po_hi_task.c 13.5 KB
Newer Older
1
2
3
4
5
6
7
/*
 * This is a part of PolyORB-HI-C distribution, a minimal
 * middleware written for generated code from AADL models.
 * You should use it with the Ocarina toolsuite.
 *
 * For more informations, please visit http://ocarina.enst.fr
 *
8
 * Copyright (C) 2007-2011, European Space Agency (ESA).
9
10
 */

11
#if defined (RTEMS_POSIX) || defined (POSIX) || defined (XENO_POSIX)
12
13
#include <pthread.h>
#include <sched.h>
14
15
#endif

16
17
18
19
20
21
22
23
#include <errno.h>
/* Headers from the executive */

#include <po_hi_config.h>
#include <po_hi_time.h>
#include <po_hi_task.h>
#include <po_hi_debug.h>
#include <po_hi_returns.h>
24
#include <po_hi_types.h>
25
26
27
/* Header files in PolyORB-HI */

#include <deployment.h>	
28

29
/* Header files from generated code */
30

31
32
33
34
35
36
37

int nb_tasks; /* number of created tasks */

typedef struct
{
  __po_hi_task_id     id;       /* Identifier of the task in the system */
  __po_hi_time_t      period;
julien.delange's avatar
julien.delange committed
38
#if defined (RTEMS_POSIX) || defined (POSIX) || defined (XENO_POSIX)
39
  __po_hi_time_t      timer;
40
41
42
43
  pthread_t           tid;              /* The pthread_t type used by the
                                           POSIX library */
  pthread_mutex_t     mutex;
  pthread_cond_t      cond;
julien.delange's avatar
julien.delange committed
44
#elif defined (RTEMS_PURE)
45
  rtems_id            ratemon_period;
46
  rtems_id            rtems_id;
47
48
#elif defined(XENO_NATIVE)
  RT_TASK             xeno_id;
49
#endif
50
} __po_hi_task_t;
51
52
53
54
55
56
57
58
59
/*
 * Structure of a task, contains platform-dependent members
 */

__po_hi_task_t tasks[__PO_HI_NB_TASKS];
/* Array which contains all tasks informations */

void __po_hi_wait_for_tasks ()
{
julien.delange's avatar
julien.delange committed
60
#if defined (RTEMS_POSIX) || defined (POSIX) || defined (XENO_POSIX)
61
62
  int i;

63
64
65
66
  for (i = 0; i < __PO_HI_NB_TASKS; i++)
    {
      pthread_join( tasks[i].tid , NULL );
    }
67
#elif defined (RTEMS_PURE)
68
  rtems_task_suspend(RTEMS_SELF);
69
70
71
72
73
74
75
76
77
78
#elif defined (XENO_NATIVE)
  int ret;
  while (1)
  {
  ret = rt_task_join (&(tasks[0].xeno_id));
  if (ret != 0)
  {
      __DEBUGMSG ("Error while calling rt_task_suspend in __po_hi_wait_for_tasks (ret=%d)\n", ret);
  }
  }
79
#endif
80
81
82
83
84
85
86
87
88
}

/*
 * compute next period for a task
 * The argument is the task-id
 * The task must be a periodic task
 */
int __po_hi_compute_next_period (__po_hi_task_id task)
{
89

julien.delange's avatar
julien.delange committed
90
#if defined (RTEMS_POSIX) || defined (POSIX) || defined (XENO_POSIX)
91
92
93
94
95
96
97
98
99
  __po_hi_time_t mytime;

  if (__po_hi_get_time (&mytime) != __PO_HI_SUCCESS)
    {
      return (__PO_HI_ERROR_CLOCK);
    }
  tasks[task].timer = __po_hi_add_times( mytime, tasks[task].period );
  
  return (__PO_HI_SUCCESS);
100
#elif defined (RTEMS_PURE)
101
102
   rtems_status_code ret;
   rtems_name name;
103

