User-mode work queue logic should not disable interrupts

sched/wqueue/kwork_queue.c

@@ -40,8 +40,12 @@
 #include <nuttx/config.h>
 
 #include <stdint.h>
+#include <queue.h>
+#include <assert.h>
 #include <errno.h>
 
+#include <nuttx/arch.h>
+#include <nuttx/clock.h>
 #include <nuttx/wqueue.h>
 
 #include "wqueue/wqueue.h"
@@ -68,6 +72,63 @@
  * Private Functions
  ****************************************************************************/
 
+/****************************************************************************
+ * Name: work_qqueue
+ *
+ * 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).
+ *
+ *   The work structure is allocated by caller, but completely managed by
+ *   the work queue logic.  The caller should never modify the contents of
+ *   the work queue structure; the caller should not call work_queue()
+ *   again until either (1) the previous work has been performed and removed
+ *   from the queue, or (2) work_cancel() has been called to cancel the work
+ *   and remove it from the work queue.
+ *
+ * Input parameters:
+ *   qid    - The work queue ID (index)
+ *   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
+ *
+ ****************************************************************************/
+
+static int work_qqueue(FAR struct wqueue_s *wqueue, FAR struct work_s *work,
+                       worker_t worker, FAR void *arg, uint32_t 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  = clock_systimer(); /* Time work queued */
+
+  dq_addlast((FAR dq_entry_t *)work, &wqueue->q);
+  kill(wqueue->pid[0], SIGWORK);   /* Wake up the worker thread */
+
+  irqrestore(flags);
+  return OK;
+}
+
 /****************************************************************************
  * Public Functions
  ****************************************************************************/