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sched/sleep: add support for scheduling sleep
Nuttx currently has 2 types of sleep interfaces: 1. Signal-scheduled sleep: nxsig_sleep() / nxsig_usleep() / nxsig_nanosleep() Weaknesses: a. Signal-dependent: The signal-scheduled sleep method is bound to the signal framework, while some driver sleep operations do not depend on signals. b. Timespec conversion: Signal-scheduled sleep involves timespec conversion, which has a significant impact on performance. 2. Busy sleep: up_mdelay() / up_udelay() Weaknesses: a. Does not actively trigger scheduling, occupy the CPU loading. 3. New interfaces: Scheduled sleep: nxsched_sleep() / nxsched_usleep() / nxsched_msleep() / nxsched_ticksleep() Strengths: a. Does not depend on the signal framework. b. Tick-based, without additional computational overhead. Currently, the Nuttx driver framework extensively uses nxsig_* interfaces. However, the driver does not need to rely on signals or timespec conversion. Therefore, a new set of APIs is added to reduce dependencies on other modules. (This PR also aims to make signals optional, further reducing the code size of Nuttx.) Signed-off-by: chao an <anchao.archer@bytedance.com>
This commit is contained in:
chao an
Alin Jerpelea
@@ -1714,6 +1714,82 @@ int nxsched_smp_call_async(cpu_set_t cpuset,
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FAR struct smp_call_data_s *data);
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#endif
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/****************************************************************************
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* Name: nxsched_ticksleep
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*
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* Description:
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* The nxsched_ticksleep() function will cause the calling thread to be
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* suspended from execution for the specified number of system ticks.
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*
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* It can only be resumed through scheduler operations.
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*
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* Input Parameters:
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* ticks - The number of system ticks to sleep.
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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void nxsched_ticksleep(unsigned int ticks);
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/****************************************************************************
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* Name: nxsched_usleep
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*
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* Description:
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* The nxsched_usleep() function will cause the calling thread to be
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* suspended from execution for the specified number of microseconds.
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*
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* It can only be resumed through scheduler.
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*
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* Input Parameters:
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* usec - The number of microseconds to sleep.
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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void nxsched_usleep(useconds_t usec);
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/****************************************************************************
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* Name: nxsched_msleep
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*
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* Description:
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* The nxsched_msleep() function will cause the calling thread to be
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* suspended from execution for the specified number of milliseconds.
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*
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* It can only be resumed through scheduler.
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*
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* Input Parameters:
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* msec - The number of milliseconds to sleep.
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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void nxsched_msleep(unsigned int msec);
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/****************************************************************************
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* Name: nxsched_sleep
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*
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* Description:
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* The nxsched_sleep() function will cause the calling thread to be
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* suspended from execution for the specified number of seconds.
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*
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* It can only be resumed through scheduler.
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*
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* Input Parameters:
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* sec - The number of seconds to sleep.
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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void nxsched_sleep(unsigned int sec);
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#undef EXTERN
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#if defined(__cplusplus)
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}
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@@ -47,7 +47,8 @@ set(SRCS
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sched_get_tls.c
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sched_sysinfo.c
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sched_get_stateinfo.c
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sched_switchcontext.c)
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sched_switchcontext.c
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sched_sleep.c)
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if(DEFINED CONFIG_STACKCHECK_MARGIN)
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if(NOT CONFIG_STACKCHECK_MARGIN EQUAL -1)
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@@ -30,7 +30,7 @@ CSRCS += sched_yield.c sched_rrgetinterval.c sched_foreach.c
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CSRCS += sched_lock.c sched_unlock.c sched_lockcount.c
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CSRCS += sched_idletask.c sched_self.c sched_get_stackinfo.c sched_get_tls.c
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CSRCS += sched_sysinfo.c sched_get_stateinfo.c sched_getcpu.c
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CSRCS += sched_switchcontext.c
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CSRCS += sched_switchcontext.c sched_sleep.c
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ifneq ($(CONFIG_STACKCHECK_MARGIN),)
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ifneq ($(CONFIG_STACKCHECK_MARGIN),-1)
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@@ -0,0 +1,213 @@
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/****************************************************************************
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* sched/sched/sched_sleep.c
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <nuttx/irq.h>
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#include <nuttx/clock.h>
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#include "sched/sched.h"
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: nxsched_timeout
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*
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* Description:
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* A timeout elapsed while waiting for timeout.
