Function rt_schedule

src/scheduler_up.c:282–414

* @brief Perform thread scheduling once. Select the highest priority thread and switch to it. * * @details This function: * - Disables interrupts to prevent preemption during scheduling * - Checks if scheduler is enabled (lock_nest == 0) * - Gets the highest priority ready thread * - Determines if current thread should continue running or be preempted * - Performs context switch i

 *   - Handles thread yield flags and signal processing
 */
void rt_schedule(void)
{
    rt_base_t level;
    struct rt_thread *to_thread;
    struct rt_thread *from_thread;
    struct rt_thread *curr_thread;

    /* disable interrupt */
    level = rt_hw_interrupt_disable();

    /* using local variable to avoid unnecessary function call */
    curr_thread = rt_thread_self();

    /* check the scheduler is enabled or not */
    if (rt_scheduler_lock_nest == 0)
    {
        rt_ubase_t highest_ready_priority;

        if (rt_thread_ready_priority_group != 0)
        {
            /* need_insert_from_thread: need to insert from_thread to ready queue */
            int need_insert_from_thread = 0;

            to_thread = _scheduler_get_highest_priority_thread(&highest_ready_priority);

            if ((RT_SCHED_CTX(curr_thread).stat & RT_THREAD_STAT_MASK) == RT_THREAD_RUNNING)
            {
                if (RT_SCHED_PRIV(curr_thread).current_priority < highest_ready_priority)
                {
                    to_thread = curr_thread;
                }
                else if (RT_SCHED_PRIV(curr_thread).current_priority == highest_ready_priority
                         && (RT_SCHED_CTX(curr_thread).stat & RT_THREAD_STAT_YIELD_MASK) == 0)
                {
                    to_thread = curr_thread;
                }
                else
                {
                    need_insert_from_thread = 1;
                }
            }

            if (to_thread != curr_thread)
            {
                /* if the destination thread is not the same as current thread */
                rt_current_priority = (rt_uint8_t)highest_ready_priority;
                from_thread                   = curr_thread;
                rt_cpu_self()->current_thread = to_thread;

                RT_OBJECT_HOOK_CALL(rt_scheduler_hook, (from_thread, to_thread));

                if (need_insert_from_thread)
                {
                    rt_sched_insert_thread(from_thread);
                }

                if ((RT_SCHED_CTX(from_thread).stat & RT_THREAD_STAT_YIELD_MASK) != 0)
                {