nuttx/sched: semaphore and mqueue task list optimize

[zyfeier]

Summary

Semaphore and mqueue task list optimize:

1. move waitingforsemaphore list to sem_s；
2. move waitingformqnotempty and waitingformqnotfull list to mqueue_inode_s;

depends on #7185

Impact

Code Size:

Before:

   text	   data	    bss	    dec	    hex	filename
 109692	    224	  24940	 134856	  20ec8	nuttx

After:

   text	   data	    bss	    dec	    hex	filename
 109924	    312	  25144	 135380	  210d4	nuttx

Performance:

20 semaphore and 20 threads with different priorities.
sem_post -> sem_wait (cycle count):
before:
8179

after:
6988

Testing

sabre-6quad:nsh

[xiaoxiang781216]

let rebase the patch

[xiaoxiang781216]

@pkarashchenko please review the change where conflict with your priority inheritance change.

[xiaoxiang781216]

@pkarashchenko the break is fixed here apache/nuttx-apps#1321

[pkarashchenko]

@pkarashchenko please review the change where conflict with your priority inheritance change.

This approach goes in conflict with #6318 sched/semaphore/sem_holder.c line 436 that tries to find the task with highest priority that is waiting for the semaphore held by the task. I need some more time to think how to implement fix priority restoration in case we move the list to semaphore

[pkarashchenko]

Yeah, seems it becomes even easier with this change. I just need to pick the first waiter with priority inheritance enabled from each holder list and get the maximum priority among waiters. And execution time will be improved tremendously in such case as we switch search complexity from O(2) to O(1).

[pkarashchenko]

@pkarashchenko the break is fixed here apache/nuttx-apps#1321

@xiaoxiang781216 let's better move include/queue.h to include/nuttx/queue.h

[xiaoxiang781216]

@zyfeier please rebase the patch to the last master.

[xiaoxiang781216]

LGTM.

[masayuki2009]

@xiaoxiang781216 @zyfeier
Let me try this PR later.

[xiaoxiang781216]

Sure.

[masayuki2009]

@zyfeier
In the PR comment, you wrote

Add CONFIG_TASK_LIST_OPTIMIZE feature to improve sem and mqueue performance.

However, I can not see the config in the commits.

[zyfeier]

@zyfeier In the PR comment, you wrote

Add CONFIG_TASK_LIST_OPTIMIZE feature to improve sem and mqueue performance.

However, I can not see the config in the commits.

CONFIG_TASK_LIST_OPTIMIZE has been removed，i'll update the PR comment.

[xiaoxiang781216]

@xiaoxiang781216 @zyfeier Let me try this PR later.

@masayuki2009 how about you test result?

[masayuki2009]

@masayuki2009 how about you test result?

@xiaoxiang781216
I confirmed that all the tests passed.

[xiaoxiang781216]

Thanks very much to verify the change.