13022591351 commented on PR #19982:
URL: https://github.com/apache/nuttx/pull/19982#issuecomment-5462726855
I force-pushed the branch after applying the inline review feedback and
rebasing the series onto current Apache NuttX master
`5d2ed54d26e293a5eea870d9458e36d0d02083fb`.
The updated commit series is:
```text
c4ccf265d0 sched/wqueue: Harden custom queue lifecycle.
19898d78d4 libc/wqueue: Support custom user work queues.
917659e44b libc/wqueue: Use the uninterruptible wait helper.
9fc4184667 Documentation/wqueue: Document custom user queues.
```
## Review fixes
The updated series addresses all 16 inline review comments:
- Reordered the local declarations in the scheduler cancellation path.
- Configured the predefined pthread worker as detached through
`pthread_attr_setdetachstate()` and removed the separate detach call.
- Moved pthread attribute destruction after thread creation.
- Kept the predefined queue and worker state in their static initializers and
removed redundant runtime reinitialization.
- Kept the predefined `USRWORK` queue at one worker; configurable
multi-worker
pools remain limited to queues created by `work_queue_create()`.
- Renamed the worker argument consistently and merged the intermediate worker
wrapper into `work_pthread()`.
- Restored the removed source section headers.
- Wrapped the delay validation conditions as requested in both scheduler
queue
entry points and the libc entry point.
- Replaced direct list manipulation with `work_remove()`. Both the queue and
cancel paths call it while holding the corresponding queue lock, so pending
replacement remains atomic.
- Documented the `work_remove()` lock and queue-ownership requirements in
both
backends.
- Expanded the zero-delay wake comment: an immediately runnable item may be
inserted behind another ready item, so another idle worker should be woken
without waiting for the first worker to dequeue the current head.
## Additional changes beyond the literal inline suggestions
I also included the following compatibility and robustness corrections found
while validating the review changes:
- Changed libc worker identifiers from `pthread_t` handling to NuttX `pid_t`
handling with `gettid()` and `sched_getparam()`.
- Preserved the predefined Protected `USRWORK` queue when
`CONFIG_DISABLE_PTHREAD=y`. In this configuration, pthread-backed custom
queue APIs are excluded while predefined queue-ID APIs remain available.
- Updated Kconfig, public header comments, and the work queue documentation
to
describe that custom user queues require pthread support.
- Added `pthread_attr_getschedparam()` before changing a custom worker's
priority. This initializes the complete `struct sched_param` and avoids
passing uninitialized sporadic-scheduling fields when
`CONFIG_SCHED_SPORADIC=y`.
- Kept the `nxsem_wait_uninterruptible()` cleanup in a separate commit so the
functional commits remain independently backportable to an older branch
where that helper is unavailable to Protected user space.
The last scheduling-parameter initialization change is six lines in
`work_thread_create()`. The Protected image was rebuilt after this change.
The test target does not enable `CONFIG_SCHED_SPORADIC`, so its runtime
scheduling behavior is unchanged.
## Test coverage
All full work queue runs cover:
- HPWORK and LPWORK where available;
- custom queues with one and two workers;
- invalid arguments and idle cancellation;
- callback-driven periodic requeue;
- pending work replacement;
- synchronous cancellation;
- two concurrent callbacks using one `work_s`;
- four simultaneous queues with eight work items each and worker pools of
one, two, three, and four threads;
- callback self-destruction rejection;
- pending and running queue teardown;
- rejection of requeue attempts after teardown starts.
### 1. Flat
Build output:
```text
Flash: 143,956 B
AXI SRAM: 34,468 B
```
Three `ostest wqueue` runs:
```text
30.1490 / 30.1480 / 30.1480 s
```
After the first run, Umem remained stable at:
```text
14,000 B used / 835,512 B free
55 used / 6 free allocation nodes
```
The first run retained 32 bytes of one-time process state. The following two
runs showed no cumulative memory growth.
### 2. Protected
Build output:
```text
Kernel: 89,848 B kflash; 31,696 B ksram
User: 80,816 B uflash; 4 KiB usram
```
Three kernel backend runs:
```text
30.1490 / 30.1480 / 30.1490 s
```
Three libc custom user queue runs:
```text
15.6540 / 15.6540 / 15.6540 s
```
Steady state after the first executions:
```text
Kernel test:
Kmem 9,968 B used / 248,080 B free
Umem 9,232 B used / 416,752 B free
After starting the libc user test:
Kmem 10,032 B used / 248,016 B free
Umem 9,232 B used / 416,752 B free
```
The remaining runs had identical current heap usage and allocation-node
counts.