104
105
   if (tasks[task].ratemon_period == RTEMS_INVALID_ID)
   {
106
      name = rtems_build_name ('P', 'R', 'D' + (char)task, ' ');
107

108
109
110
111
112
113
      __DEBUGMSG ("Create monotonic server for task %d\n", task);
      ret = rtems_rate_monotonic_create (name, &(tasks[task].ratemon_period));
      if (ret != RTEMS_SUCCESSFUL)
      {
         __DEBUGMSG ("Error while creating the monotonic server, task=%d, status=%d\n", task, ret);
      }
114
115
   }
  return (__PO_HI_SUCCESS);
116
117
118
119
120
121
122
123
#elif defined (XENO_NATIVE)

  /*
   * In XENO_NATIVE target, we don't need to recompute the next period
   * since the API provides functionnalities to do it automatically.
   */

  return (__PO_HI_SUCCESS);
124
125
126
#else
   return (__PO_HI_UNAVAILABLE);
#endif
127
128
129
130
}

int __po_hi_wait_for_next_period (__po_hi_task_id task)
{
131
#if defined (POSIX) || defined (RTEMS_POSIX) || defined (XENO_POSIX)
132
133
134
135
136
137
138
139
  int ret;
  __po_hi_task_delay_until (tasks[task].timer, task);
  if ( (ret = __po_hi_compute_next_period (task)) != 1)
    {
      return (__PO_HI_ERROR_CLOCK);
    }

  return (__PO_HI_SUCCESS);
140
#elif defined (RTEMS_PURE)
141
142
143
   rtems_status_code ret;
/*   ret = rtems_rate_monotonic_period (&tasks[task].ratemon_period, (rtems_interval)tasks[task].period * ); */
   ret = rtems_rate_monotonic_period (tasks[task].ratemon_period, tasks[task].period / _TOD_Microseconds_per_tick); 
144

145
146
147
148
149
150
   switch (ret)
   {
      case RTEMS_SUCCESSFUL:
         return (__PO_HI_SUCCESS);
         break;
      case RTEMS_TIMEOUT:
151
         __DEBUGMSG ("Error in rtems_rate_monotonic_period (TIMEOUT, task = %d)\n", task);
152
153
154
         return (__PO_HI_ERROR_TASK_PERIOD);
         break;
      default:
155
         __DEBUGMSG ("Error in rtems_rate_monotonic_period (unknown, error code=%d, task=%d)\n", ret, task);
156
         return (__PO_HI_ERROR_UNKNOWN);
157
158
         break;
   }
159

160
   return (__PO_HI_UNAVAILABLE);
161
#elif defined (XENO_NATIVE)
162
163
164
165
   unsigned long overrun;
   int ret;
   ret = rt_task_wait_period (&overrun);
   if ( ret != 0)
166
   {
167
         __DEBUGMSG ("Error in rt_task_period (task=%d;ret=%d,overrun=%lu)\n", task, ret, overrun);
168
169
170
         return (__PO_HI_ERROR_TASK_PERIOD);
   }

171
172
173
174
175
   if (overrun != 0)
   {
      return (__PO_HI_ERROR_TASK_PERIOD);
   }

176
   return (__PO_HI_SUCCESS);
177
178
179
#else
  return (__PO_HI_UNAVAILABLE);
#endif
180
181
182
183
184
185
186
187
188
189
}

int __po_hi_initialize_tasking( )
{
  int i;

  for (i = 0; i < __PO_HI_NB_TASKS; i++)
  {
     tasks[i].period = 0;
     tasks[i].id     = invalid_task_id; 
190
191
192
#ifdef RTEMS_PURE
      tasks[i].ratemon_period = RTEMS_INVALID_ID;
#endif
193
194
195
196
197
198
199
200
201
202
203
204
205
  }

  nb_tasks = 0;

  return (__PO_HI_SUCCESS);
}

/*
 * For each kind of system, we declare a generic function that
 * create a thread. For POSIX-compliant systems, the function
 * is called __po_hi_posix_create_thread
 */

