Replace the local EINTR retry loop with
nxsem_wait_uninterruptible(). This keeps the master implementation
aligned with the semaphore API without changing cancellation behavior.
Keep the cleanup separate so release branches where the helper is
unavailable can use the lifecycle commit without a downstream
compatibility patch.
Assisted-by: Codex:GPT-5
Signed-off-by: DuoYuWang <thirteenking.wang@gmail.com>
Factor the common queueing logic used by work_queue_wq() and
work_queue_next_wq() into a private helper.
Preserve existing timing semantics: regular work calculates its absolute
expiration before taking the queue lock, while periodic work advances the
previous expiration under the lock.
This is a code deduplication change with no public API or behavior changes.
Assisted-by: Codex:GPT-5
Signed-off-by: DuoYuWang <thirteenking.wang@gmail.com>
Prevent work_queue_free() from destroying predefined queues or freeing a
custom queue from one of its own callbacks. Mark teardown under the queue
lock, reject new submissions, return pending work to its owner, and wait for
every worker before releasing queue resources.
Clean up partially created worker pools, reject invalid delays, safely
replace pending periodic work, and make synchronous cancellation wait for
every concurrent callback using the same work structure.
Tested on an STM32H7 PX4 FMUv6C with the matching ostest suite in Flat and
Protected kernel builds.
Assisted-by: Codex:GPT-5
Signed-off-by: DuoYuWang <thirteenking.wang@gmail.com>
debug.h is a NuttX-specific, non-POSIX header. Placing it in the
top-level include/ directory creates naming conflicts with external
projects that define their own debug.h.
This commit moves the canonical header to include/nuttx/debug.h,
following the NuttX convention for non-POSIX/non-standard headers,
and updates all in-tree references.
A backward-compatibility shim is left at include/debug.h that
emits a deprecation #warning and re-includes <nuttx/debug.h>,
allowing out-of-tree code to continue building while migrating.
Signed-off-by: Piyush Patle <piyushpatle228@gmail.com>
Replace the spinlock/sched_lock pair in the sched wqueue module with
spin_lock_irqsave_nopreempt() to improve code clarity and consistency.
Signed-off-by: Chengdong Wang wangchengdong@lixiang.com
This commit fixed windows compilation errors `struct
lp_wqueue_s/hp_wqueue_s has an illegal zero-sized array`.
Signed-off-by: ouyangxiangzhen <ouyangxiangzhen@xiaomi.com>
For simplicity, better performance and lower memory-overhead, this commit replaced the periodical workqueue APIs with the more expressive work_queue_next. The work_queue_next restarts work based on the last expiration time.
Signed-off-by: ouyangxiangzhen <ouyangxiangzhen@xiaomi.com>
This commit added a macro function clock_delay2abstick to calculate the
absolute tick after the delay.
Signed-off-by: ouyangxiangzhen <ouyangxiangzhen@xiaomi.com>
This commit improve the performance of the work_queue by reducing
unnecessary wdog timer setting.
Signed-off-by: ouyangxiangzhen <ouyangxiangzhen@xiaomi.com>
This commit fixed work_cancel_sync at a very rare boundary case. When a worker thread re-enqueues the work data structure during the execution of work, the user thread cannot directly dequeue the work in work_cancel_sync. Instead, it should wait until all workers' references to the work data structure have been eliminated after dequeuing.
Signed-off-by: ouyangxiangzhen <ouyangxiangzhen@xiaomi.com>
For the watchdog list and the workqueue list, we wonder whether the list head has changed after the insertion. In the original implementation, we have to access the list->next field and compare the result to the currently inserted node. In this commit, we mark the list head before the insertion and comparing the current traversed node with the list head we marked, which can avoid accessing the list->next and is more cache-friendly.
Signed-off-by: ouyangxiangzhen <ouyangxiangzhen@xiaomi.com>
This commit refactors the logic of workqueue processing delayed and periodic work, and changes the timer to be set in `work_thread`. The improvements of this change are as follows:
- Fixed the memory reuse problem of the original periodic workqueue implementation.
- By removing the `wdog_s` structure in the `work_s` structure, the memory overhead of each `work_s` structure is reduced by about 30 bytes.
- Set the timer for each workqueue instead of each work, which improves system performance.
- Simplified the workqueue cancel logic.
Signed-off-by: ouyangxiangzhen <ouyangxiangzhen@xiaomi.com>
In NuttX, the dq and the list are two different implementations of the double-linked list. Comparing to the dq, the list implementation has less branch conditions such as checking whether the head or tail is NULL. In theory and practice, the list is more friendly to the CPU pipeline. This commit changed the dq to the list in the wqueue implementation.
Signed-off-by: ouyangxiangzhen <ouyangxiangzhen@xiaomi.com>
reason:
We decouple semcount from business logic
by using an independent counting variable,
which allows us to remove critical sections in many cases.
