue, blocks the thread, and
- * optionally starts the thread timer in case the timeout interval is not
- * WATCHDOG_NO_TIMEOUT.
+ * optionally starts the thread timer in case the timeout discipline is not
+ * WATCHDOG_NO_TIMEOUT. Timeout discipline and value are in the queue_context.
  *
  * The caller must be the owner of the thread queue lock.  This function will
  * release the thread queue lock and register it as the new thread lock.
@@ -350,7 +402,6 @@ Thread_Control *_Thread_queue_Do_dequeue(
  *       MUTEX_TQ_OPERATIONS,
  *       executing,
  *       STATES_WAITING_FOR_MUTEX,
- *       WATCHDOG_NO_TIMEOUT,
  *       0,
  *       &queue_context
  *     );
@@ -362,8 +413,6 @@ Thread_Control *_Thread_queue_Do_dequeue(
  * @param[in] operations The thread queue operations.
  * @param[in] the_thread The thread to enqueue.
  * @param[in] state The new state of the thread.
- * @param[in] timeout Interval to wait.  Use WATCHDOG_NO_TIMEOUT to block
- * potentially forever.
  * @param[in] queue_context The thread queue context of the lock acquire.
  */
 void _Thread_queue_Enqueue_critical(
@@ -371,7 +420,6 @@ void _Thread_queue_Enqueue_critical(
   const Thread_queue_Operations *operations,
   Thread_Control                *the_thread,
   States_Control                 state,
-  Watchdog_Interval              timeout,
   Thread_queue_Context          *queue_context
 );
 
@@ -385,6 +433,7 @@ RTEMS_INLINE_ROUTINE void _Thread_queue_Enqueue(
   Thread_Control                *the_thread,
   States_Control                 state,
   Watchdog_Interval              timeout,
+  Watchdog_Discipline            discipline,
   uint32_t                       expected_level
 )
 {
@@ -393,12 +442,16 @@ RTEMS_INLINE_ROUTINE void _Thread_queue_Enqueue(
   _Thread_queue_Context_initialize( &queue_context );
   _Thread_queue_Acquire( the_thread_queue, &queue_context.Lock_context );
   _Thread_queue_Context_set_expected_level( &queue_context, expected_level );
+  if ( discipline == WATCHDOG_ABSOLUTE ) {
+    _Thread_queue_Context_set_absolute_timeout( &queue_context, timeout );
+  } else {
+    _Thread_queue_Context_set_relative_timeout( &queue_context, timeout );
+  }
   _Thread_queue_Enqueue_critical(
     &the_thread_queue->Queue,
     operations,
     the_thread,
     state,
-    timeout,
     &queue_context
   );
 }
diff --git a/cpukit/score/include/rtems/score/watchdog.h b/cpukit/score/include/rtems/score/watchdog.h
index c582dbd1ae..11a5974c26 100644
--- a/cpukit/score/include/rtems/score/watchdog.h
+++ b/cpukit/score/include/rtems/score/watchdog.h
@@ -53,6 +53,38 @@ typedef struct Watchdog_Control Watchdog_Control;
 typedef uint32_t   Watchdog_Interval;
 
 /**
+ *  @brief The clock discipline to use for the Watchdog timeout interval.
+ */
+typedef enum {
+
+  /**
+   * @brief Indefinite wait.
+   *
+   * This is to indicate there is no timeout and not to use a watchdog. It
+   * must be equal to 0, which is an illegal relative clock interval, so that
+   * it may be used as a Watchdog_Interval value with WATCHDOG_RELATIVE to
+   * express an indefinite wait.
+   */
+  WATCHDOG_NO_TIMEOUT = 0,
+
+  /**
+   * @brief Relative clock.
+   *
+   * The reference time point for the watchdog is current ticks value
+   * during insert.  Time is measured in clock ticks.
+   */
+  WATCHDOG_RELATIVE,
+
+  /**
+   * @brief Absolute clock.
+   *
+   * The reference time point for this header is the POSIX Epoch.  Time is
+   * measured in nanoseconds since POSIX Epoch.
+   */
+  WATCHDOG_ABSOLUTE
+} Watchdog_Discipline;
+
+/**
  *  @brief Return type from a Watchdog Service Routine.
  *
  *  This type defines the return type from a Watchdog Service Routine.
@@ -68,14 +100,6 @@ typedef Watchdog_Service_routine
   ( *Watchdog_Service_routine_entry )( Watchdog_Control * );
 
