Work Queues

Work Queues. NuttX provides work queues. Work queues are threads that service a queue of work items to be performed. They are useful for off-loading work to a different threading context, for delayed processing, or for serializing activities.

Classes of Work Queues

There are three different classes of work queues, each with different properties and intended usage. These classes of work queues along with the common work queue interface are described in the following paragraphs.

High Priority Kernel Work queue

The dedicated high-priority work queue is intended to handle delayed processing from interrupt handlers. This work queue is required for some drivers but, if there are no complaints, can be safely disabled. The high priority worker thread also performs garbage collection – completing any delayed memory deallocations from interrupt handlers. If the high-priority worker thread is disabled, then that clean up will be performed either by (1) the low-priority worker thread, if enabled, and if not (2) the IDLE thread instead (which runs at the lowest of priority and may not be appropriate if memory reclamation is of high priority)

Device Driver Bottom Half. The high-priority worker thread is intended to serve as the bottom half for device drivers. As a consequence it must run at a very high, fixed priority rivalling the priority of the interrupt handler itself. Typically, the high priority work queue should be the highest priority thread in your system (the default priority is 224).

Thread Pool. The work queues can be configured to support multiple, low-priority threads. This is essentially a thread pool that provides multi-threaded servicing of the queue work. This breaks the strict serialization of the “queue” (and hence, the work queue is no longer a queue at all).

Multiple worker threads are required to support, for example, I/O operations that stall waiting for input. If there is only a single thread, then the entire work queue processing would stall in such cases. Such behavior is necessary to support asynchronous I/O, AIO, for example.

Compared to the Low Priority Kernel Work Queue. For less critical, lower priority, application oriented worker thread support, consider enabling the lower priority work queue. The lower priority work queue runs at a lower priority, of course, but has the added advantage that it supports priority inheritance (if CONFIG_PRIORITY_INHERITANCE=y is also selected): The priority of the lower priority worker thread can then be adjusted to match the highest priority client.

Configuration Options.

CONFIG_SCHED_HPWORK. Enables the high priority work queue.
CONFIG_SCHED_HPNTHREADS. The number of threads in the high-priority queue’s thread pool. Default: 1
CONFIG_SCHED_HPWORKPRIORITY. The execution priority of the high-priority worker thread. Default: 224
CONFIG_SCHED_HPWORKSTACKSIZE. The stack size allocated for the worker thread in bytes. Default: 2048.

Low Priority Kernel Work Queue

This lower priority work queue is better suited for more extended, application oriented processing such as file system clean-up, memory garbage collection and asynchronous I/O operations.

Compared to the High Priority Work Queue. The lower priority work queue runs at a lower priority than the high priority work queue, of course, and so is inappropriate to serve as a driver bottom half. It is, otherwise, very similar to the high priority work queue and most of the discussion above for the high priority work queue applies equally here. The lower priority work queue does have one important property, however, that makes it better suited for some tasks:

Priority Inheritance. The lower priority worker thread(s) support priority inheritance (if <config> CONFIG_PRIORITY_INHERITANCE is also selected): The priority of the lower priority worker thread can then be adjusted to match the highest priority client.

NOTE: This priority inheritance feature is not automatic. The lower priority worker thread will always have a fixed priority unless additional logic calls lpwork_boostpriority() to raise the priority of the lower priority worker thread (typically called before scheduling the work) and then calls the matching lpwork_restorepriority() when the work is completed (typically called within the work handler at the completion of the work). Currently, only the NuttX asynchronous I/O logic uses this dynamic prioritization feature.

The higher priority worker thread, on the other hand, is intended to serve as the bottom half for device drivers. As a consequence must run at a very high, fixed priority. Typically, it should be the highest priority thread in your system.

Configuration Options.

CONFIG_SCHED_LPWORK. If CONFIG_SCHED_LPWORK is selected then a lower-priority work queue will be enabled.
CONFIG_SCHED_LPNTHREADS. The number of threads in the low-priority queue’s thread pool. Default: 1
CONFIG_SCHED_LPWORKPRIORITY. The minimum execution priority of the lower priority worker thread. The priority of the all worker threads start at this priority. If priority inheritance is in effect, the priority may be boosted from this level. Default: 50.
CONFIG_SCHED_LPWORKPRIOMAX. The maximum execution priority of the lower priority worker thread. Lower priority worker threads will be started at CONFIG_SCHED_LPWORKPRIORITY but their priority may be boosted due to priority inheritance. The boosted priority of the low priority worker thread will not, however, ever exceed CONFIG_SCHED_LPWORKPRIOMAX. This limit would be necessary, for example, if the higher priority worker thread were to defer work to the lower priority thread. Clearly, in such a case, you would want to limit the maximum priority of the lower priority work thread. Default: 176.
CONFIG_SCHED_LPWORKSTACKSIZE. The stack size allocated for the lower priority worker thread. Default: 2048.

