From 21304531a54bd79bb67dbccec2a800963ff02ca2 Mon Sep 17 00:00:00 2001
From: TXuian <1163589503@qq.com>
Date: Tue, 24 Dec 2024 01:01:54 +0800
Subject: [PATCH] Add schedule node midway

---
 .../cortex-a9/imx6q-sabrelite/trap_common.c   |   4 +-
 .../XiZi_AIoT/softkernel/include/ksemaphore.h |   2 +-
 .../XiZi_AIoT/softkernel/include/rbtree.h     |  10 ++
 .../XiZi_AIoT/softkernel/include/scheduler.h  |  48 +++++-
 .../XiZi_AIoT/softkernel/include/task.h       |  35 +---
 .../softkernel/syscall/sys_close_session.c    |   4 +-
 .../XiZi_AIoT/softkernel/syscall/sys_exit.c   |   4 +-
 .../softkernel/syscall/sys_poll_session.c     |   2 +-
 .../softkernel/syscall/sys_register_irq.c     |   8 +-
 .../XiZi_AIoT/softkernel/syscall/sys_sleep.c  |   9 +-
 .../XiZi_AIoT/softkernel/syscall/sys_thread.c |   2 +-
 .../softkernel/syscall/sys_wait_session.c     |   4 +-
 .../XiZi_AIoT/softkernel/syscall/sys_yield.c  |   2 +-
 .../XiZi_AIoT/softkernel/syscall/syscall.c    |   2 +-
 .../XiZi_AIoT/softkernel/task/schedule.c      | 154 ++++++++++++------
 .../XiZi_AIoT/softkernel/task/semaphore.c     |  26 ++-
 Ubiquitous/XiZi_AIoT/softkernel/task/task.c   | 125 ++++----------
 .../XiZi_AIoT/softkernel/tools/rbtree.c       |  25 ++-
 .../softkernel/trap/clock_irq_handler.c       |  34 ++--
 .../softkernel/trap/default_irq_handler.c     |   2 +-
 .../softkernel/trap/software_irq_handler.c    |   4 +-
 21 files changed, 269 insertions(+), 237 deletions(-)

diff --git a/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv7-a/cortex-a9/imx6q-sabrelite/trap_common.c b/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv7-a/cortex-a9/imx6q-sabrelite/trap_common.c
index f76b56719..51aab3bad 100644
--- a/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv7-a/cortex-a9/imx6q-sabrelite/trap_common.c
+++ b/Ubiquitous/XiZi_AIoT/hardkernel/intr/arm/armv7-a/cortex-a9/imx6q-sabrelite/trap_common.c
@@ -57,7 +57,7 @@ void panic(char* s)
 /* stack for different mode*/
 static char mode_stack_pages[NR_CPU][NR_MODE_STACKS][MODE_STACK_SIZE];
 extern uint32_t _vector_jumper;
-extern uint32_t _vector_start;
+extern uint32_t* _vector_start;
 extern uint32_t _vector_end;
 
 void init_cpu_mode_stacks(int cpu_id)
@@ -75,7 +75,7 @@ static void _sys_irq_init(int cpu_id)
     /* load exception vectors */
     init_cpu_mode_stacks(cpu_id);
     if (cpu_id == 0) {
-        volatile uint32_t* vector_base = &_vector_start;
+        volatile uint32_t* vector_base = (uint32_t*)&_vector_start;
 
         // Set Interrupt handler start address
         vector_base[1] = (uint32_t)trap_undefined_instruction; // Undefined Instruction
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/include/ksemaphore.h b/Ubiquitous/XiZi_AIoT/softkernel/include/ksemaphore.h
index d30e6732a..2e2c65dbb 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/include/ksemaphore.h
+++ b/Ubiquitous/XiZi_AIoT/softkernel/include/ksemaphore.h
@@ -41,7 +41,7 @@ struct ksemaphore {
     sem_id_t id;
     sem_val_t val;
     /* list of waiting threads */
-    struct double_list_node wait_list_guard;
+    RbtTree wait_thd_tree;
     /* list to manage semaphores */
     /// @todo Use RB-Tree to manage all semaphores
     struct double_list_node sem_list_node;
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/include/rbtree.h b/Ubiquitous/XiZi_AIoT/softkernel/include/rbtree.h
index 0ffbdbe16..f62bd3eae 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/include/rbtree.h
+++ b/Ubiquitous/XiZi_AIoT/softkernel/include/rbtree.h
@@ -5,6 +5,13 @@
 
 #include "actracer.h"
 
+#define RBTTREE_INSERT_SECC 0
+#define RBTTREE_INSERT_FAILED -1
+#define RBTTREE_INSERT_EXISTED -2
+
+#define RBTTREE_DELETE_SUCC 0
+#define RBTTREE_DELETE_FAILED -1
+
 // CLRS
 // Insertion and Deletion in a Red Black Tree
 enum rbt_type {
@@ -26,10 +33,13 @@ typedef struct RbtTree {
     int nr_ele;
 } RbtTree;
 
+typedef void(rbt_traverse_fn)(RbtNode* node);
+
 void rbtree_init(RbtTree* tree);
 int rbt_insert(RbtTree* tree, uintptr_t key, void* data);
 RbtNode* rbt_search(RbtTree* tree, uintptr_t key);
 int rbt_delete(RbtTree* tree, uintptr_t key);
+void rbt_traverse(RbtTree* tree, rbt_traverse_fn fn);
 
 void module_rbt_factory_init(TraceTag* _softkernel_tag);
 