 /**
- *  @brief The constant for indefinite wait.
- *
- *  This is the constant for indefinite wait.  It is actually an
- *  illegal interval.
- */
-#define WATCHDOG_NO_TIMEOUT  0
-
-/**
  * @brief The watchdog header to manage scheduled watchdogs.
  */
 typedef struct {
diff --git a/cpukit/score/include/rtems/score/watchdogimpl.h b/cpukit/score/include/rtems/score/watchdogimpl.h
index c5f8d209a6..0900a1b8e7 100644
--- a/cpukit/score/include/rtems/score/watchdogimpl.h
+++ b/cpukit/score/include/rtems/score/watchdogimpl.h
@@ -340,45 +340,45 @@ RTEMS_INLINE_ROUTINE void _Watchdog_Per_CPU_release_critical(
 }
 
 RTEMS_INLINE_ROUTINE uint64_t _Watchdog_Per_CPU_insert_relative(
-  Watchdog_Control *the_watchdog,
-  Per_CPU_Control  *cpu,
-  uint32_t          ticks
+  Watchdog_Control    *the_watchdog,
+  Per_CPU_Control     *cpu,
+  Watchdog_Interval    ticks
 )
 {
   ISR_lock_Context lock_context;
+  Watchdog_Header *header;
   uint64_t expire;
 
   _Watchdog_Set_CPU( the_watchdog, cpu );
 
   _Watchdog_Per_CPU_acquire_critical( cpu, &lock_context );
-  expire = cpu->Watchdog.ticks + ticks;
-  _Watchdog_Insert(
-    &cpu->Watchdog.Header[ PER_CPU_WATCHDOG_RELATIVE ],
-    the_watchdog,
-    expire
-  );
-  _Watchdog_Per_CPU_release_critical( cpu, &lock_context );
 
+  expire = ticks + cpu->Watchdog.ticks;
+  header = &cpu->Watchdog.Header[ PER_CPU_WATCHDOG_RELATIVE ];
+
+  _Watchdog_Insert(header, the_watchdog, expire);
+  _Watchdog_Per_CPU_release_critical( cpu, &lock_context );
   return expire;
 }
 
-RTEMS_INLINE_ROUTINE void _Watchdog_Per_CPU_insert_absolute(
-  Watchdog_Control *the_watchdog,
-  Per_CPU_Control  *cpu,
-  uint64_t          expire
+RTEMS_INLINE_ROUTINE uint64_t _Watchdog_Per_CPU_insert_absolute(
+  Watchdog_Control    *the_watchdog,
+  Per_CPU_Control     *cpu,
+  uint64_t             expire
 )
 {
   ISR_lock_Context lock_context;
+  Watchdog_Header *header;
 
   _Watchdog_Set_CPU( the_watchdog, cpu );
 
   _Watchdog_Per_CPU_acquire_critical( cpu, &lock_context );
-  _Watchdog_Insert(
-    &cpu->Watchdog.Header[ PER_CPU_WATCHDOG_ABSOLUTE ],
-    the_watchdog,
-    expire
-  );
+
+  header = &cpu->Watchdog.Header[ PER_CPU_WATCHDOG_ABSOLUTE ];
+
+  _Watchdog_Insert(header, the_watchdog, expire);
   _Watchdog_Per_CPU_release_critical( cpu, &lock_context );
+  return expire;
 }
 
 RTEMS_INLINE_ROUTINE void _Watchdog_Per_CPU_remove(
diff --git a/cpukit/score/src/apimutexlock.c b/cpukit/score/src/apimutexlock.c
index df53e75256..f69cfdea64 100644
--- a/cpukit/score/src/apimutexlock.c
+++ b/cpukit/score/src/apimutexlock.c
@@ -33,12 +33,11 @@ void _API_Mutex_Lock( API_Mutex_Control *the_mutex )
 
