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ae5997eef7
Implement the handle-based create, queue, priority, cancellation, and teardown APIs for CONFIG_LIBC_USRWORK. Custom queues use configurable pthread worker pools while the predefined USRWORK queue remains available. Match scheduler-backend delay, replacement, cancellation, and lifecycle semantics. Restrict the libc backend to task context because it uses blocking synchronization. Tested on an STM32H7 PX4 FMUv6C with ostest wqueue in Protected user space. Assisted-by: Codex:GPT-5 Signed-off-by: DuoYuWang <thirteenking.wang@gmail.com>
133 lines
4.4 KiB
C
133 lines
4.4 KiB
C
/****************************************************************************
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* libs/libc/wqueue/wqueue.h
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __LIBS_LIBC_WQUEUE_WQUEUE_H
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#define __LIBS_LIBC_WQUEUE_WQUEUE_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <stdbool.h>
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#include <stdint.h>
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#include <sys/types.h>
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#include <nuttx/mutex.h>
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#include <nuttx/semaphore.h>
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#include <nuttx/list.h>
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#include <nuttx/wqueue.h>
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#if defined(CONFIG_LIBC_USRWORK) && !defined(__KERNEL__)
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Public Type Definitions
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****************************************************************************/
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/* Forward reference */
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struct usr_wqueue_s;
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/* This structure describes one user-mode worker thread. */
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struct usr_worker_s
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{
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pid_t tid; /* Worker thread ID */
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FAR struct work_s *work; /* Work currently being processed */
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FAR struct usr_wqueue_s *wqueue; /* Parent work queue */
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sem_t wait; /* Wait for the current work */
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uint16_t wait_count; /* Number of synchronous waiters */
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};
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/* This structure defines the state of one user-mode work queue. */
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struct usr_wqueue_s
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{
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struct list_node q; /* The queue of pending work */
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mutex_t lock; /* Exclusive access to the queue */
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sem_t wake; /* Wake-up semaphore */
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FAR struct usr_worker_s *worker; /* Worker thread state array */
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int nthreads; /* Number of worker threads */
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bool exit; /* Request worker thread exit */
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bool dynamic; /* Dynamically allocated queue */
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};
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/****************************************************************************
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* Public Data
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****************************************************************************/
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/* The state of the user mode work queue */
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extern struct usr_wqueue_s g_usrwork;
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/****************************************************************************
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* Inline Functions
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****************************************************************************/
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/****************************************************************************
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* Name: work_remove
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*
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* Description:
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* Remove work from a user-mode work queue. The caller must hold
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* wqueue->lock, and work must be queued on wqueue.
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*
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* Returned Value:
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* true if removing work changed the head of the queue; otherwise false.
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*
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****************************************************************************/
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static inline_function bool
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work_remove(FAR struct usr_wqueue_s *wqueue,
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FAR struct work_s *work)
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{
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FAR struct work_s *head;
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head = list_first_entry(&wqueue->q, struct work_s, node);
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work->worker = NULL;
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list_delete(&work->node);
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return head == work;
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}
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static inline_function void work_wake(FAR struct usr_wqueue_s *wqueue)
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{
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int semcount;
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/* Keep enough wake tokens for the worker pool while bounding stale
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* tokens when workers are already running.
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*/
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nxsem_get_value(&wqueue->wake, &semcount);
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if (semcount < wqueue->nthreads)
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{
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nxsem_post(&wqueue->wake);
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}
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}
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#endif /* CONFIG_LIBC_USRWORK && !__KERNEL__ */
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#endif /* __LIBS_LIBC_WQUEUE_WQUEUE_H */
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