496 lines
16 KiB
C
496 lines
16 KiB
C
/****************************************************************************
|
|
* include/nuttx/wqueue.h
|
|
*
|
|
* Copyright (C) 2009, 2011-2013 Gregory Nutt. All rights reserved.
|
|
* Author: Gregory Nutt <gnutt@nuttx.org>
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name NuttX nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#ifndef __INCLUDE_NUTTX_WQUEUE_H
|
|
#define __INCLUDE_NUTTX_WQUEUE_H
|
|
|
|
/****************************************************************************
|
|
* Included Files
|
|
****************************************************************************/
|
|
|
|
#include <nuttx/config.h>
|
|
|
|
#include <sys/types.h>
|
|
#include <stdint.h>
|
|
#include <signal.h>
|
|
#include <queue.h>
|
|
|
|
/****************************************************************************
|
|
* Pre-Processor Definitions
|
|
****************************************************************************/
|
|
/* Configuration ************************************************************/
|
|
/* CONFIG_SCHED_WORKQUEUE. Create a dedicated "worker" thread to
|
|
* handle delayed processing from interrupt handlers. This feature
|
|
* is required for some drivers but, if there are not complaints,
|
|
* can be safely disabled. The worker thread also performs
|
|
* garbage collection -- completing any delayed memory deallocations
|
|
* from interrupt handlers. If the worker thread is disabled,
|
|
* then that clean will be performed by the IDLE thread instead
|
|
* (which runs at the lowest of priority and may not be appropriate
|
|
* if memory reclamation is of high priority). If CONFIG_SCHED_WORKQUEUE
|
|
* is enabled, then the following options can also be used:
|
|
* CONFIG_SCHED_HPWORK - Build the high priority work queue. To preserve
|
|
* legacy behavior, CONFIG_SCHED_HPWORK is assumed to be true in a flat
|
|
* build (CONFIG_SCHED_KERNEL=n) but must be defined in kernel mode
|
|
* in order to build the high priority work queue.
|
|
* CONFIG_SCHED_WORKPRIORITY - The execution priority of the worker
|
|
* thread. Default: 192
|
|
* CONFIG_SCHED_WORKPERIOD - How often the worker thread checks for
|
|
* work in units of microseconds. Default: 50*1000 (50 MS).
|
|
* CONFIG_SCHED_WORKSTACKSIZE - The stack size allocated for the worker
|
|
* thread. Default: CONFIG_IDLETHREAD_STACKSIZE.
|
|
* CONFIG_SIG_SIGWORK - The signal number that will be used to wake-up
|
|
* the worker thread. Default: 17
|
|
*
|
|
* CONFIG_SCHED_LPWORK. If CONFIG_SCHED_WORKQUEUE is defined, then a single
|
|
* work queue is created by default. If CONFIG_SCHED_LPWORK is also defined
|
|
* then an additional, lower-priority work queue will also be created. This
|
|
* lower priority work queue is better suited for more extended processing
|
|
* (such as file system clean-up operations)
|
|
* CONFIG_SCHED_LPWORKPRIORITY - The execution priority of the lower priority
|
|
* worker thread. Default: 50
|
|
* CONFIG_SCHED_LPWORKPERIOD - How often the lower priority worker thread
|
|
* checks for work in units of microseconds. Default: 50*1000 (50 MS).
|
|
* CONFIG_SCHED_LPWORKSTACKSIZE - The stack size allocated for the lower
|
|
* priority worker thread. Default: CONFIG_IDLETHREAD_STACKSIZE.
|
|
*/
|
|
|
|
/* Is this a kernel build (CONFIG_NUTTX_KERNEL=y) */
|
|
|
|
#ifdef CONFIG_NUTTX_KERNEL
|
|
|
|
/* Yes.. kernel worker threads are not built in a kernel build when we are
|
|
* building the user-space libraries.
|
|
*/
|
|
|
|
# ifndef __KERNEL__
|
|
# undef CONFIG_SCHED_HPWORK
|
|
# undef CONFIG_SCHED_LPWORK
|
|
|
|
/* User-space worker threads are not built in a kernel build when we are
|
|
* building the kernel-space libraries.
|
|
*/
|
|
|
|
# else
|
|
# undef CONFIG_SCHED_USRWORK
|
|
# endif
|
|
|
|
/* User-space worker threads are not built in a flat build
|
|
* (CONFIG_NUTTX_KERNEL=n)
|
|
*/
|
|
|
|
#else
|
|
|
|
/* To preserve legacy behavior, CONFIG_SCHED_HPWORK is assumed to be true
|
|
* in a flat build (CONFIG_SCHED_KERNEL=n) but must be defined in kernel
|
|
* mode in order to build the high priority work queue.
|
|
*
|
|
* In the kernel build, it is possible that no kernel work queues will be
|
|
* built. But in the flat build, the high priority work queue will always
|
|
* be built.
