* Added a user-level scheduler to allow for step-by-step simulation

        Part of issue #5

configure.ac

@@ -194,10 +194,12 @@ AC_OUTPUT([
 	src/drivers/configuration/Makefile
         src/monitoring/Makefile
         src/monitoring/cheddar_scheduling/Makefile
+        src/simulator/Makefile
 	include/Makefile
 	include/drivers/Makefile
 	include/drivers/configuration/Makefile
         include/monitoring/Makefile
+        include/simulator/Makefile
 	examples/Makefile
 	examples/aadlv1/Makefile
 	examples/aadlv1/d3.1.3-1/Makefile
@@ -245,5 +247,3 @@ AC_OUTPUT([
 	share/config/gumstix-rtems/Makefile
 	support/Makefile
 ])
-
-

include/po_hi_task.h

@@ -15,7 +15,7 @@
  * Define some values that are dependant of the
  * underlying executive.
  */
-#if defined(POSIX) || defined (XENO_POSIX)
+#if defined(POSIX) || defined (XENO_POSIX) || defined (SIMULATOR)
    #include <stdlib.h>
    #include <stdio.h>
    #define __PO_HI_MAIN_NAME main
@@ -65,6 +65,13 @@
    #define __PO_HI_MAX_PRIORITY sched_get_priority_max(SCHED_FIFO)
    #define __PO_HI_MIN_PRIORITY sched_get_priority_min(SCHED_FIFO)
    #define __PO_HI_DEFAULT_PRIORITY ((sched_get_priority_min(SCHED_FIFO) + sched_get_priority_max(SCHED_FIFO))/2)
+
+#elif defined (SIMULATOR)
+   #include <po_hi_time.h>
+   #define __PO_HI_MAX_PRIORITY 255
+   #define __PO_HI_MIN_PRIORITY 1
+   #define __PO_HI_DEFAULT_PRIORITY 128
+
 #elif defined(_WIN32)
    #include <inttypes.h>
    #include <po_hi_time.h>

include/simulator/Makefile.am

+AUTOMAKE_OPTIONS = no-dependencies
+SUBDIRS=
+
+EXTRA_DIST = $(srcdir)/um_threads.h
+
+CLEANFILES = *~
+
+hsrc = ${shell $(CYGPATH_U) '$(OCARINA_RUNTIME)/polyorb-hi-c/include'}
+
+install-data-local:
+	$(INSTALL) -d $(DESTDIR)$(hsrc)
+	for f in $(EXTRA_DIST) $(CONFIG_HEADER); do \
+	  $(INSTALL) -m 444 $$f $(DESTDIR)$(hsrc) ; \
+	done
+
+uninstall-local:
+	rm -rf $(DESTDIR)$(hsrc)

include/simulator/um_threads.h

+/******************************************************************************
+ * User-mode thread library
+ *
+ * This library relies on <ucontext.h> to define a limited runtime to
+ * support threads and various scheduling policies.
+ ******************************************************************************/
+
+#ifndef __UM_THREADS_H__
+#define __UM_THREADS_H__
+
+#include<ucontext.h>
+#include<deployment.h>
+#include<po_hi_task.h>
+#include<po_hi_time.h>
+#include<stdint.h>
+
+#define STACKSIZE (128 * 1024)      /* Default stack size */
+#define INTERVAL 700                /* timer interval in microseconds         */
+
+
+/******************************************************************************/
+/* Thread entities                                                            */
+
+typedef uint32_t um_thread_id;  /* id of a thread         */
+typedef uint32_t stack_size_t;  /* stack size of a thread */
+typedef uint32_t priority_t;    /* priority               */
+
+typedef enum { IDLE, READY, RUNNING } thread_state_t;
+
+typedef struct {                /* thread control block   */
+  ucontext_t     um_context;
+  um_thread_id   tid;
+  stack_size_t   stack_size;
+  priority_t     priority;
+  thread_state_t state;
+} um_thread_t;
+
+um_thread_id um_thread_create
+(void (*function)(void),
+ stack_size_t stack_size,
+ priority_t priority);
+/* um_thread_create: helper function to create a thread context
+ * - initialize the context,
+ * - setup the new stack,
+ * - signal mask,
+ * - function to execute
+ */
+
+/*
+ * Create a periodic task.
+ *
+ * The task created have the identifier given by the first
+ * parameter. It is created according to the period created
+ * with __po_hi_* functions (like __po_hi_milliseconds())
+ * and priority parameters (use the OS priority). The task execute
+ * periodically start_routine.
+ *
+ * This function returns SUCCESS if there is no error. Else,
+ * it returns the negative value ERROR_CREATE_TASK.
+ */
+int um_thread_sim_create
+(void* (*function)(void),
+ stack_size_t stack_size,
+ priority_t priority,
+ const __po_hi_task_id po_hi_id);
+
+void um_thread_yield (void);
+/* um_thread_yield: relinquish CPU */
+
+ucontext_t *get_context (um_thread_id tid);
+
+ucontext_t *get_current_context (void);
+um_thread_id get_current_context_id (void);
+
+/******************************************************************************/
+/* Scheduler                                                                  */
+
+typedef um_thread_id (* scheduler_function) (void);
+
+void configure_scheduler (scheduler_function s);
+void start_scheduler (void);
+void scheduler(void);
+
+/******************************************************************************/
+#endif /* __UM_THREADS_H__ */