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*
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* Assumptions:
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* This function executes in the context of the timer interrupt handler.
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* Local interrupts are assumed to be disabled on entry.
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*
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* Input Parameters:
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* arg - Parameter to pass to wdentry.
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*
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****************************************************************************/
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static void nxsched_timeout(wdparm_t arg)
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{
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FAR struct tcb_s *wtcb;
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irqstate_t flags;
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/* Get waiting tcb from parameter */
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wtcb = (FAR struct tcb_s *)(uintptr_t)arg;
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/* We must be in a critical section in order to call up_switch_context()
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* below.
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*/
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flags = enter_critical_section();
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/* There may be a race condition -- make sure the task is
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* still waiting for a signal
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*/
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if (wtcb->task_state == TSTATE_WAIT_SIG)
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{
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FAR struct tcb_s *rtcb = this_task();
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/* Remove the task from waiting list */
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dq_rem((FAR dq_entry_t *)wtcb, list_waitingforsignal());
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/* Add the task to ready-to-run task list, and
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* perform the context switch if one is needed
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*/
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if (nxsched_add_readytorun(wtcb))
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{
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up_switch_context(this_task(), rtcb);
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}
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}
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leave_critical_section(flags);
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}
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/****************************************************************************
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* Name: nxsched_ticksleep
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*
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* Description:
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* The nxsched_ticksleep() function will cause the calling thread to be
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* suspended from execution for the specified number of system ticks.
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*
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* It can only be resumed through scheduler operations.
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*
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* Input Parameters:
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* ticks - The number of system ticks to sleep.
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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void nxsched_ticksleep(unsigned int ticks)
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{
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FAR struct tcb_s *rtcb;
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irqstate_t flags;
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if (ticks == 0)
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{
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sched_yield();
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return;
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}
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flags = enter_critical_section();
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rtcb = this_task();
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wd_start(&rtcb->waitdog, ticks, nxsched_timeout, (uintptr_t)rtcb);
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/* Remove the tcb task from the ready-to-run list. */
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nxsched_remove_self(rtcb);
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/* Add the task to the specified blocked task list */
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rtcb->task_state = TSTATE_WAIT_SIG;
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dq_addlast((FAR dq_entry_t *)rtcb, &g_waitingforsignal);
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/* Now, perform the context switch if one is needed */
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up_switch_context(this_task(), rtcb);
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wd_cancel(&rtcb->waitdog);
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leave_critical_section(flags);
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: nxsched_usleep
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*
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* Description:
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* The nxsched_usleep() function will cause the calling thread to be
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* suspended from execution for the specified number of microseconds.
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*
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* It can only be resumed through scheduler.
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*
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* Input Parameters:
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* usec - The number of microseconds to sleep.
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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void nxsched_usleep(useconds_t usec)
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{
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nxsched_ticksleep(USEC2TICK(usec));
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}
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/****************************************************************************
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* Name: nxsched_msleep
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*
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* Description:
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* The nxsched_msleep() function will cause the calling thread to be
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* suspended from execution for the specified number of milliseconds.
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*
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* It can only be resumed through scheduler.
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*
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* Input Parameters:
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* msec - The number of milliseconds to sleep.
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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void nxsched_msleep(unsigned int msec)
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{
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nxsched_ticksleep(MSEC2TICK(msec));
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}
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/****************************************************************************
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* Name: nxsched_sleep
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*
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* Description:
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* The nxsched_sleep() function will cause the calling thread to be
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* suspended from execution for the specified number of seconds.
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*
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* It can only be resumed through scheduler.
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*
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* Input Parameters:
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* sec - The number of seconds to sleep.
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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void nxsched_sleep(unsigned int sec)
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{
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nxsched_ticksleep(SEC2TICK(sec));
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}
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