### 3. Protected Lite (`CONFIG_DISABLE_PTHREAD=y`)
Build output:
```text
Kernel: 87,232 B kflash; 31,644 B ksram
User: 49,056 B uflash; 4 KiB usram
```
Three kernel backend runs:
```text
30.1490 / 30.1490 / 30.1490 s
```
Three predefined libc `USRWORK` runs without pthread support:
```text
0.2290 / 0.2290 / 0.2290 s
```
Every user run reported:
```text
wqueue_test: backend = predefined USRWORK (pthread disabled)
wqueue_test: PASS
```
The test queued real immediate and delayed work, pending replacement,
pending cancellation, synchronous cancellation, and callback-driven periodic
requeue. After the first kernel run, memory remained stable at:
```text
Kmem 9,784 B used / 248,264 B free
Umem 9,216 B used / 416,768 B free
```
The three predefined USRWORK runs retained no additional memory.
### 4. PX4 Flat integration
```text
nsh> ver all
HW arch: PX4_FMU_V6C
HW type: V6C002001
HW version: 0x002
HW revision: 0x001
PX4 git-hash: ce0460fc83231d8b1e6d6e0233bf1f2795ae7c36
PX4 version: 1.18.0 80 (17956992)
PX4 git-branch: baseline/px4-nuttx-12.12-wqueue
OS: NuttX
OS version: Release 13.0.1 (218104319)
OS git-hash: 571531fa019229bd61480f9ee5d2a52017bc1a9f
Build datetime: Aug 29 2026 16:42:38
Build uri: localhost
Build variant: default
Toolchain: GNU GCC, 10.3.1 20210824 (release)
PX4GUID: 00060000000034373938303151090027001b
MCU: STM32H7[4|5]xxx, rev. V
nsh> top once
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD
0 Idle_Task 32406 77.543 272/ 768 0 ( 0) READY 3
1 hpwork 0 0.000 336/ 1216 249 (249) w:sem 3
2 lpwork 0 0.000 336/ 1568 50 ( 50) w:sem 3
3 nsh_main 0 0.000 2224/ 3152 100 (100) w:sem 3
4 wq:manager 0 0.000 592/ 1240 255 (255) w:sem 3
5 wq:lp_default 2 0.172 1040/ 3424 205 (205) w:sem 3
1165 mavlink_shell 0 0.000 808/ 2008 100 (100) w:sem 3
407 wq:hp_default 7 0.648 920/ 2728 237 (237) w:sem 3
476 wq:SPI1 51 4.270 1736/ 2328 253 (253) w:sem 3
486 wq:I2C4 5 0.493 776/ 2272 243 (243) w:sem 3
671 wq:nav_and_controllers 24 2.052 1200/ 2160 242 (242) w:sem 3
680 wq:rate_ctrl 27 2.326 2424/ 3072 255 (255) w:sem 3
681 wq:INS0 14 1.190 1144/ 5936 241 (241) w:sem 3
682 wq:INS1 13 1.154 1128/ 5936 240 (240) w:sem 3
1145 mavlink_rcv_if0 2 0.195 1304/ 3984 175 (175) w:sem 5
734 wq:ttyS4 2 0.188 1032/ 1664 230 (230) w:sem 3
876 commander 4 0.412 1528/ 3200 140 (140) w:sig 5
989 gps 0 0.062 1280/ 1944 205 (205) w:sem 4
1042 mavlink_if0 21 1.751 1640/ 2712 100 (100) w:sig 5
1083 navigator 0 0.006 1312/ 2176 105 (105) w:sem 10
1136 logger 1 0.127 2512/ 3616 230 (230) w:sem 3
1137 log_writer_file 0 0.000 392/ 1152 60 ( 60) w:sem 3
1163 mavlink_rcv_if1 2 0.221 1728/ 3984 175 (175) w:sem 8
1159 mavlink_if1 79 6.584 1808/ 2800 100 (100) READY 8
1167 top 0 0.001 2232/ 4056 237 (237) RUN 3
Processes: 25 total, 3 running, 22 sleeping
CPU usage: 21.85% tasks, 0.61% sched, 77.54% idle
DMA Memory: 5120 total, 0 used 0 peak
Uptime: 41.153s total, 32.407s idle
nsh> work_queue status
Work Queue: 9 threads RATE INTERVAL
