forked from Archive/PX4-Autopilot
347 lines
10 KiB
C
347 lines
10 KiB
C
/****************************************************************************
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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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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/log.h>
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#include <px4_platform_common/posix.h>
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#include <px4_platform_common/time.h>
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#include <px4_platform_common/tasks.h>
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#include <px4_platform_common/workqueue.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 <pthread.h>
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#include <drivers/drv_hrt.h>
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#include "work_lock.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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* 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_work[NWORKERS];
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/****************************************************************************
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* Private Variables
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****************************************************************************/
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px4_sem_t _work_lock[NWORKERS];
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: work_process
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*
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* Description:
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* This is the logic that performs actions placed on any work list.
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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 work_process(struct wqueue_s *wqueue, int lock_id)
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{
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volatile struct work_s *work;
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worker_t worker;
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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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next = CONFIG_SCHED_WORKPERIOD;
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#ifdef __PX4_QURT
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// In Posix certain signals wake up a sleeping thread but it isn't the case
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// with the Qurt POSIX implementation. So rather than assume we can come out
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// of the sleep early by a signal we just wake up more often.
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next = 1000;
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#endif
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work_lock(lock_id);
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work = (struct work_s *)wqueue->q.head;
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while (work) {
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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 = USEC2TICK(clock_systimer() - work->qtime);
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//printf("work_process: in ticks elapsed=%lu delay=%u\n", elapsed, work->delay);
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if (elapsed >= work->delay) {
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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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/* 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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work_unlock(lock_id);
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if (!worker) {
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PX4_WARN("MESSED UP: worker = 0\n");
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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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work_lock(lock_id);
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work = (struct work_s *)wqueue->q.head;
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} else {
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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 = USEC_PER_TICK * (work->delay - elapsed);
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if (remaining < next) {
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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 = (struct work_s *)work->dq.flink;
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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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work_unlock(lock_id);
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px4_usleep(next);
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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void work_queues_init(void)
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{
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px4_sem_init(&_work_lock[HPWORK], 0, 1);
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px4_sem_init(&_work_lock[LPWORK], 0, 1);
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#ifdef CONFIG_SCHED_USRWORK
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px4_sem_init(&_work_lock[USRWORK], 0, 1);
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#endif
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// Create high priority worker thread
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g_work[HPWORK].pid = px4_task_spawn_cmd("hpwork",
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SCHED_DEFAULT,
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SCHED_PRIORITY_MAX - 1,
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2000,
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work_hpthread,
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(char *const *)NULL);
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// Create low priority worker thread
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g_work[LPWORK].pid = px4_task_spawn_cmd("lpwork",
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SCHED_DEFAULT,
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SCHED_PRIORITY_MIN,
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2000,
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work_lpthread,
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(char *const *)NULL);
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}
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/****************************************************************************
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* Name: work_hpthread, work_lpthread, and work_usrthread
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*
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* Description:
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* These are the worker threads that performs actions placed on the work
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* lists.
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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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* work_usrthread: This is a user mode work queue. It must be built into
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* the applicatino blob during the user phase of a kernel build. The
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* user work thread will then automatically be started when the system
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* boots by calling through the pointer found in the header on the user
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* space blob.
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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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#ifdef CONFIG_SCHED_HPWORK
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int work_hpthread(int argc, char *argv[])
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{
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/* Loop forever */
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for (;;) {
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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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#ifndef CONFIG_SCHED_LPWORK
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sched_garbagecollection();
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#endif
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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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work_process(&g_work[HPWORK], HPWORK);
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}
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return PX4_OK; /* To keep some compilers happy */
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}
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#ifdef CONFIG_SCHED_LPWORK
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int work_lpthread(int argc, char *argv[])
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{
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/* Loop forever */
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for (;;) {
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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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//sched_garbagecollection();
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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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work_process(&g_work[LPWORK], LPWORK);
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}
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return PX4_OK; /* To keep some compilers happy */
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}
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#endif /* CONFIG_SCHED_LPWORK */
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#endif /* CONFIG_SCHED_HPWORK */
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#ifdef CONFIG_SCHED_USRWORK
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int work_usrthread(int argc, char *argv[])
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{
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/* Loop forever */
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int rv;
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// set the threads name
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#ifdef __PX4_DARWIN
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rv = pthread_setname_np("USR");
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#else
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rv = pthread_setname_np(pthread_self(), "USR");
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#endif
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for (;;) {
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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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work_process(&g_work[USRWORK], USRWORK);
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}
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return PX4_OK; /* To keep some compilers happy */
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}
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#endif /* CONFIG_SCHED_USRWORK */
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uint32_t clock_systimer(void)
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{
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//printf("clock_systimer: %0lx\n", hrt_absolute_time());
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return (0x00000000ffffffff & hrt_absolute_time());
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}
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#endif /* CONFIG_SCHED_WORKQUEUE */
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