User-Mode Work Queue

Work Queue Accessibility. The high- and low-priority worker threads are kernel-mode threads. In the normal, flat NuttX build, these work queues are useful to application code and may be shared. However, in the NuttX protected and kernel build modes, kernel mode code is isolated and cannot be accessed from user-mode code.

User-Mode Work Queue. if either CONFIG_BUILD_PROTECTED or CONFIG_BUILD_KERNEL are selected, then the option to enable a special user-mode work queue is enabled. The interface to the user- mode work queue is identical to that of the kernel-mode work queues and the user-mode work queue is functionally equivalent to the high priority work queue. It differs in that its implementation does not depend on internal, kernel-space facilities.

Custom User Work Queues. Applications can use work_queue_create() to create additional user-mode queues with a configurable priority and worker pool. The returned handle is passed to the *_wq() interfaces and to work_queue_free(). The predefined USRWORK queue remains available through the queue-ID interfaces. Custom user-mode queues require pthread support; the predefined USRWORK queue does not require pthread support in a protected build.

Execution Context. The user-mode implementation uses mutexes and semaphores for synchronization. Its queue, cancel, create, priority, and destroy interfaces must therefore only be called from task context and must not be called from an interrupt handler. Kernel-mode and flat-build work_queue(), work_queue_wq(), work_cancel(), and work_cancel_wq() remain safe for interrupt handlers. Creation, destruction, and synchronous cancellation are task-context operations in all build modes.

Configuration Options.

CONFIG_LIBC_USRWORK. If CONFIG_LIBC_USRWORK is also defined then the user-mode work queue will be enabled. Dynamically allocated user-mode work queues require pthread support.
CONFIG_LIBC_USRWORKPRIORITY. The execution priority of the user-mode priority worker thread. Default: 100
CONFIG_LIBC_USRWORKSTACKSIZE. The stack size allocated for the lower priority worker thread. Default: 2048.

Common Work Queue Interfaces

Work Queue IDs

Work queue IDs. All work queues use the identical interface functions (at least identical in terms of the function signature). The first parameter passed to the work queue interface function identifies the work queue:

Kernel-Mode Work Queue IDs:

HPWORK. This ID of the high priority work queue that should only be used for high-priority, time-critical, driver bottom-half functions.
LPWORK. This is the ID of the low priority work queue that can be used for any purpose. If CONFIG_SCHED_LPWORK is not defined, then there is only one kernel work queue and LPWORK is equal to HPWORK.

User-Mode Work Queue IDs:

USRWORK. This is the ID of the user-mode work queue that can be used for any purpose by applications. In a flat build, USRWORK is equal to LPWORK so that user applications will use the lower priority work queue (if there is one).

Work Queue Interface Types

typedef void (*worker_t)(FAR void *arg); Defines the type of the work callback.
struct work_s. Defines one entry in the work queue. This is a client-allocated structure. Work queue clients should not reference any field in this structure since they are subject to change. The user only needs this structure in order to declare instances of the work structure. Handling of all fields is performed by the work queue interfaces described below.

Work Queue Interfaces

int work_queue(int qid, FAR struct work_s *work, worker_t worker, FAR void *arg, clock_t delay)

Queue work to be performed at a later time. All queued work will be performed on the worker thread of execution (not the caller’s).

The work structure is allocated and must be initialized to all zero by the caller. Otherwise, the work structure is completely managed by the work queue logic. The caller should never modify the contents of the work queue structure directly. If work_queue() is called before the previous work has been performed and removed from the queue, then any pending work will be canceled and lost.

Parameters:

qid – The work queue ID.
work – The work structure to queue
worker – The worker callback to be invoked. The callback will be invoked on the worker thread of execution.
arg – The argument that will be passed to the worker callback function when it is invoked.
delay – Delay (in system clock ticks) from the time queue until the worker is invoked. Zero means to perform the work immediately.

Returns:

Zero is returned on success; a negated errno is returned on failure.

