/**************************************************************************** * libc/wqueue/work_thread.c * * Copyright (C) 2009-2013 Gregory Nutt. All rights reserved. * Author: Gregory Nutt * Modified by: Mark Charlebois to use hrt compatible times * * 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 "hrt_work.h" #include /**************************************************************************** * Pre-processor Definitions ****************************************************************************/ /**************************************************************************** * Private Type Declarations ****************************************************************************/ /**************************************************************************** * Public Variables ****************************************************************************/ /* The state of each work queue. */ struct wqueue_s g_hrt_work; /**************************************************************************** * Private Variables ****************************************************************************/ px4_sem_t _hrt_work_lock; /**************************************************************************** * Private Functions ****************************************************************************/ static void hrt_work_process(void); static void _sighandler(int sig_num); /**************************************************************************** * Name: _sighandler * * Description: * This is the handler for the signal to wake the queue processing thread * * Input parameters: * sig_num - the received signal * * Returned Value: * None * ****************************************************************************/ static void _sighandler(int sig_num) { PX4_DEBUG("RECEIVED SIGNAL %d", sig_num); } /**************************************************************************** * 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 hrt_work_process() { struct wqueue_s *wqueue = &g_hrt_work; volatile struct work_s *work; worker_t worker; void *arg; uint64_t elapsed; uint32_t remaining; uint32_t next; // set the threads name #ifdef __PX4_DARWIN pthread_setname_np("HRT"); #else // The Linux headers do not actually contain this //rv = pthread_setname_np(pthread_self(), "HRT"); #endif /* Then process queued work. We need to keep interrupts disabled while * we process items in the work list. */ /* Default to sleeping for 1 sec */ next = 1000000; hrt_work_lock(); 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 = hrt_absolute_time() - work->qtime; //PX4_INFO("hrt work_process: in usec elapsed=%lu delay=%u work=%p", elapsed, work->delay, work); if (elapsed >= work->delay) { /* Remove the ready-to-execute work from the list */ (void)dq_rem((struct dq_entry_s *) & (work->dq), &(wqueue->q)); //PX4_INFO("Dequeued work=%p", work); /* 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! */ hrt_work_unlock(); if (!worker) { PX4_ERR("MESSED UP: worker = 0"); } 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. */ hrt_work_lock(); 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 = work->delay - elapsed; //PX4_INFO("remaining=%u delay=%u elapsed=%lu", remaining, 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; //PX4_INFO("next %u work %p", next, work); } } /* Wait awhile to check the work list. We will wait here until either * the time elapses or until we are awakened by a signal. */ hrt_work_unlock(); /* might sleep less if a signal received and new item was queued */ //PX4_INFO("Sleeping for %u usec", next); px4_usleep(next); } /**************************************************************************** * Name: work_hrtthread * * Description: * This is the worker threads that performs actions placed on the ISR work * list. * * 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. * * 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 * ****************************************************************************/ static int work_hrtthread(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). */ /* Then process queued work. We need to keep interrupts disabled while * we process items in the work list. */ hrt_work_process(); } return PX4_OK; /* To keep some compilers happy */ } /**************************************************************************** * Public Functions ****************************************************************************/ void hrt_work_queue_init(void) { px4_sem_init(&_hrt_work_lock, 0, 1); memset(&g_hrt_work, 0, sizeof(g_hrt_work)); // Create high priority worker thread g_hrt_work.pid = px4_task_spawn_cmd("wkr_hrt", SCHED_DEFAULT, SCHED_PRIORITY_MAX, 2000, work_hrtthread, (char *const *)NULL); #ifdef __PX4_QURT signal(SIGALRM, _sighandler); #else signal(SIGCONT, _sighandler); #endif }