   _Thread_queue_Context_initialize( &queue_context );
   _ISR_lock_ISR_disable( &queue_context.Lock_context );
-
+  _Thread_queue_Context_set_no_timeout( &queue_context );
   _CORE_recursive_mutex_Seize(
     &the_mutex->Mutex,
     _Thread_Executing,
     true,
-    WATCHDOG_NO_TIMEOUT,
     _CORE_recursive_mutex_Seize_nested,
     &queue_context
   );
diff --git a/cpukit/score/src/condition.c b/cpukit/score/src/condition.c
index e7d98058a0..90717bc93e 100644
--- a/cpukit/score/src/condition.c
+++ b/cpukit/score/src/condition.c
@@ -82,7 +82,6 @@ static void _Condition_Queue_release(
 
 static Per_CPU_Control *_Condition_Do_wait(
   struct _Condition_Control *_condition,
-  Watchdog_Interval          timeout,
   Thread_queue_Context      *queue_context
 )
 {
@@ -100,7 +99,6 @@ static Per_CPU_Control *_Condition_Do_wait(
     CONDITION_TQ_OPERATIONS,
     executing,
     STATES_WAITING_FOR_SYS_LOCK_CONDITION,
-    timeout,
     queue_context
   );
 
@@ -117,7 +115,11 @@ void _Condition_Wait(
 
   _Thread_queue_Context_initialize( &queue_context );
   _ISR_lock_ISR_disable( &queue_context.Lock_context );
-  cpu_self = _Condition_Do_wait( _condition, 0, &queue_context );
+  _Thread_queue_Context_set_no_timeout( &queue_context );
+  cpu_self = _Condition_Do_wait(
+    _condition,
+    &queue_context
+  );
 
   _Mutex_Release( _mutex );
   _Thread_Dispatch_enable( cpu_self );
@@ -151,7 +153,8 @@ int _Condition_Wait_timed(
       break;
   }
 
-  cpu_self = _Condition_Do_wait( _condition, ticks, &queue_context );
+  _Thread_queue_Context_set_relative_timeout( &queue_context, ticks );
+  cpu_self = _Condition_Do_wait( _condition, &queue_context );
 
   _Mutex_Release( _mutex );
   executing = cpu_self->executing;
@@ -173,7 +176,8 @@ void _Condition_Wait_recursive(
 
   _Thread_queue_Context_initialize( &queue_context );
   _ISR_lock_ISR_disable( &queue_context.Lock_context );
-  cpu_self = _Condition_Do_wait( _condition, 0, &queue_context );
+  _Thread_queue_Context_set_no_timeout( &queue_context );
+  cpu_self = _Condition_Do_wait( _condition, &queue_context );
 
   nest_level = _mutex->_nest_level;
   _mutex->_nest_level = 0;
@@ -211,7 +215,8 @@ int _Condition_Wait_recursive_timed(
       break;
   }
 
-  cpu_self = _Condition_Do_wait( _condition, ticks, &queue_context );
+  _Thread_queue_Context_set_relative_timeout( &queue_context, ticks );
+  cpu_self = _Condition_Do_wait( _condition, &queue_context );
 
