When a high-priority thread is waiting for a mutex held by a
low-priority thread, it temporarily lends its priority to the
low-priority thread to prevent priority inversion. When the mutex
is released, the lent priority is revoked and the low-priority
thread goes back to its original priority.
When the priority of that thread is lowered (through a call to
sched_priority()), the schedule was not checking whether
there is now a high-priority thread in the run queue. This can
cause threads with real-time priority to be starved in the run
queue while the low-priority thread finishes its quantum.
Fix this by explicitly checking whether preemption is necessary
when a thread's priority is lowered.
Sponsored by: Dell EMC Isilon