kernel: Further unify _reschedule APIs

Now that other work has eliminated the two cases where we had to do a
reschedule "but yield even if we are cooperative", we can squash both
down to a single _reschedule() function which does almost exactly what
legacy _Swap() did, but wrapped as a proper scheduler API.

Signed-off-by: Andy Ross <andrew.j.ross@intel.com>

arch/arm/core/thread_abort.c

@@ -49,5 +49,5 @@ void _impl_k_thread_abort(k_tid_t thread)
 	}
 
 	/* The abort handler might have altered the ready queue. */
-	_reschedule_noyield(key);
+	_reschedule(key);
 }

arch/posix/core/posix_core.c

@@ -532,7 +532,7 @@ void _impl_k_thread_abort(k_tid_t thread)
 	}
 
 	/* The abort handler might have altered the ready queue. */
-	_reschedule_noyield(key);
+	_reschedule(key);
 }
 #endif
 

kernel/include/ksched.h

@@ -21,8 +21,7 @@ extern k_tid_t const _idle_thread;
 
 extern void _add_thread_to_ready_q(struct k_thread *thread);
 extern void _remove_thread_from_ready_q(struct k_thread *thread);
-extern int _reschedule_noyield(int key);
+extern int _reschedule(int key);
-extern int _reschedule_yield(int key);
 extern void k_sched_unlock(void);
 extern void _pend_thread(struct k_thread *thread,
 			 _wait_q_t *wait_q, s32_t timeout);

kernel/mailbox.c

@@ -218,7 +218,7 @@ static void mbox_message_dispose(struct k_mbox_msg *rx_msg)
 	_set_thread_return_value(sending_thread, 0);
 	_mark_thread_as_not_pending(sending_thread);
 	_ready_thread(sending_thread);
-	_reschedule_noyield(key);
+	_reschedule(key);
 }
 
 /**
@@ -275,7 +275,7 @@ static int mbox_message_put(struct k_mbox *mbox, struct k_mbox_msg *tx_msg,
 			 * until the receiver consumes the message
 			 */
 			if (sending_thread->base.thread_state & _THREAD_DUMMY) {
-				_reschedule_noyield(key);
+				_reschedule(key);
 				return 0;
 			}
 #endif

kernel/mem_slab.c

@@ -127,5 +127,5 @@ void k_mem_slab_free(struct k_mem_slab *slab, void **mem)
 		slab->num_used--;
 	}
 
-	_reschedule_noyield(key);
+	_reschedule(key);
 }

kernel/mempool.c

@@ -109,7 +109,7 @@ void k_mem_pool_free_id(struct k_mem_block_id *id)
 	}
 
 	if (need_sched && !_is_in_isr()) {
-		_reschedule_noyield(key);
+		_reschedule(key);
 	} else {
 		irq_unlock(key);
 	}

kernel/msg_q.c

@@ -94,7 +94,7 @@ int _impl_k_msgq_put(struct k_msgq *q, void *data, s32_t timeout)
 			_set_thread_return_value(pending_thread, 0);
 			_abort_thread_timeout(pending_thread);
 			_ready_thread(pending_thread);
-			_reschedule_noyield(key);
+			_reschedule(key);
 			return 0;
 		} else {
 			/* put message in queue */
@@ -184,7 +184,7 @@ int _impl_k_msgq_get(struct k_msgq *q, void *data, s32_t timeout)
 			_set_thread_return_value(pending_thread, 0);
 			_abort_thread_timeout(pending_thread);
 			_ready_thread(pending_thread);
-			_reschedule_noyield(key);
+			_reschedule(key);
 			return 0;
 		}
 		result = 0;
@@ -229,7 +229,7 @@ void _impl_k_msgq_purge(struct k_msgq *q)
 	q->used_msgs = 0;
 	q->read_ptr = q->write_ptr;
 
-	_reschedule_noyield(key);
+	_reschedule(key);
 }
 
 #ifdef CONFIG_USERSPACE

kernel/pipes.c

@@ -510,7 +510,7 @@ int _k_pipe_put_internal(struct k_pipe *pipe, struct k_pipe_async *async_desc,
 		_sched_unlock_no_reschedule();
 		_pend_thread((struct k_thread *) &async_desc->thread,
 			     &pipe->wait_q.writers, K_FOREVER);
-		_reschedule_noyield(key);
+		_reschedule(key);
 		return 0;
 	}
 #endif

kernel/poll.c

@@ -333,6 +333,6 @@ int k_poll_signal(struct k_poll_signal *signal, int result)
 
 	int rc = signal_poll_event(poll_event, K_POLL_STATE_SIGNALED);
 
-	_reschedule_noyield(key);
+	_reschedule(key);
 	return rc;
 }

kernel/queue.c

@@ -89,7 +89,7 @@ void k_queue_cancel_wait(struct k_queue *queue)
 	handle_poll_events(queue, K_POLL_STATE_NOT_READY);
 #endif /* !CONFIG_POLL */
 