Signed-off-by: hujun5 <hujun5@xiaomi.com>
Be consistent with the datatype used for the 'key'. As the API in
in the .h file uses int, I chose to replace uint32_t with int
everywhere.
This change ensures that work_notifier_setup() will not return a
negative value indicating error to the caller, when in fact the
notifier was correctly setup. This would happen when
work_notifier_setup() had been called 0x8000000 times, and that
many keys allocated.
This patch fixed userspace headers conflict. Architecture-related definition and API should not be exposed to users.
Signed-off-by: ouyangxiangzhen <ouyangxiangzhen@xiaomi.com>
When we do not drop notifier from g_notifier_pending, we need an
isolated dq entry for this queue, otherwise the queued work_s's dq entry
may be modified by the work queue and breaks the chain of
g_notifier_pending.
Signed-off-by: Zhe Weng <wengzhe@xiaomi.com>
Return 1 to indicate the work was not cancelled.
Because it is currently being processed by work thread,
but wait for it to finish.
Signed-off-by: ligd <liguiding1@xiaomi.com>
Most tools used for compliance and SBOM generation use SPDX identifiers
This change brings us a step closer to an easy SBOM generation.
Signed-off-by: Alin Jerpelea <alin.jerpelea@sony.com>
reason:
These interfaces are used when we assign interrupt
handling of the same priority to the corresponding priority work queues.
Signed-off-by: hujun5 <hujun5@xiaomi.com>
1.work_queue a work which call work_queue again
2.work_cancel_sync the work
3.the work is just calling in workthread
4.work_queue the work again,and post the work_cancel_sync wakeup
5.the work is not canceled
Signed-off-by: dulibo1 <dulibo1@xiaomi.com>
sched implementation not depends on macro abstraction, so revert below commit:
This reverts commit 4e62d0005a
This reverts commit 0f0c370520
This reverts commit ad0efd04ee
Signed-off-by: chao an <anchao@lixiang.com>
purpose:
1 sched_lock is very time-consuming, and reducing its invocations can improve performance.
2 sched_lock is prone to misuse, and narrowing its scope of use is to prevent people from referencing incorrect code and using it
test:
We can use qemu for testing.
compiling
make distclean -j20; ./tools/configure.sh -l qemu-armv8a:nsh_smp ;make -j20
running
qemu-system-aarch64 -cpu cortex-a53 -smp 4 -nographic -machine virt,virtualization=on,gic-version=3 -net none -chardev stdio,id=con,mux=on -serial chardev:con -mon chardev=con,mode=readline -kernel ./nuttx
We have also tested this patch on other ARM hardware platforms.
Signed-off-by: hujun5 <hujun5@xiaomi.com>
aio client will queue asynchronous io requests to the worker threads.
if PRIORITY_INHERITANCE is enabled, client thread's priority will be
set to worker threads. There will be multi-boost/restore of worker
threads' priority and assert the system.
No need priority multi-boot/restore to worker thread because client
thread's priority is alway the same.
Signed-off-by: fangxinyong <fangxinyong@xiaomi.com>
1. Update all CMakeLists.txt to adapt to new layout
2. Fix cmake build break
3. Update all new file license
4. Fully compatible with current compilation environment(use configure.sh or cmake as you choose)
------------------
How to test
From within nuttx/. Configure:
cmake -B build -DBOARD_CONFIG=sim/nsh -GNinja
cmake -B build -DBOARD_CONFIG=sim:nsh -GNinja
cmake -B build -DBOARD_CONFIG=sabre-6quad/smp -GNinja
cmake -B build -DBOARD_CONFIG=lm3s6965-ek/qemu-flat -GNinja
(or full path in custom board) :
cmake -B build -DBOARD_CONFIG=$PWD/boards/sim/sim/sim/configs/nsh -GNinja
This uses ninja generator (install with sudo apt install ninja-build). To build:
$ cmake --build build
menuconfig:
$ cmake --build build -t menuconfig
--------------------------
2. cmake/build: reformat the cmake style by cmake-format
https://github.com/cheshirekow/cmake_format
$ pip install cmakelang
$ for i in `find -name CMakeLists.txt`;do cmake-format $i -o $i;done
$ for i in `find -name *\.cmake`;do cmake-format $i -o $i;done
Co-authored-by: Matias N <matias@protobits.dev>
Signed-off-by: chao an <anchao@xiaomi.com>
Problem:
AppBringup task in default priority 240 ->
board_late_initialize() ->
some driver called work_queue() ->
nxsem_post(&(wqueue).sem) failed because sem_count is 0
hp work_thread in default priority 224 ->
nxsem_wait_uninterruptible(&wqueue->sem);
so hp_work_thread can't wake up, worker can't run immediately.
Signed-off-by: dongjiuzhu1 <dongjiuzhu1@xiaomi.com>
