schedulersmpimpl.h

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/*
 * Copyright (c) 2013, 2017 embedded brains GmbH.  All rights reserved.
 *
 *  embedded brains GmbH
 *  Dornierstr. 4
 *  82178 Puchheim
 *  Germany
 *  <rtems@embedded-brains.de>
 *
 * The license and distribution terms for this file may be
 * found in the file LICENSE in this distribution or at
 * http://www.rtems.org/license/LICENSE.
 */
 
#ifndef _RTEMS_SCORE_SCHEDULERSMPIMPL_H
#define _RTEMS_SCORE_SCHEDULERSMPIMPL_H
 
#include <rtems/score/schedulersmp.h>
#include <rtems/score/assert.h>
#include <rtems/score/chainimpl.h>
#include <rtems/score/schedulersimpleimpl.h>
#include <rtems/bspIo.h>
 
#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */
 
typedef bool ( *Scheduler_SMP_Has_ready )(
  Scheduler_Context *context
);
 
typedef Scheduler_Node *( *Scheduler_SMP_Get_highest_ready )(
  Scheduler_Context *context,
  Scheduler_Node    *node
);
 
typedef Scheduler_Node *( *Scheduler_SMP_Get_lowest_scheduled )(
  Scheduler_Context *context,
  Scheduler_Node    *filter
);
 
typedef void ( *Scheduler_SMP_Extract )(
  Scheduler_Context *context,
  Scheduler_Node    *node_to_extract
);
 
typedef void ( *Scheduler_SMP_Insert )(
  Scheduler_Context *context,
  Scheduler_Node    *node_to_insert,
  Priority_Control   insert_priority
);
 
typedef void ( *Scheduler_SMP_Move )(
  Scheduler_Context *context,
  Scheduler_Node    *node_to_move
);
 
typedef bool ( *Scheduler_SMP_Ask_for_help )(
  Scheduler_Context *context,
  Thread_Control    *thread,
  Scheduler_Node    *node
);
 
typedef void ( *Scheduler_SMP_Update )(
  Scheduler_Context *context,
  Scheduler_Node    *node_to_update,
  Priority_Control   new_priority
);
 
typedef void ( *Scheduler_SMP_Set_affinity )(
  Scheduler_Context *context,
  Scheduler_Node    *node,
  void              *arg
);
 
typedef bool ( *Scheduler_SMP_Enqueue )(
  Scheduler_Context *context,
  Scheduler_Node    *node_to_enqueue,
  Priority_Control   priority
);
 
typedef void ( *Scheduler_SMP_Allocate_processor )(
  Scheduler_Context *context,
  Scheduler_Node    *scheduled,
  Scheduler_Node    *victim,
  Per_CPU_Control   *victim_cpu
);
 
typedef void ( *Scheduler_SMP_Register_idle )(
  Scheduler_Context *context,
  Scheduler_Node    *idle,
  Per_CPU_Control   *cpu
);
 
static inline void _Scheduler_SMP_Do_nothing_register_idle(
  Scheduler_Context *context,
  Scheduler_Node    *idle,
  Per_CPU_Control   *cpu
)
{
  (void) context;
  (void) idle;
  (void) cpu;
}
 
static inline bool _Scheduler_SMP_Priority_less_equal(
  const void       *to_insert,
  const Chain_Node *next
)
{
  const Priority_Control   *priority_to_insert;
  const Scheduler_SMP_Node *node_next;
 
  priority_to_insert = (const Priority_Control *) to_insert;
  node_next = (const Scheduler_SMP_Node *) next;
 
  return *priority_to_insert <= node_next->priority;
}
 
static inline Scheduler_SMP_Context *_Scheduler_SMP_Get_self(
  Scheduler_Context *context
)
{
  return (Scheduler_SMP_Context *) context;
}
 
static inline void _Scheduler_SMP_Initialize(
  Scheduler_SMP_Context *self
)
{
  _Chain_Initialize_empty( &self->Scheduled );
  _Chain_Initialize_empty( &self->Idle_threads );
}
 
static inline Scheduler_SMP_Node *_Scheduler_SMP_Thread_get_node(
  Thread_Control *thread
)
{
  return (Scheduler_SMP_Node *) _Thread_Scheduler_get_home_node( thread );
}
 
static inline Scheduler_SMP_Node *_Scheduler_SMP_Thread_get_own_node(
  Thread_Control *thread
)
{
  return (Scheduler_SMP_Node *) _Thread_Scheduler_get_home_node( thread );
}
 
static inline Scheduler_SMP_Node *_Scheduler_SMP_Node_downcast(
  Scheduler_Node *node
)
{
  return (Scheduler_SMP_Node *) node;
}
 
static inline Scheduler_SMP_Node_state _Scheduler_SMP_Node_state(
  const Scheduler_Node *node
)
{
  return ( (const Scheduler_SMP_Node *) node )->state;
}
 
static inline Priority_Control _Scheduler_SMP_Node_priority(
  const Scheduler_Node *node
)
{
  return ( (const Scheduler_SMP_Node *) node )->priority;
}
 
