Add logic to reset the replenish the sporadic scheduler when a task is resumed

Documentation @ 0ac15c4c

-Subproject commit 7c8ccb29d28c128d70fa052c5d71e507de583feb
+Subproject commit 0ac15c4ce3c71f25aa923eebb0529dd571850f4a

arch @ d0dcd3c4

-Subproject commit a5d400650765ca63bccd82101f5b60d4f9631015
+Subproject commit d0dcd3c458ded300407756c300bc39bbfdd9489a

include/nuttx/sched.h

@@ -728,6 +728,27 @@ FAR struct task_tcb_s *task_vforksetup(start_t retaddr);
 pid_t task_vforkstart(FAR struct task_tcb_s *child);
 void task_vforkabort(FAR struct task_tcb_s *child, int errcode);
 
+/********************************************************************************
+ * Name: sched_resume_scheduler
+ *
+ * Description:
+ *   Called by architecture specific implementation of up_unblock_task() in
+ *   order to prepare the scheduler for the thread that is about to be restarted.
+ *
+ * Input Parameters:
+ *   tcb - The TCB of the thread to be restarted.
+ *
+ * Returned Value:
+ *   None
+ *
+ ********************************************************************************/
+
+#if CONFIG_RR_INTERVAL > 0 || defined(CONFIG_SCHED_SPORADIC)
+void sched_resume_scheduler(FAR struct tcb_s *tcb);
+#else
+#  define sched_resume_scheduler(tcb)
+#endif
+
 #undef EXTERN
 #if defined(__cplusplus)
 }

sched/sched/Make.defs

@@ -54,6 +54,14 @@ CSRCS += sched_waitid.c sched_wait.c
 endif
 endif
 
+ifneq ($(CONFIG_RR_INTERVAL),0)
+CSRCS += sched_resumescheduler.c
+else
+ifeq ($(CONFIG_SCHED_SPORADIC),y)
+CSRCS += sched_resumescheduler.c
+endif
+endif
+
 ifeq ($(CONFIG_SCHED_SPORADIC),y)
 CSRCS += sched_sporadic.c
 endif

sched/sched/sched_foreach.c

@@ -41,7 +41,7 @@
 #include "sched/sched.h"
 
 /************************************************************************
- * Global Functions
+ * Public Functions
  ************************************************************************/
 
 /************************************************************************

sched/sched/sched_resumescheduler.c

+/************************************************************************
+ * sched/sched/sched_resumescheduler.c
+ *
+ *   Copyright (C) 2007, 2009 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************/
+
+/************************************************************************
+ * Included Files
+ ************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <assert.h>
+
+#include <nuttx/sched.h>
+#include <nuttx/clock.h>
+
+#include "sched/sched.h"
+
+#if CONFIG_RR_INTERVAL > 0 || defined(CONFIG_SCHED_SPORADIC)
+
+/************************************************************************
+ * Global Functions
+ ************************************************************************/
+
+/********************************************************************************
+ * Name: sched_resume_scheduler
+ *
+ * Description:
+ *   Called by architecture specific implementation of up_unblock_task() in
+ *   order to prepare the scheduler for the thread that is about to be restarted.
+ *
+ * Input Parameters:
+ *   tcb - The TCB of the thread to be restarted.
+ *
+ * Returned Value:
+ *   None
+ *
+ ********************************************************************************/
+
+void sched_resume_scheduler(FAR struct tcb_s *tcb)
+{
+#if CONFIG_RR_INTERVAL > 0
+#ifdef CONFIG_SCHED_SPORADIC
+  if ((tcb->flags & TCB_FLAG_POLICY_MASK) == TCB_FLAG_SCHED_RR)
+#endif
+    {
+      /* Reset its timeslice.  This is only meaningful for round robin tasks but
+       * it doesn't here to do it for everything (as long as CONFIG_SCHED_SPORADIC
+       * is not defined.
+       */
+
+      tcb->timeslice = MSEC2TICK(CONFIG_RR_INTERVAL);
+    }
+#endif
+
+#ifdef CONFIG_SCHED_SPORADIC
+#if CONFIG_RR_INTERVAL > 0
+  else
+#endif
+  if ((tcb->flags & TCB_FLAG_POLICY_MASK) == TCB_FLAG_SCHED_SPORADIC)
+    {
+      /* Reset the replenishment cycle if it is appropriate to do so */
+
+      DEBUGVERIFY(sched_sporadic_resume(tcb));
+    }
+#endif
+}
+
+#endif /* CONFIG_RR_INTERVAL > 0 || CONFIG_SCHED_SPORADIC */

sched/sched/sched_sporadic.c

@@ -260,14 +260,17 @@ int sched_sporadic_stop(FAR struct tcb_s *tcb)
 }
 
 /************************************************************************
- * Name: sched_sporadic_replenish_resume
+ * Name: sched_sporadic_resume
  *
  * Description:
  *   Called to start the next replenishment interval.  This function is
  *   called in the following circumstances:
  *
- *     - When a task using the sporadic scheduling policy is resumed
- *       while in the budget interval of the replenishment cycle.
+ *     - From up_unblocktask() via sched_resume_scheduler() when a task
+ *       using the sporadic scheduling policy.
+ *
+ *   This function does nothing if the budget phase as already elapsed or
+ *   the maximum numer of replenishments have already been performed.
  *
  * Parameters:
  *   tcb - The TCB of the thread that is beginning sporadic scheduling.
@@ -282,7 +285,7 @@ int sched_sporadic_stop(FAR struct tcb_s *tcb)
  *
  ************************************************************************/
 
-int sched_sporadic_replenish_resume(FAR struct tcb_s *tcb)
+int sched_sporadic_resume(FAR struct tcb_s *tcb)
 {
   DEBUGASSERT(tcb);