|
|
*/
|
|
|
|
# undef CONFIG_SCHED_HPWORK
|
|
# undef CONFIG_SCHED_USRWORK
|
|
# define CONFIG_SCHED_HPWORK 1
|
|
#endif
|
|
|
|
/* We never build the low priority work queue without building the high
|
|
* priority work queue.
|
|
*/
|
|
|
|
#if defined(CONFIG_SCHED_LPWORK) && !defined(CONFIG_SCHED_HPWORK)
|
|
# error "CONFIG_SCHED_LPWORK defined, but CONFIG_SCHED_HPWORK not defined"
|
|
# undef CONFIG_SCHED_LPWORK
|
|
#endif
|
|
|
|
/* We might not be building any work queue support in this context */
|
|
|
|
#if !defined(CONFIG_SCHED_HPWORK) && !defined(CONFIG_SCHED_LPWORK) && !defined(CONFIG_SCHED_USRWORK)
|
|
# undef CONFIG_SCHED_WORKQUEUE
|
|
#endif
|
|
|
|
#ifdef CONFIG_SCHED_WORKQUEUE
|
|
|
|
/* We are building work queues... Work queues need signal support */
|
|
|
|
#if defined(CONFIG_SCHED_WORKQUEUE) && defined(CONFIG_DISABLE_SIGNALS)
|
|
# warning "Worker thread support requires signals"
|
|
#endif
|
|
|
|
/* High priority, kernel work queue configuration ***************************/
|
|
|
|
#ifdef CONFIG_SCHED_HPWORK
|
|
|
|
# ifndef CONFIG_SCHED_WORKPRIORITY
|
|
# define CONFIG_SCHED_WORKPRIORITY 192
|
|
# endif
|
|
|
|
# ifndef CONFIG_SCHED_WORKPERIOD
|
|
# define CONFIG_SCHED_WORKPERIOD (50*1000) /* 50 milliseconds */
|
|
# endif
|
|
|
|
# ifndef CONFIG_SCHED_WORKSTACKSIZE
|
|
# define CONFIG_SCHED_WORKSTACKSIZE CONFIG_IDLETHREAD_STACKSIZE
|
|
# endif
|
|
|
|
/* Low priority kernel work queue configuration *****************************/
|
|
|
|
#ifdef CONFIG_SCHED_LPWORK
|
|
|
|
# ifndef CONFIG_SCHED_LPWORKPRIORITY
|
|
# define CONFIG_SCHED_LPWORKPRIORITY 50
|
|
# endif
|
|
|
|
# ifndef CONFIG_SCHED_LPWORKPERIOD
|
|
# define CONFIG_SCHED_LPWORKPERIOD (50*1000) /* 50 milliseconds */
|
|
# endif
|
|
|
|
# ifndef CONFIG_SCHED_LPWORKSTACKSIZE
|
|
# define CONFIG_SCHED_LPWORKSTACKSIZE CONFIG_IDLETHREAD_STACKSIZE
|
|
# endif
|
|
|
|
/* The high priority worker thread should be higher priority than the low
|
|
* priority worker thread.
|
|
*/
|
|
|
|
#if CONFIG_SCHED_LPWORKPRIORITY > CONFIG_SCHED_WORKPRIORITY
|
|
# warning "The Lower priority worker thread has the higher priority"
|
|
#endif
|
|
|
|
#endif /* CONFIG_SCHED_LPWORK */
|
|
#endif /* CONFIG_SCHED_HPWORK */
|
|
|
|
/* User space work queue configuration **************************************/
|
|
|
|
#ifdef CONFIG_SCHED_USRWORK
|
|
|
|
# ifndef CONFIG_SCHED_USRWORKPRIORITY
|
|
# define CONFIG_SCHED_USRWORKPRIORITY 50
|
|
# endif
|
|
|
|
# ifndef CONFIG_SCHED_USRWORKPERIOD
|
|
# define CONFIG_SCHED_USRWORKPERIOD (50*1000) /* 50 milliseconds */
|
|
# endif
|
|
|
|
# ifndef CONFIG_SCHED_USRWORKSTACKSIZE
|
|
# define CONFIG_SCHED_USRWORKSTACKSIZE CONFIG_IDLETHREAD_STACKSIZE
|
|
# endif
|
|
|
|
#endif /* CONFIG_SCHED_USRWORK */
|
|
|
|
/* How many worker threads are there? In the user-space phase of a kernel
|
|
* build, there will be no more than one.
|
|
*
|
|
* Work queue IDs (indices):
|
|
*
|
|
* Kernel Work Queues: There are none and any attempts to use them
|
|
* should generate errors.
