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Modularize starting of worker threads to better isolate individual initialization characteristics

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This commit is contained in:
Gregory Nutt 2014-10-10 09:34:03 -06:00
parent 2015fd76e2
commit b2cebaa9d4
8 changed files with 203 additions and 235 deletions
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23
include/nuttx/wqueue.h
View File

@ -343,29 +343,6 @@ extern "C"
void work_process(FAR struct wqueue_s *wqueue);
/****************************************************************************
* Name: work_usrthread
*
* Description:
* This is the worker thread that performs the actions placed on the user
* work queue.
*
* This is a user mode work queue. It must be used by applications for
* miscellaneous operations. The user work thread must be started by
* application start-up logic by calling work_usrstart().
*
* Input parameters:
* argc, argv (not used)
*
* Returned Value:
* Does not return
*
****************************************************************************/
#if defined(CONFIG_SCHED_USRWORK) && !defined(__KERNEL__)
int work_usrthread(int argc, char *argv[]);
#endif
/****************************************************************************
* Name: work_usrstart
*

4
libc/wqueue/Make.defs
View File

@ -40,10 +40,10 @@ ifeq ($(CONFIG_SCHED_WORKQUEUE),y)
CSRCS += work_process.c work_queue.c work_cancel.c work_signal.c
ifeq ($(CONFIG_BUILD_PROTECTED),y)
CSRCS += work_usrstart.c work_usrthread.c
CSRCS += work_usrthread.c
else
ifeq ($(CONFIG_BUILD_KERNEL),y)
CSRCS += work_usrstart.c work_usrthread.c
CSRCS += work_usrthread.c
endif
endif

115
libc/wqueue/work_usrstart.c
View File

@ -1,115 +0,0 @@
/****************************************************************************
* libc/wqueue/work_usrstart.c
*
* Copyright (C) 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <sched.h>
#include <errno.h>
#include <assert.h>
#include <debug.h>
#include <nuttx/wqueue.h>
#if defined(CONFIG_BUILD_PROTECTED) && !defined(__KERNEL__) && \
defined(CONFIG_SCHED_WORKQUEUE) && defined(CONFIG_SCHED_USRWORK)
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Type Declarations
****************************************************************************/
/****************************************************************************
* Public Variables
****************************************************************************/
/****************************************************************************
* Private Variables
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* 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.
*
****************************************************************************/
int work_usrstart(void)
{
/* Start a user-mode worker thread for use by applications. */
svdbg("Starting user-mode worker thread\n");
g_usrwork[USRWORK].pid = task_create("usrwork",
CONFIG_SCHED_USRWORKPRIORITY,
CONFIG_SCHED_USRWORKSTACKSIZE,
(main_t)work_usrthread,
(FAR char * const *)NULL);
DEBUGASSERT(g_usrwork[USRWORK].pid > 0);
if (g_usrwork[USRWORK].pid < 0)
{
int errcode = errno;
DEBUGASSERT(errcode > 0);
sdbg("task_create failed: %d\n", errcode);
return -errcode;
}
return g_usrwork[USRWORK].pid;
}
#endif /* CONFIG_BUILD_PROTECTED && !__KERNEL__ CONFIG_SCHED_WORKQUEUE && CONFIG_SCHED_USRWORK */

48
libc/wqueue/work_usrthread.c
View File

@ -39,6 +39,8 @@
#include <nuttx/config.h>
#include <debug.h>
#include <nuttx/wqueue.h>
#if defined(CONFIG_SCHED_WORKQUEUE) && defined(CONFIG_SCHED_USRWORK) && \
@ -87,7 +89,7 @@ extern struct wqueue_s g_usrwork;
*
****************************************************************************/
int work_usrthread(int argc, char *argv[])
static int work_usrthread(int argc, char *argv[])
{
/* Loop forever */
@ -103,4 +105,48 @@ int work_usrthread(int argc, char *argv[])
return OK; /* To keep some compilers happy */
}
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* 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.
*
****************************************************************************/
int work_usrstart(void)
{
/* Start a user-mode worker thread for use by applications. */
svdbg("Starting user-mode worker thread\n");
g_usrwork.pid = task_create("uwork",
CONFIG_SCHED_USRWORKPRIORITY,
CONFIG_SCHED_USRWORKSTACKSIZE,
(main_t)work_usrthread,
(FAR char * const *)NULL);
DEBUGASSERT(g_usrwork.pid > 0);
if (g_usrwork.pid < 0)
{
int errcode = errno;
DEBUGASSERT(errcode > 0);
sdbg("task_create failed: %d\n", errcode);
return -errcode;
}
return g_usrwork.pid;
}
#endif /* CONFIG_SCHED_WORKQUEUE && CONFIG_SCHED_USRWORK && !__KERNEL__*/