static inline void _Scheduler_SMP_Node_initialize(
  const Scheduler_Control *scheduler,
  Scheduler_SMP_Node      *node,
  Thread_Control          *thread,
  Priority_Control         priority
)
{
  _Scheduler_Node_do_initialize( scheduler, &node->Base, thread, priority );
  node->state = SCHEDULER_SMP_NODE_BLOCKED;
  node->priority = priority;
}
 
static inline void _Scheduler_SMP_Node_update_priority(
  Scheduler_SMP_Node *node,
  Priority_Control    new_priority
)
{
  node->priority = new_priority;
}
 
static inline void _Scheduler_SMP_Node_change_state(
  Scheduler_Node           *node,
  Scheduler_SMP_Node_state  new_state
)
{
  Scheduler_SMP_Node *the_node;
 
  the_node = _Scheduler_SMP_Node_downcast( node );
  the_node->state = new_state;
}
 
static inline bool _Scheduler_SMP_Is_processor_owned_by_us(
  const Scheduler_Context *context,
  const Per_CPU_Control   *cpu
)
{
  return cpu->Scheduler.context == context;
}
 
static inline Thread_Control *_Scheduler_SMP_Get_idle_thread(
  Scheduler_Context *context
)
{
  Scheduler_SMP_Context *self = _Scheduler_SMP_Get_self( context );
  Thread_Control *idle = (Thread_Control *)
    _Chain_Get_first_unprotected( &self->Idle_threads );
 
  _Assert( &idle->Object.Node != _Chain_Tail( &self->Idle_threads ) );
 
  return idle;
}
 
static inline void _Scheduler_SMP_Release_idle_thread(
  Scheduler_Context *context,
  Thread_Control    *idle
)
{
  Scheduler_SMP_Context *self = _Scheduler_SMP_Get_self( context );
 
  _Chain_Prepend_unprotected( &self->Idle_threads, &idle->Object.Node );
}
 
static inline void _Scheduler_SMP_Exctract_idle_thread(
  Thread_Control *idle
)
{
  _Chain_Extract_unprotected( &idle->Object.Node );
}
 
static inline void _Scheduler_SMP_Allocate_processor_lazy(
  Scheduler_Context *context,
  Scheduler_Node    *scheduled,
  Scheduler_Node    *victim,
  Per_CPU_Control   *victim_cpu
)
{
  Thread_Control *scheduled_thread = _Scheduler_Node_get_user( scheduled );
  Thread_Control *victim_thread = _Scheduler_Node_get_user( victim );
  Per_CPU_Control *scheduled_cpu = _Thread_Get_CPU( scheduled_thread );
  Per_CPU_Control *cpu_self = _Per_CPU_Get();
  Thread_Control *heir;
 
  _Assert( _ISR_Get_level() != 0 );
 
  if ( _Thread_Is_executing_on_a_processor( scheduled_thread ) ) {
    if ( _Scheduler_SMP_Is_processor_owned_by_us( context, scheduled_cpu ) ) {
      heir = scheduled_cpu->heir;
      _Thread_Dispatch_update_heir(
        cpu_self,
        scheduled_cpu,
        scheduled_thread
      );
    } else {
      /* We have to force a migration to our processor set */
      heir = scheduled_thread;
    }
  } else {
    heir = scheduled_thread;
  }
 
  if ( heir != victim_thread ) {
    _Thread_Set_CPU( heir, victim_cpu );
    _Thread_Dispatch_update_heir( cpu_self, victim_cpu, heir );
  }
}
 
static inline void _Scheduler_SMP_Allocate_processor_exact(
  Scheduler_Context *context,
  Scheduler_Node    *scheduled,
  Scheduler_Node    *victim,
  Per_CPU_Control   *victim_cpu
)
{
  Thread_Control *scheduled_thread = _Scheduler_Node_get_user( scheduled );
  Per_CPU_Control *cpu_self = _Per_CPU_Get();
 
  (void) context;
  (void) victim;
 
  _Thread_Set_CPU( scheduled_thread, victim_cpu );
  _Thread_Dispatch_update_heir( cpu_self, victim_cpu, scheduled_thread );
}
 
static inline void _Scheduler_SMP_Allocate_processor(
  Scheduler_Context                *context,
  Scheduler_Node                   *scheduled,
  Scheduler_Node                   *victim,
  Per_CPU_Control                  *victim_cpu,
  Scheduler_SMP_Allocate_processor  allocate_processor
)
{
  _Scheduler_SMP_Node_change_state( scheduled, SCHEDULER_SMP_NODE_SCHEDULED );
  ( *allocate_processor )( context, scheduled, victim, victim_cpu );
}
 
static inline Thread_Control *_Scheduler_SMP_Preempt(
  Scheduler_Context                *context,
  Scheduler_Node                   *scheduled,
  Scheduler_Node                   *victim,
  Scheduler_SMP_Allocate_processor  allocate_processor
)
{
  Thread_Control   *victim_thread;
  ISR_lock_Context  scheduler_lock_context;
  Per_CPU_Control  *victim_cpu;
 
  victim_thread = _Scheduler_Node_get_user( victim );
  _Scheduler_SMP_Node_change_state( victim, SCHEDULER_SMP_NODE_READY );
 
