Add support for delays of different durations in work queue processing

4 files changed, 22 insertions, 18 deletions

diff --git a/nuttx/sched/wqueue/kwork_hpthread.c b/nuttx/sched/wqueue/kwork_hpthread.c
index 8745fbfb0..5457452d3 100644
--- a/nuttx/sched/wqueue/kwork_hpthread.c
+++ b/nuttx/sched/wqueue/kwork_hpthread.c
@@ -46,6 +46,7 @@
 #include <nuttx/wqueue.h>
 #include <nuttx/kthread.h>
 #include <nuttx/kmalloc.h>
+#include <nuttx/clock.h>
 
 #include "wqueue/wqueue.h"
 
@@ -151,19 +152,20 @@ int work_hpstart(void)
 {
   /* Initialize work queue data structures */
 
+  g_hpwork.delay = CONFIG_SCHED_WORKPERIOD / USEC_PER_TICK;
   dq_init(&g_hpwork.q);
 
   /* Start the high-priority, kernel mode worker thread */
 
   svdbg("Starting high-priority kernel worker thread\n");
 
-  g_hpwork.pid = kernel_thread(HPWORKNAME, CONFIG_SCHED_WORKPRIORITY,
-                               CONFIG_SCHED_WORKSTACKSIZE,
-                               (main_t)work_hpthread,
-                               (FAR char * const *)NULL);
+  g_hpwork.pid[0] = kernel_thread(HPWORKNAME, CONFIG_SCHED_WORKPRIORITY,
+                                  CONFIG_SCHED_WORKSTACKSIZE,
+                                  (main_t)work_hpthread,
+                                  (FAR char * const *)NULL);
 
-  DEBUGASSERT(g_hpwork.pid > 0);
-  if (g_hpwork.pid < 0)
+  DEBUGASSERT(g_hpwork.pid[0] > 0);
+  if (g_hpwork.pid[0] < 0)
     {
       int errcode = errno;
       DEBUGASSERT(errcode > 0);
@@ -172,7 +174,7 @@ int work_hpstart(void)
       return -errcode;
     }
 
-  return g_hpwork.pid;
+  return g_hpwork.pid[0];
 }
 
 #endif /* CONFIG_SCHED_WORKQUEUE && CONFIG_SCHED_HPWORK*/
diff --git a/nuttx/sched/wqueue/kwork_inherit.c b/nuttx/sched/wqueue/kwork_inherit.c
index ad71b1ba3..af2698f5d 100644
--- a/nuttx/sched/wqueue/kwork_inherit.c
+++ b/nuttx/sched/wqueue/kwork_inherit.c
@@ -91,7 +91,7 @@ void lpwork_boostpriority(uint8_t reqprio)
    * thread from the process ID.
    */
 
-  wpid = g_lpwork.pid;
+  wpid = g_lpwork.pid[0];
   wtcb = sched_gettcb(wpid);
 
   /* Prevent context switches until we get the priorities right */
@@ -214,7 +214,7 @@ void lpwork_restorepriority(uint8_t reqprio)
    * thread from the process ID.
    */
 
-  wpid = g_lpwork.pid;
+  wpid = g_lpwork.pid[0];
   wtcb = sched_gettcb(wpid);
 
   /* Prevent context switches until we get the priorities right */
diff --git a/nuttx/sched/wqueue/kwork_lpthread.c b/nuttx/sched/wqueue/kwork_lpthread.c
index b0e39f26a..30e4eb50a 100644
--- a/nuttx/sched/wqueue/kwork_lpthread.c
+++ b/nuttx/sched/wqueue/kwork_lpthread.c
@@ -46,6 +46,7 @@
 #include <nuttx/wqueue.h>
 #include <nuttx/kthread.h>
 #include <nuttx/kmalloc.h>
+#include <nuttx/clock.h>
 
 #include "wqueue/wqueue.h"
 
@@ -148,19 +149,20 @@ int work_lpstart(void)
 {
   /* Initialize work queue data structures */
 
+  g_lpwork.delay = CONFIG_SCHED_LPWORKPERIOD / USEC_PER_TICK;
   dq_init(&g_lpwork.q);
 
   /* Start the low-priority, kernel mode worker thread(s) */
 
   svdbg("Starting low-priority kernel worker thread\n");
 
-  g_lpwork.pid = kernel_thread(LPWORKNAME, CONFIG_SCHED_LPWORKPRIORITY,
-                               CONFIG_SCHED_LPWORKSTACKSIZE,
-                               (main_t)work_lpthread,
-                               (FAR char * const *)NULL);
+  g_lpwork.pid[0] = kernel_thread(LPWORKNAME, CONFIG_SCHED_LPWORKPRIORITY,
+                                  CONFIG_SCHED_LPWORKSTACKSIZE,
+                                  (main_t)work_lpthread,
+                                  (FAR char * const *)NULL);
 
-  DEBUGASSERT(g_lpwork.pid > 0);
-  if (g_lpwork.pid < 0)
+  DEBUGASSERT(g_lpwork.pid[0] > 0);
+  if (g_lpwork.pid[0] < 0)
     {
       int errcode = errno;
       DEBUGASSERT(errcode > 0);
@@ -169,7 +171,7 @@ int work_lpstart(void)
       return -errcode;
     }
 
-  return g_lpwork.pid;
+  return g_lpwork.pid[0];
 }
 
 #endif /* CONFIG_SCHED_WORKQUEUE && CONFIG_SCHED_LPWORK */
diff --git a/nuttx/sched/wqueue/kwork_signal.c b/nuttx/sched/wqueue/kwork_signal.c
index 1f99af7b5..03253eff3 100644
--- a/nuttx/sched/wqueue/kwork_signal.c
+++ b/nuttx/sched/wqueue/kwork_signal.c
@@ -97,14 +97,14 @@ int work_signal(int qid)
 #ifdef CONFIG_SCHED_HPWORK
   if (qid == HPWORK)
     {
-      pid = g_hpwork.pid;
+      pid = g_hpwork.pid[0];
     }
   else
 #endif
 #ifdef CONFIG_SCHED_LPWORK
   if (qid == LPWORK)
     {
-      pid = g_lpwork.pid;
+      pid = g_lpwork.pid[0];
     }
   else
 #endif