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/include/scheduler.h b/Ubiquitous/XiZi_AIoT/softkernel/include/scheduler.h
index fbb3d03a9..45885d3ec 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/include/scheduler.h
+++ b/Ubiquitous/XiZi_AIoT/softkernel/include/scheduler.h
@@ -2,20 +2,52 @@
 #pragma once
 #include "actracer.h"
 #include "ksemaphore.h"
+#include "rbtree.h"
 
 #define TASK_MAX_PRIORITY 32
+#define UNINIT_SNODE_ID 0
+typedef uintptr_t snode_id_t;
+
+enum ThreadState {
+    INIT = 0,
+    READY,
+    RUNNING,
+    DEAD,
+    BLOCKED,
+    SLEEPING,
+    NEVER_RUN,
+    NR_STATE,
+};
+
+typedef struct ScheduleContext {
+    intptr_t remain_tick;
+} ScheduleContext;
+
+typedef struct TaskSleepContext {
+    int64_t remain_ms;
+} TaskSleepContext;
 
 struct ScheduleNode {
-    TraceTag task_ref;
-    struct double_list_node list_node;
+    struct Thread* pthd;
+    snode_id_t snode_id;
+    enum ThreadState state;
+
+    ScheduleContext sched_context;
+    TaskSleepContext sleep_context;
 };
 
 struct Scheduler {
     TraceTag tag;
-
-    struct double_list_node task_list_head[TASK_MAX_PRIORITY]; /* list of task control blocks that are allocated */
-    struct double_list_node task_running_list_head;
-    struct double_list_node task_blocked_list_head;
-    struct double_list_node task_sleep_list_head;
+    RbtTree snode_state_pool[NR_STATE];
     struct XiziSemaphorePool semaphore_pool;
-};
\ No newline at end of file
+};
+
+extern struct Scheduler g_scheduler;
+
+bool init_schedule_node(struct ScheduleNode* snode, struct Thread* bind_thd);
+
+bool task_trans_sched_state(struct ScheduleNode* snode, RbtTree* from_pool, RbtTree* to_pool, enum ThreadState target_state);
+void task_block(struct Thread* thd);
+void task_dead(struct Thread* thd);
+void task_yield(struct Thread* thd);
+void task_into_ready(struct Thread* thd);
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/include/task.h b/Ubiquitous/XiZi_AIoT/softkernel/include/task.h
index 977642f15..f7cc37c9f 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/include/task.h
+++ b/Ubiquitous/XiZi_AIoT/softkernel/include/task.h
@@ -41,22 +41,14 @@ Modification:
 #include "share_page.h"
 #include "spinlock.h"
 
+#include "scheduler.h"
+
 #define TASK_CLOCK_TICK 50
 #define TASK_MAX_PRIORITY 32
 #define TASK_DEFAULT_PRIORITY 2
 #define TASK_NAME_MAX_LEN 16
 #define SLEEP_MONITOR_CORE 0
 
-enum ProcState {
-    INIT = 0,
-    READY,
-    RUNNING,
-    DEAD,
-    BLOCKED,
-    SLEEPING,
-    NEVER_RUN,
-};
-
 /* Thread Control Block */
 struct ThreadContext {
     struct Thread* task; // process of current thread
@@ -75,10 +67,6 @@ struct ThreadContext {
     struct trapframe* trapframe;
 };
 
-struct TaskSleepContext {
-    int64_t remain_ms;
-};
-
 /* Process Control Block */
 struct Thread {
     /* task name */
@@ -107,12 +95,13 @@ struct Thread {
     bool advance_unblock; // @todo abandon
 
     /* task schedule attributes */
-    struct double_list_node node;
-    struct TaskSleepContext sleep_context;
-    enum ProcState state;
-    int priority; // priority
-    int remain_tick;
-    int maxium_tick;
+    // struct double_list_node node;
+    // struct TaskSleepContext sleep_context;
+    // enum ThreadState state;
+    // int priority; // priority
+    // int remain_tick;
+    // int maxium_tick;
+    struct ScheduleNode snode;
 };
 