92
sched/init/os_bringup.c
View File

@ -117,24 +117,10 @@
# endif
#endif
/* If NuttX is built as a separately compiled module, then the config.h header
* file should contain the address of the entry point (or path to the file)
* that will perform the application-level initialization.
*/
/* In the protected build (only) we also need to start the user work queue */
/* Customize some strings */
#ifdef CONFIG_SCHED_WORKQUEUE
# ifdef CONFIG_SCHED_HPWORK
# if defined(CONFIG_SCHED_LPWORK)
# define HPWORKNAME "hpwork"
# define LPWORKNAME "lpwork"
# elif defined(CONFIG_SCHED_USRWORK)
# define HPWORKNAME "knlwork"
# else
# define HPWORKNAME "work"
# endif
# endif
#if !defined(CONFIG_BUILD_PROTECTED)
# undef CONFIG_SCHED_USRWORK
#endif
/****************************************************************************
@ -211,47 +197,35 @@ static inline void os_pgworker(void)
#ifdef CONFIG_SCHED_WORKQUEUE
static inline void os_workqueues(void)
{
#if defined(CONFIG_BUILD_PROTECTED) && defined(CONFIG_SCHED_USRWORK)
int taskid;
#ifdef CONFIG_SCHED_USRWORK
pid_t pid;
#endif
#ifdef CONFIG_SCHED_HPWORK
/* Start the high-priority worker thread to support device driver lower
* halves.
*/
(void)work_hpstart();
#endif /* CONFIG_SCHED_HPWORK */
#ifdef CONFIG_SCHED_LPWORK
svdbg("Starting high-priority kernel worker thread\n");
#else
svdbg("Starting kernel worker thread\n");
#endif
g_hpwork.pid = kernel_thread(HPWORKNAME, CONFIG_SCHED_WORKPRIORITY,
CONFIG_SCHED_WORKSTACKSIZE,
(main_t)work_hpthread,
(FAR char * const *)NULL);
DEBUGASSERT(g_hpwork.pid > 0);
/* Start a lower priority worker thread for other, non-critical continuation
/* Start the low-priority worker thread for other, non-critical continuation
* tasks
*/
#ifdef CONFIG_SCHED_LPWORK
svdbg("Starting low-priority kernel worker thread\n");
g_lpwork.pid = kernel_thread(LPWORKNAME, CONFIG_SCHED_LPWORKPRIORITY,
CONFIG_SCHED_LPWORKSTACKSIZE,
(main_t)work_lpthread,
(FAR char * const *)NULL);
DEBUGASSERT(g_lpwork.pid > 0);
(void)work_lpstart();
#endif /* CONFIG_SCHED_LPWORK */
#endif /* CONFIG_SCHED_HPWORK */
#if defined(CONFIG_BUILD_PROTECTED) && defined(CONFIG_SCHED_USRWORK)
#ifdef CONFIG_SCHED_USRWORK
/* Start the user-space work queue */
DEBUGASSERT(USERSPACE->work_usrstart != NULL);
taskid = USERSPACE->work_usrstart();
DEBUGASSERT(taskid > 0);
UNUSED(taskid);
pid = USERSPACE->work_usrstart();
DEBUGASSERT(pid > 0);
UNUSED(pid);
#endif
}
@ -278,7 +252,7 @@ static inline void os_workqueues(void)
#if defined(CONFIG_INIT_ENTRYPOINT)
static inline void os_do_appstart(void)
{
int taskid;
int pid;
#ifdef CONFIG_BOARD_INITIALIZE
/* Perform any last-minute, board-specific initialization, if so
@ -298,16 +272,16 @@ static inline void os_do_appstart(void)
#ifdef CONFIG_BUILD_PROTECTED
DEBUGASSERT(USERSPACE->us_entrypoint != NULL);
taskid = task_create("init", SCHED_PRIORITY_DEFAULT,
CONFIG_USERMAIN_STACKSIZE, USERSPACE->us_entrypoint,
(FAR char * const *)NULL);
pid = task_create("init", SCHED_PRIORITY_DEFAULT,
CONFIG_USERMAIN_STACKSIZE, USERSPACE->us_entrypoint,
(FAR char * const *)NULL);
#else
taskid = task_create("init", SCHED_PRIORITY_DEFAULT,
CONFIG_USERMAIN_STACKSIZE,
(main_t)CONFIG_USER_ENTRYPOINT,
(FAR char * const *)NULL);
pid = task_create("init", SCHED_PRIORITY_DEFAULT,
CONFIG_USERMAIN_STACKSIZE,
(main_t)CONFIG_USER_ENTRYPOINT,
(FAR char * const *)NULL);
#endif
ASSERT(taskid > 0);
ASSERT(pid > 0);
}
#elif defined(CONFIG_INIT_FILEPATH)
@ -389,16 +363,16 @@ static int os_start_task(int argc, FAR char **argv)
static inline void os_start_application(void)
{
#ifdef CONFIG_BOARD_INITTHREAD
int taskid;
int pid;
/* Do the board/application initialization on a separate thread of
* execution.
*/
taskid = kernel_thread("AppBringUp", CONFIG_BOARD_INITTHREAD_PRIORITY,
CONFIG_BOARD_INITTHREAD_STACKSIZE,
(main_t)os_start_task, (FAR char * const *)NULL);
ASSERT(taskid > 0);
pid = kernel_thread("AppBringUp", CONFIG_BOARD_INITTHREAD_PRIORITY,
CONFIG_BOARD_INITTHREAD_STACKSIZE,
(main_t)os_start_task, (FAR char * const *)NULL);
ASSERT(pid > 0);
#else
/* Do the board/application initialization on this thread of execution. */