share/make/Makefile.common.in

@@ -39,7 +39,7 @@ ifneq ($(USER_LD),)
 LD=$(USER_LD)
 endif
 
-CFLAGS=$(USER_CFLAGS) $(TARGET_CFLAGS)
+CFLAGS=$(TARGET_CFLAGS) $(USER_CFLAGS)
 CPPFLAGS=$(CFLAGS) $(USER_CPPFLAGS)
 LDFLAGS=$(TARGET_LDFLAGS) $(USER_LDFLAGS)
 
@@ -206,6 +206,7 @@ ifeq ($(MONITORING), true)
 
 MONITORING_OBJS = trace_manager.o remote_configuration.o
 PO_HI_CPPOBJS += $(MONITORING_OBJS)
+PO_HI_OBJS += um_threads.o
 
 INCLUDE += -I$(RUNTIME_PATH)/src \
 -I$(RUNTIME_PATH)/src/monitoring \
@@ -388,4 +389,3 @@ gprof:
 	./$(BINARY)
 	gprof ./$(BINARY) > gprof.out
 endif
-

src/Makefile.am

 AUTOMAKE_OPTIONS = no-dependencies
-SUBDIRS=drivers monitoring
+SUBDIRS=drivers monitoring simulator
 
-C_FILES =   $(srcdir)/po_hi_task.c           \
-            $(srcdir)/po_hi_main.c           \
-	         $(srcdir)/po_hi_marshallers.c    \
-            $(srcdir)/po_hi_messages.c	      \
-            $(srcdir)/po_hi_monitor.c	      \
-	         $(srcdir)/po_hi_gqueue.c         \
-            $(srcdir)/po_hi_giop.c			   \
-            $(srcdir)/po_hi_lua.c			   \
-	         $(srcdir)/po_hi_protected.c   \
-	         $(srcdir)/po_hi_transport.c \
-	         $(srcdir)/po_hi_storage.c \
-            $(srcdir)/po_hi_types.c	\
-	         $(srcdir)/po_hi_utils.c \
-            $(srcdir)/po_hi_simulink.c		\
+C_FILES = $(srcdir)/po_hi_task.c $(srcdir)/po_hi_main.c			\
+             $(srcdir)/po_hi_marshallers.c $(srcdir)/po_hi_messages.c	\
+             $(srcdir)/po_hi_monitor.c $(srcdir)/po_hi_gqueue.c		\
+             $(srcdir)/po_hi_giop.c $(srcdir)/po_hi_lua.c		\
+             $(srcdir)/po_hi_protected.c $(srcdir)/po_hi_transport.c	\
+             $(srcdir)/po_hi_storage.c $(srcdir)/po_hi_types.c		\
+             $(srcdir)/po_hi_utils.c $(srcdir)/po_hi_simulink.c		\
              $(srcdir)/po_hi_gprof_rtems_leon.c				\
              $(srcdir)/po_hi_time.c
 

