From 6feabf0fee07c60b23971035a957acec4dea6c3a Mon Sep 17 00:00:00 2001
From: patacongo <patacongo@42af7a65-404d-4744-a932-0658087f49c3>
Date: Wed, 6 Mar 2013 00:02:07 +0000
Subject: [PATCH] Implement user-mode work queues
git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@5712 42af7a65-404d-4744-a932-0658087f49c3
---
ChangeLog | 5 +-
TODO | 21 +--
include/nuttx/wqueue.h | 246 ++++++++++++++++++++++++++++++------
libc/Kconfig | 113 ++++++++++++++++-
libc/wqueue/Make.defs | 4 +
libc/wqueue/work_thread.c | 66 +++++++++-
libc/wqueue/work_usrstart.c | 118 +++++++++++++++++
sched/Kconfig | 68 ----------
sched/os_bringup.c | 38 +++++-
syscall/syscall.csv | 4 +-
10 files changed, 539 insertions(+), 144 deletions(-)
create mode 100644 libc/wqueue/work_usrstart.c
diff --git a/ChangeLog b/ChangeLog
index abfdcf6da6..cb29aeb3d0 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -4255,5 +4255,8 @@
(2013-03-05)
* libc/wqueue: Work queue logic moved from sched/ to libc/wqueue. It
is not really core OS functionality and this move helps prepare for
- user-space work queues.
+ user-space work queues. (2013-03-05)
+ * libc/wqueue: Implemented user-space work queues. These will not
+ get tested until the next time I attempt a NuttX kernel build.
+ (2013-03-05).
diff --git a/TODO b/TODO
index 96472bc8fe..5f2fcf016e 100644
--- a/TODO
+++ b/TODO
@@ -1,4 +1,4 @@
-NuttX TODO List (Last updated February 5, 2013)
+NuttX TODO List (Last updated March 5, 2013)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This file summarizes known NuttX bugs, limitations, inconsistencies with
@@ -6,7 +6,7 @@ standards, things that could be improved, and ideas for enhancements.
nuttx/
- (11) Task/Scheduler (sched/)
+ (10) Task/Scheduler (sched/)
(1) Memory Managment (mm/)
(3) Signals (sched/, arch/)
(2) pthreads (sched/)
@@ -126,23 +126,6 @@ o Task/Scheduler (sched/)
Status: Open
Priority: Low -- There is no plan to implement this.
- Title: USER-SPACE WORK QUEUES
- Description: There has been some use of work queues that has crept into some
- user code. I am thinking of NxWidgets::CNxTimer. That timer
- logic was originally implemented (correctly) using POSIX timers,
- but was re-implemented using timed work.
-
- The issue is that NxWidgets::CNxTimer is a user-space application
- but the work queues are an OS internal feature. This will be a
- problem for KERNEL builds. Hooks and definitions have been added
- in include/nuttx/wqueue.h to support a user-space work queue, but
- the corresponding logic has not been implemented.
-
- The work queue logic will need to be moved from sched/ to libc/wqueue/
- Status: Open. No work will probably be done until a functional KERNEL build
- that includes NxWisges::CNxTimer is needed.
- Priority: Medium Low for now
-
Title: INCOMPATIBILITES WITH execv() AND execl()
Description: Simplified 'execl()' and 'execv()' functions are provided by
NuttX. NuttX does not support processes and hence the concept
diff --git a/include/nuttx/wqueue.h b/include/nuttx/wqueue.h
index 67a518008b..e76cdfd284 100644
--- a/include/nuttx/wqueue.h
+++ b/include/nuttx/wqueue.h
@@ -61,6 +61,10 @@
* (which runs at the lowest of priority and may not be appropriate
* if memory reclamation is of high priority). If CONFIG_SCHED_WORKQUEUE
* is enabled, then the following options can also be used:
+ * CONFIG_SCHED_HPWORK - Build the high priority work queue. To preserve
+ * legacy behavior, CONFIG_SCHED_HPWORK is assumed to be true in a flat
+ * build (CONFIG_SCHED_KERNEL=n) but must be defined in kernel mode
+ * in order to build the high priority work queue.
