/**************************************************************************** * libc/wqueue/work_thread.c * * Copyright (C) 2009-2013 Gregory Nutt. All rights reserved. * Author: Gregory Nutt * * 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 #include #include #include #include #include #include #include #include #include #include #include #include #include "work_lock.h" #ifdef CONFIG_SCHED_WORKQUEUE /**************************************************************************** * Pre-processor Definitions ****************************************************************************/ /**************************************************************************** * Private Type Declarations ****************************************************************************/ /**************************************************************************** * Public Variables ****************************************************************************/ /* The state of each work queue. */ struct wqueue_s g_work[NWORKERS]; /**************************************************************************** * Private Variables ****************************************************************************/ px4_sem_t _work_lock[NWORKERS]; /**************************************************************************** * Private Functions ****************************************************************************/ /**************************************************************************** * Name: work_process * * Description: * This is the logic that performs actions placed on any work list. * * Input parameters: * wqueue - Describes the work queue to be processed * * Returned Value: * None * ****************************************************************************/ static void work_process(struct wqueue_s *wqueue, int lock_id) { volatile struct work_s *work; worker_t worker; void *arg; uint64_t elapsed; uint32_t remaining; uint32_t next; /* Then process queued work. We need to keep interrupts disabled while * we process items in the work list. */ next = CONFIG_SCHED_WORKPERIOD; #ifdef __PX4_QURT // In Posix certain signals wake up a sleeping thread but it isn't the case // with the Qurt POSIX implementation. So rather than assume we can come out // of the sleep early by a signal we just wake up more often. next = 1000; #endif work_lock(lock_id); work = (struct work_s *)wqueue->q.head; while (work) { /* Is this work ready? It is ready if there is no delay or if * the delay has elapsed. qtime is the time that the work was added * to the work queue. It will always be greater than or equal to * zero. Therefore a delay of zero will always execute immediately. */ elapsed = USEC2TICK(clock_systimer() - work->qtime); //printf("work_process: in ticks elapsed=%lu delay=%u\n", elapsed, work->delay); if (elapsed >= work->delay) { /* Remove the ready-to-execute work from the list */ (void)dq_rem((struct dq_entry_s *)work, &wqueue->q); /* Extract the work description from the entry (in case the work * instance by the re-used after it has been de-queued). */ worker = work->worker; 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 that will take! */ work_unlock(lock_id); if (!worker) { PX4_WARN("MESSED UP: worker = 0\n"); } else { worker(arg); } /* Now, unfortunately, since we re-enabled interrupts we don't * know the state of the work list and we will have to start * back at the head of the list. */ work_lock(lock_id); work = (struct work_s *)wqueue->q.head; } else { /* This one is not ready.. will it be ready before the next * scheduled wakeup interval? */ /* Here: elapsed < work->delay */ remaining = USEC_PER_TICK * (work->delay - elapsed); if (remaining < next) { /* Yes.. Then schedule to wake up when the work is ready */ next = remaining; } /* Then try the next in the list. */ work = (struct work_s *)work->dq.flink; } } /* Wait awhile to check the work list. We will wait here until either * the time elapses or until we are awakened by a signal. */ work_unlock(lock_id); px4_usleep(next); } /**************************************************************************** * Public Functions ****************************************************************************/ void work_queues_init(void) { px4_sem_init(&_work_lock[HPWORK], 0, 1); px4_sem_init(&_work_lock[LPWORK], 0, 1); #ifdef CONFIG_SCHED_USRWORK px4_sem_init(&_work_lock[USRWORK], 0, 1); #endif // Create high priority worker thread g_work[HPWORK].pid = px4_task_spawn_cmd("hpwork", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 1, 2000, work_hpthread, (char *const *)NULL); // Create low priority worker thread g_work[LPWORK].pid = px4_task_spawn_cmd("lpwork", SCHED_DEFAULT, SCHED_PRIORITY_MIN, 2000, work_lpthread, (char *const *)NULL); } /**************************************************************************** * 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 built into * the applicatino blob during the user phase of a kernel build. The * user work thread will then automatically be started when the system * boots by calling through the pointer found in the header on the user * space blob. * * 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[]) { /* Loop forever */ for (;;) { /* First, perform garbage collection. This cleans-up memory de-allocations * that were queued because they could not be freed in that execution * context (for example, if the memory was freed from an interrupt handler). * NOTE: If the work thread is disabled, this clean-up is performed by * the IDLE thread (at a very, very low priority). */ #ifndef CONFIG_SCHED_LPWORK sched_garbagecollection(); #endif /* Then process queued work. We need to keep interrupts disabled while * we process items in the work list. */ work_process(&g_work[HPWORK], HPWORK); } return PX4_OK; /* To keep some compilers happy */ } #ifdef CONFIG_SCHED_LPWORK int work_lpthread(int argc, char *argv[]) { /* Loop forever */ for (;;) { /* First, perform garbage collection. This cleans-up memory de-allocations * that were queued because they could not be freed in that execution * context (for example, if the memory was freed from an interrupt handler). * NOTE: If the work thread is disabled, this clean-up is performed by * the IDLE thread (at a very, very low priority). */ //sched_garbagecollection(); /* Then process queued work. We need to keep interrupts disabled while * we process items in the work list. */ work_process(&g_work[LPWORK], LPWORK); } return PX4_OK; /* To keep some compilers happy */ } #endif /* CONFIG_SCHED_LPWORK */ #endif /* CONFIG_SCHED_HPWORK */ #ifdef CONFIG_SCHED_USRWORK int work_usrthread(int argc, char *argv[]) { /* Loop forever */ int rv; // set the threads name #ifdef __PX4_DARWIN rv = pthread_setname_np("USR"); #else rv = pthread_setname_np(pthread_self(), "USR"); #endif for (;;) { /* Then process queued work. We need to keep interrupts disabled while * we process items in the work list. */ work_process(&g_work[USRWORK], USRWORK); } return PX4_OK; /* To keep some compilers happy */ } #endif /* CONFIG_SCHED_USRWORK */ uint32_t clock_systimer(void) { //printf("clock_systimer: %0lx\n", hrt_absolute_time()); return (0x00000000ffffffff & hrt_absolute_time()); } #endif /* CONFIG_SCHED_WORKQUEUE */