 struct SchedulerRightGroup {
@@ -157,9 +146,6 @@ struct XiziTaskManager {
 
     /* init task manager */
     void (*init)();
-    /* init a task control block, set name, remain_tick, state, cwd, priority, etc. */
-    void (*task_set_default_schedule_attr)(struct Thread*);
-
     /* use by task_scheduler, find next READY task, should be in locked */
     struct Thread* (*next_runnable_task)(void);
     /* function that's runing by kernel thread context, schedule use tasks */
@@ -168,9 +154,6 @@ struct XiziTaskManager {
     /* handle task state */
     /* call to yield current use task */
     void (*task_yield_noschedule)(struct Thread* task, bool is_blocking);
-    /* block and unblock task */
-    void (*task_block)(struct double_list_node* head, struct Thread* task);
-    void (*task_unblock)(struct Thread* task);
     /* set task priority */
     void (*set_cur_task_priority)(int priority);
 };
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_close_session.c b/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_close_session.c
index 4ba31a83e..4823230dd 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_close_session.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_close_session.c
@@ -70,8 +70,8 @@ int sys_close_session(struct Thread* cur_task, struct Session* session)
             // @todo fix memory leak
         } else {
             assert(!queue_is_empty(&server_to_info->sessions_to_be_handle));
-            if (server_to_info->state == BLOCKED) {
-                xizi_task_manager.task_unblock(session_backend->server);
+            if (server_to_info->snode.state == BLOCKED) {
+                task_into_ready(session_backend->server);
             }
         }
     }
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_exit.c b/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_exit.c
index 4b9596de7..23bb257d6 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_exit.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_exit.c
@@ -41,11 +41,11 @@ int sys_exit(struct Thread* ptask)
     assert(ptask != NULL);
     ptask->dead = true;
     // free that task straightly if it's a blocked task
-    if (ptask->state == BLOCKED) {
+    if (ptask->snode.state == BLOCKED) {
         struct TaskLifecycleOperations* tlo = GetSysObject(struct TaskLifecycleOperations, &xizi_task_manager.task_lifecycle_ops_tag);
         tlo->free_pcb(ptask);
     }
     // yield current task in case it wants to exit itself
-    xizi_task_manager.task_yield_noschedule(cur_cpu()->task, false);
+    task_yield(cur_cpu()->task);
     return 0;
 }
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_poll_session.c b/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_poll_session.c
index 8f2f14e3f..691b1fffa 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_poll_session.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_poll_session.c
@@ -112,7 +112,7 @@ int sys_poll_session(struct Session* userland_session_arr, int arr_capacity)
     }
 
     if (queue_is_empty(&cur_task->sessions_in_handle) && queue_is_empty(&cur_task->sessions_to_be_handle)) {
-        xizi_task_manager.task_yield_noschedule(cur_task, false);
+        task_yield(cur_task);
         // @todo support blocking(now bug at 4 cores running)
         // xizi_task_manager.task_block(&xizi_task_manager.task_blocked_list_head, cur_task);
     }
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_register_irq.c b/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_register_irq.c
index c0260db1f..1eaca105d 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_register_irq.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_register_irq.c
@@ -76,8 +76,8 @@ static void send_irq_to_user(int irq_num)
         buf->header.magic = IPC_MSG_MAGIC;
         buf->header.valid = 1;
 
-        if (irq_forward_table[irq_num].handle_task->state == BLOCKED) {
-            xizi_task_manager.task_unblock(irq_forward_table[irq_num].handle_task);
+        if (irq_forward_table[irq_num].handle_task->snode.state == BLOCKED) {
+            task_into_ready(irq_forward_table[irq_num].handle_task);
         }
 
         /* add session head */
@@ -92,7 +92,7 @@ int user_irq_handler(int irq, void* tf, void* arg)
 
         next_task_emergency = irq_forward_table[irq].handle_task;
         if (cur_cpu()->task != NULL) {
-            xizi_task_manager.task_yield_noschedule(cur_cpu()->task, false);
+            task_yield(cur_cpu()->task);
         }
     }
     return 0;
@@ -126,7 +126,7 @@ int sys_register_irq(int irq_num, int irq_opcode)
 
         struct TaskLifecycleOperations* tlo = GetSysObject(struct TaskLifecycleOperations, &xizi_task_manager.task_lifecycle_ops_tag);
         kernel_irq_proxy = tlo->new_thread(pmemspace);
-        kernel_irq_proxy->state = NEVER_RUN;
+        kernel_irq_proxy->snode.state = NEVER_RUN;
     }
 
     // bind irq to session
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_sleep.c b/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_sleep.c
index bce382597..3ba6bbc80 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_sleep.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_sleep.c
@@ -36,10 +36,11 @@ Modification:
 int sys_sleep(intptr_t ms)
 {
     struct Thread* cur_task = cur_cpu()->task;
-    xizi_task_manager.task_yield_noschedule(cur_task, false);
-    xizi_task_manager.task_block(&xizi_task_manager.task_sleep_list_head, cur_task);
-    cur_task->state = SLEEPING;
-    cur_task->sleep_context.remain_ms = ms;
+    task_yield(cur_task);
+    cur_task->snode.sleep_context.remain_ms = ms;
+    task_trans_sched_state(&cur_task->snode, //
+        &g_scheduler.snode_state_pool[READY], //
+        &g_scheduler.snode_state_pool[SLEEPING], SLEEPING);
 
     return 0;
 }
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_thread.c b/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_thread.c
index 533e06f10..25a372c0c 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_thread.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_thread.c
@@ -64,7 +64,7 @@ int sys_new_thread(struct MemSpace* pmemspace, struct Thread* task, uintptr_t en
     strncpy(task->name, last, sizeof(task->name) - 1);
 
     // init pcb schedule attributes
-    xizi_task_manager.task_set_default_schedule_attr(task);
+    task_into_ready(task);
 