  _Thread_Scheduler_acquire_critical( victim_thread, &scheduler_lock_context );
 
  victim_cpu = _Thread_Get_CPU( victim_thread );
 
  if ( victim_thread->Scheduler.state == THREAD_SCHEDULER_SCHEDULED ) {
    _Scheduler_Thread_change_state( victim_thread, THREAD_SCHEDULER_READY );
 
    if ( victim_thread->Scheduler.helping_nodes > 0 ) {
      ISR_lock_Context per_cpu_lock_context;
 
      _Per_CPU_Acquire( victim_cpu, &per_cpu_lock_context );
      _Chain_Append_unprotected(
        &victim_cpu->Threads_in_need_for_help,
        &victim_thread->Scheduler.Help_node
      );
      _Per_CPU_Release( victim_cpu, &per_cpu_lock_context );
    }
  }
 
  _Thread_Scheduler_release_critical( victim_thread, &scheduler_lock_context );
 
  _Scheduler_SMP_Allocate_processor(
    context,
    scheduled,
    victim,
    victim_cpu,
    allocate_processor
  );
 
  return victim_thread;
}
 
static inline Scheduler_Node *_Scheduler_SMP_Get_lowest_scheduled(
  Scheduler_Context *context,
  Scheduler_Node    *filter
)
{
  Scheduler_SMP_Context *self = _Scheduler_SMP_Get_self( context );
  Chain_Control *scheduled = &self->Scheduled;
  Scheduler_Node *lowest_scheduled =
    (Scheduler_Node *) _Chain_Last( scheduled );
 
  (void) filter;
 
  _Assert( &lowest_scheduled->Node.Chain != _Chain_Tail( scheduled ) );
  _Assert(
    _Chain_Next( &lowest_scheduled->Node.Chain ) == _Chain_Tail( scheduled )
  );
 
  return lowest_scheduled;
}
 
static inline void _Scheduler_SMP_Enqueue_to_scheduled(
  Scheduler_Context                *context,
  Scheduler_Node                   *node,
  Priority_Control                  priority,
  Scheduler_Node                   *lowest_scheduled,
  Scheduler_SMP_Insert              insert_scheduled,
  Scheduler_SMP_Move                move_from_scheduled_to_ready,
  Scheduler_SMP_Allocate_processor  allocate_processor
)
{
  Scheduler_Try_to_schedule_action action;
 
  action = _Scheduler_Try_to_schedule_node(
    context,
    node,
    _Scheduler_Node_get_idle( lowest_scheduled ),
    _Scheduler_SMP_Get_idle_thread
  );
 
  if ( action == SCHEDULER_TRY_TO_SCHEDULE_DO_SCHEDULE ) {
    _Scheduler_SMP_Preempt(
      context,
      node,
      lowest_scheduled,
      allocate_processor
    );
 
    ( *insert_scheduled )( context, node, priority );
    ( *move_from_scheduled_to_ready )( context, lowest_scheduled );
 
    _Scheduler_Release_idle_thread(
      context,
      lowest_scheduled,
      _Scheduler_SMP_Release_idle_thread
    );
  } else if ( action == SCHEDULER_TRY_TO_SCHEDULE_DO_IDLE_EXCHANGE ) {
    _Scheduler_SMP_Node_change_state(
      lowest_scheduled,
      SCHEDULER_SMP_NODE_READY
    );
    _Scheduler_SMP_Node_change_state( node, SCHEDULER_SMP_NODE_SCHEDULED );
 
    ( *insert_scheduled )( context, node, priority );
    ( *move_from_scheduled_to_ready )( context, lowest_scheduled );
 
    _Scheduler_Exchange_idle_thread(
      node,
      lowest_scheduled,
      _Scheduler_Node_get_idle( lowest_scheduled )
    );
  } else {
    _Assert( action == SCHEDULER_TRY_TO_SCHEDULE_DO_BLOCK );
    _Scheduler_SMP_Node_change_state( node, SCHEDULER_SMP_NODE_BLOCKED );
  }
}
 
static inline bool _Scheduler_SMP_Enqueue(
  Scheduler_Context                  *context,
  Scheduler_Node                     *node,
  Priority_Control                    insert_priority,
  Chain_Node_order                    order,
  Scheduler_SMP_Insert                insert_ready,
  Scheduler_SMP_Insert                insert_scheduled,
  Scheduler_SMP_Move                  move_from_scheduled_to_ready,
  Scheduler_SMP_Get_lowest_scheduled  get_lowest_scheduled,
  Scheduler_SMP_Allocate_processor    allocate_processor
)
{
  bool            needs_help;
  Scheduler_Node *lowest_scheduled;
 
  lowest_scheduled = ( *get_lowest_scheduled )( context, node );
 
  if ( ( *order )( &insert_priority, &lowest_scheduled->Node.Chain ) ) {
    _Scheduler_SMP_Enqueue_to_scheduled(
      context,
      node,
      insert_priority,
      lowest_scheduled,
      insert_scheduled,
      move_from_scheduled_to_ready,
      allocate_processor
    );
    needs_help = false;
  } else {
    ( *insert_ready )( context, node, insert_priority );
    needs_help = true;
  }
 
  return needs_help;
}
 
static inline bool _Scheduler_SMP_Enqueue_scheduled(
  Scheduler_Context                *context,
  Scheduler_Node                   *const node,
  Priority_Control                  insert_priority,
  Chain_Node_order                  order,
  Scheduler_SMP_Extract             extract_from_ready,
  Scheduler_SMP_Get_highest_ready   get_highest_ready,
  Scheduler_SMP_Insert              insert_ready,
  Scheduler_SMP_Insert              insert_scheduled,
  Scheduler_SMP_Move                move_from_ready_to_scheduled,
  Scheduler_SMP_Allocate_processor  allocate_processor
)
{
  while ( true ) {
    Scheduler_Node                   *highest_ready;
    Scheduler_Try_to_schedule_action  action;
 
    highest_ready = ( *get_highest_ready )( context, node );
 