* CONFIG_SCHED_WORKPRIORITY - The execution priority of the worker
* thread. Default: 192
* CONFIG_SCHED_WORKPERIOD - How often the worker thread checks for
@@ -83,23 +87,85 @@
* priority worker thread. Default: CONFIG_IDLETHREAD_STACKSIZE.
*/
-#if defined(CONFIG_SCHED_WORKQUEUE) && defined(CONFIG_DISABLE_SIGNALS)
-# warning "Worker thread support requires signals"
+/* Is this a kernel build (CONFIG_NUTTX_KERNEL=y) */
+
+#ifdef CONFIG_NUTTX_KERNEL
+
+ /* Yes.. kernel worker threads are not built in a kernel build when we are
+ * building the user-space libraries.
+ */
+
+# ifndef __KERNEL__
+# undef CONFIG_SCHED_HPWORK
+# undef CONFIG_SCHED_LPWORK
+
+ /* User-space worker threads are not built in a kernel build when we are
+ * building the kernel-space libraries.
+ */
+
+# else
+# undef CONFIG_SCHED_USRWORK
+# endif
+
+ /* User-space worker threads are not built in a flat build
+ * (CONFIG_NUTTX_KERNEL=n)
+ */
+
+#else
+
+ /* To preserve legacy behavior, CONFIG_SCHED_HPWORK is assumed to be true
+ * in a flat build (CONFIG_SCHED_KERNEL=n) but must be defined in kernel
+ * mode in order to build the high priority work queue.
+ */
+
+# undef CONFIG_SCHED_HPWORK
+# undef CONFIG_SCHED_USRWORK
+# define CONFIG_SCHED_HPWORK 1
#endif
-#ifndef CONFIG_SCHED_WORKPRIORITY
-# define CONFIG_SCHED_WORKPRIORITY 192
+/* We never build the low priority work queue without building the high
+ * priority work queue.
+ */
+
+#if defined(CONFIG_SCHED_LPWORK) && !defined(CONFIG_SCHED_HPWORK)
+# error "CONFIG_SCHED_LPWORK defined, but CONFIG_SCHED_HPWORK not defined"
+# undef CONFIG_SCHED_LPWORK
#endif
-#ifndef CONFIG_SCHED_WORKPERIOD
-# define CONFIG_SCHED_WORKPERIOD (50*1000) /* 50 milliseconds */
+/* We might not be building any work queue support in this context */
+
+#if !defined(CONFIG_SCHED_HPWORK) && !defined(CONFIG_SCHED_LPWORK) && !defined(CONFIG_SCHED_USRWORK)
+# undef CONFIG_SCHED_WORKQUEUE
#endif
-#ifndef CONFIG_SCHED_WORKSTACKSIZE
-# define CONFIG_SCHED_WORKSTACKSIZE CONFIG_IDLETHREAD_STACKSIZE
+#ifdef CONFIG_SCHED_WORKQUEUE
+
+/* We are building work queues... Work queues need signal support */
+
+#if defined(CONFIG_SCHED_WORKQUEUE) && defined(CONFIG_DISABLE_SIGNALS)
+# warning "Worker thread support requires signals"
#endif
+/* High priority, kernel work queue configuration ***************************/
+
+#ifdef CONFIG_SCHED_HPWORK
+
+# ifndef CONFIG_SCHED_WORKPRIORITY
+# define CONFIG_SCHED_WORKPRIORITY 192
+# endif
+
+# ifndef CONFIG_SCHED_WORKPERIOD
+# define CONFIG_SCHED_WORKPERIOD (50*1000) /* 50 milliseconds */
+# endif
+
+# ifndef CONFIG_SCHED_WORKSTACKSIZE
+# define CONFIG_SCHED_WORKSTACKSIZE CONFIG_IDLETHREAD_STACKSIZE
+# endif
+
+/* Low priority kernel work queue configuration *****************************/
+
#ifdef CONFIG_SCHED_LPWORK
+
# ifndef CONFIG_SCHED_LPWORKPRIORITY
# define CONFIG_SCHED_LPWORKPRIORITY 50
# endif
@@ -111,44 +177,88 @@
# ifndef CONFIG_SCHED_LPWORKSTACKSIZE
# define CONFIG_SCHED_LPWORKSTACKSIZE CONFIG_IDLETHREAD_STACKSIZE
# endif
-#endif
-/* How many worker threads are there? */
+/* The high priority worker thread should be higher priority than the low
+ * priority worker thread.