     // thread init done by here
     if (pmemspace->thread_to_notify == NULL) {
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_wait_session.c b/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_wait_session.c
index 0eea989a8..4108e180c 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_wait_session.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_wait_session.c
@@ -60,8 +60,8 @@ int sys_wait_session(struct Session* userland_session)
     assert(!queue_is_empty(&server_to_call->sessions_to_be_handle));
 
     ksemaphore_wait(&xizi_task_manager.semaphore_pool, cur_task, session_backend->client_sem_to_wait);
-    if (server_to_call->state == BLOCKED) {
-        xizi_task_manager.task_unblock(session_backend->server);
+    if (server_to_call->snode.state == BLOCKED) {
+        task_into_ready(session_backend->server);
     }
 
     return 0;
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_yield.c b/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_yield.c
index 1cc2689a1..fe4f128ee 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_yield.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/syscall/sys_yield.c
@@ -36,6 +36,6 @@ Modification:
 int sys_yield(task_yield_reason reason)
 {
     struct Thread* cur_task = cur_cpu()->task;
-    xizi_task_manager.task_yield_noschedule(cur_task, false);
+    task_yield(cur_task);
     return 0;
 }
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/syscall/syscall.c b/Ubiquitous/XiZi_AIoT/softkernel/syscall/syscall.c
index a0e2291e2..76135f24c 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/syscall/syscall.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/syscall/syscall.c
@@ -39,7 +39,7 @@ int syscall(int sys_num, uintptr_t param1, uintptr_t param2, uintptr_t param3, u
 
     switch (sys_num) {
     case SYSCALL_TEST:
-        ret = arch_curr_tick();
+        ret = 0;
         break;
     case SYSCALL_SPAWN:
         ret = sys_spawn((char*)param1, (char*)param2, (char**)param3);
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/task/schedule.c b/Ubiquitous/XiZi_AIoT/softkernel/task/schedule.c
index 13b85c62b..4b926891d 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/task/schedule.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/task/schedule.c
@@ -33,65 +33,123 @@ Modification:
 struct Thread* max_priority_runnable_task(void)
 {
     static struct Thread* task = NULL;
-    static int priority = 0;
+    // static int priority = 0;
 
-    priority = __builtin_ffs(ready_task_priority) - 1;
-    if (priority > 31 || priority < 0) {
-        return NULL;
-    }
+    // priority = __builtin_ffs(ready_task_priority) - 1;
+    // if (priority > 31 || priority < 0) {
+    //     return NULL;
+    // }
 
-    DOUBLE_LIST_FOR_EACH_ENTRY(task, &xizi_task_manager.task_list_head[priority], node)
-    {
-        assert(task != NULL);
-        if (task->state == READY && !task->dead) {
-            // found a runnable task, stop this look up
-            return task;
-        } else if (task->dead && task->state != RUNNING) {
+    // DOUBLE_LIST_FOR_EACH_ENTRY(task, &xizi_task_manager.task_list_head[priority], node)
+    // {
+    //     assert(task != NULL);
+    //     if (task->state == READY && !task->dead) {
+    //         // found a runnable task, stop this look up
+    //         return task;
+    //     } else if (task->dead && task->state != RUNNING) {
 
-            struct TaskLifecycleOperations* tlo = GetSysObject(struct TaskLifecycleOperations, &xizi_task_manager.task_lifecycle_ops_tag);
-            tlo->free_pcb(task);
-            return NULL;
-        }
+    //         struct TaskLifecycleOperations* tlo = GetSysObject(struct TaskLifecycleOperations, &xizi_task_manager.task_lifecycle_ops_tag);
+    //         tlo->free_pcb(task);
+    //         return NULL;
+    //     }
+    // }
+    if (!rbt_is_empty(&g_scheduler.snode_state_pool[READY])) {
+        return ((struct ScheduleNode*)(g_scheduler.snode_state_pool[READY].root->data))->pthd;
     }
     return NULL;
 }
 
-struct Thread* round_robin_runnable_task(uint32_t priority)
+#include "multicores.h"
+#include "rbtree.h"
+#include "task.h"
+
+bool init_schedule_node(struct ScheduleNode* snode, struct Thread* bind_thd)
 {
-    struct Thread* task = NULL;
-
-    DOUBLE_LIST_FOR_EACH_ENTRY(task, &xizi_task_manager.task_list_head[priority], node)
-    {
-        if (task->state == READY && !task->dead) {
-            // found a runnable task, stop this look up
-            return task;
-        } else if (task->dead && task->state != RUNNING) {
-            struct TaskLifecycleOperations* tlo = GetSysObject(struct TaskLifecycleOperations, &xizi_task_manager.task_lifecycle_ops_tag);
-            tlo->free_pcb(task);
-            return NULL;
-        }
+    snode->pthd = bind_thd;
+    snode->snode_id = bind_thd->tid;
+    snode->sched_context.remain_tick = 0;
+    snode->sleep_context.remain_ms = 0;
+    snode->state = INIT;
+    if (RBTTREE_INSERT_SECC != rbt_insert(&g_scheduler.snode_state_pool[INIT], //
+            snode->snode_id, (void*)snode)) {
+        return false;
     }
-
-    return NULL;
+    return true;
 }
 