|
|
*
|
|
* User Work Queue: Will be available if CONFIG_SCHED_USRWORK is defined
|
|
*/
|
|
|
|
#if defined(CONFIG_NUTTX_KERNEL) && !defined(__KERNEL__)
|
|
# ifdef CONFIG_SCHED_USRWORK
|
|
# define NWORKERS 1
|
|
# define USRWORK 0
|
|
# endif
|
|
#else
|
|
|
|
/* In a flat build (CONFIG_NUTTX_KERNEL=n) or during the kernel phase of
|
|
* the kernel build, there may be 0, 1, or 2 work queues.
|
|
*
|
|
* Work queue IDs (indices):
|
|
*
|
|
* Kernel Work Queues:
|
|
* HPWORK: This ID of the high priority work queue that should only be
|
|
* used for hi-priority, time-critical, driver bottom-half functions.
|
|
*
|
|
* LPWORK: This is the ID of the low priority work queue that can be
|
|
* used for any purpose. if CONFIG_SCHED_LPWORK is not defined, then
|
|
* there is only one kernel work queue and LPWORK == HPWORK.
|
|
*
|
|
* User Work Queue:
|
|
* USRWORK: In the kernel phase a a kernel build, there should be no
|
|
* references to user-space work queues. That would be an error.
|
|
* Otherwise, in a flat build, user applications will use the lower
|
|
* priority work queue (if there is one).
|
|
*/
|
|
|
|
# define HPWORK 0
|
|
# ifdef CONFIG_SCHED_LPWORK
|
|
# define LPWORK (HPWORK+1)
|
|
# define NWORKERS 2
|
|
# else
|
|
# define LPWORK HPWORK
|
|
# define NWORKERS 1
|
|
# endif
|
|
|
|
# ifndef CONFIG_NUTTX_KERNEL
|
|
# define USRWORK LPWORK
|
|
# endif
|
|
|
|
#endif /* CONFIG_NUTTX_KERNEL && !__KERNEL__ */
|
|
|
|
/****************************************************************************
|
|
* Public Types
|
|
****************************************************************************/
|
|
|
|
#ifndef __ASSEMBLY__
|
|
|
|
/* This structure defines the state on one work queue. This structure is
|
|
* used internally by the OS and worker queue logic and should not be
|
|
* accessed by application logic.
|
|
*/
|
|
|
|
struct wqueue_s
|
|
{
|
|
pid_t pid; /* The task ID of the worker thread */
|
|
struct dq_queue_s q; /* The queue of pending work */
|
|
};
|
|
|
|
/* Defines the work callback */
|
|
|
|
typedef void (*worker_t)(FAR void *arg);
|
|
|
|
/* Defines one entry in the work queue. The user only needs this structure
|
|
* in order to declare instances of the work structure. Handling of all
|
|
* fields is performed by the work APIs
|
|
*/
|
|
|
|
struct work_s
|
|
{
|
|
struct dq_entry_s dq; /* Implements a doubly linked list */
|
|
worker_t worker; /* Work callback */
|
|
FAR void *arg; /* Callback argument */
|
|
uint32_t qtime; /* Time work queued */
|
|
uint32_t delay; /* Delay until work performed */
|
|
};
|
|
|
|
/****************************************************************************
|
|
* Public Data
|
|
****************************************************************************/
|
|
|
|
#ifdef __cplusplus
|
|
#define EXTERN extern "C"
|
|
extern "C"
|
|
{
|
|
#else
|
|
#define EXTERN extern
|
|
#endif
|
|
|
|
/* The state of each work queue. This data structure is used internally by
|
|
* the OS and worker queue logic and should not be accessed by application
|
|
* logic.
|
|
*/
|
|
|
|
#ifdef CONFIG_NUTTX_KERNEL
|
|
|
|
/* Play some games in the kernel mode build to assure that different
|
|
* naming is used for the global work queue data structures. This may
|
|
* not be necessary but it safer.
|
|
*/
|
|
|
|
# ifdef __KERNEL__
|
|
EXTERN struct wqueue_s g_kernelwork[NWORKERS];
|
|
# define g_work g_kernelwork
|
|
# else
|
|
EXTERN struct wqueue_s g_usrwork[NWORKERS];
|
|
# define g_work g_usrwork
|
|
# endif
|
|
|
|
#else /* CONFIG_NUTTX_KERNEL */
|
|
|
|
EXTERN struct wqueue_s g_work[NWORKERS];
|
|
|
|
#endif /* CONFIG_NUTTX_KERNEL */
|
|
|
|
/****************************************************************************
|
|
* Public Function Prototypes
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Name: work_hpthread, work_lpthread, and work_usrthread
|
|
*
|
|
* Description:
|
|
* These are the worker threads that performs actions placed on the work
|
|
* lists.
|
|
*
|
|
* work_hpthread and work_lpthread: These are the kernel mode work queues
|
|
* (also build in the flat build). One of these threads also performs
|
|
* periodic garbage collection (that is otherwise performed by the idle
|
|
* thread if CONFIG_SCHED_WORKQUEUE is not defined).
