Linux内核线程

一：内核线程简介
Linux 内核线程（KERNEL THREAD）完全独立运行在内核空间，并且不能被切换到用户空间运行，也没有独立内核地址空间。除此之外，与普通的线程一样，可以被调度和抢占。

二：头文件介绍
#include <linux/errno.h>
#include <linux/sched.h>
#include <linux/thread.h>

三：实现过程
1). kthread_create 函数用于创建一个内核线程，当时该内核线程并不会马上启动，需要调用wake_up_process启动线程。相关函数详情如下所示。

 #define kthread_create(threadfn, data, namefmt, arg...) \
     kthread_create_on_node(threadfn, data, -1, namefmt, ##arg)

/**
 * kthread_create_on_node - create a kthread.
 * @threadfn: the function to run until signal_pending(current).
 * @data: data ptr for @threadfn.
 * @node: memory node number.
 * @namefmt: printf-style name for the thread.
 *
 * Description: This helper function creates and names a kernel
 * thread.  The thread will be stopped: use wake_up_process() to start
 * it.  See also kthread_run().
 *
 * If thread is going to be bound on a particular cpu, give its node
 * in @node, to get NUMA affinity for kthread stack, or else give -1.
 * When woken, the thread will run @threadfn() with @data as its
 * argument. @threadfn() can either call do_exit() directly if it is a
 * standalone thread for which no one will call kthread_stop(), or
 * return when 'kthread_should_stop()' is true (which means
 * kthread_stop() has been called).  The return value should be zero
 * or a negative error number; it will be passed to kthread_stop().
 *
 * Returns a task_struct or ERR_PTR(-ENOMEM).
 */
struct task_struct *kthread_create_on_node(int (*threadfn)(void *data),
                       void *data,
                       int node,
                       const char namefmt[],
                       ...)

2). kthread_run 创建内核函数并启动，函数原型如下所示。

/**
 * kthread_run - create and wake a thread.
 * @threadfn: the function to run until signal_pending(current).
 * @data: data ptr for @threadfn.
 * @namefmt: printf-style name for the thread.
 *
 * Description: Convenient wrapper for kthread_create() followed by
 * wake_up_process().  Returns the kthread or ERR_PTR(-ENOMEM).
 */
#define kthread_run(threadfn, data, namefmt, ...)               \
({                                       \
    struct task_struct *__k                           \
        = kthread_create(threadfn, data, namefmt, ## __VA_ARGS__); \
    if (!IS_ERR(__k))                           \
        wake_up_process(__k);                       \
    __k;                                   \
})

3). kthread_stop 函数功能是结束某个线程（do_exit函数也可以实现相同功能）

/**
 * kthread_stop - stop a thread created by kthread_create().
 * @k: thread created by kthread_create().
 *
 * Sets kthread_should_stop() for @k to return true, wakes it, and
 * waits for it to exit. This can also be called after kthread_create()
 * instead of calling wake_up_process(): the thread will exit without
 * calling threadfn().
 *
 * If threadfn() may call do_exit() itself, the caller must ensure
 * task_struct can't go away.
 *
 * Returns the result of threadfn(), or %-EINTR if wake_up_process()
 * was never called.
 */
int kthread_stop(struct task_struct *k)

4）. schedule_timeout 函数对当前进程进行调度，让其进入睡眠状态，让出占有的系统资源，回到超时唤醒。

/**
 * schedule_timeout - sleep until timeout
 * @timeout: timeout value in jiffies
 *
 * Make the current task sleep until @timeout jiffies have
 * elapsed. The routine will return immediately unless
 * the current task state has been set (see set_current_state()).
 *
 * You can set the task state as follows -
 *
 * %TASK_UNINTERRUPTIBLE - at least @timeout jiffies are guaranteed to
 * pass before the routine returns. The routine will return 0
 *
 * %TASK_INTERRUPTIBLE - the routine may return early if a signal is
 * delivered to the current task. In this case the remaining time
 * in jiffies will be returned, or 0 if the timer expired in time
 *
 * The current task state is guaranteed to be TASK_RUNNING when this
 * routine returns.
 *
 * Specifying a @timeout value of %MAX_SCHEDULE_TIMEOUT will schedule
 * the CPU away without a bound on the timeout. In this case the return
 * value will be %MAX_SCHEDULE_TIMEOUT.
 *
 * In all cases the return value is guaranteed to be non-negative.
 */
signed long __sched schedule_timeout(signed long timeout)

四：注意事项
（1）在调用kthread_stop函数时，线程函数不能已经运行结束。否则，kthread_stop函数会一直进行等待。
（2）线程函数必须能让出CPU，以便能运行其他线程。同时线程函数也必须能重新被调度运行。在例子程序中，这是通过schedule_timeout()函数完成的。

五：性能测试
可以使用top命令来查看线程（包括内核线程）的CPU利用率。
命令如下：
top –p 线程号可以使用下面命令来查找线程号：
ps aux|grep 线程名可以用下面的命令显示所有内核线程：
ps afx注：线程名由kthread_create函数的第三个参数指定 在分析usb_hub_init()的代码的时候,忽略掉了一部份. 代码片段如下所示:

int usb_hub_init(void) 
{ 
……
khubd_task = kthread_run(hub_thread, NULL,"khubd"); 
……
} 

Kthread_run() 是kernel中用来启动一个新kernel线程的接口,它所要执行的函数就是后面跟的第一个参数.在这里,也就是hub_thread().另外,顺带提一句,要终止kthread_run()创建的线程,可以调用kthread_stop().