    /*
     * The node has been extracted from the scheduled chain.  We have to place
     * it now on the scheduled or ready set.
     */
    if (
      node->sticky_level > 0
        && ( *order )( &insert_priority, &highest_ready->Node.Chain )
    ) {
      ( *insert_scheduled )( context, node, insert_priority );
 
      if ( _Scheduler_Node_get_idle( node ) != NULL ) {
        Thread_Control   *owner;
        ISR_lock_Context  lock_context;
 
        owner = _Scheduler_Node_get_owner( node );
        _Thread_Scheduler_acquire_critical( owner, &lock_context );
 
        if ( owner->Scheduler.state == THREAD_SCHEDULER_READY ) {
          _Thread_Scheduler_cancel_need_for_help(
            owner,
            _Thread_Get_CPU( owner )
          );
          _Scheduler_Discard_idle_thread(
            context,
            owner,
            node,
            _Scheduler_SMP_Release_idle_thread
          );
          _Scheduler_Thread_change_state( owner, THREAD_SCHEDULER_SCHEDULED );
        }
 
        _Thread_Scheduler_release_critical( owner, &lock_context );
      }
 
      return false;
    }
 
    action = _Scheduler_Try_to_schedule_node(
      context,
      highest_ready,
      _Scheduler_Node_get_idle( node ),
      _Scheduler_SMP_Get_idle_thread
    );
 
    if ( action == SCHEDULER_TRY_TO_SCHEDULE_DO_SCHEDULE ) {
      Thread_Control *idle;
 
      _Scheduler_SMP_Preempt(
        context,
        highest_ready,
        node,
        allocate_processor
      );
 
      ( *insert_ready )( context, node, insert_priority );
      ( *move_from_ready_to_scheduled )( context, highest_ready );
 
      idle = _Scheduler_Release_idle_thread(
        context,
        node,
        _Scheduler_SMP_Release_idle_thread
      );
      return ( idle == NULL );
    } else if ( action == SCHEDULER_TRY_TO_SCHEDULE_DO_IDLE_EXCHANGE ) {
      _Scheduler_SMP_Node_change_state( node, SCHEDULER_SMP_NODE_READY );
      _Scheduler_SMP_Node_change_state(
        highest_ready,
        SCHEDULER_SMP_NODE_SCHEDULED
      );
 
      ( *insert_ready )( context, node, insert_priority );
      ( *move_from_ready_to_scheduled )( context, highest_ready );
 
      _Scheduler_Exchange_idle_thread(
        highest_ready,
        node,
        _Scheduler_Node_get_idle( node )
      );
      return false;
    } else {
      _Assert( action == SCHEDULER_TRY_TO_SCHEDULE_DO_BLOCK );
 
      _Scheduler_SMP_Node_change_state(
        highest_ready,
        SCHEDULER_SMP_NODE_BLOCKED
      );
 
      ( *extract_from_ready )( context, highest_ready );
    }
  }
}
 
static inline void _Scheduler_SMP_Extract_from_scheduled(
  Scheduler_Context *context,
  Scheduler_Node    *node
)
{
  (void) context;
  _Chain_Extract_unprotected( &node->Node.Chain );
}
 
static inline void _Scheduler_SMP_Schedule_highest_ready(
  Scheduler_Context                *context,
  Scheduler_Node                   *victim,
  Per_CPU_Control                  *victim_cpu,
  Scheduler_SMP_Extract             extract_from_ready,
  Scheduler_SMP_Get_highest_ready   get_highest_ready,
  Scheduler_SMP_Move                move_from_ready_to_scheduled,
  Scheduler_SMP_Allocate_processor  allocate_processor
)
{
  Scheduler_Try_to_schedule_action action;
 
  do {
    Scheduler_Node *highest_ready = ( *get_highest_ready )( context, victim );
 
    action = _Scheduler_Try_to_schedule_node(
      context,
      highest_ready,
      NULL,
      _Scheduler_SMP_Get_idle_thread
    );
 
    if ( action == SCHEDULER_TRY_TO_SCHEDULE_DO_SCHEDULE ) {
      _Scheduler_SMP_Allocate_processor(
        context,
        highest_ready,
        victim,
        victim_cpu,
        allocate_processor
      );
 
      ( *move_from_ready_to_scheduled )( context, highest_ready );
    } else {
      _Assert( action == SCHEDULER_TRY_TO_SCHEDULE_DO_BLOCK );
 
      _Scheduler_SMP_Node_change_state(
        highest_ready,
        SCHEDULER_SMP_NODE_BLOCKED
      );
 