-/* recover task priority */
-void recover_priority(void)
+bool task_trans_sched_state(struct ScheduleNode* snode, RbtTree* from_pool, RbtTree* to_pool, enum ThreadState target_state)
 {
-    struct Thread* task = NULL;
-    for (int i = 1; i < TASK_MAX_PRIORITY; i++) {
-        if (i == TASK_DEFAULT_PRIORITY)
-            continue;
-        DOUBLE_LIST_FOR_EACH_ENTRY(task, &xizi_task_manager.task_list_head[i], node)
-        {
-            if (!IS_DOUBLE_LIST_EMPTY(&task->node)) {
-                // DEBUG("%s priority recover\n", task->name);
-                task->priority = TASK_DEFAULT_PRIORITY;
-                doubleListDel(&task->node);
-                doubleListAddOnBack(&task->node, &xizi_task_manager.task_list_head[task->priority]);
-                i--;
-                break;
-            }
-        }
+    assert(snode->snode_id != UNINIT_SNODE_ID && snode->pthd != NULL);
+    if (RBTTREE_DELETE_SUCC != rbt_delete(from_pool, snode->snode_id)) {
+        DEBUG("Thread %d not in from schedule pool\n", snode->pthd->tid);
+        return false;
     }
+
+    if (RBTTREE_INSERT_SECC != rbt_insert(to_pool, snode->snode_id, (void*)snode)) {
+        DEBUG("Thread %d trans state failed\n", snode->pthd->tid);
+        return false;
+    }
+
+    snode->state = target_state;
+    return true;
+}
+
+void task_dead(struct Thread* thd)
+{
+    assert(thd != NULL);
+    struct ScheduleNode* snode = &thd->snode;
+    enum ThreadState thd_cur_state = snode->state;
+
+    assert(snode->state == READY);
+
+    bool trans_res = task_trans_sched_state(snode, //
+        &g_scheduler.snode_state_pool[READY], //
+        &g_scheduler.snode_state_pool[DEAD], DEAD);
+    assert(trans_res = true);
+    return;
+}
+
+void task_block(struct Thread* thd)
+{
+    assert(thd != NULL);
+    struct ScheduleNode* snode = &thd->snode;
+    enum ThreadState thd_cur_state = snode->state;
+
+    assert(thd_cur_state != RUNNING);
+
+    bool trans_res = task_trans_sched_state(snode, //
+        &g_scheduler.snode_state_pool[thd_cur_state], //
+        &g_scheduler.snode_state_pool[BLOCKED], BLOCKED);
+    assert(trans_res = true);
+    return;
+}
+
+void task_into_ready(struct Thread* thd)
+{
+    assert(thd != NULL);
+    struct ScheduleNode* snode = &thd->snode;
+    enum ThreadState thd_cur_state = snode->state;
+
+    bool trans_res = task_trans_sched_state(snode, //
+        &g_scheduler.snode_state_pool[thd_cur_state], //
+        &g_scheduler.snode_state_pool[READY], READY);
+    snode->sched_context.remain_tick = TASK_CLOCK_TICK;
+    assert(trans_res = true);
+    return;
+}
+
+void task_yield(struct Thread* thd)
+{
+    assert(thd != NULL);
+    struct ScheduleNode* snode = &thd->snode;
+    enum ThreadState thd_cur_state = snode->state;
+
+    assert(thd == cur_cpu()->task && thd_cur_state == RUNNING);
+    cur_cpu()->task = NULL;
+
+    bool trans_res = task_trans_sched_state(snode, //
+        &g_scheduler.snode_state_pool[thd_cur_state], //
+        &g_scheduler.snode_state_pool[READY], READY);
+    assert(trans_res = true);
+    return;
 }
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/task/semaphore.c b/Ubiquitous/XiZi_AIoT/softkernel/task/semaphore.c
index fc1ed0e44..65d0626f9 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/task/semaphore.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/task/semaphore.c
@@ -58,7 +58,7 @@ sem_id_t ksemaphore_alloc(struct XiziSemaphorePool* sem_pool, sem_val_t val)
     }
     sem->val = val;
     doubleListNodeInit(&sem->sem_list_node);
-    doubleListNodeInit(&sem->wait_list_guard);
+    rbtree_init(&sem->wait_thd_tree);
 
     if (0 != rbt_insert(&sem_pool->sem_pool_map, sem->id, sem)) {
         slab_free(&sem_pool->allocator, sem);
@@ -88,7 +88,7 @@ bool ksemaphore_consume(struct XiziSemaphorePool* sem_pool, sem_id_t sem_id, sem
 bool ksemaphore_wait(struct XiziSemaphorePool* sem_pool, struct Thread* thd, sem_id_t sem_id)
 {
     assert(thd != NULL);
-    assert(thd->state == RUNNING);
+    assert(thd->snode.state == RUNNING);
     /* find sem */
     struct ksemaphore* sem = ksemaphore_get_by_id(sem_pool, sem_id);
     // invalid sem id
@@ -105,8 +105,9 @@ bool ksemaphore_wait(struct XiziSemaphorePool* sem_pool, struct Thread* thd, sem
 
     // waiting at the sem
     sem->val--;
-    xizi_task_manager.task_yield_noschedule(thd, false);
-    xizi_task_manager.task_block(&sem->wait_list_guard, thd);
+    task_yield(thd);
+    task_block(thd);
+    assert(RBTTREE_INSERT_SECC == rbt_insert(&sem->wait_thd_tree, thd->tid, thd));
     return true;
 }
 