|__ 1) wq:rate_ctrl
| |__ 1) control_allocator 400.8 Hz 2495 us
| |__ 2) pwm_out 395.1 Hz 2531 us
| \__ 3) vehicle_angular_velocity 400.9 Hz 2495 us
|__ 2) wq:SPI1
| |__ 1) bmi055_accel 407.4 Hz 2454 us
| |__ 2) bmi055_gyro 400.7 Hz 2496 us
| \__ 3) icm42688p 401.6 Hz 2490 us
|__ 3) wq:I2C4
| |__ 1) ist8310 46.2 Hz 21623 us
| \__ 2) ms5611 92.5 Hz 10812 us
|__ 4) wq:nav_and_controllers
| |__ 1) airspeed_selector 10.0 Hz 99928 us (100000
us)
| |__ 2) ekf2_selector 10.0 Hz 99627 us
| |__ 3) fw_att_control 0.0 Hz 0 us
| |__ 4) fw_lat_lon_control 0.0 Hz 0 us
| |__ 5) fw_mode_manager 0.0 Hz 0 us
| |__ 6) fw_rate_control 400.8 Hz 2495 us
| |__ 7) land_detector 20.0 Hz 49992 us
| |__ 8) sensors 200.4 Hz 4991 us
| |__ 9) vehicle_acceleration 204.0 Hz 4902 us
| |__10) vehicle_air_data 69.5 Hz 14397 us
| |__11) vehicle_gps_position 3.3 Hz 299095 us
| \__12) vehicle_magnetometer 46.3 Hz 21600 us
|__ 5) wq:INS0
| |__ 1) ekf2 200.3 Hz 4991 us
| \__ 2) vehicle_imu 200.4 Hz 4990 us
|__ 6) wq:INS1
| |__ 1) ekf2 200.9 Hz 4977 us
| \__ 2) vehicle_imu 200.9 Hz 4977 us
|__ 7) wq:hp_default
| |__ 1) battery_status 100.0 Hz 9999 us
| |__ 2) board_adc 100.0 Hz 9999 us (10000
us)
| |__ 3) fw_autotune_attitude_control 400.8 Hz 2495 us
| |__ 4) manual_control 5.0 Hz 199380 us
| |__ 5) rc_update 0.0 Hz 0 us
| \__ 6) tone_alarm 0.4 Hz 2473010 us
|__ 8) wq:ttyS4
| \__ 1) px4io 48.3 Hz 20708 us
\__ 9) wq:lp_default
|__ 1) cdcacm_autostart 2.0 Hz 495727 us
|__ 2) gyro_calibration 50.0 Hz 19992 us (20000
us)
|__ 3) load_mon 2.0 Hz 499734 us (500000
us)
|__ 4) mag_bias_estimator 50.0 Hz 19990 us (20000
us)
|__ 5) parameters 0.0 Hz 0 us
\__ 6) send_event 30.0 Hz 33315 us (33333
us)
```
### 5. PX4 Protected integration
```text
nsh> ver all
HW arch: PX4_FMU_V6C
HW type: V6C002001
HW version: 0x002
HW revision: 0x001
PX4 git-hash: f41aec1da254de4a0c2b23bc5bda2dd242d8bd90
PX4 version: 1.18.0 80 (17956992)
PX4 git-branch: baseline/px4-nuttx-12.12-wqueue
OS: NuttX
OS version: Release 13.0.1 (218104319)
OS git-hash: 571531fa019229bd61480f9ee5d2a52017bc1a9f
Build datetime: Aug 29 2026 16:51:50
Build uri: localhost
Build variant: protected
Toolchain: GNU GCC, 10.3.1 20210824 (release)
PX4GUID: 00060000000034373938303151090027001b
MCU: STM32H7[4|5]xxx, rev. V
nsh> top once
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD
0 Idle_Task 25238 33.287 272/ 768 0 ( 0) READY 3
1 hpwork 0 0.000 336/ 1216 249 (249) w:sem 3
2 lpwork 0 0.000 336/ 1568 50 ( 50) w:sem 3
3 uwork 0 0.000 376/ 2016 100 (100) w:sem 3
5 kwq:manager 0 0.000 560/ 1240 255 (255) w:sem 3
6 kwq:lp_default 0 0.069 864/ 3424 205 (205) w:sem 3
7 usr_hrt 5 0.417 416/ 968 255 (255) w:sem 3
8 uwq:manager 0 0.000 568/ 1240 255 (255) w:sem 3
976 mavlink_shell 0 0.000 912/ 2008 100 (100) w:sem 3
207 kwq:hp_default 5 0.446 864/ 2728 237 (237) w:sem 3
265 kwq:SPI1 23 1.923 1728/ 2328 253 (253) w:sem 3
222 uwq:lp_default 5 0.439 1072/ 3480 205 (205) w:sem 3