src/po_hi_task.c

@@ -21,6 +21,16 @@
 #endif
 #endif
 
+#if defined (SIMULATOR)
+#include <um_threads.h>
+#undef POSIX
+#endif
+
+
+#if defined (SIMULATOR) && defined (POSIX)
+#error "fuck"
+#endif
+
 #if defined (RTEMS_POSIX) || defined (RTEMS_PURE)
 #include <sys/cpuset.h>
 #endif
@@ -86,6 +96,8 @@ typedef struct
   rtems_id            rtems_id;
 #elif defined(XENO_NATIVE)
   RT_TASK             xeno_id;
+#elif defined(SIMULATOR)
+  um_thread_id        um_id;
 #endif
 } __po_hi_task_t;
 /*
@@ -109,10 +121,13 @@ void __po_hi_wait_for_tasks ()
     {
       pthread_join( tasks[i].tid , NULL );
     }
+
 #elif defined (RTEMS_PURE)
   rtems_task_suspend(RTEMS_SELF);
+
 #elif defined (_WIN32)
   WaitForMultipleObjects (__PO_HI_NB_TASKS, __po_hi_tasks_array, TRUE, INFINITE);
+
 #elif defined (XENO_NATIVE)
   int ret;
   while (1)
@@ -123,6 +138,10 @@ void __po_hi_wait_for_tasks ()
         __PO_HI_DEBUG_DEBUG ("Error while calling rt_task_suspend in __po_hi_wait_for_tasks (ret=%d)\n", ret);
       }
   }
+#elif defined (SIMULATOR)
+  start_scheduler();
+  return (__PO_HI_SUCCESS);
+
 #endif
 
 #ifdef __PO_HI_DEBUG
@@ -386,6 +405,7 @@ int __po_hi_posix_initialize_task (__po_hi_task_t* task)
     {
       return (__PO_HI_ERROR_PTHREAD_COND);
     }
+
   return (__PO_HI_SUCCESS);
 }
 
@@ -513,14 +533,20 @@ int __po_hi_create_generic_task (const __po_hi_task_id      id,
       my_task->id     = id;
 
 #if defined (POSIX) || defined (RTEMS_POSIX) || defined (XENO_POSIX)
-      my_task->tid    = __po_hi_posix_create_thread (priority, stack_size, core_id, start_routine, arg);
+      my_task->tid    = __po_hi_posix_create_thread
+        (priority, stack_size, core_id, start_routine, arg);
       __po_hi_posix_initialize_task (my_task);
 #elif defined (RTEMS_PURE)
-      my_task->rtems_id = __po_hi_rtems_create_thread (priority, stack_size, core_id, start_routine, arg);
+      my_task->rtems_id = __po_hi_rtems_create_thread
+        (priority, stack_size, core_id, start_routine, arg);
 #elif defined (_WIN32)
-      my_task->tid = __po_hi_win32_create_thread (id, priority, stack_size, start_routine, arg);
+      my_task->tid = __po_hi_win32_create_thread
+        (id, priority, stack_size, start_routine, arg);
 #elif defined (XENO_NATIVE)
-      my_task->xeno_id = __po_hi_xenomai_create_thread (priority, stack_size, start_routine, arg);
+      my_task->xeno_id = __po_hi_xenomai_create_thread
+        (priority, stack_size, start_routine, arg);
+#elif defined (SIMULATOR)
+      my_task->um_id = um_thread_create (start_routine, stack_size, priority);
 #else
       return (__PO_HI_UNAVAILABLE);
 #endif
@@ -561,8 +587,8 @@ int __po_hi_create_periodic_task (const __po_hi_task_id     id,
     {
       return (__PO_HI_ERROR_CLOCK);
     }
-#elif defined (XENO_NATIVE)
 
