2010-11-24 Gedare Bloom <giddyup44@yahoo.com>

PR 1647/cpukit
	* posix/src/nanosleep.c, posix/src/sched_yield.c,
	rtems/src/taskwakeafter.c, sapi/include/confdefs.h,
	sapi/include/rtems/config.h, sapi/src/exinit.c, score/Makefile.am,
	score/preinstall.am, score/include/rtems/score/prioritybitmap.h,
	score/include/rtems/score/thread.h,
	score/inline/rtems/score/thread.inl, score/src/thread.c,
	score/src/threadchangepriority.c, score/src/threadclearstate.c,
	score/src/threadclose.c, score/src/threadinitialize.c,
	score/src/threadready.c, score/src/threadresume.c,
	score/src/threadsetpriority.c, score/src/threadsetstate.c,
	score/src/threadsettransient.c,	score/src/threadsuspend.c,
	score/src/threadtickletimeslice.c: Refactor scheduler out of thread
	handler to facilitate alternate scheduler implementations.
	* score/src/threadyieldprocessor.c: Removed.
	* score/src/schedulerprioritythreadschedulerupdate.c,
	score/src/schedulerprioritythreadschedulerfree.c,
	score/src/schedulerpriorityblock.c, score/src/scheduler.c,
	score/src/schedulerprioritythreadschedulerallocate.c,
	score/src/schedulerpriorityunblock.c,
	score/src/schedulerpriority.c, score/src/schedulerpriorityyield.c,
	score/include/rtems/score/schedulerpriority.h,
	score/include/rtems/score/scheduler.h,
	score/inline/rtems/score/scheduler.inl,
	score/inline/rtems/score/schedulerpriority.inl: New files.

cpukit/sapi/include/confdefs.h

@@ -534,6 +534,116 @@ rtems_fs_init_functions_t    rtems_fs_init_helper =
   #define CONFIGURE_MAXIMUM_PRIORITY PRIORITY_DEFAULT_MAXIMUM
 #endif
 
+/*
+ * Scheduler configuration.
+ *
+ * The scheduler configuration allows an application to select the 
+ * scheduling policy to use.  The supported configurations are:
+ *  CONFIGURE_SCHEDULER_USER
+ *  CONFIGURE_SCHEDULER_PRIORITY
+ * 
+ * If no configuration is specified by the application, then 
+ * CONFIGURE_SCHEDULER_PRIORITY is assumed to be the default.
+ *
+ * An application can define its own scheduling policy by defining
+ * CONFIGURE_SCHEDULER_USER and CONFIGURE_SCHEDULER_ENTRY_USER to point
+ * to an initialization routine.  Note: CONFIGURE_SCHEDULER_USER is not 
+ * fully supported, since it has no per-thread field.
+ *
+ * To add a new scheduler:
+ */
+#include <rtems/score/scheduler.h>
+
+#if defined(CONFIGURE_SCHEDULER_USER) && \
+    !defined(CONFIGURE_SCHEDULER_ENTRY_USER)
+  #error "CONFIGURE_ERROR: CONFIGURE_SCHEDULER_USER without CONFIGURE_SCHEDULER_ENTRY_USER"
+#endif
+
+/* enable all RTEMS-provided schedulers */
+#if defined(CONFIGURE_SCHEDULER_ALL)
+  #define CONFIGURE_SCHEDULER_PRIORITY
+#endif
+
+/* If no scheduler is specified, the priority scheduler is default. */
+#if !defined(CONFIGURE_SCHEDULER_USER) && \
+    !defined(CONFIGURE_SCHEDULER_PRIORITY)
+  #define CONFIGURE_SCHEDULER_PRIORITY
+  #define CONFIGURE_SCHEDULER_POLICY _Scheduler_PRIORITY
+#endif
+
+/*
+ * If a user scheduler is specified and no policy is set, 
+ * the user scheduler is the default policy.
+ */
+#if defined(CONFIGURE_SCHEDULER_USER) && \
+    !defined(CONFIGURE_SCHEDULER_POLICY)
+  #define CONFIGURE_SCHEDULER_POLICY _Scheduler_USER
+#endif
+
+/* 
+ * Check for priority scheduler next, as it is the default policy if there
+ * is no CONFIGURE_SCHEDULER_POLICY set and no USER scheduler provided.
+ */
+#if defined(CONFIGURE_SCHEDULER_PRIORITY)
+  #include <rtems/score/schedulerpriority.h>
+  #define CONFIGURE_SCHEDULER_ENTRY_PRIORITY { _Scheduler_priority_Initialize }
+  #if !defined(CONFIGURE_SCHEDULER_POLICY)
+    #define CONFIGURE_SCHEDULER_POLICY _Scheduler_PRIORITY
+  #endif
+
+  /**
+   * define the memory used by the priority scheduler
+   */
+  #define CONFIGURE_MEMORY_SCHEDULER_PRIORITY ( \
+    _Configure_From_workspace( \
+      ((CONFIGURE_MAXIMUM_PRIORITY+1) * sizeof(Chain_Control)) ) \
+  )
+  #define CONFIGURE_MEMORY_PER_TASK_SCHEDULER_PRIORITY ( \
+    _Configure_From_workspace(sizeof(Scheduler_priority_Per_thread)) )
+#endif
+
+/* 
+ * Set up the scheduler table.  The scheduling code indexes this table to 
+ * invoke the correct scheduling implementation. The scheduler to use is 
+ * determined by the Configuration.scheduler_policy field, which is set
+ * by CONFIGURE_SCHEDULER_POLICY.  If a particular scheduler is not enabled,
+ * an empty entry is included in its entry in the scheduler table.
+ */
+
+  /**
+   * An empty scheduler entry
+   */
+  #define CONFIGURE_SCHEDULER_NULL { NULL }
+
+#ifdef CONFIGURE_INIT
+  /* the table of available schedulers. */
+  const Scheduler_Table_t _Scheduler_Table[] = {
+    #if defined(CONFIGURE_SCHEDULER_USER) && \
+        defined(CONFIGURE_SCHEDULER_ENTRY_USER)
+      CONFIGURE_SCHEDULER_ENTRY_USER,
+    #else
+      CONFIGURE_SCHEDULER_NULL,
+    #endif
+    #if defined(CONFIGURE_SCHEDULER_PRIORITY) && \
+        defined(CONFIGURE_SCHEDULER_ENTRY_PRIORITY)
+      CONFIGURE_SCHEDULER_ENTRY_PRIORITY,
+    #else
+      CONFIGURE_SCHEDULER_NULL,
+    #endif
+  };
+#endif
+
+/**
+ * Define the memory overhead for the scheduler
+ */
+#define CONFIGURE_MEMORY_FOR_SCHEDULER ( \
+    CONFIGURE_MEMORY_SCHEDULER_PRIORITY \
+  )
+
+#define CONFIGURE_MEMORY_PER_TASK_FOR_SCHEDULER ( \
+    CONFIGURE_MEMORY_PER_TASK_SCHEDULER_PRIORITY \
+  )
+
 /*
  *  If you said the IDLE task was going to do application initialization
  *  and didn't override the IDLE body, then something is amiss.
@@ -1607,7 +1717,8 @@ rtems_fs_init_functions_t    rtems_fs_init_helper =
    (_Configure_From_workspace(CONFIGURE_MINIMUM_TASK_STACK_SIZE) + \
     CONFIGURE_MEMORY_PER_TASK_FOR_CLASSIC_API + \
     CONFIGURE_MEMORY_PER_TASK_FOR_NEWLIB + \
-    CONFIGURE_MEMORY_PER_TASK_FOR_POSIX_API))  + \
+    CONFIGURE_MEMORY_PER_TASK_FOR_POSIX_API + \
+    CONFIGURE_MEMORY_PER_TASK_FOR_SCHEDULER))  + \
   _Configure_From_workspace( \
     _Configure_Max_Objects(_number_FP_tasks) * CONTEXT_FP_SIZE) + \
   _Configure_From_workspace( \
@@ -1704,13 +1815,6 @@ rtems_fs_init_functions_t    rtems_fs_init_helper =
 #define CONFIGURE_API_MUTEX_MEMORY \
   _Configure_Object_RAM(1, sizeof(API_Mutex_Control))
 