FAR struct kwork_wqueue_s *work_queue_create(FAR const char *name, int priority, FAR void *stack_addr, int stack_size, int nthreads)

Create a custom work queue containing nthreads workers. All workers use the requested name, priority, and stack size. If stack_addr is NULL, each worker stack is allocated by the thread creation logic. Otherwise, stack_addr must identify storage for nthreads * stack_size bytes.

This interface must only be called from task context.

Returns:: A work queue handle on success; NULL on failure.

int work_queue_free(FAR struct kwork_wqueue_s *wqueue)

Destroy a custom queue, discard pending work, and wait for all running callbacks and worker threads to finish. Pending work structures become available for reuse before the function returns. The predefined HPWORK, LPWORK, and USRWORK queues cannot be destroyed.

This interface must only be called from task context and cannot be called from one of the queue’s own callbacks.

Returns:: Zero on success, -EINVAL for an invalid or predefined queue, or -EDEADLK when called by one of the queue’s workers.

int work_queue_wq(FAR struct kwork_wqueue_s *wqueue, FAR struct work_s *work, worker_t worker, FAR void *arg, clock_t delay)

Queue work on a custom queue. If the work structure is already pending on the same queue, the pending instance is replaced. A work structure must be cancelled before it is moved to another queue.

Returns:: Zero on success, -EINVAL for invalid arguments, or -ESHUTDOWN after queue destruction starts.

int work_queue_next_wq(FAR struct kwork_wqueue_s *wqueue, FAR struct work_s *work, worker_t worker, FAR void *arg, clock_t delay)

Queue the next invocation relative to the work structure’s previous expiration time. This avoids accumulating callback execution time in a periodic schedule. It is normally called from the work callback.

Returns:: Zero on success, -EINVAL for invalid arguments, or -ESHUTDOWN after queue destruction starts.

int work_cancel(int qid, FAR struct work_s *work)

Cancel previously queued work. This removes work from the work queue. After work has been cancelled, it may be re-queued by calling work_queue() again.

Parameters:

qid – The work queue ID.
work – The previously queued work structure to cancel.

Returns:

Zero is returned on success; a negated errno is returned on failure. Cancelling work that is not queued is a successful no-op.

EINVAL: An invalid work queue was specified.

int work_cancel_wq(FAR struct kwork_wqueue_s *wqueue, FAR struct work_s *work)

Cancel pending work on a custom queue. Cancelling work that is not queued is a successful no-op.

Returns:: Zero on success or -EINVAL for an invalid argument.

int work_cancel_sync_wq(FAR struct kwork_wqueue_s *wqueue, FAR struct work_s *work)

Cancel pending work and wait for callbacks already using the same work structure to finish. If called from that work’s own callback, the caller is excluded from the wait to avoid self-deadlock.

This interface must only be called from task context.

Returns:: Zero on success or -EINVAL for an invalid argument.

int work_queue_priority_wq(FAR struct kwork_wqueue_s *wqueue)

Return the common scheduling priority of a custom queue’s worker pool.

Returns:: The worker priority on success or a negated errno on failure.

int work_signal(int qid)

Signal the worker thread to process the work queue now. This function is used internally by the work logic but could also be used by the user to force an immediate re-assessment of pending work.

Parameters:

qid – The work queue ID.

Returns:

Zero is returned on success; a negated errno is returned on failure.

bool work_available(FAR struct work_s *work)

Check if the work structure is available.

Parameters:

work – The work queue structure to check.

Returns:

true if available; false if busy (i.e., there is still pending work).

int work_usrstart(void)

The function is only available as a user interface in the kernel-mode build. In the flat build, there is no user-mode work queue; in the protected mode, the user-mode work queue will automatically be started by the OS start-up code. But in the kernel mode, each user process will be required to start is own, private instance of the user-mode work thread using this interface.

Returns:: The task ID of the worker thread is returned on success. A negated errno value is returned on failure.

void lpwork_boostpriority(uint8_t reqprio)

Called by the work queue client to assure that the priority of the low-priority worker thread is at least at the requested level, reqprio. This function would normally be called just before calling work_queue().

Parameters:

reqprio – Requested minimum worker thread priority.

void lpwork_restorepriority(uint8_t reqprio)

This function is called to restore the priority after it was previously boosted. This is often done by client logic on the worker thread when the scheduled work completes. It will check if we need to drop the priority of the worker thread.

Parameters:

reqprio – Previously requested minimum worker thread priority to be “unboosted”.