+#elif defined (XENO_NATIVE)
    int ret;
 
    ret = rt_task_set_periodic (&(tasks[id].xeno_id), TM_NOW,  (tasks[id].period.sec * 1000000000) + tasks[id].period.nsec);

src/simulator/Makefile.am

+AUTOMAKE_OPTIONS = no-dependencies
+SUBDIRS=
+
+C_FILES = $(srcdir)/um_threads.c
+
+csrc = ${shell $(CYGPATH_U) '$(OCARINA_RUNTIME)/polyorb-hi-c/src'}
+
+install-data-local:
+	$(INSTALL) -d $(DESTDIR)$(csrc)
+	for f in $(C_FILES); do $(INSTALL) -m 444 $$f $(DESTDIR)$(csrc) ; done
+
+uninstall-local:
+	rm -rf $(DESTDIR)$(csrc)
+
+EXTRA_DIST = $(C_FILES)
+
+CLEANFILES = *~

src/simulator/simulator_api.h

+/*****************************************************/
+
+/*  This file contains all function of TASTE RUNTIME */
+
+/*  MONITORING API.                                  */
+
+/*****************************************************/
+
+
+void init_all();
+
+void kill_all();
+
+void th_register();
+
+void callback();
+
+void get_port(port_values state);
+
+void set_port(port_values state);
+
+void trigger_task(int th_id);
+
+void tick();
+
+void dump_trace();
+
+//void undo();
+
+//void redo();