+ */
-#ifdef CONFIG_SCHED_LPWORK
-# define NWORKERS 2
-#else
-# define NWORKERS 1
+#if CONFIG_SCHED_LPWORKPRIORITY > CONFIG_SCHED_WORKPRIORITY
+# warning "The Lower priority worker thread has the higher priority"
#endif
-/* Work queue IDs (indices):
+#endif /* CONFIG_SCHED_LPWORK */
+#endif /* CONFIG_SCHED_HPWORK */
+
+/* User space work queue configuration **************************************/
+
+#ifdef CONFIG_SCHED_USRWORK
+
+# ifndef CONFIG_SCHED_USRWORKPRIORITY
+# define CONFIG_SCHED_USRWORKPRIORITY 50
+# endif
+
+# ifndef CONFIG_SCHED_USRWORKPERIOD
+# define CONFIG_SCHED_USRWORKPERIOD (50*1000) /* 50 milliseconds */
+# endif
+
+# ifndef CONFIG_SCHED_USRWORKSTACKSIZE
+# define CONFIG_SCHED_USRWORKSTACKSIZE CONFIG_IDLETHREAD_STACKSIZE
+# endif
+
+#endif /* CONFIG_SCHED_USRWORK */
+
+/* How many worker threads are there? In the user-space phase of a kernel
+ * build, there will be no more than one.
*
- * Kernel Work Queues:
- * HPWORK: This ID of the high priority work queue that should only be used for
- * hi-priority, time-critical, driver bottom-half functions.
+ * Work queue IDs (indices):
*
- * LPWORK: This is the ID of the low priority work queue that can be used for any
- * purpose. if CONFIG_SCHED_LPWORK is not defined, then there is only one kernel
- * work queue and LPWORK == HPWORK.
+ * Kernel Work Queues: There are none and any attempts to use them
+ * should generate errors.
*
- * User Work Queue:
- * USRWORK: CONFIG_NUTTX_KERNEL and CONFIG_SCHED_USRWORK are defined, then NuttX
- * will also support a user-accessible work queue. Otherwise, USRWORK == LPWORK.
+ * User Work Queue: Will be available if CONFIG_SCHED_USRWORK is defined
*/
-#define HPWORK 0
-#ifdef CONFIG_SCHED_LPWORK
-# define LPWORK (HPWORK+1)
+#if defined(CONFIG_NUTTX_KERNEL) && !defined(__KERNEL__)
+# ifdef CONFIG_SCHED_USRWORK
+# define NWORKERS 1
+# define USRWORK 0
+# endif
#else
-# define LPWORK HPWORK
-#endif
-#if defined(CONFIG_NUTTX_KERNEL) && defined(CONFIG_SCHED_USRWORK)
-# warning "Feature not implemented"
-# define USRWORK (LPWORK+1)
-#else
-# define USRWORK LPWORK
-#endif
+ /* In a flat build (CONFIG_NUTTX_KERNEL=n) or during the kernel phase of
+ * the kernel build, there may be 0, 1, or 2 work queues.
+ *
+ * Work queue IDs (indices):
+ *
+ * Kernel Work Queues:
+ * HPWORK: This ID of the high priority work queue that should only be
+ * used for hi-priority, time-critical, driver bottom-half functions.
