Lorenz Meier
10 years ago
15 changed files with 632 additions and 41 deletions
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|
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/****************************************************************************
|
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* libc/wqueue/work_queue.c |
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* |
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* Copyright (C) 2009-2011, 2013 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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/****************************************************************************
|
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* Included Files |
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****************************************************************************/ |
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#include <px4_config.h> |
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#include <px4_defines.h> |
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#include <signal.h> |
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#include <stdint.h> |
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#include <queue.h> |
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#include <stdio.h> |
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#include <semaphore.h> |
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#include <drivers/drv_hrt.h> |
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#include <px4_workqueue.h> |
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#include "hrt_work.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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|
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/****************************************************************************
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* Private Type Declarations |
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****************************************************************************/ |
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|
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/****************************************************************************
|
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* Public Variables |
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****************************************************************************/ |
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|
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/****************************************************************************
|
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* Private Variables |
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****************************************************************************/ |
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|
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/****************************************************************************
|
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* Private Functions |
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****************************************************************************/ |
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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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/****************************************************************************
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* Name: hrt_work_queue |
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* |
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* Description: |
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* Queue work to be performed at a later time. All queued work will be |
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* performed on the worker thread of of execution (not the caller's). |
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* |
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* The work structure is allocated by caller, but completely managed by |
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* the work queue logic. The caller should never modify the contents of |
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* the work queue structure; the caller should not call work_queue() |
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* again until either (1) the previous work has been performed and removed |
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* from the queue, or (2) work_cancel() has been called to cancel the work |
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* and remove it from the work queue. |
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* |
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* Input parameters: |
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* work - The work structure to queue |
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* worker - The worker callback to be invoked. The callback will invoked |
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* on the worker thread of execution. |
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* arg - The argument that will be passed to the workder callback when |
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* int is invoked. |
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* delay - Delay (in microseconds) from the time queue until the worker |
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* is invoked. Zero means to perform the work immediately. |
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* |
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* Returned Value: |
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* Zero on success, a negated errno on failure |
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* |
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****************************************************************************/ |
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int hrt_work_queue(struct work_s *work, worker_t worker, void *arg, uint32_t delay) |
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{ |
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struct wqueue_s *wqueue = &g_hrt_work; |
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/* First, initialize the work structure */ |
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work->worker = worker; /* Work callback */ |
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work->arg = arg; /* Callback argument */ |
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work->delay = delay; /* Delay until work performed */ |
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/* Now, time-tag that entry and put it in the work queue. This must be
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* done with interrupts disabled. This permits this function to be called |
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* from with task logic or interrupt handlers. |
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*/ |
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hrt_work_lock(); |
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work->qtime = hrt_absolute_time(); /* Time work queued */ |
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//PX4_INFO("hrt work_queue adding work delay=%u time=%lu", delay, work->qtime);
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dq_addlast((dq_entry_t *)work, &wqueue->q); |
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px4_task_kill(wqueue->pid, SIGCONT); /* Wake up the worker thread */ |
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hrt_work_unlock(); |
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return PX4_OK; |
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} |
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#endif /* CONFIG_SCHED_WORKQUEUE */ |
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/****************************************************************************
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* libc/wqueue/work_thread.c |
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* |
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* Copyright (C) 2009-2013 Gregory Nutt. All rights reserved. |
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* Author: Gregory Nutt <gnutt@nuttx.org> |
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* Modified by: Mark Charlebois to use hrt compatible times |
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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, |
||||
* 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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/****************************************************************************
|
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* Included Files |
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****************************************************************************/ |
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|
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#include <px4_config.h> |
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#include <px4_defines.h> |
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#include <stdint.h> |
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#include <stdio.h> |
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#include <unistd.h> |
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#include <queue.h> |
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#include <px4_workqueue.h> |
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#include <drivers/drv_hrt.h> |