src/simulator/simulator_main.c

+/*
+ * 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://taste.tuxfamily.org/wiki
+ *
+ * Copyright (C) 2010-2014 ESA & ISAE.
+ */
+
+#include <deployment.h>
+/* included files from the generated code */
+
+#include <po_hi_config.h>
+#include <po_hi_common.h>
+#include <po_hi_returns.h>
+#include <po_hi_monitor.h>
+#include <po_hi_task.h>
+#include <po_hi_debug.h>
+#include <po_hi_protected.h>
+#include <po_hi_utils.h>
+/* included files from PolyORB-HI-C */
+
+#if defined (MONITORING)
+#include <trace_manager.hh>
+#endif
+/* Headers from run-time verification */
+
+#if defined (POSIX) || defined (RTEMS_POSIX) || defined (XENO_POSIX)
+#include <pthread.h>
+/* POSIX files */
+
+pthread_cond_t cond_init;
+pthread_mutex_t mutex_init;
+#endif
+
+#if defined (RTEMS_POSIX) || defined (RTEMS_PURE)
+#include <rtems.h>
+#include <rtems/rtems/clock.h>
+#endif
+
+#ifdef RTEMS_PURE
+rtems_id __po_hi_main_initialization_barrier;
+#endif
+
+#ifdef _WIN32
+CRITICAL_SECTION __po_hi_main_initialization_critical_section;
+HANDLE           __po_hi_main_initialization_event;
+#endif
+
+#if defined (XENO_NATIVE)
+#include <native/cond.h>
+#include <native/mutex.h>
+RT_COND   cond_init;
+RT_MUTEX  mutex_init;
+
+RT_TASK*  main_task_id;
+/*
+ * If we use the XENO_NATIVE skin, then, the main task
+ * is considered as non real-time and cannot lock
+ * mutexes that are used by real-time threads.
+ * Then, we need to differenciate operations
+ * between the main task and the other tasks.
+ *
+ * For that reason, the main task does not wait for
+ * the initialization of the other tasks. The
+ * __po_hi_wait_initialization just passes when it is
+ * called from the main task. To do that, we need
+ * to differentiate the main task from the other,
+ * we do that by getting the main task descriptor
+ * address in the main_task_id variable.
+ *
+ * Moreover, when using the XENO_NATIVE API, we
+ * remove one task to initialize (the main task).
+ * Only generated/created tasks wait for their mutual
+ * initialization.
+ */
+#endif
+
+
+
+int __po_hi_initialized_tasks = 0;
+/* The barrier is initialized with __PO_HI_NB_TASKS +1
+ * members, because the main function must pass the barrier.
+ *
+ * Be careful: for the XENO_NATIVE API, we decrement
+ * the __po_hi_nb_tasks_to_init variable since the main task
+ * does not wait for the other tasks to be initialized.
+ */
+int __po_hi_nb_tasks_to_init = __PO_HI_NB_TASKS + 1;
+
+void __po_hi_initialize_add_task ()
+{
+      __DEBUGMSG ("[MAIN] Add a task to initialize\n");
+      __po_hi_nb_tasks_to_init++;
+}
+
+
+int __po_hi_initialize_early ()
+{
+
+#if defined (XENO_POSIX) || defined (XENO_NATIVE)
+   /*
+    * Once initialization has been done, we avoid ALL
+    * potential paging operations that can introduce
+    * some indeterministic timing behavior.
+    */
+
+   #include <sys/mman.h>
+   mlockall (MCL_CURRENT|MCL_FUTURE);
+#endif
+
+#if defined (XENO_NATIVE)
+   main_task_id = rt_task_self ();
+
+   __po_hi_nb_tasks_to_init--;
+   /*
+    * If we are using the XENO_NATIVE skin, we need
+    * to differentiate the main task (that is non real-time)
+    * from the others since the main task cannot use
+    * the services and operates on resources of real-time tasks.
+    * In addition, we decrement the amount of tasks to
+    * initialize since the main task does not wait
+    * for the initialization of the other tasks.
+    */
+#endif
+
+#if defined (POSIX) || defined (RTEMS_POSIX) || defined (XENO_POSIX)
+   pthread_mutexattr_t mutex_attr;
+   if (pthread_mutexattr_init (&mutex_attr) != 0)
+   {
+      __DEBUGMSG ("[MAIN] Unable to init mutex attributes\n");
+   }
+
+#ifdef RTEMS_POSIX
+   if (pthread_mutexattr_setprioceiling (&mutex_attr, 50) != 0)
+   {
+      __DEBUGMSG ("[MAIN] Unable to set priority ceiling on mutex\n");
+   }
+#endif
+
+   if (pthread_mutex_init (&mutex_init, &mutex_attr) != 0 )
+    {
+      __DEBUGMSG ("[MAIN] Unable to init pthread_mutex\n");
+      return (__PO_HI_ERROR_PTHREAD_MUTEX);
+    }
+
+  __DEBUGMSG ("[MAIN] Have %d tasks to init\n", __po_hi_nb_tasks_to_init);
+
+  if (pthread_cond_init (&cond_init, NULL) != 0)
+  {
+     return (__PO_HI_ERROR_PTHREAD_COND);
+  }
+#endif
+
+#if defined (XENO_NATIVE)
+   if (rt_cond_create (&cond_init, NULL))
+   {
+      __DEBUGMSG ("[MAIN] Unable to init the initialization condition variable \n");
