feat: support EDF

方案描述：
1、liteos_a调i度框架支持EDF调度算法，默认优先调度EDF策略的任务
2、用户态musl_c库适配新增调度算法，同步修改相关接口以支持用户态创建EDF进程与线程

BREAKING CHANGE:
support EDF对外变更描述：
以下接口支持SCHED_DEADLINE调度策略:
pthread_attr_getschedparam
pthread_attr_setschedparam
pthread_getschedparam
pthread_setschedparam
pthread_create
sched_getscheduler
sched_getparam
sched_setparam
sched_setscheduler

Close：#I6T3P3
Signed-off-by: Nzhangdengyu <zhangdengyu2@huawei.com>
Change-Id: I1ceefc2fdfaecac7a93e5306da629756f9385f84

porting/liteos_a/user/include/sched.h

+#ifndef _SCHED_H
+#define _SCHED_H
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <features.h>
+
+#define __NEED_struct_timespec
+#define __NEED_pid_t
+#define __NEED_time_t
+
+#ifdef _GNU_SOURCE
+#define __NEED_size_t
+#endif
+
+#include <bits/alltypes.h>
+
+struct sched_param {
+    union {
+        int sched_priority;
+        int sched_runtime;
+    };
+    int sched_deadline;
+    int sched_period;
+};
+
+int    sched_get_priority_max(int);
+int    sched_get_priority_min(int);
+int    sched_getparam(pid_t, struct sched_param *);
+int    sched_getscheduler(pid_t);
+int    sched_rr_get_interval(pid_t, struct timespec *);
+int    sched_setparam(pid_t, const struct sched_param *);
+int    sched_setscheduler(pid_t, int, const struct sched_param *);
+int     sched_yield(void);
+
+#define SCHED_OTHER 0
+#define SCHED_FIFO 1
+#define SCHED_RR 2
+#define SCHED_BATCH 3
+#define SCHED_IDLE 5
+#define SCHED_DEADLINE 6
+#define SCHED_RESET_ON_FORK 0x40000000
+
+#ifdef _GNU_SOURCE
+#define CSIGNAL		0x000000ff
+#define CLONE_NEWTIME	0x00000080
+#define CLONE_VM	0x00000100
+#define CLONE_FS	0x00000200
+#define CLONE_FILES	0x00000400
+#define CLONE_SIGHAND	0x00000800
+#define CLONE_PIDFD	0x00001000
+#define CLONE_PTRACE	0x00002000
+#define CLONE_VFORK	0x00004000
+#define CLONE_PARENT	0x00008000
+#define CLONE_THREAD	0x00010000
+#define CLONE_NEWNS	0x00020000
+#define CLONE_SYSVSEM	0x00040000
+#define CLONE_SETTLS	0x00080000
+#define CLONE_PARENT_SETTID	0x00100000
+#define CLONE_CHILD_CLEARTID	0x00200000
+#define CLONE_DETACHED	0x00400000
+#define CLONE_UNTRACED	0x00800000
+#define CLONE_CHILD_SETTID	0x01000000
+#define CLONE_NEWCGROUP	0x02000000
+#define CLONE_NEWUTS	0x04000000
+#define CLONE_NEWIPC	0x08000000
+#define CLONE_NEWUSER	0x10000000
+#define CLONE_NEWPID	0x20000000
+#define CLONE_NEWNET	0x40000000
+#define CLONE_IO	0x80000000
+int clone (int (*)(void *), void *, int, void *, ...);
+int unshare(int);
+int setns(int, int);
+
+void *memcpy(void *__restrict, const void *__restrict, size_t);
+int memcmp(const void *, const void *, size_t);
+void *memset (void *, int, size_t);
+void *calloc(size_t, size_t);
+void free(void *);
+
+typedef struct cpu_set_t { unsigned long __bits[128/sizeof(long)]; } cpu_set_t;
+int __sched_cpucount(size_t, const cpu_set_t *);
+int sched_getcpu(void);
+int sched_getaffinity(pid_t, size_t, cpu_set_t *);
+int sched_setaffinity(pid_t, size_t, const cpu_set_t *);
+
+#define __CPU_op_S(i, size, set, op) ( (i)/8U >= (size) ? 0 : \
+	(((unsigned long *)(set))[(i)/8/sizeof(long)] op (1UL<<((i)%(8*sizeof(long))))) )
+
+#define CPU_SET_S(i, size, set) __CPU_op_S(i, size, set, |=)
+#define CPU_CLR_S(i, size, set) __CPU_op_S(i, size, set, &=~)
+#define CPU_ISSET_S(i, size, set) __CPU_op_S(i, size, set, &)
+
+#define __CPU_op_func_S(func, op) \
+static __inline void __CPU_##func##_S(size_t __size, cpu_set_t *__dest, \
+	const cpu_set_t *__src1, const cpu_set_t *__src2) \
+{ \
+	size_t __i; \
+	for (__i=0; __i<__size/sizeof(long); __i++) \
+		((unsigned long *)__dest)[__i] = ((unsigned long *)__src1)[__i] \
+			op ((unsigned long *)__src2)[__i] ; \
+}
+
+__CPU_op_func_S(AND, &)
+__CPU_op_func_S(OR, |)
+__CPU_op_func_S(XOR, ^)
+
+#define CPU_AND_S(a,b,c,d) __CPU_AND_S(a,b,c,d)
+#define CPU_OR_S(a,b,c,d) __CPU_OR_S(a,b,c,d)
+#define CPU_XOR_S(a,b,c,d) __CPU_XOR_S(a,b,c,d)
+
+#define CPU_COUNT_S(size,set) __sched_cpucount(size,set)
+#define CPU_ZERO_S(size,set) memset(set,0,size)
+#define CPU_EQUAL_S(size,set1,set2) (!memcmp(set1,set2,size))
+
+#define CPU_ALLOC_SIZE(n) (sizeof(long) * ( (n)/(8*sizeof(long)) \
+	+ ((n)%(8*sizeof(long)) + 8*sizeof(long)-1)/(8*sizeof(long)) ) )
+#define CPU_ALLOC(n) ((cpu_set_t *)calloc(1,CPU_ALLOC_SIZE(n)))
+#define CPU_FREE(set) free(set)
+
+#define CPU_SETSIZE 128
+
+#define CPU_SET(i, set) CPU_SET_S(i,sizeof(cpu_set_t),set)
+#define CPU_CLR(i, set) CPU_CLR_S(i,sizeof(cpu_set_t),set)
+#define CPU_ISSET(i, set) CPU_ISSET_S(i,sizeof(cpu_set_t),set)
+#define CPU_AND(d,s1,s2) CPU_AND_S(sizeof(cpu_set_t),d,s1,s2)
+#define CPU_OR(d,s1,s2) CPU_OR_S(sizeof(cpu_set_t),d,s1,s2)
+#define CPU_XOR(d,s1,s2) CPU_XOR_S(sizeof(cpu_set_t),d,s1,s2)
+#define CPU_COUNT(set) CPU_COUNT_S(sizeof(cpu_set_t),set)
+#define CPU_ZERO(set) CPU_ZERO_S(sizeof(cpu_set_t),set)
+#define CPU_EQUAL(s1,s2) CPU_EQUAL_S(sizeof(cpu_set_t),s1,s2)
+
+#endif
+
+#if _REDIR_TIME64
+__REDIR(sched_rr_get_interval, __sched_rr_get_interval_time64);
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+#endif