+ *
+ * LPWORK: This is the ID of the low priority work queue that can be
+ * used for any purpose. if CONFIG_SCHED_LPWORK is not defined, then
+ * there is only one kernel work queue and LPWORK == HPWORK.
+ *
+ * User Work Queue:
+ * USRWORK: In the kernel phase a a kernel build, there should be no
+ * references to user-space work queues. That would be an error.
+ * Otherwise, in a flat build, user applications will use the lower
+ * priority work queue (if there is one).
+ */
+
+# define HPWORK 0
+# ifdef CONFIG_SCHED_LPWORK
+# define LPWORK (HPWORK+1)
+# define NWORKERS 2
+# else
+# define LPWORK HPWORK
+# define NWORKERS 1
+# endif
+
+# ifndef CONFIG_NUTTX_KERNEL
+# define USRWORK LPWORK
+# endif
+
+#endif /* CONFIG_NUTTX_KERNEL && !__KERNEL__ */
/****************************************************************************
* Public Types
@@ -202,22 +312,50 @@ extern "C"
* logic.
*/
+#ifdef CONFIG_NUTTX_KERNEL
+
+ /* Play some games in the kernel mode build to assure that different
+ * naming is used for the global work queue data structures. This may
+ * not be necessary but it safer.
+ */
+
+# ifdef __KERNEL__
+EXTERN struct wqueue_s g_kernelwork[NWORKERS];
+# define g_work g_kernelwork
+# else
+EXTERN struct wqueue_s g_usrwork[NWORKERS];
+# define g_work g_usrwork
+# endif
+
+#else /* CONFIG_NUTTX_KERNEL */
+
EXTERN struct wqueue_s g_work[NWORKERS];
+#endif /* CONFIG_NUTTX_KERNEL */
+
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
/****************************************************************************
- * Name: work_hpthread and work_lpthread
+ * Name: work_hpthread, work_lpthread, and work_usrthread
*
* Description:
- * These are the main worker threads that performs actions placed on the
- * work lists. One thread also performs periodic garbage collection (that
- * is performed by the idle thread if CONFIG_SCHED_WORKQUEUE is not defined).
+ * These are the worker threads that performs actions placed on the work
+ * lists.
*
- * These entrypoints are referenced by OS internally and should not be
- * accessed by application logic.
+ * 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 started
+ * by application code by calling work_usrstart().
+ *
+ * All of these entrypoints are referenced by OS internally and should not
+ * not be accessed by application logic.
*
* Input parameters:
* argc, argv (not used)
@@ -227,12 +365,37 @@ EXTERN struct wqueue_s g_work[NWORKERS];
*
****************************************************************************/
+#ifdef CONFIG_SCHED_HPWORK
int work_hpthread(int argc, char *argv[]);
+#endif
#ifdef CONFIG_SCHED_LPWORK
int work_lpthread(int argc, char *argv[]);
#endif
+#ifdef CONFIG_SCHED_USRWORK
+int work_usrthread(int argc, char *argv[]);
+#endif
+
+/****************************************************************************
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_SCHED_USRWORK
+int work_usrstart(void);
+#endif
+
/****************************************************************************
* Name: work_queue
*
@@ -324,4 +487,5 @@ int work_signal(int qid);
#endif
#endif /* __ASSEMBLY__ */
+#endif /* CONFIG_SCHED_WORKQUEUE */
#endif /* __INCLUDE_NUTTX_WQUEUE_H */
diff --git a/libc/Kconfig b/libc/Kconfig
index 3aee837c35..a549ced45c 100644
--- a/libc/Kconfig
+++ b/libc/Kconfig
@@ -346,7 +346,118 @@ config ARCH_BZERO
endif
-comment "Non-standard Helper Functions"
+comment "Non-standard Library Support"
+
+config SCHED_WORKQUEUE
+ bool "Enable worker thread"
+ default n
+ depends on !DISABLE_SIGNALS
+ ---help---
+ Create a dedicated "worker" thread to handle delayed processing from interrupt
+ handlers. This feature is required for some drivers but, if there are no
+ complaints, can be safely disabled. The worker thread also performs
+ garbage collection -- completing any delayed memory deallocations from
+ interrupt handlers. If the worker thread is disabled, then that clean up will
+ be performed by the IDLE thread instead (which runs at the lowest of priority
+ and may not be appropriate if memory reclamation is of high priority).