-	_reschedule_noyield(key);
+	_reschedule(key);
 }
 
 void k_queue_insert(struct k_queue *queue, void *prev, void *data)
@@ -102,7 +102,7 @@ void k_queue_insert(struct k_queue *queue, void *prev, void *data)
 
 	if (first_pending_thread) {
 		prepare_thread_to_run(first_pending_thread, data);
-		_reschedule_noyield(key);
+		_reschedule(key);
 		return;
 	}
 #endif /* !CONFIG_POLL */
@@ -113,7 +113,7 @@ void k_queue_insert(struct k_queue *queue, void *prev, void *data)
 	handle_poll_events(queue, K_POLL_STATE_DATA_AVAILABLE);
 #endif /* CONFIG_POLL */
 
-	_reschedule_noyield(key);
+	_reschedule(key);
 }
 
 void k_queue_append(struct k_queue *queue, void *data)
@@ -148,7 +148,7 @@ void k_queue_append_list(struct k_queue *queue, void *head, void *tail)
 	handle_poll_events(queue, K_POLL_STATE_DATA_AVAILABLE);
 #endif /* !CONFIG_POLL */
 
-	_reschedule_noyield(key);
+	_reschedule(key);
 }
 
 void k_queue_merge_slist(struct k_queue *queue, sys_slist_t *list)

kernel/sched.c

@@ -140,12 +140,12 @@ void _remove_thread_from_ready_q(struct k_thread *thread)
  * Does not swap away from a thread at a cooperative (unpreemptible)
  * priority unless "yield" is true.
  */
-static int resched(int key, int yield)
+int _reschedule(int key)
 {
 	K_DEBUG("rescheduling threads\n");
 
 	if (!_is_in_isr() &&
-	    (yield || _is_preempt(_current)) &&
+	    _is_preempt(_current) &&
 	    _is_prio_higher(_get_highest_ready_prio(), _current->base.prio)) {
 		K_DEBUG("context-switching out %p\n", _current);
 		return _Swap(key);
@@ -155,16 +155,6 @@ static int resched(int key, int yield)
 	}
 }
 
-int _reschedule_noyield(int key)
-{
-	return resched(key, 0);
-}
-
-int _reschedule_yield(int key)
-{
-	return resched(key, 1);
-}
-
 void k_sched_lock(void)
 {
 	_sched_lock();
@@ -185,7 +175,7 @@ void k_sched_unlock(void)
 	K_DEBUG("scheduler unlocked (%p:%d)\n",
 		_current, _current->base.sched_locked);
 
-	_reschedule_noyield(key);
+	_reschedule(key);
 #endif
 }
 
@@ -274,7 +264,7 @@ void _impl_k_thread_priority_set(k_tid_t tid, int prio)
 	int key = irq_lock();
 
 	_thread_priority_set(thread, prio);
-	_reschedule_noyield(key);
+	_reschedule(key);
 }
 
 #ifdef CONFIG_USERSPACE
@@ -408,7 +398,7 @@ void _impl_k_wakeup(k_tid_t thread)
 	if (_is_in_isr()) {
 		irq_unlock(key);
 	} else {
-		_reschedule_noyield(key);
+		_reschedule(key);
 	}
 }
 

kernel/sem.c

@@ -135,7 +135,7 @@ void _impl_k_sem_give(struct k_sem *sem)
 	unsigned int key = irq_lock();
 
 	do_sem_give(sem);
-	_reschedule_noyield(key);
+	_reschedule(key);
 }
 
 #ifdef CONFIG_USERSPACE

kernel/thread.c

@@ -228,7 +228,7 @@ void _impl_k_thread_start(struct k_thread *thread)
 
 	_mark_thread_as_started(thread);
 	_ready_thread(thread);
-	_reschedule_noyield(key);
+	_reschedule(key);
 }
 
 #ifdef CONFIG_USERSPACE
@@ -484,7 +484,7 @@ void _impl_k_thread_resume(struct k_thread *thread)
 
 	_k_thread_single_resume(thread);
 
-	_reschedule_noyield(key);
+	_reschedule(key);
 }
 
 #ifdef CONFIG_USERSPACE

kernel/thread_abort.c

@@ -46,7 +46,7 @@ void _impl_k_thread_abort(k_tid_t thread)
 		}
 
 		/* The abort handler might have altered the ready queue. */
-		_reschedule_noyield(key);
+		_reschedule(key);
 	}
 }
 #endif

kernel/timer.c

@@ -172,7 +172,7 @@ void _impl_k_timer_stop(struct k_timer *timer)
 	if (_is_in_isr()) {
 		irq_unlock(key);
 	} else {
-		_reschedule_noyield(key);
+		_reschedule(key);
 	}
 }
 

lib/posix/pthread_barrier.c

@@ -23,7 +23,7 @@ int pthread_barrier_wait(pthread_barrier_t *b)
 		while (!sys_dlist_is_empty(&b->wait_q)) {
 			ready_one_thread(&b->wait_q);
 		}
-		return _reschedule_noyield(key);
+		return _reschedule(key);
 	} else {
 		return _pend_current_thread(key, &b->wait_q, K_FOREVER);
 	}