rtems: Fix rtems_task_set_scheduler() API

Task priorities are only valid within a scheduler instance. The
rtems_task_set_scheduler() directive moves a task from one scheduler
instance to another using the current priority of the thread. However,
the current task priority of the source scheduler instance is undefined
in the target scheduler instance. Add a third parameter to specify the
priority.

Close #2749.

1 files changed, 155 insertions, 8 deletions

diff --git a/testsuites/sptests/spscheduler01/init.c b/testsuites/sptests/spscheduler01/init.c
index 31a0ec8c5b..bb0c16def6 100644
--- a/testsuites/sptests/spscheduler01/init.c
+++ b/testsuites/sptests/spscheduler01/init.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2014 embedded brains GmbH.  All rights reserved.
+ * Copyright (c) 2014, 2016 embedded brains GmbH.  All rights reserved.
  *
  *  embedded brains GmbH
  *  Dornierstr. 4
@@ -31,6 +31,10 @@ const char rtems_test_name[] = "SPSCHEDULER 1";
 
 static const rtems_id invalid_id = 1;
 
+static rtems_id master_id;
+
+static rtems_id sema_id;
+
 static void test_task_get_set_affinity(void)
 {
 #if defined(__RTEMS_HAVE_SYS_CPUSET_H__)
@@ -119,13 +123,66 @@ static void test_task_get_set_affinity(void)
 #endif /* defined(__RTEMS_HAVE_SYS_CPUSET_H__) */
 }
 
-static void task(rtems_task_argument arg)
+static rtems_task_priority set_prio(rtems_id id, rtems_task_priority prio)
+{
+  rtems_status_code sc;
+  rtems_task_priority old_prio;
+
+  old_prio = 0xffffffff;
+  sc = rtems_task_set_priority(id, prio, &old_prio);
+  rtems_test_assert(sc == RTEMS_SUCCESSFUL);
+
+  return old_prio;
+}
+
+static void forbidden_task(rtems_task_argument arg)
 {
   (void) arg;
 
   rtems_test_assert(0);
 }
 
+static void restart_task(rtems_task_argument arg)
+{
+  rtems_status_code sc;
+
+  if (arg == 0) {
+    rtems_test_assert(set_prio(RTEMS_SELF, 3) == 2);
+
+    rtems_task_restart(RTEMS_SELF, 1);
+  } else if (arg == 1) {
+    rtems_id scheduler_id;
+
+    rtems_test_assert(set_prio(RTEMS_SELF, 3) == 2);
+
+    sc = rtems_task_get_scheduler(RTEMS_SELF, &scheduler_id);
+    rtems_test_assert(sc == RTEMS_SUCCESSFUL);
+
+    sc = rtems_task_set_scheduler(RTEMS_SELF, scheduler_id, 4);
+    rtems_test_assert(sc == RTEMS_SUCCESSFUL);
+
+    rtems_test_assert(set_prio(RTEMS_SELF, 3) == 4);
+
+    rtems_task_restart(RTEMS_SELF, 2);
+  } else {
+    rtems_test_assert(set_prio(RTEMS_SELF, 3) == 4);
+
+    rtems_task_resume(master_id);
+  }
+
+  rtems_test_assert(0);
+}
+
+static void sema_task(rtems_task_argument arg)
+{
+  rtems_status_code sc;
+
+  sc = rtems_semaphore_obtain(sema_id, RTEMS_WAIT, RTEMS_NO_TIMEOUT);
+  rtems_test_assert(sc == RTEMS_SUCCESSFUL);
+
+  rtems_test_assert(0);
+}
+
 static void test_task_get_set_scheduler(void)
 {
   rtems_status_code sc;
@@ -134,6 +191,7 @@ static void test_task_get_set_scheduler(void)
   rtems_id scheduler_id;
   rtems_id scheduler_by_name;
   rtems_id task_id;
+  rtems_id mtx_id;
 
   sc = rtems_scheduler_ident(name, &scheduler_by_name);
   rtems_test_assert(sc == RTEMS_SUCCESSFUL);
@@ -156,13 +214,46 @@ static void test_task_get_set_scheduler(void)
 
   rtems_test_assert(scheduler_id == scheduler_by_name);
 
-  sc = rtems_task_set_scheduler(invalid_id, scheduler_id);
+  sc = rtems_task_set_scheduler(invalid_id, scheduler_id, 1);
   rtems_test_assert(sc == RTEMS_INVALID_ID);
 
-  sc = rtems_task_set_scheduler(self_id, invalid_id);
+  sc = rtems_task_set_scheduler(self_id, invalid_id, 1);
   rtems_test_assert(sc == RTEMS_INVALID_ID);
 
