rt-thread/components/drivers/ipc/workqueue.c

/*
 * Copyright (c) 2006-2022, RT-Thread Development Team
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Change Logs:
 * Date           Author       Notes
 * 2017-02-27     Bernard      fix the re-work issue.
 * 2021-08-01     Meco Man     remove rt_delayed_work_init()
 * 2021-08-14     Jackistang   add comments for function interface
 * 2022-01-16     Meco Man     add rt_work_urgent()
 * 2023-09-15     xqyjlj       perf rt_hw_interrupt_disable/enable
 * 2024-12-21     yuqingli     delete timer, using list
 */

#include <rthw.h>
#include <rtdevice.h>

#ifdef RT_USING_HEAP

rt_inline rt_err_t _workqueue_work_completion(struct rt_workqueue *queue)
{
    rt_err_t result;

    while (1)
    {
        /* try to take condition semaphore */
        result = rt_sem_trytake(&(queue->sem));
        if (result == -RT_ETIMEOUT)
        {
            /* it's timeout, release this semaphore */
            rt_sem_release(&(queue->sem));
        }
        else if (result == RT_EOK)
        {
            /* keep the sem value = 0 */
            result = RT_EOK;
            break;
        }
        else
        {
            result = -RT_ERROR;
            break;
        }
    }

    return result;
}

static void _workqueue_thread_entry(void *parameter)
{
    rt_base_t            level;
    struct rt_work      *work;
    struct rt_workqueue *queue;
    rt_tick_t            current_tick;
    rt_int32_t           delay_tick;
    void (*work_func)(struct rt_work *work, void *work_data);
    void *work_data;

    queue = (struct rt_workqueue *)parameter;
    RT_ASSERT(queue != RT_NULL);

    while (1)
    {
        level = rt_spin_lock_irqsave(&(queue->spinlock));

        /* timer check */
        current_tick = rt_tick_get();
        delay_tick   = RT_WAITING_FOREVER;
        while (!rt_list_isempty(&(queue->delayed_list)))
        {
            work = rt_list_entry(queue->delayed_list.next, struct rt_work, list);
            if ((current_tick - work->timeout_tick) < RT_TICK_MAX / 2)
            {
                rt_list_remove(&(work->list));
                rt_list_insert_after(queue->work_list.prev, &(work->list));
                work->flags &= ~RT_WORK_STATE_SUBMITTING;
                work->flags |= RT_WORK_STATE_PENDING;
            }
            else
            {
                delay_tick = work->timeout_tick - current_tick;
                break;
            }
        }

        if (rt_list_isempty(&(queue->work_list)))
        {
            rt_spin_unlock_irqrestore(&(queue->spinlock), level);
            /* wait for work completion */
            rt_completion_wait(&(queue->wakeup_completion), delay_tick);
            continue;
        }

        /* we have work to do with. */
        work = rt_list_entry(queue->work_list.next, struct rt_work, list);
        rt_list_remove(&(work->list));
        queue->work_current  = work;
        work->flags         &= ~RT_WORK_STATE_PENDING;
        work->workqueue      = RT_NULL;
        work_func            = work->work_func;
        work_data            = work->work_data;
        rt_spin_unlock_irqrestore(&(queue->spinlock), level);

        /* do work */
        work_func(work, work_data);
        /* clean current work */
        queue->work_current = RT_NULL;

        /* ack work completion */
        _workqueue_work_completion(queue);
    }
}

static rt_err_t _workqueue_submit_work(struct rt_workqueue *queue,
                                       struct rt_work *work, rt_tick_t ticks)
{
    rt_base_t       level;
    rt_err_t        err = RT_EOK;
    struct rt_work *work_tmp;
    rt_list_t      *list_tmp;

    level = rt_spin_lock_irqsave(&(queue->spinlock));
    /* remove list */
    rt_list_remove(&(work->list));
    work->flags = 0;

    if (ticks == 0)
    {
        rt_list_insert_after(queue->work_list.prev, &(work->list));
        work->flags     |= RT_WORK_STATE_PENDING;
        work->workqueue  = queue;

        rt_completion_done(&(queue->wakeup_completion));
        err = RT_EOK;
    }
    else if (ticks < RT_TICK_MAX / 2)
    {
        /* insert delay work list */
        work->flags        |= RT_WORK_STATE_SUBMITTING;
        work->workqueue     = queue;
        work->timeout_tick  = rt_tick_get() + ticks;

        list_tmp = &(queue->delayed_list);
        rt_list_for_each_entry(work_tmp, &(queue->delayed_list), list)
        {
            if ((work_tmp->timeout_tick - work->timeout_tick) < RT_TICK_MAX / 2)
            {
                list_tmp = &(work_tmp->list);
                break;
            }
        }
        rt_list_insert_before(list_tmp, &(work->list));

        rt_completion_done(&(queue->wakeup_completion));
        err = RT_EOK;
    }
    else
    {
        err = -RT_ERROR;
    }
    rt_spin_unlock_irqrestore(&(queue->spinlock), level);
    return err;
}

static rt_err_t _workqueue_cancel_work(struct rt_workqueue *queue, struct rt_work *work)
{
    rt_base_t level;
    rt_err_t  err;

    level = rt_spin_lock_irqsave(&(queue->spinlock));
    rt_list_remove(&(work->list));
    work->flags     = 0;
    err             = queue->work_current != work ? RT_EOK : -RT_EBUSY;
    work->workqueue = RT_NULL;
    rt_spin_unlock_irqrestore(&(queue->spinlock), level);
    return err;
}