porting/liteos_a/user/src/internal/pthread_impl.h

@@ -83,6 +83,9 @@ enum {
 #define _a_sched __u.__i[3*__SU+1]
 #define _a_policy __u.__i[3*__SU+2]
 #define _a_prio __u.__i[3*__SU+3]
+#define _a_runtime __u.__i[3*__SU+3]
+#define _a_deadline __u.__i[3*__SU+4]
+#define _a_period __u.__i[3*__SU+5]
 #define _m_type __u.__i[0]
 #define _m_lock __u.__vi[1]
 #define _m_waiters __u.__vi[2]

porting/liteos_a/user/src/sched/sched_getparam.c

@@ -13,12 +13,7 @@ int sched_getparam(pid_t pid, struct sched_param *param)
 	}
 
 	memset(param, 0, sizeof(struct sched_param));
-	r = __syscall(SYS_sched_getparam, pid, MUSL_TYPE_PROCESS);
-	if (r >= 0) {
-		param->sched_priority = r;
-		r = 0;
-	}
-
+	r = __syscall(SYS_sched_getparam, pid, param, MUSL_TYPE_PROCESS);
 exit:
 	return __syscall_ret(r);
 }

porting/liteos_a/user/src/sched/sched_setparam.c

@@ -11,8 +11,7 @@ int sched_setparam(pid_t pid, const struct sched_param *param)
 		goto exit;
 	}
 
-	r = __syscall(SYS_sched_setparam, pid, param->sched_priority, MUSL_TYPE_PROCESS);
-
+	r = __syscall(SYS_sched_setparam, pid, param, MUSL_TYPE_PROCESS);
 exit:
 	return __syscall_ret(r);
 }

porting/liteos_a/user/src/sched/sched_setscheduler.c

@@ -11,8 +11,7 @@ int sched_setscheduler(pid_t pid, int sched, const struct sched_param *param)
 		goto exit;
 	}
 
-	r = __syscall(SYS_sched_setscheduler, pid, sched, param->sched_priority, MUSL_TYPE_PROCESS);
-
+	r = __syscall(SYS_sched_setscheduler, pid, sched, param, MUSL_TYPE_PROCESS);
 exit:
 	return __syscall_ret(r);
 }

porting/liteos_a/user/src/thread/pthread_attr_setschedparam.c

@@ -2,10 +2,12 @@
 
 int pthread_attr_setschedparam(pthread_attr_t *restrict a, const struct sched_param *restrict param)
 {
-	if (param->sched_priority < 0 || param->sched_priority > PTHREAD_PRIORITY_LOWEST) {
-		return EINVAL;
-	}
-
-	a->_a_prio = param->sched_priority;
-	return 0;
+    if ((a->_a_policy == SCHED_RR || a->_a_policy == SCHED_FIFO) &&
+        (param->sched_priority < 0 || param->sched_priority > PTHREAD_PRIORITY_LOWEST)) {
+        return EINVAL;
+    }
+    a->_a_prio = param->sched_priority;
+    a->_a_deadline = param->sched_deadline;
+    a->_a_period = param->sched_period;
+    return 0;
 }

