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{bp-19972} sched/sporadic: fix policy switch and cross-task setparam #20074

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Merged
xiaoxiang781216 merged 2 commits into from
Sep 7, 2026
+11 −7
Merged

{bp-19972} sched/sporadic: fix policy switch and cross-task setparam #20074

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3fd36f5
sched/setscheduler: stop sporadic when switching away from SCHED_SPOR…
yushuailong Aug 25, 2026
c38d3fd
sched/setparam: update sporadic parameters of the target task
yushuailong Aug 25, 2026
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11 changes: 6 additions & 5 deletions sched/sched/sched_setparam.c
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Original file line number Diff line number Diff line change
Expand Up @@ -45,14 +45,14 @@
#ifdef CONFIG_SCHED_SPORADIC
static inline_function
int set_sporadic_param(FAR const struct sched_param *param,
FAR struct tcb_s *rtcb, FAR struct tcb_s *tcb)
FAR struct tcb_s *tcb)
{
irqstate_t flags;
int ret = OK;

/* Update parameters associated with SCHED_SPORADIC */

if ((rtcb->flags & TCB_FLAG_POLICY_MASK) == TCB_FLAG_SCHED_SPORADIC)
if ((tcb->flags & TCB_FLAG_POLICY_MASK) == TCB_FLAG_SCHED_SPORADIC)
{
FAR struct sporadic_s *sporadic;
clock_t repl_ticks;
Expand Down Expand Up @@ -104,7 +104,7 @@ int set_sporadic_param(FAR const struct sched_param *param,

tcb->timeslice = budget_ticks;

sporadic = rtcb->sporadic;
sporadic = tcb->sporadic;
DEBUGASSERT(sporadic != NULL);

sporadic->hi_priority = param->sched_priority;
Expand Down Expand Up @@ -136,7 +136,7 @@ int set_sporadic_param(FAR const struct sched_param *param,
return ret;
}
#else
# define set_sporadic_param(p, r, t) OK
# define set_sporadic_param(p, t) OK
#endif

/****************************************************************************
Expand Down Expand Up @@ -216,7 +216,7 @@ int nxsched_set_param(pid_t pid, FAR const struct sched_param *param)

if (ret >= 0)
{
ret = set_sporadic_param(param, rtcb, tcb);
ret = set_sporadic_param(param, tcb);
}

/* Then perform the reprioritization */
Expand Down Expand Up @@ -271,6 +271,7 @@ int nxsched_set_param(pid_t pid, FAR const struct sched_param *param)
int sched_setparam(pid_t pid, FAR const struct sched_param *param)
{
int ret = nxsched_set_param(pid, param);

if (ret < 0)
{
set_errno(-ret);
Expand Down
7 changes: 5 additions & 2 deletions sched/sched/sched_setscheduler.c
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Original file line number Diff line number Diff line change
Expand Up @@ -87,7 +87,7 @@ int process_sporadic(FAR struct tcb_s *tcb,
if (repl_ticks < budget_ticks)
#endif
{
/* Initialize/reset current sporadic scheduling */
/* Initialize or reset current sporadic scheduling */

if ((tcb->flags & TCB_FLAG_POLICY_MASK) ==
TCB_FLAG_SCHED_SPORADIC)
Expand All @@ -103,6 +103,7 @@ int process_sporadic(FAR struct tcb_s *tcb,

if (ret >= 0)
{
tcb->flags &= ~TCB_FLAG_POLICY_MASK;
tcb->flags |= TCB_FLAG_SCHED_SPORADIC;
tcb->timeslice = budget_ticks;

Expand Down Expand Up @@ -212,7 +213,6 @@ int nxsched_set_scheduler(pid_t pid, int policy,
*/

flags = enter_critical_section();
tcb->flags &= ~TCB_FLAG_POLICY_MASK;

switch (policy)
{
Expand All @@ -229,6 +229,7 @@ int nxsched_set_scheduler(pid_t pid, int policy,

/* Save the FIFO scheduling parameters */

tcb->flags &= ~TCB_FLAG_POLICY_MASK;
tcb->flags |= TCB_FLAG_SCHED_FIFO;
#if CONFIG_RR_INTERVAL > 0 || defined(CONFIG_SCHED_SPORADIC)
tcb->timeslice = 0;
Expand All @@ -250,6 +251,7 @@ int nxsched_set_scheduler(pid_t pid, int policy,

/* Save the round robin scheduling parameters */

tcb->flags &= ~TCB_FLAG_POLICY_MASK;
tcb->flags |= TCB_FLAG_SCHED_RR;
tcb->timeslice = MSEC2TICK(CONFIG_RR_INTERVAL);
break;
Expand Down Expand Up @@ -314,6 +316,7 @@ int sched_setscheduler(pid_t pid, int policy,
FAR const struct sched_param *param)
{
int ret = nxsched_set_scheduler(pid, policy, param);

if (ret < 0)
{
set_errno(-ret);
Expand Down
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