sched: task: Fix nxtask_exit() for SMP

Summary:
- During Wi-Fi audio streaming test, I found a deadlock in nxtask_exit()
- Actually, nxtask_exit() was called and tried to enter critical section
- In enter_critical_section(), there is a deadlock avoidance logic
- However, if switched to a new rtcb with irqcount=0, the logic did not work
- Because the 2nd critical section was treated as if it were the 1st one
- Actually, it tried to run the deadlock avoidance logic
- But nxtask_exit() was called with critical section (i.e. IRQ already disabled)
- So the logic did not work as expected because up_irq_restore() did not enable the IRQ.
- This commit fixes this issue by incrementing irqcount before calling nxtask_terminate()
- Also it adjusts g_cpu_irqlock and g_cpu_lockset

Impact:
- Affects SMP only

Testing:
- Tested with spresense:wifi_smp (smp, ostest, nxplayer, telnetd)
- Tested with sabre-6quad:smp with QEMU (smp, ostest)
- Tested with maix-bit:smp with QEMU (smp, ostest)
- Tested with esp32-core:smp with QEMU (smp, ostest)

Signed-off-by: Masayuki Ishikawa <Masayuki.Ishikawa@jp.sony.com>

sched/task/task_exit.c

@@ -28,6 +28,10 @@
 
 #include  "sched/sched.h"
 
+#ifdef CONFIG_SMP
+#  include "irq/irq.h"
+#endif
+
 #include "signal/signal.h"
 #include "task/task.h"
 
@@ -140,7 +144,36 @@ int nxtask_exit(void)
    */
 
   nxsched_add_blocked(dtcb, TSTATE_TASK_INACTIVE);
+
+#ifdef CONFIG_SMP
+  /* NOTE:
+   * During nxtask_terminate(), enter_critical_section() will be called
+   * to deallocate tcb. However, this would aquire g_cpu_irqlock if
+   * rtcb->irqcount = 0, event though we are in critical section.
+   * To prevent from aquiring, increment rtcb->irqcount here.
+   */
+
+  if (rtcb->irqcount == 0)
+    {
+      spin_setbit(&g_cpu_irqset, this_cpu(), &g_cpu_irqsetlock,
+                  &g_cpu_irqlock);
+    }
+
+  rtcb->irqcount++;
+#endif
+
   ret = nxtask_terminate(dtcb->pid, true);
+
+#ifdef CONFIG_SMP
+  rtcb->irqcount--;
+
+  if (rtcb->irqcount == 0)
+    {
+      spin_clrbit(&g_cpu_irqset, this_cpu(), &g_cpu_irqsetlock,
+                  &g_cpu_irqlock);
+    }
+#endif
+
   rtcb->task_state = TSTATE_TASK_RUNNING;
 
   /* Decrement the lockcount on rctb. */