yushuailong opened a new pull request, #19977:
URL: https://github.com/apache/nuttx/pull/19977
## Summary
nxsched_stop_sporadic() freed tcb->sporadic but left TCB_FLAG_SCHED_SPORADIC
set in tcb->flags. On thread exit, nxtask_recover() calls
nxsched_stop_sporadic() and the final context switch in up_exit() then sees the
stale SPORADIC policy flag and calls nxsched_suspend_sporadic() on a TCB whose
sporadic state is already freed, tripping DEBUGASSERT(tcb->sporadic) and
hanging the system (reproduced by ostest sporadic_test on sim, present on
master).
Clear the policy bits inside nxsched_stop_sporadic() so every caller leaves
the TCB in a consistent state.
## Impact
Bug fix only; no new feature, no api change.
## Testing
Built and ran `sim:ostest` with `CONFIG_SCHED_SPORADIC=y`,
`CONFIG_SCHED_SPORADIC_MAXREPL=8`, `CONFIG_TESTING_OSTEST_LOOPS=1`.
Host: macOS 15, arm64
1. Before the fix
`sporadic_test()` reliably crashes ~37s in, right after
`pthread_cancel(sporadic_thread)`:
```
user_main: sporadic scheduler test
sporadic_test: Starting sporadic thread at priority 192 (hi) 64 (lo)
0 SPORADIC: 0->192
... priority alternates 192 <-> 64 for the full 37s ...
37 SPORADIC: 192->192
dump_assert_info: Current Version: NuttX 13.0.1 87db6b21f8-dirty sim
dump_assert_info: Assertion failed : at file:
/sched/sched/sched_sporadic.c:1131 task: Idle_Task
dump_tasks: PID GROUP PRI POLICY TYPE NPX STATE EVENT
dump_task: 0 0 0 FIFO Kthread - Ready Idle_Task
dump_task: 4 4 100 FIFO Task - Waiting Signal
ostest_main
dump_task: 5 5 194 FIFO Task - Waiting Mutex:281 ostest
dump_task: 281 -1 194 SPORADIC pthread P Inactive ostest
```
Note PID 281 is already Inactive but still carries the SPORADIC
policy: `tcb->sporadic` was freed by `nxsched_stop_sporadic()` via
`nxtask_recover()` while `TCB_FLAG_SCHED_SPORADIC` remained set.
2. After the fix
Same test, same configuration: no assertion. The sporadic thread
exits cleanly, priority scheduling is unaffected (identical 192 <-> 64
alternation across the whole test window), and the former crash site
is gone.
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