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#include "hrt_work.h" |
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/****************************************************************************
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* Pre-processor Definitions |
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****************************************************************************/ |
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|
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/****************************************************************************
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* Private Type Declarations |
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****************************************************************************/ |
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/****************************************************************************
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* Public Variables |
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****************************************************************************/ |
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/* The state of each work queue. */ |
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struct wqueue_s g_hrt_work; |
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/****************************************************************************
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* Private Variables |
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****************************************************************************/ |
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sem_t _hrt_work_lock; |
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/****************************************************************************
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* Private Functions |
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****************************************************************************/ |
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static void hrt_work_process(void); |
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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. |
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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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static void hrt_work_process() |
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{ |
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struct wqueue_s *wqueue = &g_hrt_work; |
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volatile FAR struct work_s *work; |
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worker_t worker; |
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FAR void *arg; |
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uint64_t elapsed; |
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uint32_t remaining; |
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uint32_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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/* Default to sleeping for 1 sec */ |
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next = 1000000;
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hrt_work_lock(); |
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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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elapsed = hrt_absolute_time() - work->qtime; |
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//PX4_INFO("hrt work_process: in usec elapsed=%lu delay=%u work=%p", elapsed, work->delay, work);
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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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//PX4_INFO("Dequeued work=%p", work);
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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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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 that will take! |
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*/ |
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hrt_work_unlock(); |
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if (!worker) { |
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PX4_ERR("MESSED UP: worker = 0"); |
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} |
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else { |
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worker(arg); |
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} |
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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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hrt_work_lock(); |
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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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/* This one is not ready.. will it be ready before the next
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* scheduled wakeup interval? |
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*/ |
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/* Here: elapsed < work->delay */ |
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remaining = work->delay - elapsed; |
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//PX4_INFO("remaining=%u delay=%u elapsed=%lu", 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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//PX4_INFO("next %u work %p", next, work);
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} |
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} |
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/* Wait awhile to check the work list. We will wait here until either
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* the time elapses or until we are awakened by a signal. |
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*/ |
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hrt_work_unlock(); |
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/* might sleep less if a signal received and new item was queued */ |
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//PX4_INFO("Sleeping for %u usec", next);
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usleep(next); |
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} |
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/****************************************************************************
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* Name: work_hrtthread |
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* |
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* Description: |
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* This is the worker threads that performs actions placed on the ISR work |
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* list. |
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* |
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* work_hpthread and work_lpthread: These are the kernel mode work queues |
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* (also build in the flat build). One of these threads also performs |
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* periodic garbage collection (that is otherwise performed by the idle |
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* thread if CONFIG_SCHED_WORKQUEUE is not defined). |
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* |
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* These worker threads are started by the OS during normal bringup. |
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* |
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* All of these entrypoints are referenced by OS internally and should not |
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* not be accessed by application logic. |
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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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static int work_hrtthread(int argc, char *argv[]) |
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{ |
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/* Loop forever */ |
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for (;;) |
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{ |
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/* First, perform garbage collection. This cleans-up memory de-allocations
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* that were queued because they could not be freed in that execution |
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* context (for example, if the memory was freed from an interrupt handler). |
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* NOTE: If the work thread is disabled, this clean-up is performed by |
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* the IDLE thread (at a very, very low priority). |
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*/ |
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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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hrt_work_process(); |
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} |
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return PX4_OK; /* To keep some compilers happy */ |
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} |
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/****************************************************************************
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* Public Functions |
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****************************************************************************/ |