      ( *extract_from_ready )( context, highest_ready );
    }
  } while ( action == SCHEDULER_TRY_TO_SCHEDULE_DO_BLOCK );
}
 
static inline void _Scheduler_SMP_Preempt_and_schedule_highest_ready(
  Scheduler_Context                *context,
  Scheduler_Node                   *victim,
  Per_CPU_Control                  *victim_cpu,
  Scheduler_SMP_Extract             extract_from_ready,
  Scheduler_SMP_Get_highest_ready   get_highest_ready,
  Scheduler_SMP_Move                move_from_ready_to_scheduled,
  Scheduler_SMP_Allocate_processor  allocate_processor
)
{
  Scheduler_Try_to_schedule_action action;
 
  do {
    Scheduler_Node *highest_ready = ( *get_highest_ready )( context, victim );
 
    action = _Scheduler_Try_to_schedule_node(
      context,
      highest_ready,
      NULL,
      _Scheduler_SMP_Get_idle_thread
    );
 
    if ( action == SCHEDULER_TRY_TO_SCHEDULE_DO_SCHEDULE ) {
      _Scheduler_SMP_Preempt(
        context,
        highest_ready,
        victim,
        allocate_processor
      );
 
      ( *move_from_ready_to_scheduled )( context, highest_ready );
    } else {
      _Assert( action == SCHEDULER_TRY_TO_SCHEDULE_DO_BLOCK );
 
      _Scheduler_SMP_Node_change_state(
        highest_ready,
        SCHEDULER_SMP_NODE_BLOCKED
      );
 
      ( *extract_from_ready )( context, highest_ready );
    }
  } while ( action == SCHEDULER_TRY_TO_SCHEDULE_DO_BLOCK );
}
 
static inline void _Scheduler_SMP_Block(
  Scheduler_Context                *context,
  Thread_Control                   *thread,
  Scheduler_Node                   *node,
  Scheduler_SMP_Extract             extract_from_scheduled,
  Scheduler_SMP_Extract             extract_from_ready,
  Scheduler_SMP_Get_highest_ready   get_highest_ready,
  Scheduler_SMP_Move                move_from_ready_to_scheduled,
  Scheduler_SMP_Allocate_processor  allocate_processor
)
{
  Scheduler_SMP_Node_state  node_state;
  Per_CPU_Control          *thread_cpu;
 
  node_state = _Scheduler_SMP_Node_state( node );
 
  thread_cpu = _Scheduler_Block_node(
    context,
    thread,
    node,
    node_state == SCHEDULER_SMP_NODE_SCHEDULED,
    _Scheduler_SMP_Get_idle_thread
  );
 
  if ( thread_cpu != NULL ) {
    _Scheduler_SMP_Node_change_state( node, SCHEDULER_SMP_NODE_BLOCKED );
 
    if ( node_state == SCHEDULER_SMP_NODE_SCHEDULED ) {
      ( *extract_from_scheduled )( context, node );
      _Scheduler_SMP_Schedule_highest_ready(
        context,
        node,
        thread_cpu,
        extract_from_ready,
        get_highest_ready,
        move_from_ready_to_scheduled,
        allocate_processor
      );
    } else if ( node_state == SCHEDULER_SMP_NODE_READY ) {
      ( *extract_from_ready )( context, node );
    }
  }
}
 
static inline void _Scheduler_SMP_Unblock(
  Scheduler_Context     *context,
  Thread_Control        *thread,
  Scheduler_Node        *node,
  Scheduler_SMP_Update   update,
  Scheduler_SMP_Enqueue  enqueue
)
{
  Scheduler_SMP_Node_state  node_state;
  bool                      unblock;
 
  node_state = _Scheduler_SMP_Node_state( node );
  unblock = _Scheduler_Unblock_node(
    context,
    thread,
    node,
    node_state == SCHEDULER_SMP_NODE_SCHEDULED,
    _Scheduler_SMP_Release_idle_thread
  );
 
  if ( unblock ) {
    Priority_Control priority;
    bool             needs_help;
 
    priority = _Scheduler_Node_get_priority( node );
    priority = SCHEDULER_PRIORITY_PURIFY( priority );
 
    if ( priority != _Scheduler_SMP_Node_priority( node ) ) {
      ( *update )( context, node, priority );
    }
 
    if ( node_state == SCHEDULER_SMP_NODE_BLOCKED ) {
      Priority_Control insert_priority;
 
      _Scheduler_SMP_Node_change_state( node, SCHEDULER_SMP_NODE_READY );
      insert_priority = SCHEDULER_PRIORITY_APPEND( priority );
      needs_help = ( *enqueue )( context, node, insert_priority );
    } else {
      _Assert( node_state == SCHEDULER_SMP_NODE_READY );
      _Assert( node->sticky_level > 0 );
      _Assert( node->idle == NULL );
      needs_help = true;
    }
 
    if ( needs_help ) {
      _Scheduler_Ask_for_help( thread );
    }
  }
}
 
static inline void _Scheduler_SMP_Update_priority(
  Scheduler_Context          *context,
  Thread_Control             *thread,
  Scheduler_Node             *node,
  Scheduler_SMP_Extract       extract_from_ready,
  Scheduler_SMP_Update        update,
  Scheduler_SMP_Enqueue       enqueue,
  Scheduler_SMP_Enqueue       enqueue_scheduled,
  Scheduler_SMP_Ask_for_help  ask_for_help
)
{
  Priority_Control         priority;
  Priority_Control         insert_priority;
  Scheduler_SMP_Node_state node_state;
 