+
+if SCHED_WORKQUEUE
+
+config SCHED_HPWORK
+ bool "High priority (kernel) worker thread"
+ default y
+ ---help---
+ If SCHED_WORKQUEUE is defined, then a single, high priority work queue is
+ created by default. This high priority worker thread is intended to serve
+ as the "bottom half" for driver interrupt handling.
+
+if SCHED_HPWORK
+config SCHED_WORKPRIORITY
+ int "High priority worker thread priority"
+ default 192
+ ---help---
+ The execution priority of the worker thread. Default: 192
+
+config SCHED_WORKPERIOD
+ int "High priority worker thread period"
+ default 50000
+ ---help---
+ How often the worker thread checks for work in units of microseconds.
+ Default: 50*1000 (50 MS).
+
+config SCHED_WORKSTACKSIZE
+ int "High priority worker thread stack size"
+ default 2048
+ depends on SCHED_WORKQUEUE
+ ---help---
+ The stack size allocated for the worker thread. Default: 2K.
+
+config SCHED_LPWORK
+ bool "Low priority (kernel) worker thread"
+ default n
+ ---help---
+ If SCHED_WORKQUEUE is defined, then a single work queue is created by
+ default. If SCHED_LPWORK is also defined then an additional, lower-
+ priority work queue will also be created. This lower priority work
+ queue is better suited for more extended processing (such as file system
+ clean-up operations)
+
+if SCHED_LPWORK
+
+config SCHED_LPWORKPRIORITY
+ int "Low priority worker thread priority"
+ default 50
+ ---help---
+ The execution priority of the lopwer priority worker thread. Default: 192
+
+config SCHED_LPWORKPERIOD
+ int "Low priority worker thread period"
+ default 50000
+ ---help---
+ How often the lower priority worker thread checks for work in units
+ of microseconds. Default: 50*1000 (50 MS).
+
+config SCHED_LPWORKSTACKSIZE
+ int "Low priority worker thread stack size"
+ default 2048
+ ---help---
+ The stack size allocated for the lower priority worker thread. Default: 2K.
+
+endif # SCHED_LPWORK
+endif # SCHED_HPWORK
+
+if NUTTX_KERNEL
+
+config SCHED_USRWORK
+ bool "User mode worker thread"
+ default n
+ ---help---
+ User space work queues can also be made available for deferred processing in the NuttX kernel build.
+
+if SCHED_USRWORK
+
+config SCHED_LPWORKPRIORITY
+ int "User mode priority worker thread priority"
+ default 50
+ ---help---
+ The execution priority of the lopwer priority worker thread. Default: 192
+
+config SCHED_LPWORKPERIOD
+ int "User mode worker thread period"
+ default 50000
+ ---help---
+ How often the lower priority worker thread checks for work in units
+ of microseconds. Default: 50*1000 (50 MS).
+
+config SCHED_LPWORKSTACKSIZE
+ int "User mode worker thread stack size"
+ default 2048
+ ---help---
+ The stack size allocated for the lower priority worker thread. Default: 2K.
