Use priority inheritance for thread join

[Sebastian Huber]

Threads may join the thread termination of another thread using the pthread_join() or rtems_task_delete() directives. Currently, the thread cancel operation uses a special case priority boosting mechanism:

static void _Thread_Raise_real_priority(
  Thread_Control   *the_thread,
  Priority_Control  priority
)
{
  Thread_queue_Context queue_context;

  _Thread_queue_Context_initialize( &queue_context );
  _Thread_queue_Context_clear_priority_updates( &queue_context );
  _Thread_Wait_acquire( the_thread, &queue_context );

  if ( priority < the_thread->Real_priority.priority ) {
    _Thread_Priority_change(
      the_thread,
      &the_thread->Real_priority,
      priority,
      PRIORITY_GROUP_LAST,
      &queue_context
    );
  }

  _Thread_Wait_release( the_thread, &queue_context );
  _Thread_Priority_update( &queue_context );
}

The problem is that this approach is not transitive, it does not account for priority adjustments of the calling task while waiting for the join, clustered scheduling is not supported, and deadlocks are not detected. All these problems are fixed by using a priority inheritance thread queue for the join operation.

[Sebastian Huber <sebastian.huber@…>]

In 81fd510/rtems-docs:

c-user: Document task life states

Update #4679.

[Sebastian Huber <sebastian.huber@…>]

In f4377b4/rtems-docs:

c-user: Document new rtems_task_delete() behaviour

Update #4679.

[Sebastian Huber <sebastian.huber@…>]

In 31036f1d/rtems:

score: Use priority inheritance for thread join

Threads may join the thread termination of another thread using the
pthread_join() or rtems_task_delete() directives. The thread cancel operation
used a special case priority boosting mechanism implemented by
_Thread_Raise_real_priority(). The problem was that this approach

• is not transitive,

• does not account for priority adjustments of the calling task while waiting for the join,

• does not support clustered scheduling, and

• does not detect deadlocks.

All these problems are fixed by using a priority inheritance thread queue for
the join operation.

Close #4679.