|
|
*
|
|
* These worker threads are started by the OS during normal bringup.
|
|
*
|
|
* work_usrthread: This is a user mode work queue. It must be started
|
|
* by application code by calling work_usrstart().
|
|
*
|
|
* All of these entrypoints are referenced by OS internally and should not
|
|
* not be accessed by application logic.
|
|
*
|
|
* Input parameters:
|
|
* argc, argv (not used)
|
|
*
|
|
* Returned Value:
|
|
* Does not return
|
|
*
|
|
****************************************************************************/
|
|
|
|
#ifdef CONFIG_SCHED_HPWORK
|
|
int work_hpthread(int argc, char *argv[]);
|
|
#endif
|
|
|
|
#ifdef CONFIG_SCHED_LPWORK
|
|
int work_lpthread(int argc, char *argv[]);
|
|
#endif
|
|
|
|
#ifdef CONFIG_SCHED_USRWORK
|
|
int work_usrthread(int argc, char *argv[]);
|
|
#endif
|
|
|
|
/****************************************************************************
|
|
* Name: work_usrstart
|
|
*
|
|
* Description:
|
|
* Start the user mode work queue.
|
|
*
|
|
* Input parameters:
|
|
* None
|
|
*
|
|
* Returned Value:
|
|
* The task ID of the worker thread is returned on success. A negated
|
|
* errno value is returned on failure.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#ifdef CONFIG_SCHED_USRWORK
|
|
int work_usrstart(void);
|
|
#endif
|
|
|
|
/****************************************************************************
|
|
* Name: work_queue
|
|
*
|
|
* Description:
|
|
* Queue work to be performed at a later time. All queued work will be
|
|
* performed on the worker thread of of execution (not the caller's).
|
|
*
|
|
* The work structure is allocated by caller, but completely managed by
|
|
* the work queue logic. The caller should never modify the contents of
|
|
* the work queue structure; the caller should not call work_queue()
|
|
* again until either (1) the previous work has been performed and removed
|
|
* from the queue, or (2) work_cancel() has been called to cancel the work
|
|
* and remove it from the work queue.
|
|
*
|
|
* Input parameters:
|
|
* qid - The work queue ID
|
|
* work - The work structure to queue
|
|
* worker - The worker callback to be invoked. The callback will invoked
|
|
* on the worker thread of execution.
|
|
* arg - The argument that will be passed to the workder callback when
|
|
* int is invoked.
|
|
* delay - Delay (in clock ticks) from the time queue until the worker
|
|
* is invoked. Zero means to perform the work immediately.
|
|
*
|
|
* Returned Value:
|
|
* Zero on success, a negated errno on failure
|
|
*
|
|
****************************************************************************/
|
|
|
|
int work_queue(int qid, FAR struct work_s *work, worker_t worker,
|
|
FAR void *arg, uint32_t delay);
|
|
|
|
/****************************************************************************
|
|
* Name: work_cancel
|
|
*
|
|
* Description:
|
|
* Cancel previously queued work. This removes work from the work queue.
|
|
* After work has been canceled, it may be re-queue by calling work_queue()
|
|
* again.
|
|
*
|
|
* Input parameters:
|
|
* qid - The work queue ID
|
|
* work - The previously queue work structure to cancel
|
|
*
|
|
* Returned Value:
|
|
* Zero on success, a negated errno on failure
|
|
*
|
|
****************************************************************************/
|
|
|
|
int work_cancel(int qid, FAR struct work_s *work);
|
|
|
|
/****************************************************************************
|
|
* Name: work_signal
|
|
*
|
|
* Description:
|
|
* Signal the worker thread to process the work queue now. This function
|
|
* is used internally by the work logic but could also be used by the
|
|
* user to force an immediate re-assessment of pending work.
|
|
*
|
|
* Input parameters:
|
|
* qid - The work queue ID
|
|
*
|
|
* Returned Value:
|
|
* Zero on success, a negated errno on failure
|
|
*
|
|
****************************************************************************/
|
|
|
|
int work_signal(int qid);
|
|
|
|
/****************************************************************************
|
|
* Name: work_available
|
|
*
|
|
* Description:
|
|
* Check if the work structure is available.
|
|
*
|
|
* Input parameters:
|
|
* None
|
|
*
|
|
* Returned Value:
|
|
* true if available; false if busy (i.e., there is still pending work).
|
|
*
|
|
****************************************************************************/
|
|
|
|
#define work_available(work) ((work)->worker == NULL)
|
|
|
|
#undef EXTERN
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif /* __ASSEMBLY__ */
|
|
#endif /* CONFIG_SCHED_WORKQUEUE */
|
|
#endif /* __INCLUDE_NUTTX_WQUEUE_H */
|