From bb567e5a472f851a7234ccd5d549ff478efe3531 Mon Sep 17 00:00:00 2001
From: wey4321 <814455498@qq.com>
Date: Sun, 19 Jun 2022 22:20:25 +0800
Subject: [PATCH] =?UTF-8?q?[fix]=20=E4=BF=AE=E6=AD=A3=E6=97=B6=E9=97=B4?=
 =?UTF-8?q?=E7=89=87=E8=BD=AE=E8=BD=AC=E7=AE=97=E6=B3=95=E4=B8=AD=E7=BA=BF?=
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---
 include/rtdef.h |  1 +
 src/clock.c     |  2 ++
 src/scheduler.c | 42 ++++++++++++++++++++++++++++++++++++------
 3 files changed, 39 insertions(+), 6 deletions(-)

diff --git a/include/rtdef.h b/include/rtdef.h
index 4da65aa356..c456435424 100644
--- a/include/rtdef.h
+++ b/include/rtdef.h
@@ -573,6 +573,7 @@ typedef siginfo_t rt_siginfo_t;
 #define RT_THREAD_STAT_SIGNAL_READY     (RT_THREAD_STAT_SIGNAL | RT_THREAD_READY)
 #define RT_THREAD_STAT_SIGNAL_WAIT      0x20                /**< task is waiting for signals */
 #define RT_THREAD_STAT_SIGNAL_PENDING   0x40                /**< signals is held and it has not been procressed */
+#define RT_THREAD_STAT_SCHEDULING       0x80                /**< thread is waiting for contex swiching, can only be set in RT_THREAD_RUNNING status */ 
 #define RT_THREAD_STAT_SIGNAL_MASK      0xf0
 
 /**
diff --git a/src/clock.c b/src/clock.c
index 0e88bf4d61..58f42c2a10 100644
--- a/src/clock.c
+++ b/src/clock.c
@@ -124,6 +124,8 @@ void rt_tick_increase(void)
 
     /* check timer */
     rt_timer_check();
+	thread = rt_thread_self();
+	thread->stat &= ~RT_THREAD_STAT_SCHEDULING;
 }
 
 /**
diff --git a/src/scheduler.c b/src/scheduler.c
index 0f4cbcf94d..dc5d26d974 100644
--- a/src/scheduler.c
+++ b/src/scheduler.c
@@ -473,7 +473,7 @@ void rt_schedule(void)
                 }
 
                 rt_schedule_remove_thread(to_thread);
-                to_thread->stat = RT_THREAD_RUNNING | (to_thread->stat & ~RT_THREAD_STAT_MASK);
+                to_thread->stat = RT_THREAD_RUNNING | (to_thread->stat & ~RT_THREAD_STAT_MASK) | RT_THREAD_STAT_SCHEDULING;
 
                 /* switch to new thread */
                 RT_DEBUG_LOG(RT_DEBUG_SCHEDULER,
@@ -493,7 +493,7 @@ void rt_schedule(void)
                     extern void rt_thread_handle_sig(rt_bool_t clean_state);
 
                     RT_OBJECT_HOOK_CALL(rt_scheduler_switch_hook, (from_thread));
-
+                    to_thread->stat &= ~RT_THREAD_STAT_SCHEDULING;
                     rt_hw_context_switch((rt_ubase_t)&from_thread->sp,
                             (rt_ubase_t)&to_thread->sp);
 
@@ -656,6 +656,7 @@ void rt_schedule_insert_thread(struct rt_thread *thread)
     int bind_cpu;
     rt_uint32_t cpu_mask;
     rt_base_t level;
+    rt_uint8_t thread_stat;
 
     RT_ASSERT(thread != RT_NULL);
 
@@ -670,6 +671,7 @@ void rt_schedule_insert_thread(struct rt_thread *thread)
     }
 
     /* READY thread, insert to ready queue */
+    thread_stat = thread->stat;
     thread->stat = RT_THREAD_READY | (thread->stat & ~RT_THREAD_STAT_MASK);
 
     cpu_id   = rt_hw_cpu_id();
@@ -683,8 +685,15 @@ void rt_schedule_insert_thread(struct rt_thread *thread)
 #endif /* RT_THREAD_PRIORITY_MAX > 32 */
         rt_thread_ready_priority_group |= thread->number_mask;
 
-        rt_list_insert_before(&(rt_thread_priority_table[thread->current_priority]),
+        if (thread_stat & RT_THREAD_STAT_SCHEDULING) {
+            rt_list_insert_after(&(rt_thread_priority_table[thread->current_priority]),
                               &(thread->tlist));
+        }
+        else {
+            rt_list_insert_before(&(rt_thread_priority_table[thread->current_priority]),
+                              &(thread->tlist));
+        }
+
         cpu_mask = RT_CPU_MASK ^ (1 << cpu_id);
         rt_hw_ipi_send(RT_SCHEDULE_IPI, cpu_mask);
     }
@@ -697,8 +706,17 @@ void rt_schedule_insert_thread(struct rt_thread *thread)
 #endif /* RT_THREAD_PRIORITY_MAX > 32 */
         pcpu->priority_group |= thread->number_mask;
 
-        rt_list_insert_before(&(rt_cpu_index(bind_cpu)->priority_table[thread->current_priority]),
+        if (thread_stat & RT_THREAD_STAT_SCHEDULING)
+        {
+            rt_list_insert_after(&(rt_cpu_index(bind_cpu)->priority_table[thread->current_priority]),
+                              &(thread->tlist));
+        }
+        else
+        {
+            rt_list_insert_before(&(rt_cpu_index(bind_cpu)->priority_table[thread->current_priority]),
                               &(thread->tlist));
+        }
+        
 
         if (cpu_id != bind_cpu)
         {
@@ -718,6 +736,7 @@ __exit:
 void rt_schedule_insert_thread(struct rt_thread *thread)
 {
     rt_base_t level;
+    rt_uint8_t thread_stat;
 
     RT_ASSERT(thread != RT_NULL);
 
@@ -732,10 +751,21 @@ void rt_schedule_insert_thread(struct rt_thread *thread)
     }
 
     /* READY thread, insert to ready queue */
+    thread_stat = thread->stat;
     thread->stat = RT_THREAD_READY | (thread->stat & ~RT_THREAD_STAT_MASK);
-    /* insert thread to ready list */
-    rt_list_insert_before(&(rt_thread_priority_table[thread->current_priority]),
+    if (thread_stat & RT_THREAD_STAT_SCHEDULING)
+    {
+        /* put thread to the original pos in ready list */
+        rt_list_insert_after(&(rt_thread_priority_table[thread->current_priority]),
+                          &(thread->tlist));
+    }
+    else
+    {
+        /* insert thread to ready list */
+        rt_list_insert_before(&(rt_thread_priority_table[thread->current_priority]),
                           &(thread->tlist));
+    }
+
 
     RT_DEBUG_LOG(RT_DEBUG_SCHEDULER, ("insert thread[%.*s], the priority: %d\n",
                                       RT_NAME_MAX, thread->name, thread->current_priority));
-- 
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