   nest_level = _mutex->_nest_level;
   _mutex->_nest_level = 0;
diff --git a/cpukit/score/src/corebarrierwait.c b/cpukit/score/src/corebarrierwait.c
index d939acf69b..7e46c93670 100644
--- a/cpukit/score/src/corebarrierwait.c
+++ b/cpukit/score/src/corebarrierwait.c
@@ -26,7 +26,6 @@ Status_Control _CORE_barrier_Seize(
   CORE_barrier_Control *the_barrier,
   Thread_Control       *executing,
   bool                  wait,
-  Watchdog_Interval     timeout,
   Thread_queue_Context *queue_context
 )
 {
@@ -51,7 +50,6 @@ Status_Control _CORE_barrier_Seize(
       CORE_BARRIER_TQ_OPERATIONS,
       executing,
       STATES_WAITING_FOR_BARRIER,
-      timeout,
       queue_context
     );
     return _Thread_Wait_get_status( executing );
diff --git a/cpukit/score/src/coremsgseize.c b/cpukit/score/src/coremsgseize.c
index 6906328039..d86afd08de 100644
--- a/cpukit/score/src/coremsgseize.c
+++ b/cpukit/score/src/coremsgseize.c
@@ -31,7 +31,6 @@ Status_Control _CORE_message_queue_Seize(
   void                       *buffer,
   size_t                     *size_p,
   bool                        wait,
-  Watchdog_Interval           timeout,
   Thread_queue_Context       *queue_context
 )
 {
@@ -120,7 +119,6 @@ Status_Control _CORE_message_queue_Seize(
     the_message_queue->operations,
     executing,
     STATES_WAITING_FOR_MESSAGE,
-    timeout,
     queue_context
   );
   return _Thread_Wait_get_status( executing );
diff --git a/cpukit/score/src/coremsgsubmit.c b/cpukit/score/src/coremsgsubmit.c
index fb56ffed4a..97b43823c3 100644
--- a/cpukit/score/src/coremsgsubmit.c
+++ b/cpukit/score/src/coremsgsubmit.c
@@ -33,7 +33,6 @@ Status_Control _CORE_message_queue_Submit(
   size_t                            size,
   CORE_message_queue_Submit_types   submit_type,
   bool                              wait,
-  Watchdog_Interval                 timeout,
   Thread_queue_Context             *queue_context
 )
 {
@@ -138,7 +137,6 @@ Status_Control _CORE_message_queue_Submit(
       the_message_queue->operations,
       executing,
       STATES_WAITING_FOR_MESSAGE,
-      timeout,
       queue_context
     );
     return _Thread_Wait_get_status( executing );
diff --git a/cpukit/score/src/coremutexseize.c b/cpukit/score/src/coremutexseize.c
index ab743c4847..c468c07a7c 100644
--- a/cpukit/score/src/coremutexseize.c
+++ b/cpukit/score/src/coremutexseize.c
@@ -21,13 +21,13 @@
 #include <rtems/score/coremuteximpl.h>
 #include <rtems/score/statesimpl.h>
 #include <rtems/score/thread.h>
+#include <rtems/score/watchdog.h>
 
 Status_Control _CORE_mutex_Seize_slow(
   CORE_mutex_Control   *the_mutex,
   Thread_Control       *executing,
   Thread_Control       *owner,
   bool                  wait,
-  Watchdog_Interval     timeout,
   Thread_queue_Context *queue_context
 )
 {
@@ -69,7 +69,6 @@ Status_Control _CORE_mutex_Seize_slow(
     CORE_MUTEX_TQ_OPERATIONS,
     executing,
     STATES_WAITING_FOR_MUTEX,
-    timeout,
     queue_context
   );
 
@@ -85,7 +84,6 @@ Status_Control _CORE_mutex_Seize_no_protocol_slow(
   const Thread_queue_Operations *operations,
   Thread_Control                *executing,
   bool                           wait,
-  Watchdog_Interval              timeout,
   Thread_queue_Context          *queue_context
 )
 {
@@ -96,7 +94,6 @@ Status_Control _CORE_mutex_Seize_no_protocol_slow(
       operations,
       executing,
       STATES_WAITING_FOR_MUTEX,
-      timeout,
       queue_context
     );
     return _Thread_Wait_get_status( executing );
diff --git a/cpukit/score/src/corerwlockobtainread.c b/cpukit/score/src/corerwlockobtainread.c
index bce992c1b0..09b26afd27 100644
--- a/cpukit/score/src/corerwlockobtainread.c
+++ b/cpukit/score/src/corerwlockobtainread.c
@@ -28,7 +28,6 @@ Status_Control _CORE_RWLock_Seize_for_reading(
   CORE_RWLock_Control  *the_rwlock,
   Thread_Control       *executing,
   bool                  wait,
-  Watchdog_Interval     timeout,
   Thread_queue_Context *queue_context
 )
 {
@@ -85,7 +84,6 @@ Status_Control _CORE_RWLock_Seize_for_reading(
      CORE_RWLOCK_TQ_OPERATIONS,
      executing,
      STATES_WAITING_FOR_RWLOCK,
-     timeout,
      queue_context
   );
   return _Thread_Wait_get_status( executing );
diff --git a/cpukit/score/src/corerwlockobtainwrite.c b/cpukit/score/src/corerwlockobtainwrite.c
index c261d32f3f..9aac5e7ef7 100644
--- a/cpukit/score/src/corerwlockobtainwrite.c
+++ b/cpukit/score/src/corerwlockobtainwrite.c
@@ -28,7 +28,6 @@ Status_Control _CORE_RWLock_Seize_for_writing(
   CORE_RWLock_Control  *the_rwlock,
   Thread_Control       *executing,
   bool                  wait,
-  Watchdog_Interval     timeout,
   Thread_queue_Context *queue_context
 )
 {
@@ -73,7 +72,6 @@ Status_Control _CORE_RWLock_Seize_for_writing(
      CORE_RWLOCK_TQ_OPERATIONS,
      executing,
      STATES_WAITING_FOR_RWLOCK,
-     timeout,
      queue_context
   );
   return _Thread_Wait_get_status( executing );
diff --git a/cpukit/score/src/futex.c b/cpukit/score/src/futex.c
index a192509f5c..840101a703 100644
--- a/cpukit/score/src/futex.c
+++ b/cpukit/score/src/futex.c
@@ -89,12 +89,12 @@ int _Futex_Wait( struct _Futex_Control *_futex, int *uaddr, int val )
 