267 kwq:I2C4 5 0.452 768/ 2272 243 (243) w:sem 3
554 kwq:nav_and_controllers 29 2.476 1192/ 2160 242 (242) w:sem 3
556 kwq:rate_ctrl 19 1.606 1088/ 3072 255 (255) w:sem 3
557 kwq:INS0 14 1.221 1128/ 5936 241 (241) w:sem 3
950 mavlink_rcv_if0 10 0.868 1280/ 3984 175 (175) w:sem 5
567 kwq:ttyS4 2 0.199 1032/ 1664 230 (230) w:sem 3
570 uwq:hp_default 0 0.000 352/ 2784 237 (237) w:sem 3
595 commander 31 2.644 1624/ 3200 140 (140) w:sig 5
604 uwq:rate_ctrl 63 5.327 2424/ 3128 255 (255) w:sem 3
622 uwq:nav_and_controllers 2 0.186 856/ 2224 242 (242) w:sem 3
725 gps 9 0.751 1344/ 1944 205 (205) w:sem 4
761 mavlink_if0 101 8.423 1696/ 2712 100 (100) w:sig 5
827 navigator 0 0.049 1344/ 2176 105 (105) w:sem 10
914 logger 12 1.070 2576/ 3616 230 (230) w:sem 3
916 log_writer_file 0 0.000 424/ 1152 60 ( 60) w:sem 3
959 mavlink_rcv_if1 12 1.029 1728/ 3984 175 (175) w:sem 8
957 mavlink_if1 264 22.044 1840/ 2800 100 (100) READY 8
984 top 0 0.001 2304/ 4056 237 (237) RUN 3
Processes: 30 total, 3 running, 27 sleeping
CPU usage: 51.64% tasks, 15.07% sched, 33.29% idle
DMA Memory: 5120 total, 0 used 0 peak
Uptime: 43.260s total, 25.239s idle
nsh> work_queue status
User Work Queue: 4 threads RATE INTERVAL
|__ 1) uwq:rate_ctrl
| \__ 1) control_allocator 401.8 Hz 2489 us
|__ 2) uwq:nav_and_controllers
| \__ 1) land_detector 20.0 Hz 49990 us
|__ 3) uwq:hp_default
| \__ 1) rc_update 0.0 Hz 0 us
\__ 4) uwq:lp_default
|__ 1) cdcacm_autostart 2.0 Hz 492085 us
|__ 2) gyro_calibration 50.0 Hz 19999 us (20000
us)
\__ 3) send_event 30.0 Hz 33321 us (33333
us)
Kernel Work Queue: 8 threads RATE INTERVAL
|__ 1) kwq:rate_ctrl
| |__ 1) pwm_out 396.6 Hz 2521 us
| \__ 2) vehicle_angular_velocity 401.8 Hz 2489 us
|__ 2) kwq:SPI1
| \__ 1) icm42688p 401.6 Hz 2490 us
|__ 3) kwq:I2C4
| |__ 1) ist8310 46.3 Hz 21621 us
| \__ 2) ms5611 92.5 Hz 10812 us
|__ 4) kwq:nav_and_controllers
| |__ 1) ekf2_selector 10.0 Hz 99878 us
| |__ 2) fw_rate_control 401.8 Hz 2489 us
| |__ 3) sensors 200.9 Hz 4978 us
| |__ 4) vehicle_acceleration 201.0 Hz 4976 us
| |__ 5) vehicle_air_data 69.5 Hz 14398 us
| |__ 6) vehicle_gps_position 3.3 Hz 299757 us
| \__ 7) vehicle_magnetometer 46.3 Hz 21615 us
|__ 5) kwq:INS0
| |__ 1) ekf2 200.9 Hz 4978 us
| \__ 2) vehicle_imu 200.9 Hz 4978 us
|__ 6) kwq:hp_default
| |__ 1) battery_status 100.0 Hz 10000 us
| |__ 2) board_adc 100.0 Hz 9998 us (10000
us)
| |__ 3) manual_control 5.0 Hz 199789 us
| \__ 4) tone_alarm 0.4 Hz 2654780 us
|__ 7) kwq:ttyS4
| \__ 1) px4io 48.2 Hz 20739 us
\__ 8) kwq:lp_default
|__ 1) load_mon 2.0 Hz 496279 us (500000
us)
|__ 2) mag_bias_estimator 50.0 Hz 19990 us (20000
us)
\__ 3) parameters 0.0 Hz 0 us
```
## Validation
```text
NuttX commit-message checkpatch: pass
NuttX complete patch checkpatch: pass
git diff --check: pass
Protected rebuild after the final attr initialization fix: pass
Repeated runtime tests: no assertion, crash, reboot, or cumulative heap
growth
```
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