[kernel] add rt_thread_close()

* [thread] Add rt_thread_close()

This patch introduces a new function `rt_thread_close()` to enhances the
usability and maintainability by providing a dedicated mechanism for
closing threads.

- A new function `rt_thread_close()` is added to the API, providing a
  standardized approach for closing threads.
- The `rt_thread_close()` function removes a thread from the thread
  queue, updates its status to indicate closure, and performs the thread
  timer detaching which is a embedded timer in thread object.
- Additionally, the `rt_thread_detach()` function is modified to utilize
  `rt_thread_close()` internally, streamlining the thread detachment
  process.

Signed-off-by: Shell <smokewood@qq.com>

components/libc/posix/libdl/dlmodule.c

@@ -202,19 +202,11 @@ void dlmodule_destroy_subthread(struct rt_dlmodule *module, rt_thread_t thread)
     /* lock scheduler to prevent scheduling in cleanup function. */
     rt_enter_critical();
 
-    /* remove thread from thread_list (ready or defunct thread list) */
+    rt_thread_close(thread);
+
+    /* remove thread from thread_list (defunct thread list) */
     rt_list_remove(&RT_THREAD_LIST_NODE(thread));
 
-    if ((thread->stat & RT_THREAD_STAT_MASK) != RT_THREAD_CLOSE &&
-        (thread->thread_timer.parent.type == (RT_Object_Class_Static | RT_Object_Class_Timer)))
-    {
-        /* release thread timer */
-        rt_timer_detach(&(thread->thread_timer));
-    }
-
-    /* change stat */
-    thread->stat = RT_THREAD_CLOSE;
-
     /* invoke thread cleanup */
     if (thread->cleanup != RT_NULL)
         thread->cleanup(thread);

include/rtthread.h

@@ -160,6 +160,7 @@ rt_thread_t rt_thread_create(const char *name,
                              rt_uint8_t  priority,
                              rt_uint32_t tick);
 rt_err_t rt_thread_delete(rt_thread_t thread);
+rt_err_t rt_thread_close(rt_thread_t thread);
 #endif /* RT_USING_HEAP */
 rt_thread_t rt_thread_self(void);
 rt_thread_t rt_thread_find(char *name);

src/thread.c

@@ -79,25 +79,14 @@ RT_OBJECT_HOOKLIST_DEFINE(rt_thread_inited);
 static void _thread_exit(void)
 {
     struct rt_thread *thread;
-    rt_sched_lock_level_t slvl;
     rt_base_t critical_level;
 
     /* get current thread */
     thread = rt_thread_self();
 
     critical_level = rt_enter_critical();
-    rt_sched_lock(&slvl);
 
-    /* remove from schedule */
+    rt_thread_close(thread);
-    rt_sched_remove_thread(thread);
-
-    /* remove it from timer list */
-    rt_timer_detach(&thread->thread_timer);
-
-    /* change stat */
-    rt_sched_thread_close(thread);
-
-    rt_sched_unlock(slvl);
 
     /* insert to defunct thread list */
     rt_thread_defunct_enqueue(thread);
@@ -410,6 +399,52 @@ rt_err_t rt_thread_startup(rt_thread_t thread)
 }
 RTM_EXPORT(rt_thread_startup);
 
+/**
+ * @brief   This function will close a thread. The thread object will be removed from
+ *          thread queue and detached/deleted from the system object management.
+ *          It's different from rt_thread_delete or rt_thread_detach that this will not enqueue
+ *          the closing thread to cleanup queue.
+ *
+ * @param   thread is the thread to be closed.
+ *
+ * @return  Return the operation status. If the return value is RT_EOK, the function is successfully executed.
+ *          If the return value is any other values, it means this operation failed.
+ */
+rt_err_t rt_thread_close(rt_thread_t thread)
+{
+    rt_sched_lock_level_t slvl;
+    rt_uint8_t thread_status;
+
+    /* forbid scheduling on current core if closing current thread */
+    RT_ASSERT(thread != rt_thread_self() || rt_critical_level());
+
+    /* before checking status of scheduler */
+    rt_sched_lock(&slvl);
+
+    /* check if thread is already closed */
+    thread_status = rt_sched_thread_get_stat(thread);
+    if (thread_status != RT_THREAD_CLOSE)
+    {
+        if (thread_status != RT_THREAD_INIT)
+        {
+            /* remove from schedule */
+            rt_sched_remove_thread(thread);
+        }
+
+        /* release thread timer */
+        rt_timer_detach(&(thread->thread_timer));
+
+        /* change stat */
+        rt_sched_thread_close(thread);
+    }
+
+    /* scheduler works are done */
+    rt_sched_unlock(slvl);
+
+    return RT_EOK;
+}
+RTM_EXPORT(rt_thread_close);
+
 static rt_err_t _thread_detach(rt_thread_t thread);
 
 /**
@@ -435,8 +470,6 @@ RTM_EXPORT(rt_thread_detach);
 static rt_err_t _thread_detach(rt_thread_t thread)
 {
     rt_err_t error;
-    rt_sched_lock_level_t slvl;
-    rt_uint8_t thread_status;
     rt_base_t critical_level;
 
     /**
@@ -445,43 +478,13 @@ static rt_err_t _thread_detach(rt_thread_t thread)
      */
     critical_level = rt_enter_critical();
 
-    /* before checking status of scheduler */
+    error = rt_thread_close(thread);
-    rt_sched_lock(&slvl);
-
-    /* check if thread is already closed */
-    thread_status = rt_sched_thread_get_stat(thread);
-    if (thread_status != RT_THREAD_CLOSE)
-    {
-        if (thread_status != RT_THREAD_INIT)
-        {
-            /* remove from schedule */
-            rt_sched_remove_thread(thread);
-        }
-
-        /* release thread timer */
-        rt_timer_detach(&(thread->thread_timer));
-
-        /* change stat */
-        rt_sched_thread_close(thread);
-
-        /* scheduler works are done */
-        rt_sched_unlock(slvl);
 
     _thread_detach_from_mutex(thread);
 
     /* insert to defunct thread list */
     rt_thread_defunct_enqueue(thread);
 
-        error = RT_EOK;
-    }
-    else
-    {
-        rt_sched_unlock(slvl);
-
-        /* already closed */
-        error = RT_EOK;
-    }
-
     rt_exit_critical_safe(critical_level);
     return error;
 }