/**
 * @brief Initialize a work item, binding with a callback function.
 *
 * @param work is a pointer to the work item object.
 *
 * @param work_func is a callback function that will be called when this work item is executed.
 *
 * @param work_data is a user data passed to the callback function as the second parameter.
 */
void rt_work_init(struct rt_work *work,
                  void (*work_func)(struct rt_work *work, void *work_data),
                  void *work_data)
{
    RT_ASSERT(work != RT_NULL);
    RT_ASSERT(work_func != RT_NULL);

    rt_list_init(&(work->list));
    work->work_func = work_func;
    work->work_data = work_data;
    work->workqueue = RT_NULL;
    work->flags     = 0;
    work->type      = 0;
}

/**
 * @brief Create a work queue with a thread inside.
 *
 * @param name is a name of the work queue thread.
 *
 * @param stack_size is stack size of the work queue thread.
 *
 * @param priority is a priority of the work queue thread.
 *
 * @return Return a pointer to the workqueue object. It will return RT_NULL if failed.
 */
struct rt_workqueue *rt_workqueue_create(const char *name, rt_uint16_t stack_size, rt_uint8_t priority)
{
    struct rt_workqueue *queue = RT_NULL;

    queue = (struct rt_workqueue *)RT_KERNEL_MALLOC(sizeof(struct rt_workqueue));
    if (queue != RT_NULL)
    {
        /* initialize work list */
        rt_list_init(&(queue->work_list));
        rt_list_init(&(queue->delayed_list));
        queue->work_current = RT_NULL;
        rt_sem_init(&(queue->sem), "wqueue", 0, RT_IPC_FLAG_FIFO);
        rt_completion_init(&(queue->wakeup_completion));

        /* create the work thread */
        queue->work_thread = rt_thread_create(name, _workqueue_thread_entry, queue, stack_size, priority, 10);
        if (queue->work_thread == RT_NULL)
        {
            rt_sem_detach(&(queue->sem));
            RT_KERNEL_FREE(queue);
            return RT_NULL;
        }

        rt_spin_lock_init(&(queue->spinlock));
        rt_thread_startup(queue->work_thread);
    }

    return queue;
}

/**
 * @brief Destroy a work queue.
 *
 * @param queue is a pointer to the workqueue object.
 *
 * @return RT_EOK     Success.
 */
rt_err_t rt_workqueue_destroy(struct rt_workqueue *queue)
{
    RT_ASSERT(queue != RT_NULL);

    rt_workqueue_cancel_all_work(queue);
    rt_thread_delete(queue->work_thread);
    rt_sem_detach(&(queue->sem));
    RT_KERNEL_FREE(queue);

    return RT_EOK;
}

/**
 * @brief Submit a work item to the work queue without delay.
 *
 * @param queue is a pointer to the workqueue object.
 *
 * @param work is a pointer to the work item object.
 *
 * @return RT_EOK       Success.
 *         -RT_EBUSY    This work item is executing.
 */
rt_err_t rt_workqueue_dowork(struct rt_workqueue *queue, struct rt_work *work)
{
    RT_ASSERT(queue != RT_NULL);
    RT_ASSERT(work != RT_NULL);

    return _workqueue_submit_work(queue, work, 0);
}

/**
 * @brief Submit a work item to the work queue with a delay.
 *
 * @param queue is a pointer to the workqueue object.
 *
 * @param work is a pointer to the work item object.
 *
 * @param ticks is the delay ticks for the work item to be submitted to the work queue.
 *
 *             NOTE: The max timeout tick should be no more than (RT_TICK_MAX/2 - 1)
 *
 * @return RT_EOK       Success.
 *         -RT_EBUSY    This work item is executing.
 *         -RT_ERROR    The ticks parameter is invalid.
 */
rt_err_t rt_workqueue_submit_work(struct rt_workqueue *queue, struct rt_work *work, rt_tick_t ticks)
{
    RT_ASSERT(queue != RT_NULL);
    RT_ASSERT(work != RT_NULL);
    RT_ASSERT(ticks < RT_TICK_MAX / 2);

    return _workqueue_submit_work(queue, work, ticks);
}

/**
 * @brief Submit a work item to the work queue without delay. This work item will be executed after the current work item.
 *
 * @param queue is a pointer to the workqueue object.
 *
 * @param work is a pointer to the work item object.
 *
 * @return RT_EOK   Success.
 */
rt_err_t rt_workqueue_urgent_work(struct rt_workqueue *queue, struct rt_work *work)
{
    rt_base_t level;