-  sc = rtems_task_set_scheduler(self_id, scheduler_id);
+  sc = rtems_task_set_scheduler(self_id, scheduler_id, UINT32_C(0x80000000));
+  rtems_test_assert(sc == RTEMS_INVALID_PRIORITY);
+
+  sc = rtems_task_set_scheduler(self_id, scheduler_id, 1);
+  rtems_test_assert(sc == RTEMS_SUCCESSFUL);
+
+  sc = rtems_semaphore_create(
+    rtems_build_name(' ', 'M', 'T', 'X'),
+    0,
+    RTEMS_BINARY_SEMAPHORE | RTEMS_PRIORITY | RTEMS_INHERIT_PRIORITY,
+    0,
+    &mtx_id
+  );
+  rtems_test_assert(sc == RTEMS_SUCCESSFUL);
+
+  sc = rtems_task_set_scheduler(self_id, scheduler_id, 1);
+  rtems_test_assert(sc == RTEMS_RESOURCE_IN_USE);
+
+  sc = rtems_semaphore_release(mtx_id);
+  rtems_test_assert(sc == RTEMS_SUCCESSFUL);
+
+  rtems_test_assert(set_prio(self_id, RTEMS_CURRENT_PRIORITY) == 1);
+
+  sc = rtems_task_set_scheduler(self_id, scheduler_id, 2);
+  rtems_test_assert(sc == RTEMS_SUCCESSFUL);
+
+  rtems_test_assert(set_prio(self_id, RTEMS_CURRENT_PRIORITY) == 2);
+
+  sc = rtems_task_set_scheduler(self_id, scheduler_id, 1);
+  rtems_test_assert(sc == RTEMS_SUCCESSFUL);
+
+  rtems_test_assert(set_prio(self_id, RTEMS_CURRENT_PRIORITY) == 1);
+
+  sc = rtems_semaphore_delete(mtx_id);
   rtems_test_assert(sc == RTEMS_SUCCESSFUL);
 
   sc = rtems_task_create(
@@ -181,13 +272,66 @@ static void test_task_get_set_scheduler(void)
 
   rtems_test_assert(scheduler_id == scheduler_by_name);
 
-  sc = rtems_task_set_scheduler(task_id, scheduler_id);
+  sc = rtems_task_set_scheduler(task_id, scheduler_id, 2);
+  rtems_test_assert(sc == RTEMS_SUCCESSFUL);
+
+  sc = rtems_task_start(task_id, forbidden_task, 0);
+  rtems_test_assert(sc == RTEMS_SUCCESSFUL);
+
+  sc = rtems_task_set_scheduler(task_id, scheduler_id, 2);
+  rtems_test_assert(sc == RTEMS_SUCCESSFUL);
+
+  sc = rtems_task_delete(task_id);
+  rtems_test_assert(sc == RTEMS_SUCCESSFUL);
+
+  sc = rtems_task_create(
+    rtems_build_name('T', 'A', 'S', 'K'),
+    2,
+    RTEMS_MINIMUM_STACK_SIZE,
+    RTEMS_DEFAULT_MODES,
+    RTEMS_DEFAULT_ATTRIBUTES,
+    &task_id
+  );
   rtems_test_assert(sc == RTEMS_SUCCESSFUL);
 
-  sc = rtems_task_start(task_id, task, 0);
+  sc = rtems_task_start(task_id, restart_task, 0);
   rtems_test_assert(sc == RTEMS_SUCCESSFUL);
 
-  sc = rtems_task_set_scheduler(task_id, scheduler_id);
+  sc = rtems_task_suspend(self_id);
+  rtems_test_assert(sc == RTEMS_SUCCESSFUL);
+
+  sc = rtems_task_delete(task_id);
+  rtems_test_assert(sc == RTEMS_SUCCESSFUL);
+
+  sc = rtems_semaphore_create(
+    rtems_build_name('S', 'E', 'M', 'A'),
+    0,
+    RTEMS_COUNTING_SEMAPHORE,
+    0,
+    &sema_id
+  );
+  rtems_test_assert(sc == RTEMS_SUCCESSFUL);
+
+  sc = rtems_task_create(
+    rtems_build_name('T', 'A', 'S', 'K'),
+    1,
+    RTEMS_MINIMUM_STACK_SIZE,
+    RTEMS_DEFAULT_MODES,
+    RTEMS_DEFAULT_ATTRIBUTES,
+    &task_id
+  );
+  rtems_test_assert(sc == RTEMS_SUCCESSFUL);
+
+  sc = rtems_task_start(task_id, sema_task, 0);
+  rtems_test_assert(sc == RTEMS_SUCCESSFUL);
+
+  sc = rtems_task_wake_after(RTEMS_YIELD_PROCESSOR);
+  rtems_test_assert(sc == RTEMS_SUCCESSFUL);
+
+  sc = rtems_task_set_scheduler(task_id, scheduler_id, 1);
+  rtems_test_assert(sc == RTEMS_RESOURCE_IN_USE);
+
+  sc = rtems_semaphore_delete(sema_id);
   rtems_test_assert(sc == RTEMS_SUCCESSFUL);
 
   sc = rtems_task_delete(task_id);
@@ -275,6 +419,8 @@ static void Init(rtems_task_argument arg)
 
   rtems_resource_snapshot_take(&snapshot);
 
+  master_id = rtems_task_self();
+
   test_task_get_set_affinity();
   test_task_get_set_scheduler();
   test_scheduler_ident();
@@ -290,6 +436,7 @@ static void Init(rtems_task_argument arg)
 #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
 
 #define CONFIGURE_MAXIMUM_TASKS 2
+#define CONFIGURE_MAXIMUM_SEMAPHORES 1
 
 #define CONFIGURE_INITIAL_EXTENSIONS RTEMS_TEST_INITIAL_EXTENSION