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void hrt_work_queue_init(void) |
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{ |
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sem_init(&_hrt_work_lock, 0, 1); |
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// Create high priority worker thread
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g_hrt_work.pid = px4_task_spawn_cmd("wkr_hrt", |
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SCHED_DEFAULT, |
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SCHED_PRIORITY_MAX, |
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2000, |
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work_hrtthread, |
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(char* const*)NULL); |
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} |
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@ -0,0 +1,65 @@
@@ -0,0 +1,65 @@
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/****************************************************************************
|
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* |
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* Copyright (C) 2015 Mark Charlebois. All rights reserved. |
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* |
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* 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. |
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* 3. Neither the name PX4 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 |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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#include <px4_log.h> |
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#include <semaphore.h> |
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#include <px4_workqueue.h> |
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#pragma once |
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__BEGIN_DECLS |
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extern sem_t _hrt_work_lock; |
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extern struct wqueue_s g_hrt_work; |
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void hrt_work_queue_init(void); |
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int hrt_work_queue(struct work_s *work, worker_t worker, void *arg, uint32_t delay); |
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void hrt_work_cancel(struct work_s *work); |
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inline void hrt_work_lock(void); |
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inline void hrt_work_unlock(void); |
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inline void hrt_work_lock() |
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{ |
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//PX4_INFO("hrt_work_lock");
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sem_wait(&_hrt_work_lock); |
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} |
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inline void hrt_work_unlock() |
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{ |
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//PX4_INFO("hrt_work_unlock");
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sem_post(&_hrt_work_lock); |
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} |
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|
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__END_DECLS |
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@ -0,0 +1,111 @@
@@ -0,0 +1,111 @@
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/****************************************************************************
|
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* libc/wqueue/work_cancel.c |
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* |
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* Copyright (C) 2009-2010, 2012-2013 Gregory Nutt. All rights reserved. |
||||
* Author: Gregory Nutt <gnutt@nuttx.org> |
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* |
||||
* 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 <px4_config.h> |
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#include <px4_defines.h> |
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#include <queue.h> |
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#include <px4_workqueue.h> |
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#include "hrt_work.h" |
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|
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/****************************************************************************
|
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* Pre-processor Definitions |
||||
****************************************************************************/ |
||||
|
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/****************************************************************************
|
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* Private Type Declarations |
||||
****************************************************************************/ |
||||
|
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/****************************************************************************
|
||||
* Public Variables |
||||
****************************************************************************/ |
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|
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/****************************************************************************
|
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* Private Variables |
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****************************************************************************/ |
||||
|
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/****************************************************************************
|
||||
* Private Functions |
||||
****************************************************************************/ |
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|
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/****************************************************************************
|
||||
* Public Functions |
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****************************************************************************/ |
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|
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/****************************************************************************
|
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* Name: hrt_work_cancel |
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* |
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* Description: |
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* Cancel previously queued work. This removes work from the work queue. |
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* After work has been canceled, it may be re-queue by calling
|
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* hrt_work_queue() again. |
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* |
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* Input parameters: |
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* work - The previously queue work structure to cancel |
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* |
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****************************************************************************/ |
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|
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void hrt_work_cancel(struct work_s *work) |
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{ |
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struct wqueue_s *wqueue = &g_hrt_work; |
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|
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//DEBUGASSERT(work != NULL && (unsigned)qid < NWORKERS);
|
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|
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/* Cancelling the work is simply a matter of removing the work structure
|
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* from the work queue. This must be done with interrupts disabled because |
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* new work is typically added to the work queue from interrupt handlers. |
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*/ |
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|
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hrt_work_lock(); |
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if (work->worker != NULL) |
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{ |
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/* A little test of the integrity of the work queue */ |
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|
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//DEBUGASSERT(work->dq.flink ||(FAR dq_entry_t *)work == wqueue->q.tail);
|
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//DEBUGASSERT(work->dq.blink ||(FAR dq_entry_t *)work == wqueue->q.head);
|
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|
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/* Remove the entry from the work queue and make sure that it is
|
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* mark as availalbe (i.e., the worker field is nullified). |
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*/ |
||||
|
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dq_rem((FAR dq_entry_t *)work, &wqueue->q); |
||||
work->worker = NULL; |
||||
} |
||||
|
||||
hrt_work_unlock(); |
||||
} |
||||
Loading…
Reference in new issue