+      return (__PO_HI_ERROR_PTHREAD_MUTEX);
+   }
+
+  if (rt_mutex_create (&mutex_init, NULL) != 0)
+  {
+      __DEBUGMSG ("[MAIN] Unable to init the initialization mutex variable \n");
+     return (__PO_HI_ERROR_PTHREAD_COND);
+  }
+#endif
+
+
+#if defined (RTEMS_POSIX) || defined (RTEMS_PURE)
+  rtems_status_code ret;
+  rtems_time_of_day time;
+
+  time.year   = 1988;
+  time.month  = 12;
+  time.day    = 31;
+  time.hour   = 9;
+  time.minute = 1;
+  time.second = 10;
+  time.ticks  = 0;
+
+  ret = rtems_clock_set( &time );
+  if (ret != RTEMS_SUCCESSFUL)
+  {
+     __DEBUGMSG ("[MAIN] Cannot set the clock\n");
+     return __PO_HI_ERROR_CLOCK;
+  }
+#endif
+
+#ifdef RTEMS_PURE
+  __DEBUGMSG ("[MAIN] Create a barrier that wait for %d tasks\n", __po_hi_nb_tasks_to_init);
+
+  ret = rtems_barrier_create (rtems_build_name ('B', 'A', 'R', 'M'), RTEMS_BARRIER_AUTOMATIC_RELEASE, __po_hi_nb_tasks_to_init, &__po_hi_main_initialization_barrier);
+  if (ret != RTEMS_SUCCESSFUL)
+  {
+     __DEBUGMSG ("[MAIN] Cannot create the main barrier, return code=%d\n", ret);
+  }
+#endif
+
+#ifdef _WIN32
+   __po_hi_main_initialization_event = CreateEvent (NULL, FALSE, FALSE, NULL);
+   InitializeCriticalSection (&__po_hi_main_initialization_critical_section);
+#endif
+
+  __po_hi_initialize_tasking ();
+
+  /* Initialize protected objects */
+#if __PO_HI_NB_PROTECTED > 0
+  __po_hi_protected_init();
+#endif
+
+#if __PO_HI_MONITOR_ENABLED == 1
+  __po_hi_monitor_init ();
+#endif
+
+   return (__PO_HI_SUCCESS);
+}
+
+/*
+ * The __po_hi_initialize function is only called
+ * by the main thread (the one that executes the traditional
+ * main() function.
+ */
+int __po_hi_initialize ()
+{
+#if (defined (XM3_RTEMS_MODE) && (__PO_HI_NB_PORTS > 0))
+   #include <deployment.h>
+   #include <po_hi_types.h>
+   #include <po_hi_transport.h>
+   #include <xm.h>
+
+   __po_hi_port_kind_t        pkind;
+   __po_hi_port_t             tmp;
+   __po_hi_node_t             tmpnode;
+   __po_hi_node_t             mynode;
+   int                        portno;
+
+   mynode = __po_hi_transport_get_mynode ();
+
+   for (tmp = 0 ; tmp < __PO_HI_NB_PORTS ; tmp++)
+   {
+      pkind = __po_hi_transport_get_port_kind (tmp);
+      tmpnode = __po_hi_transport_get_node_from_entity (__po_hi_get_entity_from_global_port (tmp));
+      if ((tmpnode == mynode) &&
+          ( (pkind ==  __PO_HI_IN_DATA_INTER_PROCESS)          ||
+            (pkind ==  __PO_HI_OUT_DATA_INTER_PROCESS)         ||
+            (pkind ==  __PO_HI_IN_EVENT_DATA_INTER_PROCESS)    ||
+            (pkind ==  __PO_HI_OUT_EVENT_DATA_INTER_PROCESS)
+          ))
+      {
+         __DEBUGMSG ("[MAIN] Should init port %d\n", tmp);
+         portno = -1;
+         switch (pkind)
+         {
+            case __PO_HI_IN_DATA_INTER_PROCESS:
+               portno = XM_create_sampling_port (__po_hi_transport_get_model_name (tmp), __po_hi_transport_get_queue_size (tmp), XM_DESTINATION_PORT);
+               break;
+
+            case __PO_HI_OUT_DATA_INTER_PROCESS:
+               portno = XM_create_sampling_port (__po_hi_transport_get_model_name (tmp), __po_hi_transport_get_queue_size (tmp), XM_SOURCE_PORT);
+               break;
+
+            case __PO_HI_IN_EVENT_DATA_INTER_PROCESS:
+               portno = XM_create_queuing_port (__po_hi_transport_get_model_name (tmp), __po_hi_transport_get_queue_size (tmp), __po_hi_transport_get_data_size (tmp), XM_DESTINATION_PORT);
+               break;
+
+            case __PO_HI_OUT_EVENT_DATA_INTER_PROCESS:
+               portno = XM_create_queuing_port (__po_hi_transport_get_model_name (tmp), __po_hi_transport_get_queue_size (tmp), __po_hi_transport_get_data_size (tmp), XM_SOURCE_PORT);
+               break;
+
+            default:
+               __DEBUGMSG ("[MAIN] Port kind not handled at this time for port %d\n", tmp);
+               break;
+         }
+
+         if (portno < 0)
+         {
+               __DEBUGMSG ("[MAIN] Cannot open port %d, name=%s, return=%d\n", tmp, __po_hi_transport_get_model_name (tmp), portno);
+         }
+         else
+         {
+               __po_hi_transport_xtratum_port_init (tmp, portno);
+               __DEBUGMSG ("[MAIN] Port %d (name=%s) created, identifier = %d\n", tmp, __po_hi_transport_get_model_name (tmp), portno);
+         }
+
+      }
+   }
+#endif
+
+
+/*!
+ * Initialize the monitoring trace if needed
+ */
+#if defined (MONITORING)