  insert_priority = _Scheduler_Node_get_priority( node );
  priority = SCHEDULER_PRIORITY_PURIFY( insert_priority );
 
  if ( priority == _Scheduler_SMP_Node_priority( node ) ) {
    if ( _Thread_Is_ready( thread ) ) {
      ( *ask_for_help )( context, thread, node );
    }
 
    return;
  }
 
  node_state = _Scheduler_SMP_Node_state( node );
 
  if ( node_state == SCHEDULER_SMP_NODE_SCHEDULED ) {
    _Scheduler_SMP_Extract_from_scheduled( context, node );
    ( *update )( context, node, priority );
    ( *enqueue_scheduled )( context, node, insert_priority );
  } else if ( node_state == SCHEDULER_SMP_NODE_READY ) {
    ( *extract_from_ready )( context, node );
    ( *update )( context, node, priority );
    ( *enqueue )( context, node, insert_priority );
  } else {
    ( *update )( context, node, priority );
 
    if ( _Thread_Is_ready( thread ) ) {
      ( *ask_for_help )( context, thread, node );
    }
  }
}
 
static inline void _Scheduler_SMP_Yield(
  Scheduler_Context     *context,
  Thread_Control        *thread,
  Scheduler_Node        *node,
  Scheduler_SMP_Extract  extract_from_ready,
  Scheduler_SMP_Enqueue  enqueue,
  Scheduler_SMP_Enqueue  enqueue_scheduled
)
{
  bool                     needs_help;
  Scheduler_SMP_Node_state node_state;
  Priority_Control         insert_priority;
 
  node_state = _Scheduler_SMP_Node_state( node );
  insert_priority = _Scheduler_SMP_Node_priority( node );
  insert_priority = SCHEDULER_PRIORITY_APPEND( insert_priority );
 
  if ( node_state == SCHEDULER_SMP_NODE_SCHEDULED ) {
    _Scheduler_SMP_Extract_from_scheduled( context, node );
    ( *enqueue_scheduled )( context, node, insert_priority );
    needs_help = false;
  } else if ( node_state == SCHEDULER_SMP_NODE_READY ) {
    ( *extract_from_ready )( context, node );
 
    needs_help = ( *enqueue )( context, node, insert_priority );
  } else {
    needs_help = true;
  }
 
  if ( needs_help ) {
    _Scheduler_Ask_for_help( thread );
  }
}
 
static inline void _Scheduler_SMP_Insert_scheduled(
  Scheduler_Context *context,
  Scheduler_Node    *node_to_insert,
  Priority_Control   priority_to_insert
)
{
  Scheduler_SMP_Context *self;
 
  self = _Scheduler_SMP_Get_self( context );
 
  _Chain_Insert_ordered_unprotected(
    &self->Scheduled,
    &node_to_insert->Node.Chain,
    &priority_to_insert,
    _Scheduler_SMP_Priority_less_equal
  );
}
 
static inline bool _Scheduler_SMP_Ask_for_help(
  Scheduler_Context                  *context,
  Thread_Control                     *thread,
  Scheduler_Node                     *node,
  Chain_Node_order                    order,
  Scheduler_SMP_Insert                insert_ready,
  Scheduler_SMP_Insert                insert_scheduled,
  Scheduler_SMP_Move                  move_from_scheduled_to_ready,
  Scheduler_SMP_Get_lowest_scheduled  get_lowest_scheduled,
  Scheduler_SMP_Allocate_processor    allocate_processor
)
{
  Scheduler_Node   *lowest_scheduled;
  ISR_lock_Context  lock_context;
  bool              success;
 
  if ( thread->Scheduler.pinned_scheduler != NULL ) {
    /*
     * Pinned threads are not allowed to ask for help.  Return success to break
     * the loop in _Thread_Ask_for_help() early.
     */
    return true;
  }
 
  lowest_scheduled = ( *get_lowest_scheduled )( context, node );
 
  _Thread_Scheduler_acquire_critical( thread, &lock_context );
 
  if ( thread->Scheduler.state == THREAD_SCHEDULER_READY ) {
    Scheduler_SMP_Node_state node_state;
 
    node_state = _Scheduler_SMP_Node_state( node );
 
    if ( node_state == SCHEDULER_SMP_NODE_BLOCKED ) {
      Priority_Control insert_priority;
 
      insert_priority = _Scheduler_SMP_Node_priority( node );
 
      if ( ( *order )( &insert_priority, &lowest_scheduled->Node.Chain ) ) {
        _Thread_Scheduler_cancel_need_for_help(
          thread,
          _Thread_Get_CPU( thread )
        );
        _Scheduler_Thread_change_state( thread, THREAD_SCHEDULER_SCHEDULED );
        _Thread_Scheduler_release_critical( thread, &lock_context );
 
        _Scheduler_SMP_Preempt(
          context,
          node,
          lowest_scheduled,
          allocate_processor
        );
 
        ( *insert_scheduled )( context, node, insert_priority );
        ( *move_from_scheduled_to_ready )( context, lowest_scheduled );
 
