6a3c2aded6
* Simplify EINTR/ECANCEL error handling 1. Add semaphore uninterruptible wait function 2 .Replace semaphore wait loop with a single uninterruptible wait 3. Replace all sem_xxx to nxsem_xxx * Unify the void cast usage 1. Remove void cast for function because many place ignore the returned value witout cast 2. Replace void cast for variable with UNUSED macro
442 lines
12 KiB
C
442 lines
12 KiB
C
/****************************************************************************
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* libs/libc/wqueue/work_usrthread.c
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*
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* Copyright (C) 2009-2018 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 <pthread.h>
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#include <signal.h>
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#include <sched.h>
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#include <errno.h>
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#include <assert.h>
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#include <queue.h>
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#include <nuttx/semaphore.h>
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#include <nuttx/clock.h>
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#include <nuttx/wqueue.h>
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#include "wqueue/wqueue.h"
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#if defined(CONFIG_LIB_USRWORK) && !defined(__KERNEL__)
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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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#ifdef CONFIG_SYSTEM_TIME64
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# define WORK_DELAY_MAX UINT64_MAX
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#else
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# define WORK_DELAY_MAX UINT32_MAX
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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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* Private Type Declarations
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****************************************************************************/
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/****************************************************************************
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* Public Data
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****************************************************************************/
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/* The state of the user mode work queue. */
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struct usr_wqueue_s g_usrwork;
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/* This semaphore supports exclusive access to the user-mode work queue */
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#ifdef CONFIG_BUILD_PROTECTED
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sem_t g_usrsem;
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#else
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pthread_mutex_t g_usrmutex;
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#endif
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/****************************************************************************
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* Private 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 usr_wqueue_s *wqueue)
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{
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volatile FAR struct work_s *work;
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sigset_t sigset;
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sigset_t oldset;
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worker_t worker;
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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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int ret;
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/* Then process queued work. Lock the work queue while we process items
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* in the work list.
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*/
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next = WORK_DELAY_MAX;
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ret = work_lock();
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if (ret < 0)
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{
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/* Break out earlier if we were awakened by a signal */
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return;
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}
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/* Set up the signal mask */
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sigemptyset(&sigset);
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sigaddset(&sigset, SIGWORK);
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/* Get the time that we started this polling cycle in clock ticks. */
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stick = clock();
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/* And check each entry in the work queue. Since we have locked the
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* work queue 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();
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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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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 unlocking the work queue) */
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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. Unlock the work queue 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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work_unlock();
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worker(arg);
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/* Now, unfortunately, since we unlocked the work queue 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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ret = work_lock();
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if (ret < 0)
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{
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/* Break out earlier if we were awakened by a signal */
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return;
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}
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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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/* Canceled.. Just move to the next work in the list with
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* the work queue still locked.
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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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/* Unlock the work queue before waiting. In order to assure that we do
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* not lose the SIGWORK signal before waiting, we block the SIGWORK
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* signals before unlocking the work queue. That will cause in SIGWORK
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* signals directed to the worker thread to pend.
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*/
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sigprocmask(SIG_BLOCK, &sigset, &oldset);
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work_unlock();
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if (next == WORK_DELAY_MAX)
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{
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/* Wait indefinitely until signaled with SIGWORK */
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sigwaitinfo(&sigset, NULL);
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}
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else
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{
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struct timespec rqtp;
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time_t sec;
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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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sec = next / 1000000;
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rqtp.tv_sec = sec;
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rqtp.tv_nsec = (next - (sec * 1000000)) * 1000;
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sigtimedwait(&sigset, NULL, &rqtp);
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}
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sigprocmask(SIG_SETMASK, &oldset, NULL);
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}
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/****************************************************************************
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* Name: work_usrthread
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*
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* Description:
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* This is the worker thread that performs the actions placed on the user
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* work queue.
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*
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* This is a user mode work queue. It must be used by applications for
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* miscellaneous operations. The user work thread must be started by
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* application start-up logic by calling work_usrstart().
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*
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* Input Parameters:
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* argc, argv (not used)
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*
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* Returned Value:
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* Does not return
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*
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****************************************************************************/
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#ifdef CONFIG_BUILD_PROTECTED
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static int work_usrthread(int argc, char *argv[])
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#else
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static pthread_addr_t work_usrthread(pthread_addr_t arg)
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#endif
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{
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/* Loop forever */
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for (; ; )
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{
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/* Then process queued work. We need to keep the work queue locked
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* while we process items in the work list.
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*/
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work_process(&g_usrwork);
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}
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#ifdef CONFIG_BUILD_PROTECTED
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return OK; /* To keep some compilers happy */
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#else
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return NULL; /* To keep some compilers happy */
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#endif
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: work_usrstart
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*
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* Description:
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* Start the user mode work queue.
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*
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* Input Parameters:
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* None
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*
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* Returned Value:
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* The task ID of the worker thread is returned on success. A negated
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* errno value is returned on failure.
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*
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****************************************************************************/
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int work_usrstart(void)
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{
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/* Initialize work queue data structures */
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#ifdef CONFIG_BUILD_PROTECTED
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{
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/* Set up the work queue lock */
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nxsem_init(&g_usrsem, 0, 1);
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/* Start a user-mode worker thread for use by applications. */
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g_usrwork.pid = task_create("uwork",
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CONFIG_LIB_USRWORKPRIORITY,
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CONFIG_LIB_USRWORKSTACKSIZE,
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(main_t)work_usrthread,
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(FAR char * const *)NULL);
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DEBUGASSERT(g_usrwork.pid > 0);
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if (g_usrwork.pid < 0)
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{
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int errcode = get_errno();
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DEBUGASSERT(errcode > 0);
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return -errcode;
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}
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return g_usrwork.pid;
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}
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#else
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{
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pthread_t usrwork;
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pthread_attr_t attr;
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struct sched_param param;
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int ret;
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/* Set up the work queue lock */
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pthread_mutex_init(&g_usrmutex, NULL);
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/* Start a user-mode worker thread for use by applications. */
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pthread_attr_init(&attr);
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pthread_attr_setstacksize(&attr, CONFIG_LIB_USRWORKSTACKSIZE);
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#ifdef CONFIG_SCHED_SPORADIC
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/* Get the current sporadic scheduling parameters. Those will not be
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* modified.
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*/
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ret = set_getparam(pid, ¶m);
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if (ret < 0)
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{
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int erroode = get_errno();
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return -errcode;
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}
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#endif
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param.sched_priority = CONFIG_LIB_USRWORKPRIORITY;
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pthread_attr_setschedparam(&attr, ¶m);
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ret = pthread_create(&usrwork, &attr, work_usrthread, NULL);
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if (ret != 0)
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{
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return -ret;
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}
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/* Detach because the return value and completion status will not be
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* requested.
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*/
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pthread_detach(usrwork);
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g_usrwork.pid = (pid_t)usrwork;
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return g_usrwork.pid;
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}
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#endif
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}
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#endif /* CONFIG_LIB_USRWORK && !__KERNEL__*/
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