Add beginnings of a work thread

git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@2229 42af7a65-404d-4744-a932-0658087f49c3

4 files changed, 311 insertions, 1 deletions

diff --git a/nuttx/sched/Makefile b/nuttx/sched/Makefile
index 84609a021..3a2512662 100644
--- a/nuttx/sched/Makefile
+++ b/nuttx/sched/Makefile
@@ -135,10 +135,14 @@ TIMER_SRCS	= timer_initialize.c timer_create.c timer_delete.c timer_getoverrun.c
 		  timer_gettime.c timer_settime.c timer_release.c
 endif
 
+ifeq ($(CONFIG_SCHED_WORKQUEUE),y)
+WORK_SRCS	= work_queue.c work_cancel.c
+endif
+
 IRQ_SRCS	= irq_initialize.c irq_attach.c irq_dispatch.c irq_unexpectedisr.c
 
 CSRCS		= $(MISC_SRCS) $(TSK_SRCS) $(SCHED_SRCS) $(WDOG_SRCS) $(TIME_SRCS) \
-		  $(SEM_SRCS) $(TIMER_SRCS) $(IRQ_SRCS)
+		  $(SEM_SRCS) $(TIMER_SRCS) $(WORK_SRCS) $(IRQ_SRCS)
 ifneq ($(CONFIG_DISABLE_CLOCK),y)
 CSRCS		+= $(CLOCK_SRCS)
 endif
diff --git a/nuttx/sched/work_cancel.c b/nuttx/sched/work_cancel.c
new file mode 100755
index 000000000..1a5cce312
--- /dev/null
+++ b/nuttx/sched/work_cancel.c
@@ -0,0 +1,110 @@
+/****************************************************************************
+ * sched/work_cancel.c
+ *
+ *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <sys/types.h>
+
+#include <queue.h>
+#include <assert.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/wqueue.h>
+
+#include "work_internal.h"
+
+#ifdef CONFIG_SCHED_WORKQUEUE
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Type Declarations
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Variables
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Variables
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+/****************************************************************************
+ * Name: work_cancel
+ *
+ * Description:
+ *   Cancel previously queued work.
+ *
+ * Input parameters:
+ *   work   - The previously queue work structure to cancel
+ *
+ * Returned Value:
+ *   Zero on success, a negated errno on failure
+ *
+ ****************************************************************************/
+
+int work_cancel(struct work_s *work)
+{
+  irqstate_t flags;
+
+  DEBUGASSERT(work != NULL);
+
+  /* Cancelling the work is simply a matter of removing the work structure
+   * from the work queue.  This must be done with interrupts disabled because
+   * new work is typically added to the work queue from interrupt handlers.
+   */
+
+  flags = irqsave();
+  DEBUGASSERT(work->flink || (FAR dq_entry_t *)work == g_work.head);
+  DEBUGASSERT(work->blink || (FAR dq_entry_t *)work == g_work.tail);
+  dq_rem((FAR dq_entry_t *)work, &g_work);
+  irqrestore(flags);
+  return OK;
+}
+#endif /* CONFIG_SCHED_WORKQUEUE */
diff --git a/nuttx/sched/work_internal.h b/nuttx/sched/work_internal.h
new file mode 100755
index 000000000..e86ee0ac2
--- /dev/null
+++ b/nuttx/sched/work_internal.h
@@ -0,0 +1,73 @@
+/****************************************************************************
+ * sched/work_internal.h
+ *
+ *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef __SCHED_WORK_INTERNAL_H
+#define __SCHED_WORK_INTERNAL_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+ 
+#include <nuttx/config.h>
+#include <sys/types.h>
+#include <queue.h>
+
+#ifdef CONFIG_SCHED_WORKQUEUE
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* The queue of pending work */
+
+extern struct dq_queue_s g_work;
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#endif /* __ASSEMBLY__ */
+#endif /* CONFIG_SCHED_WORKQUEUE */
+#endif /* __SCHED_WORK_INTERNAL_H */
diff --git a/nuttx/sched/work_queue.c b/nuttx/sched/work_queue.c
new file mode 100755
index 000000000..9e8c44e52
--- /dev/null
+++ b/nuttx/sched/work_queue.c
@@ -0,0 +1,123 @@
+/****************************************************************************
+ * sched/work_queue.c
+ *
+ *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <sys/types.h>
+
+#include <queue.h>
+#include <assert.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/clock.h>
+#include <nuttx/wqueue.h>
+
+#include "work_internal.h"
+
+#ifdef CONFIG_SCHED_WORKQUEUE
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Type Declarations
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Variables
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Variables
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+/****************************************************************************
+ * Name: work_queue
+ *
+ * Description:
+ *   Queue work to be performed at a later time.  All queued work will be
+ *   performed on the worker thread of of execution (not the caller's).
+ *
+ * Input parameters:
+ *   work   - The work structure to queue
+ *   worker - The worker callback to be invoked.  The callback will invoked
+ *            on the worker thread of execution.
+ *   arg    - The argument that will be passed to the workder callback when
+ *            int is invoked.
+ *   delay  - Delay (in clock ticks) from the time queue until the worker
+ *            is invoked. Zero means to perform the work immediately.
+ *
+ * Returned Value:
+ *   Zero on success, a negated errno on failure
+ *
+ ****************************************************************************/
+
+int work_queue(struct work_s *work, worker_t worker, FAR void *arg, uint32 delay)
+{
+  irqstate_t flags;
+
+  DEBUGASSERT(work != NULL);
+
+  /* First, initialize the work structure */
+
+  work->worker = worker;         /* Work callback */
+  work->arg    = arg;            /* Callback argument */
+  work->delay  = delay;          /* Delay until work performed */
+
+  /* Now, time-tag that entry and put it in the work queue.  This must be
+   * done with interrupts disabled.  This permits this function to be called
+   * from with task logic or interrupt handlers.
+   */
+
+  flags        = irqsave();
+  work->qtime  = g_system_timer; /* Time work queued */
+  dq_addlast((FAR dq_entry_t *)work, &g_work);
+  irqrestore(flags);
+  return OK;
+}
+#endif /* CONFIG_SCHED_WORKQUEUE */