@@ -120,12 +121,11 @@ bool ksemaphore_signal(struct XiziSemaphorePool* sem_pool, sem_id_t sem_id)
     }
 
     if (sem->val < 0) {
-        if (!IS_DOUBLE_LIST_EMPTY(&sem->wait_list_guard)) {
-            struct Thread* thd = CONTAINER_OF(sem->wait_list_guard.next, struct Thread, node);
-            assert(thd != NULL && thd->state == BLOCKED);
-            xizi_task_manager.task_unblock(thd);
-            // DEBUG("waking %s\n", thd->name);
-        }
+        assert(!rbt_is_empty(&sem->wait_thd_tree));
+        RbtNode* root = sem->wait_thd_tree.root;
+        struct Thread* thd = (struct Thread*)root->data;
+        rbt_delete(&sem->wait_thd_tree, root->key);
+        task_into_ready(thd);
     }
 
     sem->val++;
@@ -155,11 +155,7 @@ bool ksemaphore_free(struct XiziSemaphorePool* sem_pool, sem_id_t sem_id)
     }
 
     struct Thread* thd = NULL;
-    DOUBLE_LIST_FOR_EACH_ENTRY(thd, &sem->wait_list_guard, node)
-    {
-        assert(thd != NULL);
-        xizi_task_manager.task_unblock(thd);
-    }
+    // by design: no waking any waiting threads
 
     rbt_delete(&sem_pool->sem_pool_map, sem_id);
     doubleListDel(&sem->sem_list_node);
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/task/task.c b/Ubiquitous/XiZi_AIoT/softkernel/task/task.c
index 916ebc475..4b29d99ca 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/task/task.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/task/task.c
@@ -44,28 +44,9 @@ struct CPU global_cpus[NR_CPU];
 uint32_t ready_task_priority;
 
 struct GlobalTaskPool global_task_pool;
+struct Scheduler g_scheduler;
 extern struct TaskLifecycleOperations task_lifecycle_ops;
 
-static inline void task_node_leave_list(struct Thread* task)
-{
-    doubleListDel(&task->node);
-    if (IS_DOUBLE_LIST_EMPTY(&xizi_task_manager.task_list_head[task->priority])) {
-        ready_task_priority &= ~((uint32_t)1 << task->priority);
-    }
-}
-
-static inline void task_node_add_to_ready_list_head(struct Thread* task)
-{
-    doubleListAddOnHead(&task->node, &xizi_task_manager.task_list_head[task->priority]);
-    ready_task_priority |= ((uint32_t)1 << task->priority);
-}
-
-static inline void task_node_add_to_ready_list_back(struct Thread* task)
-{
-    doubleListAddOnBack(&task->node, &xizi_task_manager.task_list_head[task->priority]);
-    ready_task_priority |= ((uint32_t)1 << task->priority);
-}
-
 static void _task_manager_init()
 {
     assert(CreateResourceTag(&xizi_task_manager.task_lifecycle_ops_tag, &xizi_task_manager.tag, //
@@ -93,6 +74,14 @@ static void _task_manager_init()
     doubleListNodeInit(&global_task_pool.thd_listing_head);
     rbtree_init(&global_task_pool.thd_ref_map);
 
+    // scheduler
+    assert(CreateResourceTag(&g_scheduler.tag, &xizi_task_manager.tag, //
+        "GlobalScheduler", TRACER_SYSOBJECT, (void*)&g_scheduler));
+    semaphore_pool_init(&g_scheduler.semaphore_pool);
+    for (int pool_id = 0; pool_id < NR_STATE; pool_id++) {
+        rbtree_init(&g_scheduler.snode_state_pool[pool_id]);
+    }
+
     // tid pool
     xizi_task_manager.next_pid = 0;
 
@@ -125,8 +114,8 @@ int _task_return_sys_resources(struct Thread* ptask)
             // @todo fix memory leak
         } else {
             assert(!queue_is_empty(&server_to_info->sessions_to_be_handle));
-            if (server_to_info->state == BLOCKED) {
-                xizi_task_manager.task_unblock(session_backend->server);
+            if (server_to_info->snode.state == BLOCKED) {
+                task_into_ready(server_to_info);
             }
         }
     }
@@ -184,7 +173,7 @@ static void _free_thread(struct Thread* task)
     }
 
     // remove thread from used task list
-    task_node_leave_list(task);
+    task_dead(task);
 
     /* free memspace if needed to */
     if (task->memspace != NULL) {
@@ -196,8 +185,8 @@ static void _free_thread(struct Thread* task)
         // awake deamon in this memspace
         if (task->memspace->thread_to_notify != NULL) {
             if (task->memspace->thread_to_notify != task) {
-                if (task->memspace->thread_to_notify->state == BLOCKED) {
-                    xizi_task_manager.task_unblock(task->memspace->thread_to_notify);
+                if (task->memspace->thread_to_notify->snode.state == BLOCKED) {
+                    task_into_ready(task->memspace->thread_to_notify);
                 } else {
                     task->memspace->thread_to_notify->advance_unblock = true;
                 }
@@ -231,9 +220,17 @@ static struct Thread* _new_thread(struct MemSpace* pmemspace)
         return NULL;
     }
 
+    // [schedule related]
+    if (!init_schedule_node(&task->snode, task)) {
+        ERROR("Not enough memory\n");
+        slab_free(&xizi_task_manager.task_allocator, (void*)task);
+        return NULL;
+    }
+
     // alloc stack page for task
     if ((void*)(task->thread_context.kern_stack_addr = (uintptr_t)kalloc_by_ownership(pmemspace->kernspace_mem_usage.tag, USER_STACK_SIZE)) == NULL) {
         /* here inside, will no free memspace */
+        assert(RBTTREE_DELETE_SUCC == rbt_delete(&g_scheduler.snode_state_pool[INIT], task->snode.snode_id));
         slab_free(&xizi_task_manager.task_allocator, (void*)task);
         return NULL;
     }
@@ -279,7 +276,6 @@ static struct Thread* _new_thread(struct MemSpace* pmemspace)
     }
 