+
+endif # SCHED_USRWORK
+endif # NUTTX_KERNEL
+endif # SCHED_WORKQUEUE
config LIB_KBDCODEC
bool "Keyboard CODEC"
diff --git a/libc/wqueue/Make.defs b/libc/wqueue/Make.defs
index 1a13bcf787..fca63a8a67 100644
--- a/libc/wqueue/Make.defs
+++ b/libc/wqueue/Make.defs
@@ -39,6 +39,10 @@ ifeq ($(CONFIG_SCHED_WORKQUEUE),y)
CSRCS += work_thread.c work_queue.c work_cancel.c work_signal.c
+ifeq ($(CONFIG_NUTTX_KERNEL),y)
+CSRCS += work_usrstart.c
+endif
+
# Add the wqueue directory to the build
DEPPATH += --dep-path wqueue
diff --git a/libc/wqueue/work_thread.c b/libc/wqueue/work_thread.c
index 32dff9c8c5..febcd0ae86 100644
--- a/libc/wqueue/work_thread.c
+++ b/libc/wqueue/work_thread.c
@@ -65,10 +65,30 @@
* Public Variables
****************************************************************************/
-/* The state of each work queue */
+/* The state of each work queue. */
+
+#ifdef CONFIG_NUTTX_KERNEL
+
+ /* Play some games in the kernel mode build to assure that different
+ * naming is used for the global work queue data structures. This may
+ * not be necessary but it safer.
+ *
+ * In this case g_work is #define'd to be either g_kernelwork or
+ * g_usrwork in include/nuttx/wqueue.h
+ */
+
+# ifdef __KERNEL__
+struct wqueue_s g_kernelwork[NWORKERS];
+# else
+struct wqueue_s g_usrwork[NWORKERS];
+# endif
+
+#else /* CONFIG_NUTTX_KERNEL */
struct wqueue_s g_work[NWORKERS];
+#endif /* CONFIG_NUTTX_KERNEL */
+
/****************************************************************************
* Private Variables
****************************************************************************/
@@ -181,12 +201,24 @@ static void work_process(FAR struct wqueue_s *wqueue)
* Public Functions
****************************************************************************/
/****************************************************************************
- * Name: work_hpthread and work_lpthread
+ * Name: work_hpthread, work_lpthread, and work_usrthread
*
* Description:
- * These are the main worker threads that performs actions placed on the
- * work lists. One thread also performs periodic garbage collection (that
- * is performed by the idle thread if CONFIG_SCHED_WORKQUEUE is not defined).
+ * 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 started
+ * by application code by calling work_usrstart().
+ *
+ * All of these entrypoints are referenced by OS internally and should not
+ * not be accessed by application logic.
*
* Input parameters:
* argc, argv (not used)
@@ -196,6 +228,8 @@ static void work_process(FAR struct wqueue_s *wqueue)
*
****************************************************************************/
+#ifdef CONFIG_SCHED_HPWORK
+
int work_hpthread(int argc, char *argv[])
{
/* Loop forever */
@@ -224,6 +258,7 @@ int work_hpthread(int argc, char *argv[])
}
#ifdef CONFIG_SCHED_LPWORK
+
int work_lpthread(int argc, char *argv[])
{
/* Loop forever */
@@ -250,5 +285,26 @@ int work_lpthread(int argc, char *argv[])
}
#endif /* CONFIG_SCHED_LPWORK */
+#endif /* CONFIG_SCHED_HPWORK */
+
+#ifdef CONFIG_SCHED_USRWORK
+
+int work_usrthread(int argc, char *argv[])
+{
+ /* Loop forever */
+
+ for (;;)
+ {
+ /* Then process queued work. We need to keep interrupts disabled while
+ * we process items in the work list.
+ */
+
+ work_process(&g_work[USRWORK]);
+ }
+
+ return OK; /* To keep some compilers happy */
+}
+
+#endif /* CONFIG_SCHED_USRWORK */
#endif /* CONFIG_SCHED_WORKQUEUE */
diff --git a/libc/wqueue/work_usrstart.c b/libc/wqueue/work_usrstart.c
new file mode 100644
index 0000000000..b472afc8d0
--- /dev/null
+++ b/libc/wqueue/work_usrstart.c
@@ -0,0 +1,118 @@
+/****************************************************************************
+ * 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_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)
+{
+ int errcode;
+
+ DEBUGASSERT(g_usrwork[USRWORK] == NULL);
+
+ /* Start a lower priority worker thread for other, non-critical continuation
+ * tasks
+ */
+
+ 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);
+
+ errcode = errno;
+ ASSERT(g_usrwork[USRWORK].pid > 0);
+ if (g_usrwork[USRWORK].pid < 0)
+ {
+ sdbg("task_create failed: %d\n", errcode);
+ return -errcode;
+ }
+
+ return g_usrwork[USRWORK].pid;
+}
+
+#endif /* CONFIG_SCHED_WORKQUEUE && CONFIG_SCHED_USRWORK */
diff --git a/sched/Kconfig b/sched/Kconfig
index 61900f4988..b7561ff583 100644
--- a/sched/Kconfig
+++ b/sched/Kconfig
@@ -245,74 +245,6 @@ config SDCLONE_DISABLE
desciptors by task_create() when a new task is started. If
set, all sockets will appear to be closed in the new task.