    RT_ASSERT(queue != RT_NULL);
    RT_ASSERT(work != RT_NULL);

    level = rt_spin_lock_irqsave(&(queue->spinlock));
    /* NOTE: the work MUST be initialized firstly */
    rt_list_remove(&(work->list));
    rt_list_insert_after(&queue->work_list, &(work->list));

    rt_completion_done(&(queue->wakeup_completion));
    rt_spin_unlock_irqrestore(&(queue->spinlock), level);

    return RT_EOK;
}

/**
 * @brief Cancel a work item in the work queue.
 *
 * @param queue is a pointer to the workqueue object.
 *
 * @param work is a pointer to the work item object.
 *
 * @return RT_EOK       Success.
 *         -RT_EBUSY    This work item is executing.
 */
rt_err_t rt_workqueue_cancel_work(struct rt_workqueue *queue, struct rt_work *work)
{
    RT_ASSERT(work != RT_NULL);
    RT_ASSERT(queue != RT_NULL);

    return _workqueue_cancel_work(queue, work);
}

/**
 * @brief Cancel a work item in the work queue. If the work item is executing, this function will block until it is done.
 *
 * @param queue is a pointer to the workqueue object.
 *
 * @param work is a pointer to the work item object.
 *
 * @return RT_EOK       Success.
 */
rt_err_t rt_workqueue_cancel_work_sync(struct rt_workqueue *queue, struct rt_work *work)
{
    RT_ASSERT(queue != RT_NULL);
    RT_ASSERT(work != RT_NULL);

    if (queue->work_current == work) /* it's current work in the queue */
    {
        /* wait for work completion */
        rt_sem_take(&(queue->sem), RT_WAITING_FOREVER);
        /* Note that because work items are automatically deleted after execution, they do not need to be deleted again */
    }
    else
    {
        _workqueue_cancel_work(queue, work);
    }

    return RT_EOK;
}

/**
 * @brief This function will cancel all work items in work queue.
 *
 * @param queue is a pointer to the workqueue object.
 *
 * @return RT_EOK       Success.
 */
rt_err_t rt_workqueue_cancel_all_work(struct rt_workqueue *queue)
{
    struct rt_work *work;

    RT_ASSERT(queue != RT_NULL);

    /* cancel work */
    rt_enter_critical();
    while (rt_list_isempty(&queue->work_list) == RT_FALSE)
    {
        work = rt_list_first_entry(&queue->work_list, struct rt_work, list);
        _workqueue_cancel_work(queue, work);
    }
    /* cancel delay work */
    while (rt_list_isempty(&queue->delayed_list) == RT_FALSE)
    {
        work = rt_list_first_entry(&queue->delayed_list, struct rt_work, list);
        _workqueue_cancel_work(queue, work);
    }
    rt_exit_critical();

    return RT_EOK;
}

#ifdef RT_USING_SYSTEM_WORKQUEUE

static struct rt_workqueue *sys_workq; /* system work queue */

/**
 * @brief Submit a work item to the system work queue with a delay.
 *
 * @param work is a pointer to the work item object.
 *
 * @param ticks is the delay OS ticks for the work item to be submitted to the work queue.
 *
 *             NOTE: The max timeout tick should be no more than (RT_TICK_MAX/2 - 1)
 *
 * @return RT_EOK       Success.
 *         -RT_EBUSY    This work item is executing.
 *         -RT_ERROR    The ticks parameter is invalid.
 */
rt_err_t rt_work_submit(struct rt_work *work, rt_tick_t ticks)
{
    return rt_workqueue_submit_work(sys_workq, work, ticks);
}

/**
 * @brief Submit a work item to the system work queue without delay. This work item will be executed after the current work item.
 *
 * @param work is a pointer to the work item object.
 *
 * @return RT_EOK   Success.
 */
rt_err_t rt_work_urgent(struct rt_work *work)
{
    return rt_workqueue_urgent_work(sys_workq, work);
}

/**
 * @brief Cancel a work item in the system work queue.
 *
 * @param work is a pointer to the work item object.
 *
 * @return RT_EOK       Success.
 *         -RT_EBUSY    This work item is executing.
 */
rt_err_t rt_work_cancel(struct rt_work *work)
{
    return rt_workqueue_cancel_work(sys_workq, work);
}

static int rt_work_sys_workqueue_init(void)
{
    if (sys_workq != RT_NULL)
        return RT_EOK;

    sys_workq = rt_workqueue_create("sys workq", RT_SYSTEM_WORKQUEUE_STACKSIZE,
                                    RT_SYSTEM_WORKQUEUE_PRIORITY);
    RT_ASSERT(sys_workq != RT_NULL);

    return RT_EOK;
}
INIT_PREV_EXPORT(rt_work_sys_workqueue_init);
#endif /* RT_USING_SYSTEM_WORKQUEUE */
#endif /* RT_USING_HEAP */