     // [name]
-    // [schedule related]
 
     return task;
 }
@@ -289,22 +285,12 @@ struct TaskLifecycleOperations task_lifecycle_ops = {
     .free_pcb = _free_thread,
 };
 
-static void _task_set_default_schedule_attr(struct Thread* task)
-{
-    task->remain_tick = TASK_CLOCK_TICK;
-    task->maxium_tick = TASK_CLOCK_TICK * 10;
-    task->dead = false;
-    task->state = READY;
-    task->priority = TASK_DEFAULT_PRIORITY;
-    task_node_add_to_ready_list_head(task);
-}
-
 static void task_state_set_running(struct Thread* task)
 {
-    assert(task != NULL && task->state == READY);
-    task->state = RUNNING;
-    task_node_leave_list(task);
-    doubleListAddOnHead(&task->node, &xizi_task_manager.task_running_list_head);
+    assert(task != NULL && task->snode.state == READY);
+    task_trans_sched_state(&task->snode, //
+        &g_scheduler.snode_state_pool[READY], //
+        &g_scheduler.snode_state_pool[RUNNING], RUNNING);
 }
 
 struct Thread* next_task_emergency = NULL;
@@ -319,7 +305,7 @@ static void _scheduler(struct SchedulerRightGroup right_group)
         next_task = NULL;
         /* find next runnable task */
         assert(cur_cpu()->task == NULL);
-        if (next_task_emergency != NULL && next_task_emergency->state == READY) {
+        if (next_task_emergency != NULL && next_task_emergency->snode.state == READY) {
             next_task = next_task_emergency;
         } else {
             next_task = xizi_task_manager.next_runnable_task();
@@ -340,76 +326,21 @@ static void _scheduler(struct SchedulerRightGroup right_group)
         assert(next_task->memspace->pgdir.pd_addr != NULL);
         p_mmu_driver->LoadPgdir((uintptr_t)V2P(next_task->memspace->pgdir.pd_addr));
         context_switch(&cpu->scheduler, next_task->thread_context.context);
-        assert(next_task->state != RUNNING);
+        assert(next_task->snode.state != RUNNING);
     }
 }
 
-static void _task_yield_noschedule(struct Thread* task, bool blocking)
-{
-    assert(task != NULL);
-    /// @warning only support current task yield now
-    assert(task == cur_cpu()->task && task->state == RUNNING);
-
-    // rearrage current task position
-    task_node_leave_list(task);
-    if (task->state == RUNNING) {
-        task->state = READY;
-    }
-    task->remain_tick = TASK_CLOCK_TICK;
-    cur_cpu()->task = NULL;
-    task_node_add_to_ready_list_back(task);
-}
-
-static void _task_block(struct double_list_node* head, struct Thread* task)
-{
-    assert(head != NULL);
-    assert(task != NULL);
-    assert(task->state != RUNNING);
-    task_node_leave_list(task);
-    task->state = BLOCKED;
-    doubleListAddOnHead(&task->node, head);
-}
-
-static void _task_unblock(struct Thread* task)
-{
-    assert(task != NULL);
-    assert(task->state == BLOCKED || task->state == SLEEPING);
-    task_node_leave_list(task);
-    task->state = READY;
-    task_node_add_to_ready_list_back(task);
-}
-
 /// @brief  @warning not tested function
 /// @param priority
 static void _set_cur_task_priority(int priority)
 {
-    if (priority < 0 || priority >= TASK_MAX_PRIORITY) {
-        ERROR("priority is invalid\n");
-        return;
-    }
-
-    struct Thread* current_task = cur_cpu()->task;
-    assert(current_task != NULL && current_task->state == RUNNING);
-
-    task_node_leave_list(current_task);
-
-    current_task->priority = priority;
-
-    task_node_add_to_ready_list_back(current_task);
-
     return;
 }
 
 struct XiziTaskManager xizi_task_manager = {
     .init = _task_manager_init,
-    .task_set_default_schedule_attr = _task_set_default_schedule_attr,
-
     .next_runnable_task = max_priority_runnable_task,
     .task_scheduler = _scheduler,
-
-    .task_block = _task_block,
-    .task_unblock = _task_unblock,
-    .task_yield_noschedule = _task_yield_noschedule,
     .set_cur_task_priority = _set_cur_task_priority
 };
 
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/tools/rbtree.c b/Ubiquitous/XiZi_AIoT/softkernel/tools/rbtree.c
index b194882bb..14430e1b8 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/tools/rbtree.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/tools/rbtree.c
@@ -326,20 +326,20 @@ RbtNode* __rbtree_insert(RbtNode* node, RbtTree* tree)
 int rbt_insert(RbtTree* tree, uintptr_t key, void* data)
 {
     if (rbt_search(tree, key) != NULL) {
-        return -2;
+        return RBTTREE_INSERT_EXISTED;
     }
 
     RbtNode* node = rbtree_createnode(key, data);
     RbtNode* samenode = NULL;
     if (node == NULL)
-        return -1;
+        return RBTTREE_INSERT_FAILED;
     else
         samenode = __rbtree_insert(node, tree);
 
     assert(samenode == NULL);
 
     tree->nr_ele++;
-    return 0;
+    return RBTTREE_INSERT_SECC;
 }
 
 void replace_node(RbtTree* t, RbtNode* oldn, RbtNode* newn)
@@ -455,7 +455,7 @@ int rbt_delete(RbtTree* tree, uintptr_t key)
 {
     RbtNode* node = do_lookup(key, tree, NULL);
     if (node == NULL)
-        return -1;
+        return RBTTREE_DELETE_FAILED;
     else
         __rbtree_remove(node, tree);
 