        _Scheduler_Release_idle_thread(
          context,
          lowest_scheduled,
          _Scheduler_SMP_Release_idle_thread
        );
        success = true;
      } else {
        _Thread_Scheduler_release_critical( thread, &lock_context );
        _Scheduler_SMP_Node_change_state( node, SCHEDULER_SMP_NODE_READY );
        ( *insert_ready )( context, node, insert_priority );
        success = false;
      }
    } else if ( node_state == SCHEDULER_SMP_NODE_SCHEDULED ) {
      _Thread_Scheduler_cancel_need_for_help(
        thread,
        _Thread_Get_CPU( thread )
      );
      _Scheduler_Discard_idle_thread(
        context,
        thread,
        node,
        _Scheduler_SMP_Release_idle_thread
      );
      _Scheduler_Thread_change_state( thread, THREAD_SCHEDULER_SCHEDULED );
      _Thread_Scheduler_release_critical( thread, &lock_context );
      success = true;
    } else {
      _Thread_Scheduler_release_critical( thread, &lock_context );
      success = false;
    }
  } else {
    _Thread_Scheduler_release_critical( thread, &lock_context );
    success = false;
  }
 
  return success;
}
 
static inline void _Scheduler_SMP_Reconsider_help_request(
  Scheduler_Context     *context,
  Thread_Control        *thread,
  Scheduler_Node        *node,
  Scheduler_SMP_Extract  extract_from_ready
)
{
  ISR_lock_Context lock_context;
 
  _Thread_Scheduler_acquire_critical( thread, &lock_context );
 
  if (
    thread->Scheduler.state == THREAD_SCHEDULER_SCHEDULED
      && _Scheduler_SMP_Node_state( node ) == SCHEDULER_SMP_NODE_READY
      && node->sticky_level == 1
  ) {
    _Scheduler_SMP_Node_change_state( node, SCHEDULER_SMP_NODE_BLOCKED );
    ( *extract_from_ready )( context, node );
  }
 
  _Thread_Scheduler_release_critical( thread, &lock_context );
}
 
static inline void _Scheduler_SMP_Withdraw_node(
  Scheduler_Context                *context,
  Thread_Control                   *thread,
  Scheduler_Node                   *node,
  Thread_Scheduler_state            next_state,
  Scheduler_SMP_Extract             extract_from_ready,
  Scheduler_SMP_Get_highest_ready   get_highest_ready,
  Scheduler_SMP_Move                move_from_ready_to_scheduled,
  Scheduler_SMP_Allocate_processor  allocate_processor
)
{
  ISR_lock_Context         lock_context;
  Scheduler_SMP_Node_state node_state;
 
  _Thread_Scheduler_acquire_critical( thread, &lock_context );
 
  node_state = _Scheduler_SMP_Node_state( node );
  _Scheduler_SMP_Node_change_state( node, SCHEDULER_SMP_NODE_BLOCKED );
 
  if ( node_state == SCHEDULER_SMP_NODE_SCHEDULED ) {
    Per_CPU_Control *thread_cpu;
 
    thread_cpu = _Thread_Get_CPU( thread );
    _Scheduler_Thread_change_state( thread, next_state );
    _Thread_Scheduler_release_critical( thread, &lock_context );
 
    _Scheduler_SMP_Extract_from_scheduled( context, node );
    _Scheduler_SMP_Schedule_highest_ready(
      context,
      node,
      thread_cpu,
      extract_from_ready,
      get_highest_ready,
      move_from_ready_to_scheduled,
      allocate_processor
    );
  } else if ( node_state == SCHEDULER_SMP_NODE_READY ) {
    _Thread_Scheduler_release_critical( thread, &lock_context );
    ( *extract_from_ready )( context, node );
  } else {
    _Assert( node_state == SCHEDULER_SMP_NODE_BLOCKED );
    _Thread_Scheduler_release_critical( thread, &lock_context );
  }
}
 
static inline void _Scheduler_SMP_Do_start_idle(
  Scheduler_Context           *context,
  Thread_Control              *idle,
  Per_CPU_Control             *cpu,
  Scheduler_SMP_Register_idle  register_idle
)
{
  Scheduler_SMP_Context *self;
  Scheduler_SMP_Node    *node;
 
  self = _Scheduler_SMP_Get_self( context );
  node = _Scheduler_SMP_Thread_get_node( idle );
 
  _Scheduler_Thread_change_state( idle, THREAD_SCHEDULER_SCHEDULED );
  node->state = SCHEDULER_SMP_NODE_SCHEDULED;
 