49
sched/wqueue/kwork_hpthread.c
View File

@ -39,7 +39,11 @@
#include <nuttx/config.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/wqueue.h>
#include <nuttx/kthread.h>
#include <nuttx/kmalloc.h>
#include "wqueue/wqueue.h"
@ -96,7 +100,7 @@ struct wqueue_s g_hpwork;
*
****************************************************************************/
int work_hpthread(int argc, char *argv[])
static int work_hpthread(int argc, char *argv[])
{
/* Loop forever */
@ -123,4 +127,47 @@ int work_hpthread(int argc, char *argv[])
return OK; /* To keep some compilers happy */
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: work_hpstart
*
* Description:
* Start the high-priority, kernel-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.
*
****************************************************************************/
int work_hpstart(void)
{
/* Start the high-priority, kernel mode worker thread */
svdbg("Starting high-priority kernel worker thread\n");
g_hpwork.pid = kernel_thread(HPWORKNAME, CONFIG_SCHED_WORKPRIORITY,
CONFIG_SCHED_WORKSTACKSIZE,
(main_t)work_hpthread,
(FAR char * const *)NULL);
DEBUGASSERT(g_hpwork.pid > 0);
if (g_hpwork.pid < 0)
{
int errcode = errno;
DEBUGASSERT(errcode > 0);
slldbg("kernel_thread failed: %d\n", errcode);
return -errcode;
}
return g_hpwork.pid;
}
#endif /* CONFIG_SCHED_WORKQUEUE && CONFIG_SCHED_HPWORK*/