@@ -463,5 +463,20 @@ int rbt_delete(RbtTree* tree, uintptr_t key)
     if (rbt_is_empty(tree)) {
         assert(tree->root == NULL);
     }
-    return 0;
+    return RBTTREE_DELETE_SUCC;
+}
+
+void rbt_traverse_inner(RbtNode* node, rbt_traverse_fn fn)
+{
+    if (node == NULL) {
+        return;
+    }
+    fn(node);
+    rbt_traverse_inner(node->left, fn);
+    rbt_traverse_inner(node->right, fn);
+}
+
+void rbt_traverse(RbtTree* tree, rbt_traverse_fn fn)
+{
+    rbt_traverse_inner(tree->root, fn);
 }
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/trap/clock_irq_handler.c b/Ubiquitous/XiZi_AIoT/softkernel/trap/clock_irq_handler.c
index 937e4b219..c22faad7f 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/trap/clock_irq_handler.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/trap/clock_irq_handler.c
@@ -62,6 +62,11 @@ void hw_current_second(uintptr_t* second)
     *second = p_clock_driver->get_second();
 }
 
+void count_down_sleeping_task(RbtNode* node)
+{
+    /// @todo implement
+}
+
 uint64_t global_tick = 0;
 int xizi_clock_handler(int irq, void* tf, void* arg)
 {
@@ -73,24 +78,25 @@ int xizi_clock_handler(int irq, void* tf, void* arg)
         // handle current thread
         struct Thread* current_task = cur_cpu()->task;
         if (current_task) {
-            current_task->remain_tick--;
-            current_task->maxium_tick--;
-            if (current_task->remain_tick == 0) {
-                xizi_task_manager.task_yield_noschedule(current_task, false);
+            struct ScheduleNode* snode = &current_task->snode;
+            snode->sched_context.remain_tick--;
+            if (snode->sched_context.remain_tick == 0) {
+                task_into_ready(current_task);
             }
         }
 
         // todo: cpu 0 will handle sleeping thread
-        struct Thread* thread = NULL;
-        DOUBLE_LIST_FOR_EACH_ENTRY(thread, &xizi_task_manager.task_sleep_list_head, node)
-        {
-            assert(thread->state == SLEEPING);
-            thread->sleep_context.remain_ms--;
-            if (thread->sleep_context.remain_ms <= 0) {
-                xizi_task_manager.task_unblock(thread);
-                break;
-            }
-        }
+        rbt_traverse(&g_scheduler.snode_state_pool[SLEEPING], count_down_sleeping_task);
+
+        // DOUBLE_LIST_FOR_EACH_ENTRY(thread, &xizi_task_manager.task_sleep_list_head, node)
+        // {
+        //     assert(thread->state == SLEEPING);
+        //     thread->sleep_context.remain_ms--;
+        //     if (thread->sleep_context.remain_ms <= 0) {
+        //         xizi_task_manager.task_unblock(thread);
+        //         break;
+        //     }
+        // }
     }
     return 0;
 }
\ No newline at end of file
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/trap/default_irq_handler.c b/Ubiquitous/XiZi_AIoT/softkernel/trap/default_irq_handler.c
index baa3ae2de..64053ed80 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/trap/default_irq_handler.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/trap/default_irq_handler.c
@@ -84,7 +84,7 @@ void intr_irq_dispatch(struct trapframe* tf)
     // finish irq.
     p_intr_driver->hw_after_irq(int_info);
 
-    if (cur_cpu()->task == NULL || current_task->state != RUNNING) {
+    if (cur_cpu()->task == NULL || current_task->snode.state != RUNNING) {
         cur_cpu()->task = NULL;
         context_switch(&current_task->thread_context.context, cur_cpu()->scheduler);
     }
diff --git a/Ubiquitous/XiZi_AIoT/softkernel/trap/software_irq_handler.c b/Ubiquitous/XiZi_AIoT/softkernel/trap/software_irq_handler.c
index 25c4bd1de..62422e9e0 100644
--- a/Ubiquitous/XiZi_AIoT/softkernel/trap/software_irq_handler.c
+++ b/Ubiquitous/XiZi_AIoT/softkernel/trap/software_irq_handler.c
@@ -56,7 +56,7 @@ void software_irq_dispatch(struct trapframe* tf)
     /// @todo: Handle dead task
 
     int syscall_num = -1;
-    if (cur_task && cur_task->state != DEAD) {
+    if (cur_task && cur_task->snode.state != DEAD) {
         cur_task->thread_context.trapframe = tf;
         // call syscall
 
@@ -64,7 +64,7 @@ void software_irq_dispatch(struct trapframe* tf)
         arch_set_return(tf, ret);
     }
 
-    if ((cur_cpu()->task == NULL && cur_task != NULL) || cur_task->state != RUNNING) {
+    if ((cur_cpu()->task == NULL && cur_task != NULL) || cur_task->snode.state != RUNNING) {
         cur_cpu()->task = NULL;
         context_switch(&cur_task->thread_context.context, cur_cpu()->scheduler);
     }