kernel: add new work queue implementation

This commit provides a complete reimplementation of the work queue
infrastructure intended to eliminate the race conditions and feature
gaps in the existing implementation.

Both bare and delayable work structures are supported.  Items can be
submitted; delayable items can be scheduled for submission at a future
time.  Items can be delayed, queued, and running all at the same time.
A running item can also be canceling.

The new implementation:
* replaces "pending" with "busy" which identifies the active states;
* supports canceling delayed and submitted items;
* prevents resubmission of a item being canceled until cancellation
  completes;
* supports waiting for cancellation to complete;
* supports flushing a work item (waiting for the last submission to
  complete without preventing resubmission);
* supports waiting for a queue to drain (only allows resubmission from
  the work thread);
* supports stopping a work queue in conjunction with draining it;
* prevents handler-reentrancy during resubmission.

Signed-off-by: Peter Bigot <peter.bigot@nordicsemi.no>
This commit is contained in:
Peter Bigot 2020-10-28 11:24:05 -05:00 committed by Anas Nashif
commit dc34e7c6f6
5 changed files with 2035 additions and 32 deletions

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@ -45,6 +45,7 @@ set_target_properties(
)
target_sources_ifdef(CONFIG_KERNEL_WORK1 kernel PRIVATE work_q.c)
target_sources_ifdef(CONFIG_KERNEL_WORK2 kernel PRIVATE work.c)
target_sources_ifdef(CONFIG_STACK_CANARIES kernel PRIVATE compiler_stack_protect.c)
target_sources_ifdef(CONFIG_SYS_CLOCK_EXISTS kernel PRIVATE timeout.c timer.c)

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@ -396,6 +396,15 @@ config SYSTEM_WORKQUEUE_PRIORITY
priority. This means that any work handler, once started, won't
be preempted by any other thread until finished.
config SYSTEM_WORKQUEUE_NO_YIELD
bool "Select whether system work queue yields"
help
By default, the system work queue yields between each work item, to
prevent other threads from being starved. Selecting this removes
this yield, which may be useful if the work queue thread is
cooperative and a sequence of work items is expected to complete
without yielding.
endmenu
menu "Atomic Operations"

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@ -14,19 +14,31 @@
#include <kernel.h>
#include <init.h>
K_KERNEL_STACK_DEFINE(sys_work_q_stack, CONFIG_SYSTEM_WORKQUEUE_STACK_SIZE);
static K_KERNEL_STACK_DEFINE(sys_work_q_stack,
CONFIG_SYSTEM_WORKQUEUE_STACK_SIZE);
struct k_work_q k_sys_work_q;
static int k_sys_work_q_init(const struct device *dev)
{
ARG_UNUSED(dev);
struct k_work_queue_config cfg = {
.name = "sysworkq",
.no_yield = IS_ENABLED(CONFIG_SYSTEM_WORKQUEUE_NO_YIELD),
};
#ifdef CONFIG_KERNEL_WORK1
k_work_q_start(&k_sys_work_q,
sys_work_q_stack,
K_KERNEL_STACK_SIZEOF(sys_work_q_stack),
CONFIG_SYSTEM_WORKQUEUE_PRIORITY);
k_thread_name_set(&k_sys_work_q.thread, "sysworkq");
#else /* CONFIG_KERNEL_WORK1 */
k_work_queue_start(&k_sys_work_q,
sys_work_q_stack,
K_KERNEL_STACK_SIZEOF(sys_work_q_stack),
CONFIG_SYSTEM_WORKQUEUE_PRIORITY, &cfg);
#endif /* CONFIG_KERNEL_WORK1 */
return 0;
}

1042
kernel/work.c Normal file

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