206
#if defined (POSIX) || defined (RTEMS_POSIX) || defined (XENO_POSIX)
207
208
209
210
211
212
213
pthread_t __po_hi_posix_create_thread (__po_hi_priority_t priority, 
                                       __po_hi_stack_t    stack_size,
				       void*              (*start_routine)(void))
{
  int                policy;
  pthread_t          tid;
  pthread_attr_t     attr;
214
  struct sched_param param;
215
216
217
218
219
220

  if (pthread_attr_init (&attr) != 0)
    {
      return ((pthread_t)__PO_HI_ERROR_PTHREAD_ATTR);
    }

julien.delange's avatar
julien.delange committed
221
#if defined (POSIX) || defined (XENO_POSIX)
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
  if (pthread_attr_setscope (&attr, PTHREAD_SCOPE_SYSTEM) != 0)
    {
      return ((pthread_t)__PO_HI_ERROR_PTHREAD_ATTR);
    }
  if (stack_size != 0)
    {
      if (pthread_attr_setstacksize (&attr, stack_size) != 0)
	{
	  return ((pthread_t)__PO_HI_ERROR_PTHREAD_ATTR);
      }
    }
#elif defined (RTEMS_POSIX)
  if (pthread_attr_setscope (&attr, PTHREAD_SCOPE_PROCESS) != 0)
  {
    return ((pthread_t)__PO_HI_ERROR_PTHREAD_ATTR);
  }
#endif

  if (pthread_create (&tid, &attr, (void* (*)(void*))start_routine, NULL) != 0)
    {
      return ((pthread_t)__PO_HI_ERROR_PTHREAD_CREATE);
    }

julien.delange's avatar
julien.delange committed
245
  policy = SCHED_RR;
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
  param.sched_priority = priority;

#ifdef __PO_HI_DEBUG
  if (priority < sched_get_priority_min (policy))
  {
      __DEBUGMSG("PRIORITY IS TOO LOW\n");
  }

  if (priority > sched_get_priority_max (policy))
  {
      __DEBUGMSG("PRIORITY IS TOO HIGH\n");
  }
#endif

  /*
   * We print a message that the user has to be root on
   * its computer. In fact, most of the time, the
   * function pthread_setschedparam fails because
   * the user is not root. On many systems, only root
   * can change the priority of the threads.
   */

  if (pthread_setschedparam (tid, policy, &param)!=0)
    {
#ifdef __PO_HI_DEBUG
      __DEBUGMSG("CANNOT SET PRIORITY FOR TASK %d\n" , nb_tasks );
      __DEBUGMSG("IF YOU ARE USING POSIX IMPLEMENTATION\n");
      __DEBUGMSG("BE SURE TO BE LOGGED AS ROOT\n");
#endif
    }

  return tid;
}

int __po_hi_posix_initialize_task (__po_hi_task_t* task)
{
        if (pthread_mutex_init (&(task->mutex), NULL) != 0)
        {
                return (__PO_HI_ERROR_PTHREAD_MUTEX);
        }

        if (pthread_cond_init (&(task->cond), NULL) != 0)
        {
                return (__PO_HI_ERROR_PTHREAD_COND);
        }
        return (__PO_HI_SUCCESS);
}
293
294
295
296
297

#endif /* POSIX || RTEMS_POSIX */


#ifdef RTEMS_PURE
298
299
300
rtems_id __po_hi_rtems_create_thread (__po_hi_priority_t priority, 
                                      __po_hi_stack_t    stack_size,
                                      void*              (*start_routine)(void))
301
{
302
303
  rtems_id rid;
   if (rtems_task_create (rtems_build_name( 'T', 'A', nb_tasks, ' ' ), 1, RTEMS_MINIMUM_STACK_SIZE, RTEMS_DEFAULT_MODES, RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &rid) != RTEMS_SUCCESSFUL)
304
305
   {
      __DEBUGMSG ("ERROR when creating the task\n");
306
      return __PO_HI_ERROR_CREATE_TASK;
307
308
   }

