/**************************************************************************** * sched/wqueue/kwork_thread.c * * Licensed to the Apache Software Foundation (ASF) under one or more * contributor license agreements. See the NOTICE file distributed with * this work for additional information regarding copyright ownership. The * ASF licenses this file to you under the Apache License, Version 2.0 (the * "License"); you may not use this file except in compliance with the * License. You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the * License for the specific language governing permissions and limitations * under the License. * ****************************************************************************/ /**************************************************************************** * Included Files ****************************************************************************/ #include #include #include #include #include #include #include #include #include #include #include #include #include #include "wqueue/wqueue.h" #if defined(CONFIG_SCHED_WORKQUEUE) /**************************************************************************** * Pre-processor Definitions ****************************************************************************/ #if defined(CONFIG_SCHED_CRITMONITOR_MAXTIME_WQUEUE) && CONFIG_SCHED_CRITMONITOR_MAXTIME_WQUEUE > 0 # define CALL_WORKER(worker, arg) \ do \ { \ uint32_t start; \ uint32_t elapsed; \ start = up_critmon_gettime(); \ worker(arg); \ elapsed = up_critmon_gettime() - start; \ if (elapsed > CONFIG_SCHED_CRITMONITOR_MAXTIME_WQUEUE) \ { \ serr("WORKER %p execute too long %"PRIu32"\n", \ worker, elapsed); \ } \ } \ while (0) #else # define CALL_WORKER(worker, arg) worker(arg) #endif /**************************************************************************** * Public Data ****************************************************************************/ #if defined(CONFIG_SCHED_HPWORK) /* The state of the kernel mode, high priority work queue(s). */ struct hp_wqueue_s g_hpwork; #endif /* CONFIG_SCHED_HPWORK */ #if defined(CONFIG_SCHED_LPWORK) /* The state of the kernel mode, low priority work queue(s). */ struct lp_wqueue_s g_lpwork; #endif /* CONFIG_SCHED_LPWORK */ /**************************************************************************** * Private Functions ****************************************************************************/ /**************************************************************************** * Name: work_thread * * Description: * These are the worker threads that perform the actions placed on the * high priority work queue. * * These, along with the lower priority worker thread(s) are the kernel * mode work queues (also built in the flat build). * * 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. * * Input Parameters: * argc, argv * * Returned Value: * Does not return * ****************************************************************************/ static int work_thread(int argc, FAR char *argv[]) { FAR struct kwork_wqueue_s *wqueue; FAR struct work_s *work; worker_t worker; irqstate_t flags; FAR void *arg; wqueue = (FAR struct kwork_wqueue_s *) ((uintptr_t)strtoul(argv[1], NULL, 0)); flags = enter_critical_section(); /* Loop forever */ for (; ; ) { /* Then process queued work. work_process will not return until: (1) * there is no further work in the work queue, and (2) semaphore is * posted. */ nxsem_wait_uninterruptible(&wqueue->sem); /* And check each entry in the work queue. Since we have disabled * interrupts we know: (1) we will not be suspended unless we do * so ourselves, and (2) there will be no changes to the work queue */ /* Remove the ready-to-execute work from the list */ work = (FAR struct work_s *)sq_remfirst(&wqueue->q); if (work && work->worker) { /* Extract the work description from the entry (in case the work * instance will be re-used after it has been de-queued). */ worker = work->worker; /* Extract the work argument (before re-enabling interrupts) */ arg = work->arg; /* Mark the work as no longer being queued */ work->worker = NULL; /* Do the work. Re-enable interrupts while the work is being * performed... we don't have any idea how long this will take! */ leave_critical_section(flags); CALL_WORKER(worker, arg); flags = enter_critical_section(); } } leave_critical_section(flags); return OK; /* To keep some compilers happy */ } /**************************************************************************** * Name: work_thread_create * * Description: * This function creates and activates a work thread task with kernel- * mode privileges. * * Input Parameters: * name - Name of the new task * priority - Priority of the new task * stack_size - size (in bytes) of the stack needed * nthread - Number of work thread should be created * wqueue - Work queue instance * * Returned Value: * A negated errno value is returned on failure. * ****************************************************************************/ static int work_thread_create(FAR const char *name, int priority, int stack_size, int nthread, FAR struct kwork_wqueue_s *wqueue) { FAR char *argv[2]; char args[16]; int wndx; int pid; snprintf(args, 16, "0x%" PRIxPTR, (uintptr_t)wqueue); argv[0] = args; argv[1] = NULL; nxsem_init(&wqueue->sem, 0, 0); nxsem_set_protocol(&wqueue->sem, SEM_PRIO_NONE); /* Don't permit any of the threads to run until we have fully initialized * g_hpwork and g_lpwork. */ sched_lock(); for (wndx = 0; wndx < nthread; wndx++) { pid = kthread_create(name, priority, stack_size, (main_t)work_thread, argv); DEBUGASSERT(pid > 0); if (pid < 0) { serr("ERROR: work_thread_create %d failed: %d\n", wndx, pid); sched_unlock(); return pid; } #ifdef CONFIG_PRIORITY_INHERITANCE wqueue->worker[wndx].pid = pid; #endif } sched_unlock(); return OK; } /**************************************************************************** * Public Functions ****************************************************************************/ /**************************************************************************** * Name: work_start_highpri * * Description: * Start the high-priority, kernel-mode worker thread(s) * * Input Parameters: * None * * Returned Value: * A negated errno value is returned on failure. * ****************************************************************************/ #if defined(CONFIG_SCHED_HPWORK) int work_start_highpri(void) { /* Start the high-priority, kernel mode worker thread(s) */ sinfo("Starting high-priority kernel worker thread(s)\n"); return work_thread_create(HPWORKNAME, CONFIG_SCHED_HPWORKPRIORITY, CONFIG_SCHED_HPWORKSTACKSIZE, CONFIG_SCHED_HPNTHREADS, (FAR struct kwork_wqueue_s *)&g_hpwork); } #endif /* CONFIG_SCHED_HPWORK */ /**************************************************************************** * Name: work_start_lowpri * * Description: * Start the low-priority, kernel-mode worker thread(s) * * Input Parameters: * None * * Returned Value: * A negated errno value is returned on failure. * ****************************************************************************/ #if defined(CONFIG_SCHED_LPWORK) int work_start_lowpri(void) { /* Start the low-priority, kernel mode worker thread(s) */ sinfo("Starting low-priority kernel worker thread(s)\n"); return work_thread_create(LPWORKNAME, CONFIG_SCHED_LPWORKPRIORITY, CONFIG_SCHED_LPWORKSTACKSIZE, CONFIG_SCHED_LPNTHREADS, (FAR struct kwork_wqueue_s *)&g_lpwork); } #endif /* CONFIG_SCHED_LPWORK */ #endif /* CONFIG_SCHED_WORKQUEUE */