porting/liteos_a/user/src/thread/pthread_attr_setschedpolicy.c

@@ -2,10 +2,9 @@
 
 int pthread_attr_setschedpolicy(pthread_attr_t *a, int policy)
 {
-	if (policy != SCHED_RR && policy != SCHED_FIFO) {
+	if (policy != SCHED_RR && policy != SCHED_FIFO && policy != SCHED_DEADLINE) {
 		return EINVAL;
 	}
-
 	a->_a_policy = policy;
 	return 0;
 }

porting/liteos_a/user/src/thread/pthread_create.c

@@ -217,8 +217,8 @@ weak_alias(dummy_tsd, __pthread_tsd_main);
 
 int __pthread_init_and_check_attr(const pthread_attr_t *restrict attrp, pthread_attr_t *attr)
 {
-	int policy = 0;
-	struct sched_param param = { 0 };
+ 	int policy = 0;
+	struct sched_param param = {0};
 	int c11 = (attrp == __ATTRP_C11_THREAD);
 	int ret;
 
@@ -233,14 +233,8 @@ int __pthread_init_and_check_attr(const pthread_attr_t *restrict attrp, pthread_
 		if (ret) return ret;
 		attr->_a_policy = policy;
 		attr->_a_prio = param.sched_priority;
-	}
-
-	if (attr->_a_policy != SCHED_RR && attr->_a_policy != SCHED_FIFO) {
-		return EINVAL;
-	}
-
-	if (attr->_a_prio < 0 || attr->_a_prio > PTHREAD_PRIORITY_LOWEST) {
-		return EINVAL;
+		attr->_a_deadline = param.sched_deadline;
+		attr->_a_period = param.sched_period;
 	}
 
 	return 0;
@@ -372,7 +366,7 @@ int __pthread_create(pthread_t *restrict res, const pthread_attr_t *restrict att
 		__restore_sigs(&set);
 		__release_ptc();
 		ret = __syscall(SYS_sched_setscheduler,
-			new->tid, attr._a_policy, attr._a_prio, MUSL_TYPE_THREAD);
+			new->tid, attr._a_policy, &attr._a_prio, MUSL_TYPE_THREAD);
 	}
 
 	if (ret < 0) {

porting/liteos_a/user/src/thread/pthread_getschedparam.c

@@ -10,9 +10,8 @@ int pthread_getschedparam(pthread_t t, int *restrict policy, struct sched_param
 	if (!t->tid) {
 		r = ESRCH;
 	} else {
-		r = __syscall(SYS_sched_getparam, t->tid, MUSL_TYPE_THREAD);
+		r = __syscall(SYS_sched_getparam, t->tid, param, MUSL_TYPE_THREAD);
 		if (r >= 0) {
-			param->sched_priority = r;
 			r = __syscall(SYS_sched_getscheduler, t->tid, MUSL_TYPE_THREAD);
 			if (r >= 0) {
 				*policy = r;

porting/liteos_a/user/src/thread/pthread_setschedparam.c

@@ -4,19 +4,10 @@
 int pthread_setschedparam(pthread_t t, int policy, const struct sched_param *param)
 {
 	int r;
-
-	if (policy != SCHED_RR && policy != SCHED_FIFO) {
-		return EINVAL;
-	}
-
-	if (param->sched_priority < 0 || param->sched_priority > PTHREAD_PRIORITY_LOWEST) {
-		return EINVAL;
-	}
-
 	sigset_t set;
 	__block_app_sigs(&set);
 	LOCK(t->killlock);
-	r = !t->tid ? ESRCH : -__syscall(SYS_sched_setscheduler, t->tid, policy, param->sched_priority, MUSL_TYPE_THREAD);
+	r = !t->tid ? ESRCH : -__syscall(SYS_sched_setscheduler, t->tid, policy, param, MUSL_TYPE_THREAD);
 	UNLOCK(t->killlock);
 	__restore_sigs(&set);
 	return r;

porting/liteos_a/user/src/thread/pthread_setschedprio.c

@@ -4,15 +4,14 @@
 int pthread_setschedprio(pthread_t t, int prio)
 {
 	int r;
-
-	if (prio < 0 || prio > PTHREAD_PRIORITY_LOWEST) {
-		return EINVAL;
-	}
+	struct sched_param param = {
+		.sched_priority = prio,
+	};
 
 	sigset_t set;
 	__block_app_sigs(&set);
 	LOCK(t->killlock);
-	r = !t->tid ? ESRCH : -__syscall(SYS_sched_setparam, t->tid, prio, MUSL_TYPE_THREAD);
+	r = !t->tid ? ESRCH : -__syscall(SYS_sched_setparam, t->tid, &param, MUSL_TYPE_THREAD);
 	UNLOCK(t->killlock);
 	__restore_sigs(&set);
 	return r;