-config SCHED_WORKQUEUE
- bool "Enable worker thread"
- default n
- depends on !DISABLE_SIGNALS
- ---help---
- Create a dedicated "worker" thread to handle delayed processing from interrupt
- handlers. This feature is required for some drivers but, if there are no
- complaints, can be safely disabled. The worker thread also performs
- garbage collection -- completing any delayed memory deallocations from
- interrupt handlers. If the worker thread is disabled, then that clean up will
- be performed by the IDLE thread instead (which runs at the lowest of priority
- and may not be appropriate if memory reclamation is of high priority).
-
-config SCHED_WORKPRIORITY
- int "Worker thread priority"
- default 192
- depends on SCHED_WORKQUEUE
- ---help---
- The execution priority of the worker thread. Default: 192
-
-config SCHED_WORKPERIOD
- int "Worker thread period"
- default 50000
- depends on SCHED_WORKQUEUE
- ---help---
- How often the worker thread checks for work in units of microseconds.
- Default: 50*1000 (50 MS).
-
-config SCHED_WORKSTACKSIZE
- int "Worker thread stack size"
- default 2048
- depends on SCHED_WORKQUEUE
- ---help---
- The stack size allocated for the worker thread. Default: 2K.
-
-config SCHED_LPWORK
- bool "Enable a lower priority worker thread"
- default n
- depends on SCHED_WORKQUEUE
- ---help---
- If SCHED_WORKQUEUE is defined, then a single work queue is created by
- default. If SCHED_LPWORK is also defined then an additional, lower-
- priority work queue will also be created. This lower priority work
- queue is better suited for more extended processing (such as file system
- clean-up operations)
-
-config SCHED_LPWORKPRIORITY
- int "Lower priority worker thread priority"
- default 50
- depends on SCHED_LPWORK
- ---help---
- The execution priority of the lopwer priority worker thread. Default: 192
-
-config SCHED_LPWORKPERIOD
- int "Lower priority worker thread period"
- default 50000
- depends on SCHED_LPWORK
- ---help---
- How often the lower priority worker thread checks for work in units
- of microseconds. Default: 50*1000 (50 MS).
-
-config SCHED_LPWORKSTACKSIZE
- int "Lower priority worker thread stack size"
- default 2048
- depends on SCHED_LPWORK
- ---help---
- The stack size allocated for the lower priority worker thread. Default: 2K.
-
config SCHED_WAITPID
bool "Enable waitpid() API"
default n
diff --git a/sched/os_bringup.c b/sched/os_bringup.c
index 506de8dc3f..2fcb9ff7b8 100644
--- a/sched/os_bringup.c
+++ b/sched/os_bringup.c
@@ -62,11 +62,26 @@
* Pre-processor Definitions
****************************************************************************/
-/* If NuttX is built as a separately compiled module, then the the header
+/* If NuttX is built as a separately compiled module, then the config.h header
* file should contain the address of the user module entry point. If not
* then the default entry point is user_start.
