jerpelea opened a new pull request, #20074:
URL: https://github.com/apache/nuttx/pull/20074
## Summary
This PR fixes two bugs in the SCHED_SPORADIC handling of the scheduler, both
found while testing sporadic policy switching:
sched_setscheduler(): The policy flag bits were cleared before the
switch (policy) statement. Since TCB_FLAG_SCHED_FIFO is 0, the checks for "was
the task previously SCHED_SPORADIC" inside the SCHED_FIFO/SCHED_RR cases could
never be true. As a result nxsched_stop_sporadic() was never called when a
sporadic task switched to another policy, leaking the sporadic state and its
replenishment timers; a sporadic-to-sporadic reconfiguration ran
nxsched_initialize_sporadic() instead of reset, leaking the old state. The
flags are now cleared only after the previous policy has been evaluated.
sched_setparam(): set_sporadic_param() tested rtcb (the calling task)
instead of tcb (the task being modified). A cross-task sched_setparam()
therefore never updated the target's sporadic parameters, and if the caller was
itself sporadic while the target was not, it would reset a task with no
sporadic state (NULL-pointer / assertion failure) and write parameters into the
caller's own sporadic state.
## Impact
RELEASE
## Testing
CI
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