49
sched/wqueue/kwork_lpthread.c
View File

@ -39,7 +39,11 @@
#include <nuttx/config.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/wqueue.h>
#include <nuttx/kthread.h>
#include <nuttx/kmalloc.h>
#include "wqueue/wqueue.h"
@ -95,7 +99,7 @@ struct wqueue_s g_lpwork;
*
****************************************************************************/
int work_lpthread(int argc, char *argv[])
static int work_lpthread(int argc, char *argv[])
{
/* Loop forever */
@ -120,4 +124,47 @@ int work_lpthread(int argc, char *argv[])
return OK; /* To keep some compilers happy */
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: work_lpstart
*
* Description:
* Start the low-priority, kernel-mode worker thread(s)
*
* Input parameters:
* None
*
* Returned Value:
* The task ID of the worker thread is returned on success. A negated
* errno value is returned on failure.
*
****************************************************************************/
int work_lpstart(void)
{
/* Start the low-priority, kernel mode worker thread(s) */
svdbg("Starting low-priority kernel worker thread\n");
g_lpwork.pid = kernel_thread(LPWORKNAME, CONFIG_SCHED_LPWORKPRIORITY,
CONFIG_SCHED_LPWORKSTACKSIZE,
(main_t)work_lpthread,
(FAR char * const *)NULL);
DEBUGASSERT(g_lpwork.pid > 0);
if (g_lpwork.pid < 0)
{
int errcode = errno;
DEBUGASSERT(errcode > 0);
slldbg("kernel_thread failed: %d\n", errcode);
return -errcode;
}
return g_lpwork.pid;
}
#endif /* CONFIG_SCHED_WORKQUEUE && CONFIG_SCHED_LPWORK */

58
sched/wqueue/wqueue.h
View File

@ -48,6 +48,19 @@
* Pre-processor Definitions
****************************************************************************/
/* Customize kernel thread names */
#ifdef CONFIG_SCHED_HPWORK
# if defined(CONFIG_SCHED_LPWORK)
# define HPWORKNAME "hpwork"
# define LPWORKNAME "lpwork"
# elif defined(CONFIG_SCHED_USRWORK)
# define HPWORKNAME "kwork"
# else
# define HPWORKNAME "work"
# endif
#endif
/****************************************************************************
* Public Type Definitions
****************************************************************************/
@ -73,62 +86,41 @@ extern struct wqueue_s g_lpwork;
****************************************************************************/
/****************************************************************************
* Name: work_hpthread
* Name: work_hpstart
*
* Description:
* This is the worker thread that performs the actions placed on the high
* priority work queue.
*
* This, along with the lower priority worker thread(s) are the kernel
* mode work queues (also build in the flat build). One of these threads
* also performs periodic garbage collection (that would otherwise be
* performed by the idle thread if CONFIG_SCHED_WORKQUEUE is not defined).
* That will be the higher priority worker thread only if a lower priority
* worker thread is available.
*
* All kernel mode worker threads are started by the OS during normal
* bring up. This entry point is referenced by OS internally and should
* not be accessed by application logic.
* Start the high-priority, kernel-mode work queue.
*
* Input parameters:
* argc, argv (not used)
* None
*
* Returned Value:
* Does not return
* The task ID of the worker thread is returned on success. A negated
* errno value is returned on failure.
*
****************************************************************************/
#ifdef CONFIG_SCHED_HPWORK
int work_hpthread(int argc, char *argv[]);
int work_hpstart(void);
#endif
/****************************************************************************
* Name: work_lpthread
* Name: work_lpstart
*
* Description:
* These are the worker thread(s) that performs the actions placed on the
* low priority work queue.
*
* These, along with the higher priority worker thread are the kernel mode
* work queues (also build in the flat build). One of these threads also
* performs periodic garbage collection (that would otherwise be performed
* by the idle thread if CONFIG_SCHED_WORKQUEUE is not defined). That will
* be the lower priority worker thread if it is available.
*
* All kernel mode worker threads are started by the OS during normal
* bring up. This entry point is referenced by OS internally and should
* not be accessed by application logic.
* Start the low-priority, kernel-mode worker thread(s)
*
* Input parameters:
* argc, argv (not used)
* None
*
* Returned Value:
* Does not return
* The task ID of the worker thread is returned on success. A negated
* errno value is returned on failure.
*
****************************************************************************/
#ifdef CONFIG_SCHED_LPWORK
int work_lpthread(int argc, char *argv[]);
int work_lpstart(void);
#endif
#endif /* CONFIG_SCHED_WORKQUEUE */