309
  if (rtems_task_start (rid, (rtems_task_entry)start_routine, 0 ) != RTEMS_SUCCESSFUL)
310
311
  {
      __DEBUGMSG ("ERROR when starting the task\n");
312
      return __PO_HI_ERROR_CREATE_TASK;
313
314
  }

315
   return rid;
316
317
318
}
#endif

319
320
321
322
323
324
325
#ifdef XENO_NATIVE
RT_TASK __po_hi_xenomai_create_thread (__po_hi_priority_t priority, 
                                     __po_hi_stack_t    stack_size,
                                     void*              (*start_routine)(void))
{
   RT_TASK newtask;

326
327
328
329
330
331
   /*
    * Uses T_JOINABLE at this time, should avoid that later and put 0 instead
    * to be able to use kernel-based threads.
    */

   if (rt_task_create (&newtask, NULL, stack_size, priority, T_JOINABLE))
332
333
334
335
336
337
338
339
   {
      __DEBUGMSG ("ERROR when creating the task\n");
   }
   return newtask;
}
#endif


340
341
342
343
344
345
346
347
348
int __po_hi_create_generic_task (__po_hi_task_id    id, 
                                 __po_hi_time_t     period, 
                                 __po_hi_priority_t priority, 
                                 __po_hi_stack_t   stack_size,
                                 void*              (*start_routine)(void))
{
  __po_hi_task_t* my_task;
  if (id == -1) 
    {
349
#if defined (POSIX) || defined (RTEMS_POSIX) || defined (XENO_POSIX)
350
      __po_hi_posix_create_thread (priority, stack_size, start_routine);
351
      return (__PO_HI_SUCCESS);
352
353
354
#elif defined (XENO_NATIVE)
      __po_hi_xenomai_create_thread (priority, stack_size, start_routine);
      return (__PO_HI_SUCCESS);
355
356
357
358
359
360
#elif defined (RTEMS_PURE)
      __po_hi_rtems_create_thread (priority, stack_size, start_routine);
      return (__PO_HI_SUCCESS);
#else
      return (__PO_HI_UNAVAILABLE);
#endif
361
362
363
364
365
366
    } 
  else
    {
      my_task         = &(tasks[id]);
      my_task->period = period;
      my_task->id     = id;
367
     
368
#if defined (POSIX) || defined (RTEMS_POSIX) || defined (XENO_POSIX)
369
370
      my_task->tid    = __po_hi_posix_create_thread (priority, stack_size, start_routine);
      __po_hi_posix_initialize_task (my_task);
371
#elif defined (RTEMS_PURE)
372
      my_task->rtems_id = __po_hi_rtems_create_thread (priority, stack_size, start_routine);
373
374
#elif defined (XENO_NATIVE)
      my_task->xeno_id = __po_hi_xenomai_create_thread (priority, stack_size, start_routine);
375
376
377
#else
      return (__PO_HI_UNAVAILABLE);
#endif
378
379
380
381
382
383
384
385
386
387
388
389
      nb_tasks++;
    }

  return (__PO_HI_SUCCESS);
}

int __po_hi_create_periodic_task (__po_hi_task_id    id, 
				  __po_hi_time_t     period, 
				  __po_hi_priority_t priority, 
				  __po_hi_stack_t    stack_size,
				  void*              (*start_routine)(void))
{
390
391
392
   if (__po_hi_create_generic_task( id, period , priority , stack_size, start_routine ) != 1)
   {
      __DEBUGMSG ("ERROR when creating generic task (task id=%d)\n", id);
393
      return (__PO_HI_ERROR_CREATE_TASK);
394
   }
395
396
397
398
399