  _Thread_Set_CPU( idle, cpu );
  ( *register_idle )( context, &node->Base, cpu );
  _Chain_Append_unprotected( &self->Scheduled, &node->Base.Node.Chain );
  _Scheduler_SMP_Release_idle_thread( &self->Base, idle );
}
 
static inline void _Scheduler_SMP_Add_processor(
  Scheduler_Context           *context,
  Thread_Control              *idle,
  Scheduler_SMP_Has_ready      has_ready,
  Scheduler_SMP_Enqueue        enqueue_scheduled,
  Scheduler_SMP_Register_idle  register_idle
)
{
  Scheduler_SMP_Context *self;
  Scheduler_Node        *node;
 
  self = _Scheduler_SMP_Get_self( context );
  idle->Scheduler.state = THREAD_SCHEDULER_SCHEDULED;
  _Scheduler_SMP_Release_idle_thread( &self->Base, idle );
  node = _Thread_Scheduler_get_home_node( idle );
  _Scheduler_SMP_Node_change_state( node, SCHEDULER_SMP_NODE_SCHEDULED );
  ( *register_idle )( context, node, _Thread_Get_CPU( idle ) );
 
  if ( ( *has_ready )( &self->Base ) ) {
    Priority_Control insert_priority;
 
    insert_priority = _Scheduler_SMP_Node_priority( node );
    insert_priority = SCHEDULER_PRIORITY_APPEND( insert_priority );
    ( *enqueue_scheduled )( &self->Base, node, insert_priority );
  } else {
    _Chain_Append_unprotected( &self->Scheduled, &node->Node.Chain );
  }
}
 
static inline Thread_Control *_Scheduler_SMP_Remove_processor(
  Scheduler_Context     *context,
  Per_CPU_Control       *cpu,
  Scheduler_SMP_Extract  extract_from_ready,
  Scheduler_SMP_Enqueue  enqueue
)
{
  Scheduler_SMP_Context *self;
  Chain_Node            *chain_node;
  Scheduler_Node        *victim_node;
  Thread_Control        *victim_user;
  Thread_Control        *victim_owner;
  Thread_Control        *idle;
 
  self = _Scheduler_SMP_Get_self( context );
  chain_node = _Chain_First( &self->Scheduled );
 
  do {
    _Assert( chain_node != _Chain_Immutable_tail( &self->Scheduled ) );
    victim_node = (Scheduler_Node *) chain_node;
    victim_user = _Scheduler_Node_get_user( victim_node );
    chain_node = _Chain_Next( chain_node );
  } while ( _Thread_Get_CPU( victim_user ) != cpu );
 
  _Scheduler_SMP_Extract_from_scheduled( context, victim_node );
  victim_owner = _Scheduler_Node_get_owner( victim_node );
 
  if ( !victim_owner->is_idle ) {
    Scheduler_Node *idle_node;
 
    _Scheduler_Release_idle_thread(
      &self->Base,
      victim_node,
      _Scheduler_SMP_Release_idle_thread
    );
    idle = _Scheduler_SMP_Get_idle_thread( &self->Base );
    idle_node = _Thread_Scheduler_get_home_node( idle );
    ( *extract_from_ready )( &self->Base, idle_node );
    _Scheduler_SMP_Preempt(
      &self->Base,
      idle_node,
      victim_node,
      _Scheduler_SMP_Allocate_processor_exact
    );
 
    if ( !_Chain_Is_empty( &self->Scheduled ) ) {
      Priority_Control insert_priority;
 
      insert_priority = _Scheduler_SMP_Node_priority( victim_node );
      insert_priority = SCHEDULER_PRIORITY_APPEND( insert_priority );
      ( *enqueue )( context, victim_node, insert_priority );
    }
  } else {
    _Assert( victim_owner == victim_user );
    _Assert( _Scheduler_Node_get_idle( victim_node ) == NULL );
    idle = victim_owner;
    _Scheduler_SMP_Exctract_idle_thread( idle );
  }
 
  return idle;
}
 
static inline void _Scheduler_SMP_Set_affinity(
  Scheduler_Context               *context,
  Thread_Control                  *thread,
  Scheduler_Node                  *node,
  void                            *arg,
  Scheduler_SMP_Set_affinity       set_affinity,
  Scheduler_SMP_Extract            extract_from_ready,
  Scheduler_SMP_Get_highest_ready  get_highest_ready,
  Scheduler_SMP_Move               move_from_ready_to_scheduled,
  Scheduler_SMP_Enqueue            enqueue,
  Scheduler_SMP_Allocate_processor allocate_processor
)
{
  Scheduler_SMP_Node_state node_state;
  Priority_Control         insert_priority;
 
  node_state = _Scheduler_SMP_Node_state( node );
  insert_priority = _Scheduler_SMP_Node_priority( node );
  insert_priority = SCHEDULER_PRIORITY_APPEND( insert_priority );
 
  if ( node_state == SCHEDULER_SMP_NODE_SCHEDULED ) {
    _Scheduler_SMP_Extract_from_scheduled( context, node );
    _Scheduler_SMP_Preempt_and_schedule_highest_ready(
      context,
      node,
      _Thread_Get_CPU( thread ),
      extract_from_ready,
      get_highest_ready,
      move_from_ready_to_scheduled,
      allocate_processor
    );
    ( *set_affinity )( context, node, arg );
    ( *enqueue )( context, node, insert_priority );
  } else if ( node_state == SCHEDULER_SMP_NODE_READY ) {
    ( *extract_from_ready )( context, node );
    ( *set_affinity )( context, node, arg );
    ( *enqueue )( context, node, insert_priority );
  } else {
    _Assert( node_state == SCHEDULER_SMP_NODE_BLOCKED );
    ( *set_affinity )( context, node, arg );
  }
}
 
#ifdef __cplusplus
}
#endif /* __cplusplus */
 
#endif /* _RTEMS_SCORE_SCHEDULERSMPIMPL_H */