*/
+/* 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
+#endif
+
/****************************************************************************
* Private Types
****************************************************************************/
@@ -147,9 +162,15 @@ int os_bringup(void)
*/
#ifdef CONFIG_SCHED_WORKQUEUE
- svdbg("Starting worker thread\n");
+#ifdef CONFIG_SCHED_HPWORK
- g_work[HPWORK].pid = KERNEL_THREAD("work0", CONFIG_SCHED_WORKPRIORITY,
+#ifdef CONFIG_SCHED_LPWORK
+ svdbg("Starting high-priority kernel worker thread\n");
+#else
+ svdbg("Starting kernel worker thread\n");
+#endif
+
+ g_work[HPWORK].pid = KERNEL_THREAD(HPWORKNAME, CONFIG_SCHED_WORKPRIORITY,
CONFIG_SCHED_WORKSTACKSIZE,
(main_t)work_hpthread, (FAR char * const *)NULL);
ASSERT(g_work[HPWORK].pid > 0);
@@ -159,14 +180,17 @@ int os_bringup(void)
*/
#ifdef CONFIG_SCHED_LPWORK
- svdbg("Starting worker thread\n");
- g_work[LPWORK].pid = KERNEL_THREAD("work1", CONFIG_SCHED_LPWORKPRIORITY,
+ svdbg("Starting low-priority kernel worker thread\n");
+
+ g_work[LPWORK].pid = KERNEL_THREAD(LPWORKNAME, CONFIG_SCHED_LPWORKPRIORITY,
CONFIG_SCHED_LPWORKSTACKSIZE,
(main_t)work_lpthread, (FAR char * const *)NULL);
ASSERT(g_work[LPWORK].pid > 0);
-#endif
-#endif
+
+#endif /* CONFIG_SCHED_LPWORK */
+#endif /* CONFIG_SCHED_HPWORK */
+#endif /* CONFIG_SCHED_WORKQUEUE */
/* Once the operating system has been initialized, the system must be
* started by spawning the user init thread of execution. This is the
diff --git a/syscall/syscall.csv b/syscall/syscall.csv
index 6716e9d6af..5f68697cac 100644
--- a/syscall/syscall.csv
+++ b/syscall/syscall.csv
@@ -43,8 +43,8 @@
"prctl","sys/prctl.h", "CONFIG_TASK_NAME_SIZE > 0","int","int","..."
"clock_systimer","nuttx/clock.h","!defined(CONFIG_DISABLE_CLOCK)","uint32_t"
"poll","poll.h","!defined(CONFIG_DISABLE_POLL) && (CONFIG_NSOCKET_DESCRIPTORS > 0 || CONFIG_NFILE_DESCRIPTORS > 0)","int","FAR struct pollfd*","nfds_t","int"
-"posix_spawnp", defined(CONFIG_BINFMT_EXEPATH), "int","FAR pid_t *","FAR const char *","FAR const posix_spawn_file_actions_t *","FAR const posix_spawnattr_t *","FAR char *const []","FAR char *const []"
-"posix_spawn", !defined(CONFIG_BINFMT_EXEPATH), "int","FAR pid_t *","FAR const char *","FAR const posix_spawn_file_actions_t *","FAR const posix_spawnattr_t *","FAR char *const []","FAR char *const []"
+"posix_spawnp","spawn.h","defined(CONFIG_BINFMT_EXEPATH)","int","FAR pid_t *","FAR const char *","FAR const posix_spawn_file_actions_t *","FAR const posix_spawnattr_t *","FAR char *const []","FAR char *const []"
+"posix_spawn","spawn.h","!defined(CONFIG_BINFMT_EXEPATH)","int","FAR pid_t *","FAR const char *","FAR const posix_spawn_file_actions_t *","FAR const posix_spawnattr_t *","FAR char *const []","FAR char *const []"
"pthread_barrier_destroy","pthread.h","!defined(CONFIG_DISABLE_PTHREAD)","int","FAR pthread_barrier_t*"
"pthread_barrier_init","pthread.h","!defined(CONFIG_DISABLE_PTHREAD)","int","FAR pthread_barrier_t*","FAR const pthread_barrierattr_t*","unsigned int"
"pthread_barrier_wait","pthread.h","!defined(CONFIG_DISABLE_PTHREAD)","int","FAR pthread_barrier_t*"
--
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