  /*
   * Compute the next period of the task, using the 
   *__po_hi_time* functions.
   */
400
#if defined (RTEMS_POSIX) || defined (POSIX) || defined (XENO_POSIX)
401
402
403
404
  if (__po_hi_compute_next_period (id) != __PO_HI_SUCCESS)
    {
      return (__PO_HI_ERROR_CLOCK);
    }
405
#elif defined (XENO_NATIVE)
406
407
408
409
410

   int ret;

   ret = rt_task_set_periodic (&(tasks[id].xeno_id), TM_NOW,  tasks[id].period * 1000);
   if (ret != 0)
411
   {
412
      __DEBUGMSG ("ERROR when calling rt_task_set_periodic on task %d, ret=%d, period=%lu\n", id, ret, (unsigned long)tasks[id].period);
413
414
      return (__PO_HI_ERROR_CLOCK);
   }
415
416
417
418
419

   if (rt_task_start (&(tasks[id].xeno_id), (void*)start_routine, NULL))
   {
      __DEBUGMSG ("ERROR when starting the task\n");
   }
420
#endif
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
    
  return (__PO_HI_SUCCESS);
}

int __po_hi_create_sporadic_task (__po_hi_task_id    id,
				  __po_hi_time_t     period, 
				  __po_hi_priority_t priority, 
				  __po_hi_stack_t    stack_size,
				  void*              (*start_routine)(void) )
{
  /*
   * Create generic task which will execute the routine given in the
   * last parameter. Typically, a sporadic thread will wait on a
   * mutex.
   */
  if (__po_hi_create_generic_task( id, period , priority , stack_size, start_routine ) != 1)
    {
      return (__PO_HI_ERROR_CREATE_TASK);
    }
  
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
#if defined (XENO_NATIVE)
   int ret;

   ret = rt_task_set_periodic (&(tasks[id].xeno_id), TM_NOW,  tasks[id].period * 1000);
   if (ret != 0)
   {
      __DEBUGMSG ("ERROR when calling rt_task_set_periodic on task %d, ret=%d, period=%lu\n", id, ret, (unsigned long)tasks[id].period);
      return (__PO_HI_ERROR_CLOCK);
   }

   if (rt_task_start (&(tasks[id].xeno_id), (void*)start_routine, NULL))
   {
      __DEBUGMSG ("ERROR when starting the task\n");
   }
#endif
 
457
458
459
460
461
  return (__PO_HI_SUCCESS);
}

int __po_hi_task_delay_until (__po_hi_time_t time, __po_hi_task_id task)
{
462
#if defined (POSIX) || defined (RTEMS_POSIX) || defined (XENO_POSIX)
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
  struct timespec timer;
  int ret;

  timer.tv_sec = time / 1000000;
  
  timer.tv_nsec = (time - (timer.tv_sec*1000000)) * 1000;

  pthread_mutex_lock (&tasks[task].mutex);
  
  ret = pthread_cond_timedwait (&tasks[task].cond, &tasks[task].mutex, &timer);

  if ( (ret != 0) && (ret != ETIMEDOUT))
    {
      ret = __PO_HI_ERROR_PTHREAD_COND;
    }
  else
    {
      ret = __PO_HI_SUCCESS;
    }

  pthread_mutex_unlock (&tasks[task].mutex);

  return (ret);
486
487
#endif
  return (__PO_HI_UNAVAILABLE);
488
}
489
490
491
492
493
494
495
496
497
498

void __po_hi_tasks_killall ()
{
   int i;
   for (i = 0; i < __PO_HI_NB_TASKS; i++)
    {
       __DEBUGMSG ("Kill task %d\n", i);
#ifdef RTEMS_PURE
      rtems_task_delete (tasks[i].rtems_id);
#endif
499
#if defined (POSIX) || defined (RTEMS_POSIX) || defined (XENO_POSIX)
500
501
502
503
504
      pthread_cancel (tasks[i].tid);
      __DEBUGMSG ("[TASKS] Cancel thread %d\n", (int) tasks[i].tid);
#endif
    }
}