-/**
- *  This defines the memory used by the thread ready chains.  There is
- *  one chain per priority.
- */
-#define CONFIGURE_MEMORY_FOR_THREAD_READY_CHAINS \
-    _Configure_From_workspace( \
-        ((CONFIGURE_MAXIMUM_PRIORITY+1) * sizeof(Chain_Control)) )
 /**
  *  This defines the amount of memory reserved for the IDLE task
  *  control structures and stack.
@@ -1724,7 +1828,7 @@ rtems_fs_init_functions_t    rtems_fs_init_helper =
  */
 #define CONFIGURE_MEMORY_FOR_SYSTEM_OVERHEAD \
   ( CONFIGURE_MEMORY_FOR_IDLE_TASK +                /* IDLE and stack */ \
-    CONFIGURE_MEMORY_FOR_THREAD_READY_CHAINS +     /* Ready chains */ \
+    CONFIGURE_MEMORY_FOR_SCHEDULER +                /* Scheduler */ \
     CONFIGURE_INTERRUPT_VECTOR_TABLE +             /* interrupt vectors */ \
     CONFIGURE_INTERRUPT_STACK_MEMORY +             /* interrupt stack */ \
     CONFIGURE_API_MUTEX_MEMORY                     /* allocation mutex */ \
@@ -2005,6 +2109,7 @@ rtems_fs_init_functions_t    rtems_fs_init_helper =
     CONFIGURE_MAXIMUM_USER_EXTENSIONS,        /* maximum dynamic extensions */
     CONFIGURE_MICROSECONDS_PER_TICK,          /* microseconds per clock tick */
     CONFIGURE_TICKS_PER_TIMESLICE,            /* ticks per timeslice quantum */
+    CONFIGURE_SCHEDULER_POLICY,               /* scheduling policy */
     CONFIGURE_IDLE_TASK_BODY,                 /* user's IDLE task */
     CONFIGURE_IDLE_TASK_STACK_SIZE,           /* IDLE task stack size */
     CONFIGURE_INTERRUPT_STACK_SIZE,           /* interrupt stack size */

cpukit/sapi/include/rtems/config.h

@@ -118,6 +118,10 @@ typedef struct {
    */
   uint32_t                       ticks_per_timeslice;
 
+  /** This field specifies the scheduling policy to use.
+   */
+  uint32_t                       scheduler_policy;
+
   /** This element points to the BSP's optional idle task which may override
    *  the default one provided with RTEMS.
    */