   if ( *uaddr == val ) {
     _Thread_queue_Context_set_expected_level( &queue_context, 1 );
+    _Thread_queue_Context_set_no_timeout( &queue_context );
     _Thread_queue_Enqueue_critical(
       &futex->Queue.Queue,
       FUTEX_TQ_OPERATIONS,
       executing,
       STATES_WAITING_FOR_SYS_LOCK_FUTEX,
-      WATCHDOG_NO_TIMEOUT,
       &queue_context
     );
     eno = 0;
diff --git a/cpukit/score/src/mpci.c b/cpukit/score/src/mpci.c
index 9eb169ba17..a562b29cbd 100644
--- a/cpukit/score/src/mpci.c
+++ b/cpukit/score/src/mpci.c
@@ -261,6 +261,7 @@ Status_Control _MPCI_Send_request_packet(
       executing,
       STATES_WAITING_FOR_RPC_REPLY | extra_state,
       the_packet->timeout,
+      WATCHDOG_RELATIVE,
       2
     );
 
@@ -328,6 +329,7 @@ void _MPCI_Receive_server(
 
   executing = _Thread_Get_executing();
   _Thread_queue_Context_initialize( &queue_context );
+  _Thread_queue_Context_set_no_timeout( &queue_context );
 
   for ( ; ; ) {
 
@@ -339,7 +341,6 @@ void _MPCI_Receive_server(
       MPCI_SEMAPHORE_TQ_OPERATIONS,
       executing,
       true,
-      WATCHDOG_NO_TIMEOUT,
       &queue_context
     );
 
diff --git a/cpukit/score/src/mutex.c b/cpukit/score/src/mutex.c
index ed374a0768..ed600b3ec2 100644
--- a/cpukit/score/src/mutex.c
+++ b/cpukit/score/src/mutex.c
@@ -104,7 +104,6 @@ static void _Mutex_Acquire_slow(
   Mutex_Control        *mutex,
   Thread_Control       *owner,
   Thread_Control       *executing,
-  Watchdog_Interval     timeout,
   Thread_queue_Context *queue_context
 )
 {
@@ -115,7 +114,6 @@ static void _Mutex_Acquire_slow(
     MUTEX_TQ_OPERATIONS,
     executing,
     STATES_WAITING_FOR_SYS_LOCK_MUTEX,
-    timeout,
     queue_context
   );
 }
@@ -219,7 +217,8 @@ void _Mutex_Acquire( struct _Mutex_Control *_mutex )
     ++executing->resource_count;
     _Mutex_Queue_release( mutex, &queue_context );
   } else {
-    _Mutex_Acquire_slow( mutex, owner, executing, 0, &queue_context );
+    _Thread_queue_Context_set_no_timeout( &queue_context );
+    _Mutex_Acquire_slow( mutex, owner, executing, &queue_context );
   }
 }
 
@@ -260,7 +259,8 @@ int _Mutex_Acquire_timed(
         break;
     }
 
-    _Mutex_Acquire_slow( mutex, owner, executing, ticks, &queue_context );
+    _Thread_queue_Context_set_relative_timeout( &queue_context, ticks );
+    _Mutex_Acquire_slow( mutex, owner, executing, &queue_context );
 
     return STATUS_GET_POSIX( _Thread_Wait_get_status( executing ) );
   }
@@ -336,7 +336,8 @@ void _Mutex_recursive_Acquire( struct _Mutex_recursive_Control *_mutex )
     ++mutex->nest_level;
     _Mutex_Queue_release( &mutex->Mutex, &queue_context );
   } else {
-    _Mutex_Acquire_slow( &mutex->Mutex, owner, executing, 0, &queue_context );
+    _Thread_queue_Context_set_no_timeout( &queue_context );
+    _Mutex_Acquire_slow( &mutex->Mutex, owner, executing, &queue_context );
   }
 }
 
@@ -382,13 +383,8 @@ int _Mutex_recursive_Acquire_timed(
         break;
     }
 
-    _Mutex_Acquire_slow(
-      &mutex->Mutex,
-      owner,
-      executing,
-      ticks,
-      &queue_context
-    );
+    _Thread_queue_Context_set_relative_timeout( &queue_context, ticks );
+    _Mutex_Acquire_slow( &mutex->Mutex, owner, executing, &queue_context );
 
     return STATUS_GET_POSIX( _Thread_Wait_get_status( executing ) );
   }
diff --git a/cpukit/score/src/semaphore.c b/cpukit/score/src/semaphore.c
index 03af9cff7e..72cb1c796d 100644
--- a/cpukit/score/src/semaphore.c
+++ b/cpukit/score/src/semaphore.c
@@ -101,12 +101,12 @@ void _Semaphore_Wait( struct _Semaphore_Control *_sem )
     _Semaphore_Queue_release( sem, &queue_context );
   } else {
     _Thread_queue_Context_set_expected_level( &queue_context, 1 );
+    _Thread_queue_Context_set_no_timeout( &queue_context );
     _Thread_queue_Enqueue_critical(
       &sem->Queue.Queue,
       SEMAPHORE_TQ_OPERATIONS,
       executing,
       STATES_WAITING_FOR_SYS_LOCK_SEMAPHORE,
-      WATCHDOG_NO_TIMEOUT,
       &queue_context
     );
   }
diff --git a/cpukit/score/src/threadqenqueue.c b/cpukit/score/src/threadqenqueue.c
index 3be7d58f16..088157d20c 100644
--- a/cpukit/score/src/threadqenqueue.c
+++ b/cpukit/score/src/threadqenqueue.c
@@ -39,7 +39,6 @@ void _Thread_queue_Enqueue_critical(
   const Thread_queue_Operations *operations,
   Thread_Control                *the_thread,
   States_Control                 state,
-  Watchdog_Interval              timeout,
   Thread_queue_Context          *queue_context
 )
 {
@@ -83,13 +82,28 @@ void _Thread_queue_Enqueue_critical(
   /*
    *  If the thread wants to timeout, then schedule its timer.
    */
-  if ( timeout != WATCHDOG_NO_TIMEOUT ) {
-    _Thread_Timer_insert_relative(
-      the_thread,
-      cpu_self,
-      _Thread_Timeout,
-      timeout
-    );
+  switch ( queue_context->timeout_discipline ) {
+    case WATCHDOG_RELATIVE:
+      /* A relative timeout of 0 is a special case indefinite (no) timeout */
+      if ( queue_context->timeout != 0 ) {
+        _Thread_Timer_insert_relative(
+           the_thread,
+           cpu_self,
+           _Thread_Timeout,
+           (Watchdog_Interval) queue_context->timeout
+        );
+      }
+      break;
+    case WATCHDOG_ABSOLUTE:
+      _Thread_Timer_insert_absolute(
+         the_thread,
+         cpu_self,
+         _Thread_Timeout,
+         queue_context->timeout
+       );
+      break;
+    default:
+      break;
   }
 
   /*
diff --git a/cpukit/score/src/threadrestart.c b/cpukit/score/src/threadrestart.c
index b43c019b69..757f552699 100644
--- a/cpukit/score/src/threadrestart.c
+++ b/cpukit/score/src/threadrestart.c
@@ -479,7 +479,6 @@ void _Thread_Join(
     THREAD_JOIN_TQ_OPERATIONS,
     executing,
     waiting_for_join,
-    WATCHDOG_NO_TIMEOUT,
     queue_context
   );
 }
@@ -546,6 +545,7 @@ void _Thread_Close( Thread_Control *the_thread, Thread_Control *executing )
 
   _Thread_queue_Context_initialize( &queue_context );
   _Thread_queue_Context_set_expected_level( &queue_context, 2 );
+  _Thread_queue_Context_set_no_timeout( &queue_context );
   _Thread_State_acquire( the_thread, &queue_context.Lock_context );
   _Thread_Join(
     the_thread,