Add support for multiple low-priority worker threads

5 files changed, 28 insertions, 18 deletions

diff --git a/nuttx/libc/wqueue/work_cancel.c b/nuttx/libc/wqueue/work_cancel.c
index fa04f6ca9..322a85ae7 100644
--- a/nuttx/libc/wqueue/work_cancel.c
+++ b/nuttx/libc/wqueue/work_cancel.c
@@ -92,7 +92,7 @@
  *
  ****************************************************************************/
 
-static int work_qcancel(FAR struct wqueue_s *wqueue, FAR struct work_s *work)
+static int work_qcancel(FAR struct usr_wqueue_s *wqueue, FAR struct work_s *work)
 {
   int ret = -ENOENT;
 
diff --git a/nuttx/libc/wqueue/work_queue.c b/nuttx/libc/wqueue/work_queue.c
index a17d8d14b..19e441178 100644
--- a/nuttx/libc/wqueue/work_queue.c
+++ b/nuttx/libc/wqueue/work_queue.c
@@ -102,8 +102,9 @@
  *
  ****************************************************************************/
 
-static int work_qqueue(FAR struct wqueue_s *wqueue, FAR struct work_s *work,
-                       worker_t worker, FAR void *arg, uint32_t delay)
+static int work_qqueue(FAR struct usr_wqueue_s *wqueue,
+                       FAR struct work_s *work, worker_t worker,
+                       FAR void *arg, uint32_t delay)
 {
   DEBUGASSERT(work != NULL);
 
@@ -122,7 +123,7 @@ static int work_qqueue(FAR struct wqueue_s *wqueue, FAR struct work_s *work,
   work->qtime  = clock_systimer(); /* Time work queued */
 
   dq_addlast((FAR dq_entry_t *)work, &wqueue->q);
-  kill(wqueue->pid[0], SIGWORK);   /* Wake up the worker thread */
+  kill(wqueue->pid, SIGWORK);   /* Wake up the worker thread */
 
   work_unlock();
   return OK;
diff --git a/nuttx/libc/wqueue/work_signal.c b/nuttx/libc/wqueue/work_signal.c
index 813b9e8d6..1ab861dfe 100644
--- a/nuttx/libc/wqueue/work_signal.c
+++ b/nuttx/libc/wqueue/work_signal.c
@@ -97,7 +97,7 @@ int work_signal(int qid)
     {
       /* Signal the worker thread */
 
-      ret = kill(g_usrwork.pid[0], SIGWORK);
+      ret = kill(g_usrwork.pid, SIGWORK);
       if (ret < 0)
         {
           int errcode = errno;
diff --git a/nuttx/libc/wqueue/work_usrthread.c b/nuttx/libc/wqueue/work_usrthread.c
index 0b4606e2e..48ccf1f8b 100644
--- a/nuttx/libc/wqueue/work_usrthread.c
+++ b/nuttx/libc/wqueue/work_usrthread.c
@@ -83,7 +83,7 @@
 
 /* The state of the user mode work queue. */
 
-struct wqueue_s g_usrwork;
+struct usr_wqueue_s g_usrwork;
 
 /* This semaphore supports exclusive access to the user-mode work queue */
 
@@ -118,7 +118,7 @@ extern pthread_mutex_t g_usrmutex;
  *
  ****************************************************************************/
 
-void work_process(FAR struct wqueue_s *wqueue)
+void work_process(FAR struct usr_wqueue_s *wqueue)
 {
   volatile FAR struct work_s *work;
   worker_t  worker;
@@ -351,21 +351,21 @@ int work_usrstart(void)
 
     /* Start a user-mode worker thread for use by applications. */
 
-    g_usrwork.pid[0] = task_create("uwork",
-                                    CONFIG_SCHED_USRWORKPRIORITY,
-                                    CONFIG_SCHED_USRWORKSTACKSIZE,
-                                    (main_t)work_usrthread,
-                                    (FAR char * const *)NULL);
+    g_usrwork.pid = task_create("uwork",
+                                CONFIG_SCHED_USRWORKPRIORITY,
+                                CONFIG_SCHED_USRWORKSTACKSIZE,
+                                (main_t)work_usrthread,
+                                (FAR char * const *)NULL);
 
-    DEBUGASSERT(g_usrwork.pid[0] > 0);
-    if (g_usrwork.pid[0] < 0)
+    DEBUGASSERT(g_usrwork.pid > 0);
+    if (g_usrwork.pid < 0)
       {
         int errcode = errno;
         DEBUGASSERT(errcode > 0);
         return -errcode;
       }
 
-    return g_usrwork.pid[0];
+    return g_usrwork.pid;
   }
 #else
   {
@@ -398,8 +398,8 @@ int work_usrstart(void)
 
     (void)pthread_detach(usrwork);
 
-    g_usrwork.pid[0] = (pid_t)usrwork;
-    return g_usrwork.pid[0];
+    g_usrwork.pid = (pid_t)usrwork;
+    return g_usrwork.pid;
   }
 #endif
 }
diff --git a/nuttx/libc/wqueue/wqueue.h b/nuttx/libc/wqueue/wqueue.h
index 9fcbabdb8..13bfacf0a 100644
--- a/nuttx/libc/wqueue/wqueue.h
+++ b/nuttx/libc/wqueue/wqueue.h
@@ -57,6 +57,15 @@
  * Public Type Definitions
  ****************************************************************************/
 
+/* This structure defines the state of one user-modework queue. */
+
+struct usr_wqueue_s
+{
+  uint32_t          delay;  /* Delay between polling cycles (ticks) */
+  struct dq_queue_s q;      /* The queue of pending work */
+  pid_t             pid;    /* The task ID of the worker thread(s) */
+};
+
 /****************************************************************************
  * Public Data
  ****************************************************************************/
@@ -64,7 +73,7 @@
 #if defined(CONFIG_SCHED_USRWORK) && !defined(__KERNEL__)
 /* The state of the user mode work queue */
 
-extern struct wqueue_s g_usrwork;
+extern struct usr_wqueue_s g_usrwork;
 
 /* This semaphore/mutex supports exclusive access to the user-mode work queue */