631071cded
sched/wqueue: Modify high priority work queue to support multiple threads.
sched/wqueue and libs/libc/wqueue: workqueues don't need set global data to zero since .bss is cleared automatically. Removing this unnecessary initialization also avoids the loss the work items queued before initialization.
272 lines
8.8 KiB
C
272 lines
8.8 KiB
C
/****************************************************************************
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* sched/wqueue/work_process.c
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*
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* Copyright (C) 2009-2014, 2016-2018 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <stdint.h>
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#include <unistd.h>
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#include <signal.h>
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#include <assert.h>
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#include <queue.h>
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#include <nuttx/irq.h>
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#include <nuttx/clock.h>
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#include <nuttx/signal.h>
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#include <nuttx/wqueue.h>
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#include "wqueue/wqueue.h"
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#ifdef CONFIG_SCHED_WORKQUEUE
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* Use CLOCK_MONOTONIC if it is available. CLOCK_REALTIME can cause bad
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* delays if the time is changed.
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*/
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#ifdef CONFIG_CLOCK_MONOTONIC
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# define WORK_CLOCK CLOCK_MONOTONIC
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#else
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# define WORK_CLOCK CLOCK_REALTIME
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#endif
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#ifndef MIN
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# define MIN(a,b) ((a) < (b) ? (a) : (b))
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#endif
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: work_process
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*
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* Description:
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* This is the logic that performs actions placed on any work list. This
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* logic is the common underlying logic to all work queues. This logic is
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* part of the internal implementation of each work queue; it should not
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* be called from application level logic.
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*
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* Input Parameters:
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* wqueue - Describes the work queue to be processed
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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void work_process(FAR struct kwork_wqueue_s *wqueue, clock_t period, int wndx)
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{
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volatile FAR struct work_s *work;
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worker_t worker;
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irqstate_t flags;
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FAR void *arg;
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clock_t elapsed;
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clock_t remaining;
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clock_t stick;
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clock_t ctick;
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clock_t next;
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/* Then process queued work. We need to keep interrupts disabled while
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* we process items in the work list.
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*/
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next = period;
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flags = enter_critical_section();
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/* Get the time that we started this polling cycle in clock ticks. */
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stick = clock_systimer();
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/* And check each entry in the work queue. Since we have disabled
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* interrupts we know: (1) we will not be suspended unless we do
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* so ourselves, and (2) there will be no changes to the work queue
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*/
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work = (FAR struct work_s *)wqueue->q.head;
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while (work)
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{
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/* Is this work ready? It is ready if there is no delay or if
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* the delay has elapsed. qtime is the time that the work was added
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* to the work queue. It will always be greater than or equal to
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* zero. Therefore a delay of zero will always execute immediately.
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*/
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ctick = clock_systimer();
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elapsed = ctick - work->qtime;
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if (elapsed >= work->delay)
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{
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/* Remove the ready-to-execute work from the list */
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(void)dq_rem((struct dq_entry_s *)work, &wqueue->q);
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/* Extract the work description from the entry (in case the work
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* instance by the re-used after it has been de-queued).
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*/
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worker = work->worker;
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/* Check for a race condition where the work may be nullified
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* before it is removed from the queue.
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*/
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if (worker != NULL)
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{
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/* Extract the work argument (before re-enabling interrupts) */
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arg = work->arg;
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/* Mark the work as no longer being queued */
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work->worker = NULL;
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/* Do the work. Re-enable interrupts while the work is being
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* performed... we don't have any idea how long this will take!
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*/
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leave_critical_section(flags);
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worker(arg);
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/* Now, unfortunately, since we re-enabled interrupts we don't
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* know the state of the work list and we will have to start
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* back at the head of the list.
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*/
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flags = enter_critical_section();
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work = (FAR struct work_s *)wqueue->q.head;
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}
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else
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{
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/* Cancelled.. Just move to the next work in the list with
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* interrupts still disabled.
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*/
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work = (FAR struct work_s *)work->dq.flink;
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}
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}
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else /* elapsed < work->delay */
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{
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/* This one is not ready.
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*
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* NOTE that elapsed is relative to the current time,
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* not the time of beginning of this queue processing pass.
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* So it may need an adjustment.
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*/
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elapsed += (ctick - stick);
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if (elapsed > work->delay)
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{
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/* The delay has expired while we are processing */
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elapsed = work->delay;
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}
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/* Will it be ready before the next scheduled wakeup interval? */
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remaining = work->delay - elapsed;
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if (remaining < next)
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{
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/* Yes.. Then schedule to wake up when the work is ready */
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next = remaining;
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}
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/* Then try the next in the list. */
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work = (FAR struct work_s *)work->dq.flink;
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}
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}
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#if (defined(CONFIG_SCHED_HPWORK) && CONFIG_SCHED_HPNTHREADS > 1) \
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|| (defined(CONFIG_SCHED_LPWORK) && CONFIG_SCHED_LPNTHREADS > 1)
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/* Value of zero for period means that we should wait indefinitely until
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* signalled. This option is used only for the case where there are
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* multiple worker threads. In that case, only one of the threads does
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* the poll... the others simple. In all other cases period will be
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* non-zero and equal to wqueue->delay.
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*/
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if (period == 0)
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{
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sigset_t set;
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/* Wait indefinitely until signalled with SIGWORK */
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sigemptyset(&set);
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sigaddset(&set, SIGWORK);
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wqueue->worker[wndx].busy = false;
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DEBUGVERIFY(nxsig_waitinfo(&set, NULL));
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wqueue->worker[wndx].busy = true;
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}
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else
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#endif
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{
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/* Get the delay (in clock ticks) since we started the sampling */
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elapsed = clock_systimer() - stick;
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if (elapsed < period && next > 0)
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{
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/* How much time would we need to delay to get to the end of the
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* sampling period? The amount of time we delay should be the smaller
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* of the time to the end of the sampling period and the time to the
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* next work expiry.
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*/
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remaining = period - elapsed;
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next = MIN(next, remaining);
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/* Wait awhile to check the work list. We will wait here until
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* either the time elapses or until we are awakened by a signal.
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* Interrupts will be re-enabled while we wait.
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*/
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wqueue->worker[wndx].busy = false;
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nxsig_usleep(next * USEC_PER_TICK);
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wqueue->worker[wndx].busy = true;
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}
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}
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leave_critical_section(flags);
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}
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#